CN114812567B - Robot deployment method and device, computer equipment and storage medium - Google Patents

Abstract

The invention relates to the field of robot navigation, and discloses a robot deployment method, a device, computer equipment and a storage medium, wherein the method comprises the following steps: loading map data of a specified scene according to a loading instruction and generating an initial map corresponding to the map data on a preset interface; generating a topological path on the initial map according to the path drawing instruction; acquiring dynamic position data of the robot according to the monitoring instruction and displaying the dynamic position of the robot on a preset interface, wherein the dynamic position data comprises a dynamic position and a dynamic orientation; and configuring scene elements on the topological path according to the configuration instruction and the dynamic position data to obtain a navigation data map. The invention can improve the deployment efficiency of the robot.

Description

Robot deployment method, device, computer equipment and storage medium

technical field

The present invention relates to the field of robot navigation, in particular to a robot deployment method, device, computer equipment and storage medium.

Background technique

With the advancement of technology, robots are gradually becoming popular. Among them, for a robot with a distribution function, it is necessary to deploy corresponding navigation information, such as topological maps, scheduling maps, and cruise maps.

In the prior art, navigation information is generally deployed on the configuration page of the robot. Due to the complex and changeable application scenarios, the accuracy of this deployment method is poor, requiring repeated debugging by the staff to complete the deployment, and the deployment efficiency is low.

Contents of the invention

Based on this, it is necessary to address the above technical problems and provide a robot deployment method, device, computer equipment and storage medium, so as to improve the efficiency of robot deployment.

A method of robot deployment comprising:

Obtaining a loading instruction, loading map data of a specified scene according to the loading instruction to generate an initial map corresponding to the map data, and displaying the initial map on a preset interface;

Obtaining a path drawing instruction, and generating a topological path on the initial map according to the path drawing instruction;

Obtain a monitoring instruction, obtain dynamic position data of the robot according to the monitoring instruction, and display the dynamic position data on the preset interface;

Obtain a configuration instruction, and configure scene elements on the topological path according to the configuration instruction and the dynamic location data, so as to obtain a navigation data map.

A robotic deployment device comprising:

A map loading module, configured to obtain a loading instruction, load map data of a specified scene according to the loading instruction to generate an initial map corresponding to the map data, and display the initial map on a preset interface;

a path drawing module, configured to acquire a path drawing instruction, and generate a topological path on the initial map according to the path drawing instruction;

A monitoring module, configured to obtain monitoring instructions, obtain dynamic position data of the robot according to the monitoring instructions, and display the dynamic position data on the preset interface;

The configuration module is configured to obtain a configuration instruction, and configure scene elements on the topological path according to the configuration instruction and the dynamic location data, so as to obtain a navigation data map.

A computer device includes a memory and a processor, the memory stores computer-readable instructions that can run on the processor, and the processor implements the robot deployment method above when executing the computer-readable instructions.

One or more readable storage media storing computer-readable instructions, the computer-readable instructions, when executed by one or more processors, cause the one or more processors to perform the robot deployment method as described above.

The above-mentioned robot deployment method, device, computer equipment, and storage medium greatly improve the accuracy of the navigation data map and reduce the number of repeated debugging by configuring topological paths and scene elements on the initial map, thereby improving the deployment efficiency of the robot.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention , for those skilled in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is a schematic flow chart of a robot deployment method in an embodiment of the present invention;

FIG. 2 is a schematic diagram of a preset interface according to an embodiment of the present invention;

Fig. 3 is an initial map of an embodiment of the present invention;

Fig. 4 is a schematic diagram of setting a topological path on an initial map according to an embodiment of the present invention;

Fig. 5 is a page connected with a robot according to an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a robot deployment device in an embodiment of the present invention;

FIG. 7 is a schematic diagram of computer equipment in an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

As shown in FIG. 1 , a robot deployment method includes steps S10-S40.

S10. Obtain a loading instruction, load map data of a specified scene according to the loading instruction to generate an initial map corresponding to the map data, and display the initial map on a preset interface.

Understandably, the preset interface may be an application program page or a web page. In this embodiment, the preset interface refers to a software interface that can load scene map data and visualize the installation and deployment process of the robot. The preset interface is used to configure the navigation parameters of the robot and complete the deployment of the robot in the specified scene. Specified scenarios include but are not limited to restaurants, hospitals, hotels. As shown in FIG. 2 , FIG. 2 is an example preset interface. The preset interface is set with menu bar, tool bar, (map) element list and element attribute bar.

The map data can be a pre-prepared map package, such as a flat map of an application scene, etc. The map data of the specified scene can be loaded in the preset interface to generate the initial map. As shown in FIG. 3, FIG. 3 is an example initial map.

S20. Acquire a path drawing instruction, and generate a topological path on the initial map according to the path drawing instruction.

Understandably, the path drawing instruction may be an instruction generated based on the input operation of the worker. The path editing control is set on the preset interface, and the staff can activate the path editing control, and then complete the editing operation of the topology path on the initial map. As shown in FIG. 4, FIG. 4 is a schematic diagram of setting a topological path on an initial map in an example.

S30. Obtain a monitoring instruction, acquire dynamic position data of the robot according to the monitoring instruction, and display the dynamic position data on the preset interface.

Understandably, a monitoring button control is provided on the preset interface, and the monitoring button control can be clicked to issue a monitoring command to obtain dynamic position data from the robot arranged in a designated scene in real time. Here, the dynamic position data includes the dynamic position and dynamic orientation of the robot. The dynamic position of the robot can be displayed on the preset interface.

S40. Obtain a configuration instruction, and configure scene elements on the topology path according to the configuration instruction and the dynamic location data, so as to obtain a navigation data map.

Optionally, the configuration instruction may be an instruction generated based on the input operation of the staff. Workers can configure scene elements on topological paths with reference to dynamic location data. Here, configuration of scene elements includes but not limited to adding, modifying and deleting. Modifications of scene elements may involve modification of element types, such as changing a speed-restricted zone to an exempt zone.

After executing multiple editing instructions, the navigation data map can be obtained.

In this embodiment, by configuring topological paths and scene elements on the initial map, the accuracy of the navigation data map is greatly improved, and the number of repeated debugging is reduced, thereby improving the deployment efficiency of the robot.

Optionally, after step S40, that is, after the acquisition of the configuration instruction, configuring scene elements on the topological path according to the configuration instruction and the dynamic location data to obtain the navigation data map, the method further includes:

S51. Obtain an inspection instruction, and inspect the scene element and the topology path according to the inspection instruction;

S52. If the scene element fails the inspection, obtain a scene element correction instruction, and modify the position of the scene element according to the scene element correction instruction;

S53. If the topological path fails the inspection, acquire a path correction instruction, and correct the topological path according to the path correction instruction.

Understandably, an inspection control is provided on the preset interface, and a corresponding inspection instruction can be generated by clicking on the inspection control. The scene element and the topology path can be checked through the check instruction, so as to check whether there is an error in the scene element and the topology path. Here, the functions of the check controls are related to the model of the robot. Different types of robots have different inspection functions.

When it is detected that there is a scene element that fails the inspection, the position of the scene element can be modified through the scene element correction command. Here, the scene element correction instruction may be an instruction input by a worker, or an instruction generated by an automatic adjustment program.

When it is detected that a topological path fails to pass the inspection, the location of the topological path can be modified through a topological path correction command. Here, the topological path correction instruction may be an instruction input by a worker, or an instruction generated by an automatic adjustment program.

This embodiment can perform error correction on the navigation data map.

Optionally, before step S10, that is, the acquisition of the loading instruction, according to the loading instruction, the map data of the specified scene is loaded to generate an initial map corresponding to the map data, and before the initial map is displayed on the preset interface, further include:

S11. Obtain a connection instruction, and establish a connection with the robot according to the connection instruction.

In one embodiment, a connection control is provided on the preset interface, and a corresponding connection instruction can be generated by clicking on the connection control. In an example, clicking the connection control will pop up a corresponding connection window. Enter the IP address of the robot in the connection window, and then click the connect button to establish a connection with the robot. As shown in Fig. 5, Fig. 5 is a page connected with a robot in an example.

This embodiment can establish a connection with the robot, so as to receive data from the robot.

Optionally, step S40, that is, the acquisition of configuration instructions, configuring scene elements on the topological path according to the configuration instructions and the dynamic location data, so as to obtain a navigation data map, includes:

S401. Obtain a scene element addition instruction, and add a scene element to the topology path according to the scene element addition instruction;

S402. Send an instruction to the robot to arrive at the element collection point, so that the robot arrives at the data collection point of the scene element according to the instruction to arrive at the element collection point.

Understandably, the instruction to add scene elements and the instruction to arrive at the element collection point may be instructions generated based on input operations of the staff. Scene elements can be added to the topology path through the scene element adding instruction.

In some examples, scene elements can be divided into different types, such as:

Meal delivery elements: table point, meal delivery point, door welcome point, path, arrival point, dishwashing point, stop point, recycling point, charging pile;

Cleaning elements: cleaning area, charging pile;

Building elements: access control point, elevator room, elevator waiting point, elevator call point, elevator queuing point, gate point;

Shielding elements: virtual wall, special area, speed limit area, no detour area, narrow aisle area, RGBD special area, elevator room area, exempt area.

It should be noted that here, the exemption area refers to the exemption of certain monitoring functions in the area, such as exemption from depth cameras (RGBD), exemption from lidar, or all exemptions.

Each scene element can be set with a data collection point. The robot can reach the data collection point of the scene element through the instruction of reaching the element collection point. After the robot arrives at the data collection point, it can collect the corresponding position data.

This embodiment can realize the addition of scene elements and control the robot to move to the data collection point of the scene elements.

Optionally, after step S402, that is, after sending the instruction of arriving at the element collection point to the robot so that the robot arrives at the data collection point of the scene element according to the instruction of arriving at the element collection point, the method further includes:

S403. From scene position data collected by the robot at the data collection point; the dynamic position data includes the scene position data.

Understandably, after the robot arrives at the data collection point, it can record the pose data of the current robot, associate the pose data with the current scene elements, and generate scene position data. Here, the scene position data is a kind of dynamic position data of the robot.

Through the robot deployment method provided in this embodiment, the scene position data of each scene element can be obtained, and the scene position data can be used for position comparison during subsequent robot navigation to improve navigation accuracy.

Optionally, after step S40, that is, after implementing the acquisition configuration instruction, configuring scene elements on the topological path according to the configuration instruction and the dynamic location data to obtain a navigation data map, the processor is used to Invoking and executing said computer readable instructions also achieve:

S60. Acquire a map sending instruction, and send the navigation data map to the robot according to the map sending instruction.

Understandably, a "send" button is provided on the preset interface. Click the "Send" button to generate a map sending instruction, and the navigation data map can be sent to the robot through the map sending instruction. In some examples, a sent robot object may be specified. For example, map data is collected by robot A and then sent to robot B.

This embodiment can realize the transmission of the navigation data map and improve the convenience for the robot to update the map data.

Optionally, when the processor is used to call and execute the computer-readable instructions, the following steps are also implemented:

S71. Obtain a management instruction, and perform configuration management on the robot according to the management instruction;

The configuration management includes cruise configuration management, dispatch configuration management, location code configuration management or phone book configuration management.

In some examples, the preset interface is provided with a cruising configuration button for setting cruising rules of the robot to realize cruising configuration management. For example, cruise rules include cruise time and frequency. The preset interface is provided with a scheduling button, which is used to set the scheduling rules of the robot and realize scheduling configuration management. For example, scheduling rules include outbound unreachable and backhaul unreachable. The preset interface is provided with a marker management button, which is used to query or delete markers, and realize marker configuration management. The preset interface is provided with a phone book management button, which is used to configure the reserved phone information of the phone book to realize the configuration management of the phone book. The default interface can be set with an ADB service menu. You can interact with the robot through the ADB service menu to achieve the following functions: map pull, log pull, music push, logo push, apk installation, apk uninstallation, etc.

In this embodiment, the function deployment of the robot is improved through some function configuration management.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present invention.

In one embodiment, a robot deployment device is provided, and the robot deployment device corresponds to the robot deployment method in the above-mentioned embodiments one by one. As shown in FIG. 6 , the robot deployment device includes a map loading module 10 , a path drawing module 20 , a monitoring module 30 and a configuration module 40 . The detailed description of each functional module is as follows:

The loading map module 10 is used to obtain a loading instruction, load the map data of a specified scene according to the loading instruction to generate an initial map corresponding to the map data, and display the initial map on a preset interface;

A path drawing module 20, configured to acquire a path drawing instruction, and generate a topological path on the initial map according to the path drawing instruction;

A monitoring module 30, configured to obtain a monitoring instruction, obtain dynamic position data of the robot according to the monitoring instruction, and display the dynamic position data on the preset interface;

The configuration module 40 is configured to obtain a configuration instruction, and configure scene elements on the topological path according to the configuration instruction and the dynamic location data, so as to obtain a navigation data map.

Optionally, the robot deployment device also includes:

An inspection module, configured to acquire an inspection instruction, and inspect the scene element and the topological path according to the inspection instruction;

An element modification module, configured to obtain a scene element modification instruction if the scene element fails the inspection, and modify the position of the scene element according to the scene element modification instruction;

A path modification module, configured to obtain a path modification instruction if the topological path fails the inspection, and modify the topological path according to the path modification instruction.

Optionally, the robot deployment device also includes:

A connection module, configured to obtain a connection instruction, and establish a connection with the robot according to the connection instruction.

Optionally, configuration module 40 includes:

An element adding unit, configured to acquire a scene element adding instruction, and add a scene element on the topology path according to the scene element adding instruction;

The mobile unit is configured to send an instruction to the robot to arrive at the element collection point, so that the robot arrives at the data collection point of the scene element according to the instruction to arrive at the element collection point.

Optionally, the configuration module 40 also includes:

The location data acquisition unit is configured to acquire scene location data collected by the robot at the data collection point; the dynamic location data includes the scene location data.

Optionally, the robot deployment device also includes:

The map sending module is configured to acquire a map sending instruction, and send the navigation data map to the robot according to the map sending instruction.

Optionally, the configuration module 40 also includes:

a management unit, configured to acquire a management instruction, and perform configuration management on the robot according to the management instruction;

The configuration management includes cruise configuration management, dispatch configuration management, location code configuration management or phone book configuration management.

For specific limitations on the robot deployment device, please refer to the above-mentioned limitations on the robot deployment method, which will not be repeated here. It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present invention.

In one embodiment, a computer device is provided, and the computer device may be a server, a notebook computer, a desktop computer, or other terminal devices that can operate independently, and its internal structure may be as shown in FIG. 7 . The computer device includes a processor, memory, network interface and database connected by a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a readable storage medium and an internal memory. The readable storage medium stores an operating system, computer readable instructions and a database. The internal memory provides an environment for the execution of the operating system and computer readable instructions in the readable storage medium. The database of the computer device is used to store data involved in the robot deployment method. The network interface of the computer device is used to communicate with an external terminal via a network connection. The computer readable instructions implement a robot deployment method when executed by the processor. The readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium.

In one embodiment, a computer device is provided, including a memory and a processor, the memory stores computer-readable instructions operable on the processor, and the processor implements the following steps when executing the computer-readable instructions:

Obtaining a loading instruction, loading map data of a specified scene according to the loading instruction to generate an initial map corresponding to the map data, and displaying the initial map on a preset interface;

Obtaining a path drawing instruction, and generating a topological path on the initial map according to the path drawing instruction;

Obtain a monitoring instruction, obtain dynamic position data of the robot according to the monitoring instruction, and display the dynamic position data on the preset interface;

Obtain a configuration instruction, and configure scene elements on the topological path according to the configuration instruction and the dynamic location data, so as to obtain a navigation data map.

In one embodiment, one or more computer-readable storage media storing computer-readable instructions is provided. The readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. storage medium. Computer-readable instructions are stored on the readable storage medium, and when the computer-readable instructions are executed by one or more processors, the following steps are implemented:

Obtaining a loading instruction, loading map data of a specified scene according to the loading instruction to generate an initial map corresponding to the map data, and displaying the initial map on a preset interface;

Obtaining a path drawing instruction, and generating a topological path on the initial map according to the path drawing instruction;

Obtain a monitoring instruction, obtain dynamic position data of the robot according to the monitoring instruction, and display the dynamic position data on the preset interface;

Obtain a configuration instruction, and configure scene elements on the topological path according to the configuration instruction and the dynamic location data, so as to obtain a navigation data map.

In one embodiment, a robot deployment system is also provided, the system includes a robot, the above-mentioned computer equipment, and the robot and the computer equipment are communicatively connected, and the above-mentioned computer equipment can realize the steps of the above-mentioned robot deployment method, and the specific details of each step For the limitation, please refer to the limitation of the robot deployment method above, so I won’t go into details here.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile memory When being read from a storage medium or a volatile readable storage medium, the computer-readable instructions may include the processes of the embodiments of the above-mentioned methods when executed. Wherein, any references to memory, storage, database or other media used in the various embodiments provided in the present application may include non-volatile and/or volatile memory. Nonvolatile 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 many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still carry out the foregoing embodiments Modifications to the technical solutions recorded in the examples, or equivalent replacement of some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should be included in within the protection scope of the present invention.

Claims (8)

1. A robot deployment method, characterized in that, comprising: Obtaining a loading instruction, loading map data of a specified scene according to the loading instruction to generate an initial map corresponding to the map data, and displaying the initial map on a preset interface; Obtaining a path drawing instruction, and generating a topological path on the initial map according to the path drawing instruction; Obtain a monitoring instruction, obtain dynamic position data of the robot according to the monitoring instruction, and display the dynamic position data on the preset interface; Obtaining configuration instructions, and configuring scene elements on the topological path according to the configuration instructions and the dynamic location data to obtain a navigation data map; The acquiring configuration instruction configures scene elements on the topological path according to the configuration instruction and the dynamic location data to obtain a navigation data map, including: Acquire a scene element addition instruction, and add a scene element on the topology path according to the scene element addition instruction; sending an instruction to the robot to arrive at the element collection point, so that the robot arrives at the data collection point of the scene element according to the instruction to arrive at the element collection point; After the robot arrives at the data collection point, record the pose data of the current robot, associate the pose data with the current scene elements, and generate scene position data; the dynamic position data includes the scene position data. 2. The robot deployment method according to claim 1, characterized in that, after obtaining the configuration instruction, configuring scene elements on the topological path according to the configuration instruction and the dynamic position data, to obtain the navigation data map ,Also includes: Obtain an inspection instruction, and inspect the scene element and the topology path according to the inspection instruction; If the scene element fails the inspection, obtain a scene element correction instruction, and modify the position of the scene element according to the scene element correction instruction; If the topological path fails the inspection, a path correction instruction is obtained, and the topological path is corrected according to the path correction instruction. 3. The robot deployment method according to claim 1, wherein the acquisition of the loading instruction loads the map data of the specified scene according to the loading instruction to generate an initial map corresponding to the map data, and displays it on the preset interface Before showing the initial map, also include: Obtain a connection instruction, and establish a connection with the robot according to the connection instruction. 4. The robot deployment method according to claim 1, characterized in that, after obtaining the configuration instruction, configuring scene elements on the topological path according to the configuration instruction and the dynamic position data, to obtain the navigation data map ,Also includes: A map sending instruction is obtained, and the navigation data map is sent to the robot according to the map sending instruction. 5. The robot deployment method according to claim 1, further comprising: Obtaining a management instruction, and performing configuration management on the robot according to the management instruction; The configuration management includes cruise configuration management, dispatch configuration management, location code configuration management or phone book configuration management. 6. A robot deployment device, characterized in that it comprises: A map loading module, configured to obtain a loading instruction, load map data of a specified scene according to the loading instruction to generate an initial map corresponding to the map data, and display the initial map on a preset interface; a path drawing module, configured to acquire a path drawing instruction, and generate a topological path on the initial map according to the path drawing instruction; A monitoring module, configured to obtain monitoring instructions, obtain dynamic position data of the robot according to the monitoring instructions, and display the dynamic position data on the preset interface; A configuration module, configured to obtain a configuration instruction, and configure scene elements on the topological path according to the configuration instruction and the dynamic location data, so as to obtain a navigation data map; The configuration modules include: An element adding unit, configured to acquire a scene element adding instruction, and add a scene element on the topology path according to the scene element adding instruction; A mobile unit, configured to send an instruction to the robot to arrive at the element collection point, so that the robot arrives at the data collection point of the scene element according to the instruction to arrive at the element collection point; The position data acquisition unit is used to record the pose data of the current robot after the robot arrives at the data collection point, associate the pose data with the current scene elements, and generate scene position data; the dynamic position data includes the scene position data. 7. A computer device, comprising a memory and a processor, the memory stores computer-readable instructions that can run on the processor, wherein when the processor executes the computer-readable instructions, it can realize The robot deployment method according to any one of claims 1 to 5. 8. One or more readable storage media storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the operations of claims 1 to 5 Any one of the robot deployment methods described in.

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