Mobile robot positioning method, device, storage medium and electronic equipment

Abstract

The present disclosure relates to a positioning method, device, storage medium and electronic device for a mobile robot. The positioning method for a mobile robot comprises: in the process of the mobile robot moving according to a preset environment semantic map, determining that the mobile robot travels to a target location area, the target location area being a location area marked with lost positioning feature data in the environment semantic map; determining a positioning strategy corresponding to the target location area; and positioning the target location area according to the positioning strategy. Through the present disclosure, the stability and robustness of the movement of the mobile robot can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular, to a positioning method, device, storage medium and electronic device for a mobile robot. Background Art

[0002] With the development of intelligent automation technology, robots with different functions have been developed to perform different tasks, such as food delivery, guidance, patrolling, etc. When the robot performs tasks, it is necessary to perform real-time positioning of the mobile robot in the environment it is in. When the robot is running in the actual environment, the positioning effect in some areas is poor, and the robot is prone to positioning loss in these areas, resulting in the robot being unable to navigate correctly, for example, the robot is spinning around or getting stuck in a certain position.

[0003] Therefore, in the process of the robot performing a real-time mobile robot positioning method in the environment in which it is located, how to improve the stability and robustness of the robot's passage is a problem that urgently needs to be solved. Summary of the invention

[0004] The purpose of the present disclosure is to provide a positioning method, device, storage medium and electronic device for a mobile robot.

[0005] In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, a positioning method for a mobile robot is provided, the method comprising:

[0006] In the process of the mobile robot moving according to the preset environment semantic map, determining that the mobile robot travels to a target location area, the target location area being a location area marked with lost positioning feature data in the environment semantic map;

[0007] Determining a positioning strategy corresponding to the target location area;

[0008] The target location area is located according to the positioning strategy.

[0009] Optionally, determining that the mobile robot travels to a target location area includes:

[0010] Acquire current spatial positioning data characterizing the current spatial positioning of the mobile robot, wherein the current spatial positioning data includes feature data of the current spatial positioning and coordinate data of the current spatial positioning;

[0011] Matching the current spatial positioning data with the environmental semantic map to obtain a matching location area;

[0012] When it is determined that the matching position area includes the lost positioning feature data, the matching position area is used as the target position area.

[0013] Optionally, the determining a positioning strategy corresponding to the target location area includes:

[0014] Determining a cause of lost positioning according to the lost positioning feature data, wherein the cause of lost positioning is data indicating that the environmental feature data included in the location area is less than a preset number threshold; or the cause of lost positioning is data indicating that the probability of slippage in the location area is greater than a preset probability threshold;

[0015] The positioning strategy is determined according to the reason for the lost positioning.

[0016] Optionally, determining the positioning strategy according to the reason for lost positioning includes:

[0017] Obtaining the current positioning confidence of the mobile robot;

[0018] If the reason for lost positioning is that the corresponding location area contains less environmental feature data than a preset threshold value, and the current positioning confidence is based on spatial positioning data, it is determined to locate the target location area based on the current odometer data of the mobile robot.

[0019] Optionally, determining the positioning strategy according to the reason for lost positioning includes:

[0020] Obtaining the current positioning confidence of the mobile robot;

[0021] If the reason for losing positioning is data indicating that the probability of slipping in the corresponding position area is greater than a preset probability threshold, and the current positioning confidence is based on positioning according to odometer data, determine to locate the target position area based on the current spatial positioning data, wherein the current spatial positioning data is determined by data collected by sensors included in the mobile robot.

[0022] Optionally, the method further comprises:

[0023] After determining that the mobile robot has passed through the target location area, the mobile robot is repositioned according to a positioning method corresponding to the current positioning confidence.

[0024] According to a second aspect of an embodiment of the present disclosure, a positioning device for a mobile robot is provided, the device comprising:

[0025] A first determination module is used to determine that the mobile robot travels to a target location area during the process of the mobile robot moving according to a preset environment semantic map, and the target location area is a location area marked with lost positioning feature data in the environment semantic map;

[0026] A second determination module, used to determine a positioning strategy corresponding to the target location area;

[0027] A positioning module is used to locate the target location area according to the positioning strategy.

[0028] Optionally, the first determining module determines that the mobile robot travels to the target location area in the following manner:

[0029] Acquire current spatial positioning data characterizing the current spatial positioning of the mobile robot, wherein the current spatial positioning data includes feature data of the current spatial positioning and coordinate data of the current spatial positioning;

[0030] Matching the current spatial positioning data with the environmental semantic map to obtain a matching location area;

[0031] When it is determined that the matching position area includes the lost positioning feature data, the matching position area is used as the target position area.

[0032] Optionally, the second determining module determines the positioning strategy corresponding to the target location area in the following manner:

[0033] Determining a cause of lost positioning according to the lost positioning feature data, wherein the cause of lost positioning is data indicating that the environmental feature data included in the location area is less than a preset number threshold; or the cause of lost positioning is data indicating that the probability of slippage in the location area is greater than a preset probability threshold;

[0034] The positioning strategy is determined according to the reason for the lost positioning.

[0035] Optionally, the second determining module determines the positioning strategy according to the reason for lost positioning in the following manner:

[0036] Obtaining the current positioning confidence of the mobile robot;

[0037] If the reason for lost positioning is that the corresponding location area contains less environmental feature data than a preset threshold value, and the current positioning confidence is based on spatial positioning data, it is determined to locate the target location area based on the current odometer data of the mobile robot.

[0038] Optionally, the second determining module determines the positioning strategy according to the reason for lost positioning in the following manner:

[0039] Obtaining the current positioning confidence of the mobile robot;

[0040] If the reason for losing positioning is data indicating that the probability of slipping in the corresponding position area is greater than a preset probability threshold, and the current positioning confidence is based on positioning according to odometer data, determine to locate the target position area based on the current spatial positioning data, wherein the current spatial positioning data is determined by data collected by sensors included in the mobile robot.

[0041] Optionally, the positioning module is further used for:

[0042] After determining that the mobile robot has passed through the target location area, the mobile robot is repositioned according to a positioning method corresponding to the current positioning confidence.

[0043] According to a third aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods described in the first aspect of the present disclosure are implemented.

[0044] According to a fourth aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0045] a memory having a computer program stored thereon;

[0046] A processor is used to execute the computer program in the memory to implement the steps of any one of the methods described in the first aspect of the present disclosure.

[0047] Through the above technical solution, in the process of the mobile robot moving according to the preset environment semantic map, it is determined that the mobile robot travels to the target location area, and the target location area is the location area marked with lost positioning feature data in the environment semantic map. Then, according to the determined target location area, a positioning strategy corresponding to the target location area is determined, and then according to the positioning strategy corresponding to the target location area, the target location area is positioned, thereby improving the stability and robustness of the mobile robot's movement.

[0048] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0050] Figure 1 The present invention is a flow chart of a method for positioning a mobile robot according to an exemplary embodiment.

[0051] Figure 2The figure is a block diagram of a positioning device for a mobile robot according to an exemplary embodiment.

[0052] Figure 3 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0053] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0054] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0055] Figure 1 is a flow chart of a positioning method for a mobile robot according to an exemplary embodiment. Figure 1 As shown, the positioning method of the mobile robot includes the following steps.

[0056] In step S101, during the process of the mobile robot moving according to the preset environment semantic map, it is determined that the mobile robot travels to the target location area.

[0057] Among them, the mobile robots involved in the present disclosure may be sweeping robots, window cleaning robots, garbage transport robots, restaurant food delivery robots, etc.

[0058] The target location area may be a location area marked with lost positioning feature data in the environment semantic map.

[0059] The above-mentioned environment semantic map may be pre-built and can describe the target objects included in the three-dimensional space, as well as the spatial position and semantic attributes of the target objects, and the semantic attributes include but are not limited to the size, shape, category, color, etc. of the target objects. For example, a room environment can be described by a three-dimensional semantic map, in which the target objects may include floors, walls, doors, windows, beds, and lights, and the semantic attributes of the target objects may include information such as size, material, color, etc. The three-dimensional semantic map also describes the spatial position information of each of the above-mentioned target objects in the room environment.

[0060] Furthermore, the environment semantic map can be pre-set or constructed by robot scanning. For example, the task environment can be scanned by a tool and manually marked to form an environment semantic map, and the environment semantic map can be pre-set. For another example, the task environment can be scanned by controlling a mobile robot and automatically marked to form an environment semantic map.

[0061] Since the service scenarios of mobile robots are currently different, mobile robots are prone to losing their positioning while driving.

[0062] For example, there is relatively little feature data in the environment in which the mobile robot is traveling, so that the environmental data collected by the sensors included in the mobile robot is relatively small. When matching the environmental semantic map and the spatial positioning data determined in real time by the mobile robot during its movement, the matching degree between the environmental semantic map and the spatial positioning data determined in real time is affected, thereby affecting the synchronous positioning and map construction of the mobile robot.

[0063] For another example, the environment in which the mobile robot travels includes a slip-prone location area, so when the mobile robot determines the travel distance of the mobile robot based on the odometer data, the accurate positioning of the mobile robot cannot be accurately inferred based on the odometer data.

[0064] Therefore, in the present disclosure, the target location area with lost positioning feature data can be marked in advance in the environment semantic map. When the mobile robot travels to the target location area, the positioning strategy corresponding to the target location area can be determined according to the possible reasons for the loss of positioning caused by the target location area. Then, according to the positioning strategy corresponding to the target location area, the target location area is positioned, thereby improving the stability and robustness of the movement of the mobile robot.

[0065] In one implementation, for example, it may be determined that the mobile robot has traveled to the target location area in the following manner:

[0066] Acquire current spatial positioning data representing the current spatial positioning of the mobile robot, the current spatial positioning data including feature data of the current spatial positioning and coordinate data of the current spatial positioning; match the current spatial positioning with the environment semantic map to obtain a matching position area; when it is determined that the matching position area includes lost positioning feature data, use the matching position area as the target position area.

[0067] In step S102, a positioning strategy corresponding to the target location area is determined.

[0068] In one implementation, for example, the positioning strategy corresponding to the target location area may be determined in the following manner:

[0069] The reason for lost positioning is determined based on the lost positioning feature data, wherein the reason for lost positioning is data indicating that the environmental feature data contained in the location area is less than a preset quantity threshold; or the reason for lost positioning is data indicating that the probability of slipping in the location area is greater than a preset probability threshold. The positioning strategy is determined based on the reason for lost positioning.

[0070] According to the reason for the lost positioning, the positioning strategy can be determined, for example, in the following ways:

[0071] Obtain the current positioning confidence of the mobile robot. If the reason for lost positioning is that the environmental feature data contained in the corresponding location area is less than the preset number threshold data, and the current positioning confidence is positioned according to the spatial positioning data, determine to locate the target location area according to the current odometer data of the mobile robot.

[0072] For example, after the cleaning robot moves to a white wall, since the white wall has very few feature richness, only white, it is impossible to locate the current moving position of the cleaning robot. Then, according to the current white wall where the cleaning robot is located, the reason for the loss of positioning is obtained, indicating that the environmental feature data contained in the current position area of ​​the white wall is less than the preset number threshold.

[0073] After obtaining the reason for lost positioning (indicating that the environmental feature data contained in the current location area of ​​the white wall is less than the preset number threshold), the current positioning confidence of the mobile robot can be obtained. If the current positioning confidence is based on the spatial positioning data, it is determined to locate the target location area based on the current odometer data of the mobile robot.

[0074] Alternatively, the current positioning reliability of the mobile robot is obtained. If the reason for the loss of positioning is data indicating that the probability of slipping in the corresponding position area is greater than a preset probability threshold, and the current positioning reliability is based on odometer data for positioning, it is determined to locate the target position area based on the current spatial positioning data.

[0075] The current spatial positioning data is determined by collecting data from sensors included in the mobile robot.

[0076] For example, a cleaning robot drives to a cleaning area. Since the ground in this area is slippery, the cleaning robot is prone to slipping when driving in this area. Therefore, according to the cleaning area where the cleaning robot is located, a reason for lost positioning is obtained, indicating that the probability of slipping in the current cleaning area is greater than a preset probability threshold.

[0077] After obtaining the reason for lost positioning (the reason for lost positioning indicating that the probability of slipping in the current cleaning area is greater than the preset probability threshold), the current positioning confidence of the mobile robot can be obtained. If the current positioning confidence is based on odometer data, it is determined to locate the target location area based on the current spatial positioning data.

[0078] The current spatial positioning data is determined by collecting data from sensors included in the mobile robot. For example, after the sensors included in the mobile robot collect data, the collected data is subjected to feature extraction through laser SLAM and VSLAM algorithms to obtain multiple spatial positioning data representing the current spatial positioning.

[0079] In step S103, the target location area is located according to the positioning strategy.

[0080] In addition, after it is determined that the mobile robot has passed through the target location area, the mobile robot may be repositioned according to a positioning method corresponding to the current positioning confidence.

[0081] In an exemplary embodiment of the present disclosure, during the movement of the mobile robot according to the preset environment semantic map, it is determined that the mobile robot travels to a target location area, which is a location area marked with lost positioning feature data in the environment semantic map. Then, according to the determined target location area, a positioning strategy corresponding to the target location area is determined, and then the target location area is positioned according to the positioning strategy corresponding to the target location area, thereby improving the stability and robustness of the movement of the mobile robot.

[0082] Figure 2 FIG. 2 is a block diagram of a positioning device 200 for a mobile robot according to an exemplary embodiment. Figure 2 , a positioning device for a mobile robot, comprising:

[0083] A first determination module 201 is used to determine that the mobile robot travels to a target location area during the process of the mobile robot moving according to a preset environment semantic map, and the target location area is a location area marked with lost positioning feature data in the environment semantic map;

[0084] A second determination module 202, configured to determine a positioning strategy corresponding to the target location area;

[0085] The positioning module 203 is used to locate the target location area according to the positioning strategy.

[0086] Optionally, the first determining module 201 determines that the mobile robot travels to the target location area in the following manner:

[0087] Acquire current spatial positioning data characterizing the current spatial positioning of the mobile robot, wherein the current spatial positioning data includes feature data of the current spatial positioning and coordinate data of the current spatial positioning;

[0088] Matching the current spatial positioning data with the environmental semantic map to obtain a matching location area;

[0089] When it is determined that the matching position area includes the lost positioning feature data, the matching position area is used as the target position area.

[0090] Optionally, the second determining module 202 determines the positioning strategy corresponding to the target location area in the following manner:

[0091] Determining a cause of lost positioning according to the lost positioning feature data, wherein the cause of lost positioning is data indicating that the environmental feature data included in the location area is less than a preset number threshold; or the cause of lost positioning is data indicating that the probability of slippage in the location area is greater than a preset probability threshold;

[0092] The positioning strategy is determined according to the reason for the lost positioning.

[0093] Optionally, the second determining module 202 determines the positioning strategy according to the lost positioning reason in the following manner:

[0094] Obtaining the current positioning confidence of the mobile robot;

[0095] If the reason for lost positioning is that the corresponding location area contains less environmental feature data than a preset threshold value, and the current positioning confidence is based on spatial positioning data, it is determined to locate the target location area based on the current odometer data of the mobile robot.

[0096] Optionally, the second determining module 202 determines the positioning strategy according to the lost positioning reason in the following manner:

[0097] Obtaining the current positioning confidence of the mobile robot;

[0098] If the reason for losing positioning is data indicating that the probability of slipping in the corresponding position area is greater than a preset probability threshold, and the current positioning confidence is based on positioning according to odometer data, determine to locate the target position area based on the current spatial positioning data, wherein the current spatial positioning data is determined by data collected by sensors included in the mobile robot.

[0099] Optionally, the positioning module 203 is further used for:

[0100] After determining that the mobile robot has passed through the target location area, the mobile robot is repositioned according to a positioning method corresponding to the current positioning confidence.

[0101] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0102] Figure 3 FIG. 7 is a block diagram of an electronic device 700 according to an exemplary embodiment. Figure 3As shown, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0103] The processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned positioning method of the mobile robot. The memory 702 is used to store various types of data to support the operation of the electronic device 700, and these data may include, for example, instructions for any application or method used to operate on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or sent through the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0104] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned mobile robot positioning method.

[0105] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned mobile robot positioning method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned mobile robot positioning method.

[0106] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0107] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0108] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A positioning method for a mobile robot, the method comprising: In the process of the mobile robot moving according to the preset environment semantic map, determining that the mobile robot travels to a target location area, the target location area being a location area marked with lost positioning feature data in the environment semantic map; Determining a positioning strategy corresponding to the target location area; According to the positioning strategy, positioning the target location area; Wherein, the determining of the positioning strategy corresponding to the target location area includes: Determining a cause of lost positioning according to the lost positioning feature data, wherein the cause of lost positioning is data indicating that the environmental feature data included in the location area is less than a preset number threshold; or the cause of lost positioning is data indicating that the probability of slippage in the location area is greater than a preset probability threshold; The positioning strategy is determined according to the reason for the lost positioning.

2. The method according to claim 1, characterized in that The step of determining that the mobile robot travels to a target location area includes: Acquire current spatial positioning data characterizing the current spatial positioning of the mobile robot, wherein the current spatial positioning data includes feature data of the current spatial positioning and coordinate data of the current spatial positioning; Matching the current spatial positioning data with the environmental semantic map to obtain a matching location area; When it is determined that the matching position area includes the lost positioning feature data, the matching position area is used as the target position area.

3. The method according to claim 1, characterized in that The determining the positioning strategy according to the reason for the lost positioning includes: Obtaining the current positioning confidence of the mobile robot; If the reason for lost positioning is that the corresponding location area contains less environmental feature data than a preset threshold value, and the current positioning confidence is based on spatial positioning data, it is determined to locate the target location area based on the current odometer data of the mobile robot.

4. The method according to claim 1, characterized in that: The determining the positioning strategy according to the reason for the lost positioning includes: Obtaining the current positioning confidence of the mobile robot; If the reason for losing positioning is data indicating that the probability of slipping in the corresponding position area is greater than a preset probability threshold, and the current positioning confidence is based on positioning according to odometer data, determine to locate the target position area based on the current spatial positioning data, wherein the current spatial positioning data is determined by data collected by sensors included in the mobile robot.

5. The method according to claim 3 or 4, characterized in that: The method further comprises: After determining that the mobile robot has passed through the target location area, the mobile robot is repositioned according to a positioning method corresponding to the current positioning confidence.

6. A positioning device for a mobile robot, the device comprising: A first determination module is used to determine that the mobile robot travels to a target location area during the process of the mobile robot moving according to a preset environment semantic map, and the target location area is a location area marked with lost positioning feature data in the environment semantic map; A second determination module, used to determine a positioning strategy corresponding to the target location area; A positioning module, used to locate the target location area according to the positioning strategy; The second determination module determines the positioning strategy corresponding to the target location area in the following manner: Determining a cause of lost positioning according to the lost positioning feature data, wherein the cause of lost positioning is data indicating that the environmental feature data included in the location area is less than a preset number threshold; or the cause of lost positioning is data indicating that the probability of slippage in the location area is greater than a preset probability threshold; The positioning strategy is determined according to the reason for the lost positioning.

7. The device according to claim 6, characterized in that The first determination module determines that the mobile robot travels to the target location area in the following manner: Acquire current spatial positioning data characterizing the current spatial positioning of the mobile robot, wherein the current spatial positioning data includes feature data of the current spatial positioning and coordinate data of the current spatial positioning; Matching the current spatial positioning data with the environmental semantic map to obtain a matching location area; When it is determined that the matching position area includes the lost positioning feature data, the matching position area is used as the target position area.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 5 are implemented.

9. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 5.

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