Robot relocation exploration method
By acquiring local and global maps of the robot's surroundings, planning multiple relocation routes, and combining preset route priorities and historical positioning information, the problem of multiple relocations of the robot in unknown environments was solved, achieving efficient relocation results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HONGYANG HOME APPLIANCES
- Filing Date
- 2024-11-22
- Publication Date
- 2026-05-29
AI Technical Summary
In existing technologies, robots need to undergo multiple repositionings in unknown environments to obtain the correct results, and rely on text-based pose markers in a pre-arranged laboratory setting, resulting in complex scenarios and low efficiency.
By acquiring local and global maps of the robot's surroundings, multiple relocalization routes are planned based on pose information. The robot is then controlled to explore for relocalization on the global map according to preset route priorities and historical positioning information. Combining local and global maps increases the probability of successful relocalization without relying on text-based pose labels.
It increases the probability of successful relocation in complex environments, reduces the number of relocations, and achieves accurate positioning in laboratory settings that do not rely on pre-arranged layouts.
Smart Images
Figure CN122108110A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of intelligent device technology, and in particular to a robot relocation exploration method. Background Technology
[0002] With continuous technological innovation and development, autonomous mobile robot technology has gradually matured and stabilized. These robots typically possess autonomous localization, movement, perception, and decision-making capabilities. If a robot completes exploration in an unknown environment and builds a map, and then begins working at any location, or encounters an anomaly during operation and cannot determine its own position, a relocalization process is required. However, in actual operation, environmental conditions can be very complex, and sensor data may be inaccurate. The robot may need to undergo multiple relocalizations to obtain the correct result.
[0003] For example, patent document CN 115830576 A discloses a mobile robot relocalization method. When the loss of localization information is detected, the mobile robot enters a local map exploration mode. In this mode, local path planning and navigation are performed, and the presence of indicator markers is identified. When an indicator marker is identified, relative navigation is performed based on its pose information until the text information in the indicator marker is recognized using text recognition technology. The robot is then relocalized using the pose information and text information of the indicator marker, combined with the global map. This method requires the presence of text-based pose markers in the environment and is only applicable to well-prepared laboratory scenarios. The required implementation scenario is complex, requiring multiple relocalization attempts to obtain the correct result. Summary of the Invention
[0004] To address the aforementioned technical problems, this disclosure provides a robot relocation exploration method.
[0005] This disclosure provides a robot relocation exploration method, including:
[0006] Obtain local and global maps of the robot's surrounding environment;
[0007] Based on the robot's pose information, multiple relocalization routes are planned within the local map;
[0008] Based on preset route priorities and historical positioning information, the robot is controlled to explore and relocate on the global map according to the multiple relocation routes.
[0009] In some embodiments, the method further includes:
[0010] Determine if the global map exists;
[0011] If the global map does not exist, control the robot to perform a mapping task;
[0012] If the global map exists, the local map is created with the robot's position as the origin.
[0013] In some embodiments, acquiring a local map of the robot's surrounding environment includes:
[0014] The sensor data of the robot's surrounding environment is acquired and updated in real time.
[0015] The local map is updated based on the sensor data.
[0016] In some embodiments, planning multiple relocalization routes within the local map based on the robot's pose information includes:
[0017] Obtain the robot's pose information in the local map and determine the opening boundary of the local map;
[0018] Based on the pose information and the opening boundary, multiple relocation routes are planned within the local map.
[0019] In some embodiments, determining the opening boundary of the local map includes:
[0020] Obtain the outer contour of the local map;
[0021] The opening boundary of the local map is determined based on the pose information and the connectivity of the outer contour.
[0022] In some embodiments, controlling the robot to perform relocation exploration in the global map according to the multiple relocation routes based on preset route priorities and historical positioning information includes:
[0023] The target relocation route is determined from multiple relocation routes according to the preset route priority, wherein the preset route priority is determined based on the size of the opening boundary;
[0024] The robot is controlled to perform relocation exploration according to the target relocation route.
[0025] In some embodiments, the method further includes:
[0026] After failing to relocate along the target relocation route, the robot is controlled to select a new relocation route from among the multiple relocation routes and conduct relocation exploration on the global map, based on the preset route priority and the historical positioning information.
[0027] In some embodiments, the method further includes:
[0028] After successful relocation exploration, the robot's first pose information in the global map and its second pose information in the local map are determined;
[0029] Based on the preset coordinate transformation formula, the first pose information, and the second pose information, the coordinate transformation relationship is calculated;
[0030] The local map is added to the global map based on the coordinate transformation relationship.
[0031] In some embodiments, the method further includes:
[0032] After a relocation exploration fails, determine whether the termination condition is met;
[0033] If the termination condition is met, control the robot to perform the mapping task;
[0034] If the termination condition is not met, the robot is controlled to repeat the relocation exploration.
[0035] In some embodiments, the termination condition includes at least one of reaching a preset number of failures, reaching a preset total mileage, and reaching a preset total time.
[0036] The technical solution provided in this disclosure has the following advantages compared with the prior art:
[0037] The robot relocalization exploration method of this disclosure can acquire local and global maps of the robot's surrounding environment when it is determined that the robot needs to be relocalized. Then, based on the robot's pose information, multiple relocalization routes are planned within the local map. Following preset route priorities and historical positioning information, the robot is controlled to explore for relocalization in the global map according to these multiple relocalization routes. Therefore, when the positioning position is lost, multiple relocalization routes can be planned within the local map, and then explored for relocalization in the global map according to these routes. This combines the local and global maps to increase the probability of successful relocalization. This method does not require textual pose markers in the environment and is not dependent on a pre-arranged laboratory setting. The implementation scenario required by this solution is simple, and correct relocalization results can be obtained without multiple relocalization attempts.
[0038] Furthermore, during relocation exploration, if the exploration fails, the relocation route can be redefined based on the failure record, and the exploration can be restarted from the starting position. At the same time, by combining the local map opening area, the robot can be guided to relocate in a direction where it is easier to achieve successful relocation, thereby increasing the probability of successful relocation. Attached Figure Description
[0039] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent when taken in conjunction with the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.
[0040] Figure 1 A flowchart illustrating a robot relocation exploration method provided in this embodiment of the disclosure;
[0041] Figure 2 This is a schematic diagram of the structure of a global map provided in an embodiment of the present disclosure;
[0042] Figure 3 This is a schematic diagram of the structure of a local map provided in an embodiment of the present disclosure;
[0043] Figure 4 This is a schematic diagram of another local map structure provided in an embodiment of the present disclosure;
[0044] Figure 5 A flowchart illustrating another robot relocation exploration method provided in this embodiment of the disclosure;
[0045] Figure 6 A flowchart illustrating yet another robot relocation exploration method provided in this disclosure embodiment;
[0046] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation
[0047] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.
[0048] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.
[0049] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "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". Definitions of other terms will be given in the description below.
[0050] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.
[0051] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0052] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
[0053] To address the aforementioned problems, this disclosure provides a robot relocalization exploration method. The following embodiments, in conjunction with… Figures 1 to 6 The robot relocation exploration method provided in the embodiments of this disclosure will be described in detail.
[0054] Figure 1 A flowchart illustrating a robot relocation exploration method provided in an embodiment of this disclosure is shown.
[0055] In this embodiment of the disclosure, the robot relocation exploration method can be executed by an electronic device. This electronic device can be a robot, a workstation, various other devices, etc.
[0056] like Figure 1 As shown, the robot relocation exploration method may include the following steps.
[0057] S110. Obtain local and global maps of the robot's surrounding environment.
[0058] In this embodiment of the disclosure, the electronic device can acquire local and global maps of the robot's surrounding environment.
[0059] Optionally, the local map can be a real-time map of the local environment surrounding the robot.
[0060] Alternatively, the global map can be the original global map used by the robot for the task before it fails to locate itself.
[0061] Specifically, when it is determined that the robot needs to be relocated, such as when the robot fails to relocate, the electronic device can obtain a real-time local map and an original global map of the robot's surrounding environment.
[0062] S120. Based on the robot's pose information, plan multiple relocalization routes within the local map.
[0063] In this embodiment of the disclosure, the electronic device can plan multiple relocalization routes within the local map based on the robot's pose information.
[0064] Optionally, the pose information can be used to characterize the robot's position and orientation.
[0065] Alternatively, the relocation route can be a travel route used to guide the robot to reposition itself.
[0066] Specifically, electronic devices can acquire the robot's pose information and plan multiple relocalization routes within a local map based on this pose information.
[0067] S130. Based on the preset route priority and historical positioning information, control the robot to perform relocation exploration in the global map according to the multiple relocation routes.
[0068] In this embodiment of the disclosure, the electronic device can control the robot to perform relocation exploration on the global map according to the multiple relocation routes based on preset route priorities and historical positioning information.
[0069] Optionally, the preset route priority can be a pre-defined priority level used to characterize each relocation route.
[0070] Optionally, historical location information can be information about the robot's location over a historical period.
[0071] Specifically, the electronic device can obtain preset route priorities and historical positioning information, and control the robot to perform relocation exploration in the global map according to the preset route priorities and historical positioning information.
[0072] Therefore, in this embodiment of the present disclosure, when it is determined that the robot needs to relocalize, a local map and a global map of the robot's surrounding environment can be obtained. Then, based on the robot's pose information, multiple relocalization routes are planned in the local map. Following preset route priorities and historical positioning information, the robot is controlled to explore for relocalization in the global map according to these multiple relocalization routes. Thus, when the positioning location is lost, by planning multiple relocalization routes in the local map and then exploring for relocalization in the global map according to these routes, the probability of successful relocalization can be increased by combining the local and global maps.
[0073] Optionally, the robot relocation exploration method may further include: determining whether the global map exists; if the global map does not exist, controlling the robot to perform a mapping task; if the global map exists, establishing the local map with the robot's position as the origin.
[0074] In this embodiment of the disclosure, when the robot needs to be relocated, the electronic device can first determine whether a global map exists.
[0075] In some embodiments, if a global map does not exist, the electronic device can control the robot to perform mapping tasks, such as controlling the robot to quickly build a global map or to perform a map-building task while scanning.
[0076] In other embodiments, if a global map exists, the electronic device creates a new local map with the robot's position as the origin of the world coordinate system.
[0077] Figure 2 A schematic diagram of the structure of a global map provided in an embodiment of this disclosure is shown.
[0078] like Figure 2 As shown, if the robot needs to relocalize (e.g., if the robot is interrupted during mapping and needs to relocalize before continuing mapping), it means that the robot has already visited the area outside the dashed box on the left and built a map corresponding to that area. This already built map is the global map. However, the area inside the dashed box has not yet been explored, and the robot needs to relocalize in this area because the area is not closed.
[0079] Optionally, S110 may specifically include: acquiring and updating sensor data of the robot's surrounding environment in real time; and updating the local map based on the sensor data.
[0080] In this embodiment of the disclosure, the electronic device can acquire and update sensor data of the robot's surrounding environment in real time, and update the local map based on the sensor data.
[0081] Specifically, electronic devices can acquire and update sensor data of the robot's surrounding environment in real time through different sensors (such as lidar sensors and infrared sensors), and then update the local map using the sensor data.
[0082] Figure 3 A schematic diagram of the structure of a local map provided in an embodiment of this disclosure is shown.
[0083] like Figure 3 As shown, if the robot needs to be repositioned, the electronic device establishes a new local map with the robot's position as the origin of the world coordinate system, and can acquire and update sensor data of the robot's surrounding environment in real time, and update the local map based on the sensor data.
[0084] Optionally, S120 may specifically include: acquiring the robot's pose information in the local map and determining the opening boundary of the local map; and planning multiple relocalization routes in the local map based on the pose information and the opening boundary.
[0085] In this embodiment of the disclosure, the electronic device can acquire the robot's pose information in the local map and determine the opening boundary of the local map.
[0086] Optionally, the pose information can be information that characterizes the robot's position and orientation.
[0087] Specifically, the electronic device acquires the robot's pose information in the local map through Simultaneous Localization and Mapping (SLAM) and determines the opening boundaries of the local map (including but not limited to using image processing methods).
[0088] Furthermore, the electronic device can plan multiple relocation routes within the local map based on the pose information and the opening boundary.
[0089] Optionally, determining the opening boundary of the local map includes: obtaining the outer contour of the local map; and determining the opening boundary of the local map based on the pose information and the connectivity of the outer contour.
[0090] In this embodiment of the disclosure, the electronic device can acquire the outer contour of the local map and determine the opening boundary of the local map based on the pose information and the connectivity of the outer contour.
[0091] Figure 4 A schematic diagram of another local map structure provided in an embodiment of this disclosure is shown.
[0092] like Figure 4As shown, the electronic device can acquire the robot's pose information in the local map and determine the opening direction of the local map by methods including but not limited to using image processing, such as determining it through a grid map. The grid map includes occupied grid maps, unoccupied grid maps, and possible opening boundaries of the grid map. The electronic device can acquire the outer contour of the local map and determine the opening boundary of the local map based on the pose information and the connectivity of the outer contour, that is, determine the possible opening boundaries of the grid map. Then, based on the pose information and the opening boundaries, multiple relocalization routes are planned in the local map, that is, multiple relocalization routes (such as local exploration trajectory b and local exploration trajectory c) are planned to different opening boundaries.
[0093] Optionally, S130 may specifically include: determining a target relocation route among multiple relocation routes according to the preset route priority, wherein the preset route priority is determined according to the size of the opening boundary; and controlling the robot to perform relocation exploration according to the target relocation route.
[0094] In this embodiment of the disclosure, the electronic device can determine the target relocation route from multiple relocation routes according to the preset route priority.
[0095] Optionally, the preset route priority can be determined based on the size of the opening boundary.
[0096] Optionally, the target relocation route can be the relocation route with the highest preset route priority.
[0097] Specifically, the electronic device can determine the preset route priority of multiple relocation routes based on the size of the opening boundary, and determine the target relocation route among the multiple relocation routes based on the preset route priority, such as determining the relocation route with the highest preset route priority among the multiple relocation routes as the target relocation route.
[0098] Furthermore, the electronic device can control the robot to perform relocation exploration according to the target relocation route.
[0099] Continue to refer to Figure 4 For multiple relocation routes (such as local exploration trajectory b and local exploration trajectory c), the preset route priority of the multiple relocation routes is determined according to the size of the opening boundary. That is, if the opening boundary corresponding to local exploration trajectory b is larger, the preset route priority of local exploration trajectory b is higher, while if the opening boundary corresponding to local exploration trajectory c is smaller, the preset route priority of local exploration trajectory c is lower. Therefore, the electronic device can determine the target relocation route among the multiple relocation routes according to the preset route priority, that is, determine local exploration trajectory b as the target relocation route, and then control the robot to perform relocation exploration according to the target relocation route.
[0100] Optionally, the robot relocation exploration method may further include: after failing to relocate along the target relocation route, controlling the robot to select a new relocation route from the multiple relocation routes and conduct relocation exploration on the global map according to the preset route priority and the historical positioning information.
[0101] In this embodiment of the disclosure, after a relocation exploration following the target relocation route fails, the electronic device can control the robot to select a new relocation route from among the multiple relocation routes and conduct relocation exploration on the global map based on the preset route priority and the historical positioning information.
[0102] Optionally, historical positioning information can include the robot's pose information and movement trajectory during historical relocation exploration.
[0103] Specifically, when the electronic device controls the robot to explore for relocation according to the target relocation route, it can record the robot's pose information and movement trajectory to obtain historical positioning information. Then, after the relocation exploration according to the target relocation route fails, the electronic device can control the robot to select a new relocation route from the multiple relocation routes and explore for relocation on the global map according to the preset route priority and the historical positioning information.
[0104] Continue to refer to Figure 4 When the electronic device controls the robot to perform relocation exploration according to the target relocation route (local exploration trajectory b), it can record the robot's pose information and movement trajectory to obtain historical positioning information. Then, after the relocation exploration according to the target relocation route fails, the electronic device can control the robot to select a new relocation route from among the multiple relocation routes according to the preset route priority and the historical positioning information. For example, after the relocation exploration according to local exploration trajectory b fails, the electronic device can control the robot to return to the relocation exploration starting point according to the historical positioning information, and select a new relocation route (such as local exploration trajectory c) from among the multiple relocation routes according to the preset route priority to perform relocation exploration on the global map.
[0105] Figure 5 A flowchart illustrating another robot relocation exploration method provided in an embodiment of this disclosure is shown.
[0106] like Figure 5As shown, the electronic device can acquire a local map of the robot's surrounding environment, then acquire the outer contour of the local map, and determine the opening boundaries of the local map based on the pose information and the connectivity of the outer contour. That is, it determines the possible opening boundaries of the grid map. Then, based on the pose information and the opening boundaries, it plans multiple relocation routes within the local map, that is, it plans multiple relocation routes (such as local exploration trajectory b and local exploration trajectory c) to different opening boundaries. The preset route priority of the multiple relocation routes is determined according to the size of the opening boundary. That is, if the opening boundary corresponding to local exploration trajectory b is larger, the preset route priority of local exploration trajectory b is higher, while the opening boundary corresponding to local exploration trajectory c is smaller, the preset route priority of local exploration trajectory c is lower. Therefore, the electronic device can determine the target relocation route among the multiple relocation routes according to the preset route priority, that is, determine local exploration trajectory b as the target relocation route, and then control the robot to perform relocation exploration according to the target relocation route. When the electronic device controls the robot to perform relocation exploration according to the target relocation route (local exploration trajectory b), it can record the robot's pose information and movement trajectory to obtain historical positioning information. Then, after the relocation exploration according to the target relocation route fails, the electronic device can control the robot to select a new relocation route from among the multiple relocation routes according to the preset route priority and the historical positioning information. For example, after the relocation exploration according to local exploration trajectory b fails, the electronic device can control the robot to return to the relocation exploration starting point according to the historical positioning information, and select a new relocation route (such as local exploration trajectory c) from among the multiple relocation routes according to the preset route priority to perform relocation exploration on the global map.
[0107] Optionally, the robot relocalization exploration method may further include: after successful relocalization exploration, determining the robot's first pose information in the global map and its second pose information in the local map; calculating a coordinate transformation relationship based on a preset coordinate transformation formula, the first pose information, and the second pose information; and adding the local map to the global map based on the coordinate transformation relationship.
[0108] In this embodiment of the disclosure, after successful relocation exploration, the electronic device can determine the robot's first pose information in the global map and its second pose information in the local map.
[0109] Furthermore, the electronic device can calculate the coordinate transformation relationship based on the preset coordinate transformation formula, the first pose information, and the second pose information.
[0110] Optionally, the preset coordinate transformation formula can be:
[0111]
[0112] Specifically, the electronic device can determine the robot's first pose information in the global map. and the second pose information in the local map Based on the preset coordinate transformation formula, the coordinate transformation relationship is calculated using the first pose information and the second pose information.
[0113] Next, the electronic device can add the local map to the global map based on the coordinate transformation relationship.
[0114] Specifically, electronic devices can target map data p of a local map. local_map The local map is added to the map data p of the global map using a preset formula. global_map This allows for the updating of the global map.
[0115] Optionally, the preset formula can be:
[0116]
[0117] Optionally, the robot relocation exploration method may further include: after the relocation exploration fails, determining whether a termination condition is met; if the termination condition is met, controlling the robot to perform a mapping task; if the termination condition is not met, controlling the robot to repeat the relocation exploration.
[0118] In this embodiment of the disclosure, the electronic device can determine whether the termination condition is met after the relocation exploration fails.
[0119] Optionally, the termination condition may include at least one of the following: reaching a preset number of failures, reaching a preset total mileage, or reaching a preset total time.
[0120] In some embodiments of this disclosure, if the termination condition is met, the electronic device can control the robot to perform a mapping task.
[0121] In other embodiments of this disclosure, if the termination condition is not met, the robot is controlled to repeat the relocation exploration.
[0122] Figure 6 A flowchart illustrating another robot relocation exploration method provided in an embodiment of this disclosure is shown.
[0123] like Figure 6As shown, when it is determined that the robot needs to relocalize, the electronic device can initialize relocalization, acquire and update sensor data of the robot's surrounding environment in real time, update the local map based on the sensor data, acquire the robot's pose information in the local map, determine the opening boundary of the local map, and then plan multiple relocalization routes in the local map based on the pose information and the opening boundary. According to the preset route priority, a target relocalization route is determined from the multiple relocalization routes, and the robot is controlled to perform relocalization exploration in the global map (original map) according to the target relocalization route. After the relocalization exploration fails, it is determined whether the termination condition is met (including reaching at least one of the preset number of failures, reaching a preset total mileage, and reaching a preset total time). If the termination condition is met, the relocalization fails, and the robot is controlled to execute the mapping task. If the termination condition is not met, the robot is controlled to repeat the relocalization exploration.
[0124] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure is shown.
[0125] In some embodiments of this disclosure, Figure 7 The electronic devices shown may include robots, workstations, various devices, etc.
[0126] like Figure 7 As shown, the electronic device may also include a processor 701 and a memory 702 storing computer program instructions.
[0127] Specifically, the processor 701 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.
[0128] Memory 702 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the integrated gateway device. In a particular embodiment, memory 702 is a non-volatile solid-state memory. In a particular embodiment, memory 702 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.
[0129] The processor 701 reads and executes computer program instructions stored in the memory 702 to perform the steps of the electronic device relocation exploration method provided in this embodiment of the disclosure.
[0130] In one example, the electronic device may also include a transceiver 703 and a bus 704. Wherein, as... Figure 7 As shown, the processor 701, memory 702 and transceiver 703 are connected via bus 704 and communicate with each other.
[0131] Bus 704 includes hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 704 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.
[0132] This disclosure also provides a computer-readable storage medium that can store a computer program that, when executed by a processor, enables the processor to implement the robot relocation exploration method provided in this disclosure.
[0133] The aforementioned storage medium may, for example, include a memory 702 containing computer program instructions, which can be executed by a processor 701 of an electronic device to complete the robot relocation exploration method provided in this embodiment. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), compact disc ROM (CD-ROM), magnetic tape, floppy disk, and optical data storage device.
[0134] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.
[0135] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A robot relocation and exploration method, characterized in that, include: Obtain local and global maps of the robot's surrounding environment; Based on the robot's pose information, multiple relocalization routes are planned within the local map; Based on preset route priorities and historical positioning information, the robot is controlled to explore and relocate on the global map according to the multiple relocation routes.
2. The method according to claim 1, characterized in that, The method further includes: Determine if the global map exists; If the global map does not exist, control the robot to perform a mapping task; If the global map exists, the local map is created with the robot's position as the origin.
3. The method according to claim 1, characterized in that, The acquisition of a local map of the robot's surrounding environment includes: The sensor data of the robot's surrounding environment is acquired and updated in real time. The local map is updated based on the sensor data.
4. The method according to claim 1, characterized in that, The planning of multiple relocalization routes within the local map based on the robot's pose information includes: Obtain the robot's pose information in the local map and determine the opening boundary of the local map; Based on the pose information and the opening boundary, multiple relocation routes are planned within the local map.
5. The method according to claim 4, characterized in that, Determining the opening boundary of the local map includes: Obtain the outer contour of the local map; The opening boundary of the local map is determined based on the pose information and the connectivity of the outer contour.
6. The method according to claim 1, characterized in that, The step of controlling the robot to perform relocation exploration in the global map according to the preset route priority and historical positioning information includes: The target relocation route is determined from multiple relocation routes according to the preset route priority, wherein the preset route priority is determined based on the size of the opening boundary; The robot is controlled to perform relocation exploration according to the target relocation route.
7. The method according to claim 6, characterized in that, The method further includes: After failing to relocate along the target relocation route, the robot is controlled to select a new relocation route from among the multiple relocation routes and conduct relocation exploration on the global map, based on the preset route priority and the historical positioning information.
8. The method according to claim 1, characterized in that, The method further includes: After successful relocation exploration, the robot's first pose information in the global map and its second pose information in the local map are determined; Based on the preset coordinate transformation formula, the first pose information, and the second pose information, the coordinate transformation relationship is calculated; The local map is added to the global map based on the coordinate transformation relationship.
9. The method according to claim 1, characterized in that, The method further includes: After a relocation exploration fails, determine whether the termination condition is met; If the termination condition is met, control the robot to perform the mapping task; If the termination condition is not met, the robot is controlled to repeat the relocation exploration.
10. The method according to claim 9, characterized in that, The termination conditions include at least one of the following: reaching a preset number of failures, reaching a preset total mileage, or reaching a preset total time.