WO2020034890A1

WO2020034890A1 - Mobile robot region-crossing method, device, and scheduling system

Info

Publication number: WO2020034890A1
Application number: PCT/CN2019/099767
Authority: WO
Inventors: 缪松华; 葛俊
Original assignee: 杭州海康机器人技术有限公司
Priority date: 2018-08-15
Filing date: 2019-08-08
Publication date: 2020-02-20
Also published as: CN110858075B; CN110858075A

Abstract

A mobile robot region-crossing method, a device, and a scheduling system. The method comprises: S101, when the location at where a mobile robot is positioned in a first map (210) is located at a preset handover location corresponding to a second map (220), determining a jump location in the second map corresponding to the handover location, the first map being a map used for positioning the mobile robot, positioning schemes corresponding to the first map and to the second map being different; and S102, determining the jump location as the location at where the mobile robot is positioned in the second map, and switching the positioning scheme for the mobile robot to the positioning scheme corresponding to the second map. By determining, via the handover location, the location at where the mobile robot is positioned in the second map, and switching the positioning scheme for the mobile robot to the position scheme corresponding to the second map, implemented is the mobile robot performing a cross-region operation between activity regions of different map types.

Description

Cross-region method, device and scheduling system for mobile robot

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on August 15, 2018, with application number 201810930261.1, and with the application name "A Cross-region Method, Device, and Dispatching System for Mobile Robots", the entire contents of which are hereby incorporated by reference Incorporated in this application.

Technical field

The present application relates to the field of automatic adaptive navigation technology, and in particular, to a method, a device, and a scheduling system for a mobile robot across regions.

Background technique

The mobile robot can use sensors to obtain information in its environment, and match the obtained information with a pre-established map to determine the location of the mobile robot on the map. Depending on the type of pre-established map, the sensors used by the mobile robot during positioning and the information it needs to acquire may be different.

Common map types can include two-dimensional code maps and maps based on SLAM (simultaneous localization and mapping) technologies (hereinafter referred to as SLAM maps). The two-dimensional code map carries the corresponding relationship between the two-dimensional code identification information and coordinate information, and a plurality of two-dimensional codes are pasted in the mobile robot's active area in advance. The mobile robot can use the image sensor to collect the two-dimensional code identification on the ground. Information and match it with a QR code map to locate the coordinates of the location. The SLAM map can contain the position information of each marker in the active area. The mobile robot can use a laser rangefinder to measure the distance to multiple markers in the active area. Based on the obtained distance and the position in the SLAM map The information determines the location of the mobile robot in the SLAM map.

Due to actual needs, the types of pre-built maps of two adjacent active areas may be different. The positioning method of the mobile robot in one of the active areas cannot be applied to the other active area, so the mobile robot cannot locate after crossing the area. Therefore, in the related art, the mobile robot can only perform work in one of the two areas. How to implement mobile robots to perform cross-region operations between active areas with different map types has become an urgent technical problem.

Summary of the Invention

The purpose of the embodiments of the present application is to provide a mobile robot cross-area operation, device, and scheduling system, so as to enable the mobile robot to perform cross-area work between active areas with different map types. Specific technical solutions are as follows:

In a first aspect of the embodiments of the present application, a mobile robot cross-region method is provided, and the method includes:

After the positioning position of the mobile robot in the first map is at a preset transfer position corresponding to the second map, determining a jump position corresponding to the transfer position in the second map, the first map A map used for positioning the mobile robot, the positioning methods corresponding to the first map and the second map are different;

Determining the jump position as the positioning position of the mobile robot in the second map, and switching the positioning mode of the mobile robot to a positioning mode corresponding to the second map.

With reference to the first aspect, in a first possible implementation manner, the determining a jump position corresponding to the handover position in the second map includes:

Looking for a jump position in the second map that has a corresponding relationship with the transfer position in advance.

With reference to the first aspect, in a second possible implementation manner, in the determining the jump position as a positioning position of the mobile robot in the second map, and positioning the mobile robot After the mode is switched to the positioning mode corresponding to the second map, the method further includes:

Controlling the mobile robot to move to an actual spatial position indicated by a target position in the second map based on a positioning manner corresponding to the second map.

With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner, before the determining a jump position corresponding to the transfer position in the second map, the method further includes :

Planning a path from a starting position in the first map to a target position in the second map, the path passing through a transfer position corresponding to the second map in the first map;

Controlling the mobile robot to move to an actual spatial position indicated by the transfer position according to the path based on a positioning method corresponding to the first map;

The controlling the mobile robot to move to the actual spatial position indicated by the target position in the second map based on the positioning method corresponding to the second map includes:

Controlling the mobile robot to move to an actual spatial position indicated by a target position in the second map based on the positioning method corresponding to the second map.

With reference to the first aspect, in a fourth possible implementation manner, the first map and the second map do not have the same coordinate position, and the method further includes:

The coordinates of the mobile robot in a global coordinate system are determined based on the coordinates of the positioning position of the mobile robot in any of the first map and the second map, and identification information of the map, and the identification information is used to represent the map The offset between the map coordinate system and the global coordinate system.

With reference to the first aspect, in a fifth possible implementation manner, the switching the positioning method of the mobile robot to a positioning method corresponding to the second map includes:

The sensor that collects positioning information is switched from a sensor corresponding to the first map to a sensor corresponding to the second map.

In a second aspect of the embodiments of the present application, a mobile robot cross-region device is provided, and the device includes:

The map handover module determines a jump position corresponding to the handover position in the second map after the positioning position of the mobile robot in the first map is at a preset handover position corresponding to the second map. A map is a map used by the mobile robot for positioning, and the positioning methods corresponding to the first map and the second map are different;

The coordinate jump module determines the jump position as a positioning position of the mobile robot in the second map, and switches a positioning mode of the mobile robot to a positioning mode corresponding to the second map.

With reference to the second aspect, in a first possible implementation manner, the map handover module is specifically configured to find a jump position in the second map that corresponds to the handover position in advance.

With reference to the second aspect, in a second possible implementation manner, the apparatus further includes a movement control module, configured to determine the jump position as the mobile robot in the second map. After locating the position and switching the positioning method of the mobile robot to the positioning method corresponding to the second map, controlling the mobile robot to move to a target position in the second map based on the positioning method corresponding to the second map The actual spatial position represented.

With reference to the second possible implementation manner of the second aspect, in a third possible implementation manner, the movement control module is further configured to determine a jump corresponding to the handover position in the second map. Before turning the location, plan a path from the starting position in the first map to the target position in the second map, and the path passes through the transfer position corresponding to the second map in the first map;

The movement control module is specifically configured to control the mobile robot to move to the actual spatial position indicated by the target position in the second map based on the positioning method corresponding to the second map.

With reference to the second aspect, in a fourth possible implementation manner, the first map does not have the same coordinate position as the second map, and the device further includes a global positioning module for The coordinates of the positioning position in any of the map and the second map, and the identification information of the map determine the coordinates of the mobile robot in the global coordinate system, and the identification information is used to indicate the map coordinate system of the map and the location of the map. Describes the offset between global coordinate systems.

With reference to the second aspect of the embodiments of the present application, in a fifth possible implementation manner, the coordinate jump module is specifically configured to switch a sensor that collects positioning information from a sensor corresponding to the first map to a sensor corresponding to the first map. The sensor corresponding to the second map is described.

In a third aspect provided by the embodiments of the present application, a mobile robot cross-region scheduling system is provided, and the system includes:

Scheduling service module and path planning module;

The scheduling service module obtains the location information, the target location information, and the first map and the second map of the mobile robot. The first map is preset with a transfer position corresponding to the second map. A jump position corresponding to the transfer position is preset in the two maps, and the transfer position is configured with switching information, and the switching information is used to indicate a positioning method corresponding to the second map, and the first map and The positioning methods corresponding to the second map are different;

Sending, by the scheduling service module, the location information, the target location information, and the first map and the second map to the path planning module;

The path planning module controls the mobile robot from the positioning information based on the positioning method corresponding to the first map based on the location information, the target location information, and the first map and the second map. The indicated actual space position is moved to the actual space position indicated by the transfer position; and the jump position is determined as a positioning position of the mobile robot in the second map;

The scheduling service module switches the positioning mode of the mobile robot to a navigation mode corresponding to the second map indicated by the switching information;

The path planning module controls the mobile robot to move from the actual spatial position indicated by the transfer position to the actual spatial position indicated by the target position information based on the positioning mode of the second map.

In a fourth aspect provided by the embodiments of the present application, an electronic device is provided, including:

Memory for storing computer programs;

The processor is configured to implement any one of the mobile robot cross-region methods described above when executing a program stored in the memory.

In a fifth aspect provided by the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any one of the foregoing is implemented. Cross-region method for mobile robots.

In a sixth aspect provided by the embodiments of the present application, a computer program product containing instructions is provided, which, when run on a computer, causes the computer to execute the mobile robot cross-region method according to any one of the first aspect.

The mobile robot cross-region method, device, and scheduling system provided in the embodiments of the present application can determine the positioning position of the mobile robot in the second map at the handover position, and switch the positioning method of the mobile robot to the positioning method corresponding to the second map. So that the mobile robot can still position normally after crossing the area, and then implement the mobile robot to perform cross-area operations between active areas with different map types. Of course, the implementation of any product or method of this application does not necessarily need to achieve all the advantages described above at the same time.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings in the following description are only Some embodiments of the application, for those of ordinary skill in the art, can obtain other drawings according to the drawings without paying creative labor.

FIG. 1 is a schematic flowchart of a mobile robot cross-region method according to an embodiment of the present application; FIG.

2a is a schematic flowchart of a map construction method according to an embodiment of the present application;

FIG. 2b is a schematic layout diagram of an active area provided by an embodiment of the present application; FIG.

2c is a schematic layout diagram of a multi-region mosaic map provided by an embodiment of the present application;

3 is a schematic flowchart of a map construction method according to an embodiment of the present application;

4 is a schematic flowchart of a method for moving a mobile robot across regions according to an embodiment of the present application;

5 is a schematic flowchart of a system for a method for moving a mobile robot across regions according to an embodiment of the present application;

6a is a schematic structural diagram of a mobile robot cross-region device according to an embodiment of the present application;

FIG. 6b is another schematic structural diagram of a mobile robot cross-region device according to an embodiment of the present application; FIG.

6c is another schematic structural diagram of a mobile robot cross-region device according to an embodiment of the present application;

7 is a schematic structural diagram of a mobile robot cross-region scheduling system according to an embodiment of the present application;

FIG. 8 is a schematic flowchart of an electronic device according to an embodiment of the present application.

detailed description

In the following, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Referring to FIG. 1, FIG. 1 is a schematic flowchart of a mobile robot cross-region method according to an embodiment of the present application, which may include:

S101. After the positioning position of the mobile robot in the first map is at a preset transfer position corresponding to the second map, determine a jump position corresponding to the transfer position in the second map.

Wherein, the positioning position of the mobile robot may refer to the position of the mobile robot in the map used for positioning by the sensor positioning. Depending on the type of map used for mobile robot positioning, the sensors used for mobile robot positioning may be different. For convenience of description, the active area indicated by the first map is hereinafter referred to as the first active area, and the active area indicated by the second map is referred to as the second active area. There is a transfer area between the first active area and the second active area, that is, at least one area in the actual space belongs to both the first active area and the second active area, but the first active area and the second active area do not completely overlap. For the case where there is no interface area between the first active area and the second active area, or the first active area and the second active area completely overlap, there is no technical problem to be solved in the embodiment of the present application, and it will not be discussed here. In this embodiment, the first map may be a two-dimensional code map or a SLAM map. The positioning method corresponding to the second map is different from the positioning method corresponding to the first map. Exemplarily, assuming that the first map is a SLAM map, the second map may be a two-dimensional code map, and if the first map is a two-dimensional code map, the second map may be a SLAM map. For the convenience of description, the first map is a SLAM map and the second map is a two-dimensional code map. It can be understood that the first map is a two-dimensional code map and the second map is a SLAM map. The principles are the same.

Exemplarily, the first activity area is the new factory area in the smart factory, and the second activity area is the old factory area in the smart factory. When the old factory area is constructed, SLAM technology may not be mature, so the second map uses a QR code map. When constructing a new plant, SLAM maps can be established for the new plant because SLAM technology is mature.

The transfer position may be one or more coordinate positions in the first map. In addition to the transfer position corresponding to the second map, the first map may also include transfer positions corresponding to maps of other active areas. When there are multiple preset transfer positions corresponding to the second map, the positioning position of the mobile robot at the transfer position may mean that the coordinates of the positioning position of the mobile robot are the same as the coordinates of one transfer position among the multiple transfer positions. The actual spatial position represented by the transfer location is located in the transfer area between the first active area and the second active area. Therefore, the actual spatial location represented by the transfer location also belongs to the second active area, so there is a representation of the actual space in the second map The coordinate position of the position, which is the jump position corresponding to the transfer position in the second map. In an optional embodiment, the actual spatial position represented by the transfer position may be determined based on the coordinates of the transfer position, and the coordinate position corresponding to the calculated actual space position in the second map may be used as the transfer position. The corresponding jump position. In other optional embodiments, the coordinate position of the actual spatial position indicated by each transfer position in the first map on the second map may also be determined in advance as the jump position corresponding to the transfer position. After the positioning position of the mobile robot is in the transfer position preset for the second map in the first map, the jump position corresponding to the transfer position is determined by searching.

S102. Determine the jump position as the positioning position of the mobile robot in the second map, and switch the positioning mode of the mobile robot to the positioning mode corresponding to the second map.

The transfer position is the coordinate position in the first map, and the jump position is the coordinate position in the second map. Therefore, the transfer position and the jump position are two different coordinate positions, but the actual spatial positions represented by the two coordinate positions Are consistent. The jump position is determined as the positioning position of the mobile robot in the second map, but the positioning position of the mobile robot is determined in the second map, and the position of the mobile robot in the actual space has not changed as a result.

Since the jump position is a coordinate position in the second map, after the jump position is determined as the positioning position of the mobile robot in the second map, it can be regarded as completing the positioning of the mobile robot in the second map. In an optional embodiment, switching the positioning method of the mobile robot to a positioning method corresponding to the second map may be to switch a sensor that collects positioning information from a sensor corresponding to the first map to a corresponding second map. Sensors. Exemplarily, taking the first map as a SLAM map and the second map as a two-dimensional code map, for example, the mobile robot can be controlled to turn off its own laser rangefinder and turn on the image sensor to capture the two-dimensional code on the ground. The identification information of the two-dimensional code of the ground collected by the image sensor is used as the positioning information of the mobile robot. In other embodiments, the laser rangefinder may not be turned off, but the distance information measured by the laser rangefinder is not used as the positioning information.

In some usage scenarios, mobile robots may need to work across active areas of different map types. Exemplarily, the mobile robot may need to transfer the goods located in the first active area to the storage location in the second active area. In related technology, after the mobile robot crosses from the first active area to the second active area, because the positioning methods corresponding to the first map and the second map are different, the mobile robot crosses the area from the first active area to the second It may not be possible to locate after the moving area, so the goods cannot be moved to the storage location of the second moving area. With this embodiment, the position of the mobile robot in the second map can be directly determined through the correspondence between the transfer position in the first map and the jump position in the second map, and the mobile robot's positioning mode can be switched to the second The corresponding positioning method of the map, so that the mobile robot can still position normally after crossing the area, and then implement the mobile robot to perform cross-area operations between active areas with different map types.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of a map establishment method according to an embodiment of the present application, which may include:

S201. A first map is established according to a first coordinate system for a first active area, and a second map is established according to a second coordinate system for a second active area.

In this embodiment, the establishment of the first map and the establishment of the second map may be performed synchronously, or the first map may be established first and then the second map according to actual needs, or the second map may be established before the first map is established. The first map and the establishment of the second map may also be performed alternately.

Exemplarily, it is assumed that the first active area is a new factory area, the first map is a SLAM map, the second active area is an old factory area, and the second map is a two-dimensional code map. After the construction of the old factory area is completed, when the new factory area is not yet constructed, the grid is divided in the old factory area and a QR code is pasted to establish a QR code map for the old factory area as a second map. After the construction of the new plant, a SLAM map was established for the new plant based on SLAM technology as the first map.

As another example, assuming that after the construction of the old plant is completed, the new plant is already in the planning stage, you can wait for the construction of the new plant to be completed, divide the grid in the old plant and paste the QR code to establish a second map, and based on SLAM technology Create the first map for the new plant.

Because there is a transfer area between the first active area and the second active area, if the first map and the second map are established according to the same coordinate system, the same coordinate position in the first map will exist as in the second map. In this embodiment, there is a relative offset between the first coordinate system and the second coordinate system, that is, a coordinate origin of the first coordinate system and a displacement amount between the coordinate origin of the second coordinate system, and the first coordinate system There may be a certain deflection angle between the coordinate axis of X and the same coordinate axis of the second coordinate system. Exemplarily, assuming that the offset is (Δx, Δy, Δθ), in the first coordinate system, the coordinates of the coordinate origin of the second coordinate system may be (Δx, Δy), and the x-axis of the second coordinate system and the The angle between the x-axes of a coordinate system is Δθ. The size of the offset depends on the size of the interface between the first active area and the second active area. The larger the transfer area, the larger the offset may be, and the smaller the transfer area, the smaller the offset may be. The relative offset between the first coordinate system and the second coordinate system should satisfy the condition: that the same coordinate position does not exist in the first map and the second map in the global coordinate system. The global coordinate system may be a preset coordinate system, and the global coordinate system may be the same as the first coordinate system or the second coordinate system.

S202. Set a switching position in a transition area between the first active area and the second active area.

The switching position belongs to the transfer area, so there are coordinate positions in the first map and the second map indicating the switching position. One or more positions in the transfer area can be set as the switching position. The first map is a SLAM map and the second map is a QR code map. For example, one or more of the transfer areas can be pasted with two The grid of dimension codes is used as the switching position.

S203. Determine the coordinate position of the switching position in the first map based on the first type of positioning information of the switching position, as the transfer position corresponding to the second map in the first map, and determine the switching based on the second type of positioning information of the switching position. The coordinate position of the position in the second map is used as the jump position corresponding to the transfer position.

The first type of positioning information is positioning information used by the first map, and the second type of positioning information is positioning information used by the second map. Exemplarily, taking the first map as a SLAM map and the second map as a two-dimensional code map as an example, the first type of positioning information may be laser ends of lasers emitted by the laser rangefinder of the mobile robot in the first active area in all directions The distance between the point and the mobile robot. The second type of positioning information may be identification information of a two-dimensional code. The mobile robot can emit lasers in multiple directions through its own laser rangefinder. These lasers hit the objects in the scene, such as walls, tables and chairs, etc., which will generate laser end points. The laser rangefinder can measure each laser. The distance from the end point to the mobile robot. Optionally, the mobile robot can be placed in a switching position, and the mobile robot can measure the laser end point of the laser emitted by the laser range finder in the first active area with the mobile robot through its own laser range finder. The distance between them is used as the first type of positioning information, and the mobile robot collects the identification information of the two-dimensional code on the ground of the switching position through its own image sensor as the second type of positioning information. The first type of positioning information corresponds to a coordinate position in the first map, and the second type of positioning information corresponds to a coordinate position in the second map. The actual spatial positions represented by these two coordinate positions are switching positions. The coordinate positions can be regarded as two topological points of the switching position in the first map and the second map.

The coordinate position of the switching position in the second map as the jump position of the coordinate position of the switching position in the first map may be to establish an association between the two coordinate positions. Exemplarily, the first map and the second map may be stitched into one map, and the coordinated position of the switching position in the second map and the coordinate position of the switching position in the first map may be combined in the stitched map. Connected to indicate that the two coordinate positions are related. In this embodiment, after the positioning position of the mobile robot is at the transfer position preset for the second map in the first map, the position in the second map that is connected to the transfer position of the first map may be used as the jump position. It can effectively reduce the amount of calculation required to determine the jump position, further shorten the map switching time, and improve the efficiency of mobile robots' cross-region operations.

On the other hand, in some usage scenarios, a map of the mobile robot's active area can be displayed on a preset display device, and the positioning position of the mobile robot can be displayed on the map, so that users can more clearly understand the status of the mobile robot. In the related art, a map used for mobile robot positioning can be displayed on a display device, but the user can only understand the position of the mobile robot in the displayed map through the map, and lacks knowledge of the global position of the mobile robot. In this embodiment, since the first map and the second map are established according to two different coordinate systems, and the same coordinate position does not exist in the first map and the second map in the global coordinate system, the first map can be The first map and the second map are displayed in a large map based on the global coordinate system, so that the user can better understand the global position of the mobile robot and better manage the mobile robot.

For example, see FIG. 2b and FIG. 2c. FIG. 2b is a schematic diagram of the distribution of active areas in the actual space, where 100 and 300 together form a first active area, 200 and 300 together form a second active area, and 300 is a first activity. At the interface between the area and the second live area, 310 is a switching position. FIG. 2c is a schematic diagram of a layout structure of a map in the case of FIG. 2b. 210 is the first map, 220 is the second map, 211 is the topological point of the switching location 310 on the first map, and 221 is the topological point of the switching location 310 on the second map. 211 and 221 represent switching positions 310 in real space.

Further, if the mobile robot is located in the first active area, a positioning manner corresponding to the first map may be used to determine a positioning position of the mobile robot in the first map, and the positioning position may represent a position of the mobile robot in the first active area. However, the first active area may be only one active area among multiple active areas of the mobile robot. In some usage scenarios, in order to better manage the mobile robot, it may be necessary to determine the coordinates of the mobile robot in the global coordinate system. In order that the first map and the second map do not have the same coordinate position, there is an offset between the map coordinate system of the first map and the map coordinate system of the second map, so the map coordinate system of the first map and the second map There is an offset between at least one of the map coordinate system and the global coordinate system in the map's map coordinate system. The following uses the offset between the map coordinate system of the first map and the global coordinate system as an example to describe how the mobile robot A method for global positioning of a mobile robot at a map positioning position. Referring to FIG. 3, the method may include:

S301. Determine map coordinates of a positioning position of the mobile robot in the first map.

The map coordinates refer to coordinates of a positioning position in the first map in a map coordinate system of the first map.

S302. Obtain a map identifier of the first map, where the map identifier is used to represent an offset between a map coordinate system of the first map and a global coordinate system.

The global coordinate system can be a coordinate system selected according to actual needs, and it is a coordinate system used in mobile robot global positioning. In this embodiment, there is an offset between the global coordinate system and the map coordinate system of the first map, that is, the coordinate origin of the global coordinate system is different from the coordinate origin of the map coordinate system, and / or, the base vector of the global coordinate system and The basis vectors of the map coordinate system are inconsistent. In other embodiments, the global coordinate system may be consistent with the map coordinate system of the first map.

The map identifier can be expressed in the form of an offset, or it can be expressed in a map code that has a corresponding relationship with the offset, such as letters, numbers, etc. For example, assuming the first map The offset of the map coordinate system relative to the global coordinate system is (Δx, Δy, Δθ), then the map identifier of the first map can be AA, 11 or (Δx, Δy, Δθ). It can be understood It is true that whether the map identifier of the first map is AA, 11 or (Δx, Δy, Δθ), the offset of the first map represented by the map identifier is (Δx, Δy, Δθ).

In an optional embodiment, the coordinates of the positioning position of the mobile robot can more intuitively represent the position of the mobile robot. When the global coordinate system is selected, all active areas of the mobile robot can be placed in the first quadrant of the global coordinate system. In this case, when the mobile robot is at any position in any active area, the global coordinates of the mobile robot are not negative number.

S303. Determine the coordinates of the mobile robot in the global coordinate system based on the coordinates of the positioning position of the mobile robot in the first map and the map identifier of the first map.

Exemplarily, the offset indicated by the map identifier of the first map is (Δx ₁ , Δy ₁ , Δθ ₁ ), and the map coordinates of the positioning position of the mobile robot in the first map are (x ₁ , y ₁ ), Then the coordinates (x ₀ , y ₀ ) of the mobile robot in the global coordinate system can be calculated according to the following formula:

It can be understood that, based on the coordinates of the positioning position of the mobile robot in the second map and the map identification of the second map, the mobile robot can be globally located in the same way. Global positioning may be performed periodically or irregularly. For example, the global positioning may be performed on the mobile robot every preset interval, or the global positioning may be performed on the mobile robot after the user inputs a global positioning instruction.

In order to describe the mobile robot cross-region method provided in the embodiments of the present application, the mobile robot cross-region movement will be described in combination with application scenarios. This method can be applied to a mobile robot controller, which can be integrated in a mobile robot. It can also be independent of the mobile robot. The method can include:

S401. After receiving the movement instruction, control the mobile robot to move to the actual spatial position indicated by the transfer position corresponding to the second map in the first map.

Among them, the destination of the move instruction is in the second active area, the mobile robot is in the first active area, and the destination and the mobile robot are not in the interface area between the first active area and the second active area. In the case where these conditions are not met In the following, the technical problems that need to be solved in the embodiments of the present application may not occur, and will not be discussed too much here. Controlling the mobile robot to move to the actual spatial position indicated by the transfer position corresponding to the second map in the first map may be controlling the mobile robot to move to the actual spatial position indicated by any transfer position according to the planned path, or It is the actual spatial position indicated by moving to a specific transfer position. It can be understood that the actual spatial position indicated by the transfer position corresponding to the second map in the first map is located at the transfer area between the first active area and the second active area. Depending on the framework of the mobile robot control system, the movement instructions can be sent to the controller by the control platform or remotely sent by the client to the controller.

S402. After the positioning position of the mobile robot is in the transfer position preset for the second map in the first map, determine the jump position corresponding to the transfer position in the second map.

This step is the same as S101. For details, refer to the foregoing description of S101, and details are not described herein again.

S403. Determine the jump position as the positioning position of the mobile robot in the second map, and switch the positioning mode of the mobile robot to the positioning mode corresponding to the second map.

This step is the same as S102. For details, refer to the foregoing description of S102, and details are not described herein again.

S404: Control the mobile robot to move to the actual spatial position indicated by the target position in the second map based on the positioning method corresponding to the second map.

The actual spatial position indicated by the target position in the second map is the destination of the movement instruction. Taking the second map as a two-dimensional code map as an example, the position of the mobile robot in the second active area can be determined based on the second map and the two-dimensional code identification information collected by the mobile robot's image sensor. The position and the position of the target position control the mobile robot to move so that the mobile robot moves to the target position according to the planned path.

Optionally, handover information may be configured in advance at the transfer position of the first map, and the handover information may be used to indicate a positioning method corresponding to the second map. The positioning method of the mobile robot may be switched to the positioning method corresponding to the second map according to the switching information preset in the handover position.

As the mobile robot's cross-region operation may involve multi-terminal information interaction, the mobile robot's cross-region operation will be described below in conjunction with the mobile robot control system. Referring to Figure 5, the process can include:

S501. The scheduling service module downloads map information of all active areas of the mobile robot.

The map information includes map identifiers of the maps corresponding to the multiple active areas.

S502. The mobile robot sends registration information to the scheduling service module.

S503. After receiving the registration information, the dispatch service module sends a Uniform Resource Locator (URL) of the map to the mobile robot.

Since two-dimensional codes can be pasted in the active areas that require two-dimensional code navigation, and the two-dimensional codes can contain map information, it is only necessary to send the URL of the SLAM map to the mobile robot.

S504. The mobile robot sends map coordinates of the positioning position in the first map to the scheduling service module.

Taking the SLAM map as an example, the SLAM map information obtained by the mobile robot according to the URL of the SLAM map may be used to determine the map coordinates of the positioning position of the SLAM map in the first map, and send the map coordinates to Scheduling service module.

S505: The scheduling service module performs global positioning on the mobile robot based on the map coordinates and the map identifier of the first map.

S506. The scheduling server registers the mobile robot and multiple active areas in the space where the mobile robot is located.

S507. After the mobile robot completes the registration in the path planning module, the scheduling service module obtains the target location of the mobile robot across the region.

Wherein, in this embodiment, the target position is a coordinate position in the second map, and the actual spatial position indicated by the target position is not in a junction area between the first active area and the second active area.

S508: The path planning module plans a path of the mobile robot to an actual spatial position indicated by the target position.

The path includes at least one transfer position and a jump position corresponding to the transfer position. Exemplarily, the path may include a sub-path of the mobile robot in the first map, a sub-path of the mobile robot in the second map, and a sub-path from the transfer position to the jump position, where in the first map The end point of the sub-path is the preset transfer position corresponding to the second map in the first map, and the start position of the sub-path in the second map is the jump position corresponding to the transfer position. In the second map, The end point of the sub-path is the target position in the second map.

S509. The path planning module controls the mobile robot to move to the actual spatial position indicated by the transfer position in the path.

S510. The path planning module sends a map switching instruction to the mobile robot.

In an optional embodiment, the map switching instruction may include switching information, where the switching information may be used to indicate a positioning mode of the second map and may also be used to indicate an offset of the second map. Optionally, the switching information may be pre-configured to a transfer position in the first map, and the switching information may be a map identifier of the second map. For example, the switching information may be "12", indicating that the second map is an identifier. SLAM map with information "12". In other embodiments, the map switching instruction may not include the switching information, and the switching information and the map switching instruction are respectively sent to the mobile robot by the path planning module.

S511. After receiving the map switching instruction, the mobile robot determines the jump position corresponding to the transfer position in the second map, and sends the coordinates of the jump position in the second map to the scheduling service module.

S512. The scheduling service module switches the positioning method of the mobile robot to the positioning method corresponding to the second map, and determines the jump position in the second map as the positioning position of the mobile robot in the second map.

In an optional embodiment, the scheduling service module may determine the positioning mode corresponding to the second map based on the handover information sent by the path planning module. For the switching information, refer to the description in the foregoing S510, and details are not described herein again.

S513. The path planning module controls the mobile robot to move from the actual space position indicated by the jump position to the actual space position indicated by the target position based on the positioning method corresponding to the second map.

Referring to FIG. 6a, FIG. 6a shows a map switching device provided by an embodiment of the present application, including:

The map handover module 601 determines the jump position corresponding to the handover position in the second map after presetting the handover position corresponding to the second map at the positioning position of the mobile robot in the first map. The first map is for mobile robot positioning The maps used, the positioning methods corresponding to the first map and the second map are different;

The coordinate jump module 602 determines the jump position as the positioning position of the mobile robot on the second map, and switches the positioning mode of the mobile robot to the positioning mode corresponding to the second map.

Optionally, the map transfer module 601 is specifically configured to find a jump position in the second map that corresponds to the transfer location in advance.

Optionally, as shown in FIG. 6b, the device further includes a movement control module 603 for determining the jump position as the positioning position of the mobile robot in the second map, and switching the positioning method of the mobile robot to the second map After the corresponding positioning method, the mobile robot is controlled to move to the actual spatial position indicated by the target position in the second map based on the positioning method corresponding to the second map.

Optionally, the movement control module 603 is further configured to plan a path from a starting position in the first map to a target position in the second map before determining a jump position corresponding to the transfer position in the second map. Passing the handover position corresponding to the second map in the first map;

Controlling the mobile robot to move to the actual spatial position indicated by the transfer position according to the positioning method corresponding to the first map;

The movement control module 603 is specifically configured to control the mobile robot to move to the actual spatial position indicated by the target position in the second map based on the positioning method corresponding to the second map.

Optionally, the first map and the second map do not have the same coordinate position. Referring to FIG. 6c, the device further includes a global positioning module 604, which is used to locate the position in any of the first map and the second map based on the mobile robot. And the identification information of the map determine the coordinates of the mobile robot in the global coordinate system, and the identification information is used to represent the offset between the map coordinate system of the map and the global coordinate system.

Optionally, the coordinate jump module 602 is specifically configured to switch a sensor that collects positioning information from a sensor corresponding to the first map to a sensor corresponding to the second map.

Referring to FIG. 7, FIG. 7 illustrates a mobile robot cross-region scheduling system according to an embodiment of the present application. The system includes:

Scheduling service module 701 and path planning module 702;

The dispatch service module 701 obtains the location information, target location information of the mobile robot, and a first map and a second map. The first map is preset with a transfer position corresponding to the second map, and the second map is preset with The jump position corresponding to the handover position. The handover position is configured with switching information, which is used to indicate a positioning method corresponding to the second map. The positioning methods corresponding to the first map and the second map are different.

The dispatch service module 701 sends the location information, the target location information, and the first map and the second map to the path planning module 702;

The path planning module 702 controls the mobile robot to move from the actual spatial position indicated by the positioning information to the actual position indicated by the transfer position based on the positioning method corresponding to the first map based on the location information, the target location information, and the first map and the second map. Spatial position; and determining the jump position as the positioning position of the mobile robot in the second map;

The scheduling service module 701 switches the positioning mode of the mobile robot to the navigation mode corresponding to the second map indicated by the switching information;

The path planning module 702 controls the mobile robot to move from the actual spatial position indicated by the transfer position to the actual spatial position indicated by the target position information based on the positioning mode of the second map.

The scheduling service module 701 and the path planning module 702 may be physical devices or virtual modules implemented by software. In other embodiments, a physical device or software may be used to implement the scheduling service module and Functions of the path planning module.

An embodiment of the present application further provides an electronic device, as shown in FIG. 8, including:

The memory 801 is configured to store a computer program;

The processor 802 is configured to execute the following steps when executing a program stored in the memory 801:

After the positioning position of the mobile robot in the first map is at a preset transfer position corresponding to the second map, the jump position corresponding to the transfer position in the second map is determined. The first map is a map used for mobile robot positioning. , The positioning methods corresponding to the first map and the second map are different;

The jump position is determined as the positioning position of the mobile robot in the second map, and the positioning mode of the mobile robot is switched to the positioning mode corresponding to the second map.

Optionally, determining the jump position corresponding to the transfer position in the second map includes:

Find the jump position in the second map that corresponds to the transfer position in advance.

Optionally, after the jump position is determined as the positioning position of the mobile robot in the second map, and the positioning mode of the mobile robot is switched to the positioning mode corresponding to the second map, the method further includes:

The mobile robot is controlled to move to an actual spatial position represented by a target position in the second map based on a positioning method corresponding to the second map.

Optionally, before the jump position corresponding to the transfer position in the second map is determined, the following steps may also be implemented:

Planning a path from a starting position in the first map to a target position in the second map, and the path passes through a transfer position corresponding to the second map in the first map;

Drive the mobile robot's mobile system so that the mobile robot moves to the actual spatial position indicated by the transfer location according to the positioning method corresponding to the first map, where the mobile robot's mobile system can be different according to the architecture of the mobile robot ;

Driving a mobile system of the mobile robot so that the mobile robot moves to an actual spatial position represented by a target position in the second map based on a positioning method corresponding to the second map includes:

The mobile system of the mobile robot is driven so that the mobile robot moves to the actual spatial position indicated by the target position in the second map based on the positioning method corresponding to the second map.

Optionally, the first map and the second map do not have the same coordinate position, and the following steps may also be implemented:

Determine the coordinates of the mobile robot in the global coordinate system based on the coordinates of the positioning position of the mobile robot in any of the first and second maps, and the identification information of the map. The identification information is used to represent the map coordinate system of the map. The offset from the global coordinate system.

Optionally, switching the positioning method of the mobile robot to the positioning method corresponding to the second map includes:

The sensor that collects the positioning information is switched from a sensor corresponding to the first map to a sensor corresponding to the second map.

The memory mentioned in the above electronic device may include random access memory (Random Access Memory, RAM), and may also include non-volatile memory (Non-Volatile Memory, NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the foregoing processor.

The aforementioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc .; it may also be a digital signal processor (Digital Signal Processing, DSP), special integration Circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In still another embodiment provided by the present application, a computer-readable storage medium is also provided. The computer-readable storage medium stores instructions, and when the computer-readable storage medium is run on a computer, the computer executes any of the foregoing embodiments. Cross-region method for mobile robots.

In still another embodiment provided by the present application, a computer program product containing instructions is also provided. When the computer program product is run on a computer, the computer is caused to execute the mobile robot cross-region method in any of the above embodiments.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are wholly or partially generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be from a website site, computer, server, or data center Transmission by wire (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, and the like that includes one or more available medium integration. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (Solid State Disk (SSD)), and the like.

It should be noted that in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order among them. Moreover, the terms "including", "comprising", or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also those that are not explicitly listed Or other elements inherent to such a process, method, article, or device. Without more restrictions, an element limited by the sentence "including a ..." does not exclude the existence of other identical elements in the process, method, article, or equipment including the element.

Each embodiment in this specification is described in a related manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the apparatus, the scheduling system, the electronic device, the computer-readable storage medium, and the computer program product, since they are basically similar to the method embodiment, the description is relatively simple. For the related parts, see the method embodiment Just explain.

The above descriptions are merely preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of this application are included in the protection scope of this application.

Claims

A mobile robot cross-region method, the method includes:

After the positioning position of the mobile robot in the first map is at a preset transfer position corresponding to the second map, a jump position corresponding to the transfer position in the second map is determined, and the first map is The map used by the mobile robot for positioning, the positioning methods corresponding to the first map and the second map are different;

Determining the jump position as the positioning position of the mobile robot in the second map, and switching the positioning mode of the mobile robot to a positioning mode corresponding to the second map.
The method according to claim 1, wherein the determining a jump position corresponding to the handover position in the second map comprises:

Looking for a jump position in the second map that has a corresponding relationship with the transfer position in advance.
The method according to claim 1, wherein in the determining the jump position as a positioning position of the mobile robot in the second map, and switching a positioning mode of the mobile robot to the After the positioning method corresponding to the second map, the method further includes:

Controlling the mobile robot to move to an actual spatial position indicated by a target position in the second map based on a positioning manner corresponding to the second map.
The method according to claim 3, wherein before the determining a jump position corresponding to the transfer position in the second map, the method further comprises:

Planning a path from a starting position in the first map to a target position in the second map, the path passing through a transfer position corresponding to the second map in the first map;

Controlling the mobile robot to move to an actual spatial position indicated by the transfer position according to the path based on a positioning method corresponding to the first map;

The controlling the mobile robot to move to the actual spatial position indicated by the target position in the second map based on the positioning method corresponding to the second map includes:

Controlling the mobile robot to move to an actual spatial position indicated by a target position in the second map based on the positioning method corresponding to the second map.
The method according to claim 1, wherein the first map and the second map do not exist in the same coordinate position in a global coordinate system, and the method further comprises:

Determine the coordinates of the mobile robot in the global coordinate system based on the coordinates of the positioning position of the mobile robot in any of the first map and the second map, and the identification information of the map; the identification information is used to represent An offset between a map coordinate system of the map and the global coordinate system.
The method according to claim 1, wherein the switching the positioning method of the mobile robot to a positioning method corresponding to the second map comprises:

The sensor that collects positioning information is switched from a sensor corresponding to the first map to a sensor corresponding to the second map.
A mobile robot cross-region device includes:

The map handover module determines a jump position corresponding to the handover position in the second map after the handover position corresponding to the second map is preset at the positioning position of the mobile robot in the first map. The map is a map used by the mobile robot for positioning, and the positioning methods corresponding to the first map and the second map are different;

The coordinate jump module determines the jump position as a positioning position of the mobile robot in the second map, and switches a positioning mode of the mobile robot to a positioning mode corresponding to the second map.
The device according to claim 7, wherein the map handover module is specifically configured to find, in the second map, a jump position that corresponds to the handover position in advance.
The device according to claim 7, wherein the device further comprises a movement control module for determining the jump position as a positioning position of the mobile robot in the second map, and After switching the positioning method of the mobile robot to the positioning method corresponding to the second map, controlling the mobile robot to move to the actual position indicated by the target position in the second map based on the positioning method corresponding to the second map Spatial location.
The device according to claim 9, wherein the movement control module is further configured to plan from the first map before the jump position corresponding to the transfer position in the second map is determined. A path from a starting position to a target position in a second map, the path passing through a transfer position corresponding to the second map in the first map;

Controlling the mobile robot to move to an actual spatial position indicated by the transfer position according to the path based on a positioning method corresponding to the first map;

The movement control module is specifically configured to control the mobile robot to move to the actual spatial position indicated by the target position in the second map based on the positioning method corresponding to the second map.
The device according to claim 7, wherein the first map and the second map do not exist in the same coordinate position, and the device further comprises a global positioning module for moving the mobile robot between the first map and the second map. The coordinates of the positioning position in any map in the map and the identification information of the map determine the coordinates of the mobile robot in the global coordinate system, and the identification information is used to represent the map coordinate system and the global coordinate system of the map. The offset between them.
The apparatus according to claim 7, wherein the coordinate jump module is specifically configured to switch a sensor that collects positioning information from a sensor corresponding to the first map to a sensor corresponding to the second map.
A mobile robot scheduling system, wherein the system includes:

Scheduling service module and path planning module;

The scheduling service module obtains the location information, the target location information, and the first map and the second map of the mobile robot. The first map is preset with a transfer position corresponding to the second map. A jump position corresponding to the transfer position is preset in the two maps, and the transfer position is configured with switching information, and the switching information is used to indicate a positioning method corresponding to the second map, and the first map and The positioning methods corresponding to the second map are different;

Sending, by the scheduling service module, the location information, the target location information, and the first map and the second map to the path planning module;

The path planning module controls the mobile robot from the positioning information based on the positioning method corresponding to the first map based on the location information, the target location information, and the first map and the second map. The indicated actual space position is moved to the actual space position indicated by the transfer position; and the jump position is determined as a positioning position of the mobile robot in the second map;

The scheduling service module switches the positioning mode of the mobile robot to a navigation mode corresponding to the second map indicated by the switching information;

The path planning module controls the mobile robot to move from the actual spatial position indicated by the transfer position to the actual spatial position indicated by the target position information based on the positioning mode of the second map.
An electronic device, wherein the electronic device includes:

Memory for storing computer programs;

The processor is configured to implement the method steps according to any one of claims 1-6 when executing a program stored in the memory.
A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, implements the method steps of any one of claims 1-6.