WO2019148467A1 - 定位方法、装置、机器人及计算机可读存储介质 - Google Patents
定位方法、装置、机器人及计算机可读存储介质 Download PDFInfo
- Publication number
- WO2019148467A1 WO2019148467A1 PCT/CN2018/075170 CN2018075170W WO2019148467A1 WO 2019148467 A1 WO2019148467 A1 WO 2019148467A1 CN 2018075170 W CN2018075170 W CN 2018075170W WO 2019148467 A1 WO2019148467 A1 WO 2019148467A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- positioning
- robot
- surrounding environment
- speed
- running speed
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 73
- 230000008569 process Effects 0.000 claims abstract description 27
- 230000006870 function Effects 0.000 claims description 19
- 230000000007 visual effect Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Definitions
- the present application relates to the field of visual navigation technology, and in particular, to a positioning method, device, robot, and computer readable storage medium.
- VSLAM visual real-time positioning and map construction
- One technical problem to be solved by some embodiments of the present application is to provide a positioning method, apparatus, robot, and computer readable storage medium to solve the above technical problems.
- An embodiment of the present application provides a positioning method applied to a robot having an autonomous positioning navigation function, including: determining that positioning failure is performed by an image of a surrounding environment during traveling to reach a preset distance; and controlling the robot to decelerate Travel and locate through the surrounding environment during deceleration until the positioning is successful.
- An embodiment of the present application provides a positioning device applied to a robot having an autonomous positioning navigation function, including a positioning module and a control module, and a positioning module for passing the surrounding during the process of reaching a preset distance
- the environment image is positioned;
- the control module is configured to control the robot to decelerate after the positioning module determines that the image of the surrounding environment fails to be located, and control the positioning module to perform positioning through the surrounding environment image during the deceleration driving until the positioning is successful.
- An embodiment of the present application provides a robot including at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being at least one The processor executes to enable the at least one processor to perform the positioning method involved in any of the method embodiments of the present application.
- One embodiment of the present application provides a computer readable storage medium storing computer instructions for causing a computer to perform the positioning method involved in any of the method embodiments of the present application.
- the robot with the autonomous positioning navigation function performs the positioning operation by acquiring the surrounding environment image during the process of reaching the preset distance, and fails to determine the positioning through the surrounding environment image.
- the control robot decelerates and continues to position through the surrounding environment image during the deceleration driving until the positioning is successful.
- the robot can reasonably adjust its running speed according to the environment in which it is in the process of traveling, thereby accurately positioning the position, thereby being able to timely and accurately plan the navigation route and complete the work. .
- FIG. 1 is a flow chart of a positioning method in a first embodiment of the present application
- FIG. 2 is a schematic diagram of adjusting the running speed of the robot according to a cosine or sinusoidal speed curve in the first embodiment of the present application;
- FIG. 3 is a schematic diagram of adjusting the running speed of the robot according to the trapezoidal speed curve in the first embodiment of the present application;
- FIG. 4 is a schematic diagram of adjusting the running speed of the robot according to the S-type speed curve in the first embodiment of the present application
- FIG. 5 is a flowchart of a positioning method in a second embodiment of the present application.
- FIG. 6 is a schematic diagram of adjusting the running speed of the robot according to a cosine or sinusoidal speed curve in the second embodiment of the present application;
- FIG. 7 is a schematic diagram of adjusting a running speed of a robot according to a trapezoidal speed curve in a second embodiment of the present application.
- FIG. 8 is a schematic diagram of adjusting the running speed of the robot according to the S-type speed curve in the second embodiment of the present application.
- Figure 9 is a block diagram showing a positioning device in a third embodiment of the present application.
- Figure 10 is a block diagram showing the robot in the fourth embodiment of the present application.
- the first embodiment of the present application relates to a positioning method, which is mainly applied to a robot having an autonomous positioning navigation function, and the specific process thereof is as shown in FIG. 1 .
- step 101 during the journey to reach the preset distance, it is determined that the positioning failure by the surrounding environment image is determined.
- the operation of positioning through the surrounding environment image can be specifically implemented by:
- the robot needs to acquire the surrounding environment image according to a preset period (such as 5s per interval).
- the processing unit (such as the CPU) in the robot matches the acquired surrounding environment image with the image in the pre-built map sample set. If the surrounding environment image does not match the image in the map sample set, the positioning failure is determined; The environment image matches any of the images in the map sample set to determine that the location was successful.
- the image of the pre-built map sample set in the embodiment may be acquired by using a data crawling tool such as a web crawler, and may be updated periodically in a practical application in order to ensure the accuracy of the positioning, and the specific implementation manner. It is not described here, and those skilled in the art can set it as needed, and no limitation is made here.
- the surrounding environment image for matching the image in the pre-built map sample set is specifically acquired by using an image capturing device (such as a camera) according to a preset period.
- the image capturing device for collecting the image of the surrounding environment does not limit the setting position thereof, that is, the image capturing device may be disposed on the robot (for the robot working directly on the road surface) It can also be set on other objects (for a robot working on a moving object), and the specific implementation manner can be reasonably set by a person skilled in the art according to actual needs, and no limitation is made here.
- the preset distance that the robot reaches in the present embodiment is set based on a visual positioning and a map positioning (VSLAM) autonomous positioning navigation technology, for example, for a certain robot, the preset The distance can be 10 meters, that is, within 10 meters, as long as an image of the surrounding environment that can match the image in the map sample set is collected, the current position of the robot can be located, and then positioned according to each preset distance.
- VSLAM map positioning
- step 102 the control robot is decelerated to travel, and is positioned by the surrounding environment image during the deceleration driving until the positioning is successful.
- step 102 can be specifically implemented by:
- the control robot decelerates from the first running speed (the normal working running speed set by the robot, and also the running speed when the first positioning succeeds) to the second running speed, and after the robot is decelerated to the second running speed, the image collecting device is reused to obtain the surrounding environment. Image and then position it.
- first running speed the normal working running speed set by the robot, and also the running speed when the first positioning succeeds
- the deceleration driving process is stopped, and the second running speed is continued as the running speed required for its operation.
- the control robot further decelerates, such as decelerating from the second running speed to the third running speed, and decelerating to the third running speed. After that, the image acquisition device is reused to acquire the image of the surrounding environment, and then the positioning is performed until the positioning is successful, otherwise the deceleration is continued.
- control robot deceleration driving operation is specifically implemented according to the speed curve.
- the speed curve is specifically used to indicate the correspondence between the running speed and the time.
- the speed curve may specifically be any one or any combination of the following: a cosine speed curve, a sinusoidal speed curve, a trapezoidal speed curve, and an S-type speed curve.
- the speed of the robot in the deceleration driving cannot be reduced to a negative number (ie, less than 0). Therefore, in order to enable the process of controlling the deceleration of the robot according to the speed curve to be more in line with the actual use situation, in this embodiment,
- the angle of the cosine value in the provided cosine velocity curve takes a value between [0, ⁇ ]
- the angle of the sine value in the sinusoidal velocity curve takes a value between [ ⁇ , 2 ⁇ ].
- the cosine velocity curve is drawn based on the cosine function
- the sinusoidal velocity curve is drawn based on the sine function
- the cosine function and the sine function can be replaced with each other, and the angle of the cosine value is [0, ⁇ ]
- the cosine velocity curve drawn when the value is taken is the same as the sine velocity curve when the angle of the sine value is between [ ⁇ , 2 ⁇ ], so the robot is decelerated based on the cosine velocity curve or the sine velocity curve.
- the obtained graphs are all shown in Fig. 2.
- the cosine speed curve will be taken as an example and will be specifically described with reference to Fig. 2 .
- the robot is decelerated based on the cosine speed curve, which is specifically implemented according to the following formula:
- v 0 is the speed at which the robot runs at a constant speed
- T is the cosine angle, which is between [0, ⁇ ] and includes the endpoint.
- FIG. 2 shows that the robot patrols at a speed of v 0 (the first acceleration referred to in this embodiment) from a time when the positioning succeeds t 0 , and continues the positioning operation if the robot runs to the pre- If the distance from the distance D is not successfully located, the robot decelerates to v 1 (ie v 0 /2) with a cosine speed curve from t' 0 to t 1 , then runs at a constant speed and continues positioning during constant speed operation. Operation, if the robot is successfully positioned under the speed of v 1 , the positioning process is completed, if not, the deceleration is continued, and the positioning operation is performed until the positioning is successful.
- v 0 the first acceleration referred to in this embodiment
- FIG. 3 is a schematic diagram of adjusting the running speed of the robot according to the trapezoidal speed curve.
- the manner of adjusting the running speed of the robot according to the trapezoidal speed curve is specifically adjusted in the order of uniform deceleration and uniform speed from the uniform running speed. Speed until the current position of the robot can be located based on the reacquired surrounding image.
- FIG. 4 is a schematic diagram of adjusting the running speed of the robot according to the S-type speed curve.
- the manner of adjusting the running speed of the robot according to the S-shaped speed curve is specifically according to the deceleration, uniform deceleration, and the constant deceleration from the uniform running speed. Acceleration, deceleration, and uniform speed adjust the running speed until the robot's current position can be located based on the reacquired surrounding image.
- deceleration and deceleration refers to the deceleration motion according to the decreasing acceleration (the acceleration for controlling the running speed reduction), that is, the acceleration in the sub-process is not a fixed value, but is always reduced. small.
- the above-mentioned acceleration and deceleration refers to a deceleration motion according to an increasing acceleration, that is, a slight acceleration process from the uniform deceleration process to the uniform velocity process.
- acceleration values required to control the deceleration driving and the recovery of the running speed based on the above various speed curves can be reasonably set according to actual needs, and are not limited herein.
- each deceleration operation specifically decelerates to the running speed, and those skilled in the art can pre-store a running speed adjustment table in the robot according to the type of the robot and the actual application of the robot, thereby facilitating the robot to meet each need.
- the deceleration operation can be performed according to the pre-stored speed adjustment table. The specific implementation manner will not be repeated here, nor is it limited.
- the positioning method provided by the embodiment can enable the robot to adjust its running speed reasonably according to the environment in which the robot is in the process of traveling, thereby accurately positioning the position thereof, and thereby being able to accurately locate the position thereof. Timely and accurate planning of navigation routes to complete the work.
- a second embodiment of the present application relates to a positioning method.
- the embodiment is further improved on the basis of the first embodiment.
- the specific improvement is: after determining the positioning success, the control robot accelerates to the first running speed, and the specific process is shown in FIG. 5 .
- the steps 501 to 503 are included, and the steps 501 and 502 are substantially the same as the steps 101 and 102 in the first embodiment, and are not described here.
- the steps 501 to 503 are included, and the steps 501 and 502 are substantially the same as the steps 101 and 102 in the first embodiment, and are not described here.
- the steps 501 and 502 are substantially the same as the steps 101 and 102 in the first embodiment, and are not described here.
- step 503 the control robot is accelerated to the first operating speed.
- the process of controlling the robot to accelerate to the first running speed may be specifically performed by:
- the robot After determining that the positioning is successful, the robot obtains the running speed of the current time through its own speed detecting device, and as long as the running speed of the obtained current time is greater than or equal to 0, according to the recorded first running speed and the current running speed. And setting the time required to restore to the first running speed, calculating an acceleration value, and then controlling the acceleration of the robot to the first running speed according to the calculated acceleration value.
- the reasonable running speed range of the normal working of the robot can be set. If the obtained running speed of the current time is still within the range of the reasonable running speed of the normal working of the robot, the first running speed can be restored. , you can continue to drive at the current speed.
- the control robot accelerates to the first running speed.
- the cosine velocity curve is drawn based on the cosine function
- the sinusoidal velocity curve is drawn based on the sine function
- the cosine function and the sine function can be replaced with each other, and the angle of the cosine value is [0, ⁇ ]
- the cosine velocity curve drawn when the value is taken is the same as the sine velocity curve when the angle of the sine value is between [ ⁇ , 2 ⁇ ], so the robot is decelerated based on the cosine velocity curve or the sine velocity curve.
- the obtained graphs are all shown in Fig. 6.
- the cosine speed curve will be taken as an example and will be specifically described with reference to Fig. 6.
- the robot is decelerated based on the cosine speed curve, which is specifically implemented according to the following formula:
- v 0 is the speed at which the robot runs at a constant speed
- T is the cosine angle, which is between [0, ⁇ ] and includes the endpoint.
- FIG. 6 shows that the robot patrols at a speed of v 0 (the first acceleration referred to in this embodiment) from the time of a certain positioning success t 0 while continuing the positioning operation, if the robot runs to the pre- If the distance from the distance D is not successfully located, the robot decelerates to v 1 (ie v 0 /2) with a cosine speed curve from t' 0 to t 1 , then runs at a constant speed and continues to position during constant speed operation.
- v 0 the first acceleration referred to in this embodiment
- Fig. 7 is a schematic diagram of adjusting the running speed of the robot according to the trapezoidal speed curve.
- the manner of adjusting the running speed of the robot according to the trapezoidal speed curve is specifically adjusted in the order of uniform deceleration and uniform speed from the uniform running speed.
- Speed until the robot's current position can be located according to the re-acquired surrounding environment image.
- the control robot accelerates to the process of v 0 , specifically adjusting the current operation of the robot according to the uniform acceleration mode. Speed until the initial running speed v 0 is restored.
- FIG. 8 is a schematic diagram of adjusting the running speed of the robot according to the S-shaped speed curve.
- the manner of adjusting the running speed of the robot according to the S-shaped speed curve is specifically according to the deceleration, uniform deceleration, and the constant deceleration from the uniform running speed.
- the speed of acceleration and deceleration and uniform speed is adjusted until the position of the robot is located according to the re-acquired surrounding environment image. After the positioning is successful, the robot is accelerated to v 0 , specifically according to the acceleration.
- the order of uniform acceleration and acceleration is used to adjust the running speed of the robot at the current moment until the initial running speed v 0 is restored.
- deceleration is a process opposite to acceleration and deceleration
- acceleration is a process opposite to deceleration
- acceleration values required to control the deceleration driving and the recovery of the running speed based on the above various speed curves can be reasonably set according to actual needs, and are not limited herein.
- the positioning method provided by the embodiment after determining the positioning success, is controlled to accelerate to the first running speed, that is, from the current running speed to the initial running speed, so that the robot can try to be at the preset time as much as possible. Finish the work within.
- a third embodiment of the present application relates to a positioning device.
- the positioning device is mainly applied to a robot having an autonomous positioning navigation function, and the specific structure is as shown in FIG.
- the positioning device includes a positioning module 901 and a control module 902.
- the positioning module 901 is configured to perform positioning by using a surrounding environment image during the process of driving to a preset distance.
- the control module 902 is configured to control the deceleration driving after the positioning module 901 determines that the positioning of the image by the surrounding environment fails, and control the positioning module 901 to perform positioning through the surrounding environment image during the deceleration driving until the positioning is successful.
- the positioning module 901 can perform the operation of positioning through the surrounding environment image in the following manner. Specifically: The surrounding environment image is matched with the image in the pre-built map sample set. If the surrounding environment image does not match the image in the map sample set, the positioning failure is determined; if the surrounding environment image matches any image in the map sample set, the positioning is determined to be successful. .
- the surrounding environment image used for matching the image in the pre-built map sample set is specifically obtained by using the image collecting device according to a preset period, for example, every 5 s. Collect once.
- the period in which the image acquisition device collects the surrounding environment image may be transmitted according to the actual environment of the robot. Factors such as performance are reasonably set, and there are no restrictions here.
- the image capturing device for collecting the image of the surrounding environment does not limit its setting position, that is, the image capturing device may be disposed on the robot (for a robot working directly on the road surface), or may be disposed on other objects (for The specific working mode of the robot working on the moving object can be reasonably set according to actual needs, and no limitation is made here.
- the positioning device provided in this embodiment cooperates with the positioning module and the control module, so that the robot equipped with the positioning device can be in accordance with the environment in which it is driven. Reasonably adjust your running speed to accurately locate the location, and then plan the navigation route in time and accurately to complete the work.
- a fourth embodiment of the present application relates to a robot, and the specific structure is as shown in FIG.
- the robot may be a device with an autonomous positioning navigation function such as a smart sweeping robot, a navigation robot, a drone, an unmanned vehicle.
- the internal one specifically includes one or more processors 1001 and a memory 1002, and one processor 1001 is taken as an example in FIG.
- each functional module in the positioning device involved in the foregoing embodiment is deployed on the processor 1001, and the processor 1001 and the memory 1002 may be connected through a bus or other manner. example.
- the memory 1002 is a computer readable storage medium, and can be used to store a software program, a computer executable program, and a module, such as a program instruction/module corresponding to the positioning method involved in any method embodiment of the present application.
- the processor 1001 executes various functional applications and data processing of the server by executing software programs, instructions, and modules stored in the memory 1002, that is, implementing the positioning method involved in any method embodiment of the present application.
- the memory 1002 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may establish a history database, store a map sample set, and the like.
- the memory 1002 may include a high speed random access memory, and may also include a readable and writable memory (RAM).
- the memory 1002 can optionally include memory remotely located relative to the processor 1001, which can be connected to the terminal device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
- the memory 1002 may store at least one instruction executed by the processor 1001, and the instruction is executed by the at least one processor 1001, so that the at least one processor 1001 can perform the positioning method according to any method embodiment of the present application to control the positioning.
- Each of the functional modules in the device performs the positioning operation in the positioning method.
- the positioning method provided in any embodiment of the present application.
- the robot mentioned in this embodiment may also be a cloud intelligent robot, that is, a robot "brain” for performing processing operations. It’s in the cloud.
- the cloud intelligent robot connects the robot body and the cloud “brain” with a safe and fast mobile network, making the intelligent computing capability of the cloud a convenient service, thereby greatly reducing the research and development costs and operating costs of the intelligent robot. And with the powerful computing power of the cloud, it is more convenient and fast to perform autonomous navigation and achieve rapid positioning.
- a fifth embodiment of the present application is directed to a computer readable storage medium having stored therein computer instructions that enable a computer to perform the positioning method involved in any of the method embodiments of the present application.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (11)
- 一种定位方法,应用于具有自主定位导航功能的机器人,所述定位方法包括:在行驶达到预设距离的过程中,确定通过周围环境图像进行定位失败;控制所述机器人减速行驶,并在减速行驶的过程中通过周围环境图像进行定位,直至定位成功。
- 如权利要求1所述的定位方法,其中,所述确定通过周围环境图像进行定位失败,包括:按照预设周期采集获得所述周围环境图像;将所述周围环境图像与预先构建的地图样本集中的图像进行匹配;若所述周围环境图像与所述地图样本集中的图像均不匹配,确定定位失败。
- 如权利要求1或2所述的定位方法,其中,所述控制所述机器人减速行驶,并在减速行驶的过程中通过周围环境图像进行定位,直至定位成功,具体包括:控制所述机器人从第一运行速度减速到第二运行速度;在所述机器人减速至所述第二运行速度后,重新获取周围环境图像进行定位;若确定定位成功,则停止减速行驶过程;若确定定位失败,则控制所述机器人进一步减速行驶,并重新获取周围环境图像进行定位,直至定位成功。
- 如权利要求3所述的定位方法,其中,所述确定定位成功之后,所述定位方法还包括:获取当前时刻的运行速度;若获取到的当前时刻的所述运行速度大于或等于0,控制所述机器人加速至所述第一运行速度。
- 如权利要求1至4任意一项所述的定位方法,其中,所述控制所述机器人减速行驶,具体包括:根据速度曲线控制所述机器人减速行驶;其中,所述速度曲线用于表示运行速度和时间的对应关系。
- 如权利要5所述的定位方法,其中,所述速度曲线为以下任意一种或任 意组合:余弦速度曲线、正弦速度曲线、梯形速度曲线、S型速度曲线。
- 如权利要求6所述的定位方法,其中,所述余弦速度曲线中的余弦值的角度在[0,π]之间取值。
- 如权利要求6所述的定位方法,其中,所述正弦速度曲线中的正弦值的角度在[π,2π]之间取值。
- 一种定位装置,应用于具有自主定位导航功能的机器人,所述定位装置包括定位模块和控制模块;所述定位模块,用于在行驶达到预设距离的过程中,通过周围环境图像进行定位;所述控制模块,用于在所述定位模块确定通过所述周围环境图像定位失败后,控制所述机器人减速行驶,并在减速行驶过程中控制所述定位模块通过周围环境图像进行定位,直至定位成功。
- 一种机器人,包括:至少一个处理器;以及,与所述至少一个处理器通信连接的存储器;其中,所述存储器存储有可被所述至少一个处理器执行的指令,所述指令被所述至少一个处理器执行,以使所述至少一个处理器能够执行权利要求1至8任意一项所述的定位方法。
- 一种计算机可读存储介质,存储有计算机指令,所述计算机指令用于使所述计算机执行权利要求1至8任意一项所述的定位方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2018/075170 WO2019148467A1 (zh) | 2018-02-02 | 2018-02-02 | 定位方法、装置、机器人及计算机可读存储介质 |
JP2019561296A JP7032440B2 (ja) | 2018-02-02 | 2018-02-02 | 測位方法、装置、ロボット及びコンピューター読み取り可能な記憶媒体 |
CN201880001300.8A CN108885460B (zh) | 2018-02-02 | 2018-02-02 | 定位方法、装置、机器人及计算机可读存储介质 |
US16/687,838 US11292131B2 (en) | 2018-02-02 | 2019-11-19 | Localization method and apparatus, and robot and computer readable storage medium |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2018/075170 WO2019148467A1 (zh) | 2018-02-02 | 2018-02-02 | 定位方法、装置、机器人及计算机可读存储介质 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/687,838 Continuation US11292131B2 (en) | 2018-02-02 | 2019-11-19 | Localization method and apparatus, and robot and computer readable storage medium |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019148467A1 true WO2019148467A1 (zh) | 2019-08-08 |
Family
ID=64325035
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2018/075170 WO2019148467A1 (zh) | 2018-02-02 | 2018-02-02 | 定位方法、装置、机器人及计算机可读存储介质 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11292131B2 (zh) |
JP (1) | JP7032440B2 (zh) |
CN (1) | CN108885460B (zh) |
WO (1) | WO2019148467A1 (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115363478B (zh) * | 2021-05-17 | 2024-06-07 | 尚科宁家(中国)科技有限公司 | 一种清洁机器人重定位失败的清洁方法和清洁机器人 |
CN113377104A (zh) * | 2021-06-02 | 2021-09-10 | 北京布科思科技有限公司 | 基于差速模型的机器人位置控制方法、装置 |
CN115237113B (zh) * | 2021-08-02 | 2023-05-12 | 达闼机器人股份有限公司 | 机器人导航的方法、机器人、机器人***及存储介质 |
CN113691734B (zh) * | 2021-09-29 | 2023-04-07 | 深圳众为兴技术股份有限公司 | 自适应飞行拍摄控制方法、装置、设备及存储介质 |
CN114253290B (zh) * | 2021-12-15 | 2024-03-19 | 成都飞机工业(集团)有限责任公司 | 一种飞机部件运输车自动循迹和精确定位的方法及*** |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009144805A1 (ja) * | 2008-05-29 | 2009-12-03 | 三菱電機株式会社 | 加減速制御装置 |
CN106200645A (zh) * | 2016-08-24 | 2016-12-07 | 北京小米移动软件有限公司 | 自主机器人、控制装置和控制方法 |
CN107223244A (zh) * | 2016-12-02 | 2017-09-29 | 深圳前海达闼云端智能科技有限公司 | 定位方法和装置 |
CN107246876A (zh) * | 2017-07-31 | 2017-10-13 | 中北智杰科技(北京)有限公司 | 一种无人驾驶汽车自主定位与地图构建的方法及*** |
CN107357286A (zh) * | 2016-05-09 | 2017-11-17 | 两只蚂蚁公司 | 视觉定位导航装置及其方法 |
CN107368071A (zh) * | 2017-07-17 | 2017-11-21 | 纳恩博(北京)科技有限公司 | 一种异常恢复方法及电子设备 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02204807A (ja) * | 1989-02-02 | 1990-08-14 | Toshiba Corp | 無人搬送車 |
JP2969174B1 (ja) * | 1998-05-27 | 1999-11-02 | 建設省土木研究所長 | 車の自動合流制御方法及び装置 |
JP2000284830A (ja) * | 1999-03-30 | 2000-10-13 | Komatsu Ltd | 無人走行制御装置 |
JP3670586B2 (ja) | 2001-01-10 | 2005-07-13 | Hoyaヘルスケア株式会社 | レンズトレー |
JP3876698B2 (ja) * | 2001-11-28 | 2007-02-07 | 日産自動車株式会社 | ワーク搬送装置及び搬送方法 |
US6678582B2 (en) | 2002-05-30 | 2004-01-13 | Kuka Roboter Gmbh | Method and control device for avoiding collisions between cooperating robots |
US20080300777A1 (en) * | 2002-07-02 | 2008-12-04 | Linda Fehr | Computer-controlled power wheelchair navigation system |
JP5444171B2 (ja) * | 2010-09-03 | 2014-03-19 | 株式会社日立製作所 | 無人搬送車および走行制御方法 |
JP5288423B2 (ja) * | 2011-04-11 | 2013-09-11 | 株式会社日立製作所 | データ配信システム、及びデータ配信方法 |
US8972055B1 (en) * | 2011-08-19 | 2015-03-03 | Google Inc. | Methods and systems for selecting a velocity profile for controlling a robotic device |
US8755966B2 (en) * | 2012-04-03 | 2014-06-17 | Caterpillar Inc. | System and method for controlling autonomous machine within lane boundaries during position uncertainty |
US9081651B2 (en) | 2013-03-13 | 2015-07-14 | Ford Global Technologies, Llc | Route navigation with optimal speed profile |
JP6167622B2 (ja) * | 2013-04-08 | 2017-07-26 | オムロン株式会社 | 制御システムおよび制御方法 |
EP2952301B1 (en) | 2014-06-05 | 2019-12-25 | Softbank Robotics Europe | Humanoid robot with collision avoidance and trajectory recovery capabilities |
US9910441B2 (en) * | 2015-11-04 | 2018-03-06 | Zoox, Inc. | Adaptive autonomous vehicle planner logic |
US10838427B2 (en) * | 2016-10-26 | 2020-11-17 | The Charles Stark Draper Laboratory, Inc. | Vision-aided inertial navigation with loop closure |
US10949798B2 (en) * | 2017-05-01 | 2021-03-16 | Symbol Technologies, Llc | Multimodal localization and mapping for a mobile automation apparatus |
CN107065784A (zh) | 2017-05-09 | 2017-08-18 | 杭州电子科技大学 | 用于直角坐标机器人在高速运动中实现在线多级调整方法 |
-
2018
- 2018-02-02 CN CN201880001300.8A patent/CN108885460B/zh active Active
- 2018-02-02 JP JP2019561296A patent/JP7032440B2/ja active Active
- 2018-02-02 WO PCT/CN2018/075170 patent/WO2019148467A1/zh active Application Filing
-
2019
- 2019-11-19 US US16/687,838 patent/US11292131B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009144805A1 (ja) * | 2008-05-29 | 2009-12-03 | 三菱電機株式会社 | 加減速制御装置 |
CN107357286A (zh) * | 2016-05-09 | 2017-11-17 | 两只蚂蚁公司 | 视觉定位导航装置及其方法 |
CN106200645A (zh) * | 2016-08-24 | 2016-12-07 | 北京小米移动软件有限公司 | 自主机器人、控制装置和控制方法 |
CN107223244A (zh) * | 2016-12-02 | 2017-09-29 | 深圳前海达闼云端智能科技有限公司 | 定位方法和装置 |
CN107368071A (zh) * | 2017-07-17 | 2017-11-21 | 纳恩博(北京)科技有限公司 | 一种异常恢复方法及电子设备 |
CN107246876A (zh) * | 2017-07-31 | 2017-10-13 | 中北智杰科技(北京)有限公司 | 一种无人驾驶汽车自主定位与地图构建的方法及*** |
Also Published As
Publication number | Publication date |
---|---|
JP2020520006A (ja) | 2020-07-02 |
US20200078944A1 (en) | 2020-03-12 |
JP7032440B2 (ja) | 2022-03-08 |
CN108885460B (zh) | 2020-07-03 |
CN108885460A (zh) | 2018-11-23 |
US11292131B2 (en) | 2022-04-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2019148467A1 (zh) | 定位方法、装置、机器人及计算机可读存储介质 | |
US11635760B2 (en) | Autonomous path treatment systems and methods | |
WO2020181719A1 (zh) | 无人机控制方法、无人机及*** | |
CN107179768B (zh) | 一种障碍物识别方法及装置 | |
AU2019404207A1 (en) | Collaborative autonomous ground vehicle | |
CN111958591A (zh) | 一种语义智能变电站巡检机器人自主巡检方法及*** | |
CN105929850A (zh) | 一种具有持续锁定和跟踪目标能力的无人机***与方法 | |
WO2021164738A1 (en) | Area division and path forming method and apparatus for self-moving device and automatic working system | |
CN104111460A (zh) | 自动行走设备及其障碍检测方法 | |
CN109946564B (zh) | 一种配网架空线路巡检数据采集方法及巡检*** | |
CN104089649A (zh) | 一种室内环境数据采集***及采集方法 | |
CN113885580A (zh) | 基于无人机实现自动化巡检风机的路径规划方法及*** | |
CN111762519A (zh) | 引导拣选机器人作业的方法、***和调度装置 | |
WO2024146339A1 (zh) | 路径规划方法、装置和起重机 | |
CN114281100B (zh) | 一种不悬停无人机巡检***及其方法 | |
CN114360261B (zh) | 车辆逆行的识别方法、装置、大数据分析平台和介质 | |
JP2020021372A (ja) | 情報処理方法および情報処理システム | |
CN109977884B (zh) | 目标跟随方法和装置 | |
CN110470307A (zh) | 一种视障患者导航***和方法 | |
EP4175455B1 (en) | Autonomous machine having vision system for navigation and method of using same | |
CN109978174A (zh) | 信息处理方法、信息处理装置及程序记录介质 | |
WO2021159397A1 (zh) | 车辆可行驶区域的检测方法以及检测装置 | |
TW201727417A (zh) | 分析路面曲度並結合資料記錄的自動行走建議系統及方法 | |
CN103376803A (zh) | 行李移动***及其方法 | |
CN114941448B (zh) | 灰浆清理方法、装置、***及存储介质 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18903510 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2019561296 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 01/12/2020) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 18903510 Country of ref document: EP Kind code of ref document: A1 |