CN113075647A - Robot positioning method, device, equipment and medium - Google Patents
Robot positioning method, device, equipment and medium Download PDFInfo
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- CN113075647A CN113075647A CN202110194435.4A CN202110194435A CN113075647A CN 113075647 A CN113075647 A CN 113075647A CN 202110194435 A CN202110194435 A CN 202110194435A CN 113075647 A CN113075647 A CN 113075647A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Abstract
The embodiment of the invention discloses a robot positioning method, a device, equipment and a medium. The method comprises the following steps: determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels; if the label image is deformed, selecting at least one label from the label image, and determining any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle; and determining the positioning information of the robot according to the internal angle and the distance value. The embodiment of the invention realizes the determination of the positioning information of the robot based on the deformation label.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a robot positioning method, a device, equipment and a medium.
Background
In the use process of the robot, positioning is usually realized based on the label, and then the moving route is determined according to the positioning information. Since the tag is generally installed on an indoor roof of an environment where the robot operates, there are various types of indoor roofs, such as a flat type and a heterogeneous type. When the roof type is different forms such as tilting or curved surface formula for the label that the robot obtained appears the deformation of different degree because of the roof reason, leads to the robot can't confirm the locating information based on the deformation label, thereby influences normal removal.
Disclosure of Invention
The embodiment of the invention provides a robot positioning method, device, equipment and medium, and aims to determine positioning information of a robot based on a deformation label.
In a first aspect, an embodiment of the present invention provides a robot positioning method, including:
determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels;
if the label image is deformed, selecting at least one label from the label image, and determining any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle;
and determining the positioning information of the robot according to the internal angle and the distance value.
In a second aspect, an embodiment of the present invention further provides a robot positioning apparatus, including:
the first determining module is used for determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels;
a second determining module, configured to select at least one label from the label image if the label image is deformed, and determine any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle;
and the positioning determining module is used for determining the positioning information of the robot according to the internal angle and the distance value.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
the camera is used for acquiring a label image used for determining the positioning information of the robot;
a memory for storing one or more programs;
one or more processors, configured to acquire a tag image acquired by the camera, and read and execute one or more programs stored in the memory, so as to implement the robot positioning method according to any one of the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the robot positioning method according to any one of the embodiments of the present invention.
The technical scheme disclosed by the embodiment of the invention has the following beneficial effects:
when the deformation of the label image acquired by the camera is determined, at least one label is selected from the label image, any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle are determined, and then the positioning information of the robot is determined according to the determined internal angle and the distance value. According to the embodiment of the invention, the positioning information of the robot is determined based on the processed label by processing the deformed label, so that the purpose of determining the positioning information of the robot based on the deformed label is realized, and the guarantee is provided for the normal movement of the robot.
Drawings
Fig. 1 is a schematic flowchart of a robot positioning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a label setting manner according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a robot positioning method according to a second embodiment of the present invention;
fig. 4 is a schematic flowchart of a robot positioning method according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot positioning device according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad invention. It should be further noted that, for convenience of description, only some structures, not all structures, relating to the embodiments of the present invention are shown in the drawings.
The following describes in detail a robot positioning method, apparatus, device, and medium according to embodiments of the present invention with reference to the accompanying drawings.
Example one
Fig. 1 is a schematic flowchart of a robot positioning method according to an embodiment of the present invention. The embodiment is applicable to a scenario in which the robot positioning information is determined based on the deformed tag, and the method may be performed by a robot positioning apparatus, which may be composed of hardware and/or software and may be integrated in an electronic device. The electronic device in this embodiment is preferably a robot. As shown in fig. 1, the method specifically includes the following steps:
s101, determining whether a label image acquired by a camera is deformed or not, wherein the label image comprises at least two labels.
In the present embodiment, the camera is preferably an infrared camera; wherein the infrared camera may be, but is not limited to: spherical infrared cameras and non-spherical infrared cameras. Usually, the infrared camera is disposed at the head top of the robot for collecting the image of the tag disposed on the roof of the robot operating environment. Here the label image is an infrared image.
It should be noted that, in the embodiment, the tags disposed on the roof of the operating environment may be disposed in one roof area at intervals of a preset distance according to actual needs, so as to complete the positioning operation of the robot through the tags in the area. The preset distance may be flexibly set, for example, 1 meter (m), 1.5m, or 2m, and the like, which is not limited herein. Optionally, the embodiment preferably sets a plurality of tags at every preset distance in one roof area, so as to complete the positioning of the robot by the plurality of tags in the roof area. For example, as shown in fig. 2, 21 in fig. 2 is a roof of the robot operation environment, 22 is a roof area in the roof, and 23 is a plurality of tags disposed in the roof area.
The label of the embodiment is preferably a reflective label, and the shape of the label is preferably a regular polygon label. For example, a regular quadrangle, a regular pentagon, a regular hexagon, or the like. The label has the property that when the infrared camera emits infrared beams to the reflective layer of the label, the reflective layer can reflect the infrared beams. Therefore, the embodiment can acquire the label image with the label through the infrared camera based on the light beam reflected by the regular polygon reflective label.
Specifically, when the robot is used to replace or assist a human to complete various tasks, the robot moves according to a movement route planned based on the starting position and the ending position when receiving a starting instruction. In the moving process, the robot can control the infrared camera to emit infrared beams outwards in real time, so that the infrared camera collects images of the area where the infrared beams are located, and when the collected images are label images, the robot positioning information is determined based on the label images, and therefore basis is provided for the movement of the robot.
In the embodiment, when the infrared camera is controlled to collect an image, the infrared camera can be controlled to emit an infrared beam outwards according to the current infrared emission angle, and the image of the area where the infrared beam is located is collected; or, the current position of the robot can be used as the center, the infrared camera is controlled to emit infrared beams outwards one by one according to a preset rotation angle, images of the area where the infrared beams are located each time are collected sequentially, and infrared images of a circle around the current position of the robot are obtained. It is not particularly limited herein.
After the robot acquires the image acquired by the infrared camera, the image acquired by the infrared camera can be analyzed, and whether the image is a label image or not is determined. When the image acquired by the infrared camera is determined to have at least two labels, determining the image as a label image; and when the image acquired by the infrared camera is determined not to have the label, determining that the image is not the label image.
Further, the robot may be of a flat type or a profiled type due to the various types of roofs of the robot operating environment. When the type of the roof of the operation environment is a special-shaped type, the labels arranged on the roof of the type may deform to different degrees due to the shape of the roof, so that the label images acquired by the infrared camera are different from the normal label images, for example, a certain part of the label images is stretched, enlarged or stretched and reduced, so that the robot cannot determine the positioning information based on the deformed label images, thereby affecting the normal movement of the robot.
Therefore, in this embodiment, after determining that the image acquired by the infrared camera is the tag image, it may also be determined whether the tag image is deformed, and different positioning operations are performed according to the determination result. Optionally, for example, when it is determined that the tag image is deformed, processing the deformed tag image to determine robot positioning information based on the processed tag image; and when the label image is determined not to be deformed, determining the robot positioning information based on the normal label image.
Specifically, determining whether the label image acquired by the camera is deformed may be implemented in various ways, for example, by the following steps:
situation one
And determining whether the label image deforms or not according to the similarity between the label image and a preset label image.
The preset label image is a standard label image used for determining the positioning information of the robot.
Optionally, an image similarity algorithm may be used to calculate the similarity between the label image and the preset label image, and compare the similarity with a similarity threshold value, so as to determine whether the label image is deformed according to the comparison result. If the similarity is less than the similarity threshold, then the label image may be determined to be deformed, otherwise no deformation occurs. The image similarity algorithm may be any algorithm capable of calculating the similarity between images, such as an euclidean distance or a cosine distance, and the like, which is not limited herein.
In this embodiment, the similarity threshold may be set according to actual needs, and is not specifically limited herein. For example, the similarity threshold is set to 0.95 or 0.98, etc.
Situation two
And determining whether the label image deforms or not according to the imaging vertex coordinates of each label in the label image.
Specifically, after a label image acquired by the infrared camera is obtained, an imaging coordinate system may be added to the label image to obtain imaging vertex coordinates of each label in the label image. And then, matching the imaging vertex coordinates of each label with the imaging vertex coordinates of the label at the corresponding position in the preset label image, and determining whether the imaging vertex coordinates of each label in the label image are matched with the imaging vertex coordinates of the label at the corresponding position in the preset label image. And if the coordinates of any imaging vertex of any label in the label image are not matched with the coordinates of each imaging vertex of the label at the corresponding position in the preset label image, determining that the label image is deformed, otherwise, determining that the label image is not deformed.
It should be noted that, the above several cases for determining whether the label image collected by the infrared camera is deformed are only used as an exemplary illustration of the embodiment of the present invention, and are not used as a specific limitation to the embodiment of the present invention.
S102, if the label image is deformed, selecting at least one label from the label image, and determining any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle.
The selected at least one label can be one or more labels randomly selected from the label images;
in this embodiment, the preset point may be a point randomly selected from the interior of the selected at least one tag, and is not limited herein.
Optionally, in this embodiment, any internal angle of the selected label is determined, and an imaging coordinate system may be added to the deformed label image, so that each vertex of each label in the deformed label image corresponds to one imaging vertex coordinate, and the robot may randomly select a plurality of imaging vertex coordinates capable of forming one internal angle from each imaging vertex coordinate of the selected label. The plurality of imaging vertex coordinates in the present embodiment is preferably three imaging vertex coordinates. And then, the robot calculates a first vector and a second vector of adjacent positions according to the selected coordinates of the three imaging vertexes. The robot then calculates any interior angle of the selected label based on the first vector and the second vector.
That is, the present embodiment determines any internal angle of the label including: obtaining a plurality of imaging vertex coordinates forming the interior angle; calculating a first vector and a second vector of adjacent positions according to the imaging vertex coordinates; determining any interior angle of the tag based on the first vector and the second vector.
For example, assuming that each label in the normal label image is a regular hexagon, when the label image acquired by the camera is deformed, the label randomly selected from the deformed label image is a deformed hexagon label. I.e. any interior angle of the labels in the deformed label image is not 120 deg.. If the label selected from the deformation label image is a deformation hexagonal label A, and from the deformation image added with the imaging coordinate system, randomly selecting imaging vertex coordinates used for forming an internal angle abc in the deformation hexagonal label A as follows: a (Xa, Ya), b (Xb, Yb) and c (Xc, Yc). Then based on a (Xa, Ya), b (Xb, Yb) and c (Xc, Yc), a first vector of neighboring positions can be calculated:
and a second vector:
wherein the content of the first and second substances,
then, using the vector angle formula:
and calculating a cosine value of an included angle between the first vector and the second vector, and solving the cosine of the cos alpha to obtain an angle value alpha of an inner angle abc of the label A.
Further, the embodiment determines the distance value between the preset point in the label and any side forming the internal angle, and the distance value can be realized by a point-to-vector distance formula.
Continuing with the above example, assuming that the preset point selected from the deformed hexagonal label a is point d (Xd, Yd), then the distance formula from the point to the vector can be used:
calculating the edge from the point d to the internal angle abc
The distance value k of (2).
S103, determining the positioning information of the robot according to the internal angle and the distance value.
Specifically, when the positioning information of the robot is determined, the number of pixels between the selected label and the adjacent label in the deformed label image may be calculated based on the determined internal angle and distance value, and then the positioning information of the robot may be determined according to the number of pixels. The adjacent label refers to other labels adjacent to the selected label in the horizontal direction or the vertical direction.
In this embodiment, the number of pixels between the selected label and the adjacent label in the deformed label image can be calculated by the following formula:
and determining the positioning information of the robot according to the number of pixels and a preset determination rule. The preset determination rule can be set according to actual needs. For example, the corresponding distance is calculated based on the number of pixels and the pixel scale, and then the positioning information list is queried according to the distance to determine the positioning information of the robot, etc., without being limited thereto
And S104, if the label image is not deformed, determining the positioning information of the robot based on the label image.
In this embodiment, the pose information of the robot is determined based on the tag image, and may be implemented in the following manner:
in a first mode
And determining the positioning information of the robot in the mapping relation between the preset label and the positioning information based on any label in the label image.
Specifically, the similarity between any selected label and each label in the mapping relationship can be calculated, and the positioning information corresponding to the label is obtained from the mapping relationship based on the label corresponding to the maximum similarity, so that the positioning information is determined as the positioning information of the robot.
Mode two
And processing any label in the label image to acquire the characteristic information carried by the label, determining the positioning information associated with the label based on the characteristic information, and determining the positioning information as the positioning information of the robot.
The two modes are only exemplary illustrations of the embodiments of the present invention, and are not specific limitations of the embodiments of the present invention.
Further, the robot determines a movement route based on the determined positioning information, and moves based on the determined movement route.
According to the technical scheme provided by the embodiment of the invention, when the deformation of the label image acquired by the camera is determined, at least one label is selected from the label image, any internal angle of the label and the distance value between a preset point in the label and any side forming the internal angle are determined, and then the positioning information of the robot is determined according to the determined internal angle and the distance value. According to the embodiment of the invention, the positioning information of the robot is determined based on the processed label by processing the deformed label, so that the purpose of determining the positioning information of the robot based on the deformed label is realized, and the guarantee is provided for the normal movement of the robot.
Example two
Fig. 3 is a schematic flowchart of a robot positioning method according to a second embodiment of the present invention. Further optimization and expansion are carried out on the basis of the embodiment. Specifically, when the number of the selected labels in the deformed label image is multiple, the positioning information of the robot can be determined based on the multiple labels. The following describes the above-mentioned situation of the robot positioning method according to the embodiment of the present invention with reference to fig. 3. As shown in fig. 3, the method is as follows:
s301, determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels.
S302, if the label image is deformed, selecting a plurality of labels from the label image, and respectively determining any internal angle of each label and a distance value between a preset point in each label and any side forming the internal angle.
In this embodiment, a plurality of labels are selected from the label image, preferably, one label is sequentially selected from the label image, and any internal angle of each selected label and a distance value between a preset point in each label and any side forming any internal angle of the label are determined until the internal angles and the distance values of all labels in the label image are obtained.
It should be noted that, in this embodiment, a plurality of tags are selected from the tag image, and an implementation process and an implementation principle of any internal angle of each tag and a distance value between a preset point in each tag and any side forming the internal angle are determined, which are the same as those in the foregoing embodiment, and refer to the foregoing embodiment specifically, and no redundant description is given here.
And S303, determining the positioning information corresponding to each label based on the internal angle and the distance value of each label to obtain all positioning information.
Specifically, after the internal angle and the distance value of each selected tag are determined, the present embodiment may calculate the number of pixels between each tag and an adjacent tag according to the internal angle and the distance value of each tag, and then determine a piece of positioning information corresponding to each tag according to the number of pixels, thereby obtaining all pieces of positioning information.
The implementation process and the implementation principle for determining the positioning information corresponding to each tag are the same as those in the foregoing embodiments, and reference is specifically made to the foregoing embodiments, which are not described in detail herein.
S304, selecting the positioning information of the robot from all the positioning information.
In this embodiment, among a plurality of positioning information determined according to a plurality of tags, there is a problem that some positioning information is inaccurate and has an error. Therefore, the positioning information with the same information and the largest quantity can be selected from all the positioning information as the target positioning information, and the target positioning information is determined as the positioning information of the robot. The positioning information with the same information and the largest quantity is selected from the plurality of positioning information to be used as the final positioning information of the robot, so that the positioning accuracy of the robot is improved, and conditions are provided for the normal movement of the robot.
S305, if the label image is not deformed, determining the positioning information of the robot based on the label image.
According to the technical scheme provided by the embodiment of the invention, when the deformation of the label image acquired by the camera is determined, at least one label is selected from the label image, any internal angle of the label and the distance value between a preset point in the label and any side forming the internal angle are determined, and then the positioning information of the robot is determined according to the determined internal angle and the distance value. According to the embodiment of the invention, the positioning information of the robot is determined based on the processed label by processing the deformed label, so that the purpose of determining the positioning information of the robot based on the deformed label is realized, and the guarantee is provided for the normal movement of the robot. In addition, the embodiment of the invention further improves the accuracy of robot positioning by selecting the positioning information with the same information and the most amount from the plurality of positioning information as the final positioning information of the robot.
EXAMPLE III
Fig. 4 is a schematic flowchart of a robot positioning method according to a third embodiment of the present invention. Further optimization and expansion are carried out on the basis of the embodiment. As shown in fig. 4, the method specifically includes:
s401, determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels.
S402, if the label image is deformed, selecting at least one label from the label image, and determining any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle.
And S403, determining the positioning information of the robot according to the internal angle and the distance value.
S404, at least two pieces of historical positioning information are obtained.
Because of the labels in the label images collected by the camera, the positioning information of the robot can be determined inaccurately. For this reason, after the positioning information of the robot is determined, the present embodiment may also calibrate the positioning information to ensure the accuracy of the positioning information of the robot.
Optionally, in this embodiment, the robot may obtain at least two pieces of historical positioning information of the robot itself in different manners. For example, optionally, at least two pieces of historical positioning information stored in the memory are obtained, or at least two pieces of historical positioning information are obtained from a background server, etc.
S405, determining a first variation between any adjacent historical positioning information and a second variation between the positioning information of the robot and the latest historical positioning information.
For example, assume that two adjacent pieces of historical positioning information are obtained, and the two pieces of historical positioning information are: historical positioning information W (x1, y1, z1) and historical positioning information H (x2, y2, z 2). Where x and y represent positional information of the robot and z represents orientation information of the robot. Then a first amount of change between the historical positioning information W and H may be calculated as (x1-x2, y1-y2, z1-z 2).
Further, when the positioning information Q of the robot is (x, y, z) and the historical positioning information closest to Q is H, the second variation amount is calculated as (x2-x, y2-y, z2-z) based on the historical positioning information H and the positioning information Q.
S406, calibrating the positioning information of the robot based on the first variation and the second variation.
Specifically, the first variation and the second variation may be subtracted, and the difference may be compared with the first value to determine whether the first variation and the second variation are the same. If the difference value is equal to the first value, the first variable quantity and the second variable quantity are the same, and the positioning information of the robot is determined to be accurate without calibration operation; if the difference is not equal to the first value, the first variation and the second variation are different, and it is determined that the positioning information of the robot has an error, and the positioning information of the robot needs to be calibrated. Wherein the first value is preferably zero.
In this embodiment, when the positioning information of the robot is calibrated, the positioning information of the robot may be calibrated according to a difference between the first variation and the second variation, so as to provide conditions for improving accuracy and reliability of the positioning information of the robot.
Based on the above-mentioned example, the difference between the first variation (x1-x2, y1-y2, z1-z2) and the second variation (x2-x, y2-y, z2-z), i.e., (x1-x2) - (x2-x), (y1-y2) - (y2-y), and (z1-z2) - (z2-z), is obtained as follows: Δ x, Δ y, and Δ z. It is determined whether Δ x, Δ y, and Δ z are equal to zero, respectively. If Δ y and Δ z are not equal to zero, which indicates that the first variation and the second variation are different, the positioning information (x, y, z) of the robot may be calibrated based on Δ y and Δ z to obtain calibrated positioning information: (x, y. + -. Δ y, z. + -. Δ z).
And S407, if the label image is not deformed, determining the positioning information of the robot based on the label image.
According to the technical scheme provided by the embodiment of the invention, when the deformation of the label image acquired by the camera is determined, at least one label is selected from the label image, any internal angle of the label and the distance value between a preset point in the label and any side forming the internal angle are determined, and then the positioning information of the robot is determined according to the determined internal angle and the distance value. According to the embodiment of the invention, the positioning information of the robot is determined based on the processed label by processing the deformed label, so that the purpose of determining the positioning information of the robot based on the deformed label is realized, and the guarantee is provided for the normal movement of the robot. In addition, the embodiment of the invention provides conditions for improving the accuracy and reliability of the positioning information of the robot by acquiring the historical positioning information and calibrating the positioning information of the robot based on the historical positioning information.
Example four
Fig. 5 is a schematic structural diagram of a robot positioning device according to a fourth embodiment of the present invention. The robot positioning device of the embodiment of the invention is configured in the electronic equipment. As shown in fig. 5, a robot positioning apparatus 500 according to an embodiment of the present invention includes: a first determination module 510, a second determination module 520, and a location determination module 530.
The first determining module 510 is configured to determine whether a tag image acquired by a camera is deformed, where the tag image includes at least two tags;
a second determining module 520, configured to select at least one label from the label image if the label image is deformed, and determine any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle;
and a positioning determining module 530, configured to determine positioning information of the robot according to the internal angle and the distance value.
As an optional implementation manner of the embodiment of the present invention, the first determining module 510 is specifically configured to:
calculating the similarity between the label image and a preset label image;
when the similarity is smaller than a similarity threshold value, determining that the label image deforms; alternatively, the first and second electrodes may be,
determining whether each imaging vertex coordinate of each label in the label image is located at a preset coordinate;
and when any imaging vertex coordinate is not positioned at the preset coordinate, determining that the label image deforms.
As an optional implementation manner of the embodiment of the present invention, the second determining module 520 is specifically configured to:
obtaining a plurality of imaging vertex coordinates forming the interior angle;
calculating a first vector and a second vector of adjacent positions according to the imaging vertex coordinates;
determining any interior angle of the tag based on the first vector and the second vector.
As an optional implementation manner of the embodiment of the present invention, the positioning determining module 530 is specifically configured to:
determining the number of pixels between the label and an adjacent label in the label image according to the internal angle and the distance value;
and determining the positioning information of the robot according to the pixel number.
As an optional implementation manner of the embodiment of the present invention, if the number of tags selected from the tag image is multiple, the first determining module 510 is specifically configured to:
respectively determining any internal angle of each label and a distance value between a preset point in each label and any side forming the internal angle;
accordingly, the positioning determining module 530 is specifically configured to:
determining the positioning information corresponding to each label based on the internal angle and the distance value of each label to obtain all positioning information;
and selecting the positioning information of the robot from all the positioning information.
As an optional implementation manner of the embodiment of the present invention, the positioning determining module 530 is further configured to:
selecting positioning information with the same information and the most quantity from all the positioning information as target positioning information;
and determining the target positioning information as the positioning information of the robot.
As an optional implementation manner of the embodiment of the present invention, the apparatus further includes: the device comprises an information acquisition module, a variable quantity determination module and a calibration module;
the information acquisition module is used for acquiring at least two pieces of historical positioning information;
the variation determining module is used for determining a first variation between any adjacent historical positioning information and a second variation between the positioning information of the robot and the latest historical positioning information;
and the calibration module is used for calibrating the positioning information of the robot based on the first variable quantity and the second variable quantity.
As an optional implementation manner of the embodiment of the present invention, the calibration module is specifically configured to:
determining whether a difference between the first variation and the second variation is a first value;
if not, calibrating the positioning information of the robot based on the difference between the first variation and the second variation.
It should be noted that the foregoing explanation of the embodiment of the robot positioning method is also applicable to the robot positioning device of the embodiment, and the implementation principle is similar, and is not described herein again.
According to the technical scheme provided by the embodiment of the invention, when the deformation of the label image acquired by the camera is determined, at least one label is selected from the label image, any internal angle of the label and the distance value between a preset point in the label and any side forming the internal angle are determined, and then the positioning information of the robot is determined according to the determined internal angle and the distance value. According to the embodiment of the invention, the positioning information of the robot is determined based on the processed label by processing the deformed label, so that the purpose of determining the positioning information of the robot based on the deformed label is realized, and the guarantee is provided for the normal movement of the robot.
EXAMPLE five
Fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. FIG. 6 illustrates a block diagram of an exemplary electronic device 600 suitable for use in implementing embodiments of the present invention. The electronic device 600 shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 6, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: one or more processors or processing units 610, a system memory 620, a camera, and a bus 630 that couples the various system components (including the system memory 620 and the processing unit 610). Wherein, the camera is preferably an infrared camera.
The system memory 620 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)621 and/or cache memory 622. The electronic device 600 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 623 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 630 by one or more data media interfaces. Memory 520 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 624 having a set (at least one) of program modules 625 may be stored, for example, in memory 620, such program modules 625 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 625 generally perform the functions and/or methodologies of the described embodiments of the invention.
The electronic device 600 may also communicate with one or more external devices 640 (e.g., keyboard, pointing device, display 641, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. As shown, the network adapter 660 communicates with the other modules of the electronic device 600 over the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 610 executes various functional applications and data processing by running programs stored in the system memory 620, for example, to implement the robot positioning method provided by the embodiment of the present invention, including:
determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels;
if the label image is deformed, selecting at least one label from the label image, and determining any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle;
and determining the positioning information of the robot according to the internal angle and the distance value.
It should be noted that the foregoing explanation of the embodiment of the robot positioning method is also applicable to the electronic device of the embodiment, and the implementation principle is similar, and is not described herein again.
According to the technical scheme provided by the embodiment of the invention, when the deformation of the label image acquired by the camera is determined, at least one label is selected from the label image, any internal angle of the label and the distance value between a preset point in the label and any side forming the internal angle are determined, and then the positioning information of the robot is determined according to the determined internal angle and the distance value. According to the embodiment of the invention, the positioning information of the robot is determined based on the processed label by processing the deformed label, so that the purpose of determining the positioning information of the robot based on the deformed label is realized, and the guarantee is provided for the normal movement of the robot.
EXAMPLE seven
In order to achieve the above object, the present invention also provides a computer-readable storage medium.
The computer-readable storage medium provided by the embodiment of the present invention stores thereon a computer program, and when the computer program is executed by a processor, the computer program implements a robot positioning method according to the embodiment of the present invention, including:
determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels;
if the label image is deformed, selecting at least one label from the label image, and determining any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle;
and determining the positioning information of the robot according to the internal angle and the distance value.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A robot positioning method, comprising:
determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels;
if the label image is deformed, selecting at least one label from the label image, and determining any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle;
and determining the positioning information of the robot according to the internal angle and the distance value.
2. The method of claim 1, wherein determining whether the label image captured by the camera is distorted comprises:
calculating the similarity between the label image and a preset label image;
when the similarity is smaller than a similarity threshold value, determining that the label image deforms; alternatively, the first and second electrodes may be,
determining whether each imaging vertex coordinate of each label in the label image is located at a preset coordinate;
and when any imaging vertex coordinate is not positioned at the preset coordinate, determining that the label image deforms.
3. The method of claim 1, wherein determining any interior angle of the label comprises:
obtaining a plurality of imaging vertex coordinates forming the interior angle;
calculating a first vector and a second vector of adjacent positions according to the imaging vertex coordinates;
determining any interior angle of the tag based on the first vector and the second vector.
4. The method of claim 1, wherein determining the positioning information of the robot based on the internal angle and the distance value comprises:
determining the number of pixels between the label and an adjacent label in the label image according to the internal angle and the distance value;
and determining the positioning information of the robot according to the pixel number.
5. The method of claim 1, wherein if the number of labels selected from the label image is multiple, determining any internal angle of the label, and the distance value between a preset point in the label and any side composing the internal angle comprises:
respectively determining any internal angle of each label and a distance value between a preset point in each label and any side forming the internal angle;
correspondingly, according to the internal angle and the distance value, the positioning information of the robot is determined, and the method comprises the following steps:
determining the positioning information corresponding to each label based on the internal angle and the distance value of each label to obtain all positioning information;
and selecting the positioning information of the robot from all the positioning information.
6. The method of claim 5, wherein selecting the positioning information of the robot from all positioning information comprises:
selecting positioning information with the same information and the most quantity from all the positioning information as target positioning information;
and determining the target positioning information as the positioning information of the robot.
7. The method according to any one of claims 1-6, further comprising:
acquiring at least two pieces of historical positioning information;
determining a first variation between any adjacent historical positioning information and a second variation between the positioning information of the robot and the latest historical positioning information;
and calibrating the positioning information of the robot based on the first variation and the second variation.
8. The method of claim 7, wherein calibrating the positioning information of the robot based on the first and second variations comprises:
determining whether a difference between the first variation and the second variation is a first value;
if not, calibrating the positioning information of the robot based on the difference between the first variation and the second variation.
9. A robot positioning device, comprising:
the first determining module is used for determining whether a label image acquired by a camera is deformed, wherein the label image comprises at least two labels;
a second determining module, configured to select at least one label from the label image if the label image is deformed, and determine any internal angle of the label and a distance value between a preset point in the label and any side forming the internal angle;
and the positioning determining module is used for determining the positioning information of the robot according to the internal angle and the distance value.
10. An electronic device, comprising:
the camera is used for acquiring a label image used for determining the positioning information of the robot;
a memory for storing one or more programs;
one or more processors configured to acquire the tag image captured by the camera and read and execute one or more programs stored in the memory to implement the robot positioning method according to any one of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the robot positioning method according to any one of claims 1-8.
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