CN109213151A - A kind of paths planning method and distributed robot - Google Patents
A kind of paths planning method and distributed robot Download PDFInfo
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- CN109213151A CN109213151A CN201810891719.7A CN201810891719A CN109213151A CN 109213151 A CN109213151 A CN 109213151A CN 201810891719 A CN201810891719 A CN 201810891719A CN 109213151 A CN109213151 A CN 109213151A
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- Prior art keywords
- distributed robot
- depletion region
- distribution situation
- distributed
- robot
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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
- G05D1/0246—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
Abstract
This application discloses a kind of paths planning method and distributed robots.This method comprises: obtaining the distribution situation of the barrier around distributed robot in specified range；According to the distribution situation, the depletion region around the distributed robot is determined；And according to the depletion region and destination again planning path, pass through the above method, if distributed robot currently encounters barrier and can not move, when the road strength drawn according to above-mentioned weight-normality is advanced, distributed robot can avoid the barrier of current position, so as to continue on distributed robot, and then be conducive to improve the probability that distributed robot arrives at the destination.
Description
Technical field
This application involves field of computer technology, in particular to a kind of paths planning method and distributed robot.
Background technique
Distributed robot can encounter barrier in the path traveling process according to setting, at this time if distributed robot
Continue to advance according to preset path, will lead to distributed robot can not move, current effective not yet for above situation
Solution.
Summary of the invention
The main purpose of the application is to provide a kind of paths planning method and distributed robot, so that distributed robot's energy
Enough continue on.
To achieve the goals above, this application provides a kind of paths planning methods, comprising:
Obtain the distribution situation of the barrier around distributed robot in specified range；
According to the distribution situation, the depletion region around the distributed robot is determined；And
According to the depletion region and destination again planning path.
Optionally, the distribution situation of the barrier around acquisition distributed robot in specified range includes:
The detection data around the distributed robot is obtained by ray class sensor；And
The detection data is analyzed, to obtain the distribution situation.
Optionally, the distribution situation of the barrier around acquisition distributed robot in specified range includes:
The image data around the distributed robot is obtained by image capture device；And
Described image data are analyzed, to obtain the distribution situation.
Optionally, include: according to the depletion region and destination again planning path
Determine the relative position of the depletion region Yu the distributed robot；
Depending on that relative position, traveling towards for the distributed robot is adjusted, so that the row of the distributed robot
Into direction towards the depletion region；And
With traveling towards for initial direction of travel, according to the destination again planning path for the distributed robot.
Optionally, after according to the depletion region and destination again planning path, the method also includes:
Instruction of advancing is executed according to the path after planning.
To achieve the goals above, this application provides a kind of distributed robots, comprising:
Acquiring unit, for obtaining the distribution situation of the barrier around distributed robot in specified range；
Determination unit, for determining the depletion region around the distributed robot according to the distribution situation；
Path planning unit, for according to the depletion region and destination again planning path.
Optionally, it is used to obtain the distribution feelings of the barrier around distributed robot in specified range in the acquiring unit
When condition, it is used for:
The detection data around the distributed robot is obtained by ray class sensor；And
The detection data is analyzed, to obtain the distribution situation.
Optionally, it obtains and is used to obtain the distribution of the barrier around distributed robot in specified range in the acquiring unit
When situation, it is used for:
The image data around the distributed robot is obtained by image capture device；And
Described image data are analyzed, to obtain the distribution situation.
Optionally, when the path planning unit is used for according to the depletion region and destination planning path again,
For:
Determine the relative position of the depletion region Yu the distributed robot；
Depending on that relative position, traveling towards for the distributed robot is adjusted, so that the row of the distributed robot
Into direction towards the depletion region；And
With traveling towards for initial direction of travel, according to the destination again planning path for the distributed robot.
Optionally, the distributed robot further include:
Instruction execution unit, for after according to the depletion region and destination again planning path, according to planning
Path afterwards executes instruction of advancing.
The technical solution that embodiments herein provides can include the following benefits:
In this application, after the distribution situation for obtaining the barrier around distributed robot in specified range, the distribution feelings
Condition can symbolize relative position and the relative distance of barrier and distributed robot, therefore can be according to the distribution situation, really
Make the depletion region around distributed robot, i.e., in a certain range without barrier in which orientation of distributed robot,
Then according to the depletion region and destination again planning path, therefore distributed robot is according to the above-mentioned path planned again
It is then to reach the destination after the depletion region, if distributed robot currently encounters barrier and can not when traveling
When mobile, when the road strength drawn according to above-mentioned weight-normality is advanced, distributed robot can avoid the barrier of current position, thus
Distributed robot can be made to continue on, and then be conducive to improve the probability that distributed robot arrives at the destination.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide 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
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of paths planning method provided by the present application；
Fig. 2 is the flow diagram of another paths planning method provided by the present application；
Fig. 3 is the flow diagram of another paths planning method provided by the present application；
Fig. 4 is the flow diagram of another paths planning method provided by the present application；
Fig. 5 is a kind of structural schematic diagram of distributed robot provided by the present application；
Fig. 6 is the structural schematic diagram of another distributed robot provided by the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, 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 positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is a kind of flow diagram of paths planning method provided by the present application, as shown in Figure 1, in distributed robot
When encountering barrier can not move, method includes the following steps:
101, the distribution situation of the barrier around distributed robot in specified range is obtained.
It should be noted that above-mentioned specified range can be set according to actual needs, for example, the specified range can
Think range corresponding to the minimum space needed when distributed robot's turning, alternatively, needed when being turned with distributed robot
Based on the corresponding image of minimum space, range corresponding to the image after expanding specified multiple on the basis of the image, tool
The specified range of body is not specifically limited herein.
It needs to be noted again that, barrier can be all objects that can impact the traveling of distributed robot
Body, for example, desk, statue, the object temporarily placed in channel etc., specific barrier can be set according to actual needs
It is fixed, it is not specifically limited herein.
It should be noted that distribution situation is that can be used in indicating the relative position of distributed robot and barrier and opposite
The parameter of distance can analyze out each barrier is located at which specific orientation of distributed robot according to the distribution situation,
And the spacing of each barrier and distributed robot.
102, according to the distribution situation, the depletion region around the distributed robot is determined.
Specifically, the depletion region is the region that distributed robot can be made to pass through, i.e. distributed robot is passing through
When the depletion region, the influence of barrier not will receive, the determination method about depletion region can carry out according to actual needs
Setting, is not specifically limited herein.
103, according to the depletion region and destination again planning path.
In this application, after the distribution situation for obtaining the barrier around distributed robot in specified range, the distribution feelings
Condition can symbolize relative position and the relative distance of barrier and distributed robot, therefore can be according to the distribution situation, really
Make the depletion region around distributed robot, i.e., in a certain range without barrier in which orientation of distributed robot,
Then according to the depletion region and destination again planning path, therefore distributed robot is according to the above-mentioned path planned again
It is then to reach the destination after the depletion region, if distributed robot currently encounters barrier and can not when traveling
When mobile, when the road strength drawn according to above-mentioned weight-normality is advanced, distributed robot can avoid the barrier of current position, thus
Distributed robot can be made to continue on, and then be conducive to improve the probability that distributed robot arrives at the destination.
It should be noted that when distributed robot advances according to the above-mentioned path planned again, if encountering barrier again
When hindering object and can not move, then need to continue planning path again according to step shown in FIG. 1.
In a feasible embodiment, Fig. 2 is the process signal of another paths planning method provided by the present application
Figure, as shown in Fig. 2, can be realized by following steps when executing step 101:
201, the detection data around the distributed robot is obtained by ray class sensor.
Specifically, can choose any when detecting the detection data around distributed robot by ray class sensor
Ray is projected in direction, if not detecting the ray of return, indicates that the direction does not have barrier, if detecting penetrating for return
Line can analyze barrier in this direction and distributed robot according to projecting ray and returning to the time difference between ray
Relative distance multiple directions can be detected to determine accurate detection data, about specific detection essence
Thin degree can be set according to actual needs, be not specifically limited herein.
It should be noted that the concrete type of ray class sensor can be set according to actual needs, do not do herein
It is specific to limit.
202, the detection data is analyzed, to obtain the distribution situation.
Specifically, due to detection data it can be shown that whether there is barrier on some direction, and if there is barrier,
It then also may indicate that out the barrier and the relative distance of distributed robot, therefore after analyzing detection data, it can be with
Determine the relative position for indicating each barrier and distributed robot and the distribution situation of relative distance.
In a feasible embodiment, Fig. 3 is the process signal of another paths planning method provided by the present application
Figure, as shown in figure 3, can be realized by following steps when executing step 101:
301, the image data around the distributed robot is obtained by image capture device.
It is illustrated so that image capture device is camera as an example, camera is installed on distributed robot, it then can be with
Pass through the available image data to around distributed robot of camera, it should be noted that about image capture device
Concrete type can be set according to actual needs, be not specifically limited herein.
302, described image data are analyzed, to obtain the distribution situation.
In a feasible embodiment, Fig. 4 is the process signal of another paths planning method provided by the present application
Figure, as shown in figure 4, can be realized by following steps when executing step 103:
401, the relative position of the depletion region Yu the distributed robot is determined.
402, traveling towards for the distributed robot depending on that relative position, is adjusted, so that the distributed robot
Direction of travel towards the depletion region.
403, traveling towards as initial direction of travel with the distributed robot, plans road according to the destination again
Diameter.
Specifically, after determining the relative position of the depletion region and distributed robot, since distributed robot needs
The depletion region is given to start to continue on, it is therefore desirable to traveling towards for distributed robot is adjusted, adjustment distributed robot's
After traveling towards, the direction of travel of distributed robot is towards the depletion region at this time, the then traveling current with distributed robot
It is oriented initial direction of travel, plans the path from current location to destination again.
In a feasible embodiment, after according to the depletion region and destination again planning path, send
Goods robot executes instruction of advancing according to the path after planning.
Specifically, distributed robot, due to that can avoid current barrier, has when advancing according to above-mentioned path
Conducive to the probability that raising distributed robot arrives at the destination, when distributed robot advances according to the above-mentioned path planned again,
If encounter barrier again and can not move, need to continue planning path again according to step shown in FIG. 1.
Fig. 5 is a kind of structural schematic diagram of distributed robot provided by the present application, as shown in Figure 5, comprising:
Acquiring unit 51, for obtaining the distribution situation of the barrier around distributed robot in specified range；
Determination unit 52, for determining the depletion region around the distributed robot according to the distribution situation；
Path planning unit 53, for according to the depletion region and destination again planning path.
In a feasible embodiment, in the acquiring unit 51 for obtaining specified range around distributed robot
When the distribution situation of interior barrier, it is used for:
The detection data around the distributed robot is obtained by ray class sensor；And
The detection data is analyzed, to obtain the distribution situation.
In a feasible embodiment, in the acquiring unit 51 for obtaining specified range around distributed robot
When the distribution situation of interior barrier, it is used for:
The image data around the distributed robot is obtained by image capture device；And
Described image data are analyzed, to obtain the distribution situation.
In a feasible embodiment, it is used in the path planning unit 53 according to the depletion region and purpose
Ground again planning path when, be used for:
Determine the relative position of the depletion region Yu the distributed robot；
Depending on that relative position, traveling towards for the distributed robot is adjusted, so that the row of the distributed robot
Into direction towards the depletion region；And
With traveling towards for initial direction of travel, according to the destination again planning path for the distributed robot.
In a feasible embodiment, Fig. 6 is the structural schematic diagram of another distributed robot provided by the present application,
As shown in fig. 6, the distributed robot further include:
Instruction execution unit 54, for after according to the depletion region and destination again planning path, according to rule
Path after drawing executes instruction of advancing.
The concrete mode of operation is executed in the embodiment of the method about each unit in above-described embodiment
It is described in detail, no detailed explanation will be given here.
In this application, after the distribution situation for obtaining the barrier around distributed robot in specified range, the distribution feelings
Condition can symbolize relative position and the relative distance of barrier and distributed robot, therefore can be according to the distribution situation, really
Make the depletion region around distributed robot, i.e., in a certain range without barrier in which orientation of distributed robot,
Then according to the depletion region and destination again planning path, therefore distributed robot is according to the above-mentioned path planned again
It is then to reach the destination after the depletion region, if distributed robot currently encounters barrier and can not when traveling
When mobile, when the road strength drawn according to above-mentioned weight-normality is advanced, distributed robot can avoid the barrier of current position, thus
Distributed robot can be made to continue on, and then be conducive to improve the probability that distributed robot arrives at the destination.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of paths planning method characterized by comprising
Obtain the distribution situation of the barrier around distributed robot in specified range；
According to the distribution situation, the depletion region around the distributed robot is determined；And
According to the depletion region and destination again planning path.
2. the method as described in claim 1, which is characterized in that obtain the barrier around distributed robot in specified range
Distribution situation includes:
The detection data around the distributed robot is obtained by ray class sensor；And
The detection data is analyzed, to obtain the distribution situation.
3. the method as described in claim 1, which is characterized in that obtain the barrier around distributed robot in specified range
Distribution situation includes:
The image data around the distributed robot is obtained by image capture device；And
Described image data are analyzed, to obtain the distribution situation.
4. the method as described in claim 1, which is characterized in that according to the depletion region and destination again planning path packet
It includes:
Determine the relative position of the depletion region Yu the distributed robot；
Depending on that relative position, traveling towards for the distributed robot is adjusted, so that the traveling side of the distributed robot
To towards the depletion region；And
With traveling towards for initial direction of travel, according to the destination again planning path for the distributed robot.
5. the method as described in claim 1, which is characterized in that according to the depletion region and destination again planning path
Later, the method also includes:
Instruction of advancing is executed according to the path after planning.
6. a kind of distributed robot characterized by comprising
Acquiring unit, for obtaining the distribution situation of the barrier around distributed robot in specified range；
Determination unit, for determining the depletion region around the distributed robot according to the distribution situation；
Path planning unit, for according to the depletion region and destination again planning path.
7. distributed robot as claimed in claim 6, which is characterized in that in the acquiring unit for obtaining distributed robot
When the distribution situation of the barrier in surrounding specified range, it is used for:
The detection data around the distributed robot is obtained by ray class sensor；And
The detection data is analyzed, to obtain the distribution situation.
8. distributed robot as claimed in claim 6, which is characterized in that obtain in the acquiring unit for obtaining delivery machine
When the distribution situation of the barrier around people in specified range, it is used for:
The image data around the distributed robot is obtained by image capture device；And
Described image data are analyzed, to obtain the distribution situation.
9. distributed robot as claimed in claim 6, which is characterized in that be used in the path planning unit according to the sky
Spacious region and destination again planning path when, be used for:
Determine the relative position of the depletion region Yu the distributed robot；
Depending on that relative position, traveling towards for the distributed robot is adjusted, so that the traveling side of the distributed robot
To towards the depletion region；And
With traveling towards for initial direction of travel, according to the destination again planning path for the distributed robot.
10. distributed robot as claimed in claim 6, which is characterized in that the distributed robot further include:
Instruction execution unit, for after according to the depletion region and destination again planning path, after planning
Path executes instruction of advancing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810891719.7A CN109213151A (en) | 2018-08-07 | 2018-08-07 | A kind of paths planning method and distributed robot |
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| CN201810891719.7A CN109213151A (en) | 2018-08-07 | 2018-08-07 | A kind of paths planning method and distributed robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114594761A (en) * | 2022-01-05 | 2022-06-07 | 美的集团(上海)有限公司 | Path planning method for robot, electronic device and computer-readable storage medium |
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Application publication date: 20190115 |
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