CN113478488A - Robot repositioning method and device, electronic equipment and storage medium - Google Patents
Robot repositioning method and device, electronic equipment and storage medium Download PDFInfo
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- CN113478488A CN113478488A CN202110793504.3A CN202110793504A CN113478488A CN 113478488 A CN113478488 A CN 113478488A CN 202110793504 A CN202110793504 A CN 202110793504A CN 113478488 A CN113478488 A CN 113478488A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The embodiment of the application provides a robot repositioning method and device, electronic equipment and a storage medium, by sending a positioning loss alarm to the robot management platform, responding to an environmental information acquisition instruction sent by the robot management platform, controlling environmental information acquisition equipment to acquire surrounding environmental information to obtain environmental information, and sending the environmental information to the robot management platform, responding to a moving instruction sent by the robot management platform, controlling the robot to move and acquiring the positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information, the robot is relocated through a remote control mode, the problem that a manager blindly searches the robot because the position of the robot is not clear is solved, the use efficiency and the service quality of the robot are improved, and the occurrence frequency of task execution failure caused by position loss is reduced.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a robot repositioning method and device, electronic equipment and a storage medium.
Background
With the intelligent development of robots, a large number of robots have achieved autonomous positioning. Currently, the mainstream autonomous positioning modes include synchronous positioning and mapping (SLAM) positioning based on a laser radar and label positioning based on an image acquisition device.
However, when the robot moves, for example, a surrounding scene changes, or the robot is accidentally pushed out of an area of a path plan, so that the robot loses its position and is difficult to position, that is, when the robot loses position, in the prior art, the robot uploads error information to wait for an administrator to find the robot, and then manually assists the robot to reposition, so as to achieve repositioning.
In the prior art, repositioning needs to be realized by virtue of an administrator, and the time for the administrator to search for the robot is possibly long, so that the robot cannot complete work in time, and the working efficiency and the working quality of the robot are influenced.
Disclosure of Invention
The embodiment of the application provides a robot repositioning method and device, electronic equipment and a storage medium, and repositioning can be effectively realized without human intervention.
In a first aspect, an embodiment of the present application provides a robot repositioning method, which is applied to a robot, and includes:
sending a positioning loss alarm to the robot management platform;
responding to an environmental information acquisition instruction sent by the robot management platform, controlling environmental information acquisition equipment to acquire surrounding environmental information to obtain environmental information, and sending the environmental information to the robot management platform;
and responding to a moving instruction sent by the robot management platform, controlling the robot to move and acquiring positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
Optionally, the controlling the robot to move and acquire the positioning information in real time in response to the movement instruction sent by the robot management platform includes:
planning a path according to the estimated position information and the orientation information to obtain an estimated motion path of the robot;
and controlling the robot to move to a target point according to the estimated motion path, and acquiring positioning information at the target point.
Optionally, the controlling the robot to move to a target point according to the estimated motion path, and after obtaining the positioning information at the target point, the method further includes:
and if the positioning at the target point location is successful, correcting the estimated motion path according to the positioning information acquired at the target point location.
Optionally, before controlling the robot to move and obtain the positioning information in real time in response to the movement instruction sent by the robot management platform, the method further includes:
and sending map information to the robot management platform, wherein the map information comprises global map information and regional map information of the region where the robot is located.
Optionally, before the sending the environmental information to the robot management platform, the method further includes:
comparing the environment information with map information of the robot, and calculating trial position information of the robot;
and controlling the robot to move and acquiring the position information in real time according to the trial position information.
In a second aspect, an embodiment of the present application provides a robot repositioning method, which is applied to a robot management platform, and includes:
responding to a positioning loss alarm sent by a robot, generating an environmental information acquisition instruction, and sending the environmental information acquisition instruction to the robot;
and generating a moving instruction according to the environment information fed back by the robot, and sending the moving instruction to the robot so that the robot moves according to the moving instruction and acquires positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
Optionally, the generating a movement instruction according to the environment information fed back by the robot includes:
comparing the environment information with the map information of the robot, and calculating the estimated position information of the robot;
and determining the orientation information according to the estimated position information and the task destination of the robot.
Optionally, the map information includes at least two point location information, and the comparing the environment information with the map information of the robot to calculate the estimated location information of the robot includes:
comparing the environment information with the at least two point location information respectively to obtain the similarity between each point location information and the environment information;
and determining point location information with the maximum similarity to the environment information as the estimated location information.
Optionally, before generating a movement instruction according to the environment information fed back by the robot, the method further includes:
and receiving map information sent by the robot, wherein the map information comprises global map information and regional map information of the region where the robot is located.
In a third aspect, an embodiment of the present application provides a robot relocating device, including:
the alarm module is used for sending a positioning loss alarm to the robot management platform;
the processing module is used for responding to an environmental information acquisition instruction sent by the robot management platform, controlling environmental information acquisition equipment to acquire surrounding environmental information to obtain environmental information, and sending the environmental information to the robot management platform; and responding to a moving instruction sent by the robot management platform, controlling the robot to move and acquiring positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
In a fourth aspect, an embodiment of the present application provides a robot relocating device, including:
the first instruction generation module is used for responding to a positioning loss alarm sent by the robot, generating an environmental information acquisition instruction and sending the environmental information acquisition instruction to the robot;
and the second instruction generating module is used for generating a moving instruction according to the environment information fed back by the robot and sending the moving instruction to the robot so that the robot moves according to the moving instruction and acquires positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
In a fifth aspect, embodiments of the present application provide a robot, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the robot repositioning method according to the first aspect.
In a sixth aspect, embodiments of the present application provide a robot management platform, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the robot relocation method according to the second aspect.
In a seventh aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the robot repositioning method according to the first aspect.
The robot repositioning method and device, the electronic equipment and the storage medium provided by the embodiment of the application, by sending a positioning loss alarm to the robot management platform, responding to an environmental information acquisition instruction sent by the robot management platform, controlling environmental information acquisition equipment to acquire surrounding environmental information to obtain environmental information, and sending the environmental information to the robot management platform, responding to a moving instruction sent by the robot management platform, controlling the robot to move and acquiring the positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information, the robot is relocated through a remote control mode, the problem that a manager blindly searches the robot because the position of the robot is not clear is solved, the use efficiency and the service quality of the robot are improved, and the occurrence frequency of task execution failure caused by position loss is reduced.
Drawings
Fig. 1 is a schematic view of an application scenario according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a robot repositioning method according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of data interaction in a robot relocation process according to a second embodiment of the present application;
fig. 4 is a schematic structural diagram of a robot repositioning device according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of a robot repositioning device according to a fourth embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a robot according to a fifth embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a robot management platform according to a sixth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
The embodiment provides a technical scheme for robot relocation, which can be used for helping a robot to quickly find back a position in a remote control mode when the robot is lost in positioning. For example, fig. 1 is a schematic view of an application scenario of an embodiment of the present application, as shown in fig. 1, a robot in the embodiment may be any type of mobile robot, such as a delivery robot, a greeting robot, and the like, a robot management platform is a device, such as a computer, a server, and the like, that schedules and handles an emergency for each robot, and the robot management platform may perform communication and data interaction in a wired or wireless manner.
The main ideas of the technical scheme are as follows: based on the problem that the intelligent degree of robot relocation is not high in the prior art, the embodiment of the application provides the technical scheme of robot relocation, when the robot is lost in location, on one hand, the robot can send a location loss alarm to the robot management platform through the robot, the robot management platform sends a remote instruction to the robot to remotely control the robot, so that the robot is helped to realize relocation, and on the other hand, the robot can attempt to carry out movement and acquisition of position information through judgment and preliminary estimation by a location verification module of the robot, so that relocation is realized.
It can be understood that the two aspects can also be combined, namely, the robot tries to move and interacts with the robot management platform through remote instructions, so as to achieve the purpose of quick relocation.
Example one
Fig. 2 is a schematic flowchart of a robot repositioning method according to an embodiment of the present application, where the robot repositioning method according to the present embodiment is applied between a robot and a robot management platform, as shown in fig. 2, and as shown in fig. 2, the robot repositioning method according to the present embodiment includes:
s101, sending a positioning loss alarm to a robot management platform;
in this step, when the robot is lost in positioning at a certain position (i.e. the robot cannot acquire positioning information), the robot actively sends a positioning loss alarm to the robot management platform, so that the robot management platform intervenes to help the robot realize relocation.
The positioning loss alarm can be a specific code or character appointed in advance, and is used for reporting the current processing positioning loss state of the robot to the robot management platform.
It can be understood that, in this embodiment, the positioning loss alarm carries an identifier, such as a serial number, of the robot, so that the robot management platform performs communication and data interaction with the robot management platform according to the identifier.
S102, responding to a positioning loss alarm sent by the robot, and generating an environmental information acquisition instruction;
in order to help the robot realize relocation, the robot management platform needs to estimate and judge the current position of the robot by means of the environmental information around the robot, so that after receiving the positioning loss alarm information sent by the robot, in the step, an environmental information instruction used for triggering the robot to collect the environmental information around the robot is generated.
And S103, sending the environment information acquisition command to the robot.
In this step, the robot management platform sends the environmental information acquisition instruction generated in S102 to the robot in a wired or wireless manner.
And S104, controlling the environmental information acquisition equipment to acquire the surrounding environmental information according to the environmental information acquisition instruction to obtain the environmental information.
In this step, in response to an environmental information acquisition instruction sent by the robot management platform, the robot controls its own environmental information acquisition device to be turned on, and acquires surrounding environmental information to obtain environmental information.
The environment information acquisition equipment can be a laser radar or a camera, if the environment information acquisition equipment of a certain robot is the laser radar, the acquired environment information is composed of point cloud data, and if the environment information acquisition equipment of the certain robot is the camera, the acquired environment information is composed of picture data.
And S105, sending the environment information to the robot management platform.
In this step, in order to enable the robot management platform to estimate and judge the current position of the robot, the robot sends the environmental information acquired by the environmental information acquisition device in S104 to the robot management platform.
And S106, generating a moving instruction according to the environment information fed back by the robot.
In this step, the robot management platform estimates and judges the current position of the robot according to the environmental information sent by the robot, and generates a movement instruction for triggering the robot to move the position according to the processing result.
In a possible implementation manner, the estimated position information and the orientation information are included in the movement instruction in the present embodiment. The estimated position information refers to the position information of the current position of the robot estimated by the robot management platform, and is used for assisting the robot to determine the current position of the robot; the orientation information is information on the motion orientation or the moving direction of the robot estimated by the robot management platform, and is related to the current position of the robot and the task destination of the robot, and is used for assisting the direction of the motion of the robot.
Correspondingly, in this step, the estimated position information of the robot is obtained by comparing the environment information collected by the robot with the map information of the robot and performing probability calculation, and further, the orientation information of the robot is determined according to the estimated position information obtained by calculation and the task destination information of the robot. And finally, constructing a moving instruction according to the determined estimated position information and the determined orientation information.
In actual operation, the robot moves according to the point location information, such as from one point location to another point location. Accordingly, in this embodiment, the similarity between the environment information and each point location information is calculated by comparing the acquired environment information with each point location information in the map, and the corresponding relationship between each point location information and the similarity is obtained, where the similarity is the probability that the position where the robot is located is the corresponding point location, and then the probability that the point location corresponding to the maximum value of the similarity is the current position of the robot is the maximum, so in this embodiment, the point location information with the maximum similarity to the environment information acquired by the robot is determined as the estimated position information.
In this embodiment, on one hand, the estimated position information and the orientation information are sent to the robot in a moving instruction mode, so that the robot can move according to the moving instruction, and the positioning information is obtained in real time in the moving process, thereby helping the robot to quickly realize relocation. On the other hand, the similarity between the environment information and each point location information is calculated, and the point location corresponding to the maximum similarity obtained through calculation is determined as the current position of the robot, so that the accuracy of the estimated position information determined by the robot management platform is improved, and the robot can be rapidly repositioned.
It is understood that the map information of the robot may be sent to the robot management platform by the robot in advance, for example, the map information may be sent to the robot management platform along with the positioning loss alarm or the environmental information sent by the robot, or may be sent to the robot management platform actively when the robot completes the construction or update of the map, which is not limited herein.
Optionally, in this embodiment, after the robot loses its location, the robot sends its own map information to the robot management platform, and the map information sent by the robot to the robot management platform includes global map information (i.e., map information of the entire large working environment or scene) and area map information of an area where the robot is located (i.e., area map information of an area where the robot is located when the robot loses its location). For example, A, B, C, D four partitions are included in a working scene of a certain robot, and assuming that the robot has a positioning loss in the B partition, the robot sends point location information of all point locations in A, B, C, D four partitions to the global map information, and the area map information includes only point location information of point locations included in the B partition.
Accordingly, when the estimated location information is determined, the received environment information may be compared with the point location information in the area map information, when there is no point location information that meets the requirement (e.g., greater than a certain similarity threshold), the environment information may be compared with other point location information in the global map information (e.g., point location information in a partition other than the partition B), and when the environment information is compared with other point location information in the global map information, the point location information that meets the requirement may be searched in a near-to-far manner according to the distance relationship between the point location information and the partition corresponding to the area map. The estimated position information is calculated in the mode, the calculation speed of the estimated position information is improved, the time required by the robot for repositioning is reduced, the robot can rapidly move to work, the working efficiency of the robot is improved, and the user experience is improved.
And S107, sending the movement command to the robot.
In this step, the robot management platform sends the generated movement instruction to the robot. Accordingly, the robot receives the movement instruction.
And S108, controlling the robot to move and acquiring positioning information in real time according to the moving instruction.
In the step, the robot responds to the received moving instruction, moves according to the estimated position information and the orientation information in the moving instruction, and acquires the positioning information according to the environmental information acquired by the environmental information acquisition equipment in the moving process.
In a possible implementation manner, in this step, a running path of the robot is planned according to the estimated position information and the orientation information in the movement instruction and referring to the information of the map information, the task destination, the movement step length, and the like of the robot, so as to obtain an estimated movement path of the robot, it can be understood that the estimated movement path is also composed of a series of point location information, and further, the robot is controlled to move to a target point location according to the estimated movement path, and the positioning information is obtained at the target point location. The target point is a neighboring point on the estimated motion path in the direction corresponding to the direction information with the estimated position information.
Accordingly, in this embodiment, if the positioning is successful at the target point (that is, the robot can obtain the positioning information, that is, the information of the current position can be determined according to the collected environment information, and relocation is implemented), the estimated movement path is corrected by using the positioning information obtained at the target point, so as to obtain the actual movement path of the robot. The predicted movement path may be corrected by planning the movement path again according to positioning information obtained at the target point, or by only correcting corresponding point location information (e.g., target point location information) on the predicted movement path, and may be specifically determined according to the difference between the obtained positioning information and the target point location information (e.g., predicted point location information) on the predicted movement path, which is not limited herein.
If the positioning fails at the target point, the robot can send a positioning loss alarm to the robot management platform again, namely the steps of S101-S108 are repeated, and the robot realizes the relocation directly.
It can be understood that, in this embodiment, the construction of the instruction, and the transmission of the instruction and the related data may be performed according to a communication protocol, such as a WebSocket protocol, used between the robot and the robot management platform.
In the embodiment, the positioning loss alarm is sent to the robot management platform, the environment information acquisition device is controlled to acquire the surrounding environment information in response to the environment information acquisition instruction sent by the robot management platform, the environment information is obtained and sent to the robot management platform, the robot is controlled to move and the positioning information is obtained in real time in response to the moving instruction sent by the robot management platform, the moving instruction comprises the pre-estimated position information and the orientation information, the robot is relocated through a remote control mode, the problem that an administrator cannot know the position of the robot and finds the position of the robot blindly is solved, the use efficiency and the service quality of the robot are improved, and the occurrence frequency of task execution failure caused by position loss is reduced.
In addition, on the basis of the above embodiments, in order to improve the degree of intelligence and speed of the robot relocation, in this embodiment, the robot may try to move by the robot in the process of the robot relocation through the robot management platform in a remote manner, specifically, the environment information collecting device is controlled to collect the surrounding environment information, the collected environment information is compared with the map information of the robot, the trial position information is calculated, and the robot is controlled to move and obtain the position information in real time according to the trial position information.
The specific implementation of determining the trial position information is similar to that in S106, and the specific implementation of controlling the robot to move and acquiring the positioning information according to the trial position information is similar to that in S108, and is not described herein again.
It is understood that, in the process of attempting positioning by the robot itself, the positioning may be performed in any case in the process of repositioning by the robot management platform in a remote manner, for example, after the robot loses positioning each time, the positioning may be performed before a positioning loss alarm is sent to the robot management platform, or after the robot obtains environment information according to an environment information acquisition instruction, the environment information may be sent to the robot management platform, which is not limited herein.
Example two
To more clearly understand the data interaction process between the robot management platform and the robot in the embodiment of the present application, a more specific embodiment is described below, where it is assumed that the robot management platform is an application server, and an application client and a Robot Operating System (ROS) are installed on the robot, and fig. 3 is an exemplary data interaction diagram in the robot relocation process provided in the second embodiment of the present application, as shown in fig. 3, in this embodiment, the data interaction process between the robot management platform and the robot includes:
s201, when the robot is lost in positioning, the robot operating system reports a positioning loss alarm to the application client;
s202, after receiving the positioning loss alarm, the application client sends the positioning loss alarm to an application server in a transparent transmission mode;
s203, the application server responds to the positioning loss alarm and generates a map information acquisition instruction;
s204, the application server sends the map information acquisition instruction to an application client on the robot;
s205, after receiving the map information acquisition instruction, the application client sends the map information acquisition instruction to the robot operation system in a transparent transmission mode;
s206, the robot operating system acquires an instruction according to the map information and sends the local map information to the application client;
s207, the application client sends the map information to an application server in a transparent transmission mode;
s208, after receiving the map information, the server generates an environment information acquisition instruction;
s209, the server sends the environment information acquisition instruction to the application client on the robot;
s210, the application client sends the environment information acquisition instruction to the robot operation system in a transparent transmission mode;
s211, the robot operating system responds to the environmental information acquisition instruction and controls the environmental information acquisition equipment to acquire surrounding environmental information;
s212, the robot operating system reports the collected environment information to the application client;
s213, the application client sends the environment information to the application server in a transparent transmission mode;
s214, the application server performs data processing according to the environment information and the map information to generate a moving instruction comprising a position coordinate and a direction;
s215, the application server sends the moving instruction to an application client on the robot;
s216, the application client sends the moving instruction to the robot operating system in a transparent transmission mode;
and S217, the robot operating system responds to the moving instruction, controls the robot to move and acquires the positioning information in real time.
The transparent transmission means a communication mode in which data sent by the operation of the application client robot is directly sent to the application server, or content sent by the application server is directly sent to the robot operation system.
In the embodiment, the robot interaction system (such as an application client) is connected in series with the robot management platform (such as an application server) and the robot bottom layer (such as a robot operating system), so that remote communication and data interaction between the robot and the robot management platform are realized, the feasibility and reliability of data interaction in the robot relocation process are ensured, and the robot relocation system has a high practical application value.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a robot repositioning device according to a third embodiment of the present application, and as shown in fig. 4, a robot repositioning device 10 according to the third embodiment includes:
an alarm module 11 and a processing module 12.
The alarm module 11 is used for sending a positioning loss alarm to the robot management platform;
the processing module 12 is configured to respond to an environmental information acquisition instruction sent by the robot management platform, control an environmental information acquisition device to acquire surrounding environmental information, obtain environmental information, and send the environmental information to the robot management platform; and responding to a moving instruction sent by the robot management platform, controlling the robot to move and acquiring positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
Optionally, the processing module 12 is specifically configured to:
planning a path according to the estimated position information and the orientation information to obtain an estimated motion path of the robot;
and controlling the robot to move to a target point according to the estimated motion path, and acquiring positioning information at the target point.
Optionally, the processing module 12 is further configured to:
and if the positioning at the target point location is successful, correcting the estimated motion path according to the positioning information acquired at the target point location.
Optionally, the processing module 12 is further configured to:
and sending map information to the robot management platform, wherein the map information comprises global map information and regional map information of the region where the robot is located.
Optionally, the processing module 12 is further configured to:
comparing the environment information with map information of the robot, and calculating trial position information of the robot;
and controlling the robot to move and acquiring the position information in real time according to the trial position information.
The robot repositioning device provided by the embodiment can execute the robot repositioning method on the robot side in the method embodiment, and has corresponding functional modules and beneficial effects of the execution method. The implementation principle and technical effect of this embodiment are similar to those of the above method embodiments, and are not described in detail here.
Example four
Fig. 5 is a schematic structural diagram of a robot repositioning device according to a fourth embodiment of the present application, and as shown in fig. 5, the robot repositioning device 20 in this embodiment includes:
a first instruction generation module 21 and a second instruction generation module 22.
The first instruction generating module 21 is configured to generate an environmental information acquisition instruction in response to a positioning loss alarm sent by a robot, and send the environmental information acquisition instruction to the robot;
and the second instruction generating module 22 is configured to generate a moving instruction according to the environment information fed back by the robot, and send the moving instruction to the robot, so that the robot moves according to the moving instruction and obtains positioning information in real time, where the moving instruction includes pre-estimated position information and orientation information.
Optionally, the second instruction generating module 22 is specifically configured to:
comparing the environment information with the map information of the robot, and calculating the estimated position information of the robot;
and determining the orientation information according to the estimated position information and the task destination of the robot.
Optionally, the map information includes at least two point location information, and the second instruction generating module 22 is specifically configured to:
comparing the environment information with the at least two point location information respectively to obtain the similarity between each point location information and the environment information;
and determining point location information with the maximum similarity to the environment information as the estimated location information.
Optionally, the second instruction generating module 22 is further configured to:
and receiving map information sent by the robot, wherein the map information comprises global map information and regional map information of the region where the robot is located.
The robot repositioning device provided by the embodiment can execute the robot repositioning method on the robot management platform side in the method embodiment, and has corresponding functional modules and beneficial effects of the execution method. The implementation principle and technical effect of this embodiment are similar to those of the above method embodiments, and are not described in detail here.
EXAMPLE five
Fig. 6 is a schematic structural diagram of a robot according to a fifth embodiment of the present invention, as shown in fig. 6, the robot 30 includes a memory 31, a processor 32, and a computer program stored in the memory and executable on the processor; the processor 32 executes the computer program to implement the solution of the robot side in any of the method embodiments described above.
EXAMPLE six
Fig. 7 is a schematic structural diagram of a robot management platform according to a sixth embodiment of the present application, and as shown in fig. 7, the robot management platform 40 includes a memory 41, a processor 42, and a computer program stored in the memory and executable on the processor; the processor 42 executes the computer program to implement the solution of the robot management platform side in any of the foregoing method embodiments.
It should be noted that in any of the above embodiments of the electronic device, the number of the processors may be one or more, and one processor is taken as an example in fig. 6 and 7; the processor and the memory in the electronic device may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 6 and 7.
The memory, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as the program instructions/modules corresponding to the alarm module and the processing module in the various robot embodiments described above. The processor executes various functional applications and data processing of the robot/robot management platform by executing software programs, instructions and modules stored in the memory, namely, the robot relocation method is realized.
The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory remotely located from the processor, which may be connected to the robot/robot management platform through a grid.
EXAMPLE seven
A seventh embodiment of the present application further provides a computer-readable storage medium having stored thereon a computer program for performing a robot repositioning method when executed by a computer processor, the method comprising:
sending a positioning loss alarm to the robot management platform;
responding to an environmental information acquisition instruction sent by the robot management platform, controlling environmental information acquisition equipment to acquire surrounding environmental information to obtain environmental information, and sending the environmental information to the robot management platform;
and responding to a moving instruction sent by the robot management platform, controlling the robot to move and acquiring positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
Example eight
An eighth embodiment of the present application further provides a computer-readable storage medium having stored thereon a computer program which, when executed by a computer processor, is configured to perform a method of robot relocation, the method comprising:
responding to a positioning loss alarm sent by a robot, generating an environmental information acquisition instruction, and sending the environmental information acquisition instruction to the robot;
and generating a moving instruction according to the environment information fed back by the robot, and sending the moving instruction to the robot so that the robot moves according to the moving instruction and acquires positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a grid device) to execute the methods described in the embodiments of the present application.
It should be noted that, in the embodiment of the robot relocating device, the included units and modules are only divided according to the functional logic, but not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (14)
1. A robot repositioning method, applied to a robot, includes:
sending a positioning loss alarm to the robot management platform;
responding to an environmental information acquisition instruction sent by the robot management platform, controlling environmental information acquisition equipment to acquire surrounding environmental information to obtain environmental information, and sending the environmental information to the robot management platform;
and responding to a moving instruction sent by the robot management platform, controlling the robot to move and acquiring positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
2. The method of claim 1, wherein the controlling the robot to move and obtain the positioning information in real time in response to the movement instruction sent by the robot management platform comprises:
planning a path according to the estimated position information and the orientation information to obtain an estimated motion path of the robot;
and controlling the robot to move to a target point according to the estimated motion path, and acquiring positioning information at the target point.
3. The method according to claim 2, wherein the controlling the robot moves to a target point according to the estimated motion path, and after the obtaining of the positioning information of the target point, the method further comprises:
and if the positioning at the target point location is successful, correcting the estimated motion path according to the positioning information acquired at the target point location.
4. The method according to any one of claims 1-3, wherein before controlling the robot to move and obtain the positioning information in real time in response to the movement instruction sent by the robot management platform, the method further comprises:
and sending map information to the robot management platform, wherein the map information comprises global map information and regional map information of the region where the robot is located.
5. The method of any of claims 1-3, wherein prior to sending the environmental information to the robot management platform, the method further comprises:
comparing the environment information with map information of the robot, and calculating trial position information of the robot;
and controlling the robot to move and acquiring the position information in real time according to the trial position information.
6. A robot repositioning method is applied to a robot management platform and comprises the following steps:
responding to a positioning loss alarm sent by a robot, generating an environmental information acquisition instruction, and sending the environmental information acquisition instruction to the robot;
and generating a moving instruction according to the environment information fed back by the robot, and sending the moving instruction to the robot so that the robot moves according to the moving instruction and acquires positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
7. The method of claim 6, wherein generating movement instructions based on the environment information fed back by the robot comprises:
comparing the environment information with the map information of the robot, and calculating the estimated position information of the robot;
and determining the orientation information according to the estimated position information and the task destination of the robot.
8. The method of claim 7, wherein the map information comprises at least two point location information, and the comparing the environmental information with the map information of the robot to calculate the estimated location information of the robot comprises:
comparing the environment information with the at least two point location information respectively to obtain the similarity between each point location information and the environment information;
and determining point location information with the maximum similarity to the environment information as the estimated location information.
9. The method according to any one of claims 6-8, wherein before generating the movement instruction according to the environment information fed back by the robot, the method further comprises:
and receiving map information sent by the robot, wherein the map information comprises global map information and regional map information of the region where the robot is located.
10. A robotic relocating device, comprising:
the alarm module is used for sending a positioning loss alarm to the robot management platform;
the processing module is used for responding to an environmental information acquisition instruction sent by the robot management platform, controlling environmental information acquisition equipment to acquire surrounding environmental information to obtain environmental information, and sending the environmental information to the robot management platform; and responding to a moving instruction sent by the robot management platform, controlling the robot to move and acquiring positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
11. A robotic relocating device, comprising:
the first instruction generation module is used for responding to a positioning loss alarm sent by the robot, generating an environmental information acquisition instruction and sending the environmental information acquisition instruction to the robot;
and the second instruction generating module is used for generating a moving instruction according to the environment information fed back by the robot and sending the moving instruction to the robot so that the robot moves according to the moving instruction and acquires positioning information in real time, wherein the moving instruction comprises pre-estimated position information and orientation information.
12. A robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the robot relocation method as claimed in any one of claims 1-5.
13. A robot management platform comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the robot relocation method according to any one of claims 6-9.
14. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the robot relocation method according to any one of claims 1-5.
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