Positioning recovery method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a positioning recovery method and device, electronic equipment and a storage medium. The method comprises the following steps: in response to a robot pose adjustment operation, sending a pose adjustment instruction to a target robot, so that the target robot adjusts the pose according to the pose adjustment instruction to adjust the scanning range of imaging scanning equipment configured on the target robot; displaying the current environment information of the target robot acquired by the imaging scanning equipment in the scanning range on the display interface; the map display instruction is responded, target map information is displayed, and the target map information comprises the position indicated by the position feature information in the current environment information; and in response to the repositioning triggering operation, determining target positioning information in the target map information, and sending a movement control instruction to the target robot, so that the target robot moves to a position corresponding to the target positioning information, and positioning recovery is completed. According to the technical scheme of the embodiment of the invention, the robot can be remotely helped to recover positioning.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technology of robot applications, and in particular, to a positioning recovery method, apparatus, electronic device, and storage medium. Background Art

[0002] During the process of a robot executing a task, positioning problems may occur due to some situations, such as abnormal elevator control systems, incorrect loading of system maps, etc. Situations such as losing positioning, the robot getting stuck, or being unable to reach the destination to complete the task may occur. Therefore, it is necessary to recover the positioning of the robot. In related technologies, when the robot cannot autonomously recover its positioning, it is usually to manually move the robot to a specified position or to reset the positioning on-site to enable the robot to recover its positioning information.

[0003] However, recovering the robot's positioning based on the above methods is time-consuming, laborious, and has low efficiency. Moreover, there is also the problem of high operation and maintenance costs for the robot. Summary of the Invention

[0004] Embodiments of the present disclosure provide a positioning recovery method, apparatus, electronic device, and storage medium, which can, when the robot loses its positioning, initially lock the position based on the environmental information where the robot is currently located, further determine the final positioning recovery position, and remotely control the robot to recover its positioning, improving the efficiency and accuracy of the robot's remote positioning recovery.

[0005] In a first aspect, embodiments of the present disclosure provide a positioning recovery method, which is applied to a robot. The method includes:

[0006] In response to a robot pose adjustment operation, send a pose adjustment instruction to a target robot, so that the target robot adjusts its pose according to the pose adjustment instruction to adjust the scanning range of an imaging scanning device configured on the target robot;

[0007] On a display interface, display the current environmental information of the location where the target robot is located obtained by the imaging scanning device within the scanning range; in response to a map display instruction, display target map information, where the target map information includes the position indicated by the position feature information in the current environmental information;

[0008] In response to a relocalization trigger operation, determine the target positioning information in the target map information, and send a movement control instruction to the target robot, so that the target robot moves to the position corresponding to the target positioning information to complete positioning recovery.

[0009] In a second aspect, embodiments of the present disclosure further provide a positioning recovery apparatus, which is configured in a robot. The apparatus includes:

[0010] A robot pose adjustment module, configured to send a pose adjustment instruction to a target robot in response to a robot pose adjustment operation, so that the target robot adjusts its pose according to the pose adjustment instruction, thereby adjusting the scanning range of an imaging and scanning device configured on the target robot;

[0011] An environment information display module, configured to display, on a display interface, current environment information of the location where the target robot is located, which is obtained by the imaging and scanning device within the scanning range;

[0012] A reference positioning information display module, configured to display target map information in response to a map display instruction, where the target map information includes positions indicated by position feature information in the current environment information;

[0013] A positioning recovery module, configured to determine target positioning information in the target map information in response to a relocalization trigger operation, and send a movement control instruction to the target robot, so that the target robot moves to a position corresponding to the target positioning information to complete positioning recovery.

[0014] In a third aspect, an embodiment of the present disclosure further provides an electronic device, which includes:

[0015] One or more processors;

[0016] A storage device, configured to store one or more programs,

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the positioning recovery method as described in any one of the embodiments of the present disclosure.

[0018] In a fourth aspect, an embodiment of the present disclosure further provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the positioning recovery method as described in any one of the embodiments of the present disclosure when executed by a computer processor.

[0019] The technical solution of the embodiment of the present disclosure is to send a pose adjustment instruction to the target robot in response to a robot pose adjustment operation, so that the target robot adjusts its pose according to the pose adjustment instruction, and adjusts the scanning range of the imaging and scanning device configured on the target robot, and displays the current environment information where the target robot is located obtained by the imaging and scanning device in the scanning range on the display interface, and the environment information is adjusted as the scanning range is adjusted; furthermore, in response to a map display instruction, display the target map information to initially lock a positioning result, where the target map information includes the position indicated by the position feature information in the current environment information; in response to a relocalization trigger operation, determine the target positioning information in the target map information, and send a movement control instruction to the target robot, so that the target robot moves to the position corresponding to the target positioning information to complete the positioning recovery. The technical solution of the embodiment of the present disclosure solves the problems in the related art that when the robot cannot autonomously recover its positioning, the manual on-site positioning recovery process is laborious and has low efficiency, and the robot operation and maintenance cost is relatively high. It realizes that when it is determined that the robot's positioning is lost, through interacting with the robot, remotely obtain the initial positioning information corresponding to the current robot, and then, based on the determined initial positioning information, further determine a more accurate target positioning information, so as to realize remotely controlling the robot to recover its positioning, improve the positioning recovery efficiency of the robot, and reduce the robot operation and maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages and aspects of the embodiments of the present disclosure will become more obvious. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic, and the original components and elements are not necessarily drawn to scale.

[0021] Figure 1 It is a schematic flowchart of a positioning recovery method provided by an embodiment of the present disclosure;

[0022] Figure 2 It is a schematic flowchart of a positioning recovery method provided by an embodiment of the present disclosure;

[0023] Figure 3 It is a schematic diagram of a positioning mode selection interface in positioning recovery provided by an embodiment of the present disclosure;

[0024] Figure 4 It is a schematic diagram of an interface in the line drawing positioning mode provided by an embodiment of the present disclosure;

[0025] Figure 5 It is a schematic flowchart of a positioning recovery method provided by an embodiment of the present disclosure;

[0026] Figure 6Schematic diagram of a point selection interface in a coordinate point selection and positioning mode provided by an embodiment of the present disclosure;

[0027] Figure 7 Flow schematic diagram of a positioning recovery method provided by an embodiment of the present disclosure;

[0028] Figure 8 Schematic diagram of a point selection interface in a name point selection and positioning mode provided by an embodiment of the present disclosure;

[0029] Figure 9 Flow schematic diagram of a positioning recovery method provided by an embodiment of the present disclosure;

[0030] Figure 10 Structure schematic diagram of a positioning recovery device provided by an embodiment of the present disclosure;

[0031] Figure 11 Structure schematic diagram of an electronic device provided by an embodiment of the present disclosure. Detailed implementation manners

[0032] Embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0033] It should be understood that the various steps recorded in the method embodiments of the present disclosure can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0034] As used herein, the term "including" and its variations are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0035] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions executed by these devices, modules or units or the interdependent relationship therebetween.

[0036] It should be noted that the modifications of "one" and "multiple" mentioned in this disclosure are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise clearly specified in the context, it should be understood as "one or more".

[0037] The names of the messages or information exchanged between multiple devices in the embodiments of this disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0038] It can be understood that before using the technical solutions disclosed in the embodiments of this disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in this disclosure should be informed to users and the authorization of users should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0039] For example, when responding to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested by the user will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, an application program, a server, or a storage medium that performs the operations of the technical solutions of this disclosure according to the prompt message.

[0040] As an optional but non-limiting implementation manner, the manner of sending a prompt message to the user in response to receiving an active request from the user can be, for example, in the form of a pop-up window. The prompt message can be presented in text in the pop-up window. In addition, the pop-up window can also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0041] It can be understood that the above process of notifying and obtaining user authorization is only illustrative and does not constitute a limitation on the implementation manner of this disclosure. Other manners that meet relevant laws and regulations can also be applied to the implementation manner of this disclosure.

[0042] It can be understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of the corresponding laws, regulations and related provisions.

[0043] Before introducing the present technical solution, an exemplary description of the application scenario can be given first. This technical solution can be applied to any scenario of robot positioning recovery. Exemplarily, when the robot loses positioning information, it may not be able to perform subsequent tasks. At this time, the robot can be positioned and recovered so that the robot after positioning recovery can continue to perform corresponding tasks. In the case where the robot cannot perform positioning recovery autonomously, it is usually necessary to manually move the robot to a specified position or adopt the method of on-site reset positioning to enable the robot to recover positioning information. However, recovering the robot's positioning based on the above methods is time-consuming, laborious, and inefficient, and there is also a problem of high robot operation and maintenance costs.

[0044] In order to facilitate the robot to perform tasks in the target building or warehouse, before applying the technical solution of the embodiments of the present disclosure, position identifiers (such as Markers) can be deployed at preset positions on each floor of the target building or at each storage point in the warehouse as position feature information. Furthermore, when the robot performs tasks, it can display the environmental information obtained by the robot imaging device through the robot remote control terminal, identify the position identifier of the environment where the robot is located, and determine the environmental information where the robot is currently located. Further, after determining the current environmental information, the target positioning information can be determined based on the map data corresponding to the current environmental information, and the robot can be remotely controlled to achieve positioning recovery. Thus, when it is determined that the robot's positioning is lost and cannot be recovered autonomously, the positioning information corresponding to the robot currently can be remotely determined. Furthermore, based on the determined target positioning information, the effect of determining and recovering the robot's positioning information is achieved, and the effect of improving the robot's positioning recovery efficiency while reducing the operation and maintenance costs is achieved.

[0045] Figure 1 The flowchart of a positioning recovery method provided by the embodiments of the present disclosure is applicable to the situation where, when the robot loses positioning and cannot recover positioning autonomously during task execution, the robot is remotely controlled for positioning recovery. This method can be applied to the robot control terminal device and is executed by the positioning recovery device. The device can be implemented in the form of software and / or hardware. Optionally, it is implemented by an electronic device, which can be a mobile terminal, a PC, or a server, etc. Among them, the robot control terminal device can be a device installed with relevant application software, capable of establishing a communication connection with the robot and realizing information interaction, and can be a mobile terminal (such as a smart phone or a tablet computer, etc.) and / or a fixed terminal (such as a PC).

[0046] As Figure 1 shown, the positioning recovery method of this embodiment may specifically include:

[0047] S110. In response to a robot pose adjustment operation, send a pose adjustment instruction to the target robot, so that the target robot adjusts its pose according to the pose adjustment instruction, and adjusts the scanning range of the imaging and scanning device configured on the target robot.

[0048] Among them, the robot can be a machine device that automatically performs work. In this embodiment, the robot can be a machine device that can execute any function. Optionally, it can be a building robot, that is, a robot that performs corresponding tasks on each floor, or a warehousing robot in warehousing services, which performs corresponding inbound and outbound tasks in the warehouse. The target robot can be understood as a robot that loses its position and cannot autonomously recover its position during the execution of a preset task.

[0049] When a robot loses its position and cannot autonomously recover its position during the execution of a task, it can send a position recovery request to the robot control terminal to request remote assistance. When the robot control terminal receives a position recovery request sent by any robot, it can determine the target robot and enter the operation and maintenance management page of the robot. Based on the operation and maintenance management page, the remote control of the robot for the position recovery interaction process can be realized.

[0050] During the remote control of the robot for the position recovery interaction process, the imaging and scanning device configured on the target robot can be started to obtain the area picture information in the environment where the target robot is currently located.

[0051] In this embodiment, the imaging and scanning device can be any device that can realize the image acquisition function. Optionally, it can be a camera, etc. The area picture information can be understood as an image representing the area where the robot is located. The area picture information can be a panoramic view centered on the robot, or an image corresponding to at least one shooting angle. The embodiments of the present disclosure do not make specific limitations on this.

[0052] During the process of remote control of a robot for positioning recovery interaction, the target robot can be moved and rotated through the robot pose adjustment function control to achieve position movement of the target robot and the orientation of its imaging and scanning device, thereby adjusting the scanning range of the imaging and scanning device. Specifically, the user can trigger a robot pose adjustment operation on the interaction interface of the robot control terminal device through the robot pose adjustment function control, such as moving forward, backward, left, or right, or rotating left or right. Correspondingly, the robot control terminal can respond to the robot pose adjustment operation to obtain data on the target robot pose adjustment, such as the direction and distance of movement, or the direction and angle of rotation; and then generate a pose adjustment instruction based on the data of the target robot pose adjustment and send it to the target robot, so that the target robot can adjust its pose according to the pose adjustment data corresponding to the pose adjustment instruction, and adjust the scanning range of the imaging and scanning device configured on the target robot, thereby obtaining more picture information of the current environment where the target robot is located.

[0053] S120. Display, on the display interface, the current environment information of the target robot obtained by the imaging and scanning device within the scanning range.

[0054] During the process of remote control for positioning recovery interaction, after starting the imaging and scanning device configured on the target robot and obtaining the regional picture information of the current environment where the target robot is located, the regional picture information will be displayed on the interaction interface of the robot control terminal. Thus, the user can more intuitively observe the current environment information of the target robot at a remote distance. When the target robot rotates under the control of a pose adjustment instruction, it can collect regional picture data at different angles and display them. When the target robot moves under the control of a pose adjustment instruction, it can collect regional picture data of different position regions and display them.

[0055] In this embodiment, position identifiers can be pre-deployed in the area where the robot works and travels as position feature information, and the position feature information can be identifier information representing floor information, warehouse storage location information, or preset reference point information. For example, floor position identifiers are deployed at preset positions on each floor of the target building, and identifier information for aisles or storage locations in the warehouse, such as important position point identifier information during the operation of the robot.

[0056] Taking the actual application of a building robot as an example, when the robot performs corresponding tasks on each floor of the target building, before the actual operation of the robot, position identifiers representing floor information on each floor of the target building can be preset.

[0057] It should be noted that the position identifier can include any information representing the floor, and the position identifier can be set at any position on each floor in advance. Among them, the position identifier can be the identifier information representing the floor where the position is located. The position identifier can be any form of identifier information. Optionally, it can be a graphic identifier that stores data symbol information and is distributed in a plane according to a certain rule with a certain specific geometric figure. In this embodiment, the position identifier can be a graphic identifier obtained by encoding a preset numerical range, and each numerical value in the preset numerical range corresponds to a position identifier. The preset numerical range can be an interval including any numerical values. Optionally, it can be 0 - 120. Exemplarily, when the floor identifier is a graphic label, the graphic label can be set at the top of the elevator door frame. It should be noted that when the preset position is the top of the elevator door frame, in order to enable the imaging scanning device in the robot to quickly obtain the corresponding image information after scanning the position identifier set at the preset position and display the obtained position identifier on the interaction interface of the robot control terminal for the user to preliminarily determine the position information.

[0058] S130. In response to the map display instruction, display the target map information.

[0059] Among them, the target map information includes the positions indicated by the position feature information in the current environment information.

[0060] Specifically, when the user observes the position feature information that can determine the current environment where the target robot is located in the current environment information displayed on the display interface of the robot control terminal, such as floor identifiers, storage location identifiers, charging location identifiers, etc., the user can determine the positions indicated by the position feature information in the current environment information based on the mapping relationship between the position feature information and the known positions.

[0061] Furthermore, the user can call out the target map in the corresponding map database for display. Specifically, when the robot control terminal obtains the map display instruction, it can respond to the map display instruction and display the target map information.

[0062] Furthermore, the mapping relationship between the position feature information and the known positions can be understood as a mapping table representing the corresponding relationship between the position feature identifier representing the position and the map data. The mapping table includes the position feature identifier and the corresponding regional map data including the positions indicated by the position feature identifier, such as the regional map data of a certain floor.

[0063] When the working area of the robot is any floor of a building, the area map data can be understood as pre-determined data for characterizing the spatial distribution of the floor. It can be understood that in order to enable the robot to automatically perform corresponding tasks on each floor, during the operation of the robot, navigation can be carried out based on the pre-stored map so that the robot can reach the task execution position. Therefore, before the robot actually operates on each floor, the floor map can be pre-drawn according to the spatial distribution of each floor, and the drawn floor map can be used as the area map data corresponding to each floor.

[0064] In this embodiment, the floor map data can be understood as map data characterizing the spatial distribution of the floor or other robot operation scenarios. In practical applications, before the robot operates, the floor map data corresponding to each floor can be pre-constructed, and the floor information of each floor can be obtained. Further, the floor information and the corresponding floor map data can be associated and stored, so that the user can determine the corresponding floor according to the position feature information corresponding to the observed environment of the target robot, and then call out the area map data of the corresponding floor as the target map information.

[0065] The position area indicated in the target map information, as the preliminary positioning area for remote positioning, can be understood as the fuzzy positioning area corresponding to the target robot, and this positioning area can be used to indicate the approximate position of the target robot.

[0066] S140. In response to the repositioning trigger operation, determine the target positioning information in the target map information, and send a movement control instruction to the target robot, so that the target robot moves to the position corresponding to the target positioning information to complete the positioning recovery.

[0067] The user can input a specified positioning recovery location on the basis of the displayed target map information during the positioning recovery interaction process of remote control on the robot control terminal, so that the target robot reaches the specified positioning recovery location to complete the positioning recovery.

[0068] Specifically, the user can input a target positioning information on the basis of the target map information displayed on the interaction interface; correspondingly, the robot control terminal can obtain the position input information on the display interface of the target map information. Then, the user can trigger the repositioning operation after inputting the target positioning information on the interaction interface; correspondingly, when the robot control terminal obtains the corresponding repositioning operation, it will respond to the repositioning trigger operation and determine that the obtained position input information is the target positioning information for positioning recovery in the target map information. Furthermore, the robot control terminal can send a movement control instruction to the target robot, so that the target robot moves to the position corresponding to the target positioning information to obtain an accurate positioning result and complete the positioning recovery.

[0069] Further, in an alternative embodiment, after the target robot moves to the position corresponding to the target positioning information, if the user believes that there is still a certain positioning deviation in the current target positioning information, the positioning recovery process of the target positioning information can be repeated based on the above steps to update the relocalization result of the target robot.

[0070] The technical solution of the embodiment of the present disclosure sends a pose adjustment instruction to the target robot in response to a robot pose adjustment operation, so that the target robot adjusts its pose according to the pose adjustment instruction to adjust the scanning range of the imaging scanning device configured on the target robot, and displays the current environment information where the target robot is located obtained by the imaging scanning device within the scanning range on the display interface, and the environment information is adjusted as the scanning range is adjusted; furthermore, in response to a map display instruction, the target map information is displayed to initially lock a positioning result, where the target map information includes the position indicated by the position feature information in the current environment information; in response to a relocalization trigger operation, the target positioning information in the target map information is determined, and a movement control instruction is sent to the target robot to make the target robot move to the position corresponding to the target positioning information to complete the positioning recovery. The technical solution of the embodiment of the present disclosure solves the problems in the related art that when the robot cannot autonomously recover its positioning, the manual on-site positioning recovery process is laborious and inefficient, and the robot operation and maintenance cost is relatively high. It realizes that in the case of determining that the robot's positioning is lost, through interacting with the robot, remotely obtains the initial positioning information corresponding to the current robot, and further determines more accurate target positioning information based on the determined initial positioning information, thereby realizing remote control of the robot to recover its positioning, improving the positioning recovery efficiency of the robot, and reducing the robot operation and maintenance cost.

[0071] Figure 2 It is a flowchart of a positioning recovery method provided by an embodiment of the present disclosure. Based on the above embodiment, the technical solution of this embodiment further describes the interaction process of remotely operating the target robot corresponding to the scribed line positioning mode during the determination process of the target positioning information. This process is applicable to the situation where the coordinates and orientations of the known points are unknown, or it is inconvenient to operate the robot to move to the known points. The specific implementation can refer to the description of this embodiment. The technical features that are the same as or similar to the foregoing embodiments will not be described again here.

[0072] As Figure 2 shown, the positioning recovery method of this embodiment may specifically include:

[0073] S210. In response to a robot pose adjustment operation, send a pose adjustment instruction to the target robot, so that the target robot adjusts its pose according to the pose adjustment instruction to adjust the scanning range of the imaging scanning device configured on the target robot.

[0074] S220. Display the current environmental information of the target robot obtained by the imaging and scanning device within the scanning range on the display interface.

[0075] S230. In response to the map display instruction, display the target map information and display a positioning mode selection control on the display interface of the target map information.

[0076] In this embodiment, different positioning modes are provided according to the information richness provided in the target map information. Different positioning modes correspond to different positioning accuracies.

[0077] As Figure 3 shown in the interaction interface of the robot control terminal, while displaying the target map information, a positioning mode selection control can also be provided.

[0078] Exemplarily, in Figure 3 , three positioning mode selection controls are displayed, including a line-drawing positioning mode, a coordinate point selection positioning mode, and a name-based point selection positioning mode. Among them, the line-drawing positioning mode is applicable to the situation where the coordinates and orientation of the existing points are unknown in the target map information, or it is inconvenient to operate the target robot to move to the known points. The coordinate point selection positioning mode is applicable to the situation where the coordinates and orientation of the existing points in the target map information are known, and at the same time, map information assistance is required, but the mapping relationship between the map and the points is not remembered. The name-based point selection positioning mode is suitable for the situation where there are a large number of preset reference points on the target map information, and the corresponding position of the reference point in the target map information can be determined by the name.

[0079] The user can select the positioning mode according to the information richness in the target map information and the repositioning accuracy requirements.

[0080] S240. Based on the triggering operation of the line-drawing positioning mode selection control, display a line position adjustment tool on the display interface of the target map information.

[0081] When the user selects the line-drawing positioning mode during the current positioning recovery remote operation, the line-drawing positioning mode selection control will be triggered. Correspondingly, the robot control terminal can respond to the triggering operation of the line-drawing positioning mode selection control and display a line position adjustment tool on the display interface of the target map information.

[0082] Exemplarily, the line position adjustment tool can refer to the sample shown in Figure 4 . The line position adjustment tool can be used to adjust the target positioning area range and the target positioning orientation during the interaction with the user. When the user triggers the line position adjustment tool and moves it parallelly, or adjusts the orientation pointed by the arrow, the determination of the target behavior information can be achieved.

[0083] S250. On the display interface of the target map information, obtain and display the anchor point corresponding to the input position point, and in response to the operation of the line-drawing position adjustment tool, adjust the position and / or orientation of the anchor point to complete the positioning line-drawing to obtain the position input information.

[0084] In Figure 4 In the interactive interface shown with the line-drawing position adjustment tool for the target drawing information, the user can input any position information within the target map information range. For example, click on any point within the target map information range, and the coordinates corresponding to this point are a positioning position information input by the user.

[0085] In the interactive interface, the positioning position information input by the user can be displayed in the form of an anchor point, such as Figure 4 the anchor point of the input position point shown in. On the premise of the visualization of the input positioning position information, the user can further adjust the anchor point of the input position point through the line-drawing position adjustment tool. Exemplarily, the user can drag or rotate the line-drawing position adjustment tool to enable the synchronous movement of the anchor point of the input position point. Correspondingly, the movement trajectory of the anchor point of the input position point is the result of the line-drawing in the line-drawing positioning mode, corresponding to a target positioning area. Correspondingly, the robot control terminal can obtain and display the anchor point corresponding to the input position point, and in response to the operation of the line-drawing position adjustment tool, adjust the position and / or orientation of the anchor point to complete the positioning line-drawing to obtain the position input information.

[0086] In the line-drawing positioning mode, the accuracy requirement for position adjustment during the positioning recovery process is approximately 0.3 - 0.5 m.

[0087] S260. In response to the repositioning trigger operation, determine the position input information as the target positioning information in the target map information, and send a movement control instruction to the target robot to enable the target robot to move to the position corresponding to the target positioning information to complete the positioning recovery.

[0088] When the robot control terminal obtains the corresponding repositioning operation, it will, in response to the repositioning trigger operation, determine that the obtained position input information is the target positioning information for positioning recovery in the target map information. Furthermore, the robot control terminal can send a movement control instruction to the target robot to enable the target robot to move to the position corresponding to the target positioning information to obtain an accurate positioning result and complete the positioning recovery.

[0089] In the technical solution of the embodiment of the present disclosure, in response to a robot pose adjustment operation, a pose adjustment instruction is sent to the target robot, so that the target robot adjusts its pose according to the pose adjustment instruction, so as to adjust the scanning range of the imaging and scanning device configured on the target robot; the current environmental information of the target robot where the imaging and scanning device is located in the scanning range is displayed on the display interface; in response to a map display instruction, target map information is displayed, and a positioning mode selection control is displayed on the display interface of the target map information; based on a triggering operation of the line drawing positioning mode selection control, a line drawing position adjustment tool is displayed on the display interface of the target map information; on the display interface of the target map information, an anchor point corresponding to the input position point is obtained and displayed, and in response to an operation of the line drawing position adjustment tool, the position and / or orientation of the anchor point is adjusted to complete positioning and drawing to obtain position input information; in response to a repositioning trigger operation, it is determined that the position input information is the target positioning information in the target map information, and a movement control instruction is sent to the target robot, so that the target robot moves to the position corresponding to the target positioning information to complete positioning recovery. The technical solution of the embodiment of the present disclosure solves the problems in the related art that when the robot cannot autonomously recover its position, the manual on-site position recovery process is laborious and inefficient, and the robot operation and maintenance cost is relatively high. It realizes that when it is determined that the robot's positioning is lost, by interacting with the robot, remotely obtains the fuzzy positioning information corresponding to the current robot, and further, through the line drawing positioning mode, determines the target positioning information based on the determined fuzzy positioning information for remote positioning recovery. In this mode, the operation on the robot is relatively small, and the positioning recovery attempt can be conveniently adjusted multiple times, which can improve the positioning recovery efficiency of the robot and reduce the robot operation and maintenance cost.

[0090] Figure 5 FIG. is a schematic flow chart of a positioning recovery method provided by an embodiment of the present disclosure. Based on the above embodiment, the technical solution of this embodiment further describes the interaction process of remotely operating the target robot corresponding to the coordinate point selection positioning mode during the determination process of the target positioning information. This process is applicable to the situation where the coordinates and orientations of the existing points in the target map information are known, and map information assistance is required, but the mapping relationship between the map and the points is not remembered. The specific implementation can refer to the description of this embodiment. Among them, the same or similar technical features as those in the foregoing embodiments will not be described in detail here.

[0091] As Figure 5 shown, the positioning recovery method of this embodiment may specifically include:

[0092] S310. In response to a robot pose adjustment operation, a pose adjustment instruction is sent to the target robot, so that the target robot adjusts its pose according to the pose adjustment instruction, so as to adjust the scanning range of the imaging and scanning device configured on the target robot.

[0093] S320. Display the current environmental information of the target robot obtained by the imaging and scanning device within the scanning range on the display interface.

[0094] S330. In response to the map display instruction, display the target map information and display a positioning mode selection control on the display interface of the target map information.

[0095] S340. In response to the triggering operation of the coordinate point selection positioning mode selection control, display the preset point marking information on the display interface of the target map information.

[0096] When the user selects the coordinate point selection positioning mode during the current positioning recovery remote operation, the coordinate point selection positioning mode selection control will be triggered. Correspondingly, the robot control terminal can, in response to the triggering operation of the coordinate point selection positioning mode selection control, display the preset point marking information on the display interface of the target map information.

[0097] Among them, the preset point marking information is the point information at the known coordinate positions in the target map information. Displaying it in the target map information can provide a reference for the user to select the positioning position during the positioning recovery process.

[0098] Exemplarily, the preset point marking information can refer to Figure 6 the preset point marking information shown. In Figure 6 , within the range corresponding to the target map information, there are 4 pieces of preset point marking information. The user can select any one of them as the target positioning information.

[0099] S350. Based on the selection operation of any one of the preset point marking information, obtain the position input information.

[0100] After the user selects any one of the preset point marking information on the display interface of the target map information, the robot control terminal can, in response to the user's selection operation of any one of the preset point marking information, determine the target preset point marking information selected by the user and use the target preset point marking information as the position input information on the display interface of the target map information. During the positioning recovery process in the coordinate point selection positioning mode, the accuracy of position adjustment reaches a positioning deviation of less than 0.3 meters.

[0101] S360. In response to the repositioning trigger operation, determine the position input information as the target positioning information in the target map information and send a movement control instruction to the target robot to make the target robot move to the position corresponding to the target positioning information, thereby completing the positioning recovery.

[0102] The technical solution of the embodiment of the present disclosure is to send a pose adjustment instruction to a target robot in response to a robot pose adjustment operation, so that the target robot adjusts its pose according to the pose adjustment instruction, and adjusts the scanning range of an imaging and scanning device configured on the target robot; display the current environmental information of the target robot obtained by the imaging and scanning device within the scanning range on a display interface; in response to a map display instruction, display target map information, and display a positioning mode selection control on the display interface of the target map information; in response to a triggering operation of a coordinate point selection positioning mode selection control, display preset point mark information on the display interface of the target map information; based on a selection operation of any one of the preset point mark information, obtain the position input information; in response to a repositioning trigger operation, determine the position input information as target positioning information in the target map information, and send a movement control instruction to the target robot, so that the target robot moves to the position corresponding to the target positioning information to complete positioning recovery. The technical solution of the embodiment of the present disclosure solves the problems in the related art that when a robot cannot autonomously recover its position, the process of manually recovering the position on site is laborious and inefficient, and the operation and maintenance cost of the robot is relatively high. When it is determined that the robot's positioning is lost, through interaction with the robot, fuzzy positioning information corresponding to the current robot is remotely obtained, and then, based on the determined fuzzy positioning information, target positioning information is determined through the coordinate point selection positioning mode. The operation in this mode is more efficient, and the remote positioning and repositioning accuracy of the robot is further improved.

[0103] Figure 7 FIG. is a schematic flow chart of a positioning recovery method provided by an embodiment of the present disclosure. On the basis of the above embodiment, the technical solution of this embodiment further describes the interaction process of remotely operating the target robot corresponding to the name point selection positioning mode during the determination process of target positioning information. This process is applicable to the situation where there are a large number of preset reference points on the target map information, and the corresponding position of the reference point in the target map information can be judged by the name. For the specific implementation, please refer to the description of this embodiment. Among them, the technical features that are the same as or similar to the foregoing embodiments will not be described in detail herein.

[0104] As Figure 7 shown, the positioning recovery method of this embodiment may specifically include:

[0105] S410. In response to a robot pose adjustment operation, send a pose adjustment instruction to a target robot, so that the target robot adjusts its pose according to the pose adjustment instruction, and adjusts the scanning range of an imaging and scanning device configured on the target robot.

[0106] S420. Display the current environmental information of the target robot obtained by the imaging and scanning device within the scanning range on the display interface.

[0107] S430. In response to a map display instruction, display the target map information and display a positioning mode selection control on the display interface of the target map information.

[0108] S440. In response to a triggering operation on the point name selection and positioning mode selection control, display a list of point names corresponding to the target map information.

[0109] When the user selects the point name selection and positioning mode during the current positioning recovery remote operation, the point name selection and positioning mode selection control will be triggered. Correspondingly, the robot control terminal can, in response to the triggering operation on the point name selection and positioning mode selection control, display the corresponding list of point names on the display interface of the target map information.

[0110] Among them, the list of point names contains the point information of all known coordinate positions in the target map information. When the number of point information with known coordinates in the target map information is too large, the point selection efficiency will decrease when the user inputs target positioning information in the user coordinate selection and positioning mode. Correspondingly, a point can be quickly selected as the target positioning information through the point name.

[0111] Exemplarily, in a warehousing scenario, a single warehousing map may contain hundreds of points, and it is not easy for the user to immediately determine a target point as the target positioning information. Then, the point name selection method can be adopted to select a target point from the list of point names based on the point name.

[0112] Exemplarily, the list of point names can be a list interface as Figure 8 shown, which contains the names of all points with known coordinates in the target map information.

[0113] S450. Based on a selection operation on any point name in the list of point names, use the position and orientation corresponding to the any point name as the position input information.

[0114] When the user selects any point name in the list of point names, the robot control terminal can determine the point name selected by the user, and thus, based on the user's selection operation on any point name in the list of point names, use the position and orientation corresponding to the selected any point name as the position input information.

[0115] S460. In response to a relocalization trigger operation, determine that the location input information is the target localization information in the target map information, and send a movement control instruction to the target robot, so that the target robot moves to the position corresponding to the target localization information to complete localization recovery.

[0116] The technical solution of the embodiments of the present disclosure is as follows: in response to a robot pose adjustment operation, send a pose adjustment instruction to the target robot, so that the target robot adjusts its pose according to the pose adjustment instruction to adjust the scanning range of the imaging and scanning device configured on the target robot; display the current environmental information of the target robot obtained by the imaging and scanning device within the scanning range on a display interface; in response to a map display instruction, display the target map information, and display a positioning mode selection control on the display interface of the target map information; in response to a trigger operation on the name point selection positioning mode selection control, display a list of point names corresponding to the target map information; based on a selection operation on any point name in the list of point names, use the position and orientation corresponding to the any point name as the location input information; in response to a relocalization trigger operation, determine that the location input information is the target localization information in the target map information, and send a movement control instruction to the target robot, so that the target robot moves to the position corresponding to the target localization information to complete localization recovery. The technical solution of the embodiments of the present disclosure solves the problems in the related art that when a robot cannot autonomously recover its position, the process of manual on-site position recovery is laborious and inefficient, and the operation and maintenance cost of the robot is relatively high. It realizes that in the case of determining that the robot's positioning is lost, by interacting with the robot, remotely obtain the fuzzy positioning information corresponding to the robot currently, and then, through the name point selection positioning mode, determine the target localization information based on the determined fuzzy positioning information for positioning recovery. In this mode, the target localization information can be quickly determined, achieving the effects of reducing the operation and maintenance cost and improving the positioning recovery efficiency of the robot.

[0117] Figure 9 It is a flowchart of a positioning recovery method provided by an embodiment of the present disclosure. On the basis of the above embodiments, the technical solution of this embodiment further describes the process of the robot control terminal establishing a positioning recovery connection with the target robot and realizing positioning recovery in one step. The specific implementation details can be seen in the description of this embodiment. Among them, the same or similar technical features as those in the foregoing embodiments will not be repeated here.

[0118] As Figure 9 shown, the positioning recovery method of this embodiment may specifically include:

[0119] S510. In response to a relocalization request operation of the target robot, display a robot operation and maintenance management page associated with the target robot.

[0120] When a robot loses its positioning during task execution and cannot autonomously restore its positioning, it can send a positioning restoration request (relocalization request) to the robot control terminal to obtain remote relocalization assistance. When the robot control terminal receives a positioning restoration request sent by any robot, it can determine the target robot and enter the operation and maintenance management page of the robot.

[0121] In the operation and maintenance management page, it can include the device information of the target robot and the communication connection status information between the target robot and the robot control terminal. Of course, it also includes the robot pose adjustment function controls for the robot device. The robot pose adjustment function controls include a spatial movement control and an orientation adjustment control, which can control the target robot to move or rotate.

[0122] The display interface corresponding to the operation and maintenance management page can also include a video screen display interface for displaying the video data obtained by the imaging and scanning device configured on the target robot to achieve information synchronization of the environment where the target robot is located.

[0123] S520. In response to a robot pose adjustment operation, send a pose adjustment instruction to the target robot so that the target robot adjusts its pose according to the pose adjustment instruction to adjust the scanning range of the imaging and scanning device configured on the target robot.

[0124] S530. Display the current environment information of the target robot where the imaging and scanning device obtains in the scanning range on the display interface.

[0125] S540. In response to a map display instruction, display the target map information and display a positioning mode selection control on the display interface of the target map information.

[0126] S550. Based on the triggering operation of any of the positioning mode selection controls, display a position information input interface corresponding to the positioning mode of any of the positioning mode selection controls, and obtain the position input information on the position information input interface.

[0127] S560. In response to a relocalization trigger operation, determine the position input information as the target positioning information in the target map information.

[0128] S570. In response to the operation of the spatial movement control and / or the orientation adjustment control in the robot pose adjustment function controls, send a corresponding movement and / or rotation instruction to the target robot so that the target robot moves to the position corresponding to the target positioning information.

[0129] In addition to directly sending the target positioning information to the target robot through the robot control system for positioning recovery, it is also possible to control the target robot to reach the position corresponding to the target positioning information according to the pose adjustment data input by the user in response to the user's pose adjustment operation. For example, the user adjusts the target robot to move 1 meter to the right and rotate 36° through the robot pose adjustment function control, and reaches the position corresponding to the target positioning information.

[0130] The technical solution of the embodiment of the present disclosure, by responding to the repositioning request operation of the target robot, displays the robot operation and maintenance management page associated with the target robot, and the robot pose adjustment function control is displayed on the operation and maintenance management page; in response to the robot pose adjustment operation, sends the pose adjustment instruction to the target robot, so that the target robot adjusts its pose according to the pose adjustment instruction to adjust the scanning range of the imaging and scanning device configured on the target robot; displays the current environment information of the target robot obtained by the imaging and scanning device within the scanning range on the display interface; in response to the map display instruction, displays the target map information, and displays the positioning mode selection control on the display interface of the target map information; based on the triggering operation of any positioning mode selection control, displays the position information input interface corresponding to the positioning mode of any positioning mode selection control, and obtains the position input information on the position information input interface; in response to the repositioning trigger operation, determines that the position input information is the target positioning information in the target map information; in response to the operation of the space movement control and / or the orientation adjustment control in the robot pose adjustment function control, sends the corresponding movement and / or rotation instruction to the target robot, so that the target robot moves to the position corresponding to the target positioning information. The technical solution of the embodiment of the present disclosure solves the problems in the related art that when the robot cannot autonomously recover its position, the manual on-site position recovery process is laborious and inefficient, and the robot operation and maintenance cost is relatively high. It realizes that when it is determined that the robot's positioning is lost, by interacting with the robot, remotely obtains the fuzzy positioning information corresponding to the robot currently, and further, determines the target positioning information based on any positioning mode selected by the user on the basis of the determined fuzzy positioning information, achieving the effect of improving the robot's positioning recovery efficiency while reducing the operation and maintenance cost.

[0131] Figure 10 The structural schematic diagram of a positioning recovery device provided by an embodiment of the present disclosure is as Figure 6 shown, the device includes: a floor information determination module 610, a map data retrieval module 620, a positioning area determination module 630, and a target positioning determination module 640.

[0132] Among them, the robot pose adjustment module 610 is configured to send a pose adjustment instruction to a target robot in response to a robot pose adjustment operation, so that the target robot adjusts its pose according to the pose adjustment instruction, and adjusts the scanning range of an imaging and scanning device configured on the target robot; the environmental information display module 620 is configured to display, on a display interface, current environmental information of the location where the target robot is located, which is obtained by the imaging and scanning device within the scanning range; the reference positioning information display module 630 is configured to display target map information in response to a map display instruction, where the target map information includes positions indicated by position feature information in the current environmental information; the positioning recovery module 640 is configured to determine target positioning information in the target map information in response to a relocalization trigger operation, and send a movement control instruction to the target robot, so that the target robot moves to a position corresponding to the target positioning information to complete positioning recovery.

[0133] The technical solution of the embodiment of the present disclosure is as follows: by sending a pose adjustment instruction to a target robot in response to a robot pose adjustment operation, the target robot adjusts its pose according to the pose adjustment instruction, and adjusts the scanning range of an imaging and scanning device configured on the target robot, and the current environmental information of the location where the target robot is located, which is obtained by the imaging and scanning device within the scanning range, is displayed on the display interface, and the environmental information is adjusted as the scanning range is adjusted; furthermore, in response to a map display instruction, target map information is displayed to initially lock a positioning result, where the target map information includes positions indicated by position feature information in the current environmental information; in response to a relocalization trigger operation, target positioning information in the target map information is determined, and a movement control instruction is sent to the target robot, so that the target robot moves to a position corresponding to the target positioning information to complete positioning recovery. The technical solution of the embodiment of the present disclosure solves the problems in the related art that when a robot cannot autonomously recover positioning, the process of manually recovering positioning on site is laborious and inefficient, and the operation and maintenance cost of the robot is relatively high. When it is determined that the robot positioning is lost, the destination map data corresponding to the robot currently can be remotely obtained by interacting with the robot, and then, based on the target map data, the target positioning information is determined to achieve the effect of remotely controlling the robot to perform positioning recovery, which can improve the positioning recovery efficiency of the robot while reducing the operation and maintenance cost.

[0134] Based on the above optional technical solutions, optionally, the positioning recovery module 640 includes a positioning information acquisition unit, and the positioning information acquisition unit can be used to:

[0135] Obtain position input information on the display interface of the target map information;

[0136] In response to a relocation trigger operation, determine that the position input information is the target positioning information in the target map information.

[0137] Based on the above optional technical solutions, optionally, the positioning recovery module 640 includes a positioning information acquisition unit, and this positioning information acquisition unit can be used for:

[0138] Display a positioning mode selection control on the display interface of the target map information;

[0139] Based on the trigger operation of any one of the positioning mode selection controls, display a position information input interface for the positioning mode corresponding to any one of the positioning mode selection controls;

[0140] Obtain the position input information on the position information input interface.

[0141] Based on the above optional technical solutions, optionally, the positioning recovery module 640 includes a positioning information acquisition unit, and this positioning information acquisition unit can be used for:

[0142] Based on the trigger operation of the line-drawing positioning mode selection control, display a line-drawing position adjustment tool on the display interface of the target map information;

[0143] On the display interface of the target map information, obtain and display an anchor point corresponding to the input position point, and in response to the operation of the line-drawing position adjustment tool, adjust the position and / or orientation of the anchor point to complete the positioning line-drawing to obtain the position input information.

[0144] Based on the above optional technical solutions, optionally, the positioning recovery module 640 includes a positioning information acquisition unit, and this positioning information acquisition unit can be used for:

[0145] In response to the trigger operation of the coordinate point selection positioning mode selection control, display preset point position marking information on the display interface of the target map information;

[0146] Based on the selection operation of any one of the preset point position marking information, obtain the position input information.

[0147] Based on the above optional technical solutions, optionally, the positioning recovery module 640 includes a positioning information acquisition unit, and this positioning information acquisition unit can be used for:

[0148] In response to the trigger operation of the name point selection positioning mode selection control, display a list of point names corresponding to the target map information;

[0149] Based on the selection operation of any point name in the list of point names, use the position and orientation corresponding to any point name as the position input information.

[0150] Based on the above optional technical solutions, optionally, the positioning recovery device further includes a relocalization request response module, which can be used for:

[0151] Before sending the pose adjustment instruction to the target robot in response to the robot pose adjustment operation, in response to the relocalization request operation of the target robot, display the robot operation and maintenance management page associated with the target robot;

[0152] Based on the trigger operation of the relocalization function control on the operation and maintenance management page, display the robot pose adjustment function control to obtain the pose adjustment operation, where the robot pose adjustment function control includes a spatial movement control and an orientation adjustment control.

[0153] Based on the above optional technical solutions, optionally, the positioning recovery module 640 further includes a positioning recovery subunit, which is used for:

[0154] In response to the operation of the spatial movement control and / or the orientation adjustment control, send a corresponding movement and / or rotation instruction to the target robot, so that the target robot moves to the position corresponding to the target positioning information.

[0155] Based on the above optional technical solutions, optionally, the position feature information is identification information representing floor information, warehouse location information, or preset reference point information.

[0156] Based on the above optional technical solutions, optionally, the positioning recovery device can also be used for:

[0157] After the target robot moves to the position corresponding to the target positioning information, repeat the positioning recovery process of determining the target positioning information to update the relocalization result of the target robot.

[0158] The positioning recovery device provided by the embodiments of the present disclosure can execute the positioning recovery method provided by any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0159] It should be noted that the various units and modules included in the above device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the embodiments of the present disclosure.

[0160] Figure 11 It is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. The following refers to Figure 11 , which shows an electronic device suitable for implementing the embodiment of the present disclosure (for exampleFigure 11 Schematic structural diagram of a terminal device or server) 700 in [the relevant context]. The terminal device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 11 The electronic device shown is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

[0161] As Figure 11 shown, the electronic device 700 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An editing / output (I / O) interface 705 is also connected to the bus 704.

[0162] Generally, the following devices may be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device 700 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 11 the electronic device 700 with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. More or fewer devices may be alternatively implemented or had.

[0163] Particularly, according to the embodiments of the present disclosure, the process described above with reference to the flowchart may be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program codes for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication device 709, or installed from the storage device 708, or installed from the ROM 702. When the computer program is executed by the processing device 701, the above-mentioned functions defined in the method of the embodiments of the present disclosure are executed.

[0164] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0165] The electronic device provided in the embodiments of the present disclosure and the positioning recovery method provided in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be referred to in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0166] The embodiments of the present disclosure provide a computer storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the positioning recovery method provided in the above embodiments.

[0167] It should be noted that the computer-readable medium in the present disclosure can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which the computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable signal medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0168] In some embodiments, the client and the server can communicate using any currently known or future-developed network protocol such as HTTP (Hyper Text Transfer Protocol), and can be interconnected with digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include local area networks ("LANs"), wide area networks ("WANs"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed networks.

[0169] The above computer-readable medium can be included in the above electronic device; or it can exist separately without being assembled into the electronic device.

[0170] The above computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device is caused to: in response to a robot pose adjustment operation, send a pose adjustment instruction to the target robot, so that the target robot adjusts its pose according to the pose adjustment instruction to adjust the scanning range of the imaging and scanning device configured on the target robot; display on a display interface the current environment information of the location where the target robot is located obtained by the imaging and scanning device within the scanning range; in response to a map display instruction, display target map information, where the target map information includes the location indicated by the position feature information in the current environment information; in response to a relocalization trigger operation, determine the target localization information in the target map information, and send a movement control instruction to the target robot, so that the target robot moves to the position corresponding to the target localization information to complete localization recovery.

[0171] Computer program code for performing the operations of the present disclosure can be written in one or more programming languages or combinations thereof. The above programming languages include, but are not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0172] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or by a combination of dedicated hardware and computer instructions.

[0173] The units involved in the embodiments described in the present disclosure can be implemented in software or in hardware. Among them, the name of the unit does not, in some cases, constitute a limitation on the unit itself. For example, the first acquisition unit can also be described as "the unit for acquiring at least two Internet protocol addresses".

[0174] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), and so on.

[0175] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0176] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0177] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although a number of specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0178] Although the subject matter has been described in language specific to structural features and / or methodological acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A positioning recovery method, characterized in that, Including: In response to a robot pose adjustment operation, sending a pose adjustment instruction to a target robot, so that the target robot adjusts its pose according to the pose adjustment instruction, so as to adjust the scanning range of an imaging and scanning device configured on the target robot; Displaying, on a display interface, current environment information of the location where the target robot is located, which is obtained by the imaging and scanning device within the scanning range; In response to a map display instruction, displaying target map information, where the target map information includes positions indicated by position feature information in the current environment information; In response to a relocalization trigger operation, determining target localization information in the target map information, and sending a movement control instruction to the target robot, so that the target robot moves to a position corresponding to the target localization information to complete relocalization recovery.

2. The method according to claim 1, characterized in that, The determining the target localization information in the target map information in response to the relocalization trigger operation includes: Obtaining position input information on a display interface of the target map information; In response to the relocalization trigger operation, determining that the position input information is the target localization information in the target map information.

3. The method according to claim 2, wherein The obtaining the position input information on the display interface of the target map information includes: Displaying a positioning mode selection control on the display interface of the target map information; Based on a trigger operation of any one of the positioning mode selection controls, displaying a position information input interface corresponding to the positioning mode of any one of the positioning mode selection controls; Obtaining the position input information on the position information input interface.

4. The method according to claim 3, characterized in that The based on a trigger operation of any one of the positioning mode selection controls, displaying a position information input interface corresponding to the positioning mode of any one of the positioning mode selection controls includes: Based on a trigger operation of a line-drawing positioning mode selection control, displaying a line-drawing position adjustment tool on the display interface of the target map information; Correspondingly, the obtaining the position input information on the position information input interface includes On the display interface of the target map information, obtaining and displaying an anchor point corresponding to an input position point, and in response to an operation of the line-drawing position adjustment tool, adjusting the position and / or orientation of the anchor point to complete positioning line-drawing to obtain the position input information.

5. The method according to claim 3, characterized in that The based on a trigger operation of any one of the positioning mode selection controls, displaying a position information input interface corresponding to the positioning mode of any one of the positioning mode selection controls includes: In response to a trigger operation of a coordinate point selection positioning mode selection control, displaying preset point position marking information on the display interface of the target map information; Correspondingly, the obtaining the position input information on the position information input interface includes Based on a selection operation on any one of the preset point position marking information, obtaining the position input information.

6. The method according to claim 3, wherein The based on a trigger operation of any one of the positioning mode selection controls, displaying a position information input interface corresponding to the positioning mode of any one of the positioning mode selection controls includes: In response to a trigger operation of a point name selection positioning mode selection control, displaying a list of point names corresponding to the target map information; Correspondingly, the obtaining the position input information on the position information input interface includes Based on the selection operation of any point name in the list of point names, the position and orientation corresponding to the selected point name are used as the position input information.

7. The method according to claim 1, wherein Before sending the pose adjustment instruction to the target robot in response to the robot pose adjustment operation, the method further includes: In response to the repositioning request operation of the target robot, display the robot operation and maintenance management page associated with the target robot; Wherein, the robot operation and maintenance management page is provided with a robot pose adjustment function control, and the robot pose adjustment function control includes a spatial movement control and an orientation adjustment control.

8. The method according to claim 7, characterized in that, Sending the movement control instruction to the target robot to cause the target robot to move to the position corresponding to the target positioning information includes: In response to the operation of the spatial movement control and / or the orientation adjustment control, send the corresponding movement and / or rotation instruction to the target robot to cause the target robot to move to the position corresponding to the target positioning information.

9. The method according to claim 1, characterized in that, The position feature information is identification information characterizing floor information, warehouse location information, or preset reference point information.

10. The method according to any one of claims 1-9, characterized in that, The method further includes: After the target robot moves to the position corresponding to the target positioning information, repeat the positioning recovery process of determining the target positioning information to update the repositioning result of the target robot.

11. A positioning and recovery device, characterized in that, Including: A robot pose adjustment module, configured to send a pose adjustment instruction to a target robot in response to a robot pose adjustment operation, so that the target robot adjusts its pose according to the pose adjustment instruction to adjust the scanning range of the imaging and scanning device configured on the target robot; An environment information display module, configured to display on a display interface the current environment information of the target robot obtained by the imaging and scanning device within the scanning range; A reference positioning information display module, in response to a map display instruction, displays target map information, where the target map information includes the positions indicated by the position feature information in the current environment information; A positioning recovery module, configured to determine target positioning information in the target map information in response to a repositioning trigger operation, and send a movement control instruction to the target robot to cause the target robot to move to the position corresponding to the target positioning information to complete positioning recovery.

12. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the positioning recovery method according to any one of claims 1-10.

13. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the positioning recovery method according to any one of claims 1-10 when executed by a computer processor.

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