WO2022027911A1

WO2022027911A1 - Robot navigation method and apparatus, terminal device and storage medium

Info

Publication number: WO2022027911A1
Application number: PCT/CN2020/140409
Authority: WO
Inventors: 黄高波; 陈祖斌; 熊友军
Original assignee: 深圳市优必选科技股份有限公司
Priority date: 2020-08-05
Filing date: 2020-12-28
Publication date: 2022-02-10
Also published as: CN112082554A

Abstract

Provided are a robot navigation method, a robot navigation apparatus, a terminal device and a computer-readable storage medium, which are suitable for the technical field of navigation and localization. The robot navigation method comprises: if the matching degree between actual environment information of a first target location and map environment information of a first region is less than a preset value, then calling a local map of a second region, wherein the first target location is in the second region, and the map environment information is map environment information in a global map corresponding to the first target location in the first region (S101); localizing a robot in the second region (S102); and finally navigating the localized robot in the second region on the basis of a preset local path of the local map (S103). It can be seen that the method enables the robot to eliminate the problem of localization drift or localization errors when the actual environment changes relative to the map environment, and achieves precise localization and navigation.

Description

Robot navigation method, device, terminal device and storage medium

This application claims the priority of the Chinese Patent Application No. 202010776485.9 filed with the Chinese Patent Office on August 5, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present application belongs to the technical field of navigation and positioning, and particularly relates to a robot navigation method, device, terminal device and storage medium.

Background technique

With the advancement of science and technology, traditional mechanical labor is gradually replaced by robots. For example, the sweeping work is performed by the sweeping robot, and the inspection work of indoor equipment is performed by the indoor inspection robot. Generally speaking, robots such as sweeping robots and indoor inspection robots need to adopt a navigation and movement scheme to achieve automatic movement when performing tasks.

In the related art, the navigation and movement scheme of indoor robots adopts the simultaneous localization and mapping (SLAM) technology. This technology builds a global map and performs global path planning based on the global map. , move the robot to the destination. The global path planning needs to ensure that there is a path between the current position of the robot and the destination, that is, it needs to ensure that the robot can pass through the narrowest path in the global path planning. However, in some cases, when the robot navigates according to the navigation route, there are passage obstructions such as doors and curtains in the passage, which makes it impossible to accurately identify the position of the robot's surrounding environment corresponding to the global map, which may cause positioning drift or positioning errors. .

technical problem

The embodiments of the present application provide a robot navigation method, an apparatus, a terminal device, and a storage medium, which can solve the problem of positioning drift or positioning error in the current robot navigation method.

technical solutions

In a first aspect, an embodiment of the present application provides a robot navigation method, including:

If the matching degree between the actual environment information of the first target location and the map environment information of the first area is less than the preset value, the local map of the second area is called, the first target location is in the second area, and the map environment information is The first target position corresponds to the map environment information in the global map of the first area;

According to the local map, positioning in the second area;

Based on the preset local path of the local map, the navigation is performed in the second area after positioning.

In a robot navigation method provided by an embodiment of the present application, the matching degree between the actual environment information and the map environment information of the first area is detected at the first target position. After reaching the first target position, if the matching degree between the actual environment information of the first target position and the map environment information of the first area is less than the preset value, for example, the passageway is closed, and closing the passageway changes the robot in the first place. The surrounding environment at the target position makes it impossible for the robot to accurately identify the location of the robot's surrounding environment corresponding to the global map, so a local map whose map environment is basically consistent with the robot's surrounding environment is called; The robot performs positioning, so that the robot is changed from the positioning based on the global map to the positioning based on the local map, and the positioning accuracy of the robot is improved; finally, based on the preset local path of the local map, the positioned robot is navigated in the second area. It can be seen that the embodiment of the present application enables the robot to eliminate the problem of positioning drift or positioning error and realize precise positioning and navigation when the actual environment changes relative to the map environment.

In a possible implementation manner, according to the local map, positioning in the second area includes:

determining the first coordinates of the first target position in the global map of the first area;

According to the preset position correspondence between the first area and the second area, the second coordinate corresponding to the first coordinate is determined, and the second coordinate is the coordinate of the first target position in the local map;

Take the second coordinate as the position of the robot in the second area.

This embodiment continues to locate the position of the robot in the local map based on the position of the robot in the global map according to the method of connecting and positioning on the map, so as to avoid positioning deviation or positioning error when positioning according to the local map again, and also avoid the first target position Positioning offset or positioning error caused by environmental changes due to the closure of the passageway, thereby improving the positioning accuracy of the robot.

In one possible way,

There is a passage between the first area and the second area. If the matching degree between the actual environment information of the first target location and the map environment information of the first area is less than the preset value, the local map of the second area is called, including :

If it is detected that the passageway is in a closed state at the first target position, matching the actual environment information of the first target position with the map environment information of the first area;

If the matching degree between the actual environment information and the map environment information is less than the preset value, the local map of the second area is called.

In this implementation, when the passageway is closed, the actual environment information and the map environment information are matched to accurately identify whether the environment where the robot is located has changed, so as to determine whether the map needs to be called, so as to avoid calling when the environment changes due to certain circumstances. The local map, on the contrary, makes the map environment of the local map inconsistent with the actual environment, which eventually leads to positioning drift or positioning errors. It can be seen that determining whether to call the local map when the passageway is closed can further improve the accuracy of robot positioning.

In a second aspect, an embodiment of the present application provides a robot navigation device, including:

The calling module is used to call the local map of the second area if the matching degree between the actual environment information of the first target location and the map environment information of the first area is less than the preset value, and the first target location is in the second area , the map environment information is the map environment information corresponding to the first target position in the global map of the first area;

The positioning module is used for positioning in the second area according to the local map;

The navigation module is used for navigating in the second area after positioning based on the preset local path of the local map.

In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program Implement the robot navigation method according to any one of the above first aspects.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any one of the above-mentioned first aspects is implemented. The robot navigation method described above.

In a fifth aspect, an embodiment of the present application provides a computer program product that, when the computer program product runs on a terminal device, enables the terminal device to execute the robot navigation method described in any one of the first aspects above.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic flowchart of a robot navigation method provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a specific refinement process of step S102 in the embodiment corresponding to FIG. 1 provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a specific refinement process of step S101 in the embodiment corresponding to FIG. 1 provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a specific refinement process of step S103 in the embodiment corresponding to FIG. 1 provided by an embodiment of the present application;

5 is a partial schematic diagram when a terminal device according to an embodiment of the present application constructs a global map;

6 is a schematic diagram of a preset global path of a global map provided by an embodiment of the present application;

7 is a schematic diagram of a preset partial path of a partial map provided by an embodiment of the present application;

8 is a schematic diagram of an inspection scene of an inspection robot provided by an embodiment of the present application;

9 is a schematic structural diagram of a robot navigation device provided by an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Embodiments of the present invention

In the following description, for the purpose of illustration rather than limitation, specific details, such as specific system structures and technologies, are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

As used in the specification of this application and the appended claims, the term "if" may be contextually interpreted as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrases "if it is determined" or "if the [described condition or event] is detected" may be interpreted, depending on the context, to mean "once it is determined" or "in response to the determination" or "once the [described condition or event] is detected. ]" or "in response to detection of the [described condition or event]".

In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

References in this specification to "one embodiment" or "some embodiments" and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically emphasized otherwise. The terms "including", "including", "having" and their variants mean "including but not limited to" unless specifically emphasized otherwise.

As described in the related art, the robot cannot accurately identify the position of the robot's surrounding environment corresponding to the global map, and may cause positioning drift or positioning error. For example, the robot needs to enter the constant temperature and humidity room in the laboratory to perform tasks, and then exit the constant temperature and humidity room after the task is completed. When planning the global path, it is necessary to ensure that there is a path in the path, so open the door of the constant temperature and humidity room; to ensure that the temperature and humidity of the constant temperature and humidity room are constant, the door of the constant temperature and humidity room needs to be in a normally closed state. After the robot navigates to the constant temperature and humidity room according to the global path, the door of the constant temperature and humidity room needs to be closed. As a result, the surrounding environment of the robot after entering the constant temperature and humidity room is inconsistent with the map environment of the global map, and the robot cannot accurately identify the robot. The surrounding environment corresponds to the position on the global map, which may eventually lead to positioning drift or positioning errors.

In view of this, in a robot navigation method provided by an embodiment of the present application, the matching degree between the actual environment information and the map environment information of the first area is detected at the first target position, since it is necessary to ensure that there is a path for the global path during global path planning. , so when the robot reaches the first target position, if the matching degree between the actual environment information of the first target position and the map environment information of the first area is less than the preset value, for example, the passageway is closed, and the closed passageway has changed. The surrounding environment of the robot at the first target position makes the robot unable to accurately identify the position of the robot's surrounding environment corresponding to the global map, so a local map whose map environment is basically consistent with the robot's surrounding environment is called; The positioning of the robot in the second area makes the robot change from the positioning based on the global map to the positioning based on the local map, which improves the positioning accuracy of the robot; Navigate within. It can be seen that the embodiment of the present application enables the robot to eliminate the problem of positioning drift or positioning error and realize precise positioning and navigation when the actual environment changes relative to the map environment.

Please refer to FIG. 1. FIG. 1 shows a schematic flowchart of the robot positioning method provided by the present application. The execution subject of the robot navigation method provided by the present application is a terminal device, and the terminal device includes a robot. It should be noted that robots are mechanical devices that perform work automatically, such as inspection robots and sweeping robots. They can be commanded by humans, can also execute pre-programmed programs, and can also act according to principles and programs formulated with artificial intelligence technology. The robot navigation method shown in FIG. 1 includes S101 to S104, which will be described in detail below.

S101, if the matching degree between the actual environment information of the first target location and the map environment information of the first area is less than a preset value, call the local map of the second area, the first target location is in the second area, and the map environment The information is map environment information corresponding to the first target position in the global map of the first area.

In this embodiment, the actual environment information is the distance information of the surrounding objects detected by the radar on the robot at the first target position, which can be specifically represented as a radar image detected and drawn by the radar, and the map environment information is for the robot to construct a global map The distance information of the surrounding objects detected at the first target position at the time, which is specifically characterized as the radar image of the first target position in the global map. It should be understood that the representation method of the above-mentioned actual environment information and map environment information is related to the image construction method. Those skilled in the art can detect the distance of the object based on the radar and construct the radar image, obtain the infrared image based on the infrared camera, etc., which is not limited.

The terminal device presets and stores a pre-built local map, where the local map is a local map in the global map. The local map is a map of the inner space of the second area, which can be constructed based on the SLAM technology. It should be noted that since the local map is called only after the actual environment and the map environment are different, the construction of the local map also needs to be carried out under the condition that the actual environment and the map environment are consistent. It can be understood that the local map can be pre-built by the terminal device, or the files corresponding to the local map can be transplanted to the terminal device after being pre-built by other devices. That is to say, the execution body for constructing the local map and the execution body for using the local map may be the same or different.

The terminal device also obtains a global map of the first area in advance, and the global map is constructed in different ways, and the corresponding maps are represented in different ways. For example, a radar map is obtained based on laser SLAM technology, and a color map is obtained based on visual SLAM technology. For the convenience of description, this embodiment uses the radar map obtained by the laser SLAM technology to explain the robot navigation method.

The first area is the navigation range of the robot under the preset global path, and may specifically be an indoor area. The global map is a map of all spaces in the first area, that is, the map of the second area can be viewed according to the global map, and the global map can be constructed based on the SLAM technology. It can be understood that the global map can be pre-built by the terminal device, or the files corresponding to the global map can be transplanted to the terminal device after being pre-built by other devices. That is to say, the execution body for constructing the global map and the execution body for using the global map may be the same or different.

Exemplarily, the terminal device uses laser SLAM technology to construct a global map. Please refer to FIG. 5 . FIG. 5 shows a partial schematic diagram of a terminal device provided by an embodiment of the present application constructing a global map. In the figure, R is the robot in a moving state, and W is the edge of the object scanned by the robot. First, the terminal device controls the robot R to move in the first area. During the movement of the robot, the radar on the robot scans the objects around the robot, and then based on the distance between the robot and the object, the boundary of the object at the distance is depicted. To make the global map complete, the robot is controlled to travel through each position of the first area. It can be understood that the construction process of the local map is similar to that of the global map, which will not be described in detail later.

In a possible implementation manner, based on the preset global path of the global map of the first area, the robot is navigated to the first target position in the second area. If the matching degree between the map environment information is less than the preset value, the local map of the second area is called.

In this embodiment, the terminal device pre-stores a pre-planned preset global path. The preset global path is the navigation path of the robot in the first area, which can be obtained by combining the SLAM technology with the path planning algorithm. It should be noted that, since the global path planning needs to ensure that there is a path between the starting point and the end point, if the global path needs to pass through the second area, when constructing the global map and global path planning, the first area and the second area must be connected. The passageway is opened. Wherein, the passageway is the connection position between the first area and the second area, which can be a door, window, door curtain, etc. that can be opened and closed. It can be understood that the passageway can be an electrical device controlled by electricity, or a mechanical device controlled manually; further, the electrical device can also be a device provided with a sensor that can be automatically sensed to realize opening or closing.

When planning the preset global path, the robot performs global path planning based on the global map. Please refer to FIG. 6 . FIG. 6 is a schematic diagram of a preset global path of a global map provided by an embodiment of the present application. In Figure 6, the global map is the map of the first area, ABCD is the second area, X and Y are the start and end points of the preset global path, AB and CD are the controllable gates, E and F are the first target position and second target position. The door AB is in the closed state, and the door CD is in the open state.

Based on the global path planning algorithm, the robot initially plans the initial path on the global map, and controls the robot to move according to the planned initial path. During the movement of the robot, the initial path is optimized based on the local path planning algorithm and the obstacle avoidance algorithm, and finally the global path from point X through the second area to point Y as shown in Figure 6 is obtained. Optionally, the global path planning algorithm may be an A-star algorithm or a Dijkstra algorithm, etc., and the global path planning algorithm may be a DWA (dynamic window approach) algorithm or the like. It can be understood that the planning process of the preset local path is similar to the preset global path, and details will not be described later.

The terminal device controls the robot to navigate through the passageway to the first target position in the second area based on the preset global path of the global map of the first area. Among them, the passageway can be always in the open state before the robot passes by, or it can be switched from the closed state to the open state; the first target position can be a preset positioning point, or it can be a position randomly reached by the terminal device, as long as it satisfies the The first target position may exist both in the global map and in the local map.

Exemplarily, when the passageway is a door that needs to be in a normally closed state in a second area such as a constant temperature and humidity room, an IDC computer room, etc., the terminal device controls the robot to move to the same location based on the preset global path of the global map of the first area. When the passageway has a position with a preset distance, the passageway is controlled to be opened, and the passageway is navigated to the first target position in the second area. When the passageway is an open door such as a bedroom door or a toilet door, the terminal device controls the robot to navigate directly through the passageway to the first target position in the second area based on the preset global path of the global map of the first area.

According to the preset global path of the global map of the first area, the terminal device makes the robot pass through the passage between the first area and the second area to reach the first target position in the second area. Since the global path planning needs to ensure that There is a path in the global path, so the surrounding environment of the robot when it passes through the passageway according to the preset global path is basically the same as the map environment of the global map, so the robot will not have positioning drift or positioning error. It should be understood that, based on the preset global path of the global map of the first area, after navigating the robot to the first target position in the second area, the matching degree between the actual environment information of the first target position and the map environment information is not detected. As the limiting means of this application, those skilled in the art can understand that the robot may move to the first target position based on a preset global path, or may move to the first target position by other planned paths, that is, when the robot is in the first target position When the target location detects that the matching degree between the actual environment information and the map environment information is less than the preset value, the condition for calling the local map is satisfied.

S102, according to the local map, perform positioning in the second area.

In this embodiment, the terminal device pre-stores the position correspondence between the first area and the second position, and the position correspondence may be the correspondence between the first coordinate system of the first area and the second coordinate system of the second area The first coordinate system is a Cartesian coordinate system established with a preset point in the first area as the origin, a certain direction as the X axis, and another direction perpendicular to the X axis as the Y axis, and the second coordinate system is A Cartesian coordinate system established with a preset point in the second area as the origin, a direction as the X axis, and another direction perpendicular to the X axis as the Y axis. Preferably, for convenience of operation, the first coordinate system and the second coordinate system are the same coordinate system.

The terminal device locates the robot in the second area according to the positional correspondence between the first area and the second area. Exemplarily, based on the correspondence between the first coordinate system and the second coordinate system, the terminal device may determine the coordinate point of the position of the robot (which may be understood as the first target position, but not necessarily) in the first coordinate system. Corresponding to the coordinate points in the second coordinate system, the positioning based on the global map is changed to the positioning based on the local map, that is, the positioning of the robot in the local map is realized.

S103, according to the local map, perform positioning in the second area.

In this embodiment, the terminal device pre-stores a preset partial path, and the preset partial path is the navigation path of the robot in the second area, which can be obtained by combining the SLAM technology with the path planning algorithm. Please refer to FIG. 7 . FIG. 7 is a schematic diagram of a preset partial path of a partial map provided by an embodiment of the present application. In Figure 7, the local map is the map of the second area, ABCD is the second area, AB and CD are the controllable gates, respectively, E and F are the first target position and the second target position, wherein the gate AB and gate CD is closed. It can be understood that the planning process of the preset local path is similar to the planning process of the preset global path. The difference is that the preset global path is obtained based on the global map planning when the passage is open, and the preset local path is based on the closed state of the passage. The local map planning of the time is obtained.

In this embodiment, by calling the local map, the robot can eliminate the problem of positioning drift or positioning error and realize precise positioning and navigation when the actual environment changes relative to the map environment.

Please refer to FIG. 2, which shows a schematic diagram of the specific refinement process of step S102 in the embodiment corresponding to FIG. 1 provided by the present application; in some possible implementations of the present application, the above-mentioned S102 may include steps S201 to S203, S201 to S203 will be specifically described below.

S201: Determine the first coordinates of the first target position in the global map of the first area.

In this embodiment, the robot is located at the first target position, and the first coordinates are the coordinate points corresponding to the first target position in the coordinate system where the global map is located, which can be obtained by the radar positioning on the robot. It can be understood that the first coordinate may include the X-axis coordinate value and the Y-axis coordinate value of the first target position corresponding to the coordinate system where the global map is located, and may also include the attitude information of the robot, such as the heading angle, pitch angle and roll angle.

S202: Determine a second coordinate corresponding to the first coordinate according to the positional correspondence between the first area and the second area, where the second coordinate is the coordinate of the first target location in the local map.

In this embodiment, the terminal device determines that the first coordinates correspond to the second coordinates in the local map according to the position correspondence between the first area and the second area. As explained in step S103, the position correspondence may be a correspondence between the first coordinate system of the first area and the second coordinate system of the second area. Further, the first coordinate in the first coordinate system can be transformed into the second coordinate in the second coordinate system based on the Euler transformation equation.

S203, taking the second coordinate as the position of the robot in the second area.

In this embodiment, the second coordinate of the terminal device is used as the position of the robot in the second area, so as to complete the positioning of the robot in the second area, so as to continue to locate the robot with the position of the robot in the global map in the way of connecting and positioning according to the map. The position of the robot in the local map can avoid positioning deviation or positioning error when re-positioning according to the local map, and also avoid the positioning deviation or positioning error caused by the environmental change of the first target position due to the closing of the passageway, thereby improving the The positioning accuracy of the robot.

Please refer to FIG. 3. FIG. 3 shows a schematic diagram of the specific refinement process of step S101 in the embodiment corresponding to FIG. 1 provided by the present application; There is a passageway, and the above S101 may include steps S301 and S302, and S301 and S302 will be specifically described below.

S301 , if the passage is in a closed state, match the actual environment information of the first target position with the map environment information of the first area.

In this embodiment, the closed state is used as the basis for invoking the local map. The closed state may refer to a fully closed state or a semi-closed state, and the semi-closed state is the state of the passageway when the robot cannot directly pass through the passageway. Due to the different types of the second area and the different states of the passageway under normal circumstances, the reasons for the passageway being in the closed state are also different.

For example, for the second area that needs to isolate the space inside the room from the space outside the room, such as the constant temperature and humidity room, the IDC computer room, and the passageways such as doors and windows need to be closed under normal circumstances, then the robot reaches the first target position. After that, the access channel needs to be closed. For the second area of general spaces such as bedrooms and toilets, the passages such as doors and windows can be open or closed under normal circumstances, and when the robot reaches the first target position, the passage is just blocked by the user or the wind. and other factors are closed, so it will also make the robot in a closed state. It can be understood that after the robot reaches the first target position, the passageway may also be in an open state or may be in a closed state.

After the terminal device reaches the first target position, it will detect whether the passageway is closed through sensing devices such as radar and infrared sensors. It is likely to be inconsistent, so it is further determined whether to invoke a local map that is consistent with the surrounding environment of the robot's location. If the passage is open, continue to navigate the robot based on the global map.

S302, if the matching degree between the actual environment information and the map environment information is less than a preset value, call the local map of the second area.

In this embodiment, the preset value is used as the basis for whether to call the local map when the passageway is in the closed state, and the preset value can be preset, which is not limited. The terminal device matches the actual environment information with the map environment information, obtains the matching degree after information processing and matching, and compares the matching degree with the preset value. If the matching degree is less than the preset value, the local map of the second area is called.

Exemplarily, the terminal device matches the radar image actually detected by the radar on the robot at the first target position with the radar image of the global map, and the matching degree between the two can be matched based on a preset image matching algorithm. If the matching degree is less than the preset value, it means that the surrounding environment of the robot at the first target position is inconsistent with the map environment in the global map corresponding to the first target position. At this time, there may be a positioning offset or positioning error, so call the first target position. Local map of the second area. If the matching degree is equal to or greater than the preset value, it means that the surrounding environment of the robot at the first target position is basically the same as the map environment corresponding to the first target position in the global map, and the robot can recognize that the first target position is in the global map. , so there is no need to call the local map of the second area. It can be understood that when the matching degree is equal to or greater than the preset value, the local map of the second area can also be called.

In this implementation, when the passageway is closed, the actual environment information and the map environment information are matched to accurately identify whether the environment where the robot is located has changed, so as to determine whether the map needs to be called, so as to avoid the situation when the environment changes due to certain circumstances. When the local map is called, the map environment of the local map is inconsistent with the actual environment, resulting in positioning drift or positioning error, which further improves the accuracy of robot positioning.

Please refer to FIG. 4. FIG. 4 shows a schematic diagram of the specific refinement process of step S103 in the embodiment corresponding to FIG. 1 provided by the present application; in some possible implementations of the present application, the above-mentioned S103 may include steps S401 and S402, S401 and S402 will be specifically described below.

S401: Acquire task parameters of a work task of the robot, where the task parameters include multiple work coordinate points on a local map.

In this embodiment, the work task is a task that the robot needs to perform in the second area. The task parameters may include map parameters and task deployment parameters. The map parameters include but are not limited to the preset global path of the global map and the preset local path of the local map; the task deployment parameters are the specific task parameters to be performed by the robot, such as the camera on the robot Focal length, lift rod height, gimbal pitch angle, etc. Among them, the preset local path includes multiple work coordinate points, that is, each position where the robot performs the task.

S402 , according to the preset local path of the local map, navigate the positioned robot to a plurality of work coordinate points in sequence, until the work task of the robot is completed at each work coordinate point.

In this embodiment, for example, the inspection robot performs inspection tasks: move the robot to a designated position (working coordinate point), raise the lift rod on the robot to a designated height, adjust the angle of the pan/tilt to a designated angle, and move the robot to a designated position. The camera is aimed at the equipment and meters of the shooting equipment, and the parameters such as the focal length and zoom of the camera are adjusted, and finally the photographing operation is performed to complete the work task of a working coordinate point.

In a possible implementation manner, since the robot needs to leave the second area after completing the work task in the second area, the embodiment of the present application also provides a process for the robot to leave the second area. The terminal device navigates the robot to the second target position in the second area according to the preset local path; if the passageway is closed, it controls the passageway to open, and calls the global map of the first area; according to the global map and the local map The position corresponding relationship of the position of the robot is located in the first area; based on the preset global path of the global map, the positioned robot is navigated in the first area.

In this embodiment, the terminal device controls the robot to navigate to the second target position in the second area based on the preset partial path of the partial map of the second area. The second target position may be a preset positioning point, or may be a position randomly reached by the terminal device, as long as the second target position is satisfied, both in the global map and in the local map. The explanation of the steps for the robot to leave the second area can be explained with reference to the steps for the robot to enter the second area, but it is understood that the robot directly enters the second area and performs positioning in the second area, and After positioning in the area, leave the second area.

In order to facilitate those skilled in the art to further understand the implementation process of the robot navigation method provided by the embodiments of the present application, the robot navigation method of the present application will be described below with reference to specific application scenarios. It should be understood that the following application scenarios are only used as examples rather than limitations.

Please refer to FIG. 8. FIG. 8 is a schematic diagram of a machine room inspection scene of an inspection robot provided by an embodiment of the application. In Figure 8, the global map is the map of the first area, ABCD is the IDC room (the second area), which is also the inspection area of the robot, X and Y are the start and end points of the preset global path, and ABCD is the robot's inspection area. In the inspection area, AB and CD are the controllable doors, E and F are the first target position and the second target position, respectively. In order to ensure safety and reduce the power consumption caused by cooling, the door AB and door CD of the IDC room It needs to be in normally closed state.

The inspection robot reads the work task from the database, and based on the task parameters in the work task, sends the navigation destination to the navigation mobile module on the inspection robot. Set the global path for navigation movement. When reaching the preset distance position of door CD, the inspection robot remotely controls door CD to open and passes through door CD to reach point E, and remotely controls door CD to close again. At this time, if the matching degree between the surrounding environment of the inspection robot and the map environment of the global map is less than the preset value, the local map is called through the map management and positioning module on the inspection robot and positioned at point E to ensure that after the map is switched The robot is positioned accurately in the second area.

The navigation and movement model of the inspection robot is based on the task parameters of the work task. According to the local map, the inspection robot is navigated to each inspection point in turn, and the inspection control module on the inspection robot executes the work task based on the preset task parameters. , such as raising the lift rod on the inspection robot to the specified height, and adjusting the angle of the gimbal so that the camera is aimed at the instrument of the equipment room to be photographed, and then adjust the camera focal length, zoom and other parameters before shooting. When the inspection robot completes the work task of each inspection point, the navigation and movement module controls the inspection robot to move to point F, and controls the door CD to open again, and calls the global map and performs positioning. After positioning, it controls the inspection robot to move to point F. In the next IDC computer room, at the same time, the control door CD is closed after the inspection robot leaves the IDC computer room.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Corresponding to the robot navigation method described in the above embodiment, FIG. 9 shows a structural block diagram of the robot navigation device provided by the embodiment of the present application. For convenience of description, only the part related to the embodiment of the present application is shown.

9, the device includes:

The calling module 901 is configured to call the local map of the second area if the matching degree between the actual environment information of the first target location and the map environment information of the first area is less than a preset value, and the first target location is in the second area , the map environment information is the map environment information corresponding to the first target position in the global map of the first area;

a positioning module 902, configured to perform positioning in the second area according to the local map;

The navigation module 903 is used for navigating in the second area after positioning based on the preset partial path of the partial map.

In the robot navigation device provided by the embodiment of the present application, the calling module 901 detects the matching degree between the actual environment information and the map environment information of the first area at the first target position. Since the global path planning needs to ensure that there is a path in the global path, Therefore, after the robot reaches the first target position, if the matching degree between the actual environment information of the first target position and the map environment information of the first area is less than the preset value, for example, the passageway is closed, and closing the passageway changes the robot. The surrounding environment at the first target position makes it impossible for the robot to accurately identify the location of the robot's surrounding environment corresponding to the global map. Therefore, the calling module 901 calls a local map whose map environment is basically consistent with the surrounding environment of the robot; The local map is used to locate the robot in the second area, so that the robot is changed from the global map-based positioning to the local map-based positioning, and the positioning accuracy of the robot is improved; finally, the navigation module 903 is based on the preset local path of the local map. The positioned robot navigates in the second area. It can be seen that the embodiment of the present application enables the robot to eliminate the problem of positioning drift or positioning error and realize precise positioning and navigation when the actual environment changes relative to the map environment.

In one embodiment, the above-mentioned positioning module 902 is further used for:

According to the positional correspondence between the first area and the second area, the second coordinate corresponding to the first coordinate is determined, and the second coordinate is the coordinate of the first target position in the local map;

Take the second coordinate as the position of the robot in the second area.

In one embodiment, the above-mentioned calling module 901 is further used for:

If the passage is closed, the actual environment information of the first target position is matched with the map environment information, the actual environment information is the actual environment information of the robot at the first target position, and the map environment information is the first target position in the global map. The map environment information of the target location;

In one embodiment, the above-mentioned navigation module 903 is further used for:

Obtain the task parameters of the robot's work task, and the task parameters include multiple work coordinate points on the local map;

According to the preset local path of the local map, the positioned robot is navigated to multiple work coordinate points in turn, until the work task of the robot is completed at each work coordinate point.

In one embodiment, the above-mentioned robot navigation device is also used for:

When the passageway is in an open state, based on the global map, a preset global path passing through the first area and the second area is planned.

When the passageway is closed, based on the local map, a preset local path in the second area is planned.

It should be noted that the information exchange, execution process and other contents between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application. For specific functions and technical effects, please refer to the method embodiments section. It is not repeated here.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

FIG. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in FIG. 10 , the terminal device 10 of this embodiment includes: at least one processor 100 (only one is shown in FIG. 10 ), a processor, a memory 101 , and a processor 101 stored in the memory 101 and available for processing in the at least one processor A computer program 102 running on the processor 100, the processor 100 implements the steps in any of the above method embodiments when the computer program 102 is executed.

The terminal device 10 may be a computing device such as a robot. The terminal device may include, but is not limited to, the processor 100 and the memory 101 . Those skilled in the art can understand that FIG. 10 is only an example of the terminal device 10, and does not constitute a limitation on the terminal device 10. It may include more or less components than the one shown, or combine some components, or different components , for example, may also include input and output devices, network access devices, and the like.

The so-called processor 100 may be a central processing unit (Central Processing Unit, CPU), and the processor 100 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuits) , ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In some embodiments, the memory 101 may be an internal storage unit of the terminal device 10 , such as a hard disk or a memory of the terminal device 10 . In other embodiments, the memory 101 may also be an external storage device of the terminal device 10, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory 101 may also include both an internal storage unit of the terminal device 10 and an external storage device. The memory 101 is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, for example, program codes of the computer program, and the like. The memory 101 may also be used to temporarily store data that has been output or will be output.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

The embodiments of the present application provide a computer program product, when the computer program product runs on a mobile terminal, the steps in the foregoing method embodiments can be implemented when the mobile terminal executes the computer program product.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium, and the computer program When executed by a processor, the steps of each of the above method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include at least: any entity or device capable of carrying the computer program code to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media. For example, U disk, mobile hard disk, disk or CD, etc. In some jurisdictions, under legislation and patent practice, computer readable media may not be electrical carrier signals and telecommunications signals.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it is still possible to implement the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims

A robot navigation method, comprising:

If the matching degree between the actual environment information of the first target location and the map environment information of the first area is less than the preset value, the local map of the second area is called, and the first target location is in the second area, The map environment information is map environment information corresponding to the first target position in the global map of the first area;

positioning in the second area according to the local map;

Navigation is performed within the positioned second area based on a preset partial path of the partial map.
The robot navigation method according to claim 1, wherein the positioning in the second area according to the local map comprises:

determining the first coordinates of the first target location in the global map of the first area;

According to the preset position correspondence between the first area and the second area, a second coordinate corresponding to the first coordinate is determined, and the second coordinate is the first target position in the local map. coordinate;

The second coordinate is used as the position of the robot in the second area.
The robot navigation method according to claim 1, wherein a passageway exists between the first area and the second area, and the actual environment information of the first target location and the map environment of the first area If the matching degree between the information is less than the preset value, the local map of the second area is called, including:

If it is detected that the passageway is closed at the first target position, matching the actual environment information of the first target position with the map environment information of the first area;

If the matching degree between the actual environment information and the map environment information is less than a preset value, the local map of the second area is called.
The robot navigation method according to claim 1, wherein the navigation in the second area after positioning based on the preset local path of the local map, comprising:

acquiring task parameters of a work task, where the task parameters include a plurality of work coordinate points in the second area;

According to the preset partial path of the partial map, navigate to a plurality of the work coordinate points in sequence in the second area after positioning, until the work task is completed at each work coordinate point.
The robot navigation method according to claim 4, wherein a passageway exists between the first area and the second area, and the preset local path based on the local map After navigating in the second area, it also includes:

Navigating to a second target position in the second area according to the preset partial path;

If it is detected that the passageway is in a closed state at the second target position, controlling the passageway to open, and calling the global map of the first area;

positioning in the first area according to the global map;

Based on the preset global path of the global map, the navigation is performed within the positioned first area.
The robot navigation method according to any one of claims 1 to 5, wherein a passageway exists between the first area and the second area, and the method further comprises:

When the passageway is in an open state, the preset global path passing through the first area and the second area is planned based on the global map.
The robot navigation method according to any one of claims 1 to 5, wherein a passageway exists between the first area and the second area, and the method further comprises:

When the passageway is in a closed state, the preset local path in the second area is planned based on the local map.
A robot navigation device, comprising:

The calling module is configured to call the local map of the second area if the matching degree between the actual environment information of the first target location and the map environment information of the first area is less than a preset value, and the first target location is in the In the second area, the map environment information is the map environment information corresponding to the first target position in the global map of the first area;

a positioning module, configured to perform positioning in the second area according to the local map;

The navigation module is used for navigating in the positioned second area based on the preset local path of the local map.
A terminal device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, when the processor executes the computer program, the process according to claim 1 to 7. The method of any one.
A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.