CN113029156A - Remote control robot repositioning method, device, terminal and storage medium - Google Patents
Remote control robot repositioning method, device, terminal and storage medium Download PDFInfo
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Abstract
The invention discloses a repositioning method of a remote control robot, which is applied to a robot at a position of an interest point and comprises the following steps: establishing network connection with the robot; acquiring attribute information of an interest point where the robot is located on a preset map; sending the coordinates of the interest point to the robot; and replacing the current coordinates detected by the positioning system of the robot with the coordinates of the interest point. According to the repositioning method for the remote control robot, the coordinate of the positioning system of the robot is replaced by the coordinate of the interest point by means of remotely sending the attribute of the interest point, repositioning is completed, positioning information of the robot is accurately updated, and the problem of how to remotely reposition the robot is effectively solved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to a method, a device, a terminal and a storage medium for remotely controlling repositioning of a robot.
[ background of the invention ]
With the development of robotics, robots with autonomous movement capabilities have become more and more unmanned, automated, remote, and the like. However, when a robot performs a task in a building, various situations are encountered. For example, a robot is manually pushed across floors to a starting point, causing the robot floor to be positioned as a switch, which in turn causes the robot to lose position.
In view of the above, it is desirable to provide a method, an apparatus, a terminal and a storage medium for remotely controlling robot relocation to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a method, a device, a terminal and a storage medium for remotely controlling robot repositioning, aiming at solving the problem of how to remotely reposition a robot located at an interest point.
In order to achieve the above object, a first aspect of the present invention provides a method for relocating a remotely controlled robot, which is applied to a robot at a point of interest, and comprises the following steps:
establishing a network connection with the robot;
acquiring attribute information of an interest point where the robot is located on a preset map; the attribute information comprises a name, a number and coordinates;
sending the coordinates of the point of interest to the robot;
and replacing the current coordinates detected by the positioning system of the robot with the coordinates of the interest point.
In a preferred embodiment, after the step of replacing the current coordinates detected by the positioning system of the robot with the coordinates of the point of interest, the method further comprises the steps of:
acquiring grid coordinates of the interest points on a grid map;
sending a camera starting instruction to the robot, and then controlling the robot to measure the distance of the interest point to obtain the relative distance between the robot and the interest point;
and determining the grid coordinate of the robot on the grid map according to the relative distance and a preset scaling relation.
In a preferred embodiment, the method further comprises the steps of:
and judging whether the robot executes the task, and if so, enabling the robot to reject to be replaced by the coordinates of the interest point.
In a preferred embodiment, the step of replacing the current coordinates detected by the positioning system of the robot with the coordinates of the point of interest further comprises the steps of:
judging whether the repositioning is successful or not, and if so, switching the display of the robot on a positioning map; and if the result is negative, the robot refuses the response.
A second aspect of the present invention provides a remote controlled robot relocating device, comprising:
the network connection module is used for establishing network connection with the robot;
the attribute acquisition module is used for acquiring attribute information of the interest point of the robot on a preset map; the attribute information comprises a name, a number and coordinates;
the coordinate sending module is used for sending the coordinates of the interest points to the robot;
and the repositioning module is used for replacing the current coordinate detected by the positioning system of the robot with the coordinate of the interest point.
In a preferred embodiment, the method further comprises:
the grid coordinate acquisition module is used for acquiring grid coordinates of the interest points on the grid map;
the starting instruction sending module is used for sending a camera starting instruction to the robot, then controlling the robot to measure the distance of the interest point and obtaining the relative distance between the robot and the interest point;
and the grid coordinate determination module is used for determining the grid coordinate of the robot on the grid map according to the relative distance and a preset proportional conversion relation.
In a preferred embodiment, the method further comprises:
and the first judgment module is used for judging whether the robot executes the task, and if so, the robot refuses to replace the coordinate of the interest point with the coordinate of the interest point.
In a preferred embodiment, the method further comprises:
the second judgment module is used for judging whether the relocation is successful or not, and if so, switching the display of the robot on the positioning map; and if the result is negative, the robot refuses the response.
A third aspect of the present invention provides a terminal comprising a memory, a processor and a remote robot relocation program stored in the memory and executable on the processor, the remote robot relocation program, when executed by the processor, implementing the steps of the remote robot relocation method according to any one of the embodiments described above.
A fourth aspect of the present invention provides a computer-readable storage medium storing a remote-controlled robot relocation program which, when executed by a processor, implements the steps of the remote-controlled robot relocation method according to any one of the above embodiments.
According to the repositioning method for the remote control robot, the coordinate of the positioning system of the robot is replaced by the coordinate of the interest point by means of remotely sending the attribute of the interest point, repositioning is completed, positioning information of the robot is accurately updated, and the problem of how to remotely reposition the robot is effectively solved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a method for remotely controlling robot repositioning in accordance with the present invention;
FIG. 2 is a flow chart of another embodiment of a method of repositioning the remotely controlled robot of FIG. 1;
fig. 3 is a block diagram of a remotely operated robotic relocating device according to the present invention.
Fig. 4 is a block diagram of another embodiment of the remotely operated robotic relocating device shown in fig. 3.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In an embodiment of the present invention, a first aspect provides a relocation method for a remote-controlled robot, which is applied to a robot at a position of interest, and updates positioning information in a positioning system of the robot, so that the positioning of the robot is in accordance with reality, and the robot can normally execute a task.
As shown in fig. 1, the remote robot relocation method includes the following steps S11-S14.
Step S11, a network connection with the robot is established.
In this step, the technician may establish a remote connection with the robot through the operator terminal. The operation end may be a world wide Web (Web) platform, an APP, an applet, or the like. The operation end can be supported on terminal equipment such as a computer, a notebook computer, a mobile phone, a tablet computer and the like, and technicians can perform corresponding operation through a display interface of the terminal equipment.
For example, a technician establishes a remote network connection with a communication device of the robot through a communication Protocol such as Websocket (full duplex communication Protocol based on TCP), HTTP (hyper text Transfer Protocol over secure session Layer), or HTTPs (HyperText Transfer Protocol over secure session Layer) at the operation end, so that bidirectional data transmission can be performed between the operation end and the robot. Wherein, the operation end includes but is not limited to: the mobile phone comprises a desktop computer, a notebook computer, a mobile phone, a tablet computer and other electronic equipment with a web browsing function, and the operation end is provided with a display interface capable of displaying information. Specifically, step S11 includes the following steps:
firstly, network connection between an operation end and a cloud end is established. Specifically, the technical personnel are connected with the cloud server after the operation end is subjected to authority verification, and enter a control center corresponding to the cloud server. And then, establishing network connection between the cloud and the robot through the cloud. Specifically, a user can establish a remote connection with one or more robots through a control center of the cloud server, wherein the cloud server plays a role in proxy connection. Therefore, the cloud serves as a connection agent layer between the operation end and the robot, and transfer transmission and synchronization of data in the cloud are achieved. The robot can avoid the problem that when a plurality of operation ends are connected with the same robot for many times, the robot needs to be connected with each operation end, and therefore data synchronization waste is caused. Therefore, the cloud serves as a relay, and has at least two advantages: firstly, the problem of synchronous waste of connection data established between the robot and a multi-party operation terminal is reduced; and secondly, the cloud side is used for authority control, so that the network connection between the robot and external equipment is safer.
Further, step S11 further includes the sub-steps of: and judging whether the network connection between the operation end and the robot is successful, and if not, establishing the direct connection between the operation end and the robot through the intranet. Specifically, when the cloud server cannot establish a connection, the connection may include, but is not limited to, a failure of authority verification between the operation terminal and the cloud and a failure of connection of the cloud network. At the moment, the operation terminal intranet service direct connection robot can be used, and the function of remotely operating the robot is achieved. Of course, the intranet connection may be set to the robot connection authority setting.
Step S12, acquiring attribute information of the interest point of the robot on a preset map; the attribute information includes a name, a number, and coordinates.
Specifically, an operation end or a web end establishes remote connection with a robot, and a technician pushes the robot to a certain Point of interest (POI) on a floor where the robot is located at present, determines unique number information of the Point of interest, and then acquires attribute information, such as a map ID, coordinates (x, y), an angle value, and the like, of the preset map for the Point of interest according to the unique number information. It can be understood that the attribute information of each point of interest has been previously stored in a preset map.
Step S13, the coordinates of the point of interest are sent to the robot.
Specifically, after an interest point of the position where the robot is located is determined, the operation end or the web end sends a repositioning instruction to the robot end through a Websocket, an HTTP or an HTTPs communication protocol, where the repositioning instruction includes coordinate information of the interest point and more specific grid coordinate information.
In step S14, the current coordinates detected by the positioning system of the robot are replaced with the coordinates of the point of interest.
It can be understood that, when the robot loses positioning, the positioning information (including the positioning coordinates) in the positioning system of the robot is the information acquired by positioning for the last time when the robot loses positioning, and is not in accordance with the real coordinates of the current position where the robot actually locates, so that the coordinates of the interest point are replaced by the current coordinates of the robot, so that the positioning information in the positioning system of the robot is updated and is in accordance with the reality.
Furthermore, after the repositioning instruction is sent to the robot, whether the repositioning of the robot is successful is further judged. Specifically, a current positioning coordinate in a positioning system of the robot is obtained, whether the current positioning coordinate is coincident with a preset coordinate of the interest point is judged, if so, the display of the robot on a positioning map is switched, namely, the position of the robot is correspondingly marked on the position of the interest point in the preset map; and if the result is negative, the robot refuses to respond to display.
Further, in one embodiment, the method further comprises the steps of: and judging whether the robot executes the task, and if so, enabling the robot to reject to be replaced by the coordinates of the interest point. Specifically, after the robot receives the repositioning instruction, a task list of the robot is obtained first, whether a task in the task list is being executed is judged, and if the task is judged to be being executed by the robot, the robot is controlled to reject the repositioning instruction, so that interference on the task being executed by the robot is avoided.
Optionally, after the robot completes the coordinate replacement in the positioning system, it can be understood that there may be some errors between the position of the robot and the position of the interest point, which is shown in the rasterized map that the grid where the interest point and the robot are located is different. Therefore, as shown in FIG. 2, the method further includes the following steps S15-S17 to perform grid coordinate determination of the position of the robot in the grid map.
And step S15, acquiring grid coordinates of the interest points on the grid map. The grid coordinates of the interest points and the information of the reference points can be preset on a grid map, and the grid coordinates of the interest points can be directly called according to the map ID of the interest points, namely, the reference points of the interest points are located at grid positions in the map.
And step S16, sending a camera opening instruction to the robot, and then controlling the robot to measure the distance of the interest point to obtain the relative distance between the robot and the interest point. It can be understood that, because the grid coordinate of the robot is currently in an unknown state, the operation end or the web end can open the camera of the robot, determine the position of the reference point, and then start the laser sensor of the robot to detect the distance between the robot and the reference point, so as to obtain the linear distance between the reference point of the interest point and the robot. In the distance measuring process, the angle of the connecting line direction of the reference point and the robot in a preset map is detected. Specifically, the relative distances of the robot relative to two different reference points can be respectively obtained by respectively measuring the distance of the two reference points, and the distance length of the two reference points and the connecting line direction of the two reference points are known conditions in a preset map, so that the angle information of the connecting line between the robot and the reference points in the map can be determined through the distance relationship between the two reference points and the robot. It should be noted that the calculation process of the angle information can be calculated by using the existing mathematical knowledge, and the present invention is not described herein again.
And step S17, determining grid coordinates of the robot on the grid map according to the relative distance and a preset proportional conversion relation. For example, assuming that the connecting line of a reference point and the robot is exactly parallel to the Y-axis of the map, the grids of the grid map are all arranged parallel to the XY-axis, i.e. the connecting lines of the center points of the adjacent grids are all parallel to the X-axis or the Y-axis. And converting the distance between the reference point and the robot into the distance on the grid map according to a preset proportional conversion relation, and then easily obtaining the grid coordinate of the robot according to the grid coordinate of the reference point. Therefore, the obstacle avoidance capability of the robot in the autonomous movement is improved by further correcting the grid coordinates of the robot.
In summary, the method for relocating the remote controlled robot provided by the invention replaces the coordinates of the positioning system of the robot with the coordinates of the interest points by means of remotely sending the attributes of the interest points, completes the relocation, accurately updates the positioning information of the robot, and effectively solves the problem of how to remotely relocate the robot.
A second aspect of the present invention provides a remote robot repositioning device 100 for updating positioning information in a positioning system of a robot, so that the positioning of the robot is in accordance with the actual situation, and the robot can perform tasks normally. It should be noted that, the implementation principle and the implementation manner of the remote controlled robot repositioning device 100 may refer to the above-mentioned remote controlled robot repositioning method, and therefore, the details are not described below.
As shown in fig. 3, the remote controlled robot relocating device 100 includes:
a network connection module 10 for establishing a network connection with the robot;
the attribute acquisition module 20 is configured to acquire attribute information of an interest point where the robot is located on a preset map; the attribute information comprises a name, a number and coordinates;
a coordinate sending module 30, configured to send the coordinates of the point of interest to the robot;
a repositioning module 40 for replacing the current coordinates detected by the positioning system of the robot with the coordinates of the point of interest.
Further, in one embodiment, as shown in fig. 4, the remotely operated robotic repositioning device 100 further comprises:
a grid coordinate obtaining module 50, configured to obtain grid coordinates where the interest points on the grid map are located;
the starting instruction sending module 60 is used for sending a camera starting instruction to the robot, and then controlling the robot to measure the distance of the interest point to obtain the relative distance between the robot and the interest point;
and a grid coordinate determination module 70, configured to determine a grid coordinate of the robot on the grid map according to the relative distance and a preset scaling relationship.
Further, in one embodiment, the remotely operated robotic repositioning device 100 further comprises: and the first judgment module is used for judging whether the robot executes the task or not, and if so, the robot refuses to replace the coordinate of the interest point.
Further, in one embodiment, the remotely operated robotic repositioning device 100 further comprises: the second judgment module is used for judging whether the relocation is successful or not, and if the relocation is successful, the display of the robot on the positioning map is switched; and if the result is negative, the robot refuses the response.
A third aspect of the present invention provides a terminal (not shown in the drawings), wherein the terminal includes a memory, a processor, and a remote robot relocation program stored in the memory and executable on the processor, and when executed by the processor, the remote robot relocation program implements the steps of the remote robot relocation method according to any one of the above embodiments.
A fourth aspect of the present invention provides a computer-readable storage medium (not shown in the drawings), in which a remote-controlled robot relocation program is stored, and the remote-controlled robot relocation program, when executed by a processor, implements the steps of the remote-controlled robot relocation method according to any one of the above embodiments.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system or apparatus/terminal device and method can be implemented in other ways. For example, the above-described system or apparatus/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A remote control robot repositioning method is applied to a robot at a point of interest, and is characterized by comprising the following steps:
establishing a network connection with the robot;
acquiring attribute information of an interest point where the robot is located on a preset map; the attribute information comprises a name, a number and coordinates;
sending the coordinates of the point of interest to the robot;
and replacing the current coordinates detected by the positioning system of the robot with the coordinates of the interest point.
2. The method of remotely controlled robot repositioning according to claim 1, further comprising, after the step of replacing the current coordinates detected by the positioning system of the robot with the coordinates of the point of interest, the steps of:
acquiring grid coordinates of the interest points on a grid map;
sending a camera starting instruction to the robot, and then controlling the robot to measure the distance of the interest point to obtain the relative distance between the robot and the interest point;
and determining the grid coordinate of the robot on the grid map according to the relative distance and a preset scaling relation.
3. The method for remotely controlling robot repositioning according to claim 1, further comprising the steps of:
and judging whether the robot executes the task, and if so, enabling the robot to reject to be replaced by the coordinates of the interest point.
4. The method of remotely robot repositioning according to claim 1, wherein said step of replacing the current coordinates detected by the positioning system of the robot with the coordinates of the point of interest further comprises the steps of:
judging whether the repositioning is successful or not, and if so, switching the display of the robot on a positioning map; and if the result is negative, the robot refuses the response.
5. A remotely operated robotic relocating device, comprising:
the network connection module is used for establishing network connection with the robot;
the attribute acquisition module is used for acquiring attribute information of the interest point of the robot on a preset map; the attribute information comprises a name, a number and coordinates;
the coordinate sending module is used for sending the coordinates of the interest points to the robot;
and the repositioning module is used for replacing the current coordinate detected by the positioning system of the robot with the coordinate of the interest point.
6. The remotely operated robotic repositioning device of claim 5, further comprising:
the grid coordinate acquisition module is used for acquiring grid coordinates of the interest points on the grid map;
the starting instruction sending module is used for sending a camera starting instruction to the robot, then controlling the robot to measure the distance of the interest point and obtaining the relative distance between the robot and the interest point;
and the grid coordinate determination module is used for determining the grid coordinate of the robot on the grid map according to the relative distance and a preset proportional conversion relation.
7. The remotely operated robotic repositioning device of claim 5, further comprising:
and the first judgment module is used for judging whether the robot executes the task, and if so, the robot refuses to replace the coordinate of the interest point with the coordinate of the interest point.
8. The remotely operated robotic repositioning device of claim 5, further comprising:
the second judgment module is used for judging whether the relocation is successful or not, and if so, switching the display of the robot on the positioning map; and if the result is negative, the robot refuses the response.
9. A terminal, characterized in that the terminal comprises a memory, a processor and a remote robot relocation program stored in the memory and executable on the processor, the remote robot relocation program, when executed by the processor, implementing the steps of the remote robot relocation method according to any of claims 1-4.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a remote-controlled robot relocation program which, when executed by a processor, implements the steps of the remote-controlled robot relocation method according to any one of claims 1-4.
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