CN111473785A - Method and device for adjusting relative pose of robot to map - Google Patents
Method and device for adjusting relative pose of robot to map Download PDFInfo
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- CN111473785A CN111473785A CN202010596992.4A CN202010596992A CN111473785A CN 111473785 A CN111473785 A CN 111473785A CN 202010596992 A CN202010596992 A CN 202010596992A CN 111473785 A CN111473785 A CN 111473785A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention provides a method and a device for adjusting the relative map pose of a robot, which are used for displaying the matching result of laser data and target laser data of the current position of the mobile robot, so that a user can adjust the initial position and the initial pose based on the matching result and a fine adjustment tool contained in a correction tool, respond to a first operation instruction, adjust the initial position and the initial pose, and respectively take the current initial position and the current initial pose as the target position and the target pose of the mobile robot relative to a global map when receiving a second operation instruction. Because the fine tuning tool is arranged in the correction tool in advance, a user can adjust the initial position and the initial posture through the fine tuning tool based on the matching result of the laser data of the current position of the mobile robot and the target laser data, so that the initial position and the initial posture can be finely tuned after the initial position and the initial posture are selected, and the posture correction efficiency and accuracy are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for adjusting the relative pose of a robot to a map.
Background
With the development of science and technology, the autonomous navigation of the mobile robot plays an increasingly important role in the fields of automation factories, intelligent warehouse logistics, home services and the like. In the process of autonomous navigation of the mobile robot, the position of the mobile robot relative to a global map and the posture of the mobile robot are determined in the working environment, and the method is a basic link of the navigation of the mobile robot. However, in practical applications, a mobile robot may be shut down or powered off, and in such cases, after the mobile robot is restarted, the mobile robot may not be able to locate its position and its own posture on the full map, and therefore, the position and posture of the mobile robot relative to the global map need to be corrected by a correction tool.
In the prior art, a user clicks a pose of a selected mobile robot relative to a global map on a correction tool based on the current position of the mobile robot in a working environment, wherein the pose is a position and a posture. However, the existing correction tool can only directly determine or cancel the selected pose after one-time selection, and cannot finely adjust the selected position and posture, so that the pose correction is inaccurate.
Disclosure of Invention
The application provides a method and a device for adjusting the pose of a robot relative to a map, and aims to solve the problem that the pose correction is inaccurate because the selected pose can only be directly determined or canceled after one-time selection and the selected position and posture cannot be finely adjusted by the existing correction tool.
In order to achieve the above object, the present application provides the following technical solutions:
a method for adjusting the relative pose of a robot to a map, applied to a correction tool, the method comprising:
responding to a trigger instruction of a user, and generating a pose selection interface; wherein the pose selection interface comprises a global map of a mobile robot application environment;
determining a first position selected by the user in the pose selection interface as an initial position of the current position of the mobile robot relative to the global map;
determining an initial posture of the current posture of the mobile robot relative to the global map according to the initial position and a second position selected by the user on the posture selection interface;
acquiring laser data of the current position of the mobile robot;
displaying a matching result of the laser data of the current position of the mobile robot and the target laser data so that the user can adjust the initial position and the initial posture based on the matching result and a fine adjustment tool contained in the correction tool; the target laser data are pre-stored laser data corresponding to the current initial position and the current initial posture;
when the matching result is a first matching result, responding to a first operation instruction of the user, adjusting the initial position and the initial posture to obtain a new initial position and a new initial posture, and when a second operation instruction of the user is received, taking the current initial position as a target position of the mobile robot relative to the global map, and taking the current initial posture as a target posture of the mobile robot relative to the global map; the first matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is smaller than a first threshold and larger than a second threshold, and the first threshold is larger than the second threshold.
Optionally, the method, after the displaying of the matching result between the laser data of the current position of the mobile robot and the target laser data, further includes:
under the condition that the matching result is a second matching result, responding to a second operation instruction of the user, taking a current initial position as a target position of the mobile robot relative to the global map, and taking a current initial posture as a target posture of the mobile robot relative to the global map; and the second matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not less than the first threshold value.
Optionally, the method, after the displaying of the matching result between the laser data of the current position of the mobile robot and the target laser data, further includes:
under the condition that the matching result is a third matching result, responding to a third operation instruction of the user, deleting the current initial position and the current initial posture, and returning to execute the step of determining the first position selected by the user on the posture selection interface as the initial position of the current position of the mobile robot relative to the global map; and the third matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not greater than the second threshold value.
Optionally, the method for displaying the matching result of the laser data of the current position of the mobile robot and the target laser data includes:
respectively drawing the laser data and the target laser data of the current position of the mobile robot on the global map by taking the initial position as a circle center;
acquiring the matching result of the laser data of the current position of the mobile robot and the target laser data according to the drawing result of the laser data of the current position of the mobile robot and the target laser data;
and displaying the matching result.
The above method, optionally, the determining an initial pose of the current pose of the mobile robot with respect to the global map according to the initial position and a second position selected by the user on the pose selection interface includes:
and calculating the initial posture of the current posture of the mobile robot relative to the global map according to the coordinates of the initial position in the global map and the coordinates of the second position selected by the user in the posture selection interface in the global map.
An apparatus for adjusting the pose of a robot relative to a map, applied to a correction tool, the apparatus comprising:
the generating unit is used for responding to a trigger instruction of a user and generating a pose selection interface; wherein the pose selection interface comprises a global map of a mobile robot application environment;
a first determining unit, configured to determine a first position selected by the user in the pose selection interface as an initial position of the current position of the mobile robot relative to the global map;
a second determining unit, configured to determine an initial pose of the current pose of the mobile robot with respect to the global map according to the initial position and a second position selected by the user on the pose selection interface;
the acquisition unit is used for acquiring laser data of the current position of the mobile robot;
the display unit is used for displaying the matching result of the laser data of the current position of the mobile robot and the target laser data so that the user can adjust the initial position and the initial posture based on the matching result and a fine adjustment tool contained in the correction tool; the target laser data are pre-stored laser data corresponding to the current initial position and the current initial posture;
an adjusting unit, configured to, in a case that the matching result is a first matching result, respond to a first operation instruction of the user, adjust the initial position and the initial posture to obtain a new initial position and a new initial posture, and when a second operation instruction of the user is received, use a current initial position as a target position of the mobile robot relative to the global map, and use a current initial posture as a target posture of the mobile robot relative to the global map; the first matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is smaller than a first threshold and larger than a second threshold, and the first threshold is larger than the second threshold.
The above apparatus, optionally, further comprises:
a third determining unit, configured to, in response to a second operation instruction of the user if the matching result is a second matching result, take a current initial position as a target position of the mobile robot relative to the global map, and take a current initial posture as a target posture of the mobile robot relative to the global map; and the second matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not less than the first threshold value.
The above apparatus, optionally, further comprises:
a deleting unit, configured to, in a case that the matching result is a third matching result, delete a current initial position and a current initial posture in response to a third operation instruction of the user, and return to perform the step of determining a first position selected by the user on the posture selection interface as an initial position of the current position of the mobile robot relative to the global map; and the third matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not greater than the second threshold value.
Optionally, in the apparatus described above, the display unit displays the matching result between the laser data of the current position of the mobile robot and the target laser data, and is configured to:
respectively drawing the laser data and the target laser data of the current position of the mobile robot on the global map by taking the initial position as a circle center;
acquiring the matching result of the laser data of the current position of the mobile robot and the target laser data according to the drawing result of the laser data of the current position of the mobile robot and the target laser data;
and displaying the matching result.
In the foregoing apparatus, optionally, the second determining unit performs determining an initial pose of the current pose of the mobile robot with respect to the global map according to the initial position and a second position selected by the user on the pose selection interface, and is configured to:
and calculating the initial posture of the current posture of the mobile robot relative to the global map according to the coordinates of the initial position in the global map and the coordinates of the second position selected by the user in the posture selection interface in the global map.
A storage medium comprising stored instructions, wherein when the instructions are executed, a device on which the storage medium is located is controlled to execute the method for adjusting the relative map pose of the robot.
An electronic device comprising a memory, and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to perform the above method of adjusting a relative map pose of a robot.
Compared with the prior art, the invention has the following advantages:
the invention provides a method and a device for adjusting the relative pose of a robot to a map, wherein the method comprises the following steps: generating a pose selection interface, determining a first position selected by a user on the pose selection interface as an initial position of the current position of the mobile robot relative to a global map, determining an initial pose of the current pose of the mobile robot relative to the global map according to the initial position and a second position selected by the user on the pose selection interface, acquiring laser data of the current position of the mobile robot, displaying a matching result of the laser data of the current position of the mobile robot and target laser data, so that the user can adjust the initial position and the initial pose based on the matching result and a fine adjustment tool contained in a correction tool, responding to a first operation instruction of the user under the condition that the matching result is the first matching result, adjusting the initial position and the initial pose to obtain a new initial position and a new initial pose, and when receiving a second operation instruction of the user, and taking the current initial position as the target position of the mobile robot relative to the global map, and taking the current initial posture as the target posture of the mobile robot relative to the global map. Because the fine tuning tool is arranged in the correction tool in advance, a user can adjust the initial position and the initial posture of the mobile robot through the fine tuning tool based on the matching result of the laser data of the current position of the mobile robot and the target laser data, so that the initial position and the initial posture can be finely tuned after the initial position and the initial posture are selected, and the efficiency and the accuracy of posture correction are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of a method for adjusting the pose of a robot relative to a map according to the present invention;
FIG. 2 is a flowchart of another method for adjusting the pose of a robot relative to a map according to the present invention;
FIG. 3 is a schematic structural diagram of an apparatus for adjusting the pose of a robot with respect to a map according to the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a method for adjusting the relative map pose of a robot, which can apply a correction tool, wherein a flow chart of the method for adjusting the relative map pose of the robot is shown in fig. 1, and the method specifically comprises the following steps:
and S101, responding to a trigger instruction of a user, and generating a pose selection interface.
The correction tool responds to a trigger instruction of a user to generate a pose selection interface, wherein the pose selection interface comprises a global map of a mobile robot application environment, namely the environment where the mobile robot is currently located, for example, if the mobile robot is currently located in a laboratory, the pose selection interface comprises the global map of the laboratory.
And S102, determining the first position selected by the user on the gesture selection interface as the initial position of the current position of the mobile robot relative to the global map.
The user can select a coordinate point in the global map through the pose selection interface, optionally, the user can select a coordinate point in the global map by operating the mouse, and the specific way of selecting the coordinate point in the global map by operating the mouse by the user includes the specific way of not being limited to the way that the user clicks to select the coordinate point in the global map by operating the mouse. The coordinate point selected by the user is the first position selected by the user, and the first position selected by the user is determined as the initial position of the current position of the mobile robot relative to the global map, that is, the initial position may be considered as the position of the mobile robot corresponding to the global map.
It should be noted that, the cancel or delete operation may be performed on the initial position.
S103, determining the initial posture of the current posture of the mobile robot relative to the global map according to the initial position and the second position selected by the user on the posture selection interface.
The second position selected by the user on the position and gesture selection interface is obtained, optionally, the user can click and select one coordinate point in the global map, namely the second position, by operating the mouse, the user can press the mouse to be stationary after selecting the first position on the position and gesture selection interface, drag the cursor corresponding to the mouse to another coordinate point in a dragging mode, so that the second position is selected on the position and gesture selection interface, namely, the user can click the mouse twice, so that the first position and the second position can be selected on the position and gesture selection interface, or click the mouse once, and drag the cursor corresponding to the mouse to another coordinate point without releasing the mouse, so that the first position and the second position can be selected on the position and gesture selection interface.
According to the initial position and the second position selected by the user on the pose selection interface, that is, according to the first position and the second position selected by the user on the pose selection interface, the initial pose of the mobile robot relative to the global map is determined, in other words, the initial pose may be considered as the pose possibly corresponding to the current pose of the mobile robot on the global map, and it should be noted that the current pose of the mobile robot may be the current orientation of the mobile robot.
In an embodiment of the present invention, the process of determining the initial posture of the mobile robot relative to the global map according to the initial position and the second position selected by the user on the posture selection interface may include:
and calculating the initial posture of the current posture of the mobile robot relative to the global map according to the coordinates of the initial position in the global map and the coordinates of the second position selected by the user in the posture selection interface in the global map.
In the embodiment of the invention, the initial position and the second position selected by the user on the pose selection interface are both coordinate points in the global map, the initial pose of the current pose of the mobile robot relative to the global map is calculated according to the coordinates of the initial position in the global map and the coordinates of the second position in the global map, because the two points determine a straight line, the initial position, namely the first position selected by the user is taken as a starting point, the second position selected by the user is taken as an end point, and the formed direction is the initial pose of the current pose of the mobile robot relative to the global map.
It should be noted that, the cancel or delete operation may be performed on the initial gesture.
And S104, acquiring laser data of the current position of the mobile robot.
The method comprises the steps of obtaining laser data of the current position of the mobile robot, wherein the mobile robot can obtain the laser data of the current position of the mobile robot through a laser obtaining device and send the laser data to a correction tool, and the correction tool receives the laser data uploaded by the mobile robot. Optionally, the laser obtaining device may be a laser radar, and for a specific process of obtaining laser data by the laser radar, reference is made to the prior art, which is not described herein again.
And S105, displaying the matching result of the laser data of the current position of the mobile robot and the target laser data, so that a user can conveniently adjust the initial position and the initial posture based on the matching result and a fine adjustment tool contained in the correction tool.
Matching the laser data of the current position of the mobile robot with target laser data, wherein the target laser data is pre-stored laser data corresponding to the current initial position and the current initial posture, and it should be noted that the initial position and/or the initial posture are/is changed, and the target laser data is changed accordingly.
In the implementation of the present invention, the laser data of the current position of the mobile robot is the laser data corresponding to each of a plurality of angles, the target laser is the laser data corresponding to each of a plurality of angles, optionally, the plurality of angles may be 360 degrees, that is, the laser data of the current position of the mobile robot may be the laser data of 360 degrees, the target laser data may be the laser data of 360 degrees, and the specific process of matching the laser data of the current position of the mobile robot with the target laser data includes: aiming at each angle, matching the laser data corresponding to the angle contained in the laser data of the current position of the mobile robot with the laser data corresponding to the angle contained in the target laser data, thereby obtaining the matching result of each angle, optionally, calculating the difference between the laser data corresponding to the angle contained in the laser data of the current position of the mobile robot and the laser data corresponding to the angle contained in the target laser data, when the difference is smaller than the preset value, the laser data corresponding to the angle contained in the laser data of the current position of the mobile robot is considered to be matched with the laser data corresponding to the angle contained in the target laser data, determining laser data corresponding to the angle contained in the laser data of the current position of the mobile robot as first laser data, otherwise, determining that the laser data are not matched; and obtaining a matching result of the laser data of the current position of the mobile robot and the target laser data according to the matching result of each angle, wherein the matching result is used for explaining the proportion of the first laser data in the total laser data, namely, the matching degree between the laser data of the current position of the mobile robot and the target laser data.
And displaying the matching result of the laser data of the current position of the mobile robot and the target laser data so that a user can conveniently adjust the initial position and the initial posture based on the displayed matching result and a fine adjustment tool contained in the correction tool.
Optionally, the initial position and the initial posture can be adjusted up, down, left and right, and rotated by the fine adjustment tool.
And S106, judging whether the matching result of the laser data of the current position of the mobile robot and the target laser data is a first matching result.
Judging whether a matching result of laser data of a current position of the mobile robot and target laser data is a first matching result, wherein the first matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is smaller than a first threshold and larger than a second threshold, if so, judging that the matching result between the laser data of the current position of the mobile robot and the target laser data is a first matching result, and executing a step S107, if the matching degree between the laser data of the current position of the mobile robot and the target laser data is not smaller than the first threshold or not, judging that the matching result between the laser data of the current position of the mobile robot and the target laser data is not the first matching result Matches the result, and executes step S108.
And S107, responding to a first operation instruction of a user, adjusting the initial position and the initial posture to obtain a new initial position and a new initial posture, and when receiving a second operation instruction of the user, taking the current initial position as a target position of the mobile robot relative to the global map and taking the current initial posture as a target posture of the mobile robot relative to the global map.
Under the condition that the matching result of the laser data at the current position of the mobile robot and the target laser data is a first matching result, responding to a first operation instruction of a user, and adjusting the initial position and the initial posture to obtain a new initial position and a new initial posture, wherein the first operation instruction is an instruction sent by the user through a fine-tuning tool based on the first matching result; for example, the user may issue a first command to move up, down, left, right, or rotate via the fine tuning tool, and the correction tool may control the initial position and the initial pose to adjust up, down, left, right, or rotate in response to the first command to obtain a new initial position and a new initial pose.
It should be noted that the initial position and the initial posture may be adjusted for multiple times, for example, after the initial position and the initial posture are adjusted for the first time, a new initial position and a new initial posture are obtained, and the new initial position and the new initial posture may also be adjusted again.
When a second operation instruction of the user is received, the current initial position is used as a target position of the mobile robot relative to the global map, and the current initial posture is used as a target posture of the mobile robot relative to the global map, in other words, the target position is a position where the mobile robot is located at present and corresponds to the global map, and the target posture is a posture where the mobile robot at present and corresponds to the global map. It should be noted that the second operation instruction is a determination instruction, and the user may issue the determination instruction through a determination button on the correction tool.
And S108, judging whether the matching result of the laser data of the current position of the mobile robot and the target laser data is a second matching result.
If the matching result of the laser data of the current position of the mobile robot and the target laser data is not the first matching result, judging whether the matching result of the laser data of the current position of the mobile robot and the target laser data is the second matching result, wherein the second matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not less than a first threshold value, and if the matching degree between the laser data of the current position of the mobile robot and the target laser data is not less than the first threshold value, judging that the matching result of the laser data of the current position of the mobile robot and the target laser data is the second matching result, and executing the step S109, and if the matching degree between the laser data of the current position of the mobile robot and the target laser data is not more than the second threshold value, judging that the matching result between the laser data of the current position of the mobile robot and the target laser data is not the second matching result And performing step S110.
And S109, responding to a second operation instruction of the user, taking the current initial position as the target position of the mobile robot relative to the global map, and taking the current initial posture as the target posture of the mobile robot relative to the global map.
When the matching result of the laser data of the current position of the mobile robot and the target laser data is a second matching result, the current initial position is the position of the current position of the mobile robot corresponding to the global map, and the current initial posture is the posture of the current posture of the mobile robot corresponding to the global map. And responding to a second operation instruction of the user, taking the current initial position as a target position of the mobile robot relative to the global map, and taking the current initial posture as a target posture of the mobile robot relative to the global map, wherein the second operation instruction is an instruction sent by the user through the fine tuning tool based on a second matching result, the second operation instruction can be a confirmation instruction, and the user can send the second operation instruction through a confirmation button in the fine tuning tool.
And S110, responding to a third operation instruction of the user, and deleting the current initial position and the current initial posture.
If the matching result of the laser data of the current position of the mobile robot and the target laser data is not the second matching result, it is indicated that the matching result of the laser data of the current position of the mobile robot and the target laser data is a third matching result, and the third matching result is used for indicating that the matching of the laser data of the current position of the mobile robot and the target laser data is not greater than a second threshold value, in other words, the difference between the current initial position and the position of the current position of the mobile robot corresponding to the global map is large, and/or the difference between the current initial posture and the posture of the current posture of the mobile robot corresponding to the global map is large.
And under the condition that the matching result of the laser data at the current position of the mobile robot and the target laser data is third matching, responding to a third operation instruction of the user, and deleting the current initial position and the current initial posture, wherein the third operation instruction is an instruction sent by the user through a fine tuning tool based on the third matching result, and the third operation instruction can be a deletion instruction, and the user can send the third operation instruction through a deletion button in the fine tuning tool.
After deleting the current initial position and initial posture, returning to execute step S102.
The method for adjusting the relative map pose of the robot provided by the embodiment of the invention generates a pose selection interface, determines a first position selected by a user on the pose selection interface as an initial position of the current position of the mobile robot relative to a global map, determines an initial pose of the current pose of the mobile robot relative to the global map according to the initial position and a second position selected by the user on the pose selection interface, acquires laser data of the current position of the mobile robot, displays a matching result of the laser data of the current position of the mobile robot and target laser data so that the user can adjust the initial position and the initial pose based on the matching result and a fine adjustment tool contained in a correction tool, responds to a first operation instruction of the user to adjust the initial position and the initial pose under the condition that the matching result is a first matching result, obtaining a new initial position and a new initial attitude, and when receiving a second operation instruction of a user, taking the current initial position as a target position of the mobile robot relative to the global map, and taking the current initial attitude as a target attitude of the mobile robot relative to the global map; under the condition that the matching result is a second matching result, responding to a second operation instruction of the user, taking the current initial position as the target position of the mobile robot relative to the global map, and taking the current initial posture as the target posture of the mobile robot relative to the global map; and under the condition that the matching result is the third matching result, deleting the current initial position and the initial posture, and returning to execute the step of determining the first position selected by the user on the posture selection interface as the initial position of the current position of the mobile robot relative to the global map. By applying the method for adjusting the relative map pose of the robot provided by the embodiment of the invention, because the fine tuning tool is arranged in the correction tool in advance, a user can adjust the initial position and the initial pose of the mobile robot through the fine tuning tool based on the matching result of the laser data of the current position of the mobile robot and the target laser data, so that the initial position and the initial pose are finely tuned after the initial position and the initial pose are selected, and the pose correction efficiency and accuracy are improved.
In the embodiment of the present invention, the step S105 disclosed in fig. 1 shows the matching result of the laser data of the current position of the mobile robot and the target laser data, and the flowchart is shown in fig. 2, and specifically includes the following steps:
and S201, respectively drawing the laser data of the current position of the mobile robot and the target laser data on a global map by taking the initial position as a circle center.
And respectively drawing the laser data of the current position of the mobile robot and the target laser data on the global map by taking the initial position as a circle center. Optionally, the laser data of the current position of the mobile robot may be copied to obtain a copy of the laser data, and the copy of the laser data and the target laser data are respectively drawn on the global map.
S202, according to the drawing result of the laser data and the target laser data of the current position of the mobile robot, the matching result of the laser data and the target laser data of the current position of the mobile robot is obtained.
The method comprises the steps of obtaining a matching result of laser data and target laser data of the current position of the mobile robot according to a drawing result of the laser data and the target laser data of the current position of the mobile robot, and drawing the laser data and the target laser data of the current position of the mobile robot on a global map by taking the current initial position as a circle center respectively, so that the matching result of the laser data of each angle can be obtained, and the matching result of the laser data and the target laser data of the current position of the mobile robot is obtained based on the matching result of the laser data of each angle.
And S203, displaying the matching result.
And displaying the matching result, namely displaying the matching result through characters and/or numbers, wherein the displaying of the matching result includes but is not limited to displaying the matching result in a pop-up box form, and optionally, displaying an adjustment suggestion related to the matching result.
Optionally, the method for adjusting the relative map pose of the robot according to the embodiment of the present invention shows a process of matching the laser data of the current position of the mobile robot with the target laser data, and may also directly match the laser data of the current position of the mobile robot with the target laser data to obtain a matching result, and show the matching result in a form of characters and/or numbers through a pop-up box.
Optionally, the method for adjusting the relative map pose of the robot provided by the embodiment of the present invention shows the process of the matching result between the laser data of the current position of the mobile robot and the target laser data, and may also respectively draw the laser data of the current position of the mobile robot and the target laser data on a global map with the initial position as a circle center, and show the laser data of the current position of the mobile robot and the target laser data in a graph form, so as to show the matching result between the laser data of the current position of the mobile robot and the target laser data.
According to the method for adjusting the relative map pose of the robot, the initial position is used as the circle center, the laser data of the current position of the mobile robot and the target laser data are respectively drawn on the global map, the matching result of the laser data of the current position of the mobile robot and the target laser data is displayed in a graph form, the matching result of the laser data of the current position of the mobile robot and the target laser data is obtained, the matching result is displayed in a pop-up box form in a text and/or number mode, the displaying mode of the matching result is diversified, and the user experience is improved.
Corresponding to the method shown in fig. 1, an embodiment of the present invention further provides a device for adjusting a pose of a robot with respect to a map, which is used to implement the method shown in fig. 1, and a schematic structural diagram of the device is shown in fig. 3, and specifically includes:
a generating unit 301, configured to generate a pose selection interface in response to a trigger instruction of a user; wherein the pose selection interface comprises a global map of a mobile robot application environment;
a first determining unit 302, configured to determine a first position selected by the user in the pose selection interface as an initial position of the current position of the mobile robot relative to the global map;
a second determining unit 303, configured to determine an initial pose of the current pose of the mobile robot with respect to the global map according to the initial position and a second position selected by the user on the pose selection interface;
an obtaining unit 304, configured to obtain laser data of a current position of the mobile robot;
a display unit 305, configured to display a matching result of the laser data of the current position of the mobile robot and the target laser data, so that the user performs an adjustment operation on the initial position and the initial posture based on the matching result and a fine adjustment tool included in the correction tool; the target laser data are pre-stored laser data corresponding to the current initial position and the current initial posture;
an adjusting unit 306, configured to, in a case that the matching result is a first matching result, respond to a first operation instruction of the user, adjust the initial position and the initial posture to obtain a new initial position and a new initial posture, and when a second operation instruction of the user is received, use a current initial position as a target position of the mobile robot relative to the global map, and use a current initial posture as a target posture of the mobile robot relative to the global map; the first matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is smaller than a first threshold and larger than a second threshold, and the first threshold is larger than the second threshold.
According to the device for adjusting the relative map pose of the robot, provided by the embodiment of the invention, because the fine tuning tool is arranged in the correction tool in advance, a user can adjust the initial position and the initial pose of the mobile robot through the fine tuning tool based on the matching result of the laser data of the current position of the mobile robot and the target laser data, so that the initial position and the initial pose are finely tuned after the initial position and the initial pose are selected, and the pose correction efficiency and accuracy are improved.
In an embodiment of the present invention, based on the foregoing solution, the method may further include:
a third determining unit, configured to, in response to a second operation instruction of the user if the matching result is a second matching result, take a current initial position as a target position of the mobile robot relative to the global map, and take a current initial posture as a target posture of the mobile robot relative to the global map; and the second matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not less than the first threshold value.
In an embodiment of the present invention, based on the foregoing solution, the method may further include:
a deleting unit, configured to, in a case that the matching result is a third matching result, delete a current initial position and a current initial posture in response to a third operation instruction of the user, and return to perform the step of determining a first position selected by the user on the posture selection interface as an initial position of the current position of the mobile robot relative to the global map; and the third matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not greater than the second threshold value.
In an embodiment of the present invention, based on the foregoing scheme, the displaying unit 305 performs displaying a matching result of the laser data of the current position of the mobile robot and the target laser data, so as to:
respectively drawing the laser data and the target laser data of the current position of the mobile robot on the global map by taking the initial position as a circle center;
acquiring the matching result of the laser data of the current position of the mobile robot and the target laser data according to the drawing result of the laser data of the current position of the mobile robot and the target laser data;
and displaying the matching result.
In an embodiment of the present invention, based on the foregoing solution, the second determining unit 303 performs determining an initial pose of the current pose of the mobile robot with respect to the global map according to the initial position and a second position selected by the user on the pose selection interface, for:
and calculating the initial posture of the current posture of the mobile robot relative to the global map according to the coordinates of the initial position in the global map and the coordinates of the second position selected by the user in the posture selection interface in the global map.
The embodiment of the present invention further provides a storage medium, where the storage medium includes a stored instruction, where when the instruction runs, the apparatus where the storage medium is located is controlled to perform the following operations:
responding to a trigger instruction of a user, and generating a pose selection interface; wherein the pose selection interface comprises a global map of a mobile robot application environment;
determining a first position selected by the user in the pose selection interface as an initial position of the current position of the mobile robot relative to the global map;
determining an initial posture of the current posture of the mobile robot relative to the global map according to the initial position and a second position selected by the user on the posture selection interface;
acquiring laser data of the current position of the mobile robot;
displaying a matching result of the laser data of the current position of the mobile robot and the target laser data so that the user can adjust the initial position and the initial posture based on the matching result and a fine adjustment tool contained in the correction tool; the target laser data are pre-stored laser data corresponding to the current initial position and the current initial posture;
when the matching result is a first matching result, responding to a first operation instruction of the user, adjusting the initial position and the initial posture to obtain a new initial position and a new initial posture, and when a second operation instruction of the user is received, taking the current initial position as a target position of the mobile robot relative to the global map, and taking the current initial posture as a target posture of the mobile robot relative to the global map; the first matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is smaller than a first threshold and larger than a second threshold, and the first threshold is larger than the second threshold.
An electronic device is provided in an embodiment of the present invention, and the structural diagram of the electronic device is shown in fig. 4, which specifically includes a memory 401 and one or more instructions 402, where the one or more instructions 402 are stored in the memory 401 and configured to be executed by one or more processors 403 to perform the following operations for executing the one or more instructions 402:
responding to a trigger instruction of a user, and generating a pose selection interface; wherein the pose selection interface comprises a global map of a mobile robot application environment;
determining a first position selected by the user in the pose selection interface as an initial position of the current position of the mobile robot relative to the global map;
determining an initial posture of the current posture of the mobile robot relative to the global map according to the initial position and a second position selected by the user on the posture selection interface;
acquiring laser data of the current position of the mobile robot;
displaying a matching result of the laser data of the current position of the mobile robot and the target laser data so that the user can adjust the initial position and the initial posture based on the matching result and a fine adjustment tool contained in the correction tool; the target laser data are pre-stored laser data corresponding to the current initial position and the current initial posture;
when the matching result is a first matching result, responding to a first operation instruction of the user, adjusting the initial position and the initial posture to obtain a new initial position and a new initial posture, and when a second operation instruction of the user is received, taking the current initial position as a target position of the mobile robot relative to the global map, and taking the current initial posture as a target posture of the mobile robot relative to the global map; the first matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is smaller than a first threshold and larger than a second threshold, and the first threshold is larger than the second threshold.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when implementing the invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The method and the device for adjusting the relative pose of the robot to the map provided by the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for adjusting the relative pose of a robot to a map, the method being applied to a correction tool, the method comprising:
responding to a trigger instruction of a user, and generating a pose selection interface; wherein the pose selection interface comprises a global map of a mobile robot application environment;
determining a first position selected by the user in the pose selection interface as an initial position of the current position of the mobile robot relative to the global map;
determining an initial posture of the current posture of the mobile robot relative to the global map according to the initial position and a second position selected by the user on the posture selection interface;
acquiring laser data of the current position of the mobile robot;
displaying a matching result of the laser data of the current position of the mobile robot and the target laser data so that the user can adjust the initial position and the initial posture based on the matching result and a fine adjustment tool contained in the correction tool; the target laser data are pre-stored laser data corresponding to the current initial position and the current initial posture;
when the matching result is a first matching result, responding to a first operation instruction of the user, adjusting the initial position and the initial posture to obtain a new initial position and a new initial posture, and when a second operation instruction of the user is received, taking the current initial position as a target position of the mobile robot relative to the global map, and taking the current initial posture as a target posture of the mobile robot relative to the global map; the first matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is smaller than a first threshold and larger than a second threshold, and the first threshold is larger than the second threshold.
2. The method of claim 1, wherein after the displaying the matching result between the laser data of the current position of the mobile robot and the target laser data, further comprising:
under the condition that the matching result is a second matching result, responding to a second operation instruction of the user, taking a current initial position as a target position of the mobile robot relative to the global map, and taking a current initial posture as a target posture of the mobile robot relative to the global map; and the second matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not less than the first threshold value.
3. The method of claim 1, wherein after the displaying the matching result between the laser data of the current position of the mobile robot and the target laser data, further comprising:
under the condition that the matching result is a third matching result, responding to a third operation instruction of the user, deleting the current initial position and the current initial posture, and returning to execute the step of determining the first position selected by the user on the posture selection interface as the initial position of the current position of the mobile robot relative to the global map; and the third matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not greater than the second threshold value.
4. The method of claim 1, wherein the displaying the matching result of the laser data of the current position of the mobile robot and the target laser data comprises:
respectively drawing the laser data and the target laser data of the current position of the mobile robot on the global map by taking the initial position as a circle center;
acquiring the matching result of the laser data of the current position of the mobile robot and the target laser data according to the drawing result of the laser data of the current position of the mobile robot and the target laser data;
and displaying the matching result.
5. The method of claim 1, wherein determining an initial pose of the current pose of the mobile robot relative to the global map based on the initial position and a second position selected by the user at the pose selection interface comprises:
and calculating the initial posture of the current posture of the mobile robot relative to the global map according to the coordinates of the initial position in the global map and the coordinates of the second position selected by the user in the posture selection interface in the global map.
6. An apparatus for adjusting the pose of a robot with respect to a map, applied to a correction tool, the apparatus comprising:
the generating unit is used for responding to a trigger instruction of a user and generating a pose selection interface; wherein the pose selection interface comprises a global map of a mobile robot application environment;
a first determining unit, configured to determine a first position selected by the user in the pose selection interface as an initial position of the current position of the mobile robot relative to the global map;
a second determining unit, configured to determine an initial pose of the current pose of the mobile robot with respect to the global map according to the initial position and a second position selected by the user on the pose selection interface;
the acquisition unit is used for acquiring laser data of the current position of the mobile robot;
the display unit is used for displaying the matching result of the laser data of the current position of the mobile robot and the target laser data so that the user can adjust the initial position and the initial posture based on the matching result and a fine adjustment tool contained in the correction tool; the target laser data are pre-stored laser data corresponding to the current initial position and the current initial posture;
an adjusting unit, configured to, in a case that the matching result is a first matching result, respond to a first operation instruction of the user, adjust the initial position and the initial posture to obtain a new initial position and a new initial posture, and when a second operation instruction of the user is received, use a current initial position as a target position of the mobile robot relative to the global map, and use a current initial posture as a target posture of the mobile robot relative to the global map; the first matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is smaller than a first threshold and larger than a second threshold, and the first threshold is larger than the second threshold.
7. The apparatus of claim 6, further comprising:
a third determining unit, configured to, in response to a second operation instruction of the user if the matching result is a second matching result, take a current initial position as a target position of the mobile robot relative to the global map, and take a current initial posture as a target posture of the mobile robot relative to the global map; and the second matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not less than the first threshold value.
8. The apparatus of claim 6, further comprising:
a deleting unit, configured to, in a case that the matching result is a third matching result, delete a current initial position and a current initial posture in response to a third operation instruction of the user, and return to perform the step of determining a first position selected by the user on the posture selection interface as an initial position of the current position of the mobile robot relative to the global map; and the third matching result is used for indicating that the matching degree between the laser data of the current position of the mobile robot and the target laser data is not greater than the second threshold value.
9. The apparatus of claim 6, wherein the presentation unit performs presentation of a matching result of the laser data of the current position of the mobile robot and the target laser data, and is configured to:
respectively drawing the laser data and the target laser data of the current position of the mobile robot on the global map by taking the initial position as a circle center;
acquiring the matching result of the laser data of the current position of the mobile robot and the target laser data according to the drawing result of the laser data of the current position of the mobile robot and the target laser data;
and displaying the matching result.
10. The apparatus according to claim 6, wherein the second determination unit performs determining an initial pose of the current pose of the mobile robot with respect to the global map in accordance with the initial position and a second position selected by the user at the pose selection interface for:
and calculating the initial posture of the current posture of the mobile robot relative to the global map according to the coordinates of the initial position in the global map and the coordinates of the second position selected by the user in the posture selection interface in the global map.
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