CN105867386A - Robot navigation system and method - Google Patents
Robot navigation system and method Download PDFInfo
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- CN105867386A CN105867386A CN201610367639.2A CN201610367639A CN105867386A CN 105867386 A CN105867386 A CN 105867386A CN 201610367639 A CN201610367639 A CN 201610367639A CN 105867386 A CN105867386 A CN 105867386A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims description 39
- 239000003550 marker Substances 0.000 claims description 11
- 238000002372 labelling Methods 0.000 claims description 10
- 238000013507 mapping Methods 0.000 abstract 1
- 239000011521 glass Substances 0.000 description 6
- 230000003542 behavioural effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
The invention discloses a robot navigation system which comprises a sensor module, a judgment module and a strategy control module. The sensor module is used for emitting distance information, receiving returned distance information, performing calculation according to the returned distance information, performing mapping and outputting position information of a robot. The judgment module is used for judging whether the robot is located in a safety region or not according to the position information of the robot. The strategy control module is used for controlling the robot to adopt a first operating strategy for movements when determining that the robot is located in the safety region, or controlling the robot to adopt a second operating strategy for movements when determining that the robot is located in a non-safety region. The invention further discloses a robot navigation method. The robot navigation system and the robot navigation method give consideration to the operating efficiency of the robot and the reliability for responding to a complex environment and improve the movement efficiency and safety of the robot.
Description
Technical field
The present invention relates to robotics, more particularly, it relates to a kind of Algorithms of Robots Navigation System and
Method.
Background technology
Smart Home robot is a collection environment sensing, dynamic decision and planning, Behavior-Based control and execution
Etc. multi-functional in the integrated system of one, it it is one of most active field of current scientific technological advance.Machine
Can people can be potentially encountered the fixing goods of furniture for display rather than for uses such as stair, wall, tables and chairs, sofa in movement, effectively, quickly
Detect these regions and take appropriate measures, can determine robot ensure in complex environment
The safety of self and mobile efficiency.The most all there is a difficult point in existing robotics, we
Wish that robot can move at faster speed, complete specifying of task more rapidly.But translational speed
The fastest, the most just require that the response speed of sensor is the fastest, discovery barrier the most early or stair etc.
Deathtrap, ensures the mobile security of robot, but the response speed of sensor has its upper limit eventually,
Thus cause the translational speed of robot can not get both with safety.
Therefore, it is badly in need of providing a kind of follow-on Algorithms of Robots Navigation System and method to overcome drawbacks described above.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of Algorithms of Robots Navigation System, it can hold concurrently simultaneously
Turn round and look at translational speed and the mobile security of robot, improve the mobile efficiency of robot.
Another object of the present invention is to provide a kind of robot navigation method, it can take into account machine simultaneously
The translational speed of people and mobile security, improve the mobile efficiency of robot.
In order to achieve the above object, the following technical scheme of an embodiment of the present invention offer:
A kind of Algorithms of Robots Navigation System, including:
Sensor assembly, for transmitting range information, receives the range information returned, and returns according to described
The range information returned calculates, and carries out map structuring and the positional information of output device people；
According to the positional information of described robot, judge module, for judging whether robot is in peace
Region-wide；And
Strategic control module, for when knowing that described robot is in safety zone, controls described machine
People uses the first operation reserve to move, or when knowing that described robot is in insecure area, control
Making described robot uses the second operation reserve to move；
Wherein, described robot runs more than described second in the translational speed of described first operation reserve
The translational speed of strategy.
Preferably, described judge module is for judging according to the range information of described robot with barrier
Whether robot is in safety zone.
Preferably, described sensor assembly is additionally operable to the range information calculating described return and described transmitting
The differential seat angle of range information, described judge module is additionally operable to judge described robot according to described differential seat angle
Whether it is in safety zone.
Preferably, described Algorithms of Robots Navigation System also includes zone marker module, at the map built
On carry out safety zone and insecure area labelling according to the judged result of described judge module.
Preferably, described sensor assembly is additionally operable to obtain pose when described robot is in safety zone,
Described judge module is additionally operable to the pose according to described robot and judges whether barrier zone, described
Zone marker module is additionally operable to described barrier zone is labeled as insecure area.
In order to achieve the above object, an embodiment of the present invention also provides for following technical scheme:
A kind of robot navigation method, comprises the following steps:
Obtain the ambient condition information of robot, carry out map structuring the most really according to described ambient condition information
The positional information of fixed described robot；
Positional information according to described robot judges whether robot is in safety zone；
When described robot is in safety zone, then controls described robot and use the first operation reserve to carry out
Mobile；And
When described robot is in insecure area, then controls described robot and use the second operation reserve to enter
Row is mobile；
Wherein, described robot runs more than described second in the translational speed of described first operation reserve
The translational speed of strategy.
Preferably, the described positional information according to described robot judges whether robot is in safety
The step in region includes:
Range information according to described robot Yu barrier judges whether robot is in place of safety
Territory.
Preferably, the ambient condition information of described acquisition robot includes: transmitting range information, and reception is returned
The range information returned, and carry out calculating the surrounding's ring obtaining robot according to the range information of described return
Environment information；
The described positional information according to described robot judges whether robot is in the step of safety zone
Suddenly include: calculate the differential seat angle of the range information of described return and the range information of described transmitting, according to institute
State differential seat angle to judge whether described robot is in safety zone.
Preferably, the described positional information according to described robot judges whether robot is in safety
Also include after the step in region:
On the map built, safety zone and insecure area labelling is carried out according to judged result.
Preferably, when described robot is in safety zone, then controls described robot and use the first operation
The step that strategy moves also includes:
Obtain pose when described robot is in safety zone, judge according to the pose of described robot
Whether there is barrier zone, and when there is barrier zone, described barrier zone is labeled as insecure area.
The Algorithms of Robots Navigation System of application present invention offer and method, gone forward side by side by real time scan surrounding
The most newly-increased zone marker of row, so that robot is targeted in complicated surrounding
Ground carries out behavioral pattern switching, it is possible to take into account translational speed and the mobile security of robot simultaneously.
From the foregoing, it will be observed that use Algorithms of Robots Navigation System and the method for the application offer, take into account the fortune of robot
Line efficiency and the reliability of reply complex environment, improve mobile efficiency and the safety of robot.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The functional block diagram of the Algorithms of Robots Navigation System that Fig. 1 provides for one embodiment of the invention；
The functional block diagram of the Algorithms of Robots Navigation System that Fig. 2 provides for another embodiment of the present invention；
The flow chart of the robot navigation method that Fig. 3 provides for one embodiment of the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.
The module map of the Algorithms of Robots Navigation System that Fig. 1 provides for an embodiment of the present invention.This embodiment party
In formula, Algorithms of Robots Navigation System 10 is arranged in robot 100, and Algorithms of Robots Navigation System 10 can be real
Now ambient condition information is carried out comprehensive seizure, set up surrounding map and identify self position with
In conjunction with self pose and existing environmental map, attitude, judges that robot 100 is in safety zone or danger
Region, then takes different traveling strategies.Specifically, Algorithms of Robots Navigation System 10 includes sensor die
Block 1, judge module 2 and strategic control module 3.Sensor assembly 1, for transmitting range information, receives
The range information returned, and calculate according to the range information returned, and carry out map structuring and output
The positional information of robot 100, specifically, sensor assembly 1 can be realized by SLAM algorithm
Location and map structuring.Judge module 2 is for judging robot according to the positional information of robot 100
Whether 100 be in safety zone.Strategic control module 3 is for knowing that robot 100 is in place of safety
During territory, control robot 100 and use the first operation reserve to move, or knowing at robot 100
When insecure area, control robot 100 and use the second operation reserve to move.Wherein, machine
People 100 is more than the translational speed at the second operation reserve in the translational speed of the first operation reserve.
Please refer to Fig. 2, in an embodiment of the present invention, Algorithms of Robots Navigation System 10 also includes district
Field mark module 4, zone marker module 4 is used for the judgement knot on the map built according to judge module 2
Fruit carries out safety zone and insecure area labelling, so that robot 100 is after being familiar with environment, and can
Directly to carry out selecting the first operation reserve or the second operation reserve to move according to strategic control module 3
Dynamic, without being judged by judge module 2 again, the operation of robot 100 so can be improved
Efficiency.
In the present inventor one embodiment, when sensor assembly 1 can be realized by SLAM algorithm
Location and map structuring, now can know the more specific location information of barrier, it is judged that module 2 is according to machine
With the range information of barrier, device people 100 judges whether current robot 100 is in safety zone,
Specifically, when the range information of robot 100 and barrier is more than predeterminable range value, it is judged that module 2 is sentenced
Disconnected robot 100 is in safety zone, and otherwise robot 100 is in insecure area, robot 100
The range information of the one side of line direction and barrier before robot is preferably referred to the range information of barrier.
So that sensor assembly 1 can detect various obstacle information, sensor assembly 1 can include swashing
Optical radar sensor, ultrasonic sensor.Wherein, laser radar sensor can be used to detect nontransparent
Barrier, the such as wall of non-glass character barrier, furniture etc.；Ultrasonic sensor can be used to
The barrier of detection glass property, such as glass door, French window etc..
In an embodiment of the present invention, it is judged that module 2 be additionally operable to calculate sensor assembly 1 return away from
From the differential seat angle of information Yu the range information of transmitting, judge robot 100 further according to the differential seat angle calculated
Whether it is in safety zone, when judge module 2 judges that angle difference is less than preset angle angle value, then sentences
Disconnected robot 100 is in safety zone, otherwise judges that robot 100 is in insecure area.Robot
Navigation system 10 is by this kind of design, it can be determined that region or stair that the gradient is steeper are insecure area.
It should be noted that when actually used, it is possible that the barrier of movement, so that district
The insecure area of field mark module 4 labelling changes with safety zone, can arrange judge module 2
Carry out periodically judging, so that zone marker module 4 update area labelling again within a period of time.
Simultaneously when robot 100 moves in safety zone, sensor assembly 1 is additionally operable to obtain robot 100
It is in pose during safety zone, it is judged that module 2 judges place of safety always according to the pose of robot 100
Whether territory exists barrier zone, and zone marker module 4 is additionally operable to, when finding barrier zone, will be found
Barrier zone be labeled as insecure area.
The flow chart of the Fig. 3 robot navigation method for providing in an embodiment of the present invention.This method can
So that being used in the module map in Fig. 1 or Fig. 2.Robot navigation method comprises the following steps: in step
In rapid S301, sensor assembly 1 obtains the ambient condition information of robot 100, and according to surrounding
Information carries out map structuring and determines the positional information of robot 100；In step S303, it is judged that module
According to the positional information of robot 100,2 judge whether robot is in safety zone；In step S305
In, strategic control module 3, for when knowing that robot 100 is in safety zone, controls robot 100
The first operation reserve is used to move；In step S307, strategic control module 3 is for knowing machine
When device people 100 is in insecure area, controls robot 100 and use the second operation reserve to move.
Wherein, robot 100 is more than the mobile speed at the second operation reserve in the translational speed of the first operation reserve
Degree.
In step S301, sensor assembly 1 can realize location and map structure by SLAM algorithm
Build, now can know the more specific location information of barrier；In step S303, it is judged that module 2 basis
With the range information of barrier, robot 100 judges whether current robot 100 is in safety zone.
Specifically, when the range information of robot 100 with barrier is more than predeterminable range value, it is judged that module 2
Judge that robot 100 is in safety zone, otherwise judge that robot 100 is in insecure area, machine
The range information of people 100 and barrier preferably refers to the distance of the one side of line direction and barrier before robot
Information.So that sensor assembly 1 can detect various obstacle information, sensor assembly 1 is permissible
Including laser radar sensor, ultrasonic sensor.Wherein, laser radar sensor can be used to detect
Nontransparent barrier, the such as wall of non-glass character barrier, furniture etc.；Ultrasonic sensor can
To be used for detecting the barrier of glass property, such as glass door, French window etc..
In step S303, it is judged that module 2 be additionally operable to calculate sensor assembly 1 return range information with
Further according to the differential seat angle calculated, the differential seat angle of the range information launched, judges whether robot 100 is place
In safety zone, when judge module 2 judges that angle difference is less than preset angle angle value, then judge robot
100 are in safety zone, otherwise judge that robot 100 is in insecure area.Algorithms of Robots Navigation System
10 by this kind of design, it can be determined that region or stair that the gradient is steeper are insecure area.
As to further improvement of the present invention, after step S303, also include step S304.In step
In S304, zone marker module 4 is for entering according to the judged result of judge module 2 on the map built
Row safety zone and insecure area labelling.When robot 100 is after being familiar with environment, step can be skipped
S301 and S303, directly completes mobile, i.e. strategic control module according to step S305 or step S307
3 carry out selecting the first operation reserve or the second operation reserve to move, and so can improve robot
The operational efficiency of 100.
It should be noted that when actually used, it is possible that the barrier of movement, so that district
The insecure area of field mark module 4 labelling changes with safety zone, can arrange judge module 2
Carry out periodically judging, so that zone marker module 4 update area labelling again within a period of time.
Simultaneously when robot 100 moves in safety zone, sensor assembly 1 is additionally operable to obtain robot 100
It is in pose during safety zone, it is judged that module 2 judges place of safety always according to the pose of robot 100
Whether territory exists barrier zone, and zone marker module 4 is additionally operable to, when finding barrier zone, will be found
Barrier zone be labeled as insecure area.
The Algorithms of Robots Navigation System of above-described embodiment offer and method, gone forward side by side by real time scan surrounding
The most newly-increased zone marker of row, so that robot is targeted in complicated surrounding
Ground carries out behavioral pattern switching, it is possible to take into account translational speed and the mobile security of robot simultaneously.
In this specification, each embodiment uses the mode gone forward one by one to describe, and each embodiment stresses
Being the difference with other embodiments, between each embodiment, identical similar portion sees mutually.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses
The present invention.Multiple amendment to these embodiments will be aobvious and easy for those skilled in the art
See, generic principles defined herein can without departing from the spirit or scope of the present invention,
Realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein,
And it is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (10)
1. an Algorithms of Robots Navigation System, it is characterised in that including:
Sensor assembly, for transmitting range information, receives the range information returned, and returns according to described
The range information returned calculates, and carries out map structuring and the positional information of output device people；
According to the positional information of described robot, judge module, for judging whether robot is in peace
Region-wide；And
Strategic control module, for when knowing that described robot is in safety zone, controls described machine
People uses the first operation reserve to move, or when knowing that described robot is in insecure area, control
Making described robot uses the second operation reserve to move；
Wherein, described robot runs more than described second in the translational speed of described first operation reserve
The translational speed of strategy.
Algorithms of Robots Navigation System the most according to claim 1, it is characterised in that described judge module
For judging whether robot is in place of safety according to the range information of described robot Yu barrier
Territory.
Algorithms of Robots Navigation System the most according to claim 1, it is characterised in that described sensor die
Block is additionally operable to calculate the differential seat angle of the range information of described return and the range information of described transmitting, described in sentence
Disconnected module is additionally operable to judge whether described robot is in safety zone according to described differential seat angle.
Algorithms of Robots Navigation System the most according to claim 1, it is characterised in that also include that region is marked
Note module, for build map on according to the judged result of described judge module carry out safety zone with
Insecure area labelling.
Algorithms of Robots Navigation System the most according to claim 4, it is characterised in that described sensor die
Block is additionally operable to obtain pose when described robot is in safety zone, and described judge module is additionally operable to basis
The pose of described robot judges whether that barrier zone, described zone marker module are additionally operable to institute
State barrier zone and be labeled as insecure area.
6. a robot navigation method, it is characterised in that comprise the following steps:
Obtain the ambient condition information of robot, carry out map structuring the most really according to described ambient condition information
The positional information of fixed described robot；
Positional information according to described robot judges whether robot is in safety zone；
When described robot is in safety zone, then controls described robot and use the first operation reserve to carry out
Mobile；And
When described robot is in insecure area, then controls described robot and use the second operation reserve to enter
Row is mobile；
Wherein, described robot runs more than described second in the translational speed of described first operation reserve
The translational speed of strategy.
Robot navigation method the most according to claim 6, it is characterised in that described in described basis
The positional information of robot judges whether robot is in the step of safety zone and includes:
Range information according to described robot Yu barrier judges whether robot is in place of safety
Territory.
Robot navigation method the most according to claim 6, it is characterised in that described acquisition machine
The ambient condition information of people includes: transmitting range information, receives the range information returned, and according to described
The range information returned carries out calculating the ambient condition information obtaining robot；
The described positional information according to described robot judges whether robot is in the step of safety zone
Suddenly include: calculate the differential seat angle of the range information of described return and the range information of described transmitting, according to institute
State differential seat angle to judge whether described robot is in safety zone.
Robot navigation method the most according to claim 6, it is characterised in that described in described basis
The positional information of robot also includes after judging the step whether robot is in safety zone:
On the map built, safety zone and insecure area labelling is carried out according to judged result.
Robot navigation method the most according to claim 9, it is characterised in that described robot
When being in safety zone, then control the step that described robot uses the first operation reserve to move and also wrap
Include:
Obtain pose when described robot is in safety zone, judge according to the pose of described robot
Whether there is barrier zone, and when there is barrier zone, described barrier zone is labeled as insecure area.
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| CN201610367639.2A CN105867386A (en) | 2016-05-30 | 2016-05-30 | Robot navigation system and method |
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| CN106338996A (en) * | 2016-10-20 | 2017-01-18 | 上海物景智能科技有限公司 | Safe control method and system for mobile robot |
| CN106708053A (en) * | 2017-01-26 | 2017-05-24 | 湖南人工智能科技有限公司 | Autonomous navigation robot and autonomous navigation method thereof |
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| CN108089203A (en) * | 2018-02-05 | 2018-05-29 | 弗徕威智能机器人科技（上海）有限公司 | A kind of special obstacle object detecting method |
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| WO2023283922A1 (en) * | 2021-07-16 | 2023-01-19 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling movable object to track target |
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