CN116952238A - Map association method of robot, system thereof, robot and storage medium - Google Patents
Map association method of robot, system thereof, robot and storage medium Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The invention relates to the field of robots, in particular to a map association method of a robot, a system thereof, the robot and a storage medium. The map association method comprises the steps that a robot identifies a marker in an overlapping area in the overlapping area of a first map and a second map to be associated, and the pose of the marker in the first map and the second map is acquired; acquiring a coordinate transformation relation of the first map and the second map according to the pose of the marker in the first map and the second map; and associating the first map with the second map according to the coordinate transformation relation. The invention replaces the existing complex algorithm of passively searching and extracting the common characteristics and the characteristic attributes of the map to be associated and carrying out matching association, and the map association operation efficiency is higher.
Description
Technical Field
The invention relates to the field of robots, in particular to a map association method of a robot, a system thereof, the robot and a storage medium.
Background
With the rapid development of electronic commerce, the delivery demands of express delivery, takeaway, catering and the like in a building are continuously increased, and in the delivery process, robots play an important role to provide rapid, efficient and safe delivery services for commercial buildings.
When a robot navigates between different floors in a building, it is necessary to switch between different maps. Generally, a robot is not known at its initial pose at a new map after switching to the new map, and thus, it is necessary to associate different maps to acquire its initial pose at the new map after switching to the new map.
In the related art, a map association method is to identify the identifier of each map, record the attribute of each identifier, match the identifier in each map, and associate the map to which the identifier matches according to the matching result. However, this approach involves algorithms such as identification of the markers, matching of the markers, and stitching of the map, which is relatively difficult and inefficient to operate.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides a map association method of a robot, a system thereof, the robot and a storage medium, which solve the problem of lower operation efficiency of the map association mode operation association method of the prior robot.
The technical scheme adopted for solving the technical problems is as follows: provided is a map association method of a robot, including:
the robot identifies a marker in an overlapping area of a first map and a second map to be associated, and obtains the pose of the marker in the first map and the second map;
acquiring a coordinate transformation relation of the first map and the second map according to the pose of the marker in the first map and the second map;
and associating the first map with the second map according to the coordinate transformation relation.
Among them, the preferred scheme is: the robot is internally provided with an identification module for identifying the identifier, and the step of acquiring the pose of the identifier in the first map specifically comprises the following steps:
taking the first map as a current map of the robot, and repositioning an initial pose of the robot in the first map;
moving the robot to a first preset pose in the first map to identify the marker in the first map;
acquiring the pose of the coordinate system of the identifier in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the first map at the moment;
and obtaining the pose of the marker in the first map according to the pose of the coordinate system of the marker in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the first map.
Among them, the preferred scheme is: the step of obtaining the pose of the marker in the second map specifically includes:
taking the second map as a current map of the robot, and repositioning an initial pose of the robot in the second map;
moving the robot to a second preset pose in the second map to identify the marker in the second map;
acquiring the pose of the coordinate system of the identifier in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the second map at the moment;
and obtaining the pose of the marker in the second map according to the pose of the coordinate system of the marker in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the second map.
Among them, the preferred scheme is: and acquiring the pose of the coordinate system of the identification module in the coordinate system of the robot through the configuration file of the identification module, wherein the configuration file of the identification module comprises the installation pose information of the identification module on the robot.
Among them, the preferred scheme is: the acquiring the coordinate transformation relation of the first map and the second map according to the pose of the marker in the first map and the second map specifically comprises the following steps:
acquiring a first coordinate transformation relation between a coordinate system of the marker and a coordinate system of the first map and a second coordinate transformation relation between the coordinate system of the marker and a coordinate system of the second map through the pose of the marker on the first map and the second map;
and calculating the coordinate transformation relation of the first map and the second map according to the first coordinate transformation relation and the second coordinate transformation relation.
Among them, the preferred scheme is: the first coordinate transformation relation between the coordinate system of the marker and the coordinate system of the first map is obtained through calculation according to the following formula:
the second coordinate transformation relation between the coordinate system of the marker and the coordinate system of the second map is obtained through calculation according to the following formula:
the coordinate transformation relation between the first map and the second map is calculated by the following formula:
wherein m1 is the coordinate system of the first map, m2 is the coordinate system of the second map, b is the coordinate system of the marker, (x 1, y1, θ1) is the pose of the coordinate system of the marker in the coordinate system of the first map, and (x 2, y2, θ2) is the pose of the coordinate system of the marker in the coordinate system of the first mapThe pose in the coordinate system of the second map,for a coordinate transformation matrix of the coordinate system of the marker and the coordinate system of the first map, +.>Is->Inverse matrix of>For a coordinate transformation matrix of the coordinate system of the marker and the coordinate system of the second map, +.>Is a coordinate transformation matrix of the coordinate system of the first map and the coordinate system of the second map.
Among them, the preferred scheme is: before the robot identifies the identifier in the overlapping area of the first map and the second map to be associated, the map associating method further includes:
judging whether a marker exists in the overlapping area of the first map and the second map;
if no marker is present, a marker is placed in the overlap region.
The technical scheme adopted for solving the technical problems is as follows: there is also provided a map associating system of a robot for associating a plurality of maps using the map associating method of the robot as described above, the map associating system comprising:
the acquisition module is used for identifying the markers in the overlapping area of the first map and the second map to be associated and acquiring the pose of the markers in the first map and the second map;
the coordinate transformation module is used for acquiring the coordinate transformation relation of the first map and the second map according to the pose of the marker in the first map and the second map;
and the association module is used for associating the first map with the second map according to the coordinate transformation relation.
The technical scheme adopted for solving the technical problems is as follows: there is also provided a robot comprising a processor and a memory, the memory storing a computer program which, when executed by the processor, implements a map association method for a robot as described above.
The technical scheme adopted for solving the technical problems is as follows: there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a map association method for a robot as described above.
Compared with the prior art, the method has the advantages that the robot is used as an intermediary medium to identify and acquire the pose of the marker in the first map and the second map through the marker in the overlapping area of the first map and the second map to be associated, the coordinate transformation relation of the first map and the second map is acquired based on the pose of the marker in the first map and the second map, the first map and the second map are associated according to the coordinate transformation relation, the complex algorithm of extracting common features and characteristic attributes of the map to be associated and matching and associating is replaced by the existing passive searching, and the map association operation efficiency is higher.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow diagram of a map associating method of a robot in one embodiment of the invention;
FIG. 2 is a flow chart of acquiring a position of a marker in a first map according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of acquiring the position of a marker in a second map according to an embodiment of the present invention;
FIG. 4 is a flowchart of acquiring a coordinate transformation relationship between a first map and a second map according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a map associating system of a robot in one embodiment of the present invention;
FIG. 6 is a schematic view of a robot in one embodiment of the invention;
fig. 7 is a schematic diagram of a computer-readable storage medium in accordance with an embodiment of the invention.
The reference numerals in the drawings are as follows:
10. a map association system of the robot; 101. an acquisition module; 102. a coordinate transformation module; 103. an association module;
20. a robot; 201. a processor; 202. a memory;
30. a computer-readable storage medium; 301. computer program.
Detailed Description
Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, the map association method of a robot provided by the present invention includes:
s101, a robot identifies a marker in an overlapping area in the overlapping area of a first map and a second map to be associated, and obtains the pose of the marker in the first map and the second map;
s102, acquiring a coordinate transformation relation of a first map and a second map according to the pose of the marker in the first map and the second map;
and S103, associating the first map with the second map according to the coordinate transformation relation.
According to the invention, through the markers in the overlapping area of the first map and the second map to be associated, the robot is used as an intermediary medium to identify and acquire the pose of the marker in the first map and the second map, and based on the pose of the marker in the first map and the second map, the coordinate transformation relation of the first map and the second map is acquired, the first map and the second map are associated according to the coordinate transformation relation, the complex algorithm of extracting the common characteristics and the characteristic attributes of the map to be associated and carrying out matching association is replaced by the existing passive searching, and the map association operation efficiency is higher.
In step S101, the identifier in the overlapping area of the first map and the second map may be an object that already has a characteristic attribute that can be identified in the overlapping area, or may be an object that is artificially and actively placed in the overlapping area and has a characteristic attribute that can be identified so as to be identified and acquired by the robot.
In this embodiment, in step S101, before the robot identifies the identifier in the overlapping area of the first map and the second map to be associated, the map associating method further includes:
judging whether a marker exists in the overlapping area of the first map and the second map;
if there is no marker, then the marker is placed in the overlap region.
When the overlapping area does not have the marker, the marker is placed in the overlapping area, so that the situation that the marker does not exist in the overlapping area of two maps in a partial reality scene is avoided, the subsequent identification process is convenient to continue, and the robustness of map association is further improved. For example, the robot recognizes the marker by extracting a line segment by using a laser radar, and if the overlapping area does not have a line segment meeting requirements, a plate meeting requirements can be placed on site to serve as the marker.
In this embodiment, the robot has an identification module for identifying the marker. The identification module includes one or more of a camera and a lidar. When the identification module adopts a camera, the identifier can be some image characteristics, such as a two-dimensional code; when the identification module adopts the laser radar, the marker can be natural characteristics in the application environment of the robot as the marker, such as an elevator, a wall and the like, or can be characteristics designed by a user as the marker, such as a line segment, a V-shaped plate, a cylindrical object and the like.
The recognition module is a part which is built in the robot and used for other functions such as obstacle recognition, movement track recognition, distance recognition and the like. The existing identification module arranged in the robot is utilized to identify and extract the identifier, the algorithm complexity is low compared with the existing algorithm, the reliability is high, and other extra hardware cost is not needed.
Referring to fig. 2, step S101, acquiring the pose of the marker in the first map specifically includes:
s201, taking the first map as a current map of the robot, and repositioning an initial pose of the robot in the first map;
s202, moving the robot to a first preset pose in a first map to identify a marker in the first map;
s203, acquiring the pose of the coordinate system of the identifier in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the first map;
s204, obtaining the pose of the marker in the first map according to the pose of the coordinate system of the marker in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the first map.
The pose of the marker in the first map can be obtained through the pose relation among the marker, the identification module, the robot and the coordinate systems of the first map, and the algorithm is relatively simple.
Specifically, in steps S201 and S202, by repositioning the robot on the first map, an accurate initial pose of the robot on the first map can be obtained, based on which, after the robot is moved to the first preset pose, the pose of the robot on the first map at this time is obtained, and further, the pose of the coordinate system of the robot in the coordinate system of the first map and the coordinate transformation matrix of the coordinate system of the robot to the first map are obtained. The first preset pose specifically refers to a pose of the robot in the first map, wherein the pose of the marker can be stably identified.
The repositioning of the robot in the first map may be specifically global repositioning, where the global repositioning is to acquire environmental information through an identification module of the robot, such as a sensor, and use a SLAM (Simultaneous Localization and Mapping, synchronous positioning and map building) algorithm to establish an environmental map and position the robot, so as to acquire an accurate initial pose of the robot in the first map. The SLAM algorithm is an algorithm for simultaneously creating a map and locating a robot, which determines the pose of the robot in the environment by matching sensor data of the robot with previous map data.
In step S203, since the identification module can identify the identifier, the pose of the identifier in the identification module can be obtained, and the pose of the coordinate system of the identifier in the coordinates of the identification module is further obtained, so as to obtain the coordinate transformation matrix from the coordinate system of the identifier to the coordinate system of the identification module, that is, the coordinate transformation relation from the coordinate system of the identifier to the coordinate system of the identification module.
The coordinate system of the identifier can be regarded as a local coordinate system relative to the coordinate system of the identification module, the pose of the identifier in the identification module is the pose of the coordinate system of the identifier in the coordinate system of the identification module, and if the pose of the coordinate system of the identifier in the coordinate system of the identification module is known, the coordinate transformation matrix between the two coordinate systems can be known.
In step S203, the recognition module is a module built in the robot, and the configuration file of the recognition module includes the installation pose information of the recognition module on the robot, and through the configuration file, the pose of the recognition module in the coordinate system of the robot can be obtained, and the pose of the coordinate system of the recognition module in the coordinate system of the robot is further obtained, so as to obtain the coordinate transformation matrix from the coordinate system of the recognition module to the coordinate system of the robot, that is, the coordinate transformation relation from the coordinate system of the recognition module to the coordinate system of the robot.
Referring to fig. 3, step S101, acquiring the pose of the marker in the second map specifically includes:
s301, taking the second map as a current map of the robot, and repositioning an initial pose of the robot in the second map;
s302, moving the robot to a second preset pose in a second map to identify a marker in the second map;
s303, acquiring the pose of the coordinate system of the identifier in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the second map;
s304, obtaining the pose of the marker in the second map according to the pose of the coordinate system of the marker in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the second map.
The pose of the marker in the second map can be obtained through the pose relation among the marker, the identification module, the robot and the coordinate systems of the second map, and the algorithm is relatively simple.
Specifically, in steps S301 and S302, by repositioning the robot on the second map, an accurate initial pose of the robot on the second map can be obtained, based on which, after the robot is moved to the second preset pose, the pose of the robot on the second map at this time is obtained, and further, the pose of the coordinate system of the robot in the coordinate system of the second map and the coordinate transformation matrix of the coordinate system of the robot to the second map are obtained. The second preset pose specifically refers to a pose of the robot in the second map, wherein the pose of the marker can be stably identified.
The manner of repositioning the robot in the second map is the same as that of repositioning the robot in the first map, and will not be described in detail herein.
In step S303, the manner of acquiring the pose of the coordinate system of the identifier in the coordinate system of the identification module and the pose of the coordinate system of the identification module in the coordinate system of the robot is the same as that in step S203, and will not be described in detail here.
Based on the above-mentioned marker, the identification module, the robot and the coordinate transformation matrix between the coordinate systems of the first map and the second map, the pose of the marker in the coordinate system of the identification module can be obtained.
In this embodiment, referring to fig. 4, step S102, according to the pose of the identifier in the first map and the second map, acquires the coordinate transformation relationship of the first map and the second map, which specifically includes:
s401, acquiring a first coordinate transformation relation between a coordinate system of the marker and a coordinate system of the first map and a second coordinate transformation relation between the coordinate system of the marker and a coordinate system of the second map through the pose of the marker on the first map and the second map;
s402, calculating the coordinate transformation relation of the first map and the second map according to the first coordinate transformation relation and the second coordinate transformation relation.
The pose of the marker in the coordinate system of the first map and the pose of the marker in the coordinate system of the second map can be obtained through the pose of the marker in the first map and the second map, and then the transformation relation between the marker and the coordinate systems of the two maps can be obtained respectively. After knowing the positions of the markers of the same position and pose in the physical world in the two maps respectively, the coordinate transformation relation of the two maps can be obtained through simple coordinate system transformation, the association of the two maps is realized, and the algorithm is relatively simple and operates efficiently.
In step S401, the first coordinate transformation relation between the coordinate system of the marker and the coordinate system of the first map is obtained by calculation according to the following formula:
in the formula (1), b is the coordinate system of the marker, m1 is the coordinate system of the first map,the coordinate transformation matrix is the coordinate system of the marker and the coordinate system of the first map, and (x 1, y1, theta 1) is the pose of the coordinate system of the marker in the coordinate system of the first map. The coordinate transformation matrix from the coordinate system of the marker to the coordinate system of the first map, namely the first coordinate transformation relation, can be calculated through the formula (1), and the algorithm difficulty is relatively low.
The second coordinate transformation relation between the coordinate system of the marker and the coordinate system of the second map is obtained by calculation by the following formula:
in the formula (2), m2 is the coordinate system of the second map,the coordinate transformation matrix is the coordinate system of the marker and the coordinate system of the second map, and (x 2, y2, theta 2) is the pose of the coordinate system of the marker in the coordinate system of the second map. The coordinate transformation matrix from the coordinate system of the marker to the coordinate system of the second map can be calculated through the formula (2), and the algorithm difficulty is relatively low.
Further, in step S401, the coordinate transformation relationship between the first map and the second map is calculated by the following formula:
in the formula (3),is->Is the inverse of the coordinate transformation matrix of the coordinate system of the first map to the coordinate system of the marker, (-)>Is a coordinate transformation matrix of the coordinate system of the marker and the coordinate system of the second map. The coordinate transformation matrix between the two maps can be calculated by the coordinate system of the marker and the coordinate transformation matrix of the two maps, the two maps are associated, and the algorithm is relatively simple.
Wherein, the liquid crystal display device comprises a liquid crystal display device,is->Can be obtained by combining the inverse matrix of (a)The following formula is calculated:
the map association method of the robot can establish association relations among a plurality of maps of the robot, such as association relations among maps of different floors in a building or association relations among maps successively established in areas with different authorities of the same floor, and can rapidly calculate the pose of the robot in the rest of the maps after knowing the pose of the robot in one pair of maps through the established association relations, so that global repositioning operation of the robot is not required after each map switching, the operation efficiency of the robot is improved, and the problem of non-robust robot operation caused by global repositioning failure is also reduced.
The following describes the principle of associating different floor maps by the map associating method of the invention by taking a specific implementation scene that a robot moves on different floors of a building and maps of different floors need to be associated with each other:
in commercial buildings, an elevator map is built for the elevators and then a floor map is built for each floor, which floor map contains the elevator sections. The elevator is identified by a robot-mounted lidar sensor with the elevator as a marker. After the robot is moved into the elevator, setting an elevator map as a current map of the robot, finishing positioning initialization of the robot through repositioning, and acquiring the pose of the elevator in the laser radar sensor through the laser radar sensor so as to acquire the pose Pe of the elevator in the current map of the robot; after the steps are completed, the robot is moved to a floor map to be associated, such as an ith floor, the floor map is set as a current map of the robot, positioning initialization of the robot is completed through repositioning, then the robot is moved to a position capable of stably identifying the elevator, and the position Pi of the elevator in the laser radar sensor is obtained through the laser radar sensor, so that the position Pi of the elevator in the current floor map is obtained. And then the association of the elevator map with the floor map of the ith floor is completed through Pe and Pi. After i gets all floors, the correlation of all floor maps is completed.
After the association relation of each floor is established, if the accurate pose of the robot in a certain floor map is known, the accurate pose of the robot in other association maps can be obtained through calculation according to the association relation, and complex global repositioning is not needed, so that the problem of initializing the robot pose in the map after switching is efficiently completed.
Referring to fig. 5, the present invention further provides a map associating system 10 for a robot, which associates a plurality of maps by applying the map associating method of the robot 20. The map association system includes an acquisition module 101, a coordinate transformation module 102, and an association module 103.
The acquisition module 101 is configured to identify a marker in an overlapping area of a first map and a second map to be associated, and acquire a pose of the marker in the first map and the second map.
The coordinate transformation module 102 is configured to obtain a coordinate transformation relationship of the first map and the second map according to the pose of the identifier in the first map and the second map.
And the association module 103 is used for associating the first map and the second map according to the coordinate transformation relation.
According to the map association system, the acquiring module 101 is arranged on the identifier in the overlapping area of the first map and the second map to be associated, the robot 20 is used as an intermediary medium, the pose of the identifier in the first map and the pose of the identifier in the second map are identified and acquired, the coordinate transformation module 102 acquires the coordinate transformation relation of the first map and the second map based on the pose of the identifier in the first map and the pose of the identifier in the second map, the association module 103 associates the first map and the second map according to the coordinate transformation relation, the complex algorithm of extracting common features of the map to be associated and performing matching association is replaced by the conventional passive searching, and the map association operation efficiency is higher.
Wherein the acquisition module 101 comprises an identification module for identifying the identifier. The identification module is capable of identifying the markers in the overlapping area of the first map and the second map and extracting the pose of the markers in the identification module.
In this embodiment, the obtaining module 101 is further configured to determine whether the overlapping area of the first map and the second map has a marker. If the marker is not available, the marker is placed in the overlapping area, so that the identification of the marker and the acquisition of the pose of the marker in the first map and the second map can be conveniently carried out later.
Referring to fig. 6, the present invention further provides a robot 20, including a processor 201 and a memory 202, where the memory 202 stores a computer program 301, and the detailed steps of the map association method of the robot 20 are referred to above and will not be repeated herein when the computer program 301 is executed by the processor 201.
Referring to fig. 7, the present invention further provides a computer readable storage medium 30, on which a computer program 301 is stored, where the computer program 301, when executed by the processor 201, implements the map associating method of the robot 20, and detailed steps are referred to above and will not be repeated herein. In one embodiment, the computer readable storage medium 30 may be a memory chip, a hard disk or a removable hard disk in a terminal, or other readable and writable storage means such as a flash disk, an optical disk, etc., and may also be a server, etc.
The storage media described in embodiments of the present invention are intended to comprise, without being limited to, any suitable type of memory.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the scope of the invention, but rather is intended to cover all equivalent changes or modifications within the scope of the invention as defined in the appended claims.
Claims (10)
1. A map associating method of a robot, comprising:
the robot identifies a marker in an overlapping area of a first map and a second map to be associated, and obtains the pose of the marker in the first map and the second map;
acquiring a coordinate transformation relation of the first map and the second map according to the pose of the marker in the first map and the second map;
and associating the first map with the second map according to the coordinate transformation relation.
2. The map associating method according to claim 1, wherein the robot has an identification module for identifying the marker built therein, and the acquiring the pose of the marker in the first map specifically includes:
taking the first map as a current map of the robot, and repositioning an initial pose of the robot in the first map;
moving the robot to a first preset pose in the first map to identify the marker in the first map;
acquiring the pose of the coordinate system of the identifier in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the first map at the moment;
and obtaining the pose of the marker in the first map according to the pose of the coordinate system of the marker in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the first map.
3. The map associating method according to claim 2, wherein the acquiring the pose of the marker in the second map specifically includes:
taking the second map as a current map of the robot, and repositioning an initial pose of the robot in the second map;
moving the robot to a second preset pose in the second map to identify the marker in the second map;
acquiring the pose of the coordinate system of the identifier in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the second map at the moment;
and obtaining the pose of the marker in the second map according to the pose of the coordinate system of the marker in the coordinate system of the identification module, the pose of the coordinate system of the identification module in the coordinate system of the robot and the pose of the coordinate system of the robot in the coordinate system of the second map.
4. A map associating method as claimed in claim 3, wherein the pose of the coordinate system of the identification module in the coordinate system of the robot is obtained through a configuration file of the identification module, wherein the configuration file of the identification module comprises installation pose information of the identification module on the robot.
5. The map associating method according to claim 3, wherein the acquiring the coordinate transformation relationship of the first map and the second map according to the pose of the marker in the first map and the second map specifically includes:
acquiring a first coordinate transformation relation between a coordinate system of the marker and a coordinate system of the first map and a second coordinate transformation relation between the coordinate system of the marker and a coordinate system of the second map through the pose of the marker on the first map and the second map;
and calculating the coordinate transformation relation of the first map and the second map according to the first coordinate transformation relation and the second coordinate transformation relation.
6. The map associating method according to claim 5, wherein the first coordinate transformation relation is obtained by calculation by the following formula:
the second coordinate transformation relation is obtained through calculation according to the following formula:
the coordinate transformation relation between the first map and the second map is calculated by the following formula:
wherein m1 is the coordinate system of the first map, m2 is the coordinate system of the second map, b is the coordinate system of the marker, (x 1, y1, θ1) is the pose of the coordinate system of the marker in the coordinate system of the first map, (x 2, y2, θ2) is the pose of the coordinate system of the marker in the coordinate system of the second map,for a coordinate transformation matrix of the coordinate system of the marker and the coordinate system of the first map, +.>Is->Inverse matrix of>For a coordinate transformation matrix of the coordinate system of the marker and the coordinate system of the second map, +.>A coordinate transformation moment for the coordinate system of the first map and the coordinate system of the second mapAn array.
7. The map associating method according to any one of claims 1 to 6, characterized in that before the robot identifies a marker in an overlapping area of a first map and a second map to be associated, the map associating method further comprises:
judging whether a marker exists in the overlapping area of the first map and the second map;
if no marker is present, a marker is placed in the overlap region.
8. A map associating system of a robot, wherein the map associating system associates a plurality of maps by applying the map associating method of the robot according to any one of claims 1 to 7, the map associating system comprising:
the acquisition module is used for identifying the markers in the overlapping area of the first map and the second map to be associated and acquiring the pose of the markers in the first map and the second map;
the coordinate transformation module is used for acquiring the coordinate transformation relation of the first map and the second map according to the pose of the marker in the first map and the second map;
and the association module is used for associating the first map with the second map according to the coordinate transformation relation.
9. A robot comprising a processor and a memory, characterized in that the memory stores a computer program which, when executed by the processor, implements the map association method of the robot according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, implements the map association method of a robot according to any of claims 1 to 7.
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