A robot transition cutting method, device, storage medium and equipment

Abstract

The application provides a robot transition cutting method, device, storage medium and equipment capable of quick positioning, wherein the robot transition cutting method comprises the following steps: receiving a first transition instruction, wherein the first transition instruction at least comprises transition address information; downloading a map of a current site of a robot based on the transition address information; acquiring point cloud data of an environment around the robot; and determining a current position of the robot according to the map and the point cloud data.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and specifically relates to a method for transitioning and slicing images in robots. Background Technology

[0002] With the improvement of living standards, service robots are widely used. Service robots can replace humans in performing some repetitive tasks and have a very high development prospect. In the actual application of robots, a robot may need to move between multiple locations simultaneously to perform operations. Sometimes, robots need to rely on manual transportation for relocation. Due to the similarity of building structures, robots may not be able to distinguish their new location after relocation, leading to problems such as map loading errors, positioning failures, or positioning errors. Summary of the Invention

[0003] To address the aforementioned shortcomings or defects in the prior art, this invention provides a robot relocation mapping method, apparatus, storage medium, and device capable of rapid positioning at relocation sites.

[0004] The robot transition mapping method provided by the present invention is used on a robot and is characterized by comprising: receiving a first transition instruction, the first transition instruction including at least transition address information; downloading a map of the robot's current location based on the transition address information; acquiring point cloud data of the robot's surrounding environment; and determining the robot's current position based on the map and the point cloud data.

[0005] The transition map tiling method provided by this invention includes transition address information in the transition command sent to the robot, enabling the robot to download the map of the floor where the robot is currently located based on the transition address information, and match the point cloud data collected by the sensor with the contour features of the map to determine the robot's position on the transition floor.

[0006] Optionally, the transition image slicing method provided by the present invention further includes the following steps: receiving a second transition instruction; based on the second transition instruction, activating the wireless communication module to detect wireless communication devices around the robot; after matching with the wireless communication device, uploading the wireless communication device ID information to the server, so that the server sends a first transition instruction based on the wireless communication device ID information.

[0007] Optionally, the transition image slicing method provided by the present invention further includes the following steps: receiving a second transition instruction; based on the second transition instruction, activating the image recognition module to scan the QR code around the robot; after successfully scanning the QR code, uploading the numerical information recorded in the QR code to the server, so that the server sends a first transition instruction based on the numerical information recorded in the QR code.

[0008] Optionally, the first transition command may further include positioning coordinates, which are set according to the location input by the robot administrator, or according to the placement location of the wireless communication device, or according to the location where the QR code is pasted.

[0009] The present invention also provides a robot transition mapping device, comprising: a first receiving module for receiving a first transition command, the first transition command including at least transition address information; a downloading module for downloading a map of the robot's current location based on the transition address information; and a positioning module for acquiring point cloud data of the robot's surrounding environment and determining the robot's current position based on the map and the point cloud data.

[0010] Optionally, the transition and image slicing device provided by the present invention further includes: a second receiving module for receiving a second transition command; a detection module for activating a wireless communication module to detect wireless communication devices around the robot based on the second transition command; and a first command sending module for uploading wireless communication device ID information to a server after matching with a wireless communication device, so that the server sends a first transition command based on the wireless communication device ID information.

[0011] Optionally, the transition image slicing device provided by the present invention further includes: a second receiving module for receiving a second transition command; a scanning module for activating an image recognition module to scan QR codes around the robot based on the second transition command; and a second command sending module for uploading the numerical information recorded in the QR code to a server after successful scanning of the QR code, so that the server sends a first transition command based on the numerical information recorded in the QR code.

[0012] Optionally, in the transition and image slicing device provided by the present invention, the first transition instruction further includes positioning coordinates, which are set according to the address input by the robot administrator, or according to the placement position of the wireless communication device, or according to the location where the QR code is pasted.

[0013] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed, implements the aforementioned robot transition and tiling method.

[0014] The present invention also provides an electronic device, comprising: a processor and a memory, wherein the memory stores instructions, the instructions being loaded and executed by the processor to implement the aforementioned robot transition and tiling method. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0016] Figure 1 Logic diagram of robot transition and image slicing method;

[0017] Figure 2 Module diagram of robot transition and image cutting device. Detailed Implementation

[0018] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] The robot transition and image slicing method provided in this embodiment includes the following steps:

[0021] Receive the first transition instruction, which includes at least transition address information;

[0022] Download a map of the robot's current location based on the relocation address information;

[0023] Acquire point cloud data of the robot's surrounding environment, and determine the robot's current position based on the map and point cloud data.

[0024] Using the technical solution provided in this embodiment, the first transition command sent to the robot includes transition address information, enabling the robot to download a map of the floor where the robot is currently located based on the transition address information, and to match the point cloud data collected by the sensors with the contour features of the map to determine the robot's position on the transition floor.

[0025] Taking a cleaning robot as an example, if it's cleaning a residential area, the transfer address information includes the province, city, county / district, street, community, building, and floor of the transfer location. If it's cleaning a plaza, due to the large area, it will be divided into multiple zones, and the transfer address information will include the province, city, county / district, street, plaza, and region of the transfer location. After receiving the transfer address information, the robot first checks if a map of that floor or region exists locally. If it exists, it downloads the map directly from the robot; otherwise, it downloads the map from the server. Generally, the robot downloads a map of a building or the entire plaza, switching to the map of the corresponding floor or plaza area when cleaning different floors or different areas. The sensor on the robot that collects surrounding point cloud data is LiDAR.

[0026] The first transition command can be issued directly by the robot administrator through the user terminal. Taking the cleaning robot cleaning a building as an example, after the cleaning robot finishes cleaning Building 1 of a certain community, the robot administrator moves the cleaning robot to the lobby of Building 2. Then, the user terminal finds the map of the lobby of Building 2, taps on the map of the cleaning robot in the lobby of Building 2, and presses the confirmation button, thus sending the first transition command to the server. The first transition command includes the transition address information of the lobby of Building 2 of the community. The user terminal can be a mini-program, an app, or a web application. Taking a mini-program as an example, the robot administrator clicks on the mini-program and finds the map of the lobby of Building 2 of the community through the address directory. After receiving the first transition command, the server forwards it to the robot.

[0027] This embodiment also provides two methods for robot administrators to indirectly issue the first transition command through a user terminal. In both methods, the second transition command is sent by the robot administrator to the server through the user terminal, and the server then forwards the second transition command to the robot for execution. The first transition command is generated by the server based on the information provided by the robot after executing the second transition command and sending it to the robot.

[0028] In the first method, the robot transition and image slicing method further includes the following steps:

[0029] Receive the second transition command;

[0030] Based on the second transition command, activate the wireless communication module to detect wireless communication devices around the robot;

[0031] After being paired with a wireless communication device, the wireless communication device ID information is uploaded to the server, enabling the server to send the first transition command based on the wireless communication device ID information.

[0032] In the first method, the user terminal has a virtual transition button. The robot administrator triggers the transition button to issue a second transition command. The server forwards the second transition command to the robot, which then activates its wireless communication module to match with nearby wireless communication devices. These wireless communication devices include Bluetooth, RFID, LoRa, and Wi-Fi devices. These devices are bound to specific communities, buildings, and floors. The wireless communication module first detects preset types of wireless signals, then filters them based on signal strength, and finally confirms the match using the wireless communication device's ID information. The wireless communication signal contains the wireless communication device's ID information. After matching with a wireless communication device, the robot sends the device's ID information to the server, which stores the floor corresponding to the device's ID. The server then sends the robot information containing the floor where the wireless communication device is located, as the first transition command.

[0033] In the second method, the robot transition and image slicing method further includes the following steps:

[0034] Receive the second transition command;

[0035] Based on the second transition command, activate the image recognition module to scan the QR codes around the robot;

[0036] After the QR code is successfully scanned, the numerical information recorded in the QR code is uploaded to the server, so that the server sends the first transition command based on the numerical information recorded in the QR code.

[0037] There is a virtual transition button on the user's device. After the robot administrator sends a second transition command by triggering the transition button on the user's device, the server forwards the second transition command to the robot, and the robot then turns on its camera to scan the surrounding QR codes.

[0038] Each QR code contains a numerical value. The robot's camera scans the QR code to obtain this value and sends it to the server. On the server, each QR code value corresponds to a floor information, meaning the QR code includes transition address information.

[0039] The transition site can consist of only QR codes or only wireless communication devices. Alternatively, it can have both QR codes and wireless communication devices simultaneously. In this case, the robot will simultaneously activate its wireless communication module to detect surrounding wireless communication devices and its image recognition module to scan surrounding QR codes. If both the wireless communication device and QR code are successfully matched, the robot will send the wireless communication device ID and QR code value information to the server through different channels. The server will then send the transition address information corresponding to the wireless communication device ID and the transition address information corresponding to the QR code value to the robot. After receiving the two sets of transition address information, the robot will select one set according to a pre-set priority to download the map and perform location matching. If map download or location matching fails, the robot will then select the next lower priority set of transition address information to download the map and perform location matching.

[0040] In the robot transition and image slicing method provided in this embodiment, the first transition command, in addition to including transition address information accurate to the floor or plaza area, further includes the positioning coordinates of the floor and plaza area. The positioning coordinates are set according to the location input by the robot administrator, or according to the placement location of the wireless communication device, or according to the location where the QR code is pasted. For the latter two, after the robot detects the wireless communication device or successfully scans the QR code, it sends the wireless communication device ID information or the QR code value information to the server, which then sends it to the robot via the first transition command.

[0041] Location coordinates help robots filter out contour features of similar locations on the map, allowing map contours near the location coordinates to be matched with point cloud data collected by LiDAR, facilitating rapid matching of point cloud data collected by LiDAR with contours on the map.

[0042] The location coordinates can be input by the robot administrator. After the robot administrator moves the robot to the transition floor, they click on the corresponding location on the user's map based on the robot's position on that floor; the clicked location is the location coordinate. Since the robot's position on the transition floor is estimated visually by the robot administrator, each click on the map by the same administrator will have slight deviations. Although the location coordinates do not reflect the robot's exact location, they will be within a predetermined range around the robot's precise location. The first transition command includes both the transition address information and the location coordinates.

[0043] Location coordinates can also be determined based on the placement of the wireless communication device. When the robot's wireless communication module can detect the wireless communication device, it means that the device is within a predetermined range around the robot. The placement location of the wireless communication device is preset, and this location is the location coordinate. On the server, the ID of the wireless communication device is also associated with the floor information where the device is placed and its coordinates on that floor; these coordinates are the location coordinates.

[0044] The positioning coordinates can also be determined based on the location of the QR code. The QR code is affixed to the wall, approximately 30cm from the ground. The height of the QR code is matched to the height of the robot's camera. If the camera on the cleaning robot can scan the QR code, it means the workstation is within the preset range around the robot. The location of the QR code is the positioning coordinate. The value on the QR code is associated with the floor where it is affixed and the coordinates of the QR code on that floor; these coordinates are the positioning coordinates.

[0045] This embodiment also provides a robot transition mapping device, including: a first receiving module for receiving a first transition command, the first transition command including at least transition address information; a downloading module for downloading a map of the robot's current location based on the transition address information; and a positioning module for acquiring point cloud data of the robot's surrounding environment and determining the robot's current position based on the map and point cloud data.

[0046] The transition and image slicing device provided in this embodiment further includes: a second receiving module for receiving a second transition command; a detection module for activating a wireless communication module to detect wireless communication devices around the robot based on the second transition command; and a first command sending module for uploading wireless communication device ID information to a server after matching with a wireless communication device, so that the server sends a first transition command based on the wireless communication device ID information.

[0047] The transition image slicing device provided in this embodiment further includes: a second receiving module for receiving a second transition command; a scanning module for scanning QR codes around the robot based on the second transition command; and a second command sending module for uploading the numerical information recorded in the QR code to the server after successful scanning of the QR code, so that the server sends a first transition command based on the numerical information recorded in the QR code.

[0048] In the robot transition and image cutting device, the first transition instruction also includes positioning coordinates. The positioning coordinates are set according to the address input by the robot administrator, or according to the placement position of the wireless communication device, or according to the location where the QR code is pasted.

[0049] This embodiment provides a computer-readable storage medium storing a computer program, which, when executed, implements the aforementioned robot transition and image slicing method.

[0050] This embodiment also provides an electronic device, including a processor and a memory, wherein instructions are stored in the memory and loaded and executed by the processor to implement the aforementioned robot transition and tiling method.

[0051] Electronic devices also include communication interfaces for communicating with external devices and exchanging data. If the memory, processor, and communication interface are implemented independently, they can be interconnected via a bus to communicate with each other. Buses can be categorized as address buses, data buses, control buses, etc. If the memory, processor, and communication interface are integrated on a single chip, they can communicate with each other through an internal interface. The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting the Advanced Reduced Instruction Set Computing (RISC) machine (ARM) architecture.

[0052] The memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile or non-volatile, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0053] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. Furthermore, the information disclosed in the various embodiments in the specific implementation details can be used for mutual reference.

Claims

1. A robot transition image slicing method, characterized in that, include: Receive a first transition instruction, wherein the first transition instruction includes at least transition address information; Download a map of the robot's current location based on the transfer address information; The robot acquires point cloud data of its surrounding environment and determines its current position based on the map and the point cloud data.

2. The transition and slicing method according to claim 1, characterized in that, It also includes the following steps: Receive the second transition command; Based on the second transition command, the wireless communication module is activated to detect wireless communication devices around the robot; After being matched with the wireless communication device, the wireless communication device ID information is uploaded to the server, so that the server sends a first transition command based on the wireless communication device ID information.

3. The transition and slicing method according to claim 1, characterized in that, It also includes the following steps: Receive the second transition command; Based on the second transition command, activate the image recognition module to scan the QR codes around the robot; After the QR code is successfully scanned, the numerical information recorded in the QR code is uploaded to the server, so that the server sends the first transition command based on the numerical information recorded in the QR code.

4. The transition and slicing method according to any one of claims 1 to 3, characterized in that, The first transition command also includes positioning coordinates, which are set according to the location input by the robot administrator, or according to the location of the wireless communication device, or according to the location of the QR code.

5. A robot transition and image slicing device, characterized in that, include: A first receiving module is configured to receive a first transition instruction, wherein the first transition instruction includes at least transition address information; The download module downloads a map of the robot's current location based on the transfer address information; as well as The positioning module acquires point cloud data of the robot's surrounding environment and determines the robot's current position based on the map and the point cloud data.

6. The robot transition and slicing device according to claim 5, characterized in that, Also includes; The second receiving module is used to receive the second transition command; The detection module, based on the second transition command, activates the wireless communication module to detect wireless communication devices around the robot; and After matching with the wireless communication device, the first instruction sending module uploads the wireless communication device ID information to the server, so that the server sends the first transition instruction based on the wireless communication device ID information.

7. The robot transition and slicing device according to claim 5, characterized in that, Also includes: The second receiving module is used to receive the second transition command; The scanning module, based on the second transition command, activates the image recognition module to scan the QR codes around the robot; as well as After successfully scanning the QR code, the second instruction sending module uploads the numerical information recorded in the QR code to the server, enabling the server to send the first transition instruction based on the numerical information recorded in the QR code.

8. The robot transition and slicing device according to any one of claims 5 to 7, characterized in that, The first transition command also includes positioning coordinates, which are set according to the address input by the robot administrator, or according to the placement location of the wireless communication device, or according to the location where the QR code is pasted.

9. A computer-readable storage medium storing a computer program that, when executed, implements the robot transition tiling method as described in any one of claims 1 to 4.

10. An electronic device, characterized in that, include: A processor and a memory, wherein the memory stores instructions that are loaded and executed by the processor to implement the robot transition tiling method as described in any one of claims 1 to 4.

Images