CN114401488A - Robot motion path reporting method, robot motion path downloading method, robot motion path reporting device, robot motion path downloading device and electronic device - Google Patents
Robot motion path reporting method, robot motion path downloading method, robot motion path reporting device, robot motion path downloading device and electronic device Download PDFInfo
- Publication number
- CN114401488A CN114401488A CN202111470889.6A CN202111470889A CN114401488A CN 114401488 A CN114401488 A CN 114401488A CN 202111470889 A CN202111470889 A CN 202111470889A CN 114401488 A CN114401488 A CN 114401488A
- Authority
- CN
- China
- Prior art keywords
- path
- information
- robot
- reporting
- historical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title claims abstract description 81
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000004590 computer program Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 12
- 238000010408 sweeping Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/02—Traffic management, e.g. flow control or congestion control
- H04W28/06—Optimizing the usage of the radio link, e.g. header compression, information sizing, discarding information
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The application relates to a robot motion path reporting method, a robot motion path downloading method, a robot motion path reporting device and an electronic device, wherein the robot motion path reporting method comprises the following steps: acquiring initial path point coordinates of the robot and path offset information between adjacent path points in the moving process of the robot; generating path reporting information according to the initial path point coordinate and the path offset information; and reporting the path report information to a remote server to be stored as historical path information. Through the method and the device, the problem of low efficiency of robot motion path reporting is solved.
Description
Technical Field
The present application relates to the field of robot technologies, and in particular, to a method and an apparatus for reporting a motion path of a robot, a method and an apparatus for downloading the motion path of the robot, and an electronic apparatus.
Background
At present, mobile robots are widely used in industries such as industry, agriculture, medical treatment, and service. In practical applications, a plurality of mobile robots generally cooperate to complete a task. In addition, when the mobile robot works, the coordinate position of the mobile robot needs to be periodically reported to the server so as to conveniently check and correct the working path of the mobile robot at any time. However, the robot is affected by problems such as the terrain of the operation area and the operation magnitude, so that the coordinate position of the robot may not change or the positions of the robot are very close to each other, and the reporting rate of the motion path of the robot is low due to the fact that the data volume of the same operation path is too large.
At present, no effective solution is provided for the problem of low reporting efficiency of the motion path of the robot in the related technology.
Disclosure of Invention
The embodiment of the application provides a robot motion path reporting method, a robot motion path downloading method, a robot motion path reporting device and an electronic device, and at least solves the problem that the reporting efficiency of a robot motion path in the related art is low.
In a first aspect, an embodiment of the present application provides a method for reporting a motion path of a robot, where the method is applied to a robot, and the method includes:
acquiring initial path point coordinates of the robot and path offset information between adjacent path points in the moving process of the robot;
generating path reporting information according to the initial path point coordinates and the path offset information;
and reporting the path report information to a remote server to be stored as historical path information.
In some embodiments, the reporting the path report information to a remote server, and storing the path report information as historical path information includes:
detecting the data volume of the currently generated path report information in real time;
and reporting the currently generated path report information to the remote server in an incremental manner to be used as the historical path information of the robot for storage under the condition that the data volume of the currently generated path report information reaches a preset report threshold value.
In some embodiments, the reporting the path report information to a remote server, and storing the path report information as historical path information includes:
acquiring a preset coding rule;
and compressing the path reporting information based on the coding rule to generate compressed path reporting information, and reporting the compressed path information to the remote server to be stored as the historical path information.
In a second aspect, an embodiment of the present application provides a robot motion path downloading method, which is applied to a user terminal, and the method includes:
responding to a motion path downloading request aiming at a robot, and detecting whether historical path information of the robot is stored locally in the user terminal;
judging whether the version information of the history path information of the robot stored locally is consistent with the version information of the history path information of the robot stored in a remote server or not when the history path information of the robot is stored locally; the historical path information of the robot stored in the remote server is the information reported to the remote server by the robot according to the robot motion path reporting method of the first aspect;
if the historical path information is consistent with the downloaded information, the locally stored historical path information of the robot is directly used as the downloaded information;
and if the historical path information is not consistent with the historical path information, downloading the historical path information of the robot from the remote server and using the historical path information as downloading information.
In some of these embodiments, the method further comprises the steps of:
acquiring current path information of the robot from the robot at regular time;
and generating a target path display result of the robot according to the current path information and the downloaded historical path information of the robot.
In some of these embodiments, the historical path information includes first region information and the current path information includes second region information; the generating a target path display result of the robot according to the current path information and the downloaded historical path information of the robot includes:
and splicing the current path information and the historical path information according to the first area information and the second area information to generate the target path display result.
In a third aspect, an embodiment of the present application provides a device for reporting a motion path of a robot, where the device is applied to a robot, and the device includes: the device comprises an acquisition module, a generation module and a reporting module;
the acquisition module is used for acquiring the initial path point coordinates of the robot and the path offset information between adjacent path points in the movement process of the robot;
the generating module is used for generating path reporting information according to the initial path point coordinates and the path offset information;
and the reporting module is used for reporting the path reporting information to a remote server to be stored as historical path information.
In a fourth aspect, an embodiment of the present application provides a robot movement path downloading device, which is applied to a user terminal, and the device includes: the device comprises a detection module, a judgment module, a first downloading module and a second downloading module;
the detection module is used for responding to a motion path downloading request aiming at the robot and detecting whether historical path information of the robot is stored locally in the user terminal;
the judging module is used for judging whether the version information of the history path information of the robot stored locally is consistent with the version information of the history path information of the robot stored in a remote server or not under the condition that the history path information of the robot is stored locally; the historical path information of the robot stored in the remote server is the information reported to the remote server by the robot according to the robot motion path reporting method of the first aspect;
if the historical path information of the robot is consistent with the historical path information of the robot, the first downloading module directly uses the locally stored historical path information of the robot as downloading information;
and if the historical path information is not consistent with the historical path information, the second downloading module downloads the historical path information of the robot from the remote server and uses the historical path information as downloading information.
In a fifth aspect, an embodiment of the present application provides an electronic apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the computer program, implements the robot motion path reporting method according to the first aspect and the robot motion path downloading method according to the second aspect.
In a sixth aspect, an embodiment of the present application provides a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for reporting a robot motion path according to the first aspect and the method for downloading a robot motion path according to the second aspect are implemented.
Compared with the related art, the robot motion path reporting method, the robot motion path downloading method, the robot motion path reporting device and the electronic device provided by the embodiment of the application collect the initial path point coordinates of the robot and the path offset information between adjacent path points in the motion process of the robot; generating path reporting information according to the initial path point coordinate and the path offset information; the path report information is reported to a remote server and stored as historical path information, so that the problem of low efficiency of robot motion path report is solved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is an application environment diagram of a robot motion path reporting method according to an embodiment of the present application;
fig. 2 is a flowchart of a method for reporting a robot movement path according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a robot movement path downloading method according to an embodiment of the present application;
fig. 4 is a flowchart of a robot motion path reporting and downloading method according to a preferred embodiment of the present application;
FIG. 5 is a schematic illustration of a robot motion path presentation in accordance with a preferred embodiment of the present application;
fig. 6 is a block diagram of a device for reporting a motion path of a robot according to an embodiment of the present disclosure;
fig. 7 is a block diagram of a robot motion path downloading apparatus according to an embodiment of the present application;
fig. 8 is a block diagram of the inside of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The robot motion path reporting method provided by the application can be applied to the application environment shown in fig. 1. Wherein the robot 12 communicates with a remote server 14 over a network. During the movement of the robot 12, the robot acquires initial path point coordinates of the robot 12 and path offset information between adjacent path points, generates path report information according to the initial path point coordinates and the path offset information, and reports the path report information to the remote server 14 to be stored as historical path information. The robot 12 may be, but not limited to, various sweeping robots, industrial robots, agricultural robots, or other robot devices capable of autonomous movement, and the remote server 14 may be implemented by a stand-alone server or a server cluster composed of a plurality of servers.
The embodiment provides a method for reporting a robot motion path, and fig. 2 is a flowchart of a method for reporting a robot motion path according to an embodiment of the present application, and as shown in fig. 2, the flowchart includes the following steps:
step S220, during the movement of the robot, collecting the initial path point coordinates of the robot and the path offset information between adjacent path points.
The initial path point coordinate refers to an initial position coordinate acquired for the first time in a path line reported by the robot each time. The adjacent path points may refer to two path points continuously acquired in one report, that is, a path point acquired at the nth time and a path point acquired at the (n + 1) th time; n is a positive integer. Or, if the embodiment allows, the adjacent waypoints may also refer to two waypoints acquired at a preset interval in the same report; the preset detection may be preset, for example, the preset interval is set to 3, and the adjacent waypoints are respectively a waypoint acquired at the nth time and a waypoint acquired at the (n + 3) th time in the report. The path offset information refers to a position difference between the adjacent path points; the path offset information may be represented by a coordinate difference between adjacent path points, a coordinate ratio between adjacent path points, or the like. It is understood that the initial waypoint coordinates and the adjacent waypoint coordinates may be detected by the robot from a sensor device such as a radar provided in the robot.
Step S240, generating path report information according to the initial path point coordinate and the path offset information.
Specifically, for example, when the path offset information is a coordinate difference between adjacent path points, the robot may generate path report information stored in an array structure at least according to the initial path point coordinate and the coordinate difference, where a short array stored in the path report information may be named pathdata, and then: Δ X0 ═ pathdata [0 ]; Δ Y0 ═ pathdata [1 ]; Δ X1 ═ pathdata [2 ]; Δ Y1 ═ pathdata [3 ]; Δ X2 ═ pathdata [4 ]; Δ Y2 ═ pathdata [5 ]; ...; Δ XN ═ pathdata [2 × N ]; Δ YN is pathdata [2 × N +1 ]; where Δ X represents the difference in X-axis coordinates between adjacent coordinate points and Δ Y represents the difference in X-axis coordinates between adjacent coordinate points. The x-axis coordinate of the initial path point coordinates is denoted by initX, and the y-axis coordinate is denoted by initY. From the above array structure, the 0 th path point P0 coordinate is: initX + pathdata [0], initY + pathdata [1 ]; the 1 st waypoint P1 is coordinated as: P0.X + pathdata [2], P0.Y + pathdata [3 ]; the 2 nd waypoint P2 is coordinated as: p1.X + pathdata [4], P1.Y + pathdata [5 ]; ...; the nth path point PN coordinates are: p (N-1), X + pathdata [2 XN ], P (N-1), Y + pathdata [2 XN +1 ]; wherein N is a positive integer. Through the step S240, the problem of low data reporting efficiency and inaccuracy is solved through the offset reporting method for the path data of the robot.
And step S260, reporting the path report information to a remote server to be stored as historical path information.
The remote server with the cloud platform is used for storing the path reporting information into historical path information, so that the path data can be managed in a unified mode conveniently. It can be understood that, after the history path information is stored in the remote server, the history path information may be obtained from the user terminal to the remote server and displayed, which is not described herein again.
In the related technology, due to the lack of optimization processing on the reported data in the process of reporting the data by the robot, the data volume reported each time is large, and the reporting efficiency of the motion path of the robot is low. In the present application, through the steps S220 to S260, the path report information is generated by the initial path point coordinates and the path offset information between adjacent path points, and the remote server stores the path report information as historical path information, so that a report mode based on the robot motion path data offset is implemented, a problem of low data report efficiency due to an excessive data amount reported by the robot is avoided, a problem of low robot motion path report efficiency is solved, and an efficient and accurate robot motion path report method is implemented.
In some embodiments, the step S260 further includes the following steps:
step S261 detects the data amount of the currently generated path report information in real time.
Step S262, reporting the currently generated path report information to the remote server in an incremental manner when the data amount of the currently generated path report information reaches a preset report threshold, and storing the path report information as the historical path information of the robot.
The reporting threshold may be preset by a user, and may be set to a value of 1M or 2M, for example. When the data volume of the currently generated path report information is detected to reach the report threshold, the reported data volume is acquired to be larger, so that the currently generated path report information can be reported to the remote server as an increment and stored as historical path information.
Through the steps S261 to S262, the path data is reported to the remote server when the data volume of the detection path report information reaches the report threshold, so that the report in an incremental manner is realized, the report flow of the robot is saved, and the report efficiency of the robot motion path is effectively improved.
In some embodiments, the step S260 further includes the following steps: acquiring a preset coding rule; and compressing the path report information based on the coding rule to generate compressed path report information, and reporting the compressed path information to the remote server to be stored as the historical path information. Wherein, the coding rule can be preset by a user; for example, Base64, lz4, Zstd, or other encoding compression algorithms may be set. Specifically, taking the path offset information as an example of an array structure pathdata, where the path reporting information includes a header information header and an array pathdata, the robot may compress the pathdata array in the path reporting information by using an lz4 algorithm, and increase the header information header, and then compress the entire path reporting information by using a Base64 algorithm; it will be appreciated that the two compressions may also be compressed using the same encoding rules, for example, using the Base64 algorithm. The compression is carried out by using the Base64 algorithm, the occupied memory is small, and the consumption of the resource server can be effectively reduced. It should be noted that, when the user terminal reports information to the download path of the remote server, the user terminal may decrypt the information by reverse operation to download the information.
Through the embodiment, the path offset is stored in an array mode, and the array data is compressed, so that the data reporting amount is further reduced, on the other hand, the safety can be improved by setting the password during compression, and the generation efficiency and the safety of the motion path of the robot are effectively improved.
The embodiment also provides a robot motion path downloading method which is applied to the user terminal. Fig. 3 is a flowchart of a robot movement path downloading method according to an embodiment of the present application, where the flowchart includes the following steps, as shown in fig. 3:
step S320, in response to the motion path download request for the robot, detecting whether the historical path information of the robot is stored locally in the user terminal.
The motion path downloading request may be generated based on an interaction between a user and the user terminal, and the user terminal detects whether the historical path information is locally stored based on the motion path downloading request. Alternatively, the user terminal may automatically detect the storage of the local historical route information at regular intervals.
Step S340, under the condition that the historical path information of the robot is locally stored, judging whether the version information of the historical path information of the robot locally stored is consistent with the version information of the historical path information of the robot stored in the remote server; the historical path information of the robot stored in the remote server is the information reported to the remote server by the robot according to any one of the robot motion path reporting methods.
Specifically, the version information is used to indicate the number of times that the robot reports the path data, that is, when a version number in the version information is M, it indicates that the path data is reported for the mth time by the robot; m is a positive integer. The user terminal firstly judges whether historical path information is stored locally, and if the historical path information is not stored locally, the historical path information stored in the remote server can be directly acquired and stored locally. And if the historical path information is locally stored, comparing the version number of the locally stored historical path information with the version number of the historical path information stored in the remote server so as to judge whether the historical path information of the remote server needs to be downloaded or not based on the comparison result. It should be noted that the version information may be stored in the header information of the historical path information and expressed by version; for example, the header format is shown by the following code:
struct PathHeader{
int32_ t version; // Path version 1
int32_ t path id; // Path ID
int32_ t initX; // home x position of packet path data
int32_ t initY; // home y position of packet path data
}；
Step S360, if the historical path information of the robot is consistent, the locally stored historical path information of the robot is directly used as download information; and if the historical path information is not consistent with the historical path information, downloading the historical path information of the robot from the remote server and using the historical path information as downloading information.
Specifically, if the version information is compared to obtain the consistency, the historical path information is still the original size, the data is not updated, and the data does not need to be downloaded.
Through the steps from S320 to S360, the user terminal judges the version number between the locally stored historical path information and the cloud-stored historical path information, and directly uses the locally stored historical path information when the version information is consistent, so that data downloading is reduced, flow is saved, the problem of low downloading efficiency of the motion path of the robot is solved, and the efficient and accurate robot motion path downloading method is realized.
In some embodiments, the robot motion path downloading method further includes the following steps:
in step S370, the current path information of the robot is periodically acquired from the robot.
The user terminal may acquire current path information from the robot at intervals of a preset time. The preset period of time may be set in advance by the user, and may be set to 3 seconds, for example.
And step S380, generating a target path display result of the robot according to the current path information and the downloaded historical path information of the robot.
The user terminal acquires current path information of the robot and historical path information stored in a remote server cloud mode, and all cleaning paths of the sweeper at the current moment are obtained and displayed. In some embodiments, the historical path information includes first region information, and the current path information includes second region information; the step S380 further includes the following steps: and splicing the current path information and the historical path information according to the first area information and the second area information to generate the target path display result. Specifically, the first area information and the second area information may be generated in a manner that: the robot detects current path coordinates by a sensor device such as a radar, determines the area based on the current path coordinates, and sets the area in the header information, which may be denoted by pathid. For example, if the movement range of the robot is the whole area of the building, different floors of the building can be divided into different area information, that is, the pathid corresponding to the first floor is 1, the pathid corresponding to the second floor is 2, and so on. Therefore, the user coordinates can splice the historical path information and the current path information which are consistent in area information based on the first area information included in the historical path information and the second area information included in the current path information, and finally generate a target path display result displayed by the user.
Through the steps S370 to S380, the user terminal simultaneously obtains the current path information and the historical path information, and the historical path information and the current path information are spliced through the area to which each path point belongs, so that splicing errors caused by splicing data of different areas by errors are avoided, and the accuracy of generating the motion path of the robot is improved.
An embodiment of the present application is described in detail below with reference to an actual application scenario, where the robot adopts a sweeping robot as an example, fig. 4 is a flowchart of a robot motion path reporting and downloading method according to a preferred embodiment of the present application, and as shown in fig. 4, the flowchart includes the following steps:
step S401, the sweeping robot collects path data.
And step S402, the APP acquires the current path file from the sweeping robot every 3 seconds.
Step S403, judging whether the current path data exceeds 512B by the sweeping robot; if the determination result in step S403 is no, the process continues to step S401.
Step S404, if the determination result in the step S403 is yes, uploading the path data to a cloud platform deployed by a remote server, and storing the path data as historical path information to a historical path file by the cloud platform.
Step S405, the APP deployed by the user terminal judges whether the historical path file is stored locally.
Step S406, if the determination result in the step S405 is yes, determining whether the version number in the historical path file header information stored in the cloud platform is consistent with the version number in the historical path file header information locally stored in the user terminal.
Step S407, if the determination result in step S406 is yes, directly using the history path file locally stored in the user terminal; if the result of the determination in the step S405 or the step S406 is negative, the APP directly obtains the historical path file stored in the cloud platform, and caches the historical path file to the APP local.
And step S408, splicing and displaying the current path file and the historical path file by the APP.
Fig. 5 is a schematic diagram showing a movement path of a robot according to a preferred embodiment of the present application, where as shown in fig. 5, a whole area is divided into 4 areas, and a cleaning area of the sweeping robot at the current time is located in an area 1, then the APP obtains a cleaning path of the sweeping robot by splicing according to the current path file and the historical path file, and identifies the cleaning path by using a white line.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
The embodiment also provides a device for reporting a motion path of a robot, which is applied to a robot, and the device is used for implementing the above embodiments and preferred embodiments, and the description of the device is omitted. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 6 is a block diagram of a structure of a device for reporting a motion path of a robot according to an embodiment of the present application, and as shown in fig. 6, the device includes: an acquisition module 62, a generation module 64 and a reporting module 66; the acquisition module 62 is configured to acquire initial path point coordinates of the robot and path offset information between adjacent path points in the movement process of the robot; the generating module 64 is configured to generate path reporting information according to the initial path point coordinate and the path offset information; the reporting module 66 is configured to report the path reporting information to a remote server, and store the path reporting information as historical path information.
Through the embodiment, the generating module 64 generates the path report information according to the initial path point coordinates and the path offset information between the adjacent path points, and the reporting module 66 sends the path report information to the remote server to be stored as historical path information, so that a report mode based on the robot motion path data offset is realized, the problem of low data reporting efficiency caused by overlarge data reported by the robot is avoided, the problem of low efficiency in reporting the robot motion path is solved, and the efficient and accurate robot motion path reporting device is realized.
Fig. 7 is a block diagram of a robot motion path downloading apparatus according to an embodiment of the present disclosure, and as shown in fig. 7, the apparatus includes: a detection module 72, a determination module 74, a first download module 76, and a second download module 78; the detection module 72 is configured to detect whether historical path information of the robot is stored locally in the user terminal in response to a motion path download request for the robot; the judging module 74 is configured to, in a case where the historical path information of the robot is locally stored, judge whether version information of the historical path information of the robot locally stored is consistent with version information of the historical path information of the robot stored in a remote server; the historical path information of the robot stored in the remote server is the information reported to the remote server by the robot according to the robot motion path reporting method in any one of the method embodiments; if the historical path information is consistent with the downloaded information, the first downloading module 76 directly uses the locally stored historical path information of the robot as the downloaded information; if not, the second download module 78 downloads the robot's historical path information from the remote server for use as download information.
Through the embodiment, the judging module 74 judges the version number between the locally stored historical path information and the cloud-stored historical path information, and the first downloading module 76 directly uses the locally stored historical path information when the version information is consistent, so that data downloading is reduced, flow is saved, the problem of low downloading efficiency of the motion path of the robot is solved, and a high-efficiency and accurate robot motion path downloading device is realized.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
The embodiment also provides a robot motion path processing system, which comprises a robot and a remote server; the robot collects the initial path point coordinates of the robot and the path offset information between adjacent path points in the moving process of the robot; the robot generates path report information according to the initial path point coordinates and the path offset information; and the robot reports the path report information to a remote server to be stored as historical path information.
According to the embodiment, the robot generates the path report information through the initial path point coordinates and the path offset information between the adjacent path points, and the remote server stores the path report information as the historical path information, so that a report mode based on the robot motion path data offset is realized, the problem of low data report efficiency caused by overlarge robot report data volume is avoided, the problem of low robot motion path report efficiency is solved, and a high-efficiency and accurate robot motion path report system is realized.
In some embodiments, the robot motion path processing system further includes a user terminal; the user terminal is used for responding to a motion path downloading request aiming at the robot and detecting whether historical path information of the robot is stored locally at the user terminal; the user terminal judges whether the version information of the history path information of the robot stored locally is consistent with the version information of the history path information of the robot stored in a remote server or not under the condition that the history path information of the robot is stored locally; the historical path information of the robot stored in the remote server is the information reported to the remote server by the robot according to the robot motion path reporting method in any one of the method embodiments; if the historical path information is consistent with the downloaded information, the user terminal directly uses the locally stored historical path information of the robot as the downloaded information; if not, the user terminal downloads the historical path information of the robot from the remote server and uses the historical path information as download information.
Through the embodiment, the user terminal judges the version number between the locally stored historical path information and the cloud-stored historical path information, and directly uses the locally stored historical path information when the version information is consistent, so that data downloading is reduced, flow is saved, the problem of low downloading efficiency of the motion path of the robot is solved, and a high-efficiency and accurate motion path downloading system of the robot is realized.
In some embodiments, a computer device is provided, and the computer device may be a server, and fig. 8 is a structural diagram of the inside of a computer device according to the embodiment of the present application, as shown in fig. 8. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store historical path information. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize the robot motion path reporting method.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The present embodiment also provides an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
and S1, acquiring the initial path point coordinates of the robot and the path offset information between the adjacent path points in the movement process of the robot.
And S2, generating path report information according to the initial path point coordinate and the path offset information.
And S3, reporting the path report information to a remote server to be stored as historical path information.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
In addition, in combination with the method for reporting a motion path of a robot in the foregoing embodiment, an embodiment of the present application may provide a storage medium to implement. The storage medium having stored thereon a computer program; when executed by a processor, the computer program implements any one of the robot motion path reporting methods in the above embodiments.
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, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. 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 should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot motion path reporting method is applied to a robot, and the method comprises the following steps:
acquiring initial path point coordinates of the robot and path offset information between adjacent path points in the moving process of the robot;
generating path reporting information according to the initial path point coordinates and the path offset information;
and reporting the path report information to a remote server to be stored as historical path information.
2. The method of claim 1, wherein reporting the path report information to a remote server for storage as historical path information comprises:
detecting the data volume of the currently generated path report information in real time;
and reporting the currently generated path report information to the remote server in an incremental manner to be used as the historical path information of the robot for storage under the condition that the data volume of the currently generated path report information reaches a preset report threshold value.
3. The method according to claim 1 or 2, wherein reporting the path report information to a remote server as historical path information includes:
acquiring a preset coding rule;
and compressing the path reporting information based on the coding rule to generate compressed path reporting information, and reporting the compressed path information to the remote server to be stored as the historical path information.
4. A robot motion path downloading method is applied to a user terminal, and comprises the following steps:
responding to a motion path downloading request aiming at a robot, and detecting whether historical path information of the robot is stored locally in the user terminal;
judging whether the version information of the history path information of the robot stored locally is consistent with the version information of the history path information of the robot stored in a remote server or not when the history path information of the robot is stored locally; the historical path information of the robot stored in the remote server is the information reported to the remote server by the robot according to the robot motion path reporting method of any one of claims 1 to 3;
if the historical path information is consistent with the downloaded information, the locally stored historical path information of the robot is directly used as the downloaded information;
and if the historical path information is not consistent with the historical path information, downloading the historical path information of the robot from the remote server and using the historical path information as downloading information.
5. The robot motion path downloading method of claim 4, further comprising the steps of:
acquiring current path information of the robot from the robot at regular time;
and generating a target path display result of the robot according to the current path information and the downloaded historical path information of the robot.
6. The robot movement path downloading method of claim 5, wherein the historical path information includes first area information and the current path information includes second area information; the generating a target path display result of the robot according to the current path information and the downloaded historical path information of the robot includes:
and splicing the current path information and the historical path information according to the first area information and the second area information to generate the target path display result.
7. A robot motion path reporting device is characterized in that the device is applied to a robot and comprises: the device comprises an acquisition module, a generation module and a reporting module;
the acquisition module is used for acquiring the initial path point coordinates of the robot and the path offset information between adjacent path points in the movement process of the robot;
the generating module is used for generating path reporting information according to the initial path point coordinates and the path offset information;
and the reporting module is used for reporting the path reporting information to a remote server to be stored as historical path information.
8. A robot motion path downloading device is applied to a user terminal, and comprises: the device comprises a detection module, a judgment module, a first downloading module and a second downloading module;
the detection module is used for responding to a motion path downloading request aiming at the robot and detecting whether historical path information of the robot is stored locally in the user terminal;
the judging module is used for judging whether the version information of the history path information of the robot stored locally is consistent with the version information of the history path information of the robot stored in a remote server or not under the condition that the history path information of the robot is stored locally; the historical path information of the robot stored in the remote server is the information reported to the remote server by the robot according to the robot motion path reporting method of any one of claims 1 to 3;
if the historical path information of the robot is consistent with the historical path information of the robot, the first downloading module directly uses the locally stored historical path information of the robot as downloading information;
and if the historical path information is not consistent with the historical path information, the second downloading module downloads the historical path information of the robot from the remote server and uses the historical path information as downloading information.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the robot motion path reporting method according to any one of claims 1 to 3 and the robot motion path downloading method according to any one of claims 4 to 6.
10. A storage medium having a computer program stored therein, wherein the computer program is configured to execute the robot motion path reporting method according to any one of claims 1 to 3 and the robot motion path downloading method according to any one of claims 4 to 6 when the computer program runs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111470889.6A CN114401488B (en) | 2021-12-03 | 2021-12-03 | Robot motion path reporting method, robot motion path downloading method, robot motion path reporting device and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111470889.6A CN114401488B (en) | 2021-12-03 | 2021-12-03 | Robot motion path reporting method, robot motion path downloading method, robot motion path reporting device and electronic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114401488A true CN114401488A (en) | 2022-04-26 |
| CN114401488B CN114401488B (en) | 2024-05-28 |
Family
ID=81225324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111470889.6A Active CN114401488B (en) | 2021-12-03 | 2021-12-03 | Robot motion path reporting method, robot motion path downloading method, robot motion path reporting device and electronic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114401488B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004101982A (en) * | 2002-09-11 | 2004-04-02 | Toshiba Corp | Map data download method and communication terminal |
| JP2007065478A (en) * | 2005-09-01 | 2007-03-15 | Nec Corp | Route information creating system, method, and program |
| US20080125984A1 (en) * | 2006-09-25 | 2008-05-29 | Veselin Skendzic | Spatially Assisted Fault Reporting Method, System and Apparatus |
| WO2009125884A1 (en) * | 2008-04-11 | 2009-10-15 | Sk Marketing & Company Co., Ltd. | Terminal for dynamic data download and storage medium recording that download method program |
| JP2015231640A (en) * | 2014-06-09 | 2015-12-24 | キヤノン株式会社 | Robot operation path checking device, robot system, robot operation path checking method, program and recording medium |
| US20170102467A1 (en) * | 2013-11-20 | 2017-04-13 | Certusview Technologies, Llc | Systems, methods, and apparatus for tracking an object |
| CN106853641A (en) * | 2017-03-22 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Robot control method and device, robot and control system |
| US20180322699A1 (en) * | 2017-05-03 | 2018-11-08 | General Electric Company | System and method for generating three-dimensional robotic inspection plan |
| WO2018210109A1 (en) * | 2017-05-16 | 2018-11-22 | 北京京东尚科信息技术有限公司 | Robot control method and device and robot |
| WO2019141227A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Method and system for planning routes of plurality of moving robots |
| CN110099098A (en) * | 2019-03-26 | 2019-08-06 | 江西机电职业技术学院 | Industrial robot data uploading method, system, readable storage medium storing program for executing and equipment |
| WO2019191930A1 (en) * | 2018-04-04 | 2019-10-10 | 华为技术有限公司 | Method and apparatus for wireless communication |
| CN111324680A (en) * | 2019-01-25 | 2020-06-23 | 北京嘀嘀无限科技发展有限公司 | Information display method and device |
| CN112835353A (en) * | 2019-11-25 | 2021-05-25 | 上海高仙自动化科技发展有限公司 | Method and device for determining cleaning path, robot and storage medium |
| US20210181359A1 (en) * | 2019-12-11 | 2021-06-17 | United States Postal Service | Mobile delivery device methods and systems |
-
2021
- 2021-12-03 CN CN202111470889.6A patent/CN114401488B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004101982A (en) * | 2002-09-11 | 2004-04-02 | Toshiba Corp | Map data download method and communication terminal |
| JP2007065478A (en) * | 2005-09-01 | 2007-03-15 | Nec Corp | Route information creating system, method, and program |
| US20080125984A1 (en) * | 2006-09-25 | 2008-05-29 | Veselin Skendzic | Spatially Assisted Fault Reporting Method, System and Apparatus |
| WO2009125884A1 (en) * | 2008-04-11 | 2009-10-15 | Sk Marketing & Company Co., Ltd. | Terminal for dynamic data download and storage medium recording that download method program |
| US20170102467A1 (en) * | 2013-11-20 | 2017-04-13 | Certusview Technologies, Llc | Systems, methods, and apparatus for tracking an object |
| JP2015231640A (en) * | 2014-06-09 | 2015-12-24 | キヤノン株式会社 | Robot operation path checking device, robot system, robot operation path checking method, program and recording medium |
| CN106853641A (en) * | 2017-03-22 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Robot control method and device, robot and control system |
| WO2018171285A1 (en) * | 2017-03-22 | 2018-09-27 | 北京京东尚科信息技术有限公司 | Robot control method and device, robot, and control system |
| US20180322699A1 (en) * | 2017-05-03 | 2018-11-08 | General Electric Company | System and method for generating three-dimensional robotic inspection plan |
| WO2018210109A1 (en) * | 2017-05-16 | 2018-11-22 | 北京京东尚科信息技术有限公司 | Robot control method and device and robot |
| WO2019141227A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Method and system for planning routes of plurality of moving robots |
| WO2019191930A1 (en) * | 2018-04-04 | 2019-10-10 | 华为技术有限公司 | Method and apparatus for wireless communication |
| CN111324680A (en) * | 2019-01-25 | 2020-06-23 | 北京嘀嘀无限科技发展有限公司 | Information display method and device |
| CN110099098A (en) * | 2019-03-26 | 2019-08-06 | 江西机电职业技术学院 | Industrial robot data uploading method, system, readable storage medium storing program for executing and equipment |
| CN112835353A (en) * | 2019-11-25 | 2021-05-25 | 上海高仙自动化科技发展有限公司 | Method and device for determining cleaning path, robot and storage medium |
| US20210181359A1 (en) * | 2019-12-11 | 2021-06-17 | United States Postal Service | Mobile delivery device methods and systems |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114401488B (en) | 2024-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111208748B (en) | Linkage control method and system based on Internet of things and computer equipment | |
| CN107113441B (en) | Image processing method, device, unmanned vehicle and receiving end | |
| CN109803231B (en) | Method and device for monitoring power equipment in electronic fence and computer equipment | |
| CN110677317B (en) | Test method, test device, test equipment and storage medium | |
| CN111178635A (en) | Weather forecast method, weather forecast device, computer equipment and computer readable storage medium | |
| CN113505993B (en) | Distribution center management method, device, equipment and storage medium | |
| CN103957133A (en) | Log monitoring method and device | |
| CN112731936A (en) | Method, device, medium and intelligent terminal for scanning remote-controlled robot | |
| CN110648279A (en) | Point cloud data processing method and device, computer equipment and storage medium | |
| CN113190568A (en) | Map updating method, device and related components | |
| CN106303420A (en) | A kind of monitoring method being applied to moving target and monitoring system | |
| CN110768869B (en) | Household charging method and device for multi-split system and computer equipment | |
| CN114401488A (en) | Robot motion path reporting method, robot motion path downloading method, robot motion path reporting device, robot motion path downloading device and electronic device | |
| CN109191530B (en) | Panoramic camera calibration method, panoramic camera calibration system, computer equipment and storage medium | |
| CN111431744B (en) | Method, device and system for remotely realizing operation and maintenance of roadside sensor | |
| KR101183161B1 (en) | Portable 3-dimensional scanner and method of reconstructing 3-dimensional image | |
| CN114826817B (en) | Communication control method, electronic equipment and storage medium | |
| JP6566070B1 (en) | Flow management server, flow management system, flow management method, and flow management program | |
| CN112714454B (en) | Monitoring method of wireless sensor network and related equipment | |
| JP2021132280A (en) | Production system, communication method, and program | |
| CN117729221B (en) | Ultrasonic water meter data synchronization method, internet of things system and device | |
| CN112231408A (en) | Data integration method and device, electronic equipment and storage medium | |
| CN115414621B (en) | Intelligent control method and related device for fire water monitor | |
| CN117496677B (en) | Real-time early warning method and related device for vehicle | |
| CN117997808A (en) | Heartbeat concurrency mechanism-based robot communication method, system and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |