CN106843239A - Motion planning and robot control method based on map prediction - Google Patents
Motion planning and robot control method based on map prediction Download PDFInfo
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- CN106843239A CN106843239A CN201710234042.5A CN201710234042A CN106843239A CN 106843239 A CN106843239 A CN 106843239A CN 201710234042 A CN201710234042 A CN 201710234042A CN 106843239 A CN106843239 A CN 106843239A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000001514 detection method Methods 0.000 claims description 28
- 230000004888 barrier function Effects 0.000 claims description 24
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 230000004807 localization Effects 0.000 claims description 2
- 238000007726 management method Methods 0.000 claims description 2
- 238000003786 synthesis reaction Methods 0.000 claims description 2
- 230000002045 lasting effect Effects 0.000 claims 1
- 239000003086 colorant Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000010408 sweeping 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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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of motion planning and robot control method based on map prediction, and mainly in conjunction with external sensor and robot interior cartographic information, that makes metope estimates calculating, allows robot to be walked according to the metope estimated.The motion planning and robot control method based on map prediction that the present invention is provided, its advantage is：Based on the mode of map prediction, a variety of metopes, including different colors are adapted to, different shapes reduces the time of operation；Map prediction accuracy can also be constantly corrected in the process of running, realize excellent follow-wall.
Description
Technical field
The invention belongs to field of artificial intelligence, more particularly to the auxiliary robot such as family expenses life correlation technique.
Background technology
Pursuit with technology development and people to comfortable life, autonomous actions robot is more and more to enter into people's life
In the middle of living, robot, sweeping robot are such as accompanied.The row for doing is needed along the robot that wall (along side) behavior is many types
For by along wall, it is possible to achieve the covering in corner or getting rid of poverty for labyrinth.The wall or metope along in wall should not be simple
Be interpreted as the metope of building, it should the border for also being limited after because being furnished etc. furniture, be more construed as robot and lead to
A border of movable scope in the case of often.
Relatively more modes are, by range sensor or infrared sensor, to obtain and believe with the distance of metope at present
Cease realize metope along wall.Range sensor can accurately know the distance of metope, be a good selection, but into
This is higher, and error detection is there is also for rough metope, so relatively more robots use infrared sensor.It is infrared
The factor such as the color easy by metope of sensor, uneven is influenceed, and infrared sensor is depended on merely, can not be obtained
Extraordinary effect.
The content of the invention
It is contemplated that with reference to external sensor and robot interior cartographic information, that makes metope estimates calculating, machine is allowed
Device people is walked according to the metope estimated.The purpose of the present invention is realized by following technical scheme：
A kind of motion planning and robot control method based on map prediction, the robot that the method is based on includes body, left and right
Road wheel, main control module, front end crash detection sensor, left side detection of obstacles sensor and right side detection of obstacles sensing
Device, the main control module has management map function and robot localization function；Characterized in that, the control method includes：
(1) control robot, when robot collides the first touch points of barrier, is sentenced towards the metope walking on map
Whether the distance of the metope on disconnected barrier and map is less than setpoint distance A, and it is base with the Obstacle Position currently encountered to be
On schedule determine one with map on metope equal angular straight line L1, and by straight line L1 be set as prediction metope, control machine
Device people is performed along side according to prediction metope；Otherwise enter step (2)；
(2) detection of the control robot to the second touch points of the first touch points described in barrier execution interval, if deposited
In the second touch points, then straight line L2 is determined according to two touch points, and straight line L2 is set as to predict metope, control machine
Device people is performed along side according to prediction metope；Otherwise return to step (1)；
Wherein, during control robot is performed along side according to prediction metope, every setting time T by robot position
Detection of obstacles sensor in prediction metope side detects that the barrier of the side whether there is, when continuing not detect obstacle
During thing signal, control robot to prediction metope in sidle curved line, and return to step (1).
As specific technical scheme, the length at intervals of body fuselage.
Used as specific technical scheme, the step (2) is substituted by step (2a), step (2a)：Control robot is to barrier
Hinder the distance detection at least twice of thing execution interval, if the detection of distance at least twice at interval detects obstacle object point,
The two obstacle object points obtained according to distance detection twice determine straight line L2, and straight line L2 is set as to predict metope,
Control robot is performed along side according to prediction metope；Otherwise return to step (1).
Used as specific technical scheme, the step (2) is substituted by step (2b), step (2b)：Control robot is to barrier
Hinder the detection of at least two touch points of thing execution interval, if there is the second touch points, then according to the synthesis of all touch points
Move towards to determine straight line L2, and straight line L2 is set as to predict metope, control robot is performed along side according to prediction metope；
Otherwise return to step (1).
As specific technical scheme, the detection of second touch points, specific method is：Control robot is from described the
One touching point backing setpoint distance B, control robot turns set angle Q, and control robot sidles curved line, seeks to barrier
Look for the second touch points.
Used as specific technical scheme, the setpoint distance B is a quarter of body fuselage, and set angle Q is 90 degree,
It is described to control the robot to be to the specific method that barrier sidles curved line：Control robot is located at the action in barrier distally
The road wheel of the relative nearside of wheel is walked with four times of speed.
Used as specific technical scheme, the initial length of the straight line L2 is ten times of body fuselage.
It is described to take robot every setting time T and walk 2 times of times of distance of fuselage length as specific technical scheme.
Used as specific technical scheme, described to continue not detect obstacle signal refer to that two setting time T do not have
Detect obstacle signal.
Used as specific technical scheme, the control robot is to the specific method that curved line is sidled in prediction metope
For：The road wheel that control robot is located at prediction metope distally is walked with respect to the road wheel of nearside with four times of speed.
The motion planning and robot control method based on map prediction that the present invention is provided, its advantage is：Based on map
The mode of prediction, is adapted to a variety of metopes, including different colors, and different shapes reduces the time of operation；Also
Map prediction accuracy can be constantly corrected in the process of running, realize excellent follow-wall.
Brief description of the drawings
Fig. 1 is the robot that the motion planning and robot control method based on map prediction provided in an embodiment of the present invention is based on
Composition schematic diagram.
Fig. 2 be it is provided in an embodiment of the present invention based on map prediction motion planning and robot control method in for internal map
There is the prediction metope method with reference to metope.
Fig. 3 is for without internally in the motion planning and robot control method based on map prediction provided in an embodiment of the present invention
The prediction metope method of figure.
Fig. 4 be it is provided in an embodiment of the present invention based on map prediction motion planning and robot control method in it is pre- for corner
Survey metope method.
Fig. 5 be it is provided in an embodiment of the present invention based on map prediction motion planning and robot control method under map prediction and it is general
The schematic diagram of messenger follower method contrast.
Specific embodiment
Specific embodiment of the invention is described further below in conjunction with the accompanying drawings：
As shown in figure 1, the present embodiment provides a kind of motion planning and robot control method based on map prediction, the method institute base
In robot in the space with metope 6 activity.Robot includes body 1, road wheel 2 and 3, main control module 4, collision inspection
Survey sensor 5, detection of obstacles sensor 7 and 8.Collision detection sensor 5 is arranged at the front end of body 1, is collided for detecting, can
Being the non-touch detection units such as collision detection unit or ultrasonic wave, the laser of physics.The He of detection of obstacles sensor 7
8 are respectively arranged at the both sides of body 1, the barrier for detecting body both sides, can be based on ultrasonic wave or laser etc. away from
The sensor such as from sensor or infrared.Main control module 4 is used to process various information, including the information that each sensor is gathered
And the information that map is set up, preserves, using, while the action of control action wheel 2 and 3.
The motion planning and robot control method based on map prediction that the present embodiment is provided, its main points is the prediction to metope,
There are following several situations：
(1) robot interior has had complete map, and where robot oneself knows metope, then robot is with reference to ground
Metope on figure is walked towards metope, as shown in Fig. 2 have a metope 13 inside map, but due to error, machine
Also there is some distances in the actual position of people and metope, now, machine is struck a barrier 12, if the barrier encountered
A certain distance is less than with the metope error on map, 20cm is typically taken, it is possible to prediction metope 14 is obtained, this metope is root
According to the straight line put on the basis of the Obstacle Position currently encountered, the direction of straight line is the direction of original map metope, for example
The metope for originally being marked on map is 0 degree, then the angle of the prediction metope for obtaining is also 0 degree.
(2) robot interior map is imperfect, but previously detected barrier, while need to do being processed along wall.This
When, robot needs multiple distance detection or collision detection, obtains the trend of metope.The number of times of collision, depending on machine
Sensor is set, if the crash sensor of machine can more accurately obtain the distance of barrier, only needs to two points
Can just draw a straight line, touch points are typically chosen for the length of machine fuselage.As shown in figure 3, first there is touching in robot
Point 22, machine first backs up a little further distance, such as fuselage of a quarter according to route 25, then turns an angle, typically takes 90
Degree, right latter two wheel variable speed is goed ahead, and typically takes four times that foreign steamer is lubrication groove, and machine continues to collide touch points 23.It is logical
Cross the two touch points, it is possible to draw a straight line, the length initial length of this straight line is ten times of fuselage, length with
Walking about for machine and extend, this straight line is exactly to predict metope 24.Robot is walked according to this virtual metope trend,
Every a period of time by side sensor confirmation metope presence, interlude typically take robot walk fuselage length 2 again away from
From time, and prediction metope is constantly corrected by this information.
In above two mode, when machine has been walked a predetermined distance according to the route of prediction, centre does not have always
Have when detecting signal, it is necessary to predict new route again, as shown in Figure 4.Robot walks along the route 32 for predicting, machine
When device people goes to the position in figure, continue not detect signal, robot variable speed walks curved line 34, typically takes outer wheel
Speed is four times of interior wheel speed, and new route 35 is predicted again.
Used as an example, (wherein 51 is the metope on map to such as Fig. 5, and 52 are walked for prior art robot based on signal
Route, 53 be this method be based on map prediction walk routes), metope is not substantially flat, and there are several pillars centre, similar to
General corridor design.If carrying out the control of robot fully according to the signal of side sensor, then robot goes to
During pillar, an of short duration dropout is had, distance becomes big, driven machine people turns toward pillar the inside, the route now walked will one
Turn round, pillar may be run into.And robot of the invention predicts it is dotted portion by map, it is one very straight
Line, robot is walked according to the route of prediction, when having served as pillar, is walked also according to route, by pillar, side
Sensor returns signal, represents that metope remains unchanged effectively, then robot continues to be walked according to projected route, the route one of robot
It is directly straight.
The motion planning and robot control method based on map prediction that the present embodiment is provided, its advantage is：Based on ground
Scheme the mode of prediction, be adapted to a variety of metopes, including different colors, different shapes reduces the time of operation.
Above example is only that fully disclosure is not intended to limit the present invention, all based on creation purport of the invention, without creation
Property work equivalence techniques feature replacement, should be considered as the application exposure scope.
Claims (10)
1. it is a kind of based on map prediction motion planning and robot control method, the robot that the method is based on include body, left and right rows
Driving wheel, main control module, front end crash detection sensor, left side detection of obstacles sensor and right side detection of obstacles sensor,
The main control module has management map function and robot localization function；Characterized in that, the control method includes：
(1) control robot, when robot collides the first touch points of barrier, judges barrier towards the metope walking on map
Hinder whether the distance of the metope on thing and map is less than setpoint distance A, be, the point on the basis of the Obstacle Position currently encountered
Determine one with map on metope equal angular straight line L1, and by straight line L1 be set as predict metope, control robot
Performed along side according to prediction metope；Otherwise enter step (2)；
(2) detection of the control robot to the second touch points of the first touch points described in barrier execution interval, if there is the
Two touch points, then determine straight line L2 according to two touch points, and straight line L2 is set as to predict metope, controls robot
Performed along side according to prediction metope；Otherwise return to step (1)；
Wherein, during control robot is performed along side according to prediction metope, it is located at by robot every setting time T pre-
The detection of obstacles sensor for surveying metope side detects that the barrier of the side whether there is, when continuing not detect barrier letter
Number when, control robot to prediction metope in sidle curved line, and return to step (1).
2. it is according to claim 1 based on map prediction motion planning and robot control method, it is characterised in that the interval
It is the length of body fuselage.
3. it is according to claim 1 based on map prediction motion planning and robot control method, it is characterised in that the step
(2) substituted by step (2a), step (2a)：At least twice distance detection of the control robot to barrier execution interval, if
The detection of distance at least twice at interval detects obstacle object point, then true according to the two obstacle object points for being obtained apart from detection twice
Determine straight line L2, and straight line L2 is set as to predict metope, control robot is performed along side according to prediction metope；Otherwise return
Return step (1).
4. it is according to claim 1 based on map prediction motion planning and robot control method, it is characterised in that the step
(2) substituted by step (2b), step (2b)：Detection of the control robot at least two touch points of barrier execution interval,
If there is the second touch points, then the synthesis according to all touch points is moved towards to determine straight line L2, and straight line L2 is set
It is prediction metope, control robot is performed along side according to prediction metope；Otherwise return to step (1).
5. it is according to claim 1 based on map prediction motion planning and robot control method, it is characterised in that described second
The detection of touch points, specific method is：Control robot turns from the described first touching point backing setpoint distance B, control robot
Set angle Q, control robot sidles curved line to barrier, finds the second touch points.
6. it is according to claim 5 based on map prediction motion planning and robot control method, it is characterised in that the setting
It is a quarter of body fuselage apart from B, set angle Q is 90 degree, the control robot sidles curved line to barrier
Specific method be：Control robot is located at the road wheel of the road wheel with respect to nearside in barrier distally with four times of speed row
Walk.
7. it is according to claim 1 based on map prediction motion planning and robot control method, it is characterised in that the straight line
The initial length of L2 is ten times of body fuselage.
8. it is according to claim 1 based on map prediction motion planning and robot control method, it is characterised in that it is described every
Setting time T takes robot and walks 2 times of times of distance of fuselage length.
9. it is according to claim 8 based on map prediction motion planning and robot control method, it is characterised in that it is described lasting
It refers to that two setting time T do not detect obstacle signal not detect obstacle signal.
10. it is according to claim 1 based on map prediction motion planning and robot control method, it is characterised in that the control
Robot processed is to sidling the specific method of curved line in prediction metope：Control robot is located at the action in prediction metope distally
The road wheel of the relative nearside of wheel is walked with four times of speed.
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| WO2018187944A1 (en) * | 2017-04-11 | 2018-10-18 | 珠海市一微半导体有限公司 | Method for controlling motion of robot based on map prediction |
| CN108693880A (en) * | 2018-05-15 | 2018-10-23 | 北京石头世纪科技有限公司 | Intelligent mobile equipment and its control method, storage medium |
| WO2018233401A1 (en) * | 2017-06-20 | 2018-12-27 | 南京阿凡达机器人科技有限公司 | Optoelectronic mouse sensor module-based method and system for creating indoor map |
| CN109544658A (en) * | 2017-09-21 | 2019-03-29 | 腾讯科技（深圳）有限公司 | The rendering method and device of map, storage medium, electronic device |
| WO2020042426A1 (en) * | 2018-08-27 | 2020-03-05 | 珠海市一微半导体有限公司 | Method for detecting straight side by robot, and method for screening reference wall side by cleaning robot |
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| WO2023209350A1 (en) * | 2022-04-27 | 2023-11-02 | Dyson Technology Limited | Method for edge cleaning |
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| CN112230635A (en) * | 2019-06-27 | 2021-01-15 | 深圳拓邦股份有限公司 | Random mower irregular area covering method and random mower |
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