CN103292789B - A kind of localization method and electronic equipment - Google Patents
A kind of localization method and electronic equipment Download PDFInfo
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- CN103292789B CN103292789B CN201210046606.XA CN201210046606A CN103292789B CN 103292789 B CN103292789 B CN 103292789B CN 201210046606 A CN201210046606 A CN 201210046606A CN 103292789 B CN103292789 B CN 103292789B
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Abstract
The invention provides a kind of localization method and electronic equipment.The method is applied in an electronic equipment, and electronic equipment comprises a mobile device and drive unit, and electronic equipment can be moved at a predetermined space by mobile device under the driving of drive unit, and the method comprises: the map in kind obtaining predetermined space; Obtain the mark map of predetermined space, mark map is made up of multiple first module lattice; On map in kind, mark the multiple second unit lattice corresponding with multiple first module lattice according to multiple first module lattice of mark map, produce navigation map; Receive a move, move moves to the primary importance of predetermined space for controlling electronic equipment; Navigation map is determined first mark position corresponding with primary importance; Control electronic equipment according to the multiple second unit lattice on navigation map to move, wherein each mobile of at least moving in multiple second unit lattice.
Description
Technical field
The present invention relates to Based Intelligent Control and Computer Applied Technology field, particularly relate to a kind of localization method and electronic equipment.
Background technology
Along with the fast development of intelligent mobile machine, user more and more needs intelligent mobile machine.In intelligent mobile machine, self poisoning technology is extremely important, in the prior art, position mainly through following several method: the system of general outside is carried out auxiliary intelligent mobile machine and positioned, such as GPS, or by mobile communication cell net, or the AP of WIFI positions, also have and adopt indoor AGPS to locate, but these methods all need outside system support, and be always subject to some restrictions, such as, need to dispose in advance, indoor signal is bad, is easily interfered and causes instability etc.
In addition, at monocular SLAM (simultaneouslocalizationandmapping; Locate simultaneously and build figure) in, work can be positioned by monocular cam, but the distinguishing characteristics calculated amount recording identification periphery object by making a video recording is huge, causes to position operation in real time.
Also have in prior art to utilize and launch infrared structure light the mode of detection of reflected light carrys out investigation depth information, and then help location further, or utilize the code-disc of mobile apparatus to help location, but these costs are all higher, because need extra infrared camera, and the equipment of the calculating displacement of code-disc and so on.
And because some wheel can skid in the process of walking, therefore to calculate the distance error of walking large for the mode of coded disc counting.The distance of infrared camera projection is limited, and power consumption is comparatively large, is also easily subject to the impact of environmental factor, the stove of such as family, heating installation etc.
Summary of the invention
The invention provides a kind of localization method and electronic equipment, in order to solve, the locating speed existed in prior art is slow, calculated amount is large and cost is high, the problem that error is large.
One aspect of the present invention provides a kind of localization method, be applied in an electronic equipment, described electronic equipment comprises a mobile device and drive unit, described electronic equipment can be moved at a predetermined space by described mobile device under the driving of described drive unit, and described method comprises: the map in kind obtaining described predetermined space; Obtain the mark map of described predetermined space, described mark map is made up of multiple first module lattice; On described map in kind, mark the multiple second unit lattice corresponding with described multiple first module lattice according to described multiple first module lattice of described mark map, produce navigation map; Receive a move, described move moves to the primary importance of described predetermined space for controlling described electronic equipment; Described navigation map is determined first mark position corresponding with described primary importance; Control described electronic equipment according to the described multiple second unit lattice on described navigation map to move, wherein in described multiple second unit lattice is at least moved in each described movement;
Wherein, controlling according to the described multiple second unit lattice on described navigation map before described electronic equipment moves, also to comprise: the initial position obtaining described electronic equipment; Wherein, the initial position obtaining described electronic equipment specifically comprises: when described electronic equipment is when the second place of described predetermined space, arranges the second supposition mark position of described electronic equipment on described navigation map;
Based on another move, described electronic equipment moves to satisfied first pre-conditioned the 3rd position along a mobile alignment from the described second place, wherein, described mobile alignment comprises: X-direction displacement, Y-direction displacement and moving direction;
Based on described second supposition mark position, described X-direction displacement, described Y-direction displacement and described moving direction, obtain the 3rd supposition mark position;
Judge that whether corresponding in described navigation map with described 3rd position the 3rd mark position of described 3rd supposition mark position is mated, when mating, determine that described second supposition mark position is the second mark position corresponding in described navigation map of the described second place, and to arrange described second mark position be described initial position.
Preferably, when not mating, according to described 3rd position, described 3rd mark position, described X-direction displacement, described Y-direction displacement and described moving direction, determine at least two the second possibility mark positions that the described second place is corresponding on described navigation map.
Preferably, when after at least two second possibility mark positions described in determining, also comprising: according to described 3rd supposition mark position and described second supposition mark position, can not be the mark position of described second mark position at least two possibility mark positions described in eliminating.
Preferably, if after described eliminating, the quantity of described possibility mark position is more than or equal to two, described method also comprises: control described electronic equipment and return the described second place, and the 4th position of second predetermined condition is moved to along another mobile alignment, another mobile alignment described comprises: X-direction displacement, Y-direction displacement and another moving direction different from described moving direction; Based on described second supposition mark position, described X-direction displacement, described Y-direction displacement and another moving direction described, obtain the 4th supposition mark position; Based on described 4th position, described 4th supposition mark position, in the described possibility mark position after described eliminating, determine described second mark position.
Preferably, the position of the barrier in described predetermined space is closed in described 4th position of described second pre-conditioned expression.
Preferably, the mark map of the described predetermined space of described acquisition, specifically comprises: ceiling or the floor of taking described predetermined space, obtain an image, and wherein said ceiling or described floor are unit trellis; Black whitening processing is carried out to described image; Described image is carried out to the strengthening at edge; Described edge is utilized to construct described mark map.
Preferably, the described second place of described first pre-conditioned expression is the position of the wall closing on described predetermined space.
The present invention provides a kind of electronic equipment on the other hand, described electronic equipment has a mobile device and drive unit, described electronic equipment can be moved at a predetermined space by described mobile device under the driving of described drive unit, described electronic equipment comprises: camera head, for obtaining map in kind and the mark map of described predetermined space, described mark map is made up of multiple first module lattice; Map synthesizer, marks the multiple second unit lattice corresponding with described multiple first module lattice according to described multiple first module lattice of described mark map on described map in kind, synthesis navigation map; Control device, the move of the primary importance described electronic equipment being moved to described predetermined space is represented based on one, described navigation map determines the mark position corresponding with described primary importance, and control described electronic equipment according to the described multiple second unit lattice on described navigation map and move, wherein in described multiple second unit lattice is at least moved in each described movement;
Wherein, at control device before the described electronic equipment of control moves, described control device is concrete also for obtaining the initial position of described electronic equipment: the initial position obtaining described electronic equipment; Wherein, described control device specifically also comprises: setting unit, for when described electronic equipment is when the second place of described predetermined space, arranges the second supposition mark position of described electronic equipment on described navigation map;
Obtain unit, for when described electronic equipment to move to satisfied first pre-conditioned 3rd position based on another move along a mobile alignment from the described second place, wherein, described mobile alignment comprises: X-direction displacement, Y-direction displacement and moving direction, based on described second supposition mark position, described X-direction displacement, described Y-direction displacement and described moving direction, obtain the 3rd supposition mark position;
Determining unit, for judging that whether corresponding in described navigation map with described 3rd position the 3rd mark position of described 3rd supposition mark position is mated, when mating, determine that described second supposition mark position is the second mark position corresponding in described navigation map of the described second place, and to arrange described second mark position be described initial position.
Preferably, the described second place of described first pre-conditioned expression is the position of the wall closing on described predetermined space.
Beneficial effect of the present invention is as follows:
One embodiment of the invention adopts the mark map of a predetermined space (as meeting room) and map in kind to combine and forms navigation map, because mark map has multiple first module lattice (as by to obtain after the ceiling of predetermined space or floor process), so the second unit lattice corresponding with first module lattice can be formed on navigation map, so when electronic equipment (as intelligent mobile machine) is after determining destination, as long as just walk according to cell, each at least mobile cell, so navigator fix can be carried out easily, calculated amount is little, cost is low, error is little.
Further, in one embodiment of the invention, electronic equipment can utilize the object automatically identifying indoor edge before moving to destination, and walking repeatedly verifies whether navigation map conforms to actual environment, the initial position of automatic acquisition oneself, then, after correcting navigation map, just move to destination, avoid the whole deviation of navigation map, destination cannot be moved to, and do not need user oneself to input initial position to electronic equipment, so simple to operate, cost is low.
Further, by the ceiling of shooting predetermined space or floor in one embodiment of the invention, obtain an image, then black whitening processing is carried out to image, the strengthening at edge, mark map can be constructed, so only need a monocular cam, institute is operatively simple, and cost is low, and efficiency is high.
Accompanying drawing explanation
Fig. 1 is the localization method process flow diagram in one embodiment of the invention;
Fig. 2 is the map in kind of the predetermined space in one embodiment of the invention;
Fig. 3 is the mark map of the predetermined space in one embodiment of the invention;
Fig. 4 is the navigation map of the predetermined space in one embodiment of the invention;
Fig. 5 is the localization method process flow diagram in another embodiment of the present invention;
Fig. 6 a-Fig. 6 d is the position fixing process schematic diagram in one embodiment of the invention;
Fig. 7 is the functional block diagram of the electronic equipment in one embodiment of the invention.
Embodiment
One embodiment of the invention provides a kind of localization method, be applied in an electronic equipment, described electronic equipment comprises a mobile device and drive unit, this electronic equipment can be moved at a predetermined space by mobile device under the driving of drive unit, and electronic equipment is such as intelligent mobile machine, and predetermined space is such as meeting room, office, classrooms etc., please refer to Fig. 1, and the method comprises:
Step 101: the map in kind obtaining predetermined space;
Step 102: the mark map obtaining predetermined space, mark map is made up of multiple first module lattice;
Step 103: mark the multiple second unit lattice corresponding with multiple first module lattice according to multiple first module lattice of mark map on map in kind, produce navigation map;
Step 104: receive a move, move moves to the primary importance of predetermined space for controlling electronic equipment;
Step 105: determine the mark position corresponding with primary importance on navigation map; And
Step 106: control electronic equipment according to the multiple second unit lattice on navigation map and move, wherein each mobile of at least moving in multiple second unit lattice.
Understand the present invention for the ease of those skilled in the art, describe the concrete example of act in detail this below
Invention, wherein electronic equipment is for intelligent mobile machine, and predetermined space is for a meeting room.Wherein, the map in kind that step 101 obtains please refer to Fig. 2, on map in kind, has conference table in meeting room, chair, screen, also has pillar, window, and wall, on map in kind, these objects are all be marked on map in kind according to the physical location corresponding to meeting room.In the present embodiment, map in kind is made by intelligent mobile machine oneself, such as, after intelligent mobile machine enters this meeting room, builds figure obtain by limit mobile inside meeting room, such as, adopt the technical limit spacing of monocular SLAM map in kind.In another embodiment, this map in kind also can be drawn in advance, is stored in intelligent mobile machine, after intelligent mobile machine enters this meeting room, just automatically recalls the map in kind of this meeting room.Certainly, prior drafting also can be that intelligent mobile machine oneself is drawn, and can be also artificial drafting, or adopt other modes to be depicted as.
In a step 102, obtain the mark map of predetermined space, namely obtain the mark map of this meeting room, and this mark map has multiple first module lattice, mark map equally also can be that intelligent mobile machine oneself is made, and also can be that survey is measured in advance, be stored in intelligent mobile machine.The generation of mark map mainly to make use of in meeting room originally just have latticed, and the object fitted like a glove with meeting chamber shape, such as ceiling and floor.In the present embodiment, mark map produces according to meeting room ceiling, but in other embodiments, mark map also can be produced by the floor of meeting room.
In the present embodiment, illustrate how intelligent mobile machine generates mark map for ceiling, intelligent mobile machine has a camera, such as, be monocular cam, by the ceiling of this camera shooting meeting room, an image can be obtained, then black whitening processing is carried out to this image, then the strengthening at edge is carried out to this image, utilize these edges just can construct a mark map of throwing the net shape, mark map please be seen and examine Fig. 3, and mark map is made up of multiple first module lattice 301.
Then step 103: map maps will be marked on map in kind, synthesis navigation map, namely on map in kind, the multiple second unit lattice corresponding with multiple first module lattice 301 are marked according to multiple first module lattice 301 of mark map, produce navigation map, please see and examine Fig. 4, this navigation map has multiple second unit lattice 401, define the coordinate net trrellis diagram of a whole meeting room.
As shown in Figure 4, if the current position of intelligent mobile machine is the position being positioned at cell 20, at this moment it receives a move, it is indicated to move to the position of chair 10, so just first determine the mark position corresponding with chair 10 on navigation map, namely close on cell 30, as long as so go to cell 30 along navigation map, or cell immediately below cell 30 is also passable.Then intelligent mobile machine moves according to the multiple second unit lattice 401 on navigation map, each mobile at least mobile cell.
Further, when controlling before intelligent mobile machine moves, also to obtain the initial position of intelligent mobile machine according to the multiple second unit lattice 401 on navigation map, otherwise may navigational error, this initial position can be artificial input, also can be that intelligent mobile machine is determined oneself.Please refer to Fig. 5, Fig. 5 is the method flow diagram that initial position oneself determined by intelligent mobile machine, and the method comprises:
Step 501: when the second place of electronic equipment at predetermined space, arranges the second supposition mark position of electronic equipment on navigation map;
Step 502: based on another move, electronic equipment moves to the 3rd position of first predetermined condition along a mobile alignment from the second place, wherein, mobile alignment comprises: X-direction displacement, Y-direction displacement and moving direction;
Step 503: based on the second supposition mark position, X-direction displacement, Y-direction displacement and moving direction, obtain the 3rd supposition mark position;
Step 504: judge that whether corresponding in navigation map with the 3rd position the 3rd mark position of the 3rd supposition mark position is mated, when mating, determine that the second supposition mark position is the second mark position corresponding in navigation map of the second place, and to arrange the second mark position be initial position.
Further, when not mating, according to the 3rd position, the 3rd mark position, X-direction displacement, Y-direction displacement and moving direction, determine at least two the second possibility mark positions that the second place is corresponding on navigation map.The possible mark position of the second place at this moment determined correspondence on navigation map has two at least, so also will determine that in these possibility mark positions, which is only the second real mark position further actually.Therefore, at this moment can according to the 3rd supposition mark position and the second supposition mark position, getting rid of at least two possible mark positions can not be the mark position of the second mark position.If the quantity of at least two possibility mark positions only has two, through this step, the second mark position can be determined, namely define initial position.
If after getting rid of, the quantity of possible mark position is still more than or equal to two, then control intelligent mobile machine and return original position, the i.e. second place, then the 4th position of second predetermined condition is moved to along another mobile alignment, another mobile alignment comprises: X-direction displacement, Y-direction displacement and another moving direction different from described moving direction; Based on the second supposition mark position, X-direction displacement, Y-direction displacement and another moving direction, obtain the 4th supposition mark position; Based on described 4th position, described 4th supposition mark position, in the possible mark position after aforementioned eliminating, determine the second mark position.
In the above process, first predetermined condition such as represents that the second place is the position of the wall closing on predetermined space, the i.e. position at wall edge, and the second predetermined condition such as represents that the position of the barrier in predetermined space is closed in the 4th position, i.e. the position on the side of barrier, the above-mentioned process determining initial position is mainly according to some features of predetermined space, such as wall edge, barriers etc. are repeatedly soundd out, and progressively get rid of, and finally determine initial position.
For the ease of the clearer process understanding location of those skilled in the art, by further description intelligent mobile machine, how oneself determines initial position to the present embodiment.Please refer to Fig. 4 and Fig. 6 a, for convenience of description for the purpose of positioning principle, label is carried out to each second unit lattice 401, first mesh definition in the such as lower left corner is A1, is respectively B1 from left to right, C1, S1, from the bottom up, is respectively A2, A3, A4 ... A13, certainly, in other embodiments, other also can be adopted to mark, such as coordinate figure.
As shown in FIG. 6 a, suppose that robot is in the B3 (i.e. the second place) of physical location, the navigation map of Fig. 6 a is correct navigation map, and the initial position provided in navigation map in Fig. 6 b is in A1 (the second supposition mark position), and navigation map has been rotated counterclockwise 90 degree, this has been the placement direction of a wrong initial position and mistake, the process so, automatically identify this mistake by introducing intelligent mobile machine, and automatically correct.
First, according to the mark on the navigation map of Fig. 6 b, intelligent mobile machine is positioned at A1, the instruction of going up according to the map, robot can only turn left and up walk, at this moment intelligent mobile machine can be soundd out in Stochastic choice direction, such as first select walking of turning left, according to the map, to turn left away 12 cells, just wall can be run into, but in the walking of reality, intelligent mobile machine 1 cell of having turned left away (has namely gone to the A2 cell in Fig. 6 b, i.e. the 3rd supposition mark position) just run into wall, show intelligent mobile machine captured in real-time ceiling, on the ceiling grid of namely surveying, when no longer including grid before left direction, therefore can judge that current position (i.e. the 3rd position) is on the limit of certain wall, but with the 3rd, three mark position of the 3rd position in the navigation map of Fig. 6 a supposes that mark position is not mated, because the left side of the 3rd supposition mark position is not by wall, and the left side of the 3rd mark position should be by wall, so both do not mate.And then can judge according to the 3rd position, the 3rd mark position and the direction of movement and the cell number of movement, the second place is on the position apart from certain 1 cell in wall side, edge, so in map, find out possible position, as fig. 6 c, wherein the part of black shade is exactly possible position, although some position also meets this condition, owing to there being other barriers, therefore intelligent mobile machine can not enter into those cells.
In addition, then according to the position at present on map, the A2 cell namely in Fig. 6 c, also namely the 3rd supposition mark position and second supposes mark position, namely the A1 cell in Fig. 6 c, through comparing discovery, the second place is not by wall, therefore, cell C8 to cell S8 can not be, because these cells all lean on wall on map, asks shown in comparison diagram 6b, because the right in corridor is wall, so cell C8 gets rid of to cell S8.
Further, intelligent mobile machine toward walking to anti-direction, namely being turned right, being walked a cell again, get back to original starting point A2 cell, and then a cell of turning right away, in time wanting to continue to turn right away lattice, find that there is barrier obstruction, cannot walk out, then halt.Can judge that the second possible mark position just only has cell B1 to cell B11 thus.According to above exploration and judgement, owing to being all walk lattice just to encounter wall or other barriers on direction of travel, the direction that navigation map is in figure 6b demarcated there is not such situation, therefore can judge that X and Y-direction have been changed, therefore map 90-degree rotation.Characteristic according to the map again, and the exploration of above-mentioned reality, also can judge it can not is turn 90 degrees counterclockwise, and should turn 90 degrees clockwise.Certainly, when rotating map, intelligent mobile machine is turned left away a cell, returns to the second place.
The comparison diagram of the navigation map in postrotational map and Fig. 6 a please refer to Fig. 6 d, next, owing to souning out left and right directions, therefore no longer sounds out, but sounds out upper and lower direction.Such as first walk downward, after having walked 4 cells, arrived the edge of wall, then got back to the second place, and then up walk, wall limit of having arrived after having walked 8 cells.Therefore postrotational map 4 cells that also must move down just can meet the result of detection of this movement.Therefore, finally, determine that the second mark position corresponding to the second place is at cell B5.Further, intelligent mobile machine moves to primary importance according to the navigation map after correction after determining the initial position of oneself.
Although according to different navigation maps, the step judged is not quite similar, but ultimate principle is all similar, all sound out on from different directions, when running into wall or barrier time progressively can determine initial position, and whether run into wall, judge by the grid on actual measurement ceiling, so intelligent mobile machine is located automatically by the ceiling of indoor or floor in the embodiment of the present invention, find the initial position of oneself, simple to operate, cost is low, and location efficiency is high.
Another embodiment of the present invention also provides a kind of electronic equipment, for embodiment as aforementioned localization method, this electronic equipment has a mobile device and drive unit, electronic equipment can be moved at a predetermined space by mobile device under the driving of drive unit, please refer to Fig. 7, Fig. 7 is the functional block diagram of the electronic equipment in the present embodiment.
As shown in Figure 7, this electronic equipment comprises: camera head 701, and for obtaining map in kind and the mark map of predetermined space, mark map is made up of multiple first module lattice; Map synthesizer 702, marks the multiple second unit lattice corresponding with multiple first module lattice according to multiple first module lattice of mark map on map in kind, synthesis navigation map; Control device 703, the move of primary importance electronic equipment being moved to predetermined space is represented based on one, navigation map is determined the mark position corresponding with primary importance, and move according to the multiple second unit lattice control electronic equipments on navigation map, wherein each mobile of at least moving in multiple second unit lattice.
Wherein, camera head 701 is such as monocular cam, predetermined space is such as meeting room, and acquisition mark map is such as the ceiling utilizing camera head 701 to take meeting room, an image can be obtained, then black whitening processing is carried out to this image, then the strengthening at edge is carried out to this image, utilize these edges just can construct a mark map of throwing the net shape, mark map please be seen and examine Fig. 3.
Map synthesizer 702 and control device 703 can be same device, also can be separate device, wherein control device 703 controls before electronic equipment moves, concrete also for obtaining the initial position of electronic equipment, specifically comprise: setting unit, for when the second place of electronic equipment at predetermined space, the second supposition mark position of electronic equipment on navigation map is set; Obtain unit, for when electronic equipment to move to the 3rd position of first predetermined condition based on another move along a mobile alignment from the second place, wherein, mobile alignment comprises: X-direction displacement, Y-direction displacement and moving direction, based on the second supposition mark position, X-direction displacement, Y-direction displacement and moving direction, obtain the 3rd supposition mark position; Determining unit, for judging that whether corresponding in navigation map with the 3rd position the 3rd mark position of the 3rd supposition mark position is mated, when mating, determine that the second supposition mark position is the second mark position corresponding in navigation map of the second place, and to arrange the second mark position be initial position.Wherein the first pre-conditioned expression second place is the position of the wall closing on predetermined space.
About determining that the process of initial position has done detailed description in preceding method embodiment, so please refer to aforementioned associated description, be not described in detail in this.
Electronic equipment in the present embodiment and the localization method in previous embodiment are based on two aspects under same inventive concept, detailed description is done to the implementation process of method above, so those skilled in the art can according to the structure of the electronic equipment in aforementioned understanding the present embodiment be described clearly and implementation process, succinct in order to instructions, does not repeat them here.
One embodiment of the invention adopts the mark map of a predetermined space (as meeting room) and map in kind to combine and forms navigation map, because mark map has multiple first module lattice (as by to obtain after the ceiling of predetermined space or floor process), so the second unit lattice corresponding with first module lattice can be formed on navigation map, so when electronic equipment (as intelligent mobile machine) is after determining destination, as long as just walk according to cell, each at least mobile cell, so navigator fix can be carried out easily, calculated amount is little, cost is low, error is little.
Further, in one embodiment of the invention, electronic equipment can utilize the object automatically identifying indoor edge before moving to destination, and walking repeatedly verifies whether navigation map conforms to actual environment, the initial position of automatic acquisition oneself, then, after correcting navigation map, just move to destination, avoid the whole deviation of navigation map, destination cannot be moved to, and do not need user oneself to input initial position to electronic equipment, so simple to operate, cost is low.
Further, by the ceiling of shooting predetermined space or floor in one embodiment of the invention, obtain an image, then black whitening processing is carried out to image, the strengthening at edge, mark map can be constructed, so only need a monocular cam, institute is operatively simple, and cost is low, and efficiency is high.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (9)
1. a localization method, be applied in an electronic equipment, described electronic equipment comprises a mobile device and drive unit, and described electronic equipment can be moved at a predetermined space by described mobile device under the driving of described drive unit, it is characterized in that, described method comprises:
Obtain the map in kind of described predetermined space;
Obtain the mark map of described predetermined space, described mark map is made up of multiple first module lattice;
On described map in kind, mark the multiple second unit lattice corresponding with described multiple first module lattice according to described multiple first module lattice of described mark map, produce navigation map;
Receive a move, described move moves to the primary importance of described predetermined space for controlling described electronic equipment;
Described navigation map is determined first mark position corresponding with described primary importance;
Control described electronic equipment according to the described multiple second unit lattice on described navigation map to move, wherein in described multiple second unit lattice is at least moved in each described movement;
Wherein, controlling according to the described multiple second unit lattice on described navigation map before described electronic equipment moves, also to comprise: the initial position obtaining described electronic equipment; Wherein, the initial position obtaining described electronic equipment specifically comprises: when described electronic equipment is when the second place of described predetermined space, arranges the second supposition mark position of described electronic equipment on described navigation map;
Based on another move, described electronic equipment moves to satisfied first pre-conditioned the 3rd position along a mobile alignment from the described second place, wherein, described mobile alignment comprises: X-direction displacement, Y-direction displacement and moving direction;
Based on described second supposition mark position, described X-direction displacement, described Y-direction displacement and described moving direction, obtain the 3rd supposition mark position;
Judge that whether corresponding in described navigation map with described 3rd position the 3rd mark position of described 3rd supposition mark position is mated, when mating, determine that described second supposition mark position is the second mark position corresponding in described navigation map of the described second place, and to arrange described second mark position be described initial position.
2. the method for claim 1, is characterized in that,
When not mating, according to described 3rd position, described 3rd mark position, described X-direction displacement, described Y-direction displacement and described moving direction, determine at least two the second possibility mark positions that the described second place is corresponding on described navigation map.
3. method as claimed in claim 2, is characterized in that, when after at least two second possibility mark positions described in determining, also comprises:
According to described 3rd supposition mark position and described second supposition mark position, can not be the mark position of described second mark position at least two possibility mark positions described in eliminating.
4. method as claimed in claim 3, is characterized in that, if after described eliminating, the quantity of described possibility mark position is more than or equal to two, and described method also comprises:
Control described electronic equipment and return the described second place, and the 4th position of second predetermined condition is moved to along another mobile alignment, another mobile alignment described comprises: X-direction displacement, Y-direction displacement and another moving direction different from described moving direction;
Based on described second supposition mark position, described X-direction displacement, described Y-direction displacement and another moving direction described, obtain the 4th supposition mark position;
Based on described 4th position, described 4th supposition mark position, in the described possibility mark position after described eliminating, determine described second mark position.
5. method as claimed in claim 4, it is characterized in that, the position of the barrier in described predetermined space is closed in described 4th position of described second pre-conditioned expression.
6. the method for claim 1, is characterized in that, the mark map of the described predetermined space of described acquisition, specifically comprises:
Take ceiling or the floor of described predetermined space, obtain an image, wherein said ceiling or described floor are unit trellis;
Black whitening processing is carried out to described image;
Described image is carried out to the strengthening at edge;
Described edge is utilized to construct described mark map.
7. the method for claim 1, is characterized in that, the described second place of described first pre-conditioned expression is the position of the wall closing on described predetermined space.
8. an electronic equipment, has a mobile device and drive unit, and described electronic equipment can be moved at a predetermined space by described mobile device under the driving of described drive unit, it is characterized in that, described electronic equipment comprises:
Camera head, for obtaining map in kind and the mark map of described predetermined space, described mark map is made up of multiple first module lattice;
Map synthesizer, marks the multiple second unit lattice corresponding with described multiple first module lattice according to described multiple first module lattice of described mark map on described map in kind, synthesis navigation map;
Control device, the move of the primary importance described electronic equipment being moved to described predetermined space is represented based on one, described navigation map determines the mark position corresponding with described primary importance, and control described electronic equipment according to the described multiple second unit lattice on described navigation map and move, wherein in described multiple second unit lattice is at least moved in each described movement;
Wherein, at control device before the described electronic equipment of control moves, described control device is concrete also for obtaining the initial position of described electronic equipment: the initial position obtaining described electronic equipment; Wherein, described control device specifically also comprises: setting unit, for when described electronic equipment is when the second place of described predetermined space, arranges the second supposition mark position of described electronic equipment on described navigation map;
Obtain unit, for when described electronic equipment to move to satisfied first pre-conditioned 3rd position based on another move along a mobile alignment from the described second place, wherein, described mobile alignment comprises: X-direction displacement, Y-direction displacement and moving direction, based on described second supposition mark position, described X-direction displacement, described Y-direction displacement and described moving direction, obtain the 3rd supposition mark position;
Determining unit, for judging that whether corresponding in described navigation map with described 3rd position the 3rd mark position of described 3rd supposition mark position is mated, when mating, determine that described second supposition mark position is the second mark position corresponding in described navigation map of the described second place, and to arrange described second mark position be described initial position.
9. electronic equipment as claimed in claim 8, it is characterized in that, the described second place of described first pre-conditioned expression is the position of the wall closing on described predetermined space.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210046606.XA CN103292789B (en) | 2012-02-27 | 2012-02-27 | A kind of localization method and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210046606.XA CN103292789B (en) | 2012-02-27 | 2012-02-27 | A kind of localization method and electronic equipment |
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| CN103292789A CN103292789A (en) | 2013-09-11 |
| CN103292789B true CN103292789B (en) | 2015-12-09 |
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| CN1381340A (en) * | 2001-04-18 | 2002-11-27 | 三星光州电子株式会社 | Robot cleaning machine, robot cleaning system and method for controlling them |
| EP1898291A1 (en) * | 2005-01-25 | 2008-03-12 | Samsung Electronics Co., Ltd. | Apparatus and method for estimating location of mobile body and generating map of mobile body environment using upper image of mobile body environment, and computer readable recording medium storing computer program controlling the apparatus |
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| CN1381340A (en) * | 2001-04-18 | 2002-11-27 | 三星光州电子株式会社 | Robot cleaning machine, robot cleaning system and method for controlling them |
| EP1898291A1 (en) * | 2005-01-25 | 2008-03-12 | Samsung Electronics Co., Ltd. | Apparatus and method for estimating location of mobile body and generating map of mobile body environment using upper image of mobile body environment, and computer readable recording medium storing computer program controlling the apparatus |
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