CN113246136B - Robot, map construction method, map construction device and storage medium - Google Patents
Robot, map construction method, map construction device and storage medium Download PDFInfo
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- CN113246136B CN113246136B CN202110629358.0A CN202110629358A CN113246136B CN 113246136 B CN113246136 B CN 113246136B CN 202110629358 A CN202110629358 A CN 202110629358A CN 113246136 B CN113246136 B CN 113246136B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The invention relates to the technical field of robots and map construction, and discloses a robot, a map construction method, a map construction device and a storage medium, which are used for solving the technical problems of complicated label arrangement and the like. The robot comprises a detection device, a memory and a processor, wherein the memory stores program codes; the detection equipment is used for detecting the environment periphery of the robot to obtain detection information; a processor for calling the program code and when the program code is executed arranged to: carrying out identification by utilizing the detection information; when the identification is identified, the current position node of the robot is marked by the currently identified identification, and when the position node with the same identification as the current position node is judged, all position nodes between the position node which is judged for the first time and has the same identification and the current position node are marked by taking the currently identified identification as an effective identification.
Description
Technical Field
The invention relates to the technical field of robots and map construction, in particular to a robot, a map construction method, a map construction device and a storage medium.
Background
In positioning algorithms in the technical field of robots and the like, positioning and mapping are generally required, and the current positioning or mapping scheme is often realized by using a label positioning mode to determine the position of a machine by using a label. In the existing processing mode, when a certain area needs to be accurately identified, a plurality of labels are usually required to be arranged in the area so that a robot can identify the labels in the whole area.
Disclosure of Invention
The invention provides a robot, a map construction method, a map construction device and a storage medium, which are used for solving the problems of high cost, complex arrangement and poor convenience due to the fact that a large number of labels are needed to be realized in the traditional scheme.
In a first aspect, a robot is provided, comprising a detection device, a memory, and a processor, the memory storing program code;
the detection equipment is used for detecting the environment periphery of the robot to obtain detection information;
a processor for calling the program code and when the program code is executed arranged to:
acquiring detection information, and identifying an identifier by using the detection information;
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
In one implementation, the processor, when marking the robot current location node with the currently identified identity, is arranged to:
and performing association binding on the currently recognized identifier and the position node information of the current position node.
In one implementation, when the processor does not recognize the identity, it is further arranged to:
and marking the corresponding position node which passes by the robot and is not identified with the mark by using the invalid mark.
In one implementation, the processor, when marking all the location nodes between the location node judged for the first time to have the same identifier and the current location node with the currently identified identifier, is arranged to:
and changing the invalid identifications of all position nodes between the position nodes with the same identification and the current position node into the currently identified identifications.
In one implementation, the identified identifier is an identifier obtained based on an entity tag or a virtual tag, the entity tag is a visible label, and the virtual tag is a invisible virtual signal tag.
In one implementation, the entity tag is a two-dimensional code tag or a dot-matrix code.
In one implementation, the processor is further arranged to:
carrying out closed-loop detection on a plurality of position nodes to obtain closed-loop information;
judging whether the closed-loop information is effective closed-loop information or not by using the identifiers of two position nodes in the closed-loop information;
and if so, carrying out map construction based on the effective closed-loop information.
In one implementation, the processor, when determining whether the closed-loop information is valid closed-loop information using the identities of two position nodes in the closed-loop information, is arranged to:
when the identifiers of the two position nodes are both effective identifiers and are the same, judging that the closed-loop information is effective closed-loop information;
when the identifiers of the two position nodes are invalid identifiers, judging that the closed-loop information is valid closed-loop information;
and when the identifiers of the two position nodes are both effective identifiers and are different, judging that the closed-loop information is invalid closed-loop information.
In one implementation, the processor is further arranged to:
when only one of the identifiers of the two position nodes of the closed-loop information is an effective identifier, caching the closed-loop information;
after the preset duration or the preset distance of the robot operation, comparing the identifiers of the two position nodes from the cached closed-loop information;
when the identifiers of the two position nodes are the same, determining the closed-loop information as effective closed-loop information;
and when the identifiers of the two position nodes are different, determining the closed-loop information as invalid closed-loop information.
In one implementation, the processor is further arranged to:
and deleting the invalid closed-loop information.
In a second aspect, a map building method for a tire is provided, the map building method including:
acquiring detection information detected by detection equipment, and identifying an identifier by using the detection information;
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
In one implementation, tagging a robot current location node with a currently recognized identity includes:
and performing association binding on the currently recognized identifier and the position node information of the current position node.
In one implementation, when no identifier is identified, the mapping method further includes:
and marking the corresponding position node which passes by the robot and is not identified with the mark by using the invalid mark.
In one implementation, marking all position nodes between a position node which is judged for the first time and has the same identification and a current position node by using a currently identified identification as an effective identification, includes:
and changing the invalid identifications of all position nodes between the position nodes with the same identification and the current position node into the currently identified identifications.
In one implementation, the identified identifier is an identifier obtained by an entity tag or a virtual tag, the entity tag is a visible label, and the virtual tag is a invisible virtual signal tag.
In one implementation, the entity tag is a two-dimensional code tag or a dot-matrix code.
In one implementation, the map construction method further includes:
carrying out closed-loop detection on a plurality of position nodes to obtain closed-loop information;
judging whether the closed-loop information is effective closed-loop information or not by using the identifiers of two position nodes in the closed-loop information;
and if so, carrying out map construction based on the effective closed-loop information.
In one implementation, determining whether the closed-loop information is valid closed-loop information by using the identifiers of two position nodes in the closed-loop information includes:
when the identifiers of the two position nodes are both effective identifiers and are the same, judging that the closed-loop information is effective closed-loop information;
when the identifiers of the two position nodes are invalid identifiers, judging that the closed-loop information is valid closed-loop information;
and when the identifiers of the two position nodes are both effective identifiers and are different, judging that the closed-loop information is invalid closed-loop information.
In one implementation, the map construction method further includes:
when only one of the identifiers of the two position nodes of the closed-loop information is an effective identifier, caching the closed-loop information;
after the preset duration or the preset distance of the robot operation, comparing the identifiers of the two position nodes from the cached closed-loop information;
when the identifiers of the two position nodes are the same, determining the closed-loop information as effective closed-loop information;
and when the identifiers of the two position nodes are different, determining the closed-loop information as invalid closed-loop information.
In one implementation, the map construction method further includes:
and deleting the invalid closed-loop information.
In a third aspect, a map building apparatus is provided, which includes:
the acquisition module is used for acquiring the detection information detected by the detection equipment;
the identification module is used for identifying the identifier by utilizing the detection information;
a marking module to:
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program for implementing the mapping method as mentioned in the foregoing when the computer program is executed by a processor.
In the scheme realized by the robot, the map construction method, the map construction device and the storage medium, the detection equipment detects the surrounding environment for the robot to obtain detection information, and the processor is convenient to identify through the detection information.
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 description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram of a system for a robot in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a tag placement scenario in an embodiment of the present invention;
FIG. 3 is a flow chart of a map construction method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a mapping method according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a map building apparatus according to an embodiment of the present invention;
fig. 6 is another schematic structural diagram of the map building apparatus in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a robot, a map construction method, a map construction device and a storage medium, which are divided into different embodiments and are described one by one.
Example 1
As shown in fig. 1, there is provided a robot comprising a detection device, a memory and a processor, the detection device and the memory being communicatively connected to the processor, the memory storing program code; the detection equipment is used for detecting the environment periphery of the robot so as to acquire detection information; a processor for calling the program code and when the program code is executed arranged to:
acquiring detection information, and identifying an identifier by using the detection information;
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
Wherein, the recognizable mark of the invention is a special mark set for assisting positioning or recognizing a certain area, when the robot passes around the position node provided with the mark, the detection device can detect the mark depending on the arrangement position of the mark, thereby detecting the mark set at the arrangement position, the detection device is used for detecting the detection information containing the mark, so that the processor can recognize the mark by the detection information, by the proposal, for the scene with arrangement mark requirement, the position node of a certain area is marked by using a small amount of recognized marks, thereby realizing the purpose of marking a certain area by using the same mark without setting a large amount of recognized marks for the area, the cost is lower, and the arrangement is simple because of less amount of marks, is extremely convenient. The processor calculates the information of each position node according to the information acquired by the 2D laser and the wheel type odometer, wherein the output position node information comprises a node ID, position information (X, Y) and orientation information. The location information (X, Y) represents its coordinate information relative to a coordinate system, and it should be noted that the obtained location node information may have various forms, for example, the node ID may be replaced by the node time, and the name may be different, but the meaning is the same, and is mainly used for recording each location node, and the description of the present invention is not expanded.
In one embodiment, walking areas of the robot have different area types according to different scenes, and different marks are arranged at corresponding positions of the walking areas of different types. For example, the walking area may include independent suites, one-way walkways and two-way walkways, different identifications are respectively set at corresponding positions of doorways of different independent suites, different identifications are set at corresponding positions of entrances of different one-way walkways, and different identifications are also set at corresponding positions of two ends of each walkway in the two-way walkways. It should be noted that what is defined in advance for different walking areas may depend on the specific application scenario. For example, in a restaurant application scenario or other meeting scenarios, the independent rooms, the main road and the branch roads are naturally included.
In order to fully understand the above-mentioned aspects and technical effects, the following description is made in conjunction with specific scenarios.
As shown in fig. 2, fig. 2 is a schematic diagram of an arrangement scene in which identifiers are arranged for different types of walking areas, where the arrangement scene includes a trunk road, and a compartment 1, a compartment 2, a one-way walkway 1 (such as a one-way corridor), a one-way walkway 2, a two-way walkway 1, and a two-way walkway 2 are distributed along the trunk road. The unidirectional walkway refers to a road where the robot can only exit again through a doorway of the unidirectional walkway after entering along the doorway of the unidirectional walkway, and the bidirectional walkway refers to a road where the robot can exit from another doorway after entering along a certain doorway of the bidirectional walkway, for example, the robot can return to the trunk from the bidirectional walkway 2 after entering from the doorway of the bidirectional walkway 1. The different suites, the different unidirectional walkways, the different bidirectional walkways and the main road are all walking areas of different types for the robot. As shown in fig. 2, a mark 2 is disposed at a corresponding position of a doorway of a booth 1, a mark 8 is disposed at a corresponding position of a doorway of a booth 2, a mark 1 is disposed at a corresponding position of a doorway of a unidirectional walkway 1, a mark 7 is disposed at a corresponding position of a doorway of the unidirectional walkway 2, marks 3 and 4 are disposed at corresponding positions of two ports of a bidirectional walkway 1, marks 5 and 6 are disposed at corresponding positions of two ports of the bidirectional walkway 2, it should be noted that, for the bidirectional walkway, a mark may be disposed at only one of the ports, and no limitation is specifically made, for example, a mark 3 is disposed at a corresponding position of one of the ports of the bidirectional walkway 1, and a mark 6 is disposed at a corresponding position of one of the ports of the bidirectional walkway 2. The main road is not provided with a mark, and it should be noted that the main road may also be provided with a corresponding mark, which is not limited specifically.
With reference to fig. 2, an identification marking scene on the unidirectional road is taken as an example for explanation, when the robot moves to the door of the unidirectional road 1, because the corresponding position of the door of the unidirectional road 1 is provided with the identification 1, when the robot passes through or is about to pass through the door of the unidirectional road 1, the detection information detected by the detection device will include the identification 1, and after the processor acquires the detection information including the identification 1, the processor analyzes and processes the detection information, so as to identify the identification 1, and thus, the current position node a is marked by the currently identified identification 1; subsequently, the robot continues to walk towards the inside of one-way aisle 1, because the inside sign that has not set up of one-way aisle 1, the unable sign of discerning of the detection information that the treater detected through the detection equipment, walk out to the trunk road from one-way aisle 1 inside toward one-way aisle 1 gate when the robot, can pass through one-way aisle 1 gate once more, and sign 1 can be discerned once more to the treater. The processor can sequentially judge whether position nodes with the identifiers 1 exist in the position nodes which the robot has already walked in a reverse order, and since the identifiers 1 are not arranged inside the unidirectional walkway 1, after the position nodes which the robot has already walked are sequentially judged in the reverse order, the first identified position node is the identifier 1, specifically, the identifier 1 can be identified in the position node A, the position node A which is firstly judged to be marked with the identifier 1 is marked to all the position nodes between the current position nodes, and the identifiers 1 are all marked, so that the processor can see that through the mode, the position nodes corresponding to the unidirectional walkway 1 can be marked as the identifiers 1 through one identifier 1, and all the position nodes are marked as the identifiers 1, namely, the unidirectional walkway 1 is marked as the identifier 1.
With reference to fig. 2, an identification marking scene of a bidirectional aisle is taken as an example to describe the robot provided in the embodiment of the present invention, for example, when the robot moves to a doorway of a bidirectional aisle 1, because an identification 3 is set at a corresponding position of the doorway of the bidirectional aisle 1, when the robot passes or is about to pass through the doorway of the bidirectional aisle 1, detection information detected by a detection device may include the identification 3, and after the processor acquires the detection information including the identification 3, the processor may recognize the identification 3, so as to mark a current position node with the currently recognized identification 3; subsequently, the robot continues to walk towards the inside of the bidirectional walkway 1, and the identifier 3 is identified again when the robot walks out clockwise from the bidirectional walkway 2, at the moment, the processor can sequentially judge whether the position nodes of the identifier 3 exist in the position nodes which the robot has walked in the reverse order, obviously, after the processor sequentially judges the position nodes which the robot has walked in the reverse order, all the position nodes between the position nodes corresponding to the identifier 3 and the current position node of the robot are identified before, and are marked by the identifier 3, so that the position nodes corresponding to the bidirectional walkways 1 and 2 can be marked as the identifier 3 completely by a small amount of effective labels.
It should be noted that, the above-mentioned marking manner for the bidirectional walkway 1 is a marking result obtained by the robot moving clockwise, if the robot enters from the doorway of the bidirectional walkway 2 on the main walkway, then passes through the bidirectional walkway 1 and returns to the main walkway, then according to the above-mentioned processing logic, the bidirectional walkway 1 will be marked as the mark 6, which is a marking result of the robot moving clockwise. And by analogy, other one-way walkways or two-way walkways will also be marked with corresponding identifications. For the inter-bag, similar to the processing mode type of the one-way path or the two-way path, after the robot walks through the inter-bag, the position node where the inter-bag 1 is located will be marked as the identifier 2, and the position node where the inter-bag 2 is located will be marked as the identifier 8.
Through the description of the above example, it can be seen more clearly that, for a demand scene with a marked identifier, a position node of a certain area is marked by using a small number of identified identifiers, so that the same identifier is used for marking the certain area, and a large number of labels used for being identified are not required to be arranged for the area in a physical manner, so that the robot can identify the whole area by using a small number of identifiers, the cost is low, and the arrangement is simple and very convenient because the number of the identifiers required to be arranged is small.
It should be noted that the marking referred to in the present invention may have a plurality of implementation manners, and in one implementation manner, when the processor marks the current position node of the robot with the currently recognized identifier, the processor is arranged to: and performing association binding on the currently recognized identifier and the position node information of the current position node, for example, performing association storage to establish a binding relationship. The following description is given by taking the above example as an example: when the robot passes or is about to pass through the door 1 of the unidirectional walkway, it is assumed that the corresponding position node information includes: position node A, position XA、YBDirection of orientation thetaAThe processor recognizes the identifier 1, and connects the identifier 1 with the position node A and the position XA、YBDirection of orientation thetaAAnd the corresponding identification is added into the position node information by the association storage. Of course, in other implementations, there may be other marking manners, for example, by changing the expression form of the location node a, so that the identifier 1 is not a simple processing manner in association, and the invention is not limited in this respect.
In some embodiments, when the processor does not recognise the identity, it is further arranged to: and marking the corresponding position node which passes by the robot and is not identified with the mark by using the invalid mark. It should be noted that, for a position where no corresponding identifier is set, when the robot passes through or is about to pass through the position where no identifier is set, the identifier cannot be identified through the detection information, and at this time, the corresponding position node may be marked with an invalid identifier. The invalid identifier is a predefined identifier, and is not an identifier arranged in a scene for being recognized, so that the invalid identifier may also have various implementation manners, and is not limited specifically. For example, in one implementation, a simple character or other alternative may be used as the invalid identifier, which may be expressed as a "-1", for example. When the position node is marked with the invalid identifier, the marking mode may be the same as that of the identified identifier, which is not limited herein, and for example, the position node may also be bound by means of associative storage.
With reference to the foregoing embodiment, when marking all the position nodes between the position node having the same identifier and the current position node, which is determined for the first time, with the currently identified identifier, the processor is specifically arranged to: and changing the invalid identifications of all position nodes between the position nodes with the same identification and the current position node into the currently identified identifications. Taking an actual scene as an example, when the robot enters from the unmarked trunk, since neither the trunk (including the trunk entrance nor the trunk itself) is provided with an identifier, when the robot travels from the trunk entrance into the time booth 2, the area from the identifier 8 to the trunk entrance will be marked with an invalid identifier by the processor, and it is noted that although the identifier 8 can be recognized when the robot travels into the time booth 2, since there is no position node for recognizing the identifier 8 before, the invalid identifier in the area from the identifier 8 to the trunk entrance will not be changed to the identifier 8.
It should be noted that, in some embodiments, when the processor does not recognize the identifier, the processor may be further configured not to mark the position node that the robot passes through, that is, to use the original marking state of the position node (without marking any invalid identifier) as an alternative to the invalid identifier marking, and the specific embodiment of the present invention is not limited thereto.
In addition, when the corresponding doorway or entrance is provided with the identifier, the identifier may be in various forms, in an embodiment, the corresponding position of the doorway of the independent compartment may be a doorway ceiling, a doorway ground or a door wall, the corresponding position of the entrance of the one-way walkway is the doorway ceiling, the doorway ground or the entrance wall surface, and the corresponding position of the two ends of each walkway is the two-port ceiling, the two-port ground or the two-port wall surface, which is not limited specifically.
It should be noted that the scenario shown in fig. 2 is only an exemplary scenario, and in an actual application scenario, other types of areas may be further included, and the specific scenario is not limited herein. The above-mentioned booth can also be understood as an independent room with a unique doorway, and for a certain walking area, besides a unique identifier is arranged at a corresponding position of the doorway, in some embodiments, a plurality of same identifiers can be arranged, for example, taking the unidirectional walkway 1 of fig. 2 as an example, a plurality of identifiers 1 can be attached in the middle of the unidirectional walkway 1, and for the bidirectional walkway and booth, a plurality of identifiers 1 can be attached. However, it is worth noting that the robot provided by the invention can still mark a large area by a small number of marks, and the number of the marks is small, thereby being extremely convenient.
In the present invention, there may also be multiple implementation means for the set identifier, and in an embodiment, the identified identifier is an identifier obtained based on an entity tag or a virtual tag, the entity tag is a visible label, and the virtual tag is a invisible virtual signal tag. That is, the entity tag refers to a display mark that is detected by the detected device in an image manner and can be recognized by the processor. For example, the entity tag may be a two-dimensional code tag, and different two-dimensional code tags may be posted at corresponding positions on different walking areas of the robot. For example, corresponding two-dimensional codes are respectively pasted on a doorway ceiling of an independent compartment, an entrance ceiling of a one-way walkway and two end-port ceilings of a two-way walkway.
In other embodiments, the two-dimensional code tag may be specifically a dot code or the like.
Or, the entity label is a special display mark (such as a special symbol or the two-dimensional code) output by the entity device, or the entity device itself is a specially designed entity structure, and the entity structure has a state that is changed, so that the entity device can have devices with different display marks. If the physical devices, the entrance ceiling of the unidirectional walkway and the two-port ceiling of the bidirectional walkway are arranged on the ceiling of the doorway of the independent bag room, the physical devices are respectively pasted on the ceiling of the two ports of the bidirectional walkway, and the display marks output by the physical devices on the ceilings of different walking areas are different.
It is worth noting that when the above-mentioned mark arrangement scheme is realized by the entity tag, the detection device is a camera, and the robot is loaded with the camera, so that in the walking process of the robot, the camera shoots a preset direction to obtain image data, and when the image data including the entity tag is shot, the processor analyzes and processes according to the image data to recognize the corresponding mark information included in the entity tag.
It should be noted that the arrangement of the cameras on the robot may be determined according to the arrangement scene of the physical tags, and if the physical tags are arranged on the ceiling, the cameras may be controlled to shoot toward the top of the robot by using a top camera. As described in the foregoing embodiments, the physical tags may also be disposed at other positions of the doorway, such as on the wall and the ground, and the corresponding cameras may also be disposed correspondingly to capture images in a certain direction, so as to facilitate effective and fast extraction of useful image data. In addition, the video camera may also be an infrared camera, a depth camera, a monocular camera, or the like, which is not limited herein.
In an embodiment, the recognized identifier may also be an identifier obtained based on a virtual tag, where the virtual tag is a virtual signal tag invisible to the naked eye, where the virtual tag refers to a virtual signal tag that can be recognized by the detection device through a light source or other forms and can be recognized by the processor. For example, the virtual tag may be a light source signal tag output by a physical device, such as a laser signal tag, and it should be noted that when the virtual signal tag is used, the detection device is a device capable of recognizing the virtual signal tag, such as a laser radar device when the laser signal tag is used. It can be understood that, by means of the virtual signal tag, compared with a method that needs image recognition, the processing amount is less, the calculation burden is reduced, and moreover, the virtual signal tag is an invisible signal tag, and compared with the method of the entity structure or the two-dimensional code tag described above, the maintenance cost of the entity device can be reduced. In addition, a physical tag or a virtual tag can be considered as a visual tag which can be recognized by a machine.
Note that, in this embodiment, the robot includes: the robot comprises a machine body and a power system loaded on the machine body, wherein the power system is used for providing power for the robot so as to drive the machine body to move and further drive the robot to walk.
In an embodiment, and when the program code is executed, the processor is arranged to:
carrying out closed-loop detection on a plurality of position nodes to obtain closed-loop information;
judging whether the closed-loop information is effective closed-loop information or not by using the identifiers of two position nodes in the closed-loop information;
and if so, carrying out map construction based on the effective closed-loop information.
It should be noted that after the above process of identifying and marking, one of the application scenarios is to construct a positioning map by using the marking result.
In a traditional process of establishing a positioning map, the positioning map is obtained by a robot through a map establishing method, for example, the positioning map is established in a SLAM (simultaneous localization and mapping) manner, and the positioning map can be obtained by establishing position node information obtained by using a 2D laser and a wheel type odometer. However, in the current closed-loop detection mode, a mode of map scanning matching is basically adopted, in the closed-loop detection processes such as the mode of map scanning matching, in many map construction scenes, due to the layout characteristics, similar regional scenes are often provided, as shown in fig. 2, the unidirectional walkway 1 and the unidirectional walkway 2 may be very similar regional scenes, and the closed-loop detection is performed by the mode of map scanning matching, and the like, the unidirectional walkway 1 and the unidirectional walkway 2 are often considered as the same region, that is, originally different regions are considered as the same region, so that effective closed-loop information which is not deleted is deleted, and the closed-loop information which participates in the subsequent map construction has errors. Therefore, in order to solve the problem of the error of the closed-loop information, in the embodiment of the invention, another special way for determining whether the closed-loop information is valid is proposed based on the marking result of the identification.
In the process of building the map, the robot needs to walk through the whole area, so that in the process, the position nodes in the area can be marked by using the marking mode provided by the embodiment, in the process, closed-loop detection is carried out on a plurality of position nodes to obtain closed-loop information, the marks of two position nodes in the closed-loop information are used for judging whether the closed-loop information is effective closed-loop information, and if yes, the map is built based on the effective closed-loop information.
According to the embodiment of the invention, the robot can complete the identification marking process in the marking process, effective closed-loop information can be further judged by utilizing the identification of the position node in the closed-loop information detected by the closed loop, and the effective closed-loop information can be determined by referring to the identification of the position node, so that different areas can be prevented from being considered as the same area in the mapping process, the closed-loop detection accuracy is improved, and the accuracy and the integrity of the final positioning map are effectively ensured.
In an embodiment, the processor, when determining whether the closed-loop information is valid closed-loop information using the identities of the two location nodes in the closed-loop information, is arranged to:
when the identifiers of the two position nodes are both effective identifiers and are the same, judging that the closed-loop information is effective closed-loop information;
when the identifiers of the two position nodes are invalid identifiers, judging that the closed-loop information is valid closed-loop information;
and when the identifiers of the two position nodes are both effective identifiers and are different, judging that the closed-loop information is invalid closed-loop information.
For example, the position nodes detected as the closed-loop information are Pc and Po, if the identifiers of Pc and Po are valid and the same, the closed-loop information is valid closed-loop information, if the identifiers of Pc and Po are invalid identifiers, the closed-loop information is considered to be valid closed-loop information, and if the identifiers of Pc and Po are both valid and different, the closed-loop information is judged to be invalid closed-loop information. As a simple example, in an alternative embodiment, due to the higher similarity between different corridors/walkways, if the actual scenes of the one-way walkway 1 and the one-way walkway 2 are similar, specifically, the scene of the certain position node P1 in the one-way walkway 1 and the scene of the certain position node P2 in the one-way walkway 2 are very similar, it is possible to establish closed-loop information for the position node P1 and the position node P2, but in practice, the position node P1 and the position node P2 are completely different, and in order to prevent the map from being optimally constructed based on the wrong closed-loop information in the map construction, it is highly likely to cause a map construction error, since the position node P1 is identified as 1, and the position node P2 is identified as 2 in the present application, it can be determined that the position node P1 and the position node P2 are invalid loopback information, and therefore, the final mapping is not affected.
It can be seen that although the two scenes of the unidirectional walkway 1 and the unidirectional walkway 2 are very similar, one of the two scenes cannot be deleted by mistake, the effective closed-loop information referred by the subsequently constructed positioning map can be more accurate, and the map construction accuracy and integrity are improved.
In other cases, when the identifiers of the two position nodes are both invalid identifiers, if the identifiers are in the main road, the closed-loop information is judged to be valid closed-loop information; and when the identifiers of the two position nodes are both effective identifiers and are different, judging that the closed-loop information is invalid closed-loop information. Therefore, the embodiment provides a way of specifically combining the mark to judge whether the closed-loop information detected by the closed loop is the effective closed-loop information, and the implementability of the scheme is improved.
In a specific embodiment, for the same long corridor/aisle, image information (e.g., laser image information or visual image information) of different position nodes is similar or even the same, so when constructing closed-loop information of the position nodes, it may be limited by some distance, for example, two position nodes that need to be compared need to be greater than 10m or even 20m, etc. to perform comparison, a specific value is not limited here, and different position nodes of the same corridor are prevented from being compared, thereby preventing different position nodes of the same corridor from constructing closed-loop constraints (closed-loop information).
In an embodiment, the processor is further arranged to:
when only one of the identifiers of the two position nodes of the closed-loop information is an effective identifier, caching the closed-loop information;
after the preset duration or the preset distance of the robot operation, comparing the identifiers of the two position nodes from the cached closed-loop information;
when the identifiers of the two position nodes are the same, determining the closed-loop information as effective closed-loop information;
and when the identifiers of the two position nodes are different, determining the closed-loop information as invalid closed-loop information.
For example, if one of the marks Pc and Po is a valid mark and the other is an invalid mark, it cannot be determined whether Pc and Po are valid closed-loop information. When only one of the identifiers of the position nodes of the closed-loop information is an effective identifier, whether the closed-loop information is the effective closed-loop information cannot be accurately judged at the moment, the processor waits for processing, the part of closed-loop information is cached firstly, when enough closed-loop information is possibly cached after a preset time or after the robot runs for a preset distance, the identifiers of the two position nodes are compared from the cached closed-loop information, and when the identifiers of the two position nodes are the same, the closed-loop information is determined to be the effective closed-loop information; and when the identifiers of the two position nodes are different, determining the closed-loop information as invalid closed-loop information.
It can be understood that after the identification marking processing, in the part of the cached closed-loop information, the position node with the same identification is judged to be the effective closed-loop information naturally, and the position node with different identification is judged to be the invalid closed-loop information.
In an embodiment, the processor is further arranged to: and deleting the invalid closed-loop information. It can be understood that after more effective closed-loop information is determined by using the cached closed-loop information, the cached invalid closed-loop information can be deleted, and the occupation of the storage space is avoided.
Example 2
The robot provided by the embodiment of the present invention is described above, and based on the robot, the embodiment of the present invention further provides a map building method, as shown in fig. 3, the map building method is applied to the robot for explanation, and the map building method includes the following steps:
s10: detection information detected by the detection device is acquired.
S20: and performing identification recognition by using the detection information.
S30: and when the identification is recognized, marking the current position node of the robot with the currently recognized identification.
S40: and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has walked through in the reverse order.
S50: and marking all position nodes between the position node which is judged for the first time and has the same identification and the current position node by using the currently identified identification as an effective identification.
In one embodiment, marking the current position node of the robot with the currently recognized identifier means: and performing association binding on the currently recognized identifier and the position node information of the current position node.
In one embodiment, when no identifier is identified, the map construction method further includes the steps of:
and marking the corresponding position node which passes by the robot and is not identified with the mark by using the invalid mark.
In an embodiment, all the location nodes between the location node having the same identifier and the current location node, which are judged for the first time, are marked by using the currently identified identifier as an effective identifier, which specifically means: and changing the invalid identifications of all position nodes between the position nodes with the same identification and the current position node into the currently identified identifications.
In an embodiment, the recognized identifier is an identifier obtained by an entity tag or a virtual tag, the entity tag is a visible label, and the virtual tag is a invisible virtual signal tag.
In one embodiment, the entity tag is a two-dimensional code tag or a dot-matrix code.
In an embodiment, as shown in fig. 4, the map construction method further includes the following steps:
s60: and carrying out closed-loop detection on the plurality of position nodes to obtain closed-loop information.
S70: and judging whether the closed-loop information is effective closed-loop information or not by utilizing the identifiers of the two position nodes in the closed-loop information.
S80: and if so, carrying out map construction based on the effective closed-loop information.
In an embodiment, the method for judging whether the closed-loop information is valid closed-loop information by using the identifiers of two position nodes in the closed-loop information specifically includes the following steps:
when the identifiers of the two position nodes are both effective identifiers and are the same, judging that the closed-loop information is effective closed-loop information;
when the identifiers of the two position nodes are invalid identifiers, judging that the closed-loop information is valid closed-loop information;
and when the identifiers of the two position nodes are both effective identifiers and are different, judging that the closed-loop information is invalid closed-loop information.
In one embodiment, the map construction method further comprises the following steps:
when only one of the identifiers of the two position nodes of the closed-loop information is an effective identifier, caching the closed-loop information;
after the preset duration or the preset distance of the robot operation, comparing the identifiers of the two position nodes from the cached closed-loop information;
when the identifiers of the two position nodes are the same, determining the closed-loop information as effective closed-loop information;
and when the identifiers of the two position nodes are different, determining the closed-loop information as invalid closed-loop information.
In one embodiment, the map construction method further comprises the steps of: and deleting the invalid closed-loop information.
For more details, explanations and technical effects of the map building method, reference may be made to the description of the robot in the foregoing embodiments, and the description is not repeated here.
The embodiment of the invention can show that the map construction method mainly comprises the following contents that on one hand, a small amount of identifiers can be used for marking areas to reduce identifier arrangement cost and complexity, on the other hand, the identifiers of the position nodes are participated in map construction by using the identifier marking result, effective closed-loop information is specifically selected through the identifiers of the position nodes and participated in the map construction, the condition that the effective closed-loop information of similar scenes is deleted by mistake is avoided, namely, the condition that different areas are regarded as the same area in the map construction process can be effectively prevented, the closed-loop detection accuracy is improved, and the accuracy and the integrity of the finally constructed positioning map are effectively ensured.
Example 3
This embodiment provides a map construction apparatus, which corresponds one-to-one to the map construction method in the above embodiment. As shown in fig. 5, the tag processing apparatus includes an acquisition module 101, an identification module 102, and a marking module 103. The functional modules are explained in detail as follows:
an obtaining module 101, configured to obtain detection information detected by a detection device;
the identification module 102 is configured to perform identification by using the probe information;
a marking module 103 for:
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
In an embodiment, when the marking module 103 marks the current position node of the robot with the currently recognized identifier, the marking module is specifically configured to: and performing association binding on the currently recognized identifier and the position node information of the current position node.
In one embodiment, the tagging module 103 is further configured to: and when the effective label is not recognized, marking the position node corresponding to the position node which passes by the robot and is not recognized with the identification by using the invalid identification.
In an embodiment, the marking module 103 is specifically configured to change the invalid identifiers of all the position nodes between the position node having the same identifier and the current position node into the currently identified identifier when marking all the position nodes between the position node having the same identifier and the current position node, which are judged for the first time, with the currently identified identifier.
In an embodiment, the map building apparatus as shown in fig. 6 further includes:
a detection module 104, configured to perform closed-loop detection on multiple location nodes to obtain closed-loop information;
a judging module 105, configured to judge whether the closed-loop information is valid closed-loop information by using the identifiers of the two position nodes in the closed-loop information;
and the building module 106 is configured to build a map based on the effective closed-loop information if the current position is the current position.
In an embodiment, the determining module 105 is specifically configured to:
when the identifiers of the two position nodes are both effective identifiers and are the same, judging that the closed-loop information is effective closed-loop information;
when the identifiers of the two position nodes are invalid identifiers, judging that the closed-loop information is valid closed-loop information;
and when the identifiers of the two position nodes are both effective identifiers and are different, judging that the closed-loop information is invalid closed-loop information.
In an embodiment, the determining module 105 is further specifically configured to:
when only one of the identifiers of the two position nodes of the closed-loop information is an effective identifier, caching the closed-loop information;
after the preset duration or the preset distance of the robot operation, comparing the identifiers of the two position nodes from the cached closed-loop information;
when the identifiers of the two position nodes are the same, determining the closed-loop information as effective closed-loop information;
and when the identifiers of the two position nodes are different, determining the closed-loop information as invalid closed-loop information.
In an embodiment, the map building apparatus further comprises a deletion module;
and the deleting module is used for deleting the invalid closed-loop information.
It should be noted that, for specific limitations of the map building apparatus, reference may be made to the above limitations of the map building method, which is not described herein again. The various modules in the mapping apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in a computer device (such as a robot), or can be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Example 4
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring detection information detected by detection equipment, and identifying an identifier by using the detection information;
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
In an embodiment, the computer program further realizes the following steps when executed by the processor:
carrying out closed-loop detection on a plurality of position nodes to obtain closed-loop information;
judging whether the closed-loop information is effective closed-loop information or not by using the identifiers of two position nodes in the closed-loop information;
and if so, carrying out map construction based on the effective closed-loop information.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
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.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (22)
1. A robot comprising a detection device, a memory, and a processor, the memory having program code stored therein;
the detection equipment is used for detecting the environment periphery of the robot to obtain detection information;
the processor for invoking the program code and when executed arranged to:
acquiring the detection information, and identifying an identifier by using the detection information;
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
2. A robot as claimed in claim 1, wherein the processor, when marking a robot current location node with a currently identified identity, is arranged to:
and performing association binding on the currently recognized identifier and the position node information of the current position node.
3. A robot as claimed in claim 1, when the processor does not recognise an identity, further arranged to:
and marking the corresponding position node which passes by the robot and is not identified with the identifier by using an invalid identifier.
4. A robot as claimed in claim 3, wherein the processor, when marking all location nodes between a first determined location node having the same identity and a current location node with the currently identified identity, is arranged to:
and changing the invalid identifications of all the position nodes between the position nodes with the same identification and the current position node into the currently identified identifications.
5. The robot of claim 1, wherein the recognized mark is a mark obtained based on a physical label that is a visible to the naked eye labeling label or a virtual label that is a virtual signal label that is not visible to the naked eye.
6. The robot of claim 5, wherein the physical tag is a two-dimensional code tag or a dot code.
7. A robot as claimed in claim 1, wherein the processor is further arranged to:
performing closed-loop detection on a plurality of position nodes to obtain closed-loop information;
judging whether the closed-loop information is effective closed-loop information or not by using the identifiers of two position nodes in the closed-loop information;
and if so, carrying out map construction based on the effective closed-loop information.
8. A robot as claimed in claim 7, wherein the processor, when determining whether the closed loop information is valid closed loop information using the identity of two position nodes in the closed loop information, is arranged to:
when the identifiers of the two position nodes are both effective identifiers and are the same, judging that the closed-loop information is effective closed-loop information;
when the identifiers of the two position nodes are invalid identifiers, judging that the closed-loop information is valid closed-loop information;
and when the identifiers of the two position nodes are both effective identifiers and are different, judging that the closed-loop information is invalid closed-loop information.
9. A robot as claimed in claim 8, wherein the processor is further arranged to:
when only one of the identifiers of the two position nodes of the closed-loop information is an effective identifier, caching the closed-loop information;
after the preset time or the preset distance of the robot operation, comparing the identifiers of the two position nodes from the cached closed-loop information;
when the identifiers of the two position nodes are the same, determining the closed-loop information as effective closed-loop information;
and when the identifiers of the two position nodes are different, determining the closed-loop information as invalid closed-loop information.
10. A robot as claimed in claim 8 or 9, wherein the processor is further arranged to:
and deleting the invalid closed-loop information.
11. A map construction method, characterized by comprising:
acquiring detection information detected by detection equipment, and identifying an identifier by using the detection information;
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
12. The mapping method of claim 11, wherein said tagging a robot current location node with a currently identified identity comprises:
and performing association binding on the currently recognized identifier and the position node information of the current position node.
13. The mapping method of claim 11, wherein when no identification is identified, the mapping method further comprises:
and marking the corresponding position node which passes by the robot and is not identified with the identifier by using an invalid identifier.
14. The map construction method according to claim 13, wherein said marking all the location nodes between the location node which is judged for the first time to have the same identifier and the current location node with the currently recognized identifier as a valid identifier comprises:
and changing the invalid identifications of all the position nodes between the position nodes with the same identification and the current position node into the currently identified identifications.
15. The map construction method according to claim 11, wherein the recognized mark is a mark obtained by a physical label or a virtual label, the physical label is a visual indication label, and the virtual label is a visual signal label invisible to the naked eye.
16. The map construction method of claim 15, wherein the entity tag is a two-dimensional code tag or a dot code.
17. The mapping method of claim 11, further comprising:
performing closed-loop detection on a plurality of position nodes to obtain closed-loop information;
judging whether the closed-loop information is effective closed-loop information or not by using the identifiers of two position nodes in the closed-loop information;
and if so, carrying out map construction based on the effective closed-loop information.
18. The map construction method of claim 17, wherein said determining whether the closed-loop information is valid closed-loop information using the identities of two location nodes in the closed-loop information comprises:
when the identifiers of the two position nodes are both effective identifiers and are the same, judging that the closed-loop information is effective closed-loop information;
when the identifiers of the two position nodes are invalid identifiers, judging that the closed-loop information is valid closed-loop information;
and when the identifiers of the two position nodes are both effective identifiers and are different, judging that the closed-loop information is invalid closed-loop information.
19. The mapping method of claim 18, further comprising:
when only one of the identifiers of the two position nodes of the closed-loop information is an effective identifier, caching the closed-loop information;
after the preset time or the preset distance of the robot operation, comparing the identifiers of the two position nodes from the cached closed-loop information;
when the identifiers of the two position nodes are the same, determining the closed-loop information as effective closed-loop information;
and when the identifiers of the two position nodes are different, determining the closed-loop information as invalid closed-loop information.
20. The mapping method according to claim 18 or 19, further comprising:
and deleting the invalid closed-loop information.
21. A map construction apparatus characterized by comprising:
the acquisition module is used for acquiring the detection information detected by the detection equipment;
the identification module is used for carrying out identification by utilizing the detection information;
a marking module to:
when the identification is identified, marking the current position node of the robot by using the currently identified identification, and sequentially judging whether position nodes with the same identification as the current position node exist in the position nodes which the robot has traveled or not in the reverse order;
when the position node with the same identification as the current position node is judged, all the position nodes between the position node with the same identification judged for the first time and the current position node are marked by taking the currently identified identification as an effective identification.
22. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, is adapted to implement the mapping method according to any one of claims 11-20.
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| CN113829353A (en) | 2021-12-24 |
| CN113829353B (en) | 2023-06-13 |
| CN113246136A (en) | 2021-08-13 |
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