CN108303980A - The system and method for virtual wall figure layer is realized based on robot - Google Patents
The system and method for virtual wall figure layer is realized based on robot Download PDFInfo
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- CN108303980A CN108303980A CN201810037612.6A CN201810037612A CN108303980A CN 108303980 A CN108303980 A CN 108303980A CN 201810037612 A CN201810037612 A CN 201810037612A CN 108303980 A CN108303980 A CN 108303980A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000003993 interaction Effects 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims description 25
- 230000002452 interceptive effect Effects 0.000 claims description 9
- 235000011464 Pachycereus pringlei Nutrition 0.000 claims description 3
- 240000006939 Pachycereus weberi Species 0.000 claims description 3
- 235000011466 Pachycereus weberi Nutrition 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 239000011800 void material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 231100000572 poisoning Toxicity 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
- G05D1/0268—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
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of systems for realizing virtual wall figure layer based on robot, including robot control system, the robot control system includes laser sensor, odometer, the map data base of map is preset in storage, human-computer interaction module and navigation module, the human-computer interaction module provides operation interface and receives the virtual wall data inputted on the default map interface, the navigation module generates virtual wall point set according to preset algorithm after receiving the virtual wall data that the human-computer interaction module is sent and generates virtual wall figure layer according to the virtual wall point set and set the virtual wall point set to obstacle object point.The present invention additionally provides a kind of method for realizing virtual wall figure layer based on robot simultaneously.The present invention, by increasing the method for virtual wall figure layer, using figure layer concept and increases virtual wall figure layer, had not only realized the addition of virtual obstacles, but also will not increase made work amount, while being also convenient for data sharing in scene application.
Description
Technical field
The present invention relates to field of intelligent control, and virtual wall figure layer is realized based on robot more specifically to a kind of
System and method.
Background technology
SLAM (Simultaneous Localization and Mapping, referred to as " SLAM "), also referred to as CML
(Concurrent Mapping and Localization), instant positioning and map structuring, or concurrently build figure and positioning.Machine
Device people moves in circumstances not known since a unknown position, itself is carried out according to location estimation and map in moving process
Positioning, while increment type map is built on the basis of self poisoning, realize autonomous positioning and the navigation of robot.
Robot based on laser SLAM needs to limit when certain scenes work it into certain places, usual way
It is using infrared light fence method, patch black material method, or the side using this two maps of positioning map and motion maps
Method etc..Infrared light fence and patch black material both methods are required for additionally increasing material to realize function.But certain scenes
(such as market) and be inconvenient to that these materials are installed, therefore, it is difficult to realize.Although and need not be added using the method for two maps
Add material, but when carrying out map modification, then needs to change two maps, workload can be increased.
Therefore, the present invention provides a kind of system and methods for realizing virtual wall figure layer based on robot.
Invention content
The technical problem to be solved in the present invention is, provides a kind of robot scheduling system and method based on high in the clouds.
The technical solution adopted by the present invention to solve the technical problems is：It is a kind of that virtual wall figure layer is realized based on robot
System, including robot control system, the robot control system include that map is preset in laser sensor, odometer and storage
Map data base, the robot control system further includes human-computer interaction module and navigation module, the human-computer interaction module
Operation interface is provided and receives the virtual wall data inputted on the default map interface, the navigation module receives institute
It states after the virtual wall data that human-computer interaction module is sent and virtual wall point set to be generated according to preset algorithm and according to the virtual wall point
Collection generates virtual wall figure layer and sets the virtual wall point set to obstacle object point.
In the present invention, the human-computer interaction module includes interactive module and the first maps processing module, first map
Processing module receives the virtual wall starting point coordinate and terminal that are inputted on the default map interface by the interactive module
The data of coordinate generate cartographic information in conjunction with the default map.
In the present invention, the navigation module includes locating module, motion planning module and the second maps processing module, institute
It states the cartographic information of the first maps processing module described in the second maps processing module loading and is arrived with creating virtual wall point set and storing
In the map data base, the locating module according to the cartographic information, the laser sensor information and it is described in
The information of journey meter generates location information, and the motion planning module realizes machine according to the location information and the obstacle object point
Device people's safety movement.
The present invention also discloses a kind of methods for realizing virtual wall figure layer based on robot, including：
S1. it is loaded in human-computer interaction module and presets map, and receive the virtual wall inputted on the default map interface
Data；
S2. it after navigation module receives the virtual wall data that the human-computer interaction module is sent, is generated according to preset algorithm
Virtual wall point set；
S3. navigation module generates virtual wall figure layer according to the virtual wall point set and is set as hindering by the virtual wall point set
Hinder object point.
In the present invention, the step S1 is specifically included：
S11. it is created before map is preset in load and presets map；
S12. virtual wall is inputted in the default map interface of the first maps processing module of the human-computer interaction module
The data of starting point coordinate and terminal point coordinate generate cartographic information and are preserved；
S13. by the interactive module of the human-computer interaction module, by the number of the virtual wall starting point coordinate and terminal point coordinate
According to the second maps processing module for being sent to the navigation module.
In the present invention, the step S2 is specifically included：
S21. the cartographic information of the first maps processing module described in the second maps processing module loading, according to pre- imputation
Method creates virtual wall point set and stores into map data base；
S22. the locating module of navigation module is according to the cartographic information, the letter of the information of laser sensor and odometer
Breath generates location information to create dynamic map；
S23. the motion planning module of navigation module realizes robot according to the location information and the obstacle object point
Safety movement.
In the present invention, the step S23 further comprises：
S231. the motion planning module generates virtual wall figure layer according to the virtual wall point set, and by the virtual wall
Point set data are arranged to the virtual wall figure layer；
S232. virtual wall figure layer described in the motion planning module walks and the virtual wall point set is set to barrier
Point；
S233. the obstacle object point is avoided when the motion planning module planning path to realize virtual wall function.
In the present invention, include before executing the step S23：
When needing to load the dynamic map by the human-computer interaction module, the second maps processing module is from ground
The dynamic cardon is loaded in chart database and reads the virtual wall point set corresponding to the dynamic map.
In heretofore described step S2, the preset algorithm is B-spline interpolation algorithm.
In heretofore described step S11, default map is created by the robot of laser SLAM.
The invention has the advantages that system and the invention of the present invention that virtual wall figure layer is realized based on robot,
By increasing the method for virtual wall figure layer in scene application, using figure layer concept and increases virtual wall figure layer, both realized virtual
The addition of barrier, and made work amount will not be increased, while being also convenient for data sharing.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the Organization Chart of the system of the present invention that virtual wall figure layer is realized based on robot；
Fig. 2 is the flow chart of the method for the present invention that virtual wall figure layer is realized based on robot；
Fig. 3 is the embodiment flow chart of the method for the present invention that virtual wall figure layer is realized based on robot.
Specific implementation mode
Fig. 1 is the Organization Chart of the system of the present invention that virtual wall figure layer is realized based on robot, as shown in the figure.In this hair
In bright one or more embodiment, the present invention is based on the systems that robot realizes virtual wall figure layer, including robot control system
1, the robot control system 1 includes human-computer interaction module 2, navigation module 3, stores and preset the map data base 4 of map, swash
Optical sensor 5 and odometer 6.The human-computer interaction module 2 is communicated by wireless WI FI with the navigation module 3.Institute
It can be hand-held PAD programs to state human-computer interaction module 2.
Wherein, laser sensor 5 is the sensor measured using laser technology, it is by laser, laser detector
It is formed with measuring circuit.Laser sensor is new type measuring instrument table, it the advantages of be that can realize contactless telemeasurement, speed
Soon, precision is high, and range is big, anti-light, electrical interference ability is strong etc..
Odometer 6 is the device for measuring stroke and speed, and odometer 6 is used in robot control system, odometer
Information generally can include the information such as estimated location and the speed of robot.
Specifically, the human-computer interaction module 2 includes interactive module 21 and the first maps processing module 22.Interactive module 21
There is provided operation interface for operator, the first maps processing module 22 for receive inputted on the default map interface it is virtual
Wall data, the virtual wall data include the virtual wall starting point coordinate and terminal point coordinate of operator's input.At one of the present invention
Or in multiple embodiments, the scoring tool that operator is provided on the default map interface using interface, directly described
Virtual wall starting point coordinate and terminal point coordinate are drawn on default map.The first maps processing module 22 is by virtual wall starting point
The data of coordinate and terminal point coordinate generate cartographic information in conjunction with the default map and are saved in map data base 4.
The navigation module 3 receives after the virtual wall data that the human-computer interaction module 2 is sent according to preset algorithm (example
B-spline interpolation algorithm in this way) it generates virtual wall point set and virtual wall figure layer is generated according to the virtual wall point set and by the void
Quasi- wall point set is set as obstacle object point.
Specifically, the navigation module 3 includes the second maps processing module 31, locating module 32 and motion planning module
33.The second maps processing module 31 is used to load the cartographic information of the first maps processing module 22 to create virtual wall
Point set simultaneously stores in the map data base 4, and the locating module 32 is according to the cartographic information, the laser sensor
Information and the information of the odometer generate location information, and the motion planning module 33 is according to the location information and institute
It states obstacle object point and realizes robot security's movement.
It is described in detail below by a specific embodiment, Fig. 2 is that the present invention is based on robots to realize virtual wall figure layer
Method flow diagram, as shown in the figure.
Step S1 is loaded in human-computer interaction module and is preset map, and receives the void inputted on the default map interface
Quasi- wall data；
Step S2, after navigation module receives the virtual wall data that the human-computer interaction module is sent, according to preset algorithm
Generate virtual wall point set；
Step S3, navigation module generate virtual wall figure layer according to the virtual wall point set and the virtual wall point set are arranged
For obstacle object point.
It is of the present invention based on robot realize virtual wall figure layer method mainly include create virtual wall process and
The two processes are described in detail in the process that virtual wall comes into force, lower mask body, as shown in Figure 3.
1. creating the process of virtual wall
Step S11 needs to create default map before map is preset in load, and laser can be passed through by creating default map
The robot of SLAM completes.
Step S12, it is empty in the default map interface input of the first maps processing module of the human-computer interaction module
The data of quasi- wall starting point coordinate and terminal point coordinate generate cartographic information and are preserved.
Step S13, by the interactive module of the human-computer interaction module, by the virtual wall starting point coordinate and terminal point coordinate
Data be sent to the second maps processing module of the navigation module.The human-computer interaction module can pass through wireless WI FI
Mode communicated with the navigation module.
Step S14, the cartographic information of the first maps processing module described in the second maps processing module loading, and according to
Preset algorithm creates virtual wall point set and stores into map data base.The cartographic information includes the default map and in institute
The data of the virtual wall starting point coordinate and terminal point coordinate that are inputted on default map are stated, the preset algorithm can be B-spline interpolation
Algorithm.
Wherein, in numerical analysis, B-spline is a kind of special representation of spline curve.It is B- batten base curves
Linear combination.B-spline is a kind of generalization of Bezier curve, can be using further genralrlization as non-uniform rational B-spline
(NURBS) so that we can give more general solids to build accurate model.
2. the process that virtual wall comes into force
Step S15, the locating module of navigation module is according to the cartographic information, the information of laser sensor and odometer
Information generate location information to create dynamic map.The dynamic map is stored in map data base.
Step S16, when needing to load the dynamic map by the human-computer interaction module, second maps processing
Module loads the dynamic cardon from map data base and reads the virtual wall point set corresponding to the dynamic map.
Step S17, the motion planning module are received according to after the virtual wall point set, can generate virtual wall figure layer,
And the virtual wall point set data are arranged to the virtual wall figure layer.
The virtual wall point set simultaneously is set as hindering by step S18, virtual wall figure layer described in the motion planning module walks
Hinder object point.
Step S19, when motion planning module planning path, avoid the obstacle object point to realize virtual wall function.
Step S20, the motion planning module realize that robot is pacified according to the location information and the obstacle object point
Full motion.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
Subject to.
Claims (10)
1. a kind of system for realizing virtual wall figure layer based on robot, including robot control system, robot control system
System includes the map data base that map is preset in laser sensor, odometer and storage, which is characterized in that robot control system
System further includes human-computer interaction module and navigation module, and the human-computer interaction module provides operation interface and receives described default
The virtual wall data inputted on map interface, the navigation module receive the virtual wall data that the human-computer interaction module is sent
Virtual wall point set is generated according to preset algorithm afterwards and virtual wall figure layer is generated according to the virtual wall point set and by the virtual wall
Point set is set as obstacle object point.
2. the system according to claim 1 for realizing virtual wall figure layer based on robot, which is characterized in that the man-machine friendship
Mutual module includes interactive module and the first maps processing module, and the first maps processing module is received by the interactive module
Data to the virtual wall starting point coordinate and terminal point coordinate inputted on the default map interface are given birth in conjunction with the default map
At cartographic information.
3. the system according to claim 1 or 2 for realizing virtual wall figure layer based on robot, which is characterized in that described to lead
Model plane block includes locating module, motion planning module and the second maps processing module, the second maps processing module loading
The cartographic information of the first maps processing module is described fixed to create virtual wall point set and store into the map data base
Position module generates location information according to the information of the cartographic information, the information of the laser sensor and the odometer,
The motion planning module realizes robot security's movement according to the location information and the obstacle object point.
4. a kind of method for realizing virtual wall figure layer based on robot, which is characterized in that including：
S1. it is loaded in human-computer interaction module and presets map, and receive the virtual wall data inputted on the default map interface；
S2. it after navigation module receives the virtual wall data that the human-computer interaction module is sent, is generated according to preset algorithm virtual
Wall point set；
S3. navigation module generates virtual wall figure layer according to the virtual wall point set and sets the virtual wall point set to barrier
Point.
5. the method according to claim 4 for realizing virtual wall figure layer based on robot, which is characterized in that the step S1
It specifically includes：
S11. it is created before map is preset in load and presets map；
S12. virtual wall starting point is inputted in the default map interface of the first maps processing module of the human-computer interaction module
The data of coordinate and terminal point coordinate generate cartographic information and are preserved；
S13. by the interactive module of the human-computer interaction module, the data of the virtual wall starting point coordinate and terminal point coordinate are sent out
It send to the second maps processing module of the navigation module.
6. the method according to claim 4 or 5 for realizing virtual wall figure layer based on robot, which is characterized in that the step
Rapid S2 is specifically included：
S21. the cartographic information of the first maps processing module described in the second maps processing module loading, is created according to preset algorithm
It builds virtual wall point set and stores into map data base；
S22. the locating module of navigation module is given birth to according to the information of the cartographic information, the information of laser sensor and odometer
At location information to create dynamic map；
S23. the motion planning module of navigation module realizes robot security according to the location information and the obstacle object point
Movement.
7. the method according to claim 6 for realizing virtual wall figure layer based on robot, which is characterized in that the step
S23 further comprises：
S231. the motion planning module generates virtual wall figure layer according to the virtual wall point set, and by the virtual wall point set
Data are arranged to the virtual wall figure layer；
S232. virtual wall figure layer described in the motion planning module walks and the virtual wall point set is set to obstacle object point；
S233. the obstacle object point is avoided when the motion planning module planning path to realize virtual wall function.
8. the method according to claim 1 for realizing virtual wall figure layer based on robot, which is characterized in that described in execution
Include before step S23：
When needing to load the dynamic map by the human-computer interaction module, the second maps processing module is from map number
According to loading the dynamic cardon in library and read the virtual wall point set corresponding to the dynamic map.
9. the method according to claim 1 for realizing virtual wall figure layer based on robot, which is characterized in that in step S2,
The preset algorithm is B-spline interpolation algorithm.
10. the method according to claim 5 for realizing virtual wall figure layer based on robot, which is characterized in that step S11
In, default map is created by the robot of laser SLAM.
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| CN109062218A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | Control the method and device of robot driving path |
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| CN109358617A (en) * | 2018-09-25 | 2019-02-19 | 北京云迹科技有限公司 | Robot localization method, apparatus, robot and terminal device |
| CN110793532A (en) * | 2019-11-06 | 2020-02-14 | 深圳创维数字技术有限公司 | Path navigation method, device and computer readable storage medium |
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| CN109062225A (en) * | 2018-09-10 | 2018-12-21 | 扬州方棱机械有限公司 | The method of grass-removing robot and its generation virtual boundary based on numerical map |
| CN109358617A (en) * | 2018-09-25 | 2019-02-19 | 北京云迹科技有限公司 | Robot localization method, apparatus, robot and terminal device |
| CN110793532A (en) * | 2019-11-06 | 2020-02-14 | 深圳创维数字技术有限公司 | Path navigation method, device and computer readable storage medium |
| CN111857136A (en) * | 2020-07-02 | 2020-10-30 | 珠海格力电器股份有限公司 | Target map processing method and device |
| CN113741472A (en) * | 2021-09-10 | 2021-12-03 | 上海伯镭智能科技有限公司 | Obstacle avoidance method and device based on multi-image acquisition |
| CN113741472B (en) * | 2021-09-10 | 2024-03-08 | 上海伯镭智能科技有限公司 | Obstacle avoidance method and device based on multi-image acquisition |
| CN114427859A (en) * | 2022-03-14 | 2022-05-03 | 季华实验室 | Mobile robot virtual forbidden zone setting and deleting control system |
| CN114427859B (en) * | 2022-03-14 | 2023-06-02 | 季华实验室 | Mobile robot virtual forbidden zone setting and deleting control system |
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