CN108227706A - The method and device of dynamic disorder is hidden by robot - Google Patents
The method and device of dynamic disorder is hidden by robot Download PDFInfo
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- CN108227706A CN108227706A CN201711384820.5A CN201711384820A CN108227706A CN 108227706 A CN108227706 A CN 108227706A CN 201711384820 A CN201711384820 A CN 201711384820A CN 108227706 A CN108227706 A CN 108227706A
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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
- G05D1/0231—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
-
- 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
- G05D1/0212—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
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
This application discloses the method and devices that dynamic disorder is hidden by a kind of robot.This method includes：Barrier in the terminal and environment advanced according to robot determines the first global path；Periodically acquire the local map on robot motion direction；Determining that the direction of motion there are during dynamic disorder, obtains the position of the dynamic disorder according to the local map；The dynamic disorder is the barrier of movement；Whether interfered with the dynamic disorder according to the first global path described in first global path and the location determination of the dynamic disorder；After determining to interfere, global path planning is re-started, obtains a new global path；Otherwise it is moved according to first global path.Because the generation frequency of global path is relatively small, compared to the information in real-time detection local map, and the barrier of movement is therefrom got around, the resource that this monitoring method expends is less, while rate is faster.
Description
Technical field
This application involves robotic technology field, in particular to a kind of robot hide dynamic disorder method and
Device.
Background technology
Global path planning is based on the map provided in advance, but the movement environment of service robot is usually dynamic
, it might have the obstacle drawn and be not present during static map and enter environment, before at this moment detecting robot by laser radar
Obstacle generates local map.On for the Robot dodge strategy of obstacle (such as people of the stationary stations before robot) added in later,
Original simple local Robot dodge strategy is easily trapped into the condition of " in a dilemma ", because of the publication velocity principle weight of sector planning device
Point is the sampling for speed, it can first calculate a robot in certain time attainable all speed, Ran Houyong
Dt is multiplied by speed, obtains robot relative displacement, the speed of sampling its relative displacement should not with barrier crash, as possible towards mesh
Mark, close to global path, so robot generates far from barrier and eventually points to the speed of target one by one.It so should
There is higher control frequency, the speed for just generating avoidance is driven to behind the extremely near place of barrier to prevent robot, easily produce
Raw safety problem.
But robot is all that can meet to bypass because of left-hand rotation or right-hand rotation speed is provided in cut-through object location
Obstacle reaches target point, so the probability that provides of two kinds of speed is that grade is possible, but in the case of control frequency height, robot does not have also
Have and carry out enough displacements, planner just gives new speed command.The new speed that robot receives probably with original
After the avoidance speed detour position come is different, therefore robot just completes circling behavior, just have received again new from another
Direction turns the speed command of cut-through, thus makes it possible to continuous two paths of repeated attempt of robot, shows as machine
Device people has the situation that left and right during sufficient avoidance space is shaken and rotated before obstacle.
There are the problem of left and right during sufficient avoidance space is shaken and rotated, mesh before obstacle for robot in the relevant technologies
It is preceding not yet to propose effective solution.
Invention content
The main purpose of the application is to provide the method and device that dynamic disorder is hidden by a kind of robot, to solve correlation
The problem of technology.
To achieve these goals, it according to the one side of the application, provides a kind of robot and hides dynamic disorder side
Method.
Hide dynamic disorder method according to the robot of the application to include：
Barrier in the terminal and environment advanced according to robot determines the first global path；
Periodically acquire the local map on robot motion direction；
Determining that the direction of motion there are during dynamic disorder, obtains the position of the dynamic disorder according to the local map；
The dynamic disorder is the barrier of movement；
It is moved according to the first global path described in first global path and the location determination of the dynamic disorder with described
Whether state obstacle interferes；
After determining to interfere, global path planning is re-started, obtains a new global path；Otherwise according to institute
The first global path is stated to be moved.
Further, the method for static-obstacle is hidden by robot as the aforementioned, described to periodically acquire robot motion side
Upward local map, including：
Image information on the robot motion direction is periodically detected by laser radar；
Local map on the robot motion direction is generated according to described image information.
Further, the method for static-obstacle is hidden by robot as the aforementioned, it is described determine first global path with
Whether the dynamic disorder interferes, including：
The obstacle cost value of each path point in first global path is checked by certain frequency, described first is global
Path is connected by multiple continuous path points, the obstacle cost value characterize each path point in the global path with
The distance between immediate obstacle；
If detect that the obstacle cost value of some path point characterizes the distance between the path point and obstacle
During more than threshold value, it is determined that the global path and the dynamic disorder interfere, otherwise the global path and described dynamic
State obstacle does not interfere.
Further, the method for static-obstacle is hidden by robot as the aforementioned, described to re-start path planning, obtains one
The new global path of item, including：
Obtain the position of the barrier and the dynamic disorder in the environment；
Second of global path planning is carried out according to the position of the barrier and the dynamic disorder, and is obtained described
New global path.
Further, the method for static-obstacle is hidden by robot as the aforementioned, described according to the barrier and described
The position of dynamic disorder carries out second of global path planning, and obtains the new global path, including：
If the current location of the dynamic disorder and second of global path are determined according to another local map
Plan that the second obtained global path interferes；
Determine that the direction of motion of the dynamic disorder is consistent with the avoidance direction of second global path；
Using the negative direction in the avoidance direction of second global path as the avoidance direction of new global path planning；
According to obtaining the current location in the avoidance direction of the new global path planning and the dynamic disorder
New global path.
To achieve these goals, it according to the another aspect of the application, provides a kind of robot and hides dynamic disorder
Device.
Hide dynamic disorder device according to the robot of the application to include：
First global path planning unit determines first for the barrier in the terminal and environment advanced according to robot
Global path；
Local map acquiring unit, for periodically acquiring the local map on robot motion direction；
Dynamic disorder position acquisition unit, for there are dynamic disorders determining the direction of motion according to the local map
When, obtain the position of the dynamic disorder；The dynamic disorder is the barrier of movement；
Checking interference unit, for first described in the location determination according to first global path and the dynamic disorder
Whether global path interferes with the dynamic disorder；
New route planning unit, for after determining to interfere, re-starting global path planning, obtain one it is new
Global path；Otherwise it is moved according to first global path.
Further, the device of static-obstacle is hidden by robot as the aforementioned, the local map acquiring unit, including：
Image information collecting module, for passing through the image that laser radar is periodically detected on the robot motion direction
Information；
Local map generation module, for being generated on the robot motion direction partly according to described image information
Figure.
Further, the device of static-obstacle is hidden by robot as the aforementioned, the checking interference unit, including：
Obstacle cost value checks module, for pressing each path point in certain frequency inspection first global path
Obstacle cost value, first global path are connected by multiple continuous path points, described in the obstacle cost value characterization
The distance between each path point and immediate obstacle in global path；
First checking interference module, if for detecting that the obstacle cost value of some path point characterizes the road
When the distance between diameter point and obstacle are more than threshold value, it is determined that the global path and the dynamic disorder interfere, otherwise
The global path and the dynamic disorder do not interfere.
Further, the device of static-obstacle is hidden by robot as the aforementioned, the new route planning unit, including：
Obstacle location acquisition module, for obtaining the position of barrier and the dynamic disorder in the environment；
New route planning module, for carrying out second of overall situation according to the position of the barrier and the dynamic disorder
Path planning, and obtain the new global path.
Further, the device of static-obstacle is hidden by robot as the aforementioned, the new route planning module, including：
Second checking interference module, if for determining the current location of the dynamic disorder according to another local map
The second global path obtained with second of global path planning interferes；
Avoidance direction determining mould, for determining the direction of motion of the dynamic disorder and keeping away for second global path
It is consistent to hinder direction；
New route avoidance direction determining mould, for using the negative direction in the avoidance direction of second global path as new
Global path planning avoidance direction；
New route obtains module, for the avoidance direction according to the new global path planning and the dynamic disorder
Current location obtain the new global path.
In the embodiment of the present application, in a manner that global path planning and local paths planning are combined, pass through
Barrier in the terminal and environment advanced according to robot determines the first global path；Periodically acquire robot motion direction
On local map；Determining that the direction of motion there are during dynamic disorder, obtains the dynamic disorder according to the local map
Position；The dynamic disorder is the barrier of movement；According to first global path and the location determination of the dynamic disorder
Whether first global path interferes with the dynamic disorder；After determining to interfere, global path is re-started
Planning, obtains a new global path；Otherwise it is moved according to first global path.Because the generation of global path
Frequency is relatively small, compared to the information in real-time detection local map, and gets around the barrier of movement, this monitoring method consumption
The resource taken is less, while the faster technique effect of rate, and then solves due to only carrying out speed planning according to local map
Caused by robot in face of front obstacle occur rotation or concussion technical problem.
Description of the drawings
The attached drawing for forming the part of the application is used for providing further understanding of the present application so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Form the improper restriction to the application.In the accompanying drawings：
Fig. 1 is according to a kind of method flow schematic diagram of embodiment of the application；
Fig. 2 is a kind of specific implementation method schematic diagram of step S2 in embodiment according to Fig. 1；
Fig. 3 is a kind of specific implementation method schematic diagram of step S4 in embodiment according to Fig. 1；
Fig. 4 is a kind of specific implementation method schematic diagram of step S5 in embodiment according to Fig. 1；
Fig. 5 is a kind of specific implementation method schematic diagram according to step S52 in embodiment illustrated in fig. 4；
Fig. 6 is the apparatus module schematic diagram according to a kind of embodiment of the application；
Fig. 7 is a kind of specific device module diagram according to module in embodiment illustrated in fig. 62；
Fig. 8 is a kind of specific device module diagram according to module in embodiment illustrated in fig. 64；
Fig. 9 is a kind of specific device module diagram according to module in embodiment illustrated in fig. 65；And
Figure 10 is a kind of specific device module diagram according to module in embodiment illustrated in fig. 9 52.
Specific embodiment
In order to which those skilled in the art is made to more fully understand application scheme, below in conjunction in the embodiment of the present application
The technical solution in the embodiment of the present application is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps or unit clearly listed, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
In this application, term " on ", " under ", "left", "right", "front", "rear", " top ", " bottom ", " interior ", " outer ",
" in ", " vertical ", " level ", " transverse direction ", the orientation of the instructions such as " longitudinal direction " or position relationship be based on orientation shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the present invention and embodiment
It puts, element or component must have particular orientation or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or position relationship, it is also possible to for representing it
His meaning, such as term " on " also be likely used for representing certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " should be interpreted broadly.For example,
Can be fixedly connected, be detachably connected or monolithic construction；Can be mechanical connection or electrical connection；It can be direct phase
It is indirectly connected even or by intermediary or is the connections of two inside between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, the present invention provides a kind of robots to hide dynamic disorder method, this method includes the steps
S1 to step S6：
S1. the barrier in the terminal and environment advanced according to robot determines the first global path；
S2. the local map on robot motion direction is periodically acquired；
S3. determining that the direction of motion there are during dynamic disorder, obtains the position of the dynamic disorder according to the local map
It puts；The dynamic disorder is the barrier of movement；
S4. according to first global path and the location determination of the dynamic disorder the first global path with it is described
Whether dynamic disorder interferes；
S5. after determining to interfere, global path planning is re-started, obtains a new global path；Otherwise it presses
It is moved according to first global path.
Because global path planning device is without so high triggering frequency, after a global path planning is triggered, rule
The obstacle when path marked can bypass triggering on map, relative to the technical solution in the relevant technologies, the present embodiment is same
When in face of dynamic disorder, the path planning that global path provides from a left side for the dynamic disorder bypasses or is from the right side sample
It is equiprobable, but the global path after setting out and is no longer interfered with obstacle, would not more new route again, locally begin to send out
Cloth issues speed along without hindrance path, eliminates robot and faces rotation or concussion that front obstacle occurs.
General described, step S1 implementation methods are as follows：
Obtaining needs the static global map of obstacle-avoidance area；
The static global map gridding is obtained into static grating map, and determine barrier in the static grating map
Hinder object area；
According to the barrier region, the obstacle cost value o_cost of each grid point in range coverage is determined, it is described reachable
Region is the region except barrier region described in the static grating map, and the obstacle cost value characterizes the accessoble region
The distance between each grid point and immediate barrier region in domain；
Using robot originating location in the static grating map corresponding grid point as the path in avoidance path
Point 0；
Determine the integrate-cost value of each adjacent gate lattice point of the path point 0；The integrate-cost value is according to consecutive points
Cost value m_cost, it is obtained apart from cost value dest_cost and the obstacle cost value o_cost；The consecutive points cost value table
Levy the distance between the adjacent gate lattice point and the path point 0；It is described to characterize each adjacent gate lattice point apart from cost value
To the distance of target point；
Determine an adjacent gate lattice point as the avoidance path according to the integrate-cost value of each adjacent gate lattice point
In path point 1；And successively iteration until obtained path point N is the target point；
The path point 0 to the path point N is sequentially connected, obtains complete first global path.
As shown in Fig. 2, in some embodiments, the method that static-obstacle is hidden by robot as the aforementioned, the step S2
In periodically acquire local map on robot motion direction, including：
S201. the image information being periodically detected by laser radar on the robot motion direction；
S202. the local map on the robot motion direction is generated according to described image information.
As shown in figure 3, in some embodiments, the method that static-obstacle is hidden by robot as the aforementioned, the step S4
In determine first global path whether interfered with the dynamic disorder, including：
S401. the obstacle cost value of each path point in first global path is checked by certain frequency, described the
One global path is connected by multiple continuous path points, and the obstacle cost value characterizes each road in the global path
The distance between diameter point and immediate obstacle；Obtaining in mode and step S1 for the obstacle cost value obtains integrate-cost value
Method it is consistent；Specifically, the frequency checked can be set as the case may be；
S402. if detecting that the obstacle cost value of some path point is characterized between the path point and obstacle
When distance is more than threshold value, it is determined that the global path and the dynamic disorder interfere, otherwise the global path and institute
Dynamic disorder is stated not interfere.
As shown in figure 4, in some embodiments, the method that static-obstacle is hidden by robot as the aforementioned, the step S5
In re-start path planning, obtain a new global path, including：
S51. the position of the barrier and the dynamic disorder in the environment is obtained；Since robot is periodically to obtain
Global map is taken, therefore the newest position of the dynamic disorder is also obtained with the identical period；And it generally, obtains here
What is taken is the position for the dynamic disorder for being separated by a cycle duration；
S52. second of global path planning is carried out according to the position of the barrier and the dynamic disorder, and obtained
The new global path, specifically, the method for carrying out second of global path planning is consistent with the method in step S1.
As shown in figure 5, in some embodiments, the method that static-obstacle is hidden by robot as the aforementioned, the step S52
Including：
S521. if determining the current location of the dynamic disorder and second of overall situation according to another local map
The second global path that path planning obtains interferes；
S522. determine that the direction of motion of the dynamic disorder is consistent with the avoidance direction of second global path；
S523. using the negative direction in the avoidance direction of second global path as the avoidance side of new global path planning
To；
S524. it is obtained according to the current location in the avoidance direction of the new global path planning and the dynamic disorder
The new global path.
Specifically, when encountering obstacle and the first global path interferes, advised again according to static-obstacle Robot dodge strategy
Draw the second global path.If in the cycle whether interfered with obstacle in next monitoring path, and detect that second is complete
There is obstacle blocking in office on path, then just illustrates the avoidance direction of the global path of the direction of motion of barrier and robot/second
It is consistent.At this point, when planning global path again, barrier is can be inferred that by comparing the change direction of global path
The direction of motion, so the obstacle cost value put in the second global path of increase, causes robot planning one to be located at dynamic disorder
Move the secure path of negative direction.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is performed in computer system, although also, show logical order in flow charts, it in some cases, can be with not
The sequence being same as herein performs shown or described step.
According to embodiments of the present invention, it additionally provides a kind of for implementing the dress that dynamic disorder method is hidden by above-mentioned robot
It puts, as shown in fig. 6, the device includes：
To achieve these goals, it according to the another aspect of the application, provides a kind of robot and hides dynamic disorder
Device.
Hide dynamic disorder device according to the robot of the application to include：
First global path planning unit 1 determines for the barrier in the terminal and environment advanced according to robot
One global path；
Local map acquiring unit 2, for periodically acquiring the local map on robot motion direction；
Dynamic disorder position acquisition unit 3, for there are dynamic disorders determining the direction of motion according to the local map
When, obtain the position of the dynamic disorder；The dynamic disorder is the barrier of movement；
Checking interference unit 4, for described in the location determination according to first global path and the dynamic disorder
Whether one global path interferes with the dynamic disorder；
New route planning unit 5 for after determining to interfere, re-starting global path planning, obtains one newly
Global path；Otherwise it is moved according to first global path.
As shown in fig. 7, in some embodiments, the device of static-obstacle is hidden by robot as the aforementioned, it is described partly
Figure acquiring unit 2, including：
Image information collecting module 21, for passing through the figure that laser radar is periodically detected on the robot motion direction
As information；
Local map generation module 22, for generating the part on the robot motion direction according to described image information
Map.
As shown in figure 8, in some embodiments, the device of static-obstacle is hidden by robot as the aforementioned, the interference is sentenced
Disconnected unit 4, including：
Obstacle cost value checks module 41, for pressing each path point in certain frequency inspection first global path
Obstacle cost value, first global path is connected by multiple continuous path points, and the obstacle cost value characterizes institute
State the distance between each path point and immediate obstacle in global path；
First checking interference module 42, if for detecting that it is described that the obstacle cost value of some path point characterizes
When the distance between path point and obstacle are more than threshold value, it is determined that the global path and the dynamic disorder interfere, no
Then the global path and the dynamic disorder do not interfere.
As shown in figure 9, in some embodiments, the device of static-obstacle, the new route are hidden by robot as the aforementioned
Planning unit 5, including：
Obstacle location acquisition module 51, for obtaining the position of barrier and the dynamic disorder in the environment；
New route planning module 52 is complete for the second time for being carried out according to the position of the barrier and the dynamic disorder
Office's path planning, and obtain the new global path.
As shown in Figure 10, in some embodiments, the device of static-obstacle, the new route are hidden by robot as the aforementioned
Planning module 52, including：
Second checking interference module 521, if for determining the current of the dynamic disorder according to another local map
The second global path that position is obtained with second of global path planning interferes；
Avoidance direction determining mould 522, for determining the direction of motion of the dynamic disorder and second global path
Avoidance direction it is consistent；
New route avoidance direction determining mould 523, for the negative direction in the avoidance direction of second global path to be made
Avoidance direction for new global path planning；
New route obtains module 524, for the avoidance direction according to the new global path planning and the dynamic
The current location of obstacle obtains the new global path.
Obviously, those skilled in the art should be understood that each module of the above-mentioned present invention or each step can be with general
Computing device realize that they can concentrate on single computing device or be distributed in multiple computing devices and be formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
In the storage device by computing device come perform either they are fabricated to respectively each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely the preferred embodiments of the application, are not limited to the application, for the skill of this field
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of method that dynamic disorder is hidden by robot, which is characterized in that including：
Barrier in the terminal and environment advanced according to robot determines the first global path；
Periodically acquire the local map on robot motion direction；
Determining that the direction of motion there are during dynamic disorder, obtains the position of the dynamic disorder according to the local map；It is described
Dynamic disorder is the barrier of movement；
Hindered according to the first global path described in first global path and the location determination of the dynamic disorder and the dynamic
Hinder and whether interfere；
After determining to interfere, global path planning is re-started, obtains a new global path；Otherwise according to described
One global path is moved.
2. the method that static-obstacle is hidden by robot according to claim 1, which is characterized in that described to periodically acquire machine
Local map in device people's direction of motion, including：
Image information on the robot motion direction is periodically detected by laser radar；
Local map on the robot motion direction is generated according to described image information.
3. the method that static-obstacle is hidden by robot according to claim 1, which is characterized in that described to determine described first
Whether global path interferes with the dynamic disorder, including：
The obstacle cost value of each path point in first global path, first global path are checked by certain frequency
It is connected by multiple continuous path points, each path point in the obstacle cost value characterization global path is with most connecing
The distance between near obstacle；
If detect that the obstacle cost value of some path point characterizes the distance between the path point and obstacle and is more than
During threshold value, it is determined that the global path and the dynamic disorder interfere, otherwise the global path and dynamic barrier
Hinder and do not interfere.
4. the method that static-obstacle is hidden by robot according to claim 1, which is characterized in that described to re-start path
Planning, obtains a new global path, including：
Obtain the position of the barrier and the dynamic disorder in the environment；
Second of global path planning is carried out according to the position of the barrier and the dynamic disorder, and is obtained described new
Global path.
5. the method that static-obstacle is hidden by robot according to claim 4, which is characterized in that described according to the obstacle
The position of object and the dynamic disorder carries out second of global path planning, and obtains the new global path, including：
If the current location of the dynamic disorder and second of global path planning are determined according to another local map
The second obtained global path interferes；
Determine that the direction of motion of the dynamic disorder is consistent with the avoidance direction of second global path；
Using the negative direction in the avoidance direction of second global path as the avoidance direction of new global path planning；
It is obtained according to the current location in the avoidance direction of the new global path planning and the dynamic disorder described new
Global path.
6. a kind of method that dynamic disorder is hidden by robot, which is characterized in that including：
First global path planning unit determines first overall situation for the barrier in the terminal and environment advanced according to robot
Path；
Local map acquiring unit, for periodically acquiring the local map on robot motion direction；
Dynamic disorder position acquisition unit, for determining that the direction of motion there are during dynamic disorder, obtains according to the local map
Obtain the position of the dynamic disorder；The dynamic disorder is the barrier of movement；
Checking interference unit, it is global for described in the location determination according to first global path and the dynamic disorder first
Whether path interferes with the dynamic disorder；
New route planning unit for after determining to interfere, re-starting global path planning, obtains a new overall situation
Path；Otherwise it is moved according to first global path.
7. the method that static-obstacle is hidden by robot according to claim 6, which is characterized in that the local map obtains
Unit, including：
Image information collecting module, for passing through the image letter that laser radar is periodically detected on the robot motion direction
Breath；
Local map generation module, for generating the local map on the robot motion direction according to described image information.
8. the method that static-obstacle is hidden by robot according to claim 6, which is characterized in that the checking interference list
Member, including：
Obstacle cost value checks module, for pressing the obstacle that certain frequency checks each path point in first global path
Cost value, first global path are connected by multiple continuous path points, and the obstacle cost value characterizes the overall situation
The distance between each path point and immediate obstacle in path；
First checking interference module, if for detecting that the obstacle cost value of some path point characterizes the path point
When the distance between obstacle is more than threshold value, it is determined that the global path and the dynamic disorder interfere, otherwise described
Global path and the dynamic disorder do not interfere.
9. the method that static-obstacle is hidden by robot according to claim 6, which is characterized in that the new route planning is single
Member, including：
Obstacle location acquisition module, for obtaining the position of barrier and the dynamic disorder in the environment；
New route planning module, for carrying out second of global path according to the position of the barrier and the dynamic disorder
Planning, and obtain the new global path.
10. the method that static-obstacle is hidden by robot according to claim 9, which is characterized in that the new route planning
Module, including：
Second checking interference module, if for determining the current location of the dynamic disorder and institute according to another local map
The second global path that second of global path planning obtains is stated to interfere；
Avoidance direction determining mould, for determining the avoidance side of the direction of motion of the dynamic disorder and second global path
To consistent；
New route avoidance direction determining mould, for using the negative direction in the avoidance direction of second global path as newly complete
The avoidance direction of office's path planning；
New route obtains module, for working as the avoidance direction according to the new global path planning and the dynamic disorder
Front position obtains the new global path.
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