CN112859862A - Method and system for map correction by charging pile - Google Patents
Method and system for map correction by charging pile Download PDFInfo
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- CN112859862A CN112859862A CN202110054870.7A CN202110054870A CN112859862A CN 112859862 A CN112859862 A CN 112859862A CN 202110054870 A CN202110054870 A CN 202110054870A CN 112859862 A CN112859862 A CN 112859862A
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- 238000013507 mapping Methods 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 12
- 230000005855 radiation Effects 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 description 14
- 238000004140 cleaning Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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Abstract
The invention discloses a method and a system for map correction by using a charging pile, wherein the method comprises the following steps: s1, the robot establishes a global map by taking the position of the charging pile as an initial coordinate, and then divides a working area into a plurality of sub-areas; s2, starting from the charging pile, the robot enters a sub-area to work, and meanwhile, a local map of the sub-area is built; s3, after the robot finishes the work of one sub-area, returning to the charging pile to obtain the offset coordinate quantity, and then synchronizing the local map to the global map according to the offset coordinate quantity; s4, the robot resets its current coordinates to the initial coordinates and then returns to S2 for execution until the local maps of all sub-areas are synchronized onto the global map to complete the map correction. The method and the system provided by the invention adjust the coordinates of the grid on the local map by taking the position of the charging pile as a reference so as to realize map correction, so that the positioning and mapping of the robot are more accurate.
Description
Technical Field
The invention relates to the field of robots, in particular to a method and a system for map correction by using a charging pile.
Background
The pure inertial navigation robot is a low-cost scheme, and generally only comprises a odometer, a gyroscope and an infrared sensor, and after the robot runs for a long time or wheels slip in a complex environment and other factors, the actual estimated direction and the constructed image of the robot can generate large errors with the actual situation.
Disclosure of Invention
In order to solve the problems, the invention provides a method and a system for correcting a map by using charging piles, which can realize error correction of the map built by a pure inertial navigation robot by using only one charging pile, so that the positioning and map building of the robot are more accurate. The specific technical scheme of the invention is as follows:
a method for map correction by using a charging pile comprises the following steps: s1, the robot establishes a global map by taking the position of the charging pile as an initial coordinate, and then divides a working area into a plurality of sub-areas; s2, starting from the charging pile, the robot enters a sub-area to work, and meanwhile, a local map of the sub-area is built; s3, after the robot finishes the work of one sub-area, returning to the charging pile to obtain the offset coordinate quantity, and then synchronizing the local map to the global map according to the offset coordinate quantity; s4, the robot resets its current coordinates to the initial coordinates and then returns to S2 for execution until the local maps of all sub-areas are synchronized onto the global map to complete the map correction. The method provided by the invention has the advantages that the map is corrected by using one charging pile, under the condition that the position of the charging pile is fixed, the coordinate of the grid on the local map is corrected according to the offset coordinate quantity and then is synchronized to the global map, and the positioning and mapping of the robot can be more accurate.
Further, in step S2, when the robot is working, it builds a grid on the local map and detects whether the wheels are slipping, if the wheels are not slipping, the robot marks the corresponding grid with confidence, and if the wheels are slipping, the robot marks the next grid with distrust after the waiting robot is free from slipping. Different marks are marked on the grids, and the trusted grids do not need to be adjusted, otherwise, the accuracy of drawing is influenced.
Further, in step S3, the robot returns to the charging pile through the guidance of the infrared emission lamp, and simultaneously records the current coordinates of the robot.
Further, in step S3, the method for obtaining the offset coordinate amount includes: and the robot calculates the distance between the current coordinate and the initial coordinate of the charging pile, if the distance is smaller than a preset value, the offset coordinate quantity is 0, and if the distance is larger than or equal to the preset value, the robot subtracts the initial coordinate of the charging pile from the current coordinate to obtain the offset coordinate quantity. When the distance is smaller than the preset value, the local map is considered to be accurate, and resources do not need to be spent for adjustment.
Further, in step S3, if the offset coordinate amount is 0, the robot maps the grid coordinates on the local map to the global map one by one.
Further, in step S3, if the offset coordinate amount is not 0, the local map is synchronized to the global map by subtracting the offset coordinate amount from the coordinates of the grid with the untrusted sign by the robot to obtain calibration coordinates, and then mapping the coordinates of the grid with the untrusted sign and the calibration coordinates into the global map one by one. The adjustment of the untrusted grid makes the positioning and mapping of the robot more accurate.
A system for map correction by using a charging pile comprises a robot and the charging pile. The system provided by the invention corrects the map by using one charging pile, and under the condition that the position of the charging pile is fixed, coordinates of grids on a local map are corrected according to the offset coordinate quantity and then are synchronized to the global map, so that the positioning and mapping of the robot are more accurate.
Further, the robot comprises an odometer, a gyroscope and an infrared sensor; fill electric pile and include the infrared emission lamp, the infrared emission lamp is including keeping away a signal lamp, left signal lamp, right signal lamp and intermediate signal lamp, wherein, keep away a signal lamp setting at the center of filling electric pile, left side signal lamp sets up the left at filling electric pile, right side signal lamp sets up right-hand at filling electric pile, intermediate signal lamp sets up the place ahead at filling electric pile. The infrared signal is used for guiding the robot to return to the seat, the structure is simple, and the realization is easy.
Further, the middle signal lamp has two, two middle signal lamps all face towards the dead ahead of filling electric pile, and there is the stack district in their infrared radiation range, the stack district is used for the robot to aim at and fills electric pile. The stack district can let the robot aim at the electric pile that fills better to the seat is returned to the accuracy.
Drawings
Fig. 1 is a flowchart of a method for map correction using a charging pile according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a system for map correction by using a charging pile according to an embodiment of the present invention.
Fig. 3 is a schematic view of a scene in which a charging pile is used to correct a map according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
The robot carrier is provided with a gyroscope for detecting a rotation angle and a milemeter for detecting a travel distance, and is also provided with a sensor capable of detecting a wall distance, wherein the sensor for detecting the wall distance can be an ultrasonic distance sensor, an infrared intensity detection sensor, an infrared distance sensor, a physical switch detection collision sensor, a capacitance or resistance change detection sensor and the like.
As shown in fig. 1, a method for map correction using a charging pile includes the following steps: s1, the robot establishes a global map by taking the position of the charging pile as an initial coordinate, and then divides a working area into a plurality of sub-areas; s2, starting from the charging pile, the robot enters a sub-area to work, and meanwhile, a local map of the sub-area is built; s3, after the robot finishes the work of one sub-area, returning to the charging pile to obtain the offset coordinate quantity, and then synchronizing the local map to the global map according to the offset coordinate quantity; s4, the robot resets its current coordinates to the initial coordinates and then returns to S2 for execution until the local maps of all sub-areas are synchronized onto the global map to complete the map correction. According to the method, the map is corrected by using one charging pile, under the condition that the position of the charging pile is fixed, coordinates of grids on a local map are corrected according to the offset coordinate quantity and then are synchronized to the global map, and therefore the robot can be positioned and built more accurately.
As one example, in step S2, when the robot works, it establishes a grid on the local map and detects whether the wheels slip, if the wheels do not slip, the robot marks the corresponding grid with confidence, and if the wheels slip, the robot marks the grid with confidence on the next walking after the robot gets rid of the slip. According to the method, different marks are marked on the grids, the trusted grids do not need to be adjusted, and otherwise the accuracy of drawing construction is affected.
As an example, in step S3, the robot returns to the charging pile through the guidance of the infrared emission lamp, and simultaneously records the current coordinates of the robot.
As an example, in step S3, the method for obtaining the offset coordinate amount is as follows: and the robot calculates the distance between the current coordinate and the initial coordinate of the charging pile, if the distance is smaller than a preset value, the offset coordinate quantity is 0, and if the distance is larger than or equal to the preset value, the robot subtracts the initial coordinate of the charging pile from the current coordinate to obtain the offset coordinate quantity. In the method of the embodiment, when the distance is smaller than the preset value, the local map is considered to be accurate, and resources are not required to be spent for adjustment.
As an example, in step S3, if the offset coordinate amount is 0, the robot maps the grid coordinates on the local map into the global map one by one.
As an example, in step S3, if the offset coordinate amount is not 0, the local map is synchronized to the global map by subtracting the offset coordinate amount from the coordinates of the grid with the untrusted sign by the robot to obtain calibration coordinates, and then mapping the coordinates of the grid with the untrusted sign and the calibration coordinates into the global map one by one. The method of the embodiment adjusts the untrusted grids, so that the positioning and mapping of the robot are more accurate.
As shown in fig. 2, a system for map correction using a charging pile includes a robot and the charging pile. According to the method, the map is corrected by using one charging pile, under the condition that the position of the charging pile is fixed, coordinates of grids on a local map are corrected according to the offset coordinate quantity and then are synchronized to the global map, and therefore the robot can be positioned and built more accurately.
As one of the embodiments, the robot includes an odometer, a gyroscope, and an infrared sensor; fill electric pile and include the infrared emission lamp, the infrared emission lamp is including keeping away a signal lamp, left signal lamp, right signal lamp and intermediate signal lamp, wherein, keep away a signal lamp setting at the center of filling electric pile, left side signal lamp sets up the left at filling electric pile, right side signal lamp sets up right-hand at filling electric pile, intermediate signal lamp sets up the place ahead at filling electric pile. The method of the embodiment guides the robot to return to the seat by using the infrared signal, and is simple in structure and easy to realize.
In one embodiment, the number of the intermediate signal lamps is two, the two intermediate signal lamps face to the right front of the charging pile, and the infrared radiation ranges of the two intermediate signal lamps are overlapped, and the overlapped area is used for aligning the robot with the charging pile. According to the method, the overlapping area can enable the robot to better align with the charging pile, so that the robot can return to the seat without error.
The method of the present invention will be described in detail below with reference to the accompanying drawings.
The charging post 10 shown in fig. 2 has 5 ir emitting lights, wherein a semicircular signal range is generated by the seat avoidance signal light 11 with a radius of about 0.5-0.7 m, and the range has a specific ir code value, such as 0x 80. To the left of the charging post is a left signal light 12, with a radiation range of 1-3 meters, denoted 0x81, and a right signal light 13, denoted 0x 82. There are two intermediate signal lights 14 in front of the charging post, with a radiation range of about 4 meters. The two intermediate signal lights 14, left-to-right, are denoted by 0x84, 0x88, respectively, and the middle also forms an overlap region, which is denoted by 0x8 c. Robot 20 can find the position of filling electric pile 10 through its infrared sensor 23 analysis specific infrared code value, then utilizes the stack area to make the robot aim at and fill electric pile 10, realizes accurate seat that returns. It should be noted that the signal distribution of the infrared signal lamp can be adjusted by the angle and the emission intensity of the structural member.
Fig. 3 contemplates a scenario where the sweeping robot 20 sweeps an environment. To summarize, any scene may be abstracted as the scene in fig. 3, and other scenes may be regarded as special cases, for example, some scenes may not have the left or right side, and some scenes may not have the front or back side, as long as the position of the charging pile 10 is regarded as the center of the scene. It should be noted that in the method according to the invention, the position of the charging post 10 is fixed, i.e. the position of the charging post 10 cannot be changed during the implementation of the method according to the invention. In addition, the area in fig. 3 is a cleaning logical partition that is established in advance, the sweeping robot 20 cleans each sub-area one by one according to a set sequence, and the sweeping robot 20 at this time has established a global map.
After receiving the cleaning command on the charging pile 10, the cleaning robot 20 records the initial coordinates (0, 0) of the charging pile 10, and then starts from the charging pile 10 to the subarea 1 for cleaning. While sweeping, the sweeping robot 20 creates a local map of the sub-area, and a grid is also created on the local map. The grid is represented on the map as a small grid for representing a specific position on the map. Establishing grid reliability on a grid for subsequently adjusting coordinate offset, wherein the specific method comprises the following steps: when the sweeping robot 20 is sweeping, it continuously determines whether the wheels slip, if the wheels are determined not to slip, the corresponding grid is marked with 0, and if the wheels are determined to slip, the grid which is next walked after the sweeping robot 20 gets rid of slipping is marked with 1. Where 0 represents a trusted tag and 1 represents an untrusted tag. After the sweeping robot 20 has completed sweeping a sub-area, each grid is marked with trust and distrust, and then the robot 20 navigates back to the charging pile 10. The robot 20 uses the infrared sensor 23 to look for the infrared radiation that fills electric pile 10 and launch, constantly is close to filling electric pile 10 to find the stack area that infrared code value is 0x8 c. Utilize this stack district, robot 20 of sweeping the floor can accurately dock electric pile 10. After successfully returning to the charging pile 10, the robot 20 records its current coordinates. It should be emphasized again that the actual position of the charging pile 10 does not change, otherwise the robot 20 will record the wrong coordinates, which affects the subsequent map correction.
Assuming that the current coordinates of robot 20 are (X, Y), robot 20 performs the calculation: dis = √ (X-0)2+(Y-0)2And obtaining the distance between the initial position of the charging pile 10 and the current position of the robot 20, and then comparing the distance with a preset value. In the present invention, the preset value is the length of two fuselages. If the distance is smaller than the length of the two airframes, the distance is considered as an error in a reasonable range, the coordinates of the grid do not need to be corrected, and the map correction can be completed by directly mapping the coordinates on the grid to the global map one by one. If the distance is greater than or equal to the length of two fuselages, meaning that the coordinates on the grid need to be remapped, the initial coordinates (0, 0) of the charging post 10 are subtracted from the current coordinates (X, Y) of the robot 20 to obtain the offset coordinate quantities X and Y, which are then subtracted from the coordinates of the grid with the untrusted sign to obtain the adjusted calibration coordinates. Assuming that the grid with the untrusted sign has coordinates (Xs, Ys), the adjusted calibration coordinates are (Xs-X, Ys-Y). Robot 20 then maps the calibration coordinates and grid coordinates with trust marker 0 onto the global map, completing the correction. The ratio of mapping the local map to the global map is 1: 1. then, the sweeping robot 20 forcibly resets its current coordinates (X, Y) to the initial coordinates (0, 0) of the charging pile 10, and then starts from the charging pile 10 again, goes to the sub-area 2 for sweeping and performs the same method until the sweeping of all the sub-areas is completed. It should be noted that the map correction method is applicable to a pure inertial navigation robot, and the robot returns to the charging pile to correct the map and correct errors in positioning and mapping of the robot every time the robot cleans a sub-area.
Obviously, the above-mentioned embodiments are only a part of embodiments of the present invention, not all embodiments, and the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear in the embodiments, their indicated orientations or positional relationships are based on those shown in the drawings only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation or be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. If the terms "first", "second", "third", etc. appear in the embodiments, they are for convenience of distinguishing between related features, and they are not to be construed as indicating or implying any relative importance, order or number of features.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for map correction by using a charging pile is characterized by comprising the following steps:
s1, the robot establishes a global map by taking the position of the charging pile as an initial coordinate, and then divides a working area into a plurality of sub-areas;
s2, starting from the charging pile, the robot enters a sub-area to work, and meanwhile, a local map of the sub-area is built;
s3, after the robot finishes the work of one sub-area, returning to the charging pile to obtain the offset coordinate quantity, and then synchronizing the local map to the global map according to the offset coordinate quantity;
s4, the robot resets its current coordinates to the initial coordinates and then returns to S2 for execution until the local maps of all sub-areas are synchronized onto the global map to complete the map correction.
2. The method of claim 1, wherein in step S2, the robot is operated to establish grids on the local map and detect whether the wheels are slipping, if the wheels do not slip, the robot marks the corresponding grid with confidence, and if the wheels slip, the robot marks the grid with non-confidence after the robot breaks the slip.
3. The method of claim 1, wherein in step S3, the robot returns to the charging pile through the guidance of the infrared emission lamp, and records the current coordinates of the robot.
4. The method for map correction through the charging pile according to claim 1, 2 or 3, wherein in the step S3, the method for obtaining the offset coordinate quantity is as follows: and the robot calculates the distance between the current coordinate and the initial coordinate of the charging pile, if the distance is smaller than a preset value, the offset coordinate quantity is 0, and if the distance is larger than or equal to the preset value, the robot subtracts the initial coordinate of the charging pile from the current coordinate to obtain the offset coordinate quantity.
5. The method for map correction using a charging pile according to claim 4, wherein in step S3, if the offset coordinate amount is 0, the local map is synchronized to the global map by a robot mapping grid coordinates on the local map to the global map one by one.
6. The method of claim 4, wherein in step S3, if the offset coordinate quantity is not 0, the local map is synchronized to the global map by subtracting the offset coordinate quantity from the coordinates of the grid with the untrusted sign by the robot to obtain calibration coordinates, and then mapping the coordinates of the grid with the untrusted sign and the calibration coordinates to the global map one by one.
7. A system for map correction using a charging pile, which is used for implementing any one of the methods for map correction using a charging pile according to claims 1-6, wherein the system comprises a robot and a charging pile.
8. The system for map correction using the charging pile according to claim 7, wherein the robot includes an odometer, a gyroscope, and an infrared sensor; the charging pile comprises an infrared emission lamp, the infrared emission lamp comprises a seat avoidance signal lamp, a left signal lamp, a right signal lamp and a middle signal lamp, wherein,
keep away a signal lamp setting at the center of filling electric pile, left side signal lamp sets up in the left of filling electric pile, right side signal lamp sets up in the right-hand of filling electric pile, the place ahead of filling electric pile is being set up to middle signal lamp.
9. The system for map correction through the charging pile according to claim 8, wherein the number of the intermediate signal lamps is two, the two intermediate signal lamps face to the right front of the charging pile, and the infrared radiation ranges of the two intermediate signal lamps are overlapped, and the overlapped area is used for aligning the charging pile with a robot.
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| CN112859862B (en) | 2024-09-24 |
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