CN107817795A - For controlling mobile robot to build the method and system of figure - Google Patents
For controlling mobile robot to build the method and system of figure Download PDFInfo
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- CN107817795A CN107817795A CN201711006124.0A CN201711006124A CN107817795A CN 107817795 A CN107817795 A CN 107817795A CN 201711006124 A CN201711006124 A CN 201711006124A CN 107817795 A CN107817795 A CN 107817795A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004891 communication Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 16
- 230000008859 change Effects 0.000 abstract description 7
- 238000003860 storage Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 2
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- 230000000694 effects Effects 0.000 description 1
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- 230000014759 maintenance of location Effects 0.000 description 1
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- 230000007704 transition Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The purpose of the application is to provide a kind of method and system for controlling mobile robot to build figure.Compared with prior art, the application builds figure status information by the current position segment where determining mobile robot, when the figure status information of building includes that figure state can be built, figure master switch is built in automatic opening, grating map is established to control the mobile robot to open the current position segment, when the closedown condition that figure master switch is built described in satisfaction, then figure master switch is built described in closing, grating map is established to control the mobile robot to close the current position segment.It can automatically control in this way and build figure switch and to realize build figure, mobile robot is set to build figure process more intelligent, figure process is built without excessive human intervention, robot is set preferably to adapt to the change of environment during completion task, and build the better system resource efficiently with accurately, saving for building figure of figure.
Description
Technical field
The application is related to field of computer technology, more particularly to a kind of for controlling the technology that mobile robot builds figure.
Background technology
At present, the use of mobile robot is more and more common, particularly home services class and mall shopping class robot, from
Master positioning and to build figure and navigate be key technology that it realizes Information Mobile Service.Map structuring is wherein important component, currently
Service robot it is most of or simple mobile or motionless, or transported at random according to simple ultrasound and crash sensor
It is dynamic, constructing environment map is not considered, and this mode is moved often than more random, and shortage really recognizes map and to the whole of task
Body is planned.In addition, band builds the mobile robot of figure function, the figure on-off mode of building of use is relatively fixed, and whole process is beaten completely
On or off is closed, and this figure mode of building makes robot to well adapt to environmental change, flexibility ratio during completion task
Not enough.
The content of the invention
The purpose of the application is to provide a kind of method and system for controlling mobile robot to build figure.
According to the one side of the application, there is provided it is a kind of to be used to control the method that mobile robot builds figure, wherein, the party
Method includes：
Determine the current position segment where mobile robot builds figure status information；
When the figure status information of building includes that figure state can be built, figure master switch is built in automatic opening, to control the moving machine
Device people opens to the current position segment and establishes grating map；
When the closedown condition that figure master switch is built described in satisfaction, then figure master switch is built described in closing, to control the moving machine
Device people closes to the current position segment and establishes grating map.
Further, wherein, methods described also includes：
Determine whether the current position segment has created；
If the current position segment does not create, the current position segment is created；
Wherein, the figure status information of building of the current position segment where the determination mobile robot includes：
Determine the current position segment where mobile robot builds figure status information, wherein, it is described to build figure status information bag
Figure state can be built by including.
Further, wherein, the closedown condition includes following at least any one：Figure is built in the closing for getting user's determination
Instruction；Figure is built when the current position segment to complete.
Further, wherein, described when the figure status information of building includes that figure state can be built, automatic opening is built figure and always opened
Close, included with controlling the mobile robot to establish grating map to current position segment unlatching：
When it is described build figure status information include can not build figure state, according to the pose and present laser of the mobile robot
Data, build whether figure status information can transform to that figure state can be built it is determined that described.
Further, wherein, the pose and present laser data according to the mobile robot, it is determined that described build figure
Whether status information, which can transform to that figure state can be built, includes：
If number of rays corresponding to penetrating the grating map, the present laser data exceedes preset value, institute is determined
State and build figure status information and can transform to that figure state can be built.
According to further aspect of the application, a kind of system for controlling mobile robot to build figure is additionally provided, wherein,
The system includes：
Client, the figure of building for obtaining user's determination instruct, and build figure instruction transmission to system end by described；
System end, instructed for receiving the figure of building that the user determines, and instruct unlatching to establish grid based on the figure of building
Grating map is established in map or closing.
Further, wherein, the client includes：
User interactive module, the figure of building for obtaining user's determination instruct；
First communication module, for building figure instruction transmission to the system end by described.
Further, wherein, the system end includes：
Second communication module, instructed for receiving the figure of building that the client is sent, and figure instruction transmission is built extremely by described
Map structuring module；
Locating module, for obtaining the posture information of the mobile robot；
Data acquisition module, obtain the sensor information of the mobile robot；
Map structuring module, for based on it is described build figure instruction, posture information, sensor information and build figure switch management
Strategy, control build figure master switch open establish grating map or close establish grating map.
Compared with prior art, the application is believed by the figure state of building of the current position segment where determining mobile robot
Breath, when the figure status information of building includes that figure state can be built, figure master switch is built in automatic opening, to control the mobile robot pair
The current position segment is opened and establishes grating map, when the closedown condition that figure master switch is built described in satisfaction, then builds figure described in closing
Master switch, grating map is established to control the mobile robot to close the current position segment.In this way can
Automatically control and build figure switch and to realize build figure, building mobile robot, figure process is more intelligent, is built without excessive human intervention
Figure process, robot is preferably adapted to the change of environment during completion task, and build the better efficient of figure
With it is accurate, save the system resource for building figure.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, of the invention is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows to build the method flow diagram of figure according to a kind of control mobile robot of the application one side；
Fig. 2 shows to be illustrated according to a kind of system for being used to control mobile robot to build figure of one preferred embodiment of the application
Figure.
Same or analogous reference represents same or analogous part in accompanying drawing.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and internal memory.
Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or
Any other non-transmission medium, the information that can be accessed by a computing device available for storage.Defined according to herein, computer
Computer-readable recording medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It is below in conjunction with the accompanying drawings and preferably real for the technological means and the effect of acquirement that further elaboration the application is taken
Example is applied, to the technical scheme of the application, carries out clear and complete description.
Fig. 1 shows a kind of method for controlling mobile robot to build figure according to the application one side, wherein, it is described
Method includes：
What S11 determined the current position segment where mobile robot builds figure status information；
S12 when the figure status information of building includes that figure state can be built, and figure master switch is built in automatic opening, to control the movement
Robot opens to the current position segment and establishes grating map；
S13 then builds figure master switch, to control the movement when the closedown condition that figure master switch is built described in satisfaction described in closing
Robot closes to the current position segment and establishes grating map.
In this embodiment, in the step S11, determine the current position segment where mobile robot builds figure state
Information, in this application, the figure of building include establishing grating map.The figure mode of building of the mobile robot is by map
Block carries out piecemeal and builds figure, the whole environment for building figure will be needed to be divided into multiple map blocks, here, the multiple map block can
To be created during figure is built, here, the current position segment includes the map that the mobile robot is currently located
Block, here, the current position segment can be determined based on the posture information of the mobile robot, for example, including current pose
Certain limit in, be current position segment, here, the scope can be preset.
Here, the figure status information of building includes to build figure state and can not building figure state, it is described to build figure state table
Grating map creating can be carried out to the current position segment by showing, and can not build figure state representation without to the current position segment
Carry out grating map creating.
Where it determines that the mode for building figure status information of the current position segment where mobile robot, can be by remembering
Inquire about whether the current position segment builds figure completion in record, i.e., it is described to build whether figure status information is that build figure state.
Preferably, wherein, methods described also includes：S14 (not shown) determines whether the current position segment has created, if
The current position segment does not create, then creates the current position segment.Namely in this embodiment, the current map can be detected
Whether block was explored, if not exploring, the current position segment did not created, then created the current position segment.And by institute
The figure status information of building for stating current position segment is arranged to that figure state can be built.Namely in the step S11, determine mobile robot
The current position segment at place builds figure status information as that can build figure state.
Continue in this embodiment, in the step S12, when it is described build figure status information include can build figure state, from
Figure master switch is built in dynamic unlatching, and grating map is established to control the mobile robot to open the current position segment.
Specifically, when the current position segment, which is in, can build figure state, building figure master switch can automatically turn on, the movement
Robot can carry out building figure to the current position segment, here, the mobile robot can be according to current pose and sensor
The ambient condition information got carries out building figure to the current position segment.
Preferably, the step S12 includes：When it is described build figure status information include can not build figure state, according to the shifting
The pose and present laser data of mobile robot, build whether figure status information can transform to that figure state can be built it is determined that described.
In this embodiment, it is possible to building figure and not completing for the current position segment be present, but the figure state of building is believed
Cease for figure state can not be built, for example, it may be possible to the figure status information of building caused by being due to user's operation is that can not build figure state,
Therefore, can be according to the pose and present laser data of the mobile robot, whether it is determined that described, to build figure status information variable
Figure state can be built by being changed to.
Preferably, wherein, the pose and present laser data according to the mobile robot, it is determined that described build figure shape
Whether state information, which can transform to that figure state can be built, includes：If penetrate corresponding to the grating map, the present laser data
Number of rays exceedes preset value, it is determined that the figure status information of building can transform to that figure state can be built.
Specifically, present laser data are mapped to corresponding laser beam, if the laser for penetrating the grating map is penetrated
The number of line exceedes preset value, that is, the current position segment is built figure and do not completed, it is determined that it is described build figure status information can
It is transformed to that figure state can be built, thus can continues that the current position segment is carried out building figure.
Continue in this embodiment, in the step S13, when the closedown condition for building figure master switch described in satisfaction, then to close
Figure master switch is built described in closing, grating map is established to control the mobile robot to close the current position segment.
Preferably, wherein, the closedown condition includes following at least any one：Figure is built in the closing for getting user's determination
Instruction；Figure is built when the current position segment to complete.
In this embodiment, the closedown condition represents to close the condition for building figure, for example, when the pass for getting user's determination
When closing the instruction for building figure, then figure master switch is built described in closing, namely user can control the whole beginning and end for building figure process,
And after user opens and builds figure instruction, the beginning and end for building figure can be automatically controlled by building figure master switch.
In another embodiment, build figure when the current position segment to complete, namely the current position segment is whole
Figure is built in completion, then builds figure master switch described in closing, and grid are established to control the mobile robot to close the current position segment
Lattice map.
Specifically, judge the mode that the whether built figure of the current position segment is completed, can be stored according to current position segment
History entropy information, if current entropy reaches certain threshold value, and keep within the specific limits, meeting pass with the change of preceding entropy several times
Close and build figure condition, here, the entropy is the amount that figure completeness is built in description.
Compared with prior art, the application is believed by the figure state of building of the current position segment where determining mobile robot
Breath, when the figure status information of building includes that figure state can be built, figure master switch is built in automatic opening, to control the mobile robot pair
The current position segment is opened and establishes grating map, when the closedown condition that figure master switch is built described in satisfaction, then builds figure described in closing
Master switch, grating map is established to control the mobile robot to close the current position segment.In this way can
Automatically control and build figure switch and to realize build figure, building mobile robot, figure process is more intelligent, is built without excessive human intervention
Figure process, robot is preferably adapted to the change of environment during completion task, and build the better efficient of figure
With it is accurate, save the system resource for building figure.
A kind of system for controlling mobile robot to build figure is provided according to further aspect of the application, wherein, institute
The system of stating includes：
Client, the figure of building for obtaining user's determination instruct, and build figure instruction transmission to system end by described；
System end, instructed for receiving the figure of building that the user determines, and instruct unlatching to establish grid based on the figure of building
Grating map is established in map or closing.
Specifically, it can be instructed to determine to build figure by the interface that client is presented in client user, built for example, opening
Figure instruction etc. is built in figure or closing, and then client obtains this and builds figure instruction, and sends to system end.
System end receive user determination build figure instruction after, can be according to specific command information come with establishing grid
Figure, or, if system end builds figure, when figure instruction is built in the closing for receiving user, grating map is established in closing.
Preferably, wherein, the client includes：User interactive module, the figure of building for obtaining user's determination instruct；The
One communication module, for building figure instruction transmission to the system end by described.
Preferably, wherein, the system end includes：
Second communication module, instructed for receiving the figure of building that the client is sent, and figure instruction transmission is built extremely by described
Map structuring module；
Locating module, for obtaining the posture information of the mobile robot；
Data acquisition module, obtain the sensor information of the mobile robot；
Map structuring module, for based on it is described build figure instruction, posture information, sensor information and build figure switch management
Strategy, control build figure master switch open establish grating map or close establish grating map.
A kind of a kind of of preferred embodiment is used to control the system that mobile robot builds figure as shown in Figure 2, and the system includes
Interactive portion and algorithm process part, here, the interactive portion, equivalent to client, algorithm process part is equivalent to system
End.The communication module of interactive portion is first communication module, and the communication module of algorithm process part is equivalent to second communication module.
Specifically, user is turned on and off building figure by user interactive module, and the communication module of interactive portion will be corresponding
The corresponding instruction for being turned on and off building, which is sent to algorithm process part, the communication module of algorithm process part, receives the instruction, and
The command information is sent to map structuring module, wherein, the communication module of algorithm process part can also be corresponding by current device
The status information for building figure instruction send to the interface of user interactive module and shown, to be presented to user.
Further, data acquisition module sends out the posture information of robot the sensor information of collection and locating module
Map structuring module is delivered to, then map structuring module builds figure instruction, posture information and sensor information according to what is got,
Analysis judges whether current environment needs to build figure, is controlled accordingly building figure master switch.Figure is built if desired just using same
The algorithm structure grating map of step positioning and drawing.
Compared with prior art, the application is believed by the figure state of building of the current position segment where determining mobile robot
Breath, when the figure status information of building includes that figure state can be built, figure master switch is built in automatic opening, to control the mobile robot pair
The current position segment is opened and establishes grating map, when the closedown condition that figure master switch is built described in satisfaction, then builds figure described in closing
Master switch, grating map is established to control the mobile robot to close the current position segment.In this way can
Automatically control and build figure switch and to realize build figure, building mobile robot, figure process is more intelligent, is built without excessive human intervention
Figure process, robot is preferably adapted to the change of environment during completion task, and build the better efficient of figure
With it is accurate, save the system resource for building figure.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.This
Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table
Show title, and be not offered as any specific order.
Claims (8)
1. a kind of be used to control the method that mobile robot builds figure, wherein, this method includes：
Determine the current position segment where mobile robot builds figure status information；
When the figure status information of building includes that figure state can be built, figure master switch is built in automatic opening, to control the mobile robot
The current position segment is opened and establishes grating map；
When the closedown condition that figure master switch is built described in satisfaction, then figure master switch is built described in closing, to control the mobile robot
The current position segment is closed and establishes grating map.
2. according to the method for claim 1, wherein, methods described also includes：
Determine whether the current position segment has created；
If the current position segment does not create, the current position segment is created；
Wherein, the figure status information of building of the current position segment where the determination mobile robot includes：
Determine the current position segment where mobile robot builds figure status information, wherein, it is described build that figure status information includes can
Build figure state.
3. according to the method for claim 1, wherein, the closedown condition includes following at least any one：
The instruction of figure is built in the closing for getting user's determination；
Figure is built when the current position segment to complete when the current position segment builds figure completion.
4. according to the method for claim 1, wherein, the figure status information of being built described in includes that figure state can be built, automatically
Figure master switch is built in unlatching, is included with controlling the mobile robot to establish grating map to current position segment unlatching：
When it is described build figure status information include can not build figure state, according to the pose of the mobile robot and present laser number
According to building whether figure status information can transform to that figure state can be built it is determined that described.
5. the method according to claim 11, wherein, the pose and present laser number according to the mobile robot
According to, it is determined that it is described build figure status information and whether can transform to that figure state can be built include：
If number of rays corresponding to penetrating the grating map, the present laser data exceedes preset value, it is determined that described build
Figure status information can transform to that figure state can be built.
6. a kind of be used to control the system that mobile robot builds figure, wherein, the system includes：
Client, the figure of building for obtaining user's determination instruct, and build figure instruction transmission to system end by described；
System end, instructed for receiving the figure of building that the user determines, and instruct unlatching to establish grating map based on the figure of building
Or close and establish grating map.
7. system according to claim 6, wherein, the client includes：
User interactive module, the figure of building for obtaining user's determination instruct；
First communication module, for building figure instruction transmission to the system end by described.
8. system according to claim 6, wherein, the system end includes：
Second communication module, instructed for receiving the figure of building that the client is sent, and figure instruction transmission is built to map by described
Build module；
Locating module, for obtaining the posture information of the mobile robot；
Data acquisition module, obtain the sensor information of the mobile robot；
Map structuring module, for based on it is described build figure instruction, posture information, sensor information and build figure switch management plan
Slightly, control build figure master switch open establish grating map or close establish grating map.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711006124.0A CN107817795B (en) | 2017-10-25 | 2017-10-25 | The method and system of figure is built for controlling mobile robot |
| PCT/CN2018/106810 WO2019080681A1 (en) | 2017-10-25 | 2018-09-20 | Method and system for controlling mobile robot to perform mapping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711006124.0A CN107817795B (en) | 2017-10-25 | 2017-10-25 | The method and system of figure is built for controlling mobile robot |
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| Publication Number | Publication Date |
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| CN107817795A true CN107817795A (en) | 2018-03-20 |
| CN107817795B CN107817795B (en) | 2019-11-19 |
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| WO (1) | WO2019080681A1 (en) |
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| CN107807641A (en) * | 2017-10-25 | 2018-03-16 | 上海思岚科技有限公司 | method for mobile robot obstacle avoidance |
| WO2019080681A1 (en) * | 2017-10-25 | 2019-05-02 | 上海思岚科技有限公司 | Method and system for controlling mobile robot to perform mapping |
| CN113674351A (en) * | 2021-07-27 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Robot and drawing establishing method thereof |
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| CN106679661A (en) * | 2017-03-24 | 2017-05-17 | 山东大学 | Simultaneous localization and mapping system and method assisted by search and rescue robot arms |
| CN106919174A (en) * | 2017-04-10 | 2017-07-04 | 江苏东方金钰智能机器人有限公司 | A kind of bootstrap technique of intelligently guiding robot |
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| CN107807641A (en) * | 2017-10-25 | 2018-03-16 | 上海思岚科技有限公司 | method for mobile robot obstacle avoidance |
| WO2019080681A1 (en) * | 2017-10-25 | 2019-05-02 | 上海思岚科技有限公司 | Method and system for controlling mobile robot to perform mapping |
| CN113674351A (en) * | 2021-07-27 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Robot and drawing establishing method thereof |
| CN113674351B (en) * | 2021-07-27 | 2023-08-08 | 追觅创新科技(苏州)有限公司 | Drawing construction method of robot and robot |
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| WO2019080681A1 (en) | 2019-05-02 |
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