CN112540610A - Robot obstacle avoidance method, robot and storage medium - Google Patents
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
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Abstract
The application provides a method for avoiding obstacles by a robot, the robot and a storage medium, wherein the method comprises the following steps: when the distance between the robot and the target obstacle is determined to be equal to a first preset distance, outwards expanding a second preset distance by taking the current boundary of the target obstacle as a reference to form a target area, and pausing the movement for a preset time; when the preset duration is over, judging whether the distance between the robot and the target obstacle is smaller than or equal to a first preset distance or not; if the preset time length is over, the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, and the robot walks according to a first route; and if the preset time length is over, the distance between the robot and the target obstacle is greater than the preset distance, and the robot walks according to the second route. The first route is different from the second route. By pausing the motion, the robot can be prevented from taking the same path to bypass the target obstacle, and the possibility of collision is reduced.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot obstacle avoidance method, a robot and a storage medium.
Background
Artificial intelligence products are receiving more and more attention in the 21 st century, including robots. In the life of people, robots are more and more commonly used, and application scenes are more and more complex. For example, the conveyance is performed by a robot, and the cleaning is performed by a robot.
The working scene of the robot may partially overlap with the working and living scenes of people. For example, when a robot is used in a handling scenario, the robot may need to work in the same work environment as the staff. When the robot is used for cleaning a home environment, the working environment of the robot coincides with the life scene of people. When the working scene of the robot and the working and living scene of people partially overlap, how the robot avoids obstacles is a problem to be considered.
When the robot is applied in a transportation scenario, the robot may need to work in the same working environment as the staff. When the distance between the staff and the robot is short, the staff may take the same direction as the planned path of the robot to bypass, so that the staff and the robot are in mutual obstruction. If the speed is too high, the robot can even collide with the staff. When the robot is applied to a clean scene, after the robot acquires the position information of an obstacle in the environment, the robot cleans around the boundary of the obstacle to acquire the boundary data of the obstacle. But the obstacle may be a dynamic obstacle that may move at any time and may collide with the robot.
Disclosure of Invention
The application provides a robot obstacle avoidance method, a robot and a storage medium. The method can ensure that the robot can avoid collision between the robot and the target obstacle to a certain extent.
In view of the above, a first aspect of the present application provides a method for avoiding an obstacle for a robot, where the method includes: when the distance between the robot and a target obstacle is determined to be equal to a first preset distance, outwards expanding a second preset distance by taking the current boundary of the target obstacle as a reference to form a target area, and pausing to move for a preset time length, wherein the second preset distance is smaller than or equal to the first preset distance; when the preset duration is over, judging whether the distance between the robot and the target obstacle is smaller than or equal to the first preset distance or not; if the preset time length is over, the distance between the robot and the target obstacle is smaller than or equal to the first preset distance, and the robot walks according to a first route; if the preset time length is over, the distance between the robot and the target obstacle is larger than the preset distance, the robot walks according to a second route, and the first route is different from the second route.
The robot obstacle avoidance method provided by the application can pause for a preset duration when the distance between the robot and the target obstacle is equal to the first preset distance, so that the robot and the target obstacle can be prevented from bypassing by adopting the same path, and the possibility of collision is reduced. Secondly, when the preset time length is over, the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, and the robot can walk according to a first route. When the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, the robot can avoid the target obstacle through the first route. When the preset time length is finished, the distance between the robot and the target obstacle is larger than a first preset distance, and the robot can walk on a second route, wherein the first route is different from the second route. When the distance between the robot and the target obstacle is larger than the first preset distance, the robot walks according to the second route, and the scanning missing can be avoided.
Optionally, with reference to the first aspect, in a first possible implementation manner of the first aspect, before determining that the distance between the robot and the target obstacle is equal to a first preset distance, forming a target area by extending a second preset distance outward with reference to a current boundary of the target obstacle, and suspending the movement for a preset time, the method further includes: acquiring the position of the target obstacle at a first moment and the position of the target obstacle at a second moment, wherein the first moment is different from the second moment; and determining the target obstacle to be a dynamic obstacle according to the position of the target obstacle at the first moment and the position of the target obstacle at the second moment.
Optionally, with reference to the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the method further includes: detecting the distance between the robot and the target obstacle in real time; and when the distance between the robot and the target obstacle is smaller than or equal to a third preset distance, starting an alarm, wherein the third preset distance is smaller than the first preset distance. When the distance between the robot and the target obstacle is smaller than or equal to the third preset distance, the robot can start an alarm, so that the target obstacle can be reminded, the robot can be avoided in time, and collision is avoided.
Optionally, with reference to the first aspect or the first possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, if the preset time period ends, the distance between the robot and the target obstacle is less than or equal to the first preset distance, and the robot walks according to a first route, the method further includes: the robot marks the target area as an uncleaned area; when the target obstacle is determined not to be in the target area, the robot enters the non-cleaning area for cleaning. When the robot walks according to the first route, the robot can mark the target area as an uncleaned area, and when the target obstacle is determined not to be in the target area, the robot enters the target area to clean, so that the target area can be prevented from being missed, and the missing of cleaning is avoided.
Optionally, with reference to the first aspect or the first possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, if the distance between the robot and the target obstacle is greater than the preset distance when the preset duration is over, the robot walks according to a second route, and the method further includes: detecting the distance between the robot and the target obstacle in real time; and when the distance between the robot and the target obstacle is determined to be equal to the first preset distance, the robot is paused for the preset time length. This reduces the probability of a collision while continuing to follow the second route.
A second aspect of the present application provides a robot comprising: the robot comprises a distance measuring module, a controller and a walking module, wherein the distance measuring module is used for determining that the distance between the robot and a target obstacle is equal to a first preset distance; the controller is configured to, when the distance measurement module determines that the distance between the robot and the target obstacle is equal to a first preset distance, form a target area by extending a second preset distance outwards with reference to a current boundary of the target obstacle, and control the robot to pause for a preset duration, where the second preset distance is less than or equal to the first preset distance; the controller is further configured to control the ranging module to perform the following operations when the preset duration is over: measuring the distance between the robot and the target obstacle, and judging whether the distance between the robot and the target obstacle is smaller than or equal to the first preset distance; the controller is further configured to control the walking module to enable the robot to walk according to a first route if the distance between the robot and the target obstacle is smaller than or equal to the first preset distance when the preset duration is over; the controller is further configured to control the walking module to enable the robot to walk according to a second route if the distance between the robot and the target obstacle is greater than the preset distance when the preset duration is over, wherein the first route is different from the second route.
The robot provided by the application can pause for a preset time when the distance between the robot and the target obstacle is equal to the first preset distance, so that the robot and the target obstacle can be prevented from bypassing by adopting the same path, and the possibility of collision is reduced. Secondly, when the preset time length is over, the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, and the robot can walk according to a first route. When the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, the robot can avoid the target obstacle through the first route. When the preset time length is finished, the distance between the robot and the target obstacle is larger than a first preset distance, and the robot can walk on a second route, wherein the first route is different from the second route. When the distance between the robot and the target obstacle is larger than the first preset distance, the robot walks according to the second route, and the scanning missing can be avoided.
Optionally, with reference to the second aspect, in a first possible implementation manner of the second aspect, the ranging module is further configured to acquire a position of the target obstacle at a first time and a position of the target obstacle at a second time, where the first time is different from the second time; the controller is further configured to determine that the target obstacle is a dynamic obstacle according to the position of the target obstacle at the first time and the position of the target obstacle at the second time.
Optionally, with reference to the second aspect or the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the robot further includes an alarm module, and the ranging module is further configured to detect a distance between the robot and a target obstacle in real time; the alarm module is used for starting alarm when the distance measuring module determines that the distance between the robot and the target obstacle is smaller than or equal to a third preset distance, and the third preset distance is smaller than the first preset distance.
Optionally, with reference to the second aspect or the first possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the robot further includes a cleaning module, and the controller is further configured to mark the target area as an unswept area if the robot walks according to the first route; the controller is further configured to control the walking module to enable the cleaning module in the robot to clean the target area when it is determined that the target obstacle is not located in the target area.
Optionally, with reference to the second aspect or the first possible implementation manner of the second aspect, in a fourth possible implementation manner of the second aspect, the ranging module is further configured to detect a distance between the robot and the target obstacle in real time; the distance measuring module is further used for judging whether the distance between the robot and the target obstacle is smaller than or equal to the first preset value; the controller is further used for enabling the robot to pause and move for the preset time length when the distance between the robot and the target obstacle is smaller than or equal to the first preset distance.
A third aspect of the present application provides a computer storage medium, which is characterized by comprising a processor and a memory, where the processor is in communication connection with the memory, and the memory stores a plurality of instructions, and the processor implements the method for avoiding an obstacle for a robot in any one of the possible implementation manners of the first aspect and the first aspect by executing the plurality of instructions.
The application provides a robot obstacle avoidance method and a robot, wherein the method comprises the following steps: when the distance between the robot and the target obstacle is determined to be equal to a first preset distance, outwards expanding a second preset distance by taking the current boundary of the target obstacle as a reference to form a target area, and pausing to move for a preset time length, wherein the second preset distance is smaller than or equal to the first preset distance; when the preset duration is over, judging whether the distance between the robot and the target obstacle is smaller than or equal to a first preset distance or not; if the preset time length is over, the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, and the robot walks according to a first route; and if the preset time length is over, the distance between the robot and the target obstacle is greater than the preset distance, the robot walks according to a second route, and the first route is different from the second route.
The robot obstacle avoidance method and the robot have the following beneficial effects: the robot can pause for a preset duration when the distance between the robot and the target obstacle is equal to the first preset distance, so that the robot and the target obstacle can be prevented from bypassing by adopting the same path, and the possibility of collision is reduced. Secondly, when the preset time length is over, the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, and the robot can walk according to a first route. When the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, the robot can avoid the target obstacle through the first route. When the preset time length is finished, the distance between the robot and the target obstacle is larger than a first preset distance, the robot can walk according to a second route, and the first route is different from the second route. When the distance between the robot and the target obstacle is larger than the first preset distance, the robot walks according to the second route, and the scanning missing can be avoided.
Drawings
Fig. 1 is a schematic block diagram of a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a robot and a dynamic obstacle according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a method for avoiding an obstacle of a robot according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a scene of laser ranging according to an embodiment of the present disclosure;
fig. 5 is a flowchart of a method for avoiding an obstacle of a robot according to an embodiment of the present disclosure;
fig. 6 is a flowchart of a method for avoiding an obstacle of a robot according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;
fig. 8 is a block diagram of a robot according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The shape of the robot disclosed in the present embodiment is not limited, and may be configured in any suitable shape. The robot in this application can be domestic cleaning robot, also can be commercial cleaning robot.
Referring to fig. 1, in one implementation, the robot 10 may include a control unit 11, a wireless communication unit 12, a sensing unit 13, an audio unit 14, a camera unit 15, and an obstacle detection device 16.
The control unit 11 is a control core of the robot 10, and coordinates operations of the respective units. The control unit 11 may be a general purpose processor (e.g., central processing unit CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field programmable gate array (FPGA, CPLD, etc.), a single chip microcomputer, an arm (acorn RISC machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the control unit 11 may be any conventional processor, controller, microcontroller, or state machine. The control unit 11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The wireless communication unit 12 is used for wireless communication with the user terminal, and the wireless communication unit 12 is electrically connected with the control unit 11. The user transmits a control instruction to the robot 10 through the user terminal, the wireless communication unit 12 receives the control instruction and transmits the control instruction to the control unit 11, and the control unit 11 controls the robot 10 according to the control instruction.
The wireless communication unit 12 includes one or more of a combination of a broadcast receiving module, a mobile communication module, a wireless internet module, a short-range communication module, and a location information module. Wherein the broadcast receiving module receives a broadcast signal and/or broadcast associated information from an external broadcast management server via a broadcast channel. The broadcast receiving module may receive a digital broadcast signal using a digital broadcasting system such as terrestrial digital multimedia broadcasting (DMB-T), satellite digital multimedia broadcasting (DMB-S), media forward link only (MediaFLO), digital video broadcasting-handheld (DVB-H), or terrestrial integrated services digital broadcasting (ISDB-T).
The mobile communication module transmits or may receive a wireless signal to or from at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include a voice call signal, a video call signal, or various forms of data according to the reception and transmission of the character/multimedia message.
The wireless internet module refers to a module for wireless internet connection, and may be built in or out of the terminal. Wireless internet technologies such as wireless lan (wlan) (Wi-Fi), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), High Speed Downlink Packet Access (HSDPA) may be used.
The short-range communication module refers to a module for performing short-range communication. Short range communication technologies such as Bluetooth (Bluetooth), Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), or ZigBee may be used.
The positioning information module is a module for acquiring current position information of the robot 10, such as a Global Positioning System (GPS) module.
The sensing unit 13 may include a distance sensor, a pressure sensor, a collision sensor, and the like. The sensor may be used to test the distance of the robot 10 from an obstacle, whether it is under stress, whether it is colliding, etc.
The audio unit 14 is configured to control the robot 10 to stop working and send an off-ground alarm signal when the position status information is in a hold-up state. The audio unit 14 is electrically connected to the control unit 11.
In some embodiments, the audio unit 14 may be an electroacoustic transducer such as a speaker, a loudspeaker, a microphone, etc., wherein the number of speakers or loudspeakers may be one or more, the number of microphones may be multiple, and multiple microphones may form a microphone array so as to effectively collect sound. The microphone may be of an electric type (moving coil type, ribbon type), a capacitive type (direct current polarization type), a piezoelectric type (crystal type, ceramic type), an electromagnetic type, a carbon particle type, a semiconductor type, or the like, or any combination thereof. In some embodiments, the microphone may be a microelectromechanical systems (MEMS) microphone.
The camera unit 15 is used for shooting the environment where the robot 10 is located, the camera unit 15 is electrically connected with the control unit 11, the camera unit 15 obtains an image of the environment where the robot 10 is located, and outputs the image to the control unit 11, so that the control unit 11 can perform the next logical operation according to the image.
The obstacle detecting device 16 is configured to detect a wall and an obstacle, and to emit a detection signal to the wall and the obstacle in real time, and may include a light sensor, an infrared sensor, and the like, for example.
The working scene of the robot may partially overlap with the working and living scenes of people. For example, when a robot is used in a handling scenario, the robot may need to work in the same work environment as the staff. When the robot is used for cleaning a home environment, the working environment of the robot coincides with the life scene of people. Please refer to fig. 2. The robot 1 is in the same scene as the obstacle 2. If the robot is close to the obstacle, the robot may collide with the obstacle. Therefore, when the working scene of the robot and the working and living scene of people partially overlap, how the robot avoids obstacles is a problem to be considered.
When the worker and the robot are close to each other in the transportation scene, the worker may bypass the planned path of the robot in the same direction, and the worker and the robot may interfere with each other. If the speed is too high, the robot can even collide with the staff. When the robot is applied to a clean scene, after the robot acquires the position information of an obstacle in the environment, the robot cleans around the boundary of the obstacle to acquire the boundary data of the obstacle. This may present two problems. 1. The obstacle may be a dynamic obstacle, which may move at any time and may collide with the robot. 2. After the robot acquires the boundary data of the dynamic obstacle, an area surrounded by the boundary of the dynamic obstacle may be defined as an area that cannot be cleaned, so that a phenomenon of missing scanning may occur.
Therefore, the present application provides a method for avoiding obstacles for a robot, please refer to fig. 3, the method includes:
and step 110, when the distance between the robot and the target obstacle is determined to be equal to the first preset distance, expanding a second preset distance outwards by taking the current boundary of the target obstacle as a reference to form a target area, and pausing the movement for a preset time.
The robot acquires a distance between the robot and a target obstacle. And when the robot determines that the distance between the robot and the target obstacle is equal to the first preset distance, the robot outwards expands a second preset distance by taking the current boundary of the target obstacle as a reference to form a target area. And pause the motion for a preset duration. The robot is paused for a preset time, so that a reaction time is given to the target barrier, the target barrier can avoid the robot, and collision is avoided.
Specifically, the robot may include a ranging module. The robot can measure the distance between the robot and the dynamic obstacle through the ranging module. The ranging module may correspond to the sensing unit 13 in the robot 10 shown in fig. 1. Meanwhile, the distance measurement module can also acquire the boundary of the obstacle. Illustratively, the ranging module may be an infrared sensor. After the infrared sensor acquires the boundary of the obstacle, the current boundary of the target obstacle can be used as a reference, and a second preset distance is expanded outwards to form a new boundary. The area enclosed by the new boundary is the target area. The second preset distance is less than or equal to the first preset distance. For example. The first predetermined distance is 0.5 m and the second predetermined distance is 0.4 m.
The pause preset time may be implemented by a timer (timer). Specifically, in the control program of the robot, a timer is set. And taking the distance between the robot and the dynamic obstacle measured by the distance measuring module as a first preset distance as a starting condition of the timer. And when the distance between the target obstacle and the robot is equal to the first preset distance, starting the timer, and starting timing by the timer. The robot control method can be realized by calling a control program of the robot through the controller. The controller may correspond to the control unit 11 in fig. 1. The robot and the target barrier can be prevented from bypassing by adopting the same path in a pause motion mode, so that the collision condition is avoided.
It should be noted that, when the robot determines that the distance between the robot and the target obstacle is equal to or less than the first preset distance, the method further includes, before the robot expands a second preset distance to form a target area with reference to the current boundary of the target obstacle, and stops moving for a preset time, the method further includes: the robot determines the target obstacle to be a dynamic obstacle.
Specifically, the robot may determine that the target obstacle is a dynamic obstacle according to the position of the target obstacle obtained at the first time and the position of the target obstacle obtained at the second time. The position of the target obstacle may be a relative position of the target obstacle with respect to one of the static reference objects, or may be an absolute position of the target obstacle in a map previously constructed by the robot. Further, the robot may acquire the position of the target obstacle at a first time and the position of the target obstacle at a second time, where the first time is different from the second time, and the difference between the first time and the second time is a predetermined time difference, for example, 10 seconds. By comparing the position of the target obstacle at the first time with the position of the target obstacle at the second time, if it is determined that the position of the target obstacle has changed between the first time and the second time, the robot may consider the target obstacle as a dynamic obstacle. Otherwise, the robot determines that the target obstacle is a static obstacle.
The specific manner of determining that the obstacle is a dynamic obstacle by the robot is not limited, and includes, but is not limited to, determining by laser or vision. For example, a picture with an obstacle may be taken by a vision sensor, and when the position of the obstacle moves or the relative position of the obstacle with respect to a fixed reference object such as a wall surface changes in the pictures of two frames at an interval, the target obstacle is determined to be a dynamic obstacle. The vision sensor may correspond to the camera unit 15 in fig. 1.
In the present application, the manner in which the robot measures the robot and the target obstacle is not limited. For example, infrared measurement, laser measurement, etc. may be employed. Illustratively, the triangulation method is a specific implementation of laser ranging. Please refer to fig. 4.
A Laser (Laser) emits a Laser beam at a certain angle β, and reflects the Laser beam along an object with a distance d in the Laser direction.
The laser light is typically received by an elongated camera (Imager), and the laser light reflected by the object is imaged by the Imager via the "pinhole image".
The focal length is f, the vertical distance of the object from the plane is q, the distance between the laser and the focal point is s, the broken line of the over-focus point parallel to the laser direction, the intersection position of the broken line and the Imager is generally known in advance (the intersection position is known after determining beta), and the position of the point imaged on the Imager after the object laser is reflected is at the distance X from the position.
As can be seen from fig. 4, the triangle formed by q, d, β and the triangle formed by X, f are similar triangles, so that:
f/X is q/s, then q is f s/X
Since sin (β) ═ q/d, d ═ q/(sin (β))
And finally obtaining: d ═ f ═ s/(X ═ sin (beta))
Since f, s, and β are known quantities in advance, the only quantity to be measured is X, and d can be calculated by measuring the length of X, i.e. the distance of the object from the laser.
It should be noted that, within a preset time of the pause, the robot may detect the distance between the robot and the dynamic obstacle in real time. When the robot pauses movement for a preset time period, the method may further include: and detecting the distance between the robot and the target obstacle in real time. And when the distance between the robot and the target obstacle is less than or equal to a third preset distance, starting an alarm. The third preset distance is smaller than the first preset distance. For example, the third predetermined distance is 0.3 meters. Therefore, when the target barrier is closer, an alarm can be triggered to remind the target barrier to avoid the robot in time.
And step 120, when the preset duration is over, judging whether the distance between the robot and the target obstacle is smaller than or equal to a first preset distance.
Since the target obstacle is determined to be a dynamic obstacle in step 110. The dynamic barrier may move at any time. When the preset time length is finished, the robot judges whether the distance between the robot and the target obstacle is smaller than or equal to a first preset distance.
And if the robot judges that the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, the robot and the target obstacle are still relatively close to each other. The robot may walk around the target obstacle.
If the robot judges that the distance between the robot and the target obstacle is larger than the first preset value, the robot can be considered to be far away from the target obstacle, and the robot does not need to take evasive action.
And when the robot judges that the distance between the robot and the target obstacle is smaller than or equal to a first preset distance, the robot walks according to a first route. By following the first route, the approach to the target obstacle can be avoided.
Specifically, the first route is a route planned by the robot for avoiding the target obstacle. For example, the first route may be a route formed along an edge of the target area. So that the robot can walk avoiding the target obstacle. If the robot is a cleaning robot, the robot walks along the edge of the target area to miss the target area, so that the target area is not cleaned.
Therefore, if the distance between the robot and the target obstacle is less than or equal to the first preset distance when the preset duration is over, the robot walks along the first route, please refer to fig. 5, and the method further includes:
The robot marks the target area as an uncleaned area. In particular, the robot may mark the target area as an unswept area in a pre-constructed map.
And step 1302, when the target obstacle is determined not to be in the target area, the robot enters the target area to clean.
When the target obstacle is determined not to be in the target area, the robot enters the non-cleaning area for cleaning. In one embodiment, the robot may return to the edge of the target area after the robot has cleaned the marked uncleaned area. When the target obstacle is determined not to be in the target area, the robot enters the target area for cleaning. This avoids missed sweeps. The part outside the target area is cleaned after a target preset time, so that the robot is not always in a pause state, and the influence on the working efficiency of the robot is small.
If the distance between the robot and the target obstacle is greater than the first preset value in step 120, the robot determines that the distance between the robot and the target obstacle is greater than the first preset value. The robot follows the second route. The second route may be a route originally planned for the robot. I.e. the travel path of the robot when the second path may be absent as a target obstacle. Therefore, when the target obstacle leaves, the robot is cleaned, and the situation that the robot avoids the target obstacle and is not cleaned can be avoided.
It should be noted that, if the preset time period is over, the distance between the robot and the target obstacle is greater than the preset distance, and the robot travels according to a second route. Referring to fig. 6, the method further includes:
and 1401, detecting the distance between the robot and the target obstacle in real time.
The robot detects the distance between the robot and a target obstacle in real time through a distance measuring module.
And 1402, when the distance between the robot and the target obstacle is determined to be equal to the first preset distance, pausing the movement for a preset time.
And when the distance between the robot and the target obstacle is determined to be equal to a first preset value, pausing for a preset time.
It should be noted that step 1402 corresponds to step 110, and when the distance between the robot and the target obstacle is again equal to the first preset value, the robot suspends the motion for a preset time, and the target area is formed again in the manner of step 110. And after the target is paused for the preset target duration, whether the distance between the robot and the target obstacle is smaller than or equal to a first preset distance is continuously judged. Referring to step 110, step 120, step 130 and step 140, which is equivalent to step 120 …, it is understood that the description is omitted here.
The present application also provides a robot, please see fig. 7. The robot 20 includes: the system comprises a distance measuring module 201, a controller 202, a walking module 203 and an alarm module 204.
The distance measuring module 201 is configured to determine that a distance between the robot and the target obstacle is equal to a first preset distance;
the controller 202 is configured to, when the distance measurement module 201 determines that the distance between the robot and the target obstacle is equal to a first preset distance, form a target area by outwardly extending a second preset distance with reference to a current boundary of the target obstacle, and control the robot to pause for a preset duration, where the second preset distance is less than or equal to the first preset distance;
the controller 202 is further configured to control the ranging module 201 to perform the following operations when the preset duration is over: measuring the distance between the robot and the target obstacle, and judging whether the distance between the robot and the target obstacle is smaller than or equal to the first preset distance;
the controller 202 is further configured to control the walking module 203 to enable the robot to walk according to a first route if the distance between the robot and the target obstacle is less than or equal to the first preset distance when the preset duration is over;
the controller 202 is further configured to control the walking module 203 to enable the robot to walk according to a second route if the distance between the robot and the target obstacle is greater than the preset distance when the preset duration is over.
The distance measurement module 201 is further configured to obtain a position of the target obstacle at a first time and a position of the target obstacle at a second time, where the first time is different from the second time;
the controller 202 is further configured to determine that the target obstacle is a dynamic obstacle according to the position of the target obstacle at the first time and the position of the target obstacle at the second time.
The distance measurement module 201 is further configured to detect a distance between the robot and a target obstacle in real time;
the alarm module 204 is configured to start an alarm when the distance measurement module 201 determines that the distance between the robot and the target obstacle is less than or equal to a third preset distance.
The robot further comprises a cleaning module 205 which,
the controller 202 is further configured to mark the target area as an uncleaned area after the robot travels along the first route;
the controller 202 is further configured to, when it is determined that the target obstacle is not located in the target area, control the walking module 203 to enable the robot to enter the target area, so that the cleaning module 205 cleans the target area.
The distance measuring module 201 is further configured to detect a distance between the robot and the target obstacle in real time;
the distance measurement module 201 is further configured to determine whether the distance between the robot and the target obstacle is smaller than or equal to the first preset value;
the controller 202 is further configured to, when the distance between the robot and the target obstacle is less than or equal to the first preset value, pause the robot for the preset time.
Fig. 8 is a block diagram of a robot 30 according to another embodiment of the present invention. As shown in fig. 8, the robot 30 may include: a robot body, an obstacle detection device, a processor 301, a memory 302, and a communication module 303.
The obstacle detection device is arranged on the robot main body and used for receiving a reflected signal reflected by an obstacle in real time. In this embodiment, the obstacle detection device is a light sensor, including but not limited to an infrared sensor.
And the robot main body is provided with a traveling mechanism. The processor 301 is built in the robot main body.
The robot main body is a main body structure of the robot, and corresponding shape structure and manufacturing material (such as hard plastic or metal such as aluminum and iron) can be selected according to actual needs of the robot 30, for example, the robot main body is arranged to be a flat cylinder shape common to sweeping robots.
The traveling mechanism is a structural device that is provided on the robot main body and provides the robot 30 with a moving capability. The running gear can be realized in particular by means of any type of moving means, such as rollers, tracks, etc.
The processor 301, the memory 302 and the communication module 303 may establish a communication connection therebetween in a manner of a bus.
The processor 301 may be of any type, having one or more control chips for processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 302 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area can store the walking route of the robot, the walking control strategy of the robot and the like. Further, the memory 302 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 302 optionally includes memory located remotely from processor 301, which may be connected to robot 30 via 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 302 stores instructions executable by at least one control chip in the processor 301; the at least one control chip is used for executing the instruction so as to realize the path planning method of the robot in any method embodiment.
The communication module 303 is a functional module for establishing a communication connection and providing a physical channel. The communication module 303 may be any type of wireless or wired communication module including, but not limited to, a WiFi module or a bluetooth module, etc.
The embodiment of the application also provides a main control chip, and the main control chip is assembled in the robot. The main control chip is used for controlling the robot to execute the path planning method of the robot provided by the application.
The application also provides a robot, the robot is provided with the main control chip provided by the embodiment of the application, and the robot can be controlled to execute the path planning method provided by the application through the main control chip.
Further, an embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control chips in the processor 301, so that the one or more control chips execute the path planning method for the robot in any method embodiment.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the path planning method of the robot provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the path planning method of the robot. For details of the robot path planning method provided in the embodiment of the present invention, reference may be made to the technical details not described in detail in the embodiment.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A method for avoiding obstacles by a robot is characterized by comprising the following steps:
when the distance between the robot and a target obstacle is determined to be equal to a first preset distance, outwards expanding a second preset distance by taking the current boundary of the target obstacle as a reference to form a target area, and pausing to move for a preset time length, wherein the second preset distance is smaller than or equal to the first preset distance;
when the preset duration is over, judging whether the distance between the robot and the target obstacle is smaller than or equal to the first preset distance or not;
if the preset time length is over, the distance between the robot and the target obstacle is smaller than or equal to the first preset distance, and the robot walks according to a first route;
if the preset time length is over, the distance between the robot and the target obstacle is larger than the first preset distance, the robot walks according to a second route, and the first route is different from the second route.
2. The method of claim 1, wherein when it is determined that the distance between the robot and the target obstacle is equal to the first preset distance, before the robot expands a second preset distance outwards to form a target area with reference to a current boundary of the target obstacle and suspends the movement for a preset time, the method further comprises:
acquiring the position of the target obstacle at a first moment and the position of the target obstacle at a second moment, wherein the first moment is different from the second moment;
and determining the target obstacle to be a dynamic obstacle according to the position of the target obstacle at the first moment and the position of the target obstacle at the second moment.
3. The method of claim 1 or 2, wherein the pause motion is for a preset duration, the method further comprising:
detecting the distance between the robot and the target obstacle in real time;
and when the distance between the robot and the target obstacle is smaller than or equal to a third preset distance, starting an alarm, wherein the third preset distance is smaller than the first preset distance.
4. The method according to claim 1 or 2, wherein if the distance between the robot and the target obstacle is less than or equal to the first preset distance at the end of the preset time period, the robot walks according to a first route, and the method further comprises:
the robot marks the target area as an uncleaned area;
and when the target obstacle is determined not to be in the target area, the robot enters the target area to clean.
5. The method of claim 1 or 2, wherein if the distance between the robot and the target obstacle is greater than the preset distance at the end of the preset duration, the robot follows a second route, the method further comprising:
detecting the distance between the robot and the target obstacle in real time;
and when the distance between the robot and the target obstacle is determined to be equal to the first preset distance, the robot is paused for the preset time length.
6. A robot, characterized in that the robot comprises: a distance measuring module, a controller and a walking module,
the distance measurement module is used for determining that the distance between the robot and the target obstacle is equal to a first preset distance;
the controller is configured to, when the distance measurement module determines that the distance between the robot and the target obstacle is equal to a first preset distance, form a target area by extending a second preset distance outwards with reference to a current boundary of the target obstacle, and control the robot to pause for a preset duration, where the second preset distance is less than or equal to the first preset distance;
the controller is further configured to control the ranging module to perform the following operations when the preset duration is over: measuring the distance between the robot and the target obstacle, and judging whether the distance between the robot and the target obstacle is smaller than or equal to the first preset distance;
the controller is further configured to control the walking module to enable the robot to walk according to a first route if the distance between the robot and the target obstacle is smaller than or equal to the first preset distance when the preset duration is over;
the controller is further configured to control the walking module to enable the robot to walk according to a second route, wherein the first route is different from the second route, if the distance between the robot and the target obstacle is greater than the first preset distance when the preset duration is over.
7. A robot as claimed in claim 6,
the distance measurement module is further configured to obtain a position of the target obstacle at a first time and a position of the target obstacle at a second time, where the first time is different from the second time;
the controller is further configured to determine that the target obstacle is a dynamic obstacle according to the position of the target obstacle at the first time and the position of the target obstacle at the second time.
8. A robot according to claim 6 or 7, characterized in that the robot further comprises an alarm module,
the distance measurement module is also used for detecting the distance between the robot and a target obstacle in real time;
the alarm module is used for starting alarm when the distance measuring module determines that the distance between the robot and the target obstacle is smaller than or equal to a third preset distance, and the third preset distance is smaller than the first preset distance.
9. A robot according to claim 6 or 7, characterized in that the robot further comprises a cleaning module,
the controller is further configured to mark the target area as an uncleaned area if the robot travels along a first route;
the controller is further configured to control the walking module to enable the cleaning module in the robot to clean the target area when it is determined that the target obstacle is not located in the target area.
10. A robot as claimed in claim 6 or 7,
the distance measurement module is also used for detecting the distance between the robot and the target obstacle in real time;
the distance measuring module is further used for judging whether the distance between the robot and the target obstacle is equal to the first preset value or not;
the controller is further configured to enable the robot to pause the movement for the preset duration when the distance between the robot and the target obstacle is equal to the first preset distance.
11. A computer storage medium comprising a processor and a memory, the processor and the memory being communicatively coupled, the memory storing a plurality of instructions, and the processor implementing the method of avoiding obstacles by a robot as claimed in any one of claims 1 to 5 by executing the plurality of instructions.
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