CN108303989B - A kind of method and apparatus moved along wall for mobile robot - Google Patents
A kind of method and apparatus moved along wall for mobile robot Download PDFInfo
- Publication number
- CN108303989B CN108303989B CN201810601994.0A CN201810601994A CN108303989B CN 108303989 B CN108303989 B CN 108303989B CN 201810601994 A CN201810601994 A CN 201810601994A CN 108303989 B CN108303989 B CN 108303989B
- Authority
- CN
- China
- Prior art keywords
- data
- wall
- mobile robot
- speed
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 76
- 238000001514 detection method Methods 0.000 claims abstract description 50
- 238000005070 sampling Methods 0.000 claims abstract description 39
- 238000013480 data collection Methods 0.000 claims description 19
- 230000004927 fusion Effects 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 9
- 230000004888 barrier function Effects 0.000 description 11
- 230000006399 behavior Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 241001422033 Thestylus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons 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, 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
- G05D1/0231—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, 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The purpose of the application is to provide a kind of method and apparatus moved along wall for mobile robot, and the application determines patch wall detection data by that will obtain with laser ranging data merge along wall sensor instrument distance data；According to it is described patch wall detection data be determined wait for close to metope；The sample rate that the mobile robot is determined according to the mode of speed sampling determines space of the mobile robot within the sampling period based on the sample rate；Determine the speed of service of the robot in current sample period according to the patch wall detection data, according to it is described wait for close to metope and the space with the speed of service progress moved along wall.The effective robot that avoids collides in actually pasting wall motion process with exterior object；And it is moved with suitable maximum speed, robot motion is made to obtain rapider smoothness, easily complete welt task.
Description
Technical field
This application involves robot field more particularly to a kind of method and apparatus moved along wall for mobile robot.
Background technology
As computer technology, microelectric technique, network technology etc. quickly develop, robot technology has also obtained rapidly
Development, other than industrial robot level is continuously improved, there has also been length by the various advanced robotic systems for service industry
The development of foot, all kinds of Information Mobile Service robots are more and more universal, especially home services class and mall shopping class robot, such as
Sweeping robot, floor-mopping robot, bring great convenience to people’s lives.Robot needs to adopt before completion task
With along wall（Or welt）Behavior explore and current environment and establish map, then formulate specific task rule according to global map
It draws.Currently realize that this mode mainly takes is ultrasound or infrared sensor, and is realized along wall row using the prediction of known map
For.However, ultrasound or the infrared patch wall that carries out cannot predict mobile robot front end barrier situation well, and single-point is pre-
The stylus object concave-convex to part may do the judgement to make mistake, be easy to knock close to object.Furthermore it is predicted based on map
Behavior can not embody the variability of environment well, and the case where there are known maps is built upon based on map prediction,
It cannot be used for the welt of exploratory stage.Simultaneously as the limitation of laser installation site, pure laser mode cannot detect well
The barrier of lower position.
Invention content
The purpose of the application is to provide a kind of method and apparatus moved along wall for mobile robot, solves single-point
It predicts to make false judgment to the concave-convex object in part, is easy to knock close to object, and the barrier of lower position cannot be detected very well
The problem of hindering object.
According to the one side of the application, a kind of method moved along wall for mobile robot, this method packet are provided
It includes：
Acquisition is inserted into along wall sensor instrument distance data in laser ranging data, ranging data collection is obtained, determines institute
State the data of ranging data concentration and described along the distance between wall sensor instrument distance data deviation, according to the range deviation and
The ranging data collection determines patch wall detection data；
According to it is described patch wall detection data be determined wait for close to metope；
The sample rate that the mobile robot is determined according to the mode of speed sampling determines institute based on the sample rate
State space of the mobile robot within the sampling period；
The speed of service of the robot in current sample period is determined according to the patch wall detection data, waits pasting according to described
Close metope and the space are moved with speed of service progress along wall.
Further, before acquisition being inserted into along wall sensor instrument distance data in laser ranging data, including：
It is corresponding along wall sensor instrument distance data according to the installation site information collection along wall sensor；
Laser sensor of the determining angle between the sensor along wall in angle threshold, it is corresponding sharp to obtain
Ligh-ranging data.
Further, patch wall detection data is determined according to the range deviation and the ranging data collection, including：
Judge whether the range deviation is more than deviation threshold, if it is not, then according to the range deviation to the ranging number
Processing is compensated according to the laser ranging data of concentration, the ranging data is updated according to the laser ranging data after compensation deals
Collection, using updated ranging data collection as patch wall detection data；
If so, the laser ranging data that the ranging data is concentrated is as patch wall detection data.
Further, acquisition is inserted into along wall sensor instrument distance data in laser ranging data, including：
Acquisition is inserted into according to the storage mode of angle step in laser ranging data along wall sensor instrument distance data.
Further, according to it is described patch wall detection data be determined wait for close to metope, including：
Judge positional distance metope that the mobile robot is currently located whether pre- according to the patch wall detection data
If in value, if it is not, then carrying out step S：Judge whether to take fixed direction close to wall, if so, with given target point making
To paste wall point, if it is not, the point that then mobile robot described in selected distance is nearest from the laser detection data is as patch wall point；
According to the determining corresponding direction of patch wall point as the direction of motion, cycle executes step S, until the mobile machine
The positional distance metope that people is currently located is in preset value.
Further, the sample rate of the mobile robot is determined according to the mode of speed sampling, is based on the sampling
Speed determines space of the mobile robot within the sampling period, including：
Initial samples speed is determined according to the maximum linear velocity and angular speed of the mobile robot；
Determine that current kinetic of the corresponding mobile robot within the sampling period is empty according to the initial samples speed
Between.
Further, the corresponding mobile robot working as within the sampling period, is determined according to the initial samples speed
After preceding space, including：
Judge whether the ambient enviroment that the current kinetic space is perceived with the laser sensor collides, if so,
Adjust the mobile robot linear velocity and angular speed to determine sample rate, if it is not, then according to current linear velocity and angle
Speed progress is moved along wall.
Further, the method includes：
Judge whether the adjustment of the angular speed is more than corresponding threshold value, if so, reducing linear velocity, judges the line after reducing
Speed whether less than setting threshold value, if so, stop the mobile robot patch wall movement, if it is not, then according to adjustment after
Angular speed and linear velocity determine new sample rate, the corresponding mobile robot is determined according to the new sample rate
Space within the new sampling period.
Further, the method includes：
If the adjustment of the angular speed is less than corresponding threshold value, according to after adjustment angular speed and linear velocity determine it is new
Sample rate determines that movement of the corresponding mobile robot within the new sampling period is empty according to the new sample rate
Between.
On the other hand according to the application, a kind of equipment moved along wall for mobile robot is additionally provided, it is described to set
It is standby to include：
Data fusion module is inserted into laser ranging data along wall sensor instrument distance data for that will obtain, obtains
Ranging data collection determines data that the ranging data is concentrated and described along the distance between wall sensor instrument distance data deviation,
Patch wall detection data is determined according to the range deviation and the ranging data collection；
Determine metope motion module, for according to it is described patch wall detection data be determined wait for close to metope；
Wall motion module is pasted, the sample rate for determining the mobile robot according to the mode of speed sampling is based on
The sample rate determines space of the mobile robot within the sampling period；
Wall motion module is pasted, for determining operation of the robot in current sample period according to the patch wall detection data
Speed, according to it is described wait for close to metope and the space with the speed of service progress moved along wall.
According to the application another aspect, a kind of computer-readable medium is additionally provided, is stored thereon with computer-readable
Instruction, the computer-readable instruction can be executed by processor to realize the method as described in aforementioned.
According to further aspect of the application, a kind of equipment moved along wall for mobile robot is additionally provided, it is described
Equipment includes：
One or more processors；And
It is stored with the memory of computer-readable instruction, the computer-readable instruction makes the processor when executed
Execute the operation such as aforementioned the method.
Compared with prior art, the application is inserted into laser ranging data by that will obtain along wall sensor instrument distance data
In, obtain ranging data collection, determine between the data and the sensor instrument distance data along wall that the ranging data is concentrated away from
From deviation, patch wall detection data is determined according to the range deviation and the ranging data collection；According to the patch wall detection data
Be determined wait for close to metope；The sample rate of the mobile robot is determined according to the mode of speed sampling, based on described
Sample rate determines space of the mobile robot within the sampling period；Machine is determined according to the patch wall detection data
The speed of service of the people in current sample period, according to it is described wait for close to metope and the space with the speed of service
Progress is moved along wall.Fully consider current environment, meanwhile, it is empty in the movement locus of specific period with sample rate prediction robot
Between, it effectively avoids robot and collides with exterior object in actually pasting wall motion process.Furthermore sample rate is set
Meter method has fully considered the movement of robot as possible close to wall, and is moved with suitable maximum speed, makes robot motion
More rapid smoothness is obtained, welt task is easily completed.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows a kind of method flow moved along wall for mobile robot provided according to the one side of the application
Schematic diagram；
Fig. 2 shows the barrier scenes in one embodiment of the application；
Fig. 3 shows to paste the pathfinding behavior instruction figure of wall closest approach in one embodiment of the application；
Fig. 4 shows the predicted motion track schematic diagram of mobile robot in one embodiment of the application；
Fig. 5 shows the instruction figure of the movement driving of mobile robot moved along wall in one embodiment of the application；
Fig. 6 shows a kind of device structure moved along wall for mobile robot provided on the other hand according to the application
Schematic diagram；
Fig. 7 show in one embodiment of the application by data fusion module 11, determine metope motion module 12 and patch wall fortune
The patch wall that dynamic model block 13 is realized moves schematic diagram.
Same or analogous reference numeral represents same or analogous component in attached drawing.
Specific implementation mode
The application is described in further detail below in conjunction with the accompanying drawings.
In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and memory.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer include, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM),
Dynamic random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electricity
Erasable Programmable Read Only Memory EPROM (EEPROM), fast flash memory bank or other memory techniques, read-only disc read only memory (CD-ROM)
(CD-ROM), digital versatile disc (DVD) or other optical storages, magnetic tape cassette, magnetic tape disk storage or other magnetic
Property storage device or any other non-transmission medium, can be used for storing and can be accessed by a computing device information.According to herein
Define, computer-readable medium include non-temporary computer readable media (transitory media), such as modulation data
Signal and carrier wave.
Fig. 1 shows a kind of method flow moved along wall for mobile robot provided according to the one side of the application
Schematic diagram, this method include：Step S11 ~ step S14, wherein
In step s 11, acquisition is inserted into along wall sensor instrument distance data in laser ranging data, obtains ranging number
According to collection, data that the ranging data is concentrated and described along the distance between wall sensor instrument distance data deviation are determined, according to institute
It states range deviation and the ranging data collection determines patch wall detection data；Here, along the wall of wall, to refer to robot can encounter
The exterior contour of object or boundary, are referred to as welt.It is described to can be used for acquiring robot to barrier along wall sensor
Distance melts the laser ranging data that the ranging data acquired along wall sensor is acquired with surrounding laser sensor
It closes, for pasting wall, wherein the full angle measurement data that the data that laser sensor measures are 360, along wall sensor measurement
Data are the corresponding data of a certain angle, and two kinds of data are merged, can be according to the storage mode of angle step, in Laser Measuring
Away from increase in data along wall sensor instrument distance data；For example, laser ranging data is 360 data points, along wall sensor instrument distance
Data are 1 data point, then are 361 data points after merging.It should be noted that infrared sensor side can be used along wall sensor
Formula is single-point ranging, and laser sensor is multiple point distance measurement.It, can by being used cooperatively along wall sensor and laser sensor
The barrier of detection lower position, detection are more accurate well.
Then, in step s 12, according to it is described patch wall detection data be determined wait for close to metope；Here, fusion
Along wall sensor instrument distance data and laser ranging data, patch wall detection data can be used as to make as the source of reference data of patch wall
Robot first determine wait for close to metope, start that wall is looked for move, to carry out subsequent patch wall behavior.That is, in step s 13,
The sample rate that the mobile robot is determined according to the mode of speed sampling determines the moving machine based on the sample rate
Space of the device people within the sampling period；Here, patch wall movement in it needs to be determined that robot linear velocity and angular speed, with
It determines sample rate, predicts that robot in the movement locus space of specific period, calculates current robot and exists by sample rate
The barrier that movement locus space in period is reflected with laser data does not collide, and effectively avoids robot actual
It colliding with exterior object in patch wall motion process, wherein specific period can be the fixed value of a preset period,
It may be the time cycle related with program running frequency；Finally, true according to the patch wall detection data in step S14
Determine the speed of service of the robot in current sample period, according to it is described wait for close to metope and the space with the fortune
The progress of scanning frequency degree is moved along wall, so that the movement of robot is as possible close to metope, and moved with suitable maximum speed,
Wherein, speed includes angular speed and linear velocity, so that robot motion obtains rapider smoothness, easily completes welt task.
In one embodiment of the application, acquisition is inserted into it in laser ranging data along wall sensor instrument distance data
Before, it needs corresponding along wall sensor instrument distance data along the installation site information collection of wall sensor according to described；Determining and institute
Laser sensor of the angle between wall sensor in angle threshold is stated, to obtain corresponding laser ranging data.Such as Fig. 2
Shown in barrier scene in one embodiment of the application, robot encountered T-shape metope, can be made mistake using single-point prediction
Detection, be easy to knock close to object.Therefore, using the method described herein moved along wall, wherein along wall sensor
Installation site is less than the installation site of laser sensor, and the limitation to solve laser sensor installation site cannot detect well
The problem of barrier of lower position, such as laser sensor（Such as laser radar）Plane of vision A can measure metope 1, and along wall
The observation point B of sensor can measure metope 2.According to actual installation site information, will along wall sensor instrument distance data fusion into
In laser ranging data, to analysis along wall sensor instrument distance data with along the corresponding laser sensor of wall sensor proximity angle
Ranging data detects whether laser ranging as shown in Figure 2 occurred and along the larger environment of wall sensor instrument distance range deviation.
It wherein, can be by acquisition along wall sensor when acquisition being inserted into along wall sensor instrument distance data in laser ranging data
Ranging data is inserted into according to the storage mode of angle step in laser ranging data.It is complete from 360 in one embodiment of the application
The laser ranging data point of angle is focused to find out similar in the angle with along wall sensor instrument distance, the number of deviation in a certain range
According to.For example, along wall sensor angles 30 in robot coordinate system, angle threshold 5 then chooses angle from laser ranging data
The data point in 27.5 ~ 32.5 ranges is spent, angle threshold is the foundation that distance value is selected from all laser ranging datas, will
The laser ranging data met in the angular range of angle threshold makees average value, so as to subsequently by the average value and along wall sensor
Ranging data is compared, and determines range deviation, i.e., the laser ranging data by above-mentioned angle in 27.5 ~ 32.5 ranges make away from
From average value, average value after being calculated and angle being compared along wall sensor instrument distance data at 30 obtain distance
Deviation.
Specifically, in step s 11, judge whether the range deviation is more than range deviation threshold value, if it is not, according to described
The laser ranging data that range deviation concentrates the ranging data compensates processing, according to the laser ranging after compensation deals
Ranging data collection described in data update, using updated ranging data collection as patch wall detection data；If so, only by ranging number
According to the laser ranging data of concentration as patch wall detection data.
Here, range deviation threshold value be in a certain angle along wall sensor instrument distance data with the angle and angle threshold
It is worth the maximum value of the distance between average value of laser ranging data deviation in determining angular range, calculates and surveyed along wall sensor
Range deviation away from data Yu laser sensor ranging data, if range deviation is in the range of certain allow（Range deviation threshold
Value）, then corresponding range deviation is compensated into laser data, i.e., using the laser data after uncompensation distance deviation as patch wall inspection
Measured data, such as laser ranging data are 360 data points, are 1 data point along wall sensor instrument distance data, then first will be along wall
It is 361 data points, then judge to pass with along wall in 361 data points in sensor instrument distance compensation data to laser ranging data
The data point of sensor ranging data difference within a preset range, is adjusted these data points.In one embodiment of the application,
It first searches and the laser ranging number along the angular deviation of wall sensor instrument distance data in angular deviation threshold value when target angle
According to, then the distance average of the laser ranging data in angular deviation threshold value is calculated, when by the distance average and target angle
Be compared along wall sensor instrument distance data, if range deviation in range deviation threshold value, compare along wall sensor instrument distance
Laser ranging data in the big angular deviation threshold value of data is handled, and will be compensated into laser along the ranging data of wall sensor
Ranging data, compensation way is to reduce laser ranging data with deviation, for example, being along wall sensor instrument distance data
10cm, laser ranging data 12cm, deviation 2cm, deviation is in values（For example preset value is 5cm）, can
Think to compensate, then corresponding all laser ranging datas is reduced into 2cm.After compensating range deviation, update
Wall detection data is pasted, then updated patch wall detection data includes original after wall sensor instrument distance data and compensation deals
Laser ranging data.By the distance average with when target angle after wall sensor instrument distance data are compared, if away from
Be more than range deviation threshold value from deviation, then when abandoning the target angle along wall sensor instrument distance data, no longer do two kinds of data
Fusion, only using laser ranging data as patch wall detection data.Enter the behavior that patch wall moves after determining patch wall detection data
Logic, steps are as follows for specific implementation：
It in one embodiment of the application, in step s 12, carries out that wall is looked for move, be judged according to the patch wall detection data
Whether the positional distance metope that the mobile robot is currently located is in preset value, if it is not, then carrying out step S：Judge whether
Take fixed direction close to wall, if so, using given target point as patch wall point, if it is not, then from the laser detection number
According to the nearest point of mobile robot described in middle selected distance as patch wall point；According to the determining corresponding direction of patch wall point as fortune
Dynamic direction, cycle execute step S, until the positional distance metope that the mobile robot is currently located is in preset value.Here,
Whether from present laser data analysis currently close to metope, the present laser data are patch wall detection data, that is, generate ranging
The corresponding initial laser of environment when laser data or larger ranging deviation after deviation compensation is carried out after the smaller environment of deviation
Data, wherein generate distance average that the smaller environment of ranging deviation is the laser ranging data in angular deviation threshold value with
When target angle along wall sensor instrument distance data, there are certain distance deviations, the range deviation is in range deviation threshold value.When
When analyzing robot farther out far from metope, then S is entered step：Judge whether to take fixed direction close to wall, if so, given
Target point as the direction of motion, if it is not, point that then selected distance robot is nearest from laser data is as patch wall point, and with
This corresponding direction of patch wall point is advanced as the direction of motion, and then according to selected target direction, and cycle executes step S, with complete
At looking for wall to move, until the positional distance metope that the mobile robot is currently located is in preset value, close to metope.Such as Fig. 3
Shown in one embodiment of the application patch wall closest approach pathfinding behavior instruction figure, mobile robot（M in figure）Swashed according to current
The measurement data of light and the selection of given target point need on close wall（N is metope in figure）Target point（Such as closest approach A1）,
So that sweeper moves ahead towards point A1.
After looking for wall to move, patch wall motor behavior logic is carried out, in step s 13, according to the mobile robot
Maximum linear velocity and angular speed determine initial samples speed；The corresponding moving machine is determined according to the initial samples speed
Current kinetic space of the device people within the sampling period.Here, the sampling period is corresponding with sample rate, it is the movement of robot
Calculating cycle is looked in metope motion process, needs to calculate the space in each motion calculation period, with determine wait for close to
Metope while avoid collision metope.Using maximum linear velocity and angular speed as initial samples speed, according to robot
The space in moving description robot next motion calculation period.In one embodiment of the application, according to described first
After beginning sample rate determines current kinetic space of the corresponding mobile robot within the sampling period, judge described current
Whether the ambient enviroment that space is perceived with the laser sensor collides, if so, adjusting the mobile robot
Linear velocity and angular speed are to determine sample rate, if it is not, then according to current linear velocity and angular speed move along wall.
This, whether the ambient enviroment that can be perceived with present laser collides in analysis current kinetic space, if can collide, needs to adjust
The angular speed and linear velocity of whole robot are advanced along metope with current linear velocity and angular speed if will not collide.It needs
When adjusting linear velocity and angular speed, for example it is to reduce angular speed that robot is adjusted towards left angle, is adjusted towards right angle
It is to increase angular speed, further, the method includes the steps S131, judges whether the adjustment of the angular speed is more than corresponding threshold
Value judges the linear velocity after reducing whether less than the threshold value set, if so, stopping the movement if so, reducing linear velocity
The patch wall of robot moves, if it is not, then according to after adjustment angular speed and linear velocity determine new sample rate, according to described new
Sample rate determine space of the corresponding mobile robot within the new sampling period.If here, angular speed tune
Whole is more than corresponding threshold value, then adjusts reduction linear velocity, slow down the movement of robot, if linear velocity already below the threshold value of setting,
Then stop pasting wall behavior, the motion model according to robot is otherwise needed to reevaluate robot next motion calculation period
Space.For example, the linear velocity and angular speed at the moment of time t=0 are respectively v=5m/s, w=6/s, the sampling period be T=
200ms, first with current maximum line velocity, maximum angular rate operation if in T range, will not collide in space,
The linear velocity and angular speed executed when subsequent time t=1 is still v=5m/s, and w=6/s is moved；If occurring in space
Collision then continues to adjust v, w, until not colliding in corresponding space, for example is adjusted to v=2m/s, w=3/s, then under
It executes when one moment t=1 and is carried out with v=2m/s, w=3/s；It needs to exit patch wall behavior if the v and w of adjustment go beyond the scope（As adjusted
It is whole not, lose wall）, reenter and look for wall action process, at this point, the execution speed at the moment of subsequent time t=1（Linear velocity v and
Angular speed w）By looking for wall part to be calculated.Reached in the space of specific period by motion model and is not collided with environment
Under conditions of be adjusted, effectively avoid robot and collide with exterior object in actually pasting wall motion process；And
And moved with suitable maximum speed, so that robot motion is obtained rapider smoothness, easily completes welt task.
Further, the method includes：Step S132, if the adjustment of the angular speed is less than corresponding threshold value, root
According to after adjustment angular speed and linear velocity determine new sample rate, the corresponding shifting is determined according to the new sample rate
Space of the mobile robot within the new sampling period.If here, when the angular speed of adjustment robot, the angle of adjustment does not surpass
Corresponding threshold value is crossed, then according to the motion model of robot, with the angular speed and the next motion calculation of linear velocity estimation after adjustment
Space in period.
In one embodiment of the application, the predicted motion track schematic diagram of robot as shown in Figure 4, according to sample rate
Predict mobile robot in fixed sample period with the movement locus P of certain linear velocity and angular speed（From position A2 to position
The movement locus of B1）.Current laser data is analyzed, the linear velocity of robot is constantly adjusted and angular speed so that present sample is all
The barrier that the movement locus of phase reflects with laser data does not collide, as shown in Figure 5 along wall to carry out moving along wall
The instruction figure of the movement driving of movement, wherein n is metope, and direction of advance L drives the super close boundary profile of robot（Metope
n）Direction and direction of advance（L）Movement.
Method described herein that moved along wall for mobile robot, by analyzing laser radar and being sensed along wall
The ranging information of device, contour motion of the realization robot close to surrounding objects.By constructing the motion model of mobile robot, in advance
Robot is surveyed in the stationary machines period with the movement locus of certain linear velocity and angular speed, analyzes current laser data, constantly
The linear velocity and angular speed of robot are adjusted, so that the obstacle of the movement locus in current machine period and laser data reflection
Object does not collide.
Fig. 6 shows a kind of device structure moved along wall for mobile robot provided on the other hand according to the application
Schematic diagram, the equipment include：Data fusion module 11 determines metope motion module 12 and patch wall motion module 13；Wherein, number
According to Fusion Module 11, it is inserted into laser ranging data along wall sensor instrument distance data for that will obtain, obtains ranging data
Collection determines data that the ranging data is concentrated and described along the distance between wall sensor instrument distance data deviation, according to described
Range deviation and the ranging data collection determine patch wall detection data；Metope motion module 12 is determined, for according to the patch wall
Detection data be determined wait for close to metope；Wall motion module 13 is pasted, for determining the shifting according to the mode of speed sampling
The sample rate of mobile robot determines space of the mobile robot within the sampling period based on the sample rate,
And it for determining the speed of service of the robot in current sample period according to the patch wall detection data, is waited for according to described
Close to metope and the space with the speed of service progress moved along wall.In one embodiment of the application, such as Fig. 7 institutes
Show by data fusion module 11, determine metope motion module 12 and paste the patch wall that wall motion module 13 is realized and move signal
Figure, data fusion module 11 merge two groups for analyzing effectively along wall sensor instrument distance data and surrounding laser ranging data
Sensing data is for pasting wall；Metope motion module 12 is determined for looking for wall, mobile robot is according to the measurement number of present laser
The target point on close wall is needed according to given target point selection, and is moved ahead towards target point until close to metope；Paste wall
Motion module 13 drives robot towards close to boundary profile direction and forward direction motion by corresponding Algorithm Analysis.Tool
Body realization method is：
In data fusion module 11, following steps are executed：Laser is merged with along wall sensing data, analyzes laser and edge
Wall sensing data is to determine whether the larger environment of range deviation（Such as detect T-type metope）, if it is not, then compensating laser
Data form the laser data after fusion, for pasting wall movement, if so, directly using former laser data as pasting wall movement
Fused data；Then, it in determining metope motion module 12, carries out that wall is looked for move, judges robot at current position
Whether close to metope, if so, the execution step in patch wall motion module 13 is directly entered, if it is not, then judging whether to take solid
Direction movement is determined, if so, to select given target point as the direction of motion, if it is not, then looking for the patch nearest apart from robot
Wall point advances as the direction of motion towards the selected direction of motion, constantly judges whether, close to metope, to recycle and determine that metope moves mould
Execution step in block 12 then enters the execution step in patch wall motion module 13 until having determined close to metope, in patch wall
In motion module 13, following steps are executed：Using maximum angular rate and maximum line velocity as initial velocity（v,w）, according to initial
Speed carries out estimation, calculating robot's initial velocity（v,w）Corresponding space, judges whether space can be encountered
Barrier, if it is not, then along metope with suitable maximum speed（v,w）Advance；If so, rotation of the adjustment robot towards a left side or towards the right side
Carryover degree continues to judge whether the angular speed of adjustment is more than threshold value, if it is not, it is true then to re-start estimation to adjust angular speed
Set the tone it is whole after speed（v’,w’）Corresponding space；If so, adjustment reduces linear velocity, when linear velocity is less than minimum threshold
It is exited when value and pastes wall pattern, otherwise continue to re-start estimation, until patch wall movement is completed, it is subsequent along wall fortune to carry out
It is dynamic.
Execute step along each module for the equipment that wall moves for mobile robot by described herein, using swash
Light data and along wall sensor instrument distance data as patch wall source of reference data, fully consider current environment, meanwhile, to sample speed
Degree prediction robot in the movement locus space of specific period, effectively avoid robot in actually pasting wall motion process with
Exterior object collides.Furthermore the design method of sample rate has fully considered the movement of robot as possible close to wall, and
And moved with suitable maximum speed, so that robot motion is obtained rapider smoothness, easily completes welt task.
According to the application another aspect, a kind of computer-readable medium is additionally provided, is stored thereon with computer-readable
Instruction, the computer-readable instruction can be executed by processor to realize being moved along wall for mobile robot as described in aforementioned
Method.
According to further aspect of the application, a kind of equipment moved along wall for mobile robot is additionally provided, it is described
Equipment includes：
One or more processors；And
It is stored with the memory of computer-readable instruction, the computer-readable instruction makes the processor when executed
The operation for being such as previously used for the method that mobile robot is moved along wall is executed, for example, the computer-readable instruction is being performed
When so that the processor is executed：Acquisition is inserted into along wall sensor instrument distance data in laser ranging data, ranging number is obtained
According to collection, data that the ranging data is concentrated and described along the distance between wall sensor instrument distance data deviation are determined, according to institute
It states range deviation and the ranging data collection determines patch wall detection data；Be determined according to the patch wall detection data wait for close to
Metope；The sample rate that the mobile robot is determined according to the mode of speed sampling determines institute based on the sample rate
State space of the mobile robot within the sampling period；Determine robot in present sample week according to the patch wall detection data
The speed of service in phase, according to it is described wait for close to metope and the space with the speed of service progress moved along wall.
Obviously, those skilled in the art can carry out the application essence of the various modification and variations without departing from the application
God and range.In this way, if these modifications and variations of the application belong to the range of the application claim and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt
Use application-specific integrated circuit（ASIC）, general purpose computer or any other realized similar to hardware device.In one embodiment
In, the software program of the application can be executed by processor to realize steps described above or function.Similarly, the application
Software program（Including relevant data structure）It can be stored in computer readable recording medium storing program for performing, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, hardware can be used to realize in some steps or function of the application, example
Such as, coordinate to execute the circuit of each step or function as with processor.
In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the present processes and/or technical solution.
And the program instruction of the present processes is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal loaded mediums and be transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, including a device according to one embodiment of the application, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When order is executed by the processor, method and/or skill of the device operation based on aforementioned multiple embodiments according to the application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second equal words are used for table
Show title, and does not represent any particular order.
Claims (9)
1. a kind of method moved along wall for mobile robot, wherein the method includes：
Acquisition is inserted into along wall sensor instrument distance data in laser ranging data, ranging data collection is obtained, determines the survey
Away from data in data set and described along the distance between wall sensor instrument distance data deviation, judge whether the range deviation surpasses
Range deviation threshold value is crossed, if it is not, the laser ranging data then concentrated to the ranging data according to the range deviation is mended
Processing is repaid, the ranging data collection is updated according to the laser ranging data after compensation deals, updated ranging data collection is made
To paste wall detection data, if so, the laser ranging data that the ranging data is concentrated is as patch wall detection data；
According to it is described patch wall detection data be determined wait for close to metope；
The sample rate that the mobile robot is determined according to the mode of speed sampling determines the shifting based on the sample rate
Space of the mobile robot within the sampling period；
Determine the speed of service of the robot in current sample period according to the patch wall detection data, according to it is described wait for close to
Metope and the space are moved with speed of service progress along wall.
2. according to the method described in claim 1, wherein, acquisition is inserted into laser ranging number along wall sensor instrument distance data
Before in, including：
It is corresponding along wall sensor instrument distance data according to the installation site information collection along wall sensor；
Laser sensor of the determining angle between the sensor along wall in angle threshold, to obtain corresponding Laser Measuring
Away from data.
3. according to the method described in claim 1, wherein, acquisition is inserted into laser ranging number along wall sensor instrument distance data
In, including：
Acquisition is inserted into according to the storage mode of angle step in laser ranging data along wall sensor instrument distance data.
4. method according to claim 1 or 2, wherein according to it is described patch wall detection data be determined wait for close to wall
Face, including：
Judge positional distance metope that the mobile robot is currently located whether in preset value according to the patch wall detection data
It is interior, if it is not, then carrying out step S：Judge whether to take fixed direction close to wall, if so, using given target point as patch
Wall point, if it is not, the point that then mobile robot described in selected distance is nearest from the laser ranging data is as patch wall point；
According to the determining corresponding direction of patch wall point as the direction of motion, cycle executes step S, until the mobile robot is worked as
The positional distance metope at preceding place is in preset value.
5. according to the method described in claim 1, wherein, the sampling of the mobile robot is determined according to the mode of speed sampling
Speed determines space of the mobile robot within the sampling period based on the sample rate, including：
The initial samples speed of the mobile robot is determined according to the maximum linear velocity and angular speed of the mobile robot；
Current kinetic space of the corresponding mobile robot within the sampling period is determined according to the initial samples speed.
6. according to the method described in claim 5, wherein, the corresponding mobile machine is determined according to the initial samples speed
After current kinetic space of the people within the sampling period, including：
Judge whether the ambient enviroment that the current kinetic space is perceived with laser sensor collides, if so, described in adjustment
The linear velocity and angular speed of mobile robot are to determine sample rate, if it is not, then being carried out according to current linear velocity and angular speed
It is moved along wall.
7. according to the method described in claim 6, wherein, the method includes：
Judge whether the adjustment of the angular speed is more than corresponding threshold value, if so, reducing linear velocity, judges the linear velocity after reducing
Whether less than the threshold value set, if so, stopping the patch wall movement of the mobile robot, if it is not, then according to the angle after adjustment
Speed and linear velocity determine new sample rate, determine the corresponding mobile robot new according to the new sample rate
Sampling period in space.
8. according to the method described in claim 7, wherein, the method includes：
If the adjustment of the angular speed is less than corresponding threshold value, according to after adjustment angular speed and linear velocity determine new sampling
Speed determines space of the corresponding mobile robot within the new sampling period according to the new sample rate.
9. a kind of equipment moved along wall for mobile robot, wherein the equipment includes：
Data fusion module is inserted into laser ranging data along wall sensor instrument distance data for that will obtain, obtains ranging
Data set determines data that the ranging data is concentrated with described along the distance between wall sensor instrument distance data deviation, judgement
Whether the range deviation is more than range deviation threshold value, if it is not, then the ranging data is concentrated according to the range deviation
Laser ranging data compensates processing, updates the ranging data collection according to the laser ranging data after compensation deals, will more
Ranging data collection after new as patch wall detection data, if so, the laser ranging data that the ranging data is concentrated as
Paste wall detection data；
Determine metope motion module, for according to it is described patch wall detection data be determined wait for close to metope；
Paste wall motion module, the sample rate for determining the mobile robot according to the mode of speed sampling, based on described
Sample rate determines space of the mobile robot within the sampling period；
Wall motion module is pasted, for determining operation speed of the robot in current sample period according to the patch wall detection data
Degree, according to it is described wait for close to metope and the space with the speed of service progress moved along wall.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810046185 | 2018-01-17 | ||
| CN2018100461858 | 2018-01-17 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108303989A CN108303989A (en) | 2018-07-20 |
| CN108303989B true CN108303989B (en) | 2018-09-14 |
Family
ID=62846625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810601994.0A Active CN108303989B (en) | 2018-01-17 | 2018-06-12 | A kind of method and apparatus moved along wall for mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108303989B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958254B (en) * | 2018-07-23 | 2020-10-30 | 深圳市银星智能科技股份有限公司 | Self-moving robot |
| CN109032148B (en) * | 2018-09-25 | 2021-05-18 | 广东宝乐机器人股份有限公司 | Wall corner identification method and device, terminal equipment and storage medium |
| CN109343544B (en) * | 2018-12-19 | 2021-06-04 | 武汉科技大学 | Mobile robot wall-following efficient traversal algorithm combined with historical state |
| CN111436861B (en) * | 2018-12-27 | 2023-02-17 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN111170238B (en) * | 2019-12-31 | 2021-10-29 | 湖南中联重科智能高空作业机械有限公司 | Control system and control method for aerial work platform and aerial work platform |
| CN113359693A (en) * | 2020-02-20 | 2021-09-07 | 广东博智林机器人有限公司 | Robot working method, device, equipment and storage medium |
| CN111358374B (en) * | 2020-04-22 | 2021-08-24 | 珠海市一微半导体有限公司 | Detection method for robot walking along edge grinding bank and blocked detection and processing method |
| CN111538338B (en) * | 2020-05-28 | 2023-05-26 | 长沙中联重科环境产业有限公司 | Robot welt motion control system and method |
| CN112180931B (en) * | 2020-09-30 | 2024-04-12 | 北京小狗吸尘器集团股份有限公司 | Cleaning path planning method and device of sweeper and readable storage medium |
| CN113359701B (en) * | 2021-05-08 | 2023-03-28 | 西安交通大学 | Spraying robot wall-following navigation movement method and system based on laser radar data |
| CN113190638A (en) * | 2021-05-08 | 2021-07-30 | 苏州触达信息技术有限公司 | Electronic map drawing method based on sound distance measurement |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103674028A (en) * | 2013-12-27 | 2014-03-26 | 上海大唐移动通信设备有限公司 | Positioning test method and positioning test device of indoor advancing track |
| CN106406320A (en) * | 2016-11-29 | 2017-02-15 | 重庆重智机器人研究院有限公司 | Robot path planning method and robot planning route |
| CN107976193A (en) * | 2017-11-21 | 2018-05-01 | 出门问问信息科技有限公司 | A kind of pedestrian's flight path estimating method, device, flight path infer equipment and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102038470B (en) * | 2009-10-09 | 2013-02-27 | 泰怡凯电器(苏州)有限公司 | Automatic-moving ground treatment robot and ground-abutting treatment control method thereof |
| CN201602713U (en) * | 2009-10-09 | 2010-10-13 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
| CN102039595B (en) * | 2009-10-09 | 2013-02-27 | 泰怡凯电器(苏州)有限公司 | Self-moving ground handling robot and facing ground handling control method thereof |
| CN201572040U (en) * | 2009-10-09 | 2010-09-08 | 泰怡凯电器(苏州)有限公司 | Self-moving land disposal robot |
| CN103941734A (en) * | 2014-04-29 | 2014-07-23 | 重庆大学 | Accurate control method for root along-wall behaviors on basis of fuzzy logic |
| CN106406311B (en) * | 2016-10-14 | 2019-03-26 | 西安电子科技大学 | Robot ambulation barrier-avoiding method based on information fusion and environment sensing |
-
2018
- 2018-06-12 CN CN201810601994.0A patent/CN108303989B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103674028A (en) * | 2013-12-27 | 2014-03-26 | 上海大唐移动通信设备有限公司 | Positioning test method and positioning test device of indoor advancing track |
| CN106406320A (en) * | 2016-11-29 | 2017-02-15 | 重庆重智机器人研究院有限公司 | Robot path planning method and robot planning route |
| CN107976193A (en) * | 2017-11-21 | 2018-05-01 | 出门问问信息科技有限公司 | A kind of pedestrian's flight path estimating method, device, flight path infer equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108303989A (en) | 2018-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108303989B (en) | A kind of method and apparatus moved along wall for mobile robot | |
| KR101521842B1 (en) | Device for detecting the parking space and method thereof | |
| KR100772912B1 (en) | Robot using absolute azimuth and method for mapping by the robot | |
| CN110632921A (en) | Robot path planning method and device, electronic equipment and storage medium | |
| US8515612B2 (en) | Route planning method, route planning device and autonomous mobile device | |
| JP2501010B2 (en) | Mobile robot guidance device | |
| US10152771B1 (en) | Correction of motion-based inaccuracy in point clouds | |
| US7920087B2 (en) | Apparatus for estimating state of vehicle located in frontward field | |
| CN112539749B (en) | Robot navigation method, robot, terminal device, and storage medium | |
| CN112823084A (en) | Dynamic probabilistic motion planning | |
| JP7059888B2 (en) | Assistance control system | |
| JP2006510097A (en) | A method for recognizing and tracking objects | |
| CN114236564B (en) | Method for positioning robot in dynamic environment, robot, device and storage medium | |
| US9002513B2 (en) | Estimating apparatus, estimating method, and computer product | |
| JP2017166866A (en) | Road surface shape measurement device, measurement method, and program | |
| JP5644516B2 (en) | Parking space detection device | |
| JP2009223757A (en) | Autonomous mobile body, control system, and self-position estimation method | |
| JP4067567B2 (en) | Method and apparatus for determining the location of a plurality of unnamed fixed reference objects for mobile hydro-land transport | |
| Dong et al. | A weld line detection robot based on structure light for automatic NDT | |
| US11080544B1 (en) | Method and device for calibrating pitch of camera on vehicle and method and device for continual learning of vanishing point estimation model to be used for calibrating the pitch | |
| CN113768419B (en) | Method and device for determining sweeping direction of sweeper and sweeper | |
| JP2003058998A (en) | Vehicle parking system | |
| CN112193242B (en) | Parking control method, system, device and storage medium | |
| JP6759625B2 (en) | Measuring device | |
| JP6932971B2 (en) | Motion tracking methods, motion tracking programs, and motion tracking systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |