CN110412985A - A kind of adaptive barrier-avoiding method, robot and computer readable storage medium - Google Patents
A kind of adaptive barrier-avoiding method, robot and computer readable storage medium Download PDFInfo
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- CN110412985A CN110412985A CN201910737438.0A CN201910737438A CN110412985A CN 110412985 A CN110412985 A CN 110412985A CN 201910737438 A CN201910737438 A CN 201910737438A CN 110412985 A CN110412985 A CN 110412985A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 23
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
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- 102000044437 S1 domains Human genes 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005457 optimization Methods 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
- G05D1/0214—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
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of adaptive barrier-avoiding method, robot and computer readable storage mediums, this method and robot can be according to the movement speeds of robot, the size for automatically adjusting machine people deceleration area, emergency stop area, specifically according to mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a1The length S1 for calculating deceleration area, according to mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a2The length S2 for calculating emergency stop area sets S1 and S2 for mobile robot deceleration section length and emergency stop section length, i.e., dynamically adjusts the size of safe avoidance distance, realize adaptive avoidance, Robot dodge strategy more optimizes, and avoidance effect is more superior.
Description
Technical field
The present invention relates to robot obstacle-avoiding field, more particularly to a kind of adaptive barrier-avoiding method of robot, robot and
Computer readable storage medium.
Background technique
Robot, in order to avoid colliding with pedestrian or barrier, causes personal injury and property in automatic running
Loss, needs to install safe avoidance radar in robot.Most of safe avoidance radar is all equipped with configuration software, and user can be with
Fixed robot deceleration area, emergency stop area are configured according to actual needs.In actual motion, exist when detecting in deceleration area
Barrier, robot reduce speed now operation, when detecting that there are barrier, robot emergent stoppings, to avoid in emergency stop area
The generation of collision.
However, at different speeds, the braking distance of robot is different, fixed size is arranged in safe avoidance radar
Deceleration area, emergency stop area be apparently not optimal, it could even be possible to because deceleration area, emergency stop area are arranged unreasonable and can not obtain
Effective avoidance effect, such as deceleration area setting it is too small, when speed is very big, can not slow down in time, lead to not stop in time
Vehicle causes equipment and personal injury.
Summary of the invention
The purpose of the present invention is to provide a kind of Robot dodge strategies more to optimize, the more superior adaptive avoidance of avoidance effect
Method and robot.To realize the target, technical scheme is as follows:
A kind of adaptive barrier-avoiding method of robot is applied to robot, and the method is the speed of travel according to robot,
Automatically adjust the size of the deceleration area after machine people encounters obstacle, emergency stop area.
Preferably, the method is specifically: deceleration area and emergency stop area are marked off in robot direction of advance dynamic:
According to mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a1Calculate deceleration area
Length S1, according to mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a2Calculate emergency stop area
Length S2, set S1 and S2 for mobile robot deceleration section length and emergency stop section length.
Preferably, the calculation method of the length S2 of the length S1 and emergency stop area of the deceleration area are as follows:
According to even geard-down speed formula, obtain
Vt=V0+a1×t (1)；
Wherein, VtFor robot deceleration area speed；
(1) formula both sides are squared and can be obtained simultaneously:
The deformation of (2) formula can be obtained:
According to even deceleration displacement formula, obtain:
(4) formula is substituted into (3) formula, is obtained:
Due in emergency stop region robot from current movement speed V00 is reduced to, so the length S2 in emergency stop area are as follows:
Preferably, it is S1 that the decelerating area, which is length, and width is the rectangular region of D；The emergency stop region is length
For S2, width is the rectangular region of D；Wherein the width of D is greater than the width of robot.
Preferably, the emergency stop region is the fan-shaped region of radius S2；The decelerating area is the fan section that radius is S1
Domain.
Preferably, described method includes following steps:
Step 1: known mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a1、a2, root
Deceleration distance S1 and emergency stop distance S2 are calculated according to formula:
Step 2: above-mentioned calculated S1, S2 are set by mobile robot deceleration area and emergency stop section length,
Step 3: mobile robot is with initial operating speed VtOperation；
Step 4: whether mobile robot in deceleration area detects barrier, if so, 5 are thened follow the steps, if otherwise executing
Step 3；
Step 5: mobile robot starts slowly to run slowly with a1 deceleration；
Step 6: whether disturbance in judgement object disappears from deceleration area, if so, thening follow the steps 3；If it is not, thening follow the steps 7；
Step 7: whether mobile robot detects barrier in emergency stop area, if so, 8 are thened follow the steps, if it is not, then executing
Step 5；
Step 8: starting with a2 deceleration emergency deceleration to stopping.
The present invention also provides a kind of robot, the robot using the adaptive barrier-avoiding method of above-described robot into
Row avoidance.
Preferably, the robot is equipped with laser radar.
The present invention also provides a kind of computer readable storage mediums, for storing computer program, the computer program
Above-described robot adaptive barrier-avoiding method is realized when being called by processor.
Compared with the existing technology, the beneficial technical effect of the present invention lies in the present invention provides a kind of adaptive avoidance sides
Method and robot and can storage medium, this method and its robot can automatically adjust machine according to the movement speed of robot
People's deceleration area, emergency stop area size, i.e., dynamically adjust the size of safe avoidance distance, carry out adaptive avoidance, Robot dodge strategy is more
Add optimization, avoidance effect is relatively reliable.
Detailed description of the invention
Fig. 1 is deceleration area and emergency stop Division schematic diagram of the invention.
Fig. 2 is robot obstacle-avoiding flow chart of the invention.
Specific embodiment
Embodiment one
A kind of adaptive barrier-avoiding method of the present embodiment automatically adjusts machine people and slows down according to the movement speed of robot
The size in area, emergency stop area dynamically adjusts the size of safe avoidance distance, carries out adaptive avoidance, to realize avoidance effect
It optimizes.
As a preferred embodiment, deceleration area and emergency stop area are rectangle, as shown in Figure 1, the decelerating area is length
For S1, width is the rectangular region of D；The emergency stop region is that length is S2, and width is the rectangular region of D；The wherein width of D
Degree is greater than the width of robot.Wherein, deceleration area and the width in emergency stop area should be greater than robot width, and length is then according to robot
The factors such as current movement speed are dynamically determined.
As a preferred embodiment, deceleration area is marked off in robot direction of advance dynamic and emergency stop area specifically includes:
According to mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a1, deceleration a2It calculates
The region division that length is S2 is emergency stop area by the length S2 of the length S1 of deceleration area and emergency stop area out, the area for being S1 by length
Domain is divided into deceleration area.
As a preferred embodiment, the length S2 calculation method of the length S1 of the deceleration area and emergency stop area are as follows:
According to even geard-down speed formula, obtain
Vt=V0+a1× t (1),
Wherein, VtFor robot deceleration area speed；
(1) formula both sides are squared and can be obtained simultaneously:
The deformation of (2) formula can be obtained:
According to even deceleration displacement formula, obtain:
(4) formula is substituted into (3) formula, is obtained:
Similarly, due in emergency stop region robot from current movement speed V00 is reduced to, so the length S2 in emergency stop area
Are as follows:
After calculating separately out deceleration distance and emergency stop distance according to the above method, by robot deceleration section length and emergency stop area
Length is set as S1 and S2, and robot is during traveling i.e. using the detection zone of the size as obstacle-avoidance area.
When robot is during traveling, as shown in Fig. 2, executing following steps:
Step 1: known mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a1, deceleration
a2, it is calculated from the formula deceleration distance S1 and emergency stop distance S2:
Step 2: above-mentioned calculated S1, S2 are set by mobile robot deceleration area and emergency stop section length,
Step 3: mobile robot is with initial operating speed VtOperation；
Step 4: whether mobile robot in deceleration area detects barrier, if so, 5 are thened follow the steps, if otherwise executing
Step 3；
Step 5: mobile robot starts slowly to run slowly with a1 deceleration；
Step 6: whether disturbance in judgement object disappears from deceleration area, if so, thening follow the steps 3；If it is not, thening follow the steps 7；
Step 7: whether mobile robot detects barrier in emergency stop area, if so, 8 are thened follow the steps, if it is not, then executing
Step 5；
Step 8: starting with a2 deceleration emergency deceleration to stopping, thus the generation avoided collision.
As a preferred embodiment, the emergency stop region is the fan-shaped region of radius S2；The decelerating area is that radius is S1
Fan-shaped region and remove emergency stop area region.
Embodiment two
A kind of robot, the robot are carried out adaptive using the adaptive barrier-avoiding method of robot described in embodiment one
Avoidance.
As a preferred embodiment, the robot is equipped with laser radar.
Embodiment three
A kind of computer readable storage medium, for storing computer program, the computer program is called by processor
The adaptive barrier-avoiding method of robot described in Shi Shixian embodiment one.
Embodiment described above is only used for understanding technical solution of the present invention, should not be understood as to the invention patent range
Limitation.It should be pointed out that those skilled in the art, the change made without departing from the inventive concept of the premise
Belong to protection scope of the present invention.
Claims (9)
1. a kind of adaptive barrier-avoiding method is applied to robot, which is characterized in that the method is the walking speed according to robot
Degree automatically adjusts the size of the deceleration area after machine people encounters obstacle, emergency stop area.
2. the adaptive barrier-avoiding method of robot according to claim 1, which is characterized in that the method is specifically: in machine
Device people direction of advance dynamic marks off deceleration area and emergency stop area:
According to mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a1Calculate the length of deceleration area
S1 is spent, according to mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a2Calculate the length in emergency stop area
S2 is spent, sets S1 and S2 for mobile robot deceleration section length and emergency stop section length.
3. the adaptive barrier-avoiding method of robot according to claim 2, which is characterized in that the length S1 of the deceleration area and
The calculation method of the length S2 in emergency stop area are as follows:
According to even geard-down speed formula, obtain
Vt=V0+a1×t (1)；
Wherein, VtFor robot deceleration area speed；
(1) formula both sides are squared and can be obtained simultaneously:
The deformation of (2) formula can be obtained:
According to even deceleration displacement formula, obtain:
(4) formula is substituted into (3) formula, is obtained:
Due in emergency stop region robot from current movement speed V00 is reduced to, so the length S2 in emergency stop area are as follows:
4. the adaptive barrier-avoiding method of robot according to claim 1 to 3, which is characterized in that the decelerating area is
Length is S1, and width is the rectangular region of D；The emergency stop region is that length is S2, and width is the rectangular region of D；Wherein D
Width be greater than robot width.
5. the adaptive barrier-avoiding method of robot according to claim 1 to 3, which is characterized in that the emergency stop region is
The fan-shaped region of radius S2；The decelerating area is the fan-shaped region that radius is S1.
6. -5 any adaptive barrier-avoiding method of robot according to claim 1, which is characterized in that the method includes such as
Lower step:
Step 1: known mobile robot initial operating speed Vt, the target velocity V of deceleration0And deceleration a1、a2, according to formula
Calculate deceleration distance S1 and emergency stop distance S2:
Step 2: above-mentioned calculated S1, S2 are set by mobile robot deceleration area and emergency stop section length,
Step 3: mobile robot is with initial operating speed VtOperation；
Step 4: whether mobile robot in deceleration area detects barrier, if so, thening follow the steps 5, thens follow the steps if not
3；
Step 5: mobile robot starts slowly to run slowly with a1 deceleration；
Step 6: whether disturbance in judgement object disappears from deceleration area, if so, thening follow the steps 3；If it is not, thening follow the steps 7；
Step 7: whether mobile robot detects barrier in emergency stop area, if so, 8 are thened follow the steps, if it is not, thening follow the steps
5；
Step 8: starting with a2 deceleration emergency deceleration to stopping.
7. a kind of robot, which is characterized in that the robot is adaptively kept away using any robot of claim 1-6
Barrier method carries out avoidance.
8. robot according to claim 7, which is characterized in that the robot is equipped with laser radar.
9. a kind of computer readable storage medium, for storing computer program, it is characterised in that: the computer program is located
It manages when device calls and realizes the adaptive barrier-avoiding method of robot described in claim 1 to 6 any one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910737438.0A CN110412985A (en) | 2019-08-09 | 2019-08-09 | A kind of adaptive barrier-avoiding method, robot and computer readable storage medium |
| PCT/CN2020/095202 WO2021027378A1 (en) | 2019-08-09 | 2020-06-09 | Adaptive obstacle avoidance method, robot and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910737438.0A CN110412985A (en) | 2019-08-09 | 2019-08-09 | A kind of adaptive barrier-avoiding method, robot and computer readable storage medium |
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Cited By (8)
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|---|---|---|---|---|
| CN111897323A (en) * | 2020-06-24 | 2020-11-06 | 深圳市越疆科技有限公司 | Robot emergency stop control method and device based on proximity perception and storage medium |
| WO2021027378A1 (en) * | 2019-08-09 | 2021-02-18 | 珠海格力智能装备有限公司 | Adaptive obstacle avoidance method, robot and computer readable storage medium |
| CN112428301A (en) * | 2020-09-28 | 2021-03-02 | 重庆瑞普机器人研究院有限责任公司 | Emergency brake impact force calculation method of mobile robot |
| CN112987754A (en) * | 2021-04-14 | 2021-06-18 | 北京三快在线科技有限公司 | Unmanned equipment control method and device, storage medium and electronic equipment |
| CN113246126A (en) * | 2021-04-30 | 2021-08-13 | 上海擎朗智能科技有限公司 | Robot movement control method, robot movement control device and robot |
| CN114200944A (en) * | 2021-12-13 | 2022-03-18 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Terminal deceleration method and system of mobile robot |
| CN114779761A (en) * | 2022-03-22 | 2022-07-22 | 广东博智林机器人有限公司 | Mobile robot fault stopping control method, device, equipment and storage medium |
| CN114924574A (en) * | 2022-07-19 | 2022-08-19 | 深圳博鹏智能科技有限公司 | Control method and system of cleaning and disinfecting integrated robot |
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| CN114779761A (en) * | 2022-03-22 | 2022-07-22 | 广东博智林机器人有限公司 | Mobile robot fault stopping control method, device, equipment and storage medium |
| CN114924574A (en) * | 2022-07-19 | 2022-08-19 | 深圳博鹏智能科技有限公司 | Control method and system of cleaning and disinfecting integrated robot |
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| Publication number | Publication date |
|---|---|
| WO2021027378A1 (en) | 2021-02-18 |
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