Robot inter-detection method and robot inter-detection device

Abstract

The invention discloses a robot inter-detection method and a robot inter-detection device. The robot inter-detection method includes the following steps: a first robot acquires central coordinates of a second robot in a global map; the profile information of the second robot is acquired; profile coordinates of the second robot in the global map are worked out according to the profile information of the second robot and the central coordinates of the second robot in the global map; the profile coordinates of the second robot in the global map are converted into profile coordinates in a first local map, wherein the first local map is a local map of the first robot; and the second robot in the first local map is marked according to the profile coordinates of the second robot in the first local map. The solution of the invention can ensure that a plurality of single-line laser radar robots operating in the same building can quickly and accurately detect the position of one another, thus guaranteeing the normal operation of the plurality of robots.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and device for mutual detection of robots. Background technique [0002] When indoor robots are navigating, they need to detect the surrounding environment in real time. At present, there are two main types of sensors used by indoor mobile robots: one is RGB depth (Red Green Blue Depth, RGB-D) camera or binocular camera, and the other is lidar. Since the RGB-D camera uses image information or point cloud information as raw data for obstacle detection, resulting in a large amount of computing data, and the result is easily affected by indoor light, and its robustness is poor. Compared with RGB-D cameras, lidar has the characteristics of accurate data, not affected by ambient light, and small data volume, so it is widely used in indoor robots as the "eyes" of indoor robots. Because of the high cost of multi-line lidar, single-line lidar is generally used at present. A robot equipp...

AI Technical Summary

Problems solved by technology

A robot equipped with lidar must be hollowed out so that the rays of the lidar can be emitted to detect obstacles in the environment. Therefore, when multiple robots are running on the same floor indoors, one robot can only see the other. The robot's radar, but cannot see the overall outline of other robots

However, the physical size of the radar is still too small compared to the overall outline of the robot, which makes it impossible for the robots to perform accurate position detection with each other, which affects the operation of the robot indoors

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