CN113111144A - Room marking method and device and robot movement method - Google Patents
Room marking method and device and robot movement method Download PDFInfo
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- CN113111144A CN113111144A CN202110398943.4A CN202110398943A CN113111144A CN 113111144 A CN113111144 A CN 113111144A CN 202110398943 A CN202110398943 A CN 202110398943A CN 113111144 A CN113111144 A CN 113111144A
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Abstract
The invention relates to the technical field of robots, in particular to a room marking method, a room marking device and a robot movement method, wherein the method comprises the following steps: in the process of establishing a laser map according to the surrounding environment, map corner points are obtained, wherein the surrounding environment at least comprises one room; identifying a room door according to the map corner points, and marking the room door to obtain a marking code of the room door; and acquiring the house number of the room door, and binding the house number with the mark code to generate a room record. According to the method, a room door is identified and marked through a map corner of a laser map; and then the collected house number is bound with the marked room door to generate a room record, the series of marking actions do not need manual participation, and the robot automatically identifies and marks the house number, so that the time cost and the material cost of operators are saved, and the room marking efficiency is further improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a room marking method and device and a robot movement method.
Background
With the development of robots, the robot is applied to various scenes. Generally, after a scene map is built, a robot needs to mark a plurality of moving point positions to represent different positions, so that the robot moves according to a mark potential to complete corresponding operations. For example, in a hotel, the position of each room in the map needs to be marked, and then the robot can be specified to move to the target room, so that the robot can complete the tasks of delivering food, checking and the like.
However, most of the existing methods for marking point locations of rooms in a scene map are manually marked by workers, which causes a large amount of workload for the workers and wastes much time, thereby causing the problem of low room marking efficiency in robot application.
Disclosure of Invention
The embodiment of the application provides a room marking method and device and a robot movement method, solves the technical problem that in the prior art, in robot application, the room marking efficiency is low, achieves automatic room marking, saves labor cost and time cost, and improves the technical effect of the room marking efficiency.
In a first aspect, an embodiment of the present invention provides a room marking method, which is applied to a robot, and the method includes:
in the process of establishing a laser map according to the surrounding environment, map corner points are obtained, wherein the surrounding environment at least comprises one room;
identifying a room door according to the map corner points, and marking the room door to obtain a marking code of the room door;
and acquiring the house number of the room door, and binding the house number with the mark code to generate a room record.
Preferably, the identifying a room door according to the map corner points, and marking the room door to obtain a marking code of the room door includes:
selecting a nearby corner set from the laser map according to the map corners, wherein each group of nearby corners in the nearby corner set is at least 4 map corners in a set range;
and aiming at each group of nearby corner points, if the each group of nearby corner points meet the room identification condition, identifying the each group of nearby corner points as the room door, marking the room door, and acquiring the marking code.
Preferably, for each group of nearby corner points, if each group of nearby corner points meets a room identification condition, identifying each group of nearby corner points as the room door includes:
and aiming at each group of nearby corner points, if 4 map corner points contained in each group of nearby corner points are judged to form a rectangle, identifying the nearby corner points of each group as the room door, wherein a first long side of the rectangle is positioned at a blank position, and a second long side, a first short side and a second short side are positioned on the boundary of the laser map.
Preferably, the angular error of the rectangle is in the range of 0 ° to 5 °.
Preferably, the length of the long side ranges from 0.7 meter to 1 meter, and the length of the short side ranges from 0.1 meter to 0.3 meter.
Preferably, the acquiring the number plate of the room door comprises:
shooting a doorplate photo of the room door through a camera;
the house number is identified from the house number photo by an OCR algorithm.
Based on the same inventive concept, in a second aspect, the present invention also provides a room marking apparatus applied to a robot, the apparatus comprising:
the system comprises an establishing module, a processing module and a processing module, wherein the establishing module is used for acquiring map corner points in the process of establishing a laser map according to the surrounding environment, and the surrounding environment at least comprises one room;
the marking module is used for identifying a room door according to the map corner points, marking the room door and obtaining a marking code of the room door;
and the generation module is used for acquiring the house number of the room door, binding the house number with the mark code and generating a room record.
Based on the same inventive concept, in a third aspect, the invention provides a robot movement method, comprising:
receiving a request instruction of a user for a target item, wherein the request instruction comprises a room mark of a room where the target user is located, and the room mark is a house number of a room door or a mark code of the room door;
and responding to the request instruction, transmitting the target item to the room position of the room where the target user is located, wherein the room position is found from the room record according to the room mark.
Based on the same inventive concept, in a fourth aspect, the invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the room marking method when executing the program.
Based on the same inventive concept, in a fifth aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the room marking method.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
in the embodiment of the application, the room marking method is applied to the robot, the robot automatically establishes the laser map according to the spatial environment, automatically detects the corner points of the map, does not need to manually establish the map, and manually marks the established map, so that the marking efficiency is improved. Then identifying a room door through the corner points of the map, and marking the room door; and then the collected house number is bound with the marked room door to generate a room record, the series of marking actions do not need manual participation, and the robot automatically identifies and marks the house number, so that the time cost and the material cost of operators are saved, and the room marking efficiency is further improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart illustrating the steps of a room marking method in an embodiment of the present invention;
FIG. 2 shows a schematic structural diagram of a laser map in an embodiment of the invention;
FIG. 3 shows a block schematic diagram of a room marking apparatus in an embodiment of the invention;
FIG. 4 is a flow chart illustrating the steps of a method of moving a robot in a baggage embodiment of the present invention;
fig. 5 shows a schematic structural diagram of a computer device in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example one
A first embodiment of the present invention provides a room marking method applied to a robot, as shown in fig. 1, the method including:
s101, in the process of establishing a laser map according to the surrounding environment, obtaining map corner points, wherein the surrounding environment at least comprises one room;
s102, identifying a room door according to the corner points of the map, and marking the room door to obtain a marking code of the room door;
s103, acquiring a house number of the room door, binding the house number with the mark code, and generating a room record.
It should be noted that the surrounding environment refers to a space environment where the robot is located, wherein the space environment includes at least one room, such as a hotel, a dormitory, a residential floor, and the like.
The method is applied to the robot, the laser map is automatically established by the robot according to the spatial environment, the map corner points are automatically detected, manual map establishment is not needed, manual marking is carried out on the established map, and the marking efficiency is improved. Then identifying a room door through the corner points of the map, and marking the room door; and then the collected house number is bound with the marked room door to generate a room record, and the series of marking actions do not need manual participation, so that the time cost and the material resource cost of operators are saved, and the room marking efficiency is further improved.
The following describes in detail specific implementation steps of the room marking method provided in this embodiment with reference to fig. 1:
firstly, step S101 is executed to acquire map corner points during the process of building a laser map according to the surrounding environment.
Specifically, when the robot is in a certain space environment and a laser map is automatically established according to the space environment, laser data is obtained by scanning the surrounding environment with laser, and the laser map is established according to the laser data. In this step, a two-dimensional map may be constructed by laser, for example, as shown in fig. 2, the robot is located in a certain floor of a hotel, the two-dimensional map of the floor is scanned, the recessed part is a room door or a room with the room door opened, and the black point in fig. 2 is a map corner point. The principle of two-dimensional map construction is that corresponding laser data is collected through a laser range finder or a laser sensor or a laser scanner or a laser radar, and a two-dimensional map and map corner points are constructed.
The laser technology is applied to map construction to obtain the map corner points, so that the accuracy and the effectiveness of the map construction are greatly improved, and the method has the characteristics of saving network resources and running fast.
When a laser map is constructed, map corners are obtained in the laser map through a Harris corner detection algorithm. Map corners with close distances can be combined through a Harris corner detection algorithm, or redundant map corners are removed, and the map corners are efficiently and reliably extracted, so that the laser map is more accurate and simple. For example, assuming that the distance between a map corner point1 and a map corner point2 is 1 cm in a laser map, point1 and point2 are combined into one map corner point. The distance between the two map corner points can be set according to the actual situation.
It should be further noted that the corner detection algorithm may also use a Shi-Tomasi corner detection algorithm, a FAST corner detection algorithm, and the like, which are not limited herein.
After the map corner points are obtained, step S102 is executed, and the room door is identified according to the map corner points, and is marked to obtain the mark code of the room door.
Specifically, a nearby corner set is selected from the laser map according to the map corners, wherein each group of nearby corners in the nearby corner set is at least 4 map corners in a set range; and aiming at each group of nearby corner points, if the each group of nearby corner points meet the room identification condition, identifying the each group of nearby corner points as room doors, marking the room doors, and acquiring the marking codes. The set range is a circular range with the radius of 2 meters or a range set according to actual requirements.
Judging whether each group of nearby corner points meets the room identification condition, wherein the following points need to be met:
(1) and forming a rectangle by 4 map corner points in each group of nearby corner points, wherein a first long side of the rectangle is positioned at a blank, and a second long side, a first short side and a second short side of the rectangle are positioned on the boundary of the laser map, as shown in the figure.
(2) The angular error of the rectangle is in the range of 0 ° to 5 °.
(3) The length of the long side ranges from 0.7 meter to 1 meter, and the length of the short side ranges from 0.1 meter to 0.3 meter.
For example, any four map corner points, A, B, C and D respectively, are extracted for each group of nearby corner points, as shown in fig. 2. When A, B, C and D satisfy the room identification condition, the area formed by A, B, C and D is determined as a room door, and the room door is marked and a mark code is set.
Assuming that a (x0, y0), B (x1, y1), C (x2, y2) and D (x3, y3) satisfy the room identification condition, and assuming that the connection line AB is a blank long side and the connection line BC, the connection line CD and the connection line AD are located on the boundary of the laser map, the room door formed by A, B, C and D is marked, and the marking process is as follows:
let p1 ═ ((x0+ x1)/2, (y0+ y 1)/2); p2 ═ ((x2+ x3)/2, (y2+ y3)/2)
The points marking the room door are:
p＝p1+(p1-p2)/|p1-p2|；
p is the point marked by room door A, B, C and D, i.e. when the robot moves to this point, it can know that the point is a certain room door. Usually, the point is 1.0 meter away from the doorway, and can be set according to actual conditions.
Angle of point p towards the room door:
theta＝arctan2(p2.y-p1.y,p2.x-p1.x)；
theta is the angle of point p towards the room door formed by A, B, C and D, i.e. after the robot subsequently moves to point p, the angle theta towards the room door is opposite to the room door.
Of course, the method of marking the room door can also adopt a geographical position or other methods, and is not limited herein.
The method not only identifies the room door according to the corner points of the map, but also marks the room door, and has the advantages of quick response, high efficiency, reliable mark code, high precision and the like.
After the marker code is obtained, step S103 is executed to collect the house number of the room door, bind the house number with the marker code, and generate a room record.
Specifically, a picture of a doorplate of a room door is taken through a camera; the house number is identified from the house picture by an OCR algorithm. And binding the extracted house number with the mark code to generate a room record. The binding method may store the house number and the tag code into a mapping table, generate a room record code after calculating the house number and the tag code, or be another method, which is not limited herein.
In the step, the doorplate number is automatically obtained through the combination of the camera and the OCR algorithm, manual entry of the doorplate number is not needed, the manual workload and the time cost are reduced, the working efficiency is improved, and the intelligent and social characteristics are embodied.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
in the embodiment, the room marking method is applied to the robot, the robot automatically establishes the laser map according to the space environment, automatically detects the map corner points, does not need to manually establish the map, and manually marks the established map, so that the marking efficiency is improved. Then identifying a room door through the corner points of the map, and marking the room door; and then the collected house number is bound with the marked room door to generate a room record, the series of marking actions do not need manual participation, and the robot automatically identifies and marks the house number, so that the time cost and the material cost of operators are saved, and the room marking efficiency is further improved.
Example two
Based on the same inventive concept, a second embodiment of the present invention also provides a room marking apparatus applied to a robot, as shown in fig. 3, the apparatus including:
the building module 201 is configured to obtain map corner points in a process of building a laser map according to a surrounding environment, where the surrounding environment includes at least one room;
the marking module 202 is configured to identify a room door according to the map corner, mark the room door, and obtain a mark code of the room door;
the generating module 203 is configured to collect a house number of the room door, bind the house number with the tag code, and generate a room record.
As an alternative embodiment, the marking module 202 is further configured to:
selecting a nearby corner set from the laser map according to the map corners, wherein each group of nearby corners in the nearby corner set is at least 4 map corners in a set range;
and aiming at each group of nearby corner points, if the each group of nearby corner points meet the room identification condition, identifying the each group of nearby corner points as the room door, marking the room door, and acquiring the marking code.
As an alternative embodiment, the marking module 202 is further configured to:
for each group of nearby corner points, if each group of nearby corner points meets the room identification condition, identifying each group of nearby corner points as the room door, including:
and aiming at each group of nearby corner points, if 4 map corner points contained in each group of nearby corner points are judged to form a rectangle, identifying the nearby corner points of each group as the room door, wherein a first long side of the rectangle is positioned at a blank position, and a second long side, a first short side and a second short side are positioned on the boundary of the laser map.
As an alternative embodiment, the angular error of the rectangle is in the range of 0 ° to 5 °.
As an alternative embodiment, the length of the long side ranges from 0.7 meter to 1 meter, and the length of the short side ranges from 0.1 meter to 0.3 meter.
As an alternative embodiment, the generating module 203 is further configured to:
shooting a doorplate photo of the room door through a camera;
identifying the house number from the house number photo by OCR algorithm
Since the room marking device described in this embodiment is a device used for implementing the room marking method in the first embodiment of this application, based on the room marking method described in the first embodiment of this application, a person skilled in the art can understand a specific implementation manner of the room marking device in this embodiment and various variations thereof, and therefore, how to implement the method in the first embodiment of this application by the room marking device will not be described in detail herein. The apparatus used by those skilled in the art to implement the room marking method in the first embodiment of the present application is within the scope of the present application.
EXAMPLE III
Based on the same inventive concept, a third embodiment of the present invention further provides a robot movement method, as shown in fig. 4, including:
s301, receiving a request instruction of a user for a target article, wherein the request instruction comprises a room mark of a room where the target user is located, and the room mark is a house number of a room door or a mark code of the room door;
s302, in response to the request instruction, transmitting the target item to a room location of a room where the target user is located, where the room location is found from the room record according to the room mark.
To elaborate the movement method of the robot, an example is given: when a user sends a request instruction for service delivery to the room 1002 to the robot through a terminal device such as a smart phone or a tablet computer, the request instruction includes a room mark of the room 1002 and service delivery information. After receiving the request command, the robot immediately responds to the request command, finds the room position of the room 1002 from the room record according to the room mark of the room 1002, and then sends the meal to the room position of the room 1002. Therefore, the motion method of the robot embodies that the robot can quickly respond to the request instruction of the user, so that the robot can quickly and accurately find the room position from the room record in the room marking method and then efficiently reach the room position, the user requirement is realized, the corresponding service is provided, the labor cost and the material resource cost are also saved, and the system management is convenient.
Example four
Based on the same inventive concept, the fourth embodiment of the present invention further provides a computer device, as shown in fig. 4, comprising a memory 404, a processor 402, and a computer program stored on the memory 404 and executable on the processor 402, wherein the processor 402 implements the steps of any one of the above-mentioned room marking methods when executing the program.
Where in fig. 3 a bus architecture (represented by bus 400), bus 400 may include any number of interconnected buses and bridges, bus 400 linking together various circuits including one or more processors, represented by processor 402, and memory, represented by memory 404. The bus 400 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 406 provides an interface between the bus 400 and the receiver 401 and transmitter 403. The receiver 401 and the transmitter 403 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 402 is responsible for managing the bus 400 and general processing, while the memory 404 may be used for storing data used by the processor 402 in performing operations.
EXAMPLE five
Based on the same inventive concept, the fifth embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of any one of the room marking methods described in the previous embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A room marking method, applied to a robot, the method comprising:
in the process of establishing a laser map according to the surrounding environment, map corner points are obtained, wherein the surrounding environment at least comprises one room;
identifying a room door according to the map corner points, and marking the room door to obtain a marking code of the room door;
and acquiring the house number of the room door, and binding the house number with the mark code to generate a room record.
2. The method of claim 1, wherein identifying a room door from the map corner points and marking the room door to obtain a marking code for the room door comprises:
selecting a nearby corner set from the laser map according to the map corners, wherein each group of nearby corners in the nearby corner set is at least 4 map corners in a set range;
and aiming at each group of nearby corner points, if the each group of nearby corner points meet the room identification condition, identifying the each group of nearby corner points as the room door, marking the room door, and acquiring the marking code.
3. The method of claim 2, wherein the identifying, for each group of nearby corner points, each group of nearby corner points as the room door if the group of nearby corner points satisfies a room identification condition comprises:
and aiming at each group of nearby corner points, if 4 map corner points contained in each group of nearby corner points are judged to form a rectangle, identifying the nearby corner points of each group as the room door, wherein a first long side of the rectangle is positioned at a blank position, and a second long side, a first short side and a second short side are positioned on the boundary of the laser map.
4. The method of claim 3, wherein the rectangular shape has an angular error in the range of 0 ° to 5 °.
5. The method of claim 3, wherein the long side has a length in a range of 0.7 meters to 1 meter and the short side has a length in a range of 0.1 meters to 0.3 meters.
6. The method of claim 1, wherein said acquiring a house number for the room door comprises:
shooting a doorplate photo of the room door through a camera;
the house number is identified from the house number photo by an OCR algorithm.
7. A room marking apparatus, for application to a robot, the apparatus comprising:
the system comprises an establishing module, a processing module and a processing module, wherein the establishing module is used for acquiring map corner points in the process of establishing a laser map according to the surrounding environment, and the surrounding environment at least comprises one room;
the marking module is used for identifying a room door according to the map corner points, marking the room door and obtaining a marking code of the room door;
and the generation module is used for acquiring the house number of the room door, binding the house number with the mark code and generating a room record.
8. A method of movement of a robot, comprising:
receiving a request instruction of a user for a target item, wherein the request instruction comprises a room mark of a room where the target user is located, and the room mark is a house number of a room door or a mark code of the room door;
transmitting the target item to a room location of a room in which the target user is located in response to the request instruction, wherein the room location is found from the room record of claims 1-6 according to the room mark.
9. A robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the method steps of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1 to 6.
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- 2021-04-14 CN CN202110398943.4A patent/CN113111144A/en active Pending
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| CN113848918A (en) * | 2021-09-27 | 2021-12-28 | 上海景吾智能科技有限公司 | Robot rapid, efficient and low-cost deployment method and system |
| CN114428501A (en) * | 2021-12-17 | 2022-05-03 | 重庆特斯联智慧科技股份有限公司 | Old people home service robot and control method thereof |
| CN114510022A (en) * | 2021-12-17 | 2022-05-17 | 重庆特斯联智慧科技股份有限公司 | Medical transportation robot and control method thereof |
| CN114445996A (en) * | 2021-12-21 | 2022-05-06 | 重庆特斯联智慧科技股份有限公司 | Building control robot and control method thereof |
| CN114442608A (en) * | 2021-12-21 | 2022-05-06 | 重庆特斯联智慧科技股份有限公司 | Office building logistics robot and control method thereof |
| CN114445996B (en) * | 2021-12-21 | 2024-06-07 | 北京未末卓然科技有限公司 | Building control robot and control method thereof |
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