Navigation methods, devices, readable storage media, and robots

Abstract

This invention provides a navigation method, apparatus, readable storage medium, and robot, belonging to the field of robotics technology. The navigation method, executed by the robot, includes: acquiring the robot's first pose information; determining a target relay point in the overlapping area of ​​the first and second sub-region maps, provided that the first pose information is located within a first sub-region map and the robot's target navigation point is located within a second sub-region map; determining the robot's second pose information at the target relay point; and controlling the robot to move to the target navigation point based on the second pose information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a navigation method, device, readable storage medium and robot. BACKGROUND

[0002] In the related art, robots solve the navigation and route-finding needs of robots moving in unknown environments through Simultaneous Localization and Mapping (SLAM).

[0003] However, due to the computing power and memory size of the embedded devices of robots, the size of the map constructed by the robots is limited. If the scene in which the robot operates is large, the overall map needs to be partitioned, a regional map is established, and the map of a specific region is loaded according to the real-time region in which the robot is located.

[0004] When the robot crosses the map to work, after the robot enters a new map region, the robot needs to be repositioned, which is generally manually calibrated by a person. The manual calibration of the robot's pose is labor-intensive and inefficient. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a navigation method, device, readable storage medium and robot, which can solve the problem of labor-intensive manual calibration of the robot's pose when the robot crosses the map to work.

[0006] To this end, a first aspect of the present application provides a navigation method.

[0007] A second aspect of the present application provides a navigation device.

[0008] A third aspect of the present application provides a navigation device.

[0009] A fourth aspect of the present application provides a readable storage medium.

[0010] A fifth aspect of the present application provides a computer program product.

[0011] A sixth aspect of the present application provides a robot.

[0012] Therefore, the first aspect of the present application provides a navigation method performed by a robot, the navigation method comprising: obtaining first pose information of the robot; in a case where the first pose information is located in a first sub-region map and a target navigation point of the robot is located in a second sub-region map, determining a target relay point in an overlapping region of the first sub-region map and the second sub-region map; determining second pose information of the robot at the target relay point; and controlling the robot to move to the target navigation point according to the second pose information.

[0013] In the technical solution, the navigation method is applied to automatic walking of the robot, and when the robot performs a moving operation, the robot plans a navigation path according to current self position information, a region map of a current region and target pose information of a target navigation point, and performs the moving operation according to the navigation path.

[0014] However, due to the operation capability and memory size of the embedded system of the robot, the robot loads a sub-region map established in a partition, and therefore when the robot walks a long distance, the robot may face a problem of switching maps. Figure One The positioning of the robot is based on the currently loaded sub-region map, and therefore when the robot performs a cross-map operation, that is, switches the loaded map during movement, the robot needs to perform repositioning, that is, determine the pose information of the robot in the new map, which generally needs to be manually calibrated by a worker, resulting in high labor cost and low automatic working efficiency of the robot.

[0015] In view of the above, in the establishment of a partition map, the present embodiment keeps a partially overlapped region between adjacent sub-region maps, and taking a first sub-region map and a second sub-region map as an example, there is at least a partially overlapped region between the first sub-region map and the second sub-region map, which is denoted as an overlapped region.

[0016] When the robot needs to move from a working region of the first sub-region map to a working region of the second sub-region map, assuming that the pose information of the robot in the first sub-region map is first pose information, the robot first determines a target relay point in the overlapped region of the first sub-region map and the second sub-region map, which can be randomly selected, and the coordinates of the target relay point fall into the overlapped region of the first sub-region map and the second sub-region map.

[0017] It can be understood that the target relay point is a point that the robot can move to, that is, the robot can move from the current point to the target relay point. Exemplarily, a navigation path can be planned according to the first pose information of the current robot and the coordinate information of the target relay point, and the robot is controlled to walk to the target relay point through the navigation path.

[0018] After obtaining the target relay point, the pose information of the robot after moving to the target relay point, that is, second pose information, is further determined. Specifically, since the target relay point is in the overlapped region of the first sub-region map and the second sub-region map, the target relay point is in both the first sub-region map and the second sub-region map.

[0019] Therefore, according to the mapping relationship between the first sub-region map and the second sub-region map, the point position in the overlapping region between the two is created when the first sub-region map and the second sub-region map are established, assuming that the target relay point P is the point P1 (x1, y1, theta1) in the first sub-region map and the point P2 (x2, y2, theta2) in the second sub-region map, the mapping relationship between P1 and P2 can be established, when the robot moves to P1 by loading the first sub-region map, the second sub-region map is switched to be loaded, and the pose P2 of the robot in the second sub-region map can be determined according to the mapping relationship between P1 and P2, so that manual positioning is not needed after the map is switched.

[0020] After obtaining the second pose information of the robot at the target relay point, that is, the pose information in the second sub-region map, the navigation path for guiding the robot to the target navigation point can be planned in the second sub-region map according to the second pose information and the coordinates of the target navigation point of the robot, so as to control the robot to move across the maps to the target point.

[0021] The embodiment of the present application selects the target relay point in the overlapping region of adjacent sub-region maps, and maps and switches the pose information of the robot in the current map to the pose information in the map to be switched through the target relay point, so that automatic positioning is realized when the robot moves across the maps, manual input of the pose information after the map is switched is not needed, the artificial cost is saved, and the efficiency of the robot working across the maps is improved.

[0022] In addition, the navigation method in the above technical solution provided by the present application can also have the following additional technical features:

[0023] In the above technical solution, before obtaining the first pose information of the robot, the navigation method further comprises:

[0024] Obtaining a region map of a region where the robot is located;

[0025] Dividing the region map to obtain a plurality of sub-region maps, the plurality of sub-region maps including a first sub-region map and a second sub-region map, and at least part of regions of any two adjacent sub-region maps in the plurality of sub-region maps overlap.

[0026] In the technical solution, the region map is the overall map of the working region of the robot, which can be obtained by mapping of the robot or can be a pre-generated region map, and the embodiment of the present application does not limit this.

[0027] After obtaining the region map, the region map is divided, wherein the size of the divided sub-region map can be determined according to the computing capacity and the memory size of the robot, and the region map is divided to ensure that each sub-region map obtained after division matches the computing capacity and the memory size of the robot.

[0028] When the plurality of sub-region maps are divided, at least part of the map region overlaps between each two adjacent sub-region maps, and the overlapping map region is the overlapping region of the two adjacent sub-region maps.

[0029] When the robot moves across the map, the robot first moves to the overlapping region of the currently loaded sub-region map and the sub-region map to be switched according to the currently loaded sub-region map, and converts the pose information of the robot in the first sub-region map to the pose information in the second sub-region map according to the mapping relationship of the target relay point in the overlapping region between the two sub-region maps, and then automatically completes the positioning in the switched second sub-region map.

[0030] The embodiments of the present application keep the overlapping region between adjacent sub-region maps when establishing the sub-region map, and select the target relay point in the overlapping region when the robot needs to move across the map, and map and switch the pose information of the robot in the current map to the pose information in the map to be switched through the target relay point, thereby realizing automatic positioning when the robot moves across the map and improving the efficiency of the robot working across the map.

[0031] In any of the above technical solutions, determining the second pose information of the robot at the target relay point comprises: determining first navigation information according to the first pose information and the coordinates of the target relay point; controlling the robot to move to the target relay point according to the first navigation information; and obtaining the second pose information.

[0032] In this technical solution, after the target relay point is determined in the overlapping region of the first sub-region map and the second sub-region map, the first navigation information is planned based on the current first pose information of the robot in the first sub-region map and the coordinates of the determined target relay point, and the first navigation information includes the navigation path from the current position of the robot to the position of the target relay point.

[0033] After the robot moves to the target relay point according to the first navigation information, the pose information of the robot at the target relay point is determined based on the positioning of the robot in the first sub-region map, and the second pose information of the robot at the target relay point is determined based on the mapping relationship between the position information of the target relay point in the first sub-region map and the position information in the second sub-region, and the second pose information is also the positioning information of the robot in the second sub-region map.

[0034] The embodiment of the present application realizes automatic positioning of the robot when the robot moves across the maps by mapping the pose information of the robot at the target relay point in the first sub-region map where the robot is currently located to the second pose information at the same target relay point in the second sub-region map to be switched, thereby improving the efficiency of the robot working across the maps.

[0035] In any of the above technical solutions, the method further comprises: determining the second navigation information according to the second pose information and the coordinates of the target navigation point.

[0036] In this technical solution, after obtaining the second pose information, which is the positioning information of the robot in the second sub-region map, the corresponding navigation path is planned according to the second pose information and the coordinates of the target navigation point, and the second navigation information is obtained, which includes the navigation path from the current position of the robot (i.e., the target relay point) to the position of the target navigation point.

[0037] The robot moves to the target navigation point according to the guidance of the second navigation information, thereby completing the cross-map moving task of the robot.

[0038] The embodiment of the present application realizes automatic positioning of the robot when the robot moves across the maps by mapping the pose information of the robot at the target relay point in the first sub-region map where the robot is currently located to the second pose information at the same target relay point in the second sub-region map to be switched, thereby improving the efficiency of the robot working across the maps.

[0039] In any of the above technical solutions, the method further comprises: determining the second navigation information according to the second pose information and the coordinates of the target navigation point.

[0040] In this technical solution, when the robot receives the cross-map working task, the cross-map working task includes coordinate data of the target navigation point for indicating the robot. Therefore, after the robot moves to the position of the target relay point, the coordinates of the target navigation point in the second sub-region map are determined, and the navigation path based on the second sub-region map, i.e., the second navigation information, is planned according to the second pose information of the robot at the target relay point and the coordinates of the target navigation point in the second sub-region map, and the robot is controlled to move to the target navigation point according to the second navigation information.

[0041] The embodiment of the application divides the robot cross-map navigation path into a navigation path in the first sub-region map currently loaded and a navigation path in the second sub-region map after crossing the map, without manual pose calibration in the process, thereby improving the efficiency of the robot cross-map operation.

[0042] In any of the above technical solutions, the first pose information of the robot is obtained by: controlling the robot to load the first sub-region map; and determining the first pose information according to the positioning information of the robot and the first sub-region map.

[0043] In this technical solution, the first pose information is the pose information of the robot in the first sub-region map, which is determined according to the positioning information of the robot in the first sub-region map when the robot loads the first sub-region map, specifically according to the coordinate information and the orientation information.

[0044] According to the first pose information of the robot in the first sub-region map and the coordinate information of the target relay point in the first sub-region map, the robot is controlled to move to the target relay point, and further based on the second sub-region map, the robot is controlled to move from the target relay point to the target navigation point, thereby realizing efficient cross-map operation.

[0045] In any of the above technical solutions, the second pose information is obtained by: controlling the robot to load the second sub-region map; and determining the second pose information according to the positioning information of the robot and the second sub-region map.

[0046] In this technical solution, the second pose information is the pose information of the robot in the second sub-region map, which is determined according to the position information of the robot at the target relay point and the pose information in the first sub-region map after the robot loads the second sub-region map, specifically including the coordinate information and the orientation information of the robot in the second sub-region map.

[0047] According to the second pose information of the robot in the second sub-region map and the coordinate information of the target navigation point in the second sub-region map, the robot is controlled to move to the target navigation point, thereby realizing efficient cross-map operation.

[0048] In any of the above technical solutions, the first pose information and the second pose information both include: the sub-region map loaded by the robot, the coordinate information of the robot, and the orientation information of the robot.

[0049] In this technical solution, the pose information of the robot specifically includes the first pose information and the second pose information, the pose information includes the information of the sub-region map currently loaded by the robot, the coordinate information of the robot in the current sub-region map, and the orientation information of the robot.

[0050] For example, the format of the robot's pose information can be set as: (map A, x1, y1, theta1), where map A is the identifier of the sub-region map currently loaded by the robot, x1 and y1 are the coordinate information of the robot's location, and theta1 is the robot's current orientation information.

[0051] A second aspect of the present invention provides a navigation device for a robot, the navigation device comprising:

[0052] The acquisition module is used to acquire the robot's first pose information;

[0053] The determination module is used for:

[0054] If the first pose information is located within the first sub-region map and the robot's target navigation point is located within the second sub-region map, determine the target relay point in the overlapping area of ​​the first and second sub-region maps; determine the robot's second pose information at the target relay point.

[0055] The control module is used to control the robot to move to the target navigation point based on the second pose information.

[0056] In this technical solution, the navigation method is applied to the robot's automatic movement. When the robot performs a moving operation, it plans a navigation path based on its current position information, the area map of the current area, and the target pose information of the target navigation point, and performs the moving operation according to the navigation path.

[0057] However, due to limitations in the computing power and memory size of the robot's embedded system, the robot's loading... Figure One Typically, sub-region maps are created by partitioning the map. Therefore, when a robot travels a long distance, it may face the problem of switching maps. Since the robot's localization is based on the currently loaded sub-region map, when the robot performs cross-map operations, that is, when the loaded map is switched during movement, it is necessary to re-localize on the newly loaded map, that is, to determine the robot's pose information in the new map. This process usually requires manual pose calibration by staff, resulting in high labor costs and low efficiency of automated robot operation.

[0058] In view of the above situation, when establishing the partition map, the embodiments of this application retain some overlapping areas between adjacent sub-region maps. Taking the first sub-region map and the second sub-region map as an example, there is at least a partially overlapping area between the first sub-region map and the second sub-region map, which is denoted as the overlapping area.

[0059] When the robot needs to move across maps from the working area of the first sub-region map to the working area of the second sub-region map, assuming that the current pose information of the robot in the first sub-region map is first pose information, the robot first determines a target relay point in the overlapping area of the first sub-region map and the second sub-region map, which can be randomly selected, and the coordinates of the target relay point fall within the overlapping area of the first sub-region map and the second sub-region map.

[0060] It can be understood that the target relay point is a point to which the robot can move, that is, the robot can move from the current point to the target relay point. For example, a navigation path can be planned according to the first pose information of the current robot and the coordinate information of the target relay point, and the robot is controlled to walk to the target relay point through the navigation path.

[0061] After obtaining the target relay point, the pose information of the robot after moving to the target relay point, that is, the second pose information, is further determined. Specifically, since the target relay point is in the overlapping area of the first sub-region map and the second sub-region map, the target relay point is in both the first sub-region map and the second sub-region map.

[0062] Therefore, according to the mapping relationship of the points in the overlapping area between the first sub-region map and the second sub-region map when the first sub-region map and the second sub-region map are established, assuming that the target relay point P is point P1 (x1, y1, theta1) in the first sub-region map and point P2 (x2, y2, theta2) in the second sub-region map, the mapping relationship between P1 and P2 can be established, when the robot moves to P1 by loading the first sub-region map, the second sub-region map is switched to be loaded, and the pose P2 of the robot in the second sub-region map can be determined according to the mapping relationship between P1 and P2, so that manual positioning is not needed after the map is switched.

[0063] After obtaining the second pose information of the robot at the target relay point, that is, the pose information in the second sub-region map, a navigation path for guiding the robot to the target navigation point can be planned in the second sub-region map according to the second pose information and the coordinates of the target navigation point of the robot, so as to control the robot to move across maps to the target point.

[0064] The embodiment of the present application selects a target relay point in the overlapping area of adjacent sub-region maps, and maps and switches the pose information of the robot in the current map to the pose information in the map to be switched through the target relay point, so as to realize automatic positioning of the robot when moving across maps, without the need for manual input of the pose information after the map is switched, thereby saving labor cost and improving the efficiency of the robot working across maps.

[0065] The third aspect of the present application provides a navigation device, comprising: a memory for storing programs or instructions; a processor for executing the programs or instructions to realize the steps of the navigation method provided in any of the above technical solutions, thus also comprising all the beneficial effects of the navigation method provided in any of the above technical solutions, which will not be repeated here to avoid repetition.

[0066] The fourth aspect of the present application provides a readable storage medium, which stores programs or instructions, the programs or instructions are executed by a processor to realize the steps of the navigation method provided in any of the above technical solutions, thus also comprising all the beneficial effects of the navigation method provided in any of the above technical solutions, which will not be repeated here to avoid repetition.

[0067] The fifth aspect of the present application provides a computer program product, which is stored in a storage medium, the computer program product is executed by at least one processor to realize the steps of the navigation method provided in any of the above technical solutions, thus also comprising all the beneficial effects of the navigation method provided in any of the above technical solutions, which will not be repeated here to avoid repetition.

[0068] The sixth aspect of the present application provides a robot, comprising: the navigation device provided in any of the above technical solutions; and / or the readable storage medium provided in any of the above technical solutions; and / or the computer program product provided in any of the above technical solutions, thus also comprising all the beneficial effects thereof, which will not be repeated here to avoid repetition.

[0069] In the above technical solution, the robot further comprises: a body; a walking device provided on the body and used to drive the body to move.

[0070] In this technical solution, the body of the robot is provided with functional components of the robot, such as storage components, grabbing components, execution components and / or tool components, etc. The body is also provided with a walking device, which includes walking wheels, walking tracks and / or mechanical legs, etc.

[0071] In any of the above technical solutions, the robot further comprises: a positioning module used to obtain position information of the robot.

[0072] In this technical solution, the positioning module can be a GPS (Global Positioning System) module, a microwave radar module, an image sensor module or a wireless communication module.

[0073] The image sensor module acquires the positioning information according to the positioning mark by scanning the positioning mark pasted in the area where the robot is currently located. The wireless communication module can communicate with the scheduling system of the robot and receive the positioning information sent by the robot scheduling system. BRIEF DESCRIPTION OF DRAWINGS

[0074] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0075] Figure 1 A flow chart of a navigation method according to an embodiment of the present application is shown;

[0076] Figure 2 A schematic diagram of a sub-area map according to an embodiment of the present application is shown;

[0077] Figure 3 A schematic diagram of a moving route of a robot according to an embodiment of the present application is shown;

[0078] Figure 4 One of the structural block diagrams of a navigation device according to an embodiment of the present application is shown;

[0079] Figure 5 The other structural block diagram of a navigation device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0080] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0081] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, and therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0082] The following refers to Figures 1 to 5 The navigation method, device, readable storage medium and robot according to some embodiments of the present application are described.

[0083] In some embodiments of the present application, a navigation method is provided, which is executed by a robot, Figure 1 A flow chart of a navigation method according to an embodiment of the present application is shown, as shown in Figure 1 The navigation method includes:

[0084] Step 102, acquiring first pose information of the robot;

[0085] Step 104: When the first pose information is located within the first sub-region map and the robot's target navigation point is located within the second sub-region map, determine the target relay point in the overlapping area of ​​the first and second sub-region maps.

[0086] Step 106: Determine the robot's second pose information at the target relay point;

[0087] Step 108: Control the robot to move to the target navigation point based on the second pose information.

[0088] In this embodiment, the navigation method is applied to the robot’s automatic movement. When the robot performs a movement task, it plans a navigation path based on its current position information, the area map of the current area and the target pose information of the target navigation point, and performs the movement task according to the navigation path.

[0089] However, due to limitations in the computing power and memory size of the robot's embedded system, the robot's loading... Figure One Typically, sub-region maps are created by partitioning the map. Therefore, when a robot travels a long distance, it may face the problem of switching maps. Since the robot's localization is based on the currently loaded sub-region map, when the robot performs cross-map operations, that is, when the loaded map is switched during movement, it is necessary to re-localize on the newly loaded map, that is, to determine the robot's pose information in the new map. This process usually requires manual pose calibration by staff, resulting in high labor costs and low efficiency of automated robot operation.

[0090] To address the above situation, this application embodiment preserves some overlapping areas between adjacent sub-region maps when creating the partitioned map. Figure 2 A schematic diagram of a sub-region map according to an embodiment of this application is shown, such as... Figure 2 As shown, taking the first sub-region map 202 and the second sub-region map 204 as examples, there is an area that at least partially overlaps between the first sub-region map 202 and the second sub-region map 204, which is denoted as the overlapping area 206.

[0091] When a robot needs to move from the working area of ​​the first sub-region map to the working area of ​​the second sub-region map, assuming that the robot's current pose information in the first sub-region map is the first pose information, the robot first determines a target relay point in the overlapping area of ​​the first and second sub-region maps. The target relay point can be randomly selected, and the coordinates of the target relay point fall within the overlapping area of ​​the first and second sub-region maps.

[0092] It can be understood that the target relay point is a point to which the robot can move, that is, the robot can move from the current point to the target relay point. For example, a navigation path can be planned according to the first pose information of the current robot and the coordinate information of the target relay point, and the robot is controlled to walk to the target relay point through the navigation path.

[0093] After obtaining the target relay point, the pose information of the robot after moving to the target relay point, that is, the second pose information, is further determined. Specifically, since the target relay point is in the overlapping area of the first sub-region map and the second sub-region map, the target relay point is in both the first sub-region map and the second sub-region map.

[0094] Therefore, the mapping relationship between the first sub-region map and the second sub-region map can be created according to the points in the overlapping area when the first sub-region map and the second sub-region map are established, as shown in the following table. Figure 2 As shown in the table, assuming that the target relay point P is point P1 (x1, y1, theta1) in the first sub-region map and point P2 (x2, y2, theta2) in the second sub-region map, the mapping relationship between P1 and P2 can be established. When the robot moves to P1 by loading the first sub-region map, the second sub-region map is switched, and the pose P2 of the robot in the second sub-region map can be determined according to the mapping relationship between P1 and P2, so that manual positioning is not required after the map is switched.

[0095] After obtaining the second pose information of the robot at the target relay point, that is, the pose information in the second sub-region map, a navigation path for guiding the robot to the target navigation point can be planned in the second sub-region map according to the second pose information and the coordinates of the target navigation point of the robot, so as to control the robot to move to the target point across the maps.

[0096] Figure 3 A schematic diagram of the moving route of the robot according to the embodiment of the present application is shown, as shown in Figure 3 Point A in the first sub-region map 302 is the starting point of the robot, point P in the overlapping area 306 is the target relay point, and point B in the second sub-region map 304 is the target navigation point.

[0097] The embodiment of the present application selects the target relay point in the overlapping area of adjacent sub-region maps, and maps and switches the pose information of the robot in the current map to the pose information in the map to be switched through the target relay point, so as to realize automatic positioning of the robot when moving across the maps, without the need for manual input of the pose information after switching the map, saving labor cost and improving the efficiency of the robot working across the maps.

[0098] On the basis of any of the above embodiments, before acquiring the first pose information of the robot, the navigation method further comprises:

[0099] acquiring a region map of a region where the robot is located;

[0100] dividing the region map to obtain a plurality of sub-region maps, the plurality of sub-region maps comprising a first sub-region map and a second sub-region map, and at least part of regions of any two adjacent sub-region maps in the plurality of sub-region maps overlapping.

[0101] In the embodiments of the present application, the region map is the overall map of the working region of the robot. The region map can be obtained by mapping by the robot or can be a pre-generated region map. The embodiments of the present application do not limit this.

[0102] After obtaining the region map, the region map is divided. The size of the divided sub-region map can be determined according to the computing power and memory size of the robot, and then the region map is divided to ensure that each sub-region map obtained after division matches the computing power and memory size of the robot.

[0103] When dividing the plurality of sub-region maps, at least part of the map regions overlap between each two adjacent sub-region maps. The overlapping map regions are the overlapping regions of the two adjacent sub-region maps.

[0104] When the robot moves across the maps, the robot first moves to the overlapping region of the currently loaded sub-region map and the sub-region map to be switched according to the currently loaded sub-region map, and converts the pose information of the robot in the first sub-region map to the pose information of the robot in the second sub-region map according to the mapping relationship of the target relay point in the overlapping region between the two sub-region maps, and then automatically completes the positioning in the switched second sub-region map.

[0105] The embodiments of the present application keep overlapping regions between adjacent sub-region maps when establishing the sub-region maps, and select a target relay point in the overlapping region when the robot needs to move across the maps, and map and switch the pose information of the robot in the current map to the pose information of the robot in the map to be switched through the target relay point, thereby realizing automatic positioning when the robot moves across the maps and improving the efficiency of the robot working across the maps.

[0106] On the basis of any of the above embodiments, determining the second pose information of the robot at the target relay point comprises: determining first navigation information according to the first pose information and the coordinates of the target relay point; controlling the robot to move to the target relay point according to the first navigation information; and acquiring the second pose information.

[0107] In the embodiment of the present application, after the target relay point is determined in the overlapping area of the first sub-region map and the second sub-region map, the first navigation information is planned based on the current first pose information of the robot in the first sub-region map and the coordinates of the determined target relay point, and the first navigation information includes a navigation path from the current position of the robot to the position of the target relay point.

[0108] After the robot is controlled to move to the target relay point according to the first navigation information, the pose information of the robot at the target relay point is determined based on the positioning of the robot in the first sub-region map, and the second pose information of the robot at the target relay point is determined based on the mapping relationship between the position information of the target relay point in the first sub-region map and the position information in the second sub-region, and the second pose information is also the positioning information of the robot in the second sub-region map.

[0109] The embodiment of the present application realizes automatic positioning of the robot during cross-map movement by mapping and switching the pose information of the robot at the target relay point in the first sub-region map where the robot is currently located to the second pose information at the same target relay point in the second sub-region map to be switched, thereby improving the efficiency of cross-map work of the robot.

[0110] On the basis of any of the above embodiments, the robot is controlled to move to the target navigation point according to the second pose information, including: determining the second navigation information according to the second pose information and the coordinates of the target navigation point; and controlling the robot to move to the target navigation point according to the second navigation information.

[0111] In the embodiment of the present application, after the second pose information is obtained, which is also the positioning information of the robot in the second sub-region map, a corresponding navigation path is planned according to the second pose information and the coordinates of the target navigation point to which the robot needs to go, to obtain the second navigation information, and the second navigation information includes a navigation path from the current position of the robot (i.e. the target relay point) to the position of the target navigation point.

[0112] The robot is controlled to move to the target navigation point according to the guidance of the second navigation information, and the cross-map movement task of the robot is completed.

[0113] The embodiment of the present application realizes automatic positioning of the robot after cross-map movement by setting an overlapping area between two adjacent sub-region maps and selecting a target relay point in the overlapping area, and first controlling the robot to move to the target relay point, and then completing the positioning of the robot in the new sub-region map by using the mapping relationship of the target relay point in the two adjacent sub-region maps, thereby improving the efficiency of cross-map work of the robot.

[0114] On the basis of any of the foregoing embodiments, before determining the second navigation information according to the second pose information and the coordinates of the target navigation point, the navigation method further comprises determining the coordinates of the target navigation point in the second sub-region map.

[0115] In the embodiments of the present application, when the robot receives a cross-map task, the cross-map task includes coordinate data for indicating a target navigation point of the robot. Therefore, after the robot moves to the position of the target relay point, the coordinates of the target navigation point in the second sub-region map are determined, and the navigation path based on the second sub-region map, i.e., the second navigation information, is planned according to the second pose information of the robot at the target relay point and the coordinates of the target navigation point in the second sub-region map, and the robot is controlled to move to the target navigation point according to the second navigation information.

[0116] In the embodiments of the present application, when the robot crosses the map, the cross-map navigation path of the robot is divided into a navigation path in the first sub-region map currently loaded and a navigation path in the second sub-region map after crossing the map, and manual pose calibration is not required in the process, thereby improving the cross-map operation efficiency of the robot.

[0117] On the basis of any of the foregoing embodiments, the first pose information of the robot is obtained by controlling the robot to load the first sub-region map and determining the first pose information according to the positioning information of the robot and the first sub-region map.

[0118] In the embodiments of the present application, the first pose information is the pose information of the robot in the first sub-region map, and the first pose information is determined according to the positioning information of the robot in the first sub-region map, specifically according to coordinate information and orientation information, when the robot loads the first sub-region map.

[0119] According to the first pose information of the robot in the first sub-region map and the coordinate information of the target relay point in the first sub-region map, the robot is controlled to move to the target relay point, and the robot is further controlled to move from the target relay point to the target navigation point based on the second sub-region map, thereby realizing efficient cross-map operation.

[0120] On the basis of any of the foregoing embodiments, the second pose information is obtained by controlling the robot to load the second sub-region map and determining the second pose information according to the positioning information of the robot and the second sub-region map.

[0121] In the embodiments of the present application, the second pose information is the pose information of the robot in the second sub-region map, and the second pose information is determined according to the position information of the robot at the target relay point and the pose information in the first sub-region map after the robot loads the second sub-region map, and specifically includes coordinate information and orientation information of the robot in the second sub-region map.

[0122] According to the second pose information of the robot in the second sub-region map and the coordinate information of the target navigation point in the second sub-region map, the robot is controlled to move to the target navigation point, and efficient cross-map operation is achieved.

[0123] On the basis of any of the above embodiments, the first pose information and the second pose information each include a sub-region map loaded by the robot, coordinate information of the robot, and orientation information of the robot.

[0124] In the embodiments of the present application, the pose information of the robot specifically includes first pose information and second pose information, and the pose information includes information of a sub-region map currently loaded by the robot, coordinate information of the robot in the current sub-region map, and orientation information of the robot.

[0125] Exemplarily, the format of the pose information of the robot can be set as (map A, x1, y1, theta1), where map A is an identifier of a sub-region map currently loaded by the robot, x1 and y1 are coordinate information of a position where the robot is located, and theta1 is current orientation information of the robot.

[0126] In some embodiments of the present application, a navigation device is provided for a robot, Figure 4 One of the structure block diagrams of the navigation device according to the embodiments of the present application is shown as follows: Figure 4 As shown in the figure, the navigation device 400 includes:

[0127] The acquisition module 402 is configured to acquire first pose information of the robot.

[0128] The determination module 404 is configured to:

[0129] In a case where the first pose information is located in the first sub-region map and a target navigation point of the robot is located in the second sub-region map, a target relay point is determined in an overlapping region of the first sub-region map and the second sub-region map, and second pose information of the robot at the target relay point is determined.

[0130] The control module 406 is configured to control the robot to move to the target navigation point according to the second pose information.

[0131] In the embodiments of the present application, the navigation method is applied to automatic movement of the robot, and when the robot performs a movement task, the robot plans a navigation path according to current position information of the robot, a region map of a region where the robot is currently located, and target pose information of a target navigation point, and performs the movement task according to the navigation path.

[0132] However, limited by the operation capability and memory size of the embedded system of the robot, the sub-region map loaded by the robot is limited in size, and the pose information of the robot is limited in format. Figure OneGenerally, the sub-region map is established in a partition, so when the robot walks a long distance, it may face the problem of switching maps. The positioning of the robot is based on the currently loaded sub-region map, so when the robot performs cross-map work, that is, switches the loaded map during movement, it needs to reposition for the newly loaded map, that is, determine the pose information of the robot in the new map. This process generally needs to be manually calibrated by the staff, resulting in high labor cost and low efficiency of automatic robot work.

[0133] To solve the above problems, in the establishment of a partition map, the present application embodiment keeps a part of the overlapping area between adjacent sub-region maps. Taking the first sub-region map and the second sub-region map as an example, there is at least a part of the overlapping area between the first sub-region map and the second sub-region map, which is denoted as the overlapping area.

[0134] When the robot needs to move from the working area of the first sub-region map to the working area of the second sub-region map, assuming that the current pose information of the robot in the first sub-region map is the first pose information, the robot first determines a target relay point in the overlapping area of the first sub-region map and the second sub-region map. The target relay point can be randomly selected, and the coordinates of the target relay point fall within the overlapping area of the first sub-region map and the second sub-region map.

[0135] It can be understood that the target relay point is a point that the robot can move to, that is, the robot can move from the current point to the target relay point. For example, a navigation path can be planned according to the first pose information of the current robot and the coordinate information of the target relay point, and the robot can be controlled to walk to the target relay point through the navigation path.

[0136] After obtaining the target relay point, the pose information of the robot after moving to the target relay point, that is, the second pose information, is further determined. Specifically, since the target relay point is in the overlapping area of the first sub-region map and the second sub-region map, the target relay point is in both the first sub-region map and the second sub-region map.

[0137] Therefore, according to the mapping relationship between the first sub-region map and the second sub-region map, the point in the overlapping region between the two is created when the first sub-region map and the second sub-region map are established, assuming that the target relay point P is point P1 (x1, y1, theta1) in the first sub-region map and point P2 (x2, y2, theta2) in the second sub-region map, the mapping relationship between P1 and P2 can be established, when the robot moves to P1 by loading the first sub-region map, the second sub-region map is switched to be loaded, and the pose P2 of the robot in the second sub-region map can be determined according to the mapping relationship between P1 and P2, so that manual positioning is not needed after the map is switched.

[0138] After obtaining the second pose information of the robot at the target relay point, that is, the pose information in the second sub-region map, the navigation path for guiding the robot to the target navigation point can be planned in the second sub-region map according to the second pose information and the coordinates of the target navigation point of the robot, so as to control the robot to move across the maps to the target point.

[0139] The embodiment of the present application selects the target relay point in the overlapping region of adjacent sub-region maps, and maps and switches the pose information of the robot in the current map to the pose information in the map to be switched through the target relay point, so that automatic positioning is realized when the robot moves across the maps, manual input of the pose information after the map is switched is not needed, labor cost is saved, and the efficiency of the robot working across the maps is improved.

[0140] On the basis of any of the above embodiments, the acquisition module is further configured to acquire a region map of a region where the robot is located.

[0141] The navigation module further includes:

[0142] The division module is configured to divide the region map to obtain a plurality of sub-region maps, the plurality of sub-region maps including a first sub-region map and a second sub-region map, and at least partial regions of any two adjacent sub-region maps in the plurality of sub-region maps overlap.

[0143] In the embodiment of the present application, the region map is the overall map of the working region of the robot. The region map can be obtained by mapping by the robot, or can be a pre-generated region map, which is not limited in the embodiment of the present application.

[0144] After the region map is obtained, the region map is divided, wherein the size of the divided sub-region map can be determined according to the computing capacity and the memory size of the robot, so as to divide the region map, and ensure that each sub-region map obtained after the division matches the computing capacity and the memory size of the robot.

[0145] When the plurality of sub-region maps are divided, at least part of the map region is overlapped between each two adjacent sub-region maps, and the overlapped map region is the overlapping region of the two adjacent sub-region maps.

[0146] When the robot moves across the maps, the robot first moves to the overlapping region of the currently loaded sub-region map and the sub-region map to be switched according to the currently loaded sub-region map, and converts the pose information of the robot in the first sub-region map into the pose information in the second sub-region map according to the mapping relationship of the target relay point in the overlapping region between the two sub-region maps, and then automatically completes the positioning in the second sub-region map after switching.

[0147] The embodiment of the present application realizes the automatic positioning of the robot when moving across the maps by reserving the overlapping region between the adjacent sub-region maps when the sub-region maps are established, and selecting the target relay point in the overlapping region when the robot needs to move across the maps, and mapping and switching the pose information of the robot in the current map into the pose information in the map to be switched through the target relay point, thereby improving the efficiency of the robot working across the maps.

[0148] On the basis of any of the above embodiments, the determining module is further configured to determine first navigation information according to the first pose information and the coordinates of the target relay point; the control module is further configured to control the robot to move to the target relay point according to the first navigation information; and the obtaining module is further configured to obtain second pose information.

[0149] In the embodiment of the present application, after the target relay point is determined in the overlapping region of the first sub-region map and the second sub-region map, the first navigation information is planned based on the current first pose information of the robot in the first sub-region map and the coordinates of the determined target relay point, and the first navigation information includes the navigation path from the current position of the robot to the position of the target relay point.

[0150] After the robot moves to the target relay point according to the above first navigation information, the pose information of the robot at the target relay point is determined based on the positioning of the robot in the first sub-region map, and the second pose information of the robot at the target relay point is determined based on the mapping relationship between the position information of the target relay point in the first sub-region map and the position information in the second sub-region, and the second pose information is also the positioning information of the robot in the second sub-region map.

[0151] The embodiment of the present application realizes the automatic positioning of the robot when moving across the maps by mapping and switching the pose information of the robot at the target relay point in the first sub-region map into the second pose information at the same target relay point in the second sub-region map to be switched, thereby improving the efficiency of the robot working across the maps.

[0152] On the basis of any of the foregoing embodiments, the determining module is further configured to determine second navigation information according to the second pose information and coordinates of the target navigation point; and the control module is further configured to control the robot to move to the target navigation point according to the second navigation information.

[0153] In the embodiments of the present application, after the second pose information is obtained, that is, the positioning information of the robot in the second sub-region map, the corresponding navigation path is planned according to the second pose information and the coordinates of the target navigation point to which the robot needs to go, to obtain the second navigation information, which includes the navigation path from the current position of the robot (that is, the target relay point) to the position of the target navigation point.

[0154] The robot is controlled to move to the target navigation point according to the guidance of the second navigation information, so that the cross-map moving task of the robot is completed.

[0155] In the embodiments of the present application, an overlapping region is arranged between two adjacent sub-region maps, and a target relay point is selected in the overlapping region. When the robot performs the cross-map moving task, the robot is first controlled to move to the target relay point, and the mapping relationship of the target relay point in the two adjacent sub-region maps is used to complete the positioning of the robot in the new sub-region map, so that the automatic positioning of the robot after cross-map moving is realized, and the cross-map operation efficiency of the robot is improved.

[0156] On the basis of any of the foregoing embodiments, the determining module is further configured to determine the coordinates of the target navigation point in the second sub-region map.

[0157] In the embodiments of the present application, when the robot receives the cross-map operation task, the cross-map operation task includes the coordinate data of the target navigation point used to indicate the robot. Therefore, after the robot moves to the position of the target relay point, the coordinates of the target navigation point in the second sub-region map are determined, and the navigation path based on the second sub-region map, that is, the second navigation information, is planned according to the second pose information of the robot at the target relay point and the coordinates of the target navigation point in the second sub-region map, and the robot is controlled to move to the target navigation point according to the second navigation information.

[0158] In the embodiments of the present application, when the robot performs cross-map operation, the cross-map navigation path of the robot is divided into the navigation path in the first sub-region map currently loaded and the navigation path in the second sub-region map after cross-map, and manual pose calibration is not required in the process, so that the cross-map operation efficiency of the robot is improved.

[0159] On the basis of any of the foregoing embodiments, the obtaining module is further configured to control the robot to load the first sub-region map; and the determining module is further configured to determine the first pose information according to the positioning information of the robot and the first sub-region map.

[0160] In the embodiments of the present application, the first pose information is the pose information of the robot in the first sub-region map, which is determined according to the positioning information of the robot in the first sub-region map, specifically the coordinate information and the orientation information, when the robot loads the first sub-region map.

[0161] According to the first pose information of the robot in the first sub-region map and the coordinate information of the target relay point in the first sub-region map, the robot is controlled to move to the target relay point, and further based on the second sub-region map, the robot is controlled to move from the target relay point to the target navigation point, thereby realizing efficient cross-map operation.

[0162] On the basis of any of the above embodiments, the control module is further configured to control the robot to load the second sub-region map, and the determination module is further configured to determine the second pose information according to the positioning information of the robot and the second sub-region map.

[0163] In the embodiments of the present application, the second pose information is the pose information of the robot in the second sub-region map, which is determined according to the position information of the robot at the target relay point and the pose information in the first sub-region map after the robot loads the second sub-region map, and specifically includes the coordinate information and the orientation information of the robot in the second sub-region map.

[0164] According to the second pose information of the robot in the second sub-region map and the coordinate information of the target navigation point in the second sub-region map, the robot is controlled to move to the target navigation point, thereby realizing efficient cross-map operation.

[0165] On the basis of any of the above embodiments, the first pose information and the second pose information both include the sub-region map loaded by the robot, the coordinate information of the robot, and the orientation information of the robot.

[0166] In the embodiments of the present application, the pose information of the robot specifically includes the first pose information and the second pose information, the pose information includes the information of the sub-region map currently loaded by the robot, the coordinate information of the robot in the current sub-region map, and the orientation information of the robot.

[0167] Exemplarily, the format of the pose information of the robot can be set as (map A, x1, y1, theta1), where map A is the identifier of the sub-region map currently loaded by the robot, x1 and y1 are the coordinate information of the position of the robot, and theta1 is the orientation information of the robot.

[0168] In some embodiments of the present application, a navigation device is provided, Figure 5Fig. 2 shows a structural block diagram of a navigation device according to an embodiment of the present application, Figure 5 As shown in Fig. 2, the navigation device 500 comprises a memory 502 for storing programs or instructions, and a processor 504 for executing the programs or instructions to implement the steps of the navigation method provided in any of the above embodiments, thus also comprising all the advantages of the navigation method provided in any of the above embodiments, which will not be repeated here for the sake of brevity.

[0169] In some embodiments of the present application, a readable storage medium is provided, which stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the navigation method provided in any of the above embodiments, thus also comprising all the advantages of the navigation method provided in any of the above embodiments, which will not be repeated here for the sake of brevity.

[0170] In some embodiments of the present application, a computer program product is provided, which is stored in a storage medium, and the computer program product is executed by at least one processor to implement the steps of the navigation method provided in any of the above embodiments, thus also comprising all the advantages of the navigation method provided in any of the above embodiments, which will not be repeated here for the sake of brevity.

[0171] In some embodiments of the present application, a robot is provided, which comprises the navigation device provided in any of the above embodiments; and / or the readable storage medium provided in any of the above embodiments; and / or the computer program product provided in any of the above embodiments, thus also comprising all the advantages thereof, which will not be repeated here for the sake of brevity.

[0172] Based on any of the above embodiments, the robot further comprises a body; and a walking device provided on the body and configured to drive the body to move.

[0173] In the embodiments of the present application, the body of the robot is provided with functional components of the robot, such as a storage component, a grabbing component, an executing component and / or a tool component, etc. The body is further provided with a walking device, which comprises walking wheels, walking tracks and / or mechanical legs, etc.

[0174] Based on any of the above embodiments, the robot further comprises a positioning module configured to acquire position information of the robot.

[0175] In the embodiments of the present application, the positioning module can be a GPS (Global Positioning System) module, a microwave radar module, an image sensor module or a wireless communication module.

[0176] The image sensor module acquires the positioning information according to the positioning mark by scanning the positioning mark pasted in the area where the robot is currently located. The wireless communication module can communicate with the scheduling system of the robot and receive the positioning information sent by the robot scheduling system.

[0177] In the description of the present application, the term "a plurality of" refers to two or more, unless otherwise explicitly limited, and the terms "upper", "lower", and the like indicate the orientation or positional relationship based on the orientation or positional relationship described in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application; the terms "connection", "installation", "fixation" and the like should be understood broadly, for example, "connection" can be fixed connection, or detachable connection, or integral connection; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0178] In the description of the present application, the terms "one embodiment", "some embodiments", "a specific embodiment" and the like mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0179] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A navigation method performed by a robot, characterized by, The navigation method comprises: obtaining first pose information of the robot; in the case that the first pose information is located in a first sub-region map and a target navigation point of the robot is located in a second sub-region map, determining a target relay point in an overlapping region of the first sub-region map and the second sub-region map; determining second pose information of the robot at the target relay point; controlling the robot to move to the target navigation point according to the second pose information; before the obtaining of the first pose information of the robot, the navigation method further comprises: obtaining a region map of a region where the robot is located; dividing the region map to obtain a plurality of sub-region maps, the plurality of sub-region maps comprising the first sub-region map and the second sub-region map, and at least part of regions of any two adjacent sub-region maps in the plurality of sub-region maps overlapping; planning a navigation path according to the first pose information of the current robot and coordinate information of the target relay point, and controlling the robot to walk to the target relay point through the navigation path; the obtaining of the second pose information comprises: controlling the robot to load the second sub-region map; determining the second pose information according to positioning information of the robot and the second sub-region map; the region map is an overall map of a working region of the robot, and the region map is obtained by mapping by the robot; the controlling of the robot to move to the target navigation point according to the second pose information comprises: determining second navigation information according to the second pose information and coordinates of the target navigation point; controlling the robot to move to the target navigation point according to the second navigation information; after the region map is obtained, dividing the region map, and determining sizes of the divided sub-region maps according to a computing capacity and a memory size of the robot; the obtaining of the first pose information of the robot comprises: controlling the robot to load the first sub-region map; determining the first pose information according to positioning information of the robot and the first sub-region map; when the robot moves across maps, according to the loaded sub-region map, moving to an overlapping region of a currently loaded sub-region map and a sub-region map to be switched, and converting pose information of the robot in the first sub-region map into pose information of the robot in the second sub-region map according to a mapping relationship of a target relay point between the two sub-region maps.

2. The navigation method of claim 1, wherein, the determining of the second pose information of the robot at the target relay point comprises: determining first navigation information according to the first pose information and coordinates of the target relay point; controlling the robot to move to the target relay point according to the first navigation information; obtaining the second pose information.

3. The navigation method of claim 1, wherein, before the determining of the second navigation information according to the second pose information and coordinates of the target navigation point, the navigation method further comprises: determining coordinates of the target navigation point in the second sub-region map.

4. The navigation method according to any one of claims 1 to 3, characterized in that, the first pose information and the second pose information both comprise: The robot-loaded sub-region map, the coordinate information of the robot, and the orientation information of the robot.

5. A navigation device for a robot, characterized in that The navigation device comprises: An acquisition module configured to acquire first pose information of the robot; A determination module configured to: In a case where the first pose information is located in a first sub-region map and a target navigation point of the robot is located in a second sub-region map, determine a target relay point in an overlapping region of the first sub-region map and the second sub-region map; and Determine second pose information of the robot at the target relay point; A control module configured to control movement of the robot to the target navigation point according to the second pose information; The navigation module further comprises a division module configured to divide a region map to obtain a plurality of sub-region maps, the plurality of sub-region maps comprising the first sub-region map and the second sub-region map, and at least part of regions of any two adjacent sub-region maps in the plurality of sub-region maps overlapping; Plan a navigation path according to the first pose information of the current robot and coordinate information of the target relay point, and control the robot to move to the target relay point through the navigation path; The control module is further configured to control the robot to load the second sub-region map; The determination module is further configured to determine the second pose information according to positioning information of the robot and the second sub-region map; The region map is a whole map of a working region of the robot, and the region map is obtained by mapping by the robot; The determination module is further configured to determine second navigation information according to the second pose information and coordinates of the target navigation point; and the control module is further configured to control movement of the robot to the target navigation point according to the second navigation information; After the region map is obtained, the region map is divided, and the size of the divided sub-region map is determined according to the computing capacity and the memory size of the robot; The acquisition module is further configured to control the robot to load the first sub-region map; and the determination module is further configured to determine the first pose information according to positioning information of the robot and the first sub-region map. When the robot moves across maps, the robot is moved to an overlapping region of a currently loaded sub-region map and a sub-region map to be switched according to the loaded sub-region map, and pose information of the robot in the first sub-region map is converted into pose information of the robot in the second sub-region map according to a mapping relationship of the target relay point between the two sub-region maps in the overlapping region.

6. A navigation device characterized by Comprise: A memory configured to store programs or instructions; A processor configured to implement the navigation method of any one of claims 1 to 4 when executing the programs or instructions.

7. A readable storage medium, on which a program or instructions are stored, characterized in that, The programs or instructions implement the navigation method of any one of claims 1 to 4 when executed by the processor.

8. A computer program product stored in a storage medium, characterized in that, The computer program product implements the navigation method of any one of claims 1 to 4 when executed by at least one processor.

9. A robot, characterized in that Comprise: The navigation device of claim 5 or 6; And / or The readable storage medium of claim 7; and / or The computer program product of claim 8.

10. The robot of claim 9, wherein, Further comprise: A body; A moving device provided on the body and configured to drive the body to move.

11. The robot of claim 10, wherein, Further comprise: A positioning module is configured to acquire position information of the robot.

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