CN115468583A - Positioning identification detection method, electronic device, storage medium, and program product - Google Patents
Positioning identification detection method, electronic device, storage medium, and program product Download PDFInfo
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Abstract
The application provides a positioning identifier detection method, electronic equipment, a storage medium and a program product, and relates to the technical field of navigation. According to the method, the terminal position of the mobile robot in the process of moving to the target positioning identification is obtained according to the planned path in the navigation map, and whether the target positioning identification is actually arranged wrongly is judged based on the terminal position, so that error detection can be carried out on the actually arranged positioning identification.
Description
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a method for detecting a location identifier, an electronic device, a storage medium, and a program product.
Background
Positioning is the most basic link of a mobile robot in a navigation process, whether a positioning result is accurate or not is directly related to whether the mobile robot can accurately navigate according to a planned path or not, and most mobile robots are positioned in a positioning conservative manner, for example, AGV (Automated Guided Vehicle) robots are mainly positioned by positioning marks on a navigation path and move by the positioning marks. The positioning mark set in the actual application field needs to be consistent with the planned positioning mark, otherwise, the stability of the motion of the mobile robot is affected.
When the staff sets up the location sign on ground, its precision mainly relies on auxiliary assembly such as range finder of high accuracy, but this kind of mode does not get rid of because artifical error or other accidental factor lead to the location sign in some places sets up the mistake, and under this kind of condition, in order to ensure the precision, need the manual work to inspect each location sign many times to ensure that it sets up accurately, but this kind of mode inefficiency.
Disclosure of Invention
An embodiment of the present application provides a method for detecting a location identifier, an electronic device, a storage medium, and a program product, so as to solve the problem that the existing method for manually detecting whether the location identifier is incorrect is inefficient.
In a first aspect, an embodiment of the present application provides a method for detecting a location identifier, where the method includes:
acquiring a terminal position of a mobile robot in the process of moving to a target positioning identifier according to a planned path in a navigation map;
and judging whether the target positioning identification is actually distributed with errors or not based on the end point position.
In the implementation process, the terminal position of the mobile robot in the process of moving to the target positioning identifier according to the planned path in the navigation map is obtained, and whether the target positioning identifier is actually arranged wrongly is judged based on the terminal position, so that error detection can be carried out on the actually arranged positioning identifier.
Optionally, the determining, based on the end point position, whether the target location identifier is actually arranged with an error includes:
detecting and obtaining the actual position of the target positioning identifier;
and judging whether the target positioning identification is actually distributed wrongly or not according to the end point position and the actual position.
In the implementation process, the actual position of the target positioning identifier is detected, and the terminal position of the mobile robot is combined, so that whether the target positioning identifier is wrong or not can be accurately judged.
Optionally, the determining, according to the end point position and the actual position, whether the target location identifier is actually laid incorrectly includes:
acquiring a distance difference and/or an angle difference between the end position and the actual position;
and if the distance difference is greater than a set distance threshold, determining that the target positioning identifier is actually laid wrongly, and/or if the angle difference is greater than a set angle threshold, determining that the target positioning identifier is actually laid wrongly.
In the implementation process, whether the actual layout position of the target positioning identifier is wrong or not can be more accurately measured according to the distance difference and/or the angle difference.
Optionally, the determining, according to the end point position, whether the target location identifier is actually laid with an error includes:
and if the target positioning identifier is not detected at the end point position by the robot, determining that the target positioning identifier is actually distributed wrongly. This case illustrates that the destination location identifier should have been deployed at the end position, but may actually be undeployed due to human error.
Optionally, the mobile robot is provided with a plurality of positioning sensors, and acquiring a destination position in a process that the mobile robot moves to the destination positioning identifier includes:
acquiring initial end positions of the mobile robot in the process of moving to a target positioning identifier by using each positioning sensor arranged on the mobile robot, and acquiring a plurality of initial end positions;
and performing weighted fusion on the plurality of initial end positions according to the precision of each positioning sensor to obtain a final end position.
In the implementation process, the terminal position of the mobile robot is positioned by utilizing the plurality of positioning sensors, so that more accurate positioning information can be obtained by integrating the positioning results of the plurality of positioning sensors.
Optionally, after determining that the destination location identifier is actually deployed with a mistake, the method further includes:
outputting alarm prompt information through the mobile robot;
and/or reporting the information of the target positioning identification to an upper computer through the mobile robot, wherein the upper computer is used for marking the target positioning identification in the navigation map and then outputting alarm prompt information.
In the implementation process, the alarm prompt information is output through the mobile robot and/or the upper computer, so that the error information of the positioning identification of the field worker and/or the remote worker can be prompted, and then the worker can correct the error positioning identification in time to ensure the normal work of the mobile robot.
Optionally, the obtaining of the end position of the mobile robot in the process of moving to the target positioning identifier according to the planned path in the navigation map includes:
traversing a plurality of positioning identifiers in a navigation map, taking a designated positioning identifier as an initial positioning identifier and any one of the positioning identifiers as a target positioning identifier, and controlling the mobile robot to move according to a planned path between the initial positioning identifier and the target positioning identifier;
and acquiring the end position of the mobile robot in the process of moving to the target positioning identifier.
In the implementation process, the mobile robot is controlled to move by traversing the plurality of positioning identifiers in the navigation map, so that error detection can be performed on each positioning identifier, and the detection efficiency is improved.
In a second aspect, an embodiment of the present application provides a positioning identifier detecting apparatus, where the apparatus includes:
the position acquisition module is used for acquiring the end point position of the mobile robot in the process of moving to the target positioning identifier according to the planned path in the navigation map;
and the error detection module is used for judging whether the target positioning identifier is actually distributed wrongly or not based on the end point position.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method as provided in the first aspect are executed.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, performs the steps in the method as provided in the first aspect above.
In a fifth aspect, embodiments of the present application provide a computer program product, which includes computer program instructions, when read and executed by a processor, perform the steps of the method as provided in the first aspect.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for detecting a location identifier according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an upper computer outputting an alarm prompt message according to an embodiment of the present application;
fig. 3 is a block diagram of a positioning identifier detection apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device for executing a method for detecting a location identifier according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
It should be noted that the terms "system" and "network" in the embodiments of the present invention may be used interchangeably. The "plurality" means two or more, and in view of this, the "plurality" may also be understood as "at least two" in the embodiments of the present invention. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" generally indicates that the preceding and succeeding related objects are in an "or" relationship, unless otherwise specified.
The embodiment of the application provides a positioning identifier detection method, which comprises the steps of obtaining a terminal position of a mobile robot in the process that the mobile robot moves to a target positioning identifier according to a planned path in a navigation map, judging whether the target positioning identifier is actually distributed with errors or not based on the terminal position, and thus carrying out error detection on the actually distributed positioning identifier.
Referring to fig. 1, fig. 1 is a flowchart of a method for detecting a positioning identifier according to an embodiment of the present application, where the method includes the following steps:
step S110: and acquiring the end point position of the mobile robot in the process of moving the mobile robot to the target positioning identifier according to the planned path in the navigation map.
The mobile robot may be any type of AGV, such as a lifting, roller, belt, or submarine AGV, a forklift, or a four-way shuttle, and may be controlled by an upper computer or by itself.
The execution main body of the positioning identifier detection method can be a mobile robot or an upper computer, if the mobile robot executes the method, the mobile robot can judge whether the target positioning identifier is actually arranged with errors according to the end position, if the mobile robot executes the method, the mobile robot can report the end position to the upper computer, and the upper computer judges whether the target positioning identifier is actually arranged with errors based on the end position.
For convenience of description, the following embodiments are described with a mobile robot as an execution subject. The upper computer can store a navigation map for controlling the mobile robot to move, the navigation map comprises a plurality of positioning marks, and the positioning marks are used for indicating the mobile robot to move according to a planned path. The host computer can send corresponding control command to the mobile robot according to the planning route in the navigation map to control the mobile robot to move according to the command, for example, after the mobile robot moves to a location sign at present, the host computer can control the mobile robot to move 1 meter to the front to move to the next location sign. In this case, the distance between the two positioning identifiers planned in the navigation map is 1 meter, but in practical applications, a certain error may exist in the distance between the two positioning identifiers laid on the ground due to manual errors, and therefore, after the mobile robot moves forward by 1 meter, the reached end position may not be the position of the next positioning identifier. In the embodiment of the application, whether the positioning identifier is wrongly arranged or not can be detected by utilizing the moving position of the mobile robot.
Therefore, the end position of the mobile robot in the process of moving to the target positioning identifier according to the planned path in the navigation map refers to the position where the mobile robot moves according to the control instruction of the upper computer, and the end position is the end position which the mobile robot thinks the mobile robot reaches. The destination positioning identifier may refer to any next destination positioning identifier that the mobile robot needs to reach.
It can be understood that the navigation map may also be stored in the mobile robot, and the mobile robot may also control the movement by itself, for example, the mobile robot may obtain the current location position of itself in real time, and move according to the planned path in the navigation map, where the planned path is preset, for example, the distance, direction, and other information that the current location identifier needs to travel when reaching the next location identifier, and the mobile robot moves according to the information.
In addition, the positioning mark can be a two-dimensional code mark which is pasted on the ground and used for positioning, the mobile robot can be positioned through the two-dimensional code mark, and the position, the motion direction and the like of the mobile robot can be obtained through analysis through information carried in the two-dimensional code mark. The two-dimensional code is more suitable for serving as a positioning identifier of the mobile robot to assist the mobile robot to perform mobile positioning due to the fact that the two-dimensional code contains abundant text information and ultra-strong anti-fouling capacity. It is understood that the positioning mark may also be other marks, such as a one-dimensional code, a sign board, a sign post, etc., and is not limited herein.
Step S120: and judging whether the target positioning identifier is actually distributed wrongly or not based on the end point position.
The mobile robot can obtain the position where the mobile robot is located after moving, namely the terminal position considered by the mobile robot, for example, the upper computer controls the mobile robot to move forward 1 meter to move to the target positioning identifier, the mobile robot moves forward 1 meter according to the control instruction, and the position where the mobile robot is located after moving 1 meter is the terminal position where the mobile robot is located. At this time, the mobile robot can judge whether the target positioning identifier is actually arranged wrongly or not based on the end point position.
Theoretically, according to the planned path on the navigation map, if the upper computer controls the mobile robot to move forward by 1 meter, the reached end point position should be the position of the target positioning identifier, but if the target positioning identifier has an error during actual layout or the target positioning identifier is omitted by manual layout, the end point position where the mobile robot moves forward by 1 meter may not be the position of the target positioning identifier.
Therefore, after the mobile robot reaches the terminal position, the mobile robot can scan through a camera installed on the mobile robot, for example, two-dimension code identifiers pasted on the ground are scanned, if the two-dimension code identifiers are not scanned in a certain range, it can be determined that the target positioning identifier is not laid at the current position, and it indicates that the target positioning identifier is actually laid by mistake, and the positioning identifier may be omitted during manual laying. Or, if the mobile robot scans within a certain range to obtain the two-dimensional code identifier, whether the positioning identifier is wrongly arranged or not can be comprehensively judged based on the position of the two-dimensional code identifier and the current terminal position.
Laying errors can be understood as positioning identification construction errors, for example, in the construction process, a worker places an identifier incorrectly, for example, the position or the direction of a posted two-dimensional code is incorrect, so that the center of the two-dimensional code deviates or the orientation of the two-dimensional code is incorrect, and the like.
That is to say, in some embodiments, after obtaining the end point position, the mobile robot may detect the target location identifier at the end point position, and if the target location identifier is not detected at the end point position, it may be determined that the target location identifier is actually laid with an error, otherwise, if the target location identifier is detected at the end point position, it may be determined that the target location identifier is actually laid without an error and is actually laid correctly, or after the target location identifier is detected at the end point position, it may be determined whether the target location identifier is actually laid with an error by combining with the actual position of the target location identifier.
It should be understood that, in practical applications, the detection mode of the mobile robot for the target positioning identifier is not limited to the above-mentioned camera scanning mode, and other detection modes, such as image recognition, radio frequency signal detection, etc., may also be adopted.
In the implementation process, the method obtains the end point position of the mobile robot in the process of moving to the target positioning identifier according to the planned path in the navigation map, and judges whether the target positioning identifier is actually arranged wrongly or not based on the end point position, so that error detection can be performed on the actually arranged positioning identifier.
On the basis of any embodiment of the application, in order to more accurately position the mobile robot, a plurality of positioning sensors can be mounted on the mobile robot, in a mode of obtaining the end point position of the mobile robot, each positioning sensor mounted on the mobile robot can be used for obtaining an initial end point position of the mobile robot in the process of moving to a target positioning identifier, a plurality of initial end point positions are obtained in total, and then the initial end point positions are weighted and fused according to the precision of each positioning sensor to obtain a final end point position.
The plurality of positioning sensors may include a code disc positioning sensor, an Inertial Measurement Unit (IMU) sensor, a radar sensor, and other sensors, and the sensors may be used to position the mobile robot, for example, after the mobile robot completes moving under a control instruction of an upper computer, that is, after reaching a terminal position, a processor in the mobile robot may control the positioning sensors to perform position positioning, and each positioning sensor may obtain corresponding position information, that is, an initial terminal position.
In some modes, the initial end position obtained by the positioning sensor with the highest precision can be used as the final end position, and in other modes, a plurality of initial end positions can be weighted and fused to obtain the final end position, wherein the weighted fusion mode can be that the plurality of initial end positions are summed and then averaged.
Of course, in order to obtain a more accurate end point position, the accuracy of each positioning sensor may be considered, for example, the weight corresponding to a positioning sensor with high accuracy is set to be larger, and the weight corresponding to a positioning sensor with low accuracy is set to be smaller, so that an appropriate weight may be determined according to the accuracy of each positioning sensor. The formula of the weighted fusion can be expressed as
Wherein X represents the final end position, X i Indicates the initial end position obtained by the i-th registration sensor, a i The weight corresponding to the ith positioning sensor is shown, and the weight corresponding to the positioning sensor with high precisionLarger, k represents the total number of positioning sensors.
On the basis of any embodiment of the application, in order to perform error detection on all positioning identifiers in a navigation map, the mobile robot can also traverse a plurality of positioning identifiers in the navigation map in the moving process, and control the mobile robot to move according to a planned path from the initial positioning identifier to the target positioning identifier by using a specified positioning identifier as an initial positioning identifier and any one positioning identifier as a target positioning identifier, and then acquire an end point position of the mobile robot in the process of moving to the target positioning identifier.
The specified positioning identifier may be understood as a positioning identifier determined to be laid without errors in the plurality of positioning identifiers, or may be a positioning identifier with a wrong positioning identifier being corrected, for example, a certain positioning identifier is determined to be laid with errors after being detected according to the method of the embodiment of the present application, and then the positioning identifier may also be used as the specified positioning identifier after being adjusted correctly by a human. For the first detection, the designated positioning identifier may be an error-free positioning identifier designated by a human, and for the subsequent detection, the designated positioning identifier may be one of the randomly selected marking error-free positioning identifiers of the mobile robot, or may be designated by a human.
After each detection, the mobile robot may traverse the navigation map, and find a next location identifier to be detected according to the planned path, where the next location identifier to be detected may refer to an undetected location identifier adjacent to the current location identifier, for example, according to the planned path, a moving track of the mobile robot is defined as location identifier 1- > location identifier 2- > location identifier 3, and if the current mobile robot has detected location identifier 2, the location identifier 3 may be used as a destination location identifier.
If the positioning mark 2 is an error-free positioning mark, the positioning mark 2 can be used as an initial positioning mark, if the positioning mark 2 is an error-free positioning mark, and the positioning mark 1 is an error-free positioning mark, the positioning mark 1 can be used as an initial positioning mark, of course, in the process that the mobile robot moves to the position of the positioning mark 3, the mobile robot does not need to return to the positioning mark 1 to move again, but can continuously move from the positioning mark 2 to the positioning mark 3, and only subsequently judges whether the positioning mark 3 is in error or not, the mobile robot judges by using the path between the positioning mark 1 and the positioning mark 3, because the path from the positioning mark 1 to the positioning mark 3 also passes through the positioning mark 2.
The end position obtained here may refer to a position where the mobile robot moves along a path planned from the positioning marker 1 to the positioning marker 3.
In the implementation process, the mobile robot is controlled to move by traversing the plurality of positioning identifiers in the navigation map, so that error detection can be performed on each positioning identifier, and the detection efficiency is improved.
On the basis of the above embodiment, in the mode of detecting whether the target positioning identifier is actually arranged with errors, the actual position of the target positioning identifier may be combined for detection, for example, the mobile robot may detect and obtain the actual position of the target positioning identifier, and then, according to the end point position and the actual position of the mobile robot, it is determined whether the target positioning identifier is actually arranged with errors.
The way of detecting the actual position of the target positioning mark may be scanning determination using a camera mounted on the mobile robot as described in the above embodiments, or determination by an image recognition method, or the like. For example, after the mobile robot reaches the end position, an image within a certain range can be shot through the camera, and the two-dimensional code identifier is generally adhered to the ground, so that the image can be shot through the camera on the bottom of the mobile robot, if the position of the two-dimensional code identifier has only a little deviation, a certain deviation exists between the center position of the shot image and the center position of the two-dimensional code identifier obtained through shooting, and at the moment, the actual position of the two-dimensional code identifier can be obtained through calculation of a corresponding algorithm.
Of course, if the positioning identifier is not a two-dimensional code image, but other identifiers, such as a radio frequency positioning chip, the mobile robot can determine the actual position of the positioning identifier through a radio frequency signal. And then, whether the target positioning identifier is wrong or not can be judged according to the current end position and the actual position of the mobile robot.
In some embodiments, a distance difference and/or an angle difference between the end point position and the actual position may be obtained, and if the distance difference is greater than a set distance threshold, it is determined that the target positioning identifier is actually laid incorrectly, whereas if the distance difference is less than or equal to the set distance threshold, it is determined that the target positioning identifier is actually laid correctly. And/or determining that the target positioning identifier is actually laid wrongly if the angle difference is larger than the set angle threshold, otherwise determining that the target positioning identifier is actually laid wrongly if the angle difference is smaller than or equal to the set angle threshold.
The set distance threshold or the set angle threshold can be flexibly set according to actual requirements, for example, the set distance threshold is 0.1 m, if the distance difference between the end point position and the actual position is greater than 0.1 m, it is determined that the actual layout position of the target positioning identifier is wrong, and if the distance difference is less than or equal to 0.1 m, it is determined that the actual layout position of the target positioning identifier is within the error allowable range and the position is correct. For example, the angle threshold is set to 10 °, when the angle difference is obtained, the mobile robot scans the two-dimensional code and obtains an angle according to the actual position of the target positioning identifier (the positioning identifier is the two-dimensional code), then measures an angle through a positioning sensor (such as an IMU or a code disc) installed on the mobile robot, and uses the difference between the two angles as the angle difference, if the angle difference is greater than 10 °, it is determined that the actual layout position of the target positioning identifier is incorrect, and if the angle difference is less than or equal to 10 °, it is determined that the actual layout position of the target positioning identifier is within the error tolerance range, and the position is correct.
For example, in the above embodiment, when the positioning identifier 1 is used as a starting positioning identifier and the positioning identifier 3 is used as a destination positioning identifier, the positioning identifier 1 is used as a reference, for example, the planned distance between the positioning identifier 1 and the positioning identifier 3 in a navigation map is 3 meters, that is, theoretically, the mobile robot can reach the target by moving from the positioning identifier 1 to the positioning identifier 3 only by moving 3 meters, and the distance between the positioning identifier 1 and the positioning identifier 2 is 1 meter, if the mobile robot is controlled to move 1 meter from the positioning identifier 1 to the positioning identifier 2, and at this time, through distance difference detection, it is determined that the positioning identifier 2 is faulty, the mobile robot detects the positioning identifier 3 again, the upper computer can continue to control the mobile robot to move 2 meters forward, and if the distance difference between the end position where the mobile robot moves 2 meters forward and the actual position of the positioning identifier 3 is greater than a set distance threshold, and/or if the angle difference between the end position where the mobile robot is located and the actual position of the positioning identifier 3 is greater than a set angle threshold, it is considered that the positioning identifier 3 is also arranged wrongly. In this case, of course, the positioning identifier 1 is considered to be error-free.
It should be noted that, in the above embodiment, if it is difficult to obtain the actual position of the target positioning identifier, a distance difference and/or an angle difference between the end position of the mobile robot and the actual position of the target positioning identifier may also be determined according to an image recognition method, for example, the distance difference and the angle difference may be determined by a two-dimensional code image captured by the mobile robot, if there is a deviation in the two-dimensional code identifier, a center position of the two-dimensional code image captured by the mobile robot and a center position of the two-dimensional code identifier have a deviation, and a distance difference between the end position and the actual position may be calculated by a distance deviation between the center positions of the two-dimensional code image and the two-dimensional code identifier, and a difference between an angle obtained from the center position of the two-dimensional code image and an angle measured by the positioning sensor is used as an angle difference between the end position and the actual position.
On the basis of the embodiment, in order to enable field workers to correct the positioning identification with the error in time so that the mobile robot can work normally, warning prompt information can be output through the mobile robot after the target positioning identification is determined to be mistakenly arranged, and/or the information of the target positioning identification is reported to an upper computer through the mobile robot, and the upper computer is used for outputting the warning prompt information after the target positioning identification is marked in the navigation map.
For example, if the mobile robot detects that the positioning identifier 3 is wrongly arranged, the audible and visual alarm mounted on the mobile robot can output alarm prompt information to prompt field workers that the positioning identifier 3 is wrongly arranged, so that the field workers can timely correct the positioning identifier 3 after seeing the alarm prompt information of the mobile robot.
And/or the mobile robot can report the relevant information of the positioning identifier 3 to an upper computer, for example, the information such as the position, the serial number, the error magnitude and the like of the positioning identifier 3 is reported to the upper computer, and the upper computer can label the positioning identifier 3 and then output the alarm prompt information after finding the positioning identifier 3 in the navigation map. The labeling mode here may be displaying information such as the distance difference and deviation direction of the positioning identifier 3 in a navigation map, as shown in fig. 2, of course, the positioning identifier 3 may also be marked by frame selection, and after the mouse of the worker clicks the frame, information such as the corresponding distance difference and deviation direction (i.e., angle difference) may be displayed, so that even if the field worker does not notice the warning prompt information output by the mobile robot, the field worker may know which positioning identifier is wrongly laid through the warning prompt information output by the upper computer, and then may timely notify the field worker to correct the positioning identifier with the mistake.
Certainly, in order to ensure that all the positioning marks with errors can be timely corrected, the mobile robot can report the positioning marks with the errors to an upper computer after outputting warning prompt information, the upper computer can count and store all the positioning marks with the errors, and after counting is finished, the field workers can be uniformly output to correct the positioning marks.
On the basis of the embodiment, in order to ensure the detection accuracy, the upper computer sends a control instruction to the mobile robot for the first time to control the mobile robot to move to detect the positioning identifier, and after receiving the control instruction, the mobile robot can initialize parameters of an error detection module (the error detection module is used for performing error detection on each positioning identifier according to the detection method). Parameter initialization is here understood to be setting of a distance threshold in the error detection module, detection logic, distance between two location indicators, etc.
Therefore, the detection method provided by the embodiment of the application can control the movement of the mobile robot through the upper computer, so as to detect whether each positioning mark manually set on the ground is wrong or not, and when the positioning mark is wrong, the mobile robot and/or the upper computer can output alarm prompt information, so that a worker can be reminded to correct the wrong positioning mark in time, and the normal work of the mobile robot is ensured.
Referring to fig. 3, fig. 3 is a block diagram of a positioning identifier detecting apparatus 200 according to an embodiment of the present disclosure, where the apparatus 200 may be a module, a program segment, or a code on an electronic device. It should be understood that the apparatus 200 corresponds to the above-mentioned embodiment of the method of fig. 1, and can perform various steps related to the embodiment of the method of fig. 1, and the specific functions of the apparatus 200 can be referred to the above description, and the detailed description is appropriately omitted here to avoid redundancy.
Optionally, the apparatus 200 comprises:
a position obtaining module 210, configured to obtain an end position of the mobile robot in a process of moving to the target positioning identifier according to a planned path in the navigation map;
and an error detection module 220, configured to determine whether the target location identifier is actually mistakenly laid based on the end point position.
Optionally, the error detecting module 220 is configured to detect an actual position of the destination location identifier; and judging whether the target positioning identification is actually distributed wrongly or not according to the end point position and the actual position.
Optionally, the error detecting module 220 is configured to obtain a distance difference and/or an angle difference between the end position and the actual position; and if the distance difference is greater than a set distance threshold, determining that the target positioning identifier is actually laid with errors, and/or if the angle difference is greater than a set angle threshold, determining that the target positioning identifier is actually laid with errors.
Optionally, the error detecting module 220 is configured to determine that the target positioning identifier is actually arranged incorrectly if the target positioning identifier is not detected at the end position by the robot.
Optionally, a plurality of positioning sensors are installed on the mobile robot, and the position obtaining module 210 is configured to obtain an initial end position of the mobile robot in the process of moving to the target positioning identifier by using each positioning sensor installed on the mobile robot, so as to obtain a plurality of initial end positions; and performing weighted fusion on the plurality of initial end positions according to the precision of each positioning sensor to obtain a final end position.
Optionally, the apparatus 200 further comprises:
the alarm output module is used for outputting alarm prompt information through the mobile robot after the target positioning identifier is determined to be actually distributed with errors; and/or reporting the information of the target positioning identification to an upper computer through the mobile robot, wherein the upper computer is used for marking the target positioning identification in the navigation map and then outputting alarm prompt information.
Optionally, the position obtaining module 210 is configured to traverse multiple positioning identifiers in a navigation map, use a specified positioning identifier as an initial positioning identifier, use any one of the positioning identifiers as a destination positioning identifier, and control the mobile robot to move according to a planned path between the initial positioning identifier and the destination positioning identifier; and acquiring the end position of the mobile robot in the process of moving to the target positioning identifier.
It should be noted that, for the convenience and brevity of description, the specific working procedure of the above-described apparatus may refer to the corresponding procedure in the foregoing method embodiment, and the description is not repeated herein.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device for executing a method for detecting a location identifier according to an embodiment of the present application, where the electronic device may include: at least one processor 310, such as a CPU, at least one communication interface 320, at least one memory 330, and at least one communication bus 340. Wherein the communication bus 340 is used for realizing direct connection communication of these components. The communication interface 320 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The memory 330 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). The memory 330 may optionally be at least one memory device located remotely from the aforementioned processor. The memory 330 stores computer readable instructions, which when executed by the processor 310, cause the electronic device to perform the method processes described above with reference to fig. 1.
It will be appreciated that the configuration shown in fig. 4 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 4 or may have a different configuration than shown in fig. 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof.
Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the method processes performed by an electronic device in the method embodiment shown in fig. 1.
The present embodiments disclose a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the methods provided by the above-described method embodiments, for example, comprising: acquiring a terminal position of a mobile robot in the process of moving to a target positioning identifier according to a planned path in a navigation map; and judging whether the target positioning identification is actually distributed with errors or not based on the end point position.
To sum up, the embodiment of the present application provides a positioning identifier detection method, an electronic device, a storage medium, and a program product, where the method obtains a planned path in a navigation map of a mobile robot, moves the mobile robot to an end point position in a process of a target positioning identifier, and determines whether the target positioning identifier is actually arranged with an error based on the end point position, so that error detection can be performed on the actually arranged positioning identifier.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for detecting a location indicator, the method comprising:
acquiring a terminal position of a mobile robot in the process of moving to a target positioning identifier according to a planned path in a navigation map;
and judging whether the target positioning identification is actually distributed with errors or not based on the end point position.
2. The method as claimed in claim 1, wherein said determining whether the destination location identifier is actually arranged with errors based on the end point position comprises:
detecting and obtaining the actual position of the target positioning identifier;
and judging whether the target positioning identification is actually distributed wrongly or not according to the end point position and the actual position.
3. The method as claimed in claim 2, wherein said determining whether the target positioning identifier is actually arranged with errors according to the end position and the actual position comprises:
acquiring a distance difference and/or an angle difference between the end position and the actual position;
and if the distance difference is greater than a set distance threshold, determining that the target positioning identifier is actually laid wrongly, and/or if the angle difference is greater than a set angle threshold, determining that the target positioning identifier is actually laid wrongly.
4. The method as claimed in claim 1, wherein said determining whether the destination location identifier is actually wrongly arranged according to the end position comprises:
and if the target positioning identifier is not detected at the end point position by the robot, determining that the target positioning identifier is actually distributed wrongly.
5. The method of claim 1, wherein the mobile robot is provided with a plurality of positioning sensors, and acquiring the end position of the mobile robot in the process of moving to the target positioning identifier comprises:
acquiring initial end positions of the mobile robot in the process of moving to a target positioning identifier by using each positioning sensor arranged on the mobile robot, and acquiring a plurality of initial end positions;
and performing weighted fusion on the plurality of initial end positions according to the precision of each positioning sensor to obtain a final end position.
6. The method according to any one of claims 1-5, wherein after determining that the destination location identifier is actually deployed with an error, the method further comprises:
outputting alarm prompt information through the mobile robot;
and/or reporting the information of the target positioning identification to an upper computer through the mobile robot, wherein the upper computer is used for marking the target positioning identification in the navigation map and then outputting alarm prompt information.
7. The method according to any one of claims 1 to 6, wherein the obtaining of the end position of the mobile robot in the process of moving to the target positioning identifier according to the planned path in the navigation map comprises:
traversing a plurality of positioning identifiers in a navigation map, taking a designated positioning identifier as an initial positioning identifier and any one of the positioning identifiers as a target positioning identifier, and controlling the mobile robot to move according to a planned path between the initial positioning identifier and the target positioning identifier;
and acquiring the end position of the mobile robot in the process of moving to the target positioning identifier.
8. An electronic device comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, perform the method of any of claims 1-7.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
10. A computer program product comprising computer program instructions which, when read and executed by a processor, perform the method of any one of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116399311A (en) * | 2023-04-12 | 2023-07-07 | 上海同增规划建筑设计事务所有限公司 | Measuring device for building planning design application |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116399311A (en) * | 2023-04-12 | 2023-07-07 | 上海同增规划建筑设计事务所有限公司 | Measuring device for building planning design application |
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