Job robot relocation method and device, electronic equipment and storage medium

Abstract

The application relates to a work robot repositioning method and device, electronic equipment and a storage medium. The method comprises the following steps: if it is detected that the work robot is repositioned, current environment information is acquired, the current environment information being environment information of a current position point of the work robot; current feature points in the current environment information are extracted, the current feature points are matched with a work map of the work robot; if the current feature points are not matched with the work map, a target position point of the work robot is determined according to the current position point and the current feature points; the work robot is controlled to move to the target position point, the target position point is taken as the current position point, the step of acquiring the current environment information is returned until the current feature points are matched with the work map, and the positioning of the work robot is determined according to the current position point and the matched current feature points. The method of the application can improve the repositioning efficiency of the work robot, and further improve the work efficiency of the work robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of work robots, and particularly to a work robot repositioning method and device, an electronic device, and a storage medium. BACKGROUND

[0002] With the development of artificial intelligence technology, fully automatic work robots have emerged. In the process of executing work, the work robot needs to constantly determine its own positioning in order to plan or adjust the work path and avoid repeated work in the work area.

[0003] However, the work robot may be moved by a person in the process of executing work, which easily causes the positioning of the work robot to be lost. If the positioning of the work robot in the work map cannot be determined, the work map needs to be re-established, thereby causing repeated work in the work area and affecting the work efficiency of the work robot. SUMMARY

[0004] Therefore, it is necessary to provide a work robot repositioning method, device, electronic device, and storage medium capable of improving the work efficiency of the work robot in view of the above technical problems.

[0005] A work robot repositioning method, the method comprising:

[0006] If the work robot repositioning is detected, current environment information of a current position point where the work robot is located is acquired;

[0007] Current feature points in the current environment information are extracted, and the current feature points are matched with a work map of the work robot;

[0008] If the current feature points do not match the work map, a target position point of the work robot is determined according to the current position point and the current feature points;

[0009] The work robot is controlled to move to the target position point, the target position point is taken as the current position point, the step of acquiring the current environment information is returned until the current feature points match the work map, and the positioning of the work robot is determined according to the current position point and the matched current feature points.

[0010] In one of the embodiments, after the current environment information is acquired, before the current feature points in the current environment information are extracted, the method further comprises:

[0011] It is determined whether the current environment information contains a charging pile signal;

[0012] If the current environment information contains a charging pile signal, a position of the work robot is determined according to the charging pile signal;

[0013] If the current environment information does not contain a charging pile signal, a step of extracting a current feature point in the current environment information is entered.

[0014] In one of the embodiments, the step of determining whether the current environment information contains a charging pile signal comprises:

[0015] If the current environment information does not contain a charging pile signal, a diagonal position point in the current environment information is determined.

[0016] The work robot is controlled to move to the diagonal position point, the diagonal position point is taken as a new current position point, and the step of acquiring current environment information is returned to;

[0017] If the current environment information corresponding to the new current position point contains a charging pile signal, it is determined that the current environment information contains a charging pile signal, otherwise it is determined that the current environment information does not contain a charging pile signal.

[0018] In one of the embodiments, the step of matching the current feature point with the work map of the work robot comprises:

[0019] A pre-reposition work area where the work robot is located before repositioning is determined.

[0020] According to the work map, a region feature point of the pre-reposition work area is determined.

[0021] The current feature point is matched with the region feature point.

[0022] If the current feature point matches the region feature point, it is determined that the current feature point matches the work area in the work map.

[0023] In one of the embodiments, the step of matching the current feature point with the work map of the work robot further comprises:

[0024] If the current feature point does not match the region feature point, other region feature points of other work areas in the work map are determined, the other work areas being work areas in the work map other than the pre-reposition work area.

[0025] The current feature point is matched with the other region feature points.

[0026] If the current feature point matches the other region feature points, it is determined that the current feature point matches the other work areas in the work map.

[0027] If the current feature point does not match the other area feature point, it is determined that the current feature point does not match the work map.

[0028] In one of the embodiments, the determining of the target position point of the work robot according to the current position point and the current feature point comprises:

[0029] The moving distance between the current feature point and the current position point is determined according to the current feature point and the current position point.

[0030] The target position point of the work robot is determined based on the moving distance.

[0031] In one of the embodiments, the current feature point comprises two or more, and the determining of the target position point of the work robot based on the moving distance comprises:

[0032] The minimum moving distance among the moving distances corresponding to the current feature points is determined, and the current feature point corresponding to the minimum moving distance is determined as the target position point of the work robot.

[0033] In one of the embodiments, after the determining that the current feature point does not match the work map, before the determining of the target position point of the work robot according to the current position point and the current feature point, the method further comprises:

[0034] If the current feature point does not match the work map, the matching times of the determination result of not matching are recorded.

[0035] If the matching times are less than a preset number of times, the step of determining the target position point of the work robot according to the current position point and the current feature point is entered.

[0036] If the matching times are greater than or equal to the preset number of times, it is determined that the work robot fails to reposition.

[0037] In one of the embodiments, after the determining that the work robot fails to reposition, the method further comprises:

[0038] The work map of the work robot is rebuilt.

[0039] A work robot repositioning device, the device comprises:

[0040] An information acquisition module is configured to acquire current environment information if it is detected that the work robot repositions, the current environment information being environment information of a current position point where the work robot is located.

[0041] The feature point matching module is configured to extract a current feature point in the current environment information, and match the current feature point with a work map of the work robot.

[0042] The position point determination module is configured to, if the current feature point does not match the work map, determine a target position point of the work robot according to the current position point and the current feature point.

[0043] The movement control module is configured to control the work robot to move to the target position point, and take the target position point as the current position point.

[0044] The positioning determination module is configured to, if the current feature point matches the work map, determine a positioning of the work robot according to the current position point and the matched current feature point.

[0045] An electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the work robot repositioning method when executing the computer program.

[0046] A computer readable storage medium stores a computer program, and the computer program implements the steps of the work robot repositioning method when executed by a processor.

[0047] The work robot repositioning method, device, electronic device and storage medium described above, if the work robot repositioning is detected, the current environment information is obtained, the current environment information is the environment information of the current position point where the work robot is located; the current feature point in the current environment information is extracted, and the current feature point is matched with the work map of the work robot; if the current feature point does not match the work map, a target position point of the work robot is determined according to the current position point and the current feature point; the work robot is controlled to move to the target position point, the target position point is taken as the current position point, and the step of obtaining the current environment information is returned until the current feature point matches the work map, and the positioning of the work robot is determined according to the current position point and the matched current feature point. The method of the above embodiment is adopted, the current environment information is obtained when the work robot repositions, the current feature point in the current environment information is extracted, and the current feature point is matched with the work map, which avoids rebuilding the work map when the work robot repositions, improves the matching efficiency, avoids the repeated work of the work robot, and controls the work robot to move when the current feature point does not match the work map, and returns to re-obtain the current environment information, which can ensure the accuracy of the obtained current environment information and the extracted current feature point, improve the matching accuracy, thereby improving the repositioning efficiency of the work robot, and further improving the work efficiency of the work robot. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 An application environment diagram of the job robot repositioning method in one embodiment;

[0049] Figure 2 A flowchart of the job robot repositioning method in one embodiment;

[0050] Figure 3 A flowchart of the job robot repositioning method in one specific embodiment;

[0051] Figure 4 A structural block diagram of the job robot repositioning device in one embodiment;

[0052] Figure 5 An internal structural diagram of the electronic device in one embodiment. DETAILED DESCRIPTION

[0053] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0054] In one embodiment, the job robot repositioning method provided by the present application can simultaneously involve a job robot 102 and an external control device 104, as shown in the application environment diagram. Figure 1 The job robot 102 can communicate with the external control device 104 through a network or a protocol.

[0055] Specifically, if the job robot 102 needs to be repositioned due to lost positioning during the job, the external control device 104 detects the repositioning of the job robot 102, obtains current environment information, which is the environment information of a current position point of the job robot 102; extracts a current feature point in the current environment information, matches the current feature point with a job map of the job robot 102; if the current feature point does not match the job map, determines a target position point of the job robot 102 according to the current position point and the current feature point; the external control device 104 outputs a control instruction to the job robot 102 to control the job robot 102 to move to the target position point, takes the target position point as the current position point, returns to the step of obtaining the current environment information, until the current feature point matches the job map, and determines the positioning of the job robot 102 according to the current position point and the matched current feature point.

[0056] In one embodiment, the job robot repositioning method provided by the present application can only involve the job robot 102. The job robot 102 is provided with a controller which can process data and control the job robot 102.

[0057] Specifically, the controller detects the repositioning of the work robot 102, acquires current environment information, the current environment information being environment information of a current position point where the work robot 102 is located, extracts a current feature point in the current environment information, matches the current feature point with a work map of the work robot 102, determines a target position point of the work robot 102 according to the current position point and the current feature point if the current feature point does not match the work map, controls the work robot 102 to move to the target position point, takes the target position point as the current position point, returns to the step of acquiring the current environment information until the current feature point matches the work map, and determines the positioning of the work robot 102 according to the current position point and the matched current feature point.

[0058] The work robot 102 includes but is not limited to a full-automatic work robot such as a sweeping robot, a wall-climbing robot, and a warehouse guide robot, the controller in the work robot 102 can be a control chip and a control circuit board, and the external control device 104 can be an electronic device including a terminal and a server. The terminal can be a personal computer, a smart phone, a tablet computer, and a portable wearable device, and the server can be implemented by an independent server or a server cluster composed of multiple servers.

[0059] In one of the embodiments, as shown in Figure 2 , a work robot repositioning method is provided, which is applied to the controller in the work robot 102 in Figure 1 for illustration, including:

[0060] If the repositioning of the work robot is detected, the current environment information is acquired, the current environment information being environment information of a current position point where the work robot is located.

[0061] In one of the embodiments, the work robot is provided with a sensor and a controller, the sensor including a radar sensor, an infrared sensor, a vision sensor, etc., and the sensor is in communication connection with the controller. The sensor can continuously collect relevant position information and surrounding environment information of the work robot in the work process and transmit the information to the controller, and the controller continuously acquires the relevant position information and the surrounding environment information to realize real-time positioning of the work robot in the work process, i.e., to determine the work area where the work robot is located and the real-time coordinate position in the work area, so as to realize real-time and accurate control of the work process of the work robot.

[0062] If the work robot loses positioning due to failure or being moved during work, the work robot needs to be repositioned to avoid repeated work. If the work robot needs to be repositioned, the work robot generally needs to perform a restart, that is, the work robot is powered on again. Specifically, if the work robot loses positioning, the controller determines that the work robot needs to be repositioned, the controller controls the work robot to perform a restart, and if it is detected that the work robot has performed a restart, it is confirmed that the work robot is repositioned.

[0063] In one of the embodiments, if the work robot is detected to be repositioned, current environment information is acquired. The environment information of the current position point where the work robot is located is referred to as the current environment information. Specifically, the sensor of the work robot can collect the current environment information, which includes the geometric information of the surroundings of the current position point where the work robot is located, for example, the information of the surrounding corners, points, line segments, circular arcs and curves, and the signals emitted by the devices near the current position point, for example, a charging pile is arranged near the work robot, and the charging pile signal emitted by the charging pile is included in the current environment information. It should be noted that since the collectable range of the sensor is limited, if the current position point where the work robot is located is different, the collectable range of the sensor is also different, and the current environment information collected by the sensor is also different.

[0064] In step S204, a current feature point in the current environment information is extracted, and the current feature point is matched with the work map of the work robot.

[0065] In one of the embodiments, after the current environment information is acquired, a current feature point in the current environment information is extracted. Specifically, according to the current environment information, a current map corresponding to the current environment information is established, and a current feature point in the current map is extracted to determine the current feature point in the current environment information. The current map established according to the current environment information can be at least one of a grid map, a geometric feature map and a topological map. The grid map is to divide the map into a plurality of grids of the same size, and to supplement the acquired current environment information in the grid. The probability that each grid is occupied can be used to represent the current environment information. The geometric feature map is a map containing geometric features obtained by performing geometric feature extraction on the current environment information. The topological map is a structure map representing the map as nodes and line segments, the nodes representing important position points, for example, obstacles, starting points and corners, and the line segments representing the connection relationship between the nodes.

[0066] In one of the embodiments, after the current map corresponding to the current environment information is established, a feature detection algorithm is used to extract the current feature points in the current map, and the feature detection algorithm includes but is not limited to a Hough transform algorithm and a cluster analysis algorithm. The current feature points are important position points containing specific angle, point and line segment feature information. The Hough transform algorithm can detect the current feature points of the current environment information by using the duality of points and lines. The cluster analysis algorithm can divide the current environment information into multiple clusters based on similarity or distance, and extract the current feature points of the current environment information according to the multiple clusters. Specifically, in order to improve the repositioning accuracy of the service robot, the current feature points in the current environment information include two or more. It should be noted that the current feature points are extracted from the current environment information, and the current position point of the service robot is not necessarily one of the current feature points.

[0067] In one of the embodiments, after the current feature points in the current environment information are extracted, the current feature points are matched with the service map of the service robot. The service map is a service map stored in the service robot in advance, i.e., a service map used before the service robot is repositioned. The service map contains each preset service area and each preset area feature point of the preset service area. Specifically, the current feature points are matched with the service map of the service robot, i.e., the current feature points are matched with each preset area feature point in the service map of the service robot.

[0068] In one of the embodiments, according to the current feature points and each preset area feature point in the service map of the service robot, the similarity between the current feature points and each preset area feature point is calculated respectively. If the similarity is greater than or equal to a preset threshold, the preset area feature point with the similarity greater than or equal to the preset threshold is determined as a preset area feature point matched with the current feature point. If there is a preset area feature point matched with the current feature point, it is determined that the current feature point is matched with the service map of the service robot. It should be noted that since the current feature points in the current environment information include two or more, only when each current feature point has a matched preset area feature point, it can be determined that the current feature point is matched with the service map of the service robot.

[0069] In step S206, if the current feature points are not matched with the service map, the target position point of the service robot is determined according to the current position point and the current feature points.

[0070] In one of the embodiments, if the extracted current feature point does not match the preset feature points in the work map of the work robot, it is determined that the current feature point does not match the work map, and the work robot needs to be controlled to move to a new current position point to reacquire the current position information and redetermine the current feature point in the current environment information. Specifically, according to the current position point and the current feature point, the target position point of the work robot, i.e., the new current position point, is determined. Since the current feature point in the current environment information includes two or more, in order to improve the repositioning efficiency of the work robot, the work robot is controlled to move to the current feature point closest to the current position point.

[0071] In step S208, the work robot is controlled to move to the target position point, the target position point is taken as the current position point, and the step of acquiring the current environment information is returned until the current feature point matches the work map, and the positioning of the work robot is determined according to the current position point and the matched current feature point.

[0072] In one of the embodiments, after the target position point of the work robot is determined, the work robot is controlled to move to the target position point, and the current position point where the work robot is located is the target position point. The target position point is determined as the current position point, and the current position information needs to be reacquired, i.e., the step S202 of acquiring the current environment information is returned to reextract the current feature point in the current environment information, and the matching of the current feature point and the work map of the work robot is continued until the current feature point matches the work map.

[0073] In one of the embodiments, if the current feature point matches the work map, i.e., the current feature point can be determined to match the preset area feature point in the work map. Since the work map is the work map pre-stored by the work robot, the matched preset area feature point can be accurately positioned. Specifically, according to the current position point and the matched current feature point, the positioning of the work robot is determined.

[0074] In the above method for repositioning the work robot, if it is detected that the work robot is repositioned, current environment information of a current position point where the work robot is located is acquired; a current feature point in the current environment information is extracted, and the current feature point is matched with a work map of the work robot; if the current feature point does not match the work map, a target position point of the work robot is determined according to the current position point and the current feature point; the work robot is controlled to move to the target position point, the target position point is taken as the current position point, and the step of acquiring the current environment information is returned until the current feature point matches the work map, and the position of the work robot is determined according to the current position point and the matched current feature point. By using the method of the above embodiment, the current environment information is acquired when the work robot is repositioned, the current feature point in the current environment information is extracted, and the current feature point is matched with the work map, so that the work map is avoided to be reconstructed when the work robot is repositioned, the matching efficiency is improved, the work robot is avoided to repeatedly work, the work robot is controlled to move when the current feature point does not match the work map, and the current environment information and the current feature point are reacquired, so that the accuracy of the acquired current environment information and the extracted current feature point is ensured, the matching accuracy is improved, and the repositioning efficiency of the work robot is improved, and the work efficiency of the work robot is improved.

[0075] In one of the embodiments, after the current environment information is acquired in the step S202, before the current feature point in the current environment information is extracted in the step S204, the method further includes:

[0076] In the step S302, it is determined whether the current environment information contains a charging pile signal.

[0077] In one of the embodiments, the charging pile signal is a signal emitted by a charging pile of the work robot. The charging pile signal is specifically an infrared signal. The infrared communication protocol between the work robot and the charging pile can be communicated through a preset infrared communication protocol. Specifically, the infrared communication protocol is a transmission technology based on infrared rays, which is not affected by radio interference. The infrared communication protocol can be one of NEC protocol, Philips RC5 protocol and Sing SIRC protocol. When the work robot and the charging pile are shipped, the infrared communication protocol between the work robot and the charging pile is set. Specifically, the type of the preset infrared communication protocol between the work robot and the charging pile is different, and the code value of the charging pile signal is different. The code value refers to a string composed of n high and low levels, for example, 2 ms high level and 1 ms low level are set as "1", and 1 ms high level and 2 ms low level are set as "0". Specifically, according to the preset infrared communication protocol between the work robot and the charging pile, the code value of the charging pile signal is determined, and whether the current environment information contains the charging pile signal is determined based on the code value of the charging pile signal.

[0078] Step S304: If the current environmental information includes a charging pile signal, then determine the location of the working robot based on the charging pile signal.

[0079] In one embodiment, if the current environment information contains the code value of the charging pile signal, it is determined that the current environment information contains the charging pile signal, that is, it is determined that the robot is in the working area where the charging pile is located. Since the working area where the charging pile is located is fixed, the location of the robot can be determined based on the charging pile signal.

[0080] Step S306: If the current environmental information does not contain charging pile signals, proceed to the step of extracting the current feature points from the current environmental information.

[0081] In one embodiment, if the current environmental information does not contain the code value of the charging pile signal, it is determined that the current environmental information does not contain the charging pile signal, that is, it is determined that the working robot is not in the working area where the charging pile is located. Then, step S204 is entered to extract the current feature points in the current environmental information so that the working robot can be located according to the current feature points in the future.

[0082] In one embodiment, step S302 determines whether the current environmental information includes a charging pile signal, including:

[0083] Step S402: If the current environmental information does not contain a charging pile signal, then determine the diagonal position point in the current environmental information.

[0084] In one embodiment, since the charging pile signal is an infrared signal, but infrared signals have poor penetration through non-transparent objects, and the sensor's acquisition range is limited, there is a possibility that the current environmental information may actually contain the charging pile signal, but it may not be detected due to obstacles or limited acquisition range. Therefore, the robot can be controlled to rotate 360° in place to search for the charging pile signal in the current environmental information. Alternatively, the robot can be controlled to move to a certain extent and bypass obstacles to search for the charging pile signal in the current environmental information. To improve the robot's movement efficiency, a diagonal point within the current environmental information (i.e., the diagonal point within the sensor's current acquisition range) can be determined, and the robot can be controlled to move to that diagonal point.

[0085] Step S404: Control the robot to move to the diagonal position point, set the diagonal position point as the new current position point, and return to the step of obtaining the current environment information.

[0086] In one embodiment, after determining the diagonal position points in the current environmental information, the robot is controlled to move to those diagonal position points. After the robot moves to the diagonal position points, its current position becomes the diagonal position point, which is then used as the new current position. The current position information needs to be reacquired, i.e., the process returns to step S202 to obtain the current environmental information. It should be noted that the current environmental information includes two diagonal position points, and the robot needs to be controlled to move to both diagonal position points. The order in which the two diagonal position points are moved is not restricted. To improve the repositioning efficiency of the robot, if the robot is controlled to move to one of the diagonal position points and it is already determined that the acquired current environmental information includes a charging pile signal, then it is not necessary to control the robot to move to the other diagonal position point; the robot's positioning can be determined based on the charging pile signal.

[0087] In one embodiment, if an obstacle exists during the movement of the robot to a diagonal position, meaning the robot is blocked by the obstacle when it reaches one side of the obstacle (i.e., the robot's current position is on the side of the obstacle), the charging pile signal may also be blocked by the obstacle. This results in inaccurate current environmental information, potentially leading to inaccurate determinations regarding whether the current environmental information includes the charging pile signal. Therefore, it is necessary to determine the position on the other side of the obstacle and move the robot to that position (i.e., the robot's current position is on the other side of the obstacle), then return to step S202 to obtain the current environmental information.

[0088] Step S406: If the current environment information corresponding to the new current location point contains a charging pile signal, then it is determined that the current environment information contains a charging pile signal; otherwise, it is determined that the current environment information does not contain a charging pile signal.

[0089] In one embodiment, if the current environmental information corresponding to the new current location point contains the code value of the charging pile signal, then it is determined that the current environmental information contains the charging pile signal, and the positioning of the robot can be determined based on the charging pile signal. Conversely, if the current environmental information corresponding to the new current location point does not contain the code value of the charging pile signal, then it is determined that the current environmental information does not contain the charging pile signal.

[0090] In one embodiment, step S204 matches the current feature point with the robot's work map, including:

[0091] Step S502: Determine the pre-repositioning work area where the robot was located before repositioning.

[0092] In one embodiment, the work map includes preset work areas. The work area where the robot was located before repositioning is called the pre-repositioning work area, and the work areas other than the pre-repositioning work area are called other work areas. To improve the matching efficiency of the current feature point, when matching the current feature point with the work map of the robot, the pre-repositioning work area in the work map is matched first, and then the other work areas in the work map are matched. Specifically, the pre-repositioning work area where the robot was located before repositioning is determined based on the work information pre-stored by the robot.

[0093] Step S504: Based on the work map, determine the regional feature points of the work area before relocation.

[0094] In one embodiment, the work map further includes preset area feature points for each preset work area. After determining the work area before relocation, the area feature points of the work area before relocation can be determined based on the work map, so as to match the current feature points with the area feature points.

[0095] Step S506: Match the current feature point with the region feature points.

[0096] In one embodiment, if the current feature point matches a regional feature point, then the current feature point is determined to match the work area in the work map. That is, it is determined that the robot is located within the work area before relocation, and the robot's location can be determined based on its current position.

[0097] In one embodiment, step S204, which matches the current feature point with the robot's work map, further includes:

[0098] Step S602: If the current feature point does not match the regional feature point, then determine the other regional feature points of other work areas in the work map. Other work areas are the work areas in the work map other than the work area before relocation.

[0099] In one embodiment, the work map further includes preset area feature points for each preset work area. After determining other work areas, other area feature points for those work areas can be determined based on the work map, so that the current feature point can be matched with other area feature points. It should be noted that if there are more than two other work areas, the current feature point needs to be matched with the other area feature points in each of the other work areas separately, and the order of matching multiple other work areas is not restricted.

[0100] Step S604: Match the current feature point with feature points in other regions.

[0101] In one embodiment, if the current feature point matches feature points in other areas, it is determined that the current feature point matches other work areas in the work map. That is, it is determined that the robot is located in the matched other work areas, and the robot's positioning can be determined based on its current location. If the current feature point does not match feature points in other areas, it is determined that the current feature point does not match the work map, and the process proceeds to step S206 to determine the target location of the robot based on the current location and the current feature point.

[0102] In one embodiment, step S206 determines the target location of the robot based on the current location point and the current feature point, including:

[0103] Step S702: Determine the moving distance between the current feature point and the current position point based on the current feature point and the current position point.

[0104] In one embodiment, the robot determines the movement distance between the current feature point and the current location point based on a pre-stored work map and the current feature point and current location point. Here, the movement distance refers to the movable distance, not the straight-line distance between the current feature point and the current location point.

[0105] Step S704: Determine the target location of the robot based on the travel distance.

[0106] In one embodiment, since there are more than two current feature points, in order to improve the movement efficiency of the robot, the minimum movement distance among the movement distances corresponding to each current feature point can be determined, and the current feature point corresponding to the minimum movement distance can be determined as the target position point of the robot, that is, the robot can be controlled to move to the nearest current feature point.

[0107] In one embodiment, to improve the relocalization efficiency of the robot, a preset number of times the current feature point does not match the work map is set, avoiding infinite returns to step S202 to obtain current environmental information. Specifically, after step S206 where the current feature point does not match the work map, and before step S206 determining the target location of the robot based on the current location point and the current feature point, the method further includes: if the current feature point does not match the work map, recording the number of times the judgment result is a mismatch. For example, in the first execution of the step of matching the current feature point with the work map, if the current feature point does not match the work map, the number of matches is recorded as 1. The preset number can be set to 50 according to user needs. Specifically, if the number of matches is less than the preset number, the step proceeds to determine the target location of the robot based on the current location point and the current feature point; if the number of matches is greater than or equal to the preset number, the robot relocalization is determined to have failed.

[0108] In one embodiment, after determining that the robot repositioning has failed, the method further includes issuing an alarm signal. The alarm signal may be an audible and visual alarm signal to alert the user that the robot repositioning has failed, allowing the user to manually control the robot.

[0109] In one embodiment, after determining that the robot relocation has failed, the method further includes: reconstructing the robot's operational map. Specifically, if the robot relocation has failed, it can be considered that the robot is operating within the operational area for the first time. Therefore, it is necessary to reconstruct the robot's operational map based on the acquired current environmental information and store the reconstructed operational map for subsequent robot positioning.

[0110] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description, in conjunction with the accompanying drawings and a specific embodiment, will further illustrate this application. It should be understood that the specific embodiment described herein is merely illustrative and not intended to limit the scope of this application.

[0111] In one specific embodiment, the robot is equipped with sensors and a controller, which are communicatively connected. The sensors detect environmental information and transmit it to the controller. If the robot loses its location due to a malfunction during operation, and the controller cannot determine the robot's location within the work area and its coordinates, then the robot needs to be repositioned. Specifically, as... Figure 3 As shown, the steps of the controller executing a robot relocation method are as follows:

[0112] If the controller detects that the robot is repositioning, it obtains the current environmental information through the sensors. The current environmental information is the environmental information of the current location of the robot.

[0113] If it is determined that the current environmental information does not contain the code value of the charging pile signal, then control the robot to rotate 360° in place. If it is still determined that the current environmental information does not contain the charging pile signal, then determine the diagonal position point in the current environmental information.

[0114] The controller moves the robot to a diagonal position and sets that position as the new current position. If there is an obstacle during the robot's movement, it moves to the position on the other side of the obstacle and sets that position as the new current position, thus obtaining the current environmental information.

[0115] If the current environmental information corresponding to the new current location point is determined to contain the code value of the charging pile signal, then the current environmental information is determined to contain the charging pile signal; then the positioning of the operation robot is determined based on the charging pile signal, that is, the repositioning of the operation robot is determined to be successful.

[0116] If the current environmental information corresponding to the new current location point still does not contain the code value of the charging pile signal, then the current environmental information does not contain the charging pile signal; then extract the current feature point from the current environmental information.

[0117] Determine the pre-relocation work area where the robot was located before relocation; based on the work map stored by the robot, determine the regional feature points of the pre-relocation work area;

[0118] Match the current feature point with the region feature points;

[0119] If the current feature point matches the regional feature point, it is determined that the robot is located in the previous working area. Then, based on the current location of the robot, the robot's location is determined, which means the robot's relocation is successful.

[0120] If the current feature point does not match the regional feature point, then other regional feature points in other work areas in the work map are determined. Other work areas are work areas in the work map other than the work area before relocation.

[0121] Match the current feature point with feature points in other regions;

[0122] If the current feature point matches other feature points in other areas, it is determined that the current feature point matches other work areas in the work map, and the work robot is located in other work areas. Based on the current location of the work robot, the positioning of the work robot is determined, that is, the repositioning of the work robot is successful.

[0123] If the current feature point does not match the feature points in other areas, then the current feature point is determined to be mismatched with the operation map, and the number of times the determination result is a mismatch is recorded.

[0124] If the number of matching attempts is greater than or equal to the preset number of 50, it is determined that the robot relocation has failed. Then, the robot's operation map is reconstructed based on the current environmental information obtained.

[0125] If the number of matches is less than the preset number of 50, then the moving distance between the current feature point and the current position point is determined based on the current feature point and the current position point.

[0126] Determine the minimum movement distance among the movement distances corresponding to each current feature point, and set the current feature point corresponding to the minimum movement distance as the target position point of the robot.

[0127] The controller moves the robot to the target location and uses that location as its current location.

[0128] Return to the step of obtaining the current environment information until the current feature point matches the operation map, and determine the positioning of the operation robot based on the current location point and the matched current feature point, that is, determine that the operation robot repositioning is successful.

[0129] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple steps or stages, which are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0130] In one embodiment, such as Figure 4 As shown, a robot repositioning device is provided, comprising: an information acquisition module 410, a feature point matching module 420, a position point determination module 430, a movement control module 440, and a positioning determination module 450, wherein:

[0131] The information acquisition module 410 is used to acquire the current environmental information if the robot repositioning is detected. The current environmental information is the environmental information of the current location of the robot.

[0132] The feature point matching module 420 is used to extract the current feature points in the current environment information and match the current feature points with the operation map of the robot.

[0133] The location point determination module 430 is used to determine the target location point of the work robot based on the current location point and the current feature point if the current feature point does not match the work map.

[0134] The mobile control module 440 is used to control the working robot to move to the target location point and use the target location point as the current location point.

[0135] The positioning determination module 450 is used to determine the positioning of the work robot if the current feature point matches the work map, based on the current location point and the matched current feature point.

[0136] In one embodiment, the robot repositioning device further includes the following modules:

[0137] The charging pile signal determination module is used to determine whether the current environment information includes a charging pile signal.

[0138] In one embodiment, the charging pile signal determination module includes the following units:

[0139] The location point determination unit is used to determine the diagonal location point in the current environment information if the current environment information does not contain a charging pile signal.

[0140] The movement control module 440 is also used to control the working robot to move to the diagonal position point and use the diagonal position point as the new current position point.

[0141] In one embodiment, the charging pile signal determination module includes the following units:

[0142] The charging pile signal confirmation unit is used to determine that the current environment information contains a charging pile signal if the current environment information corresponding to the new current location point contains a charging pile signal, otherwise determine that the current environment information does not contain a charging pile signal.

[0143] In one embodiment, the feature point matching module 420 includes the following units:

[0144] The pre-repositioning work area determination unit is used to determine the pre-repositioning work area where the robot was located before repositioning.

[0145] The regional feature point determination unit is used to determine the regional feature points of the work area before relocation based on the work map.

[0146] A regional feature point matching unit is used to match the current feature point with the regional feature point; if the current feature point matches the regional feature point, then it is determined that the current feature point matches the work area in the work map.

[0147] The region feature point determination unit is further configured to determine other region feature points in other work areas in the work map if the current feature point does not match the region feature point, wherein the other work areas are work areas in the work map other than the work area before relocation.

[0148] The regional feature point matching unit is further configured to match the current feature point with other regional feature points; if the current feature point matches other regional feature points, then it is determined that the current feature point matches other work areas in the work map; if the current feature point does not match other regional feature points, then it is determined that the current feature point does not match the work map.

[0149] In one embodiment, the location point determination module 430 includes the following units:

[0150] The movement distance determination unit is used to determine the movement distance between the current feature point and the current position point based on the current feature point and the current position point.

[0151] The target location point determination unit is used to determine the target location point of the working robot based on the travel distance.

[0152] In one embodiment, the robot repositioning device further includes the following modules:

[0153] The count recording unit is used to record the number of times a match is determined to be a mismatch if the current feature point does not match the operation map.

[0154] Specific limitations regarding the robot repositioning device can be found in the limitations of the robot repositioning method described above, and will not be repeated here. Each module in the aforementioned robot repositioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the electronic device, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0155] In one embodiment, an electronic device is provided, the internal structure of which can be shown as follows: Figure 5 As shown, the electronic device includes a processor, memory, and a communication interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external control devices; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for repositioning a work robot.

[0156] In one embodiment, the electronic device further includes a display screen and an input device. The display screen may be a liquid crystal display screen or an e-ink display screen, and the input device may be a touch layer covering the display screen, or buttons, a trackball, or a touchpad mounted on the casing of the electronic device.

[0157] Those skilled in the art will understand that Figure 5The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0158] In one embodiment, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described robot relocation method.

[0159] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described robot relocation method.

[0160] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0161] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0162] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for repositioning a work robot, characterized in that, The method includes: If a robot relocation is detected, the current environmental information is obtained, which is the environmental information of the current location of the robot. Determine whether the current environmental information includes a charging pile signal. If the current environmental information does not include a charging pile signal, determine the diagonal position point in the current environmental information, control the robot to move to the diagonal position point, and use the diagonal position point as the new current position point. If there is an obstacle during the movement of the robot to the diagonal position point, control the robot to move to the other side of the obstacle, and use the other side of the obstacle as the new current position point. Returning to the step of obtaining current environmental information, if the current environmental information corresponding to the new current location point contains a charging pile signal, then it is determined that the current environmental information contains a charging pile signal; otherwise, it is determined that the current environmental information does not contain a charging pile signal. If the current environment information does not contain charging pile signals, then extract the current feature points from the current environment information and match the current feature points with the operation map of the operation robot; If the current feature point does not match the work map, the target location point of the work robot is determined based on the current location point and the current feature point; The robot is controlled to move to the target location, which is then used as the current location. The process returns to the step of obtaining the current environmental information until the current feature point matches the operation map. Based on the current location and the matched current feature point, the robot's positioning is determined.

2. The robot repositioning method according to claim 1, characterized in that, The method further includes: If the current environment information includes a charging pile signal, the location of the operating robot is determined based on the charging pile signal.

3. The robot repositioning method according to claim 1, characterized in that, The matching of the current feature point with the operation map of the robot includes: Determine the pre-repositioning work area where the robot was located before repositioning; Based on the work map, determine the regional feature points of the work area before relocation; Match the current feature point with the region feature points; If the current feature point matches the regional feature point, then the current feature point is determined to match the operational area in the operational map.

4. The robot repositioning method according to claim 3, characterized in that, The matching of the current feature point with the operation map of the robot further includes: If the current feature point does not match the regional feature point, then other regional feature points of other work areas in the work map are determined. The other work areas are work areas in the work map other than the work area before relocation. Match the current feature point with the feature points in other regions; If the current feature point matches the feature points in other areas, then the current feature point is determined to match the other work areas in the work map; If the current feature point does not match the feature points in other areas, then it is determined that the current feature point does not match the operation map.

5. The robot repositioning method according to claim 1, characterized in that, Determining the target location of the robot based on the current location point and the current feature point includes: Based on the current feature point and the current position point, determine the movement distance between the current feature point and the current position point; Based on the travel distance, the target location of the working robot is determined.

6. The robot repositioning method according to claim 5, characterized in that, The current feature points include two or more, and determining the target location point of the robot based on the moving distance includes: Determine the minimum movement distance among the movement distances corresponding to each current feature point, and determine the current feature point corresponding to the minimum movement distance as the target position point of the robot.

7. The robot repositioning method according to claim 1, characterized in that, After the current feature point does not match the work map, and before determining the target location point of the work robot based on the current location point and the current feature point, the method further includes: If the current feature point does not match the operation map, the determination result is recorded as the number of times the match is not matched; If the number of matching attempts is less than the preset number, then proceed to the step of determining the target location of the robot based on the current location point and the current feature point; If the number of matching attempts is greater than or equal to the preset number of attempts, then the robot repositioning is determined to have failed.

8. The robot repositioning method according to claim 7, characterized in that, After determining that the robot repositioning has failed, the method further includes: Reconstruct the operation map of the robot.

9. A repositioning device for a work robot, characterized in that, The device includes: The information acquisition module is used to acquire the current environmental information if the robot repositioning is detected. The current environmental information is the environmental information of the current location of the robot. The charging pile signal determination module is used to determine whether the current environmental information contains a charging pile signal. If the current environmental information does not contain a charging pile signal, it determines a diagonal position point in the current environmental information, controls the working robot to move to the diagonal position point, and uses the diagonal position point as the new current position point. If there is an obstacle during the movement of the working robot to the diagonal position point, it controls the working robot to move to the other side of the obstacle and uses the other side of the obstacle as the new current position point. If the current environmental information corresponding to the new current position point contains a charging pile signal, it is determined that the current environmental information contains a charging pile signal; otherwise, it is determined that the current environmental information does not contain a charging pile signal. The feature point matching module is used to extract the current feature point in the current environment information if the current environment information does not contain the charging pile signal, and match the current feature point with the operation map of the operation robot. The location point determination module is used to determine the target location point of the work robot based on the current location point and the current feature point if the current feature point does not match the work map. A mobile control module is used to control the robot to move to the target location point and use the target location point as the current location point. The positioning determination module is used to determine the positioning of the work robot if the current feature point matches the work map, based on the current location point and the matched current feature point.

10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the robot relocation method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the robot relocation method according to any one of claims 1 to 8.

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