CN109491394A - A kind of virtual barrier-avoiding method, device, storage medium and robot - Google Patents
A kind of virtual barrier-avoiding method, device, storage medium and robot Download PDFInfo
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- CN109491394A CN109491394A CN201811543422.8A CN201811543422A CN109491394A CN 109491394 A CN109491394 A CN 109491394A CN 201811543422 A CN201811543422 A CN 201811543422A CN 109491394 A CN109491394 A CN 109491394A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000004888 barrier function Effects 0.000 claims abstract description 46
- 238000005457 optimization Methods 0.000 claims abstract description 8
- 239000011521 glass Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- G05D1/0268—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
Abstract
The invention discloses a kind of virtual barrier-avoiding methods, it include: that several virtual obstacles are added on initial map, virtual limitation map is generated, specifically includes: optimizing the shape of virtual obstacles, fills up sunk area of the virtual obstacles edge notches width less than the current diameter of robot automatically；And/or neighborhood classification is carried out to virtual obstacles, the virtual obstacles that interval is less than the current diameter of robot are grouped together；Virtual obstacles after optimization are added on initial map, virtual limitation map is generated；By being optimized to virtual obstacles: optimizing the shape of virtual obstacles and merge small spacing barrier, reduce operand when robot navigation, prevent simultaneously causes robot part body to enter barrier region when robot ambulation since interval is too small, the problem of avoidance failure occurs.
Description
Technical field
The present invention relates to field of navigation technology more particularly to a kind of virtual barrier-avoiding method, device, storage medium and machines
People.
Background technique
The navigation procedure of robot relies primarily on various sensors (such as laser radar) to perceive the environment on its periphery, example
Such as whether there are the information such as barrier.But the light beam of laser radar can penetrate glass, can not detect the transparencies such as glass
Body, thus the transparent substances such as glass can be regarded be available free area during the navigation process；In addition, being deposited in certain environment
In certain dangerous or privacy areas, for example store the room etc. of inflammable and explosive object.For these scenes, it is intended that robot
These regions (glass, danger zone etc.) can independently be got around.Avoidance is carried out using virtual obstacles although having developed at present,
But in current Robot Virtual avoidance, it is Chong Die with virtual obstacles to be still faced with robot part body, occurs empty
The case where quasi- barrier avoidance failure.
Summary of the invention
The purpose of the present invention is to provide a kind of virtual barrier-avoiding method, device, storage medium and robots, to solve in mesh
In preceding Robot Virtual avoidance, it is Chong Die with virtual obstacles to be still faced with robot part body, virtual obstacles occurs
The problem of the case where avoidance fails.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of virtual barrier-avoiding method, comprising: add several virtual obstacles on initial map, generate virtual limitation ground
Figure；Specifically comprise the following steps:
The virtual obstacles parameter that user draws on initial map is obtained, several virtual obstacles are generated；
The virtual obstacles are optimized, are specifically included: optimizing the shape of the virtual obstacles, fill up empty automatically
Quasi- barrier edge notches width is less than the sunk area of the current diameter of robot；And/or the virtual obstacles are carried out adjacent
Domain is sorted out, and the virtual obstacles that interval is less than the current diameter of robot are grouped together；
Virtual obstacles after optimization are added on initial map, virtual limitation map is generated.
Optionally, the step: adding several virtual obstacles on initial map, after generating virtual limitation map,
Further include:
Practical obstacle object addition is entered in virtual limitation map, is generated in real time by real time scan practical obstacle object
Figure；
Each barrier in real-time map is equidistantly expanded outwardly by its profile, generates real-time navigation map, the barrier
Hindering object includes virtual obstacles and practical obstacle object；
Avoidance is carried out according to each barrier in real-time navigation map.
Optionally, each barrier in real-time map is equidistantly expanded outwardly by its profile, is specifically included:
It is drawn out outside the current outline sideline of barrier around the expansion profile sideline in current outline sideline, expands profile
Each point is greater than or equal to the passage radius of robot to the distance in current outline sideline on sideline, forms expansion by expansion profile sideline
Barrier after.
Optionally, the virtual obstacles parameter includes forming the vertex of several virtual obstacles profiles, by successively
Each vertex is connected into generation virtual obstacles.
Optionally, the step: adding several virtual obstacles on initial map, before generating virtual limitation map,
Further include:
Pre-loaded initial map includes several initial obstacle objects on initial map.
A kind of virtual obstacle avoidance apparatus, comprising: virtual obstacles module, for adding several virtual obstacles on initial map
Object generates virtual limitation map；The virtual obstacles module includes:
Virtual obstacles generation unit, the virtual obstacles parameter drawn on initial map for obtaining user generate
Several virtual obstacles；
Virtual obstacles optimize unit and fill up virtual obstacles side automatically for optimizing the shape of the virtual obstacles
Edge notch width is less than the sunk area of the current diameter of robot；And/or return for carrying out neighborhood to the virtual obstacles
The virtual obstacles that interval is less than the current diameter of robot are grouped together by class；
Virtual obstacles adding unit: the virtual obstacles after optimization are added on initial map, generate virtual limitation
Map.
Optionally, virtual obstacle avoidance apparatus further include: practical obstacle object module is used for real time scan practical obstacle object, by institute
It states the addition of practical obstacle object to enter in virtual limitation map, generates real-time map；
Barrier expands module, for equidistantly expanding outwardly to each barrier in real-time map by its profile, generates
Real-time navigation map, the barrier include virtual obstacles and practical obstacle object；
Obstacle avoidance module, for carrying out avoidance according to each barrier in real-time navigation map.
A kind of storage medium, the storage medium are stored with a plurality of instruction, and described instruction is suitable for processor and is loaded, with
Execute the step in as above any virtual barrier-avoiding method.
A kind of robot, the robot include any virtual obstacle avoidance apparatus as above.
Compared with prior art, the embodiment of the present invention has the advantages that
The present invention is by optimizing virtual obstacles: optimizing the shape of virtual obstacles and merges small spacing obstacle
Object reduces operand when robot navigation, while preventing and too small lead to robot part due to being spaced when robot ambulation
Body enters barrier region, the problem of avoidance failure occurs.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of flow chart for virtual barrier-avoiding method that the embodiment of the present invention one provides；
Fig. 2 is the specific flow chart of the step S102 for virtual barrier-avoiding method that the embodiment of the present invention one provides a kind of；
Fig. 3 is a kind of structural schematic diagram of virtual obstacle avoidance apparatus provided by Embodiment 2 of the present invention.
In figure: 10, virtual obstacles module；11, virtual obstacles generation unit；12, virtual obstacles optimize unit；
13, virtual obstacles adding unit；20, practical obstacle object module；30, barrier expands module；40, obstacle avoidance module.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Embodiment one
Referring to FIG. 1, a kind of virtual barrier-avoiding method, includes the following steps:
Step S101: pre-loaded initial map includes several initial obstacle objects on initial map.
Step S102: adding several virtual obstacles on initial map, generates virtual limitation map.
Step S103: real time scan practical obstacle object enters practical obstacle object addition in virtual limitation map, raw
At real-time map.
Step S104: equidistantly being expanded outwardly each barrier in real-time map by its profile, with generating real-time navigation
Figure；Wherein, barrier includes initial obstacle object, virtual obstacles and practical obstacle object.
Step S105: avoidance is carried out according to each barrier in real-time navigation map.
Further, step S104 is specifically included: is drawn out outside the current outline sideline of barrier around current outline
The expansion profile sideline in sideline, the distance for expanding each point to current outline sideline on profile sideline are greater than or equal to the logical of robot
Row radius forms the barrier after expansion by expansion profile sideline.
Wherein, the passage radius of robot is the half of required maximum width when robot is current, and the passage of robot is straight
Diameter is maximum width required when robot is current.
By expanding to each barrier in real-time map, robot processor in real-time navigation can be reduced
Barrier calculation amount reduces the use demand of processor.
Further, referring to FIG. 2, step S102 is specifically included:
Step S1021: starting user setting function, the parameter for allowing user to carry out virtual obstacles on initial map are drawn
System；Wherein, user can draw the parameters such as the shape of virtual obstacles, size by modes such as point/line/polygons.
Step S1022: the virtual obstacles parameter that user draws on initial map is obtained, several virtual obstacles are generated
Object, and stored.
Wherein, virtual obstacles parameter includes forming the vertex of several virtual obstacles profiles, by successively by each top
Point connects generation virtual obstacles.
Step S1023: optimizing virtual obstacles, specifically:
The shape for optimizing virtual obstacles fills up virtual obstacles edge notches width less than the current diameter of robot automatically
Sunk area.
Specifically, if the edge of virtual obstacles has the region of recess, and the width of recess is less than the passage of robot
Diameter then fills up the region of recess automatically, it is made to become an entirety with virtual obstacles.
Neighborhood classification is carried out to virtual obstacles, interval is less than the virtual obstacles merger of the current diameter of robot one
It rises；It specifically includes:
If the spacing between two virtual obstacles is less than the passage diameter of robot, it is merged into a virtual obstacles
Object；If the spacing between virtual obstacles and other adjacent virtual obstacles after merging is less than the passage diameter of robot,
Then continue to merge into a virtual obstacles, until the spacing between any two adjacent virtual obstacles is greater than the passage of robot
Until diameter.
By optimize virtual obstacles, when preventing robot ambulation due to interval too it is small cause robot part body into
Enter virtual obstacles object area, the problem of virtual obstacles avoidance failure occurs.
Step S1024: virtual obstacles are added on initial map, generate virtual limitation map.
A kind of virtual barrier-avoiding method provided in this embodiment, by being optimized to virtual obstacles: optimization virtual obstacles
When the shape of object and merging small spacing barrier, reduce operand when robot navigation, while preventing robot ambulation by
In be spaced it is too small cause robot part body to enter barrier region, there is the problem of avoidance failure.
Embodiment two
A kind of virtual obstacle avoidance apparatus, comprising: virtual obstacles module 10, for adding several virtual barriers on initial map
Hinder object, generates virtual limitation map；The virtual obstacles module includes:
Virtual obstacles generation unit 11, the virtual obstacles parameter drawn on initial map for obtaining user are raw
At several virtual obstacles；
Virtual obstacles optimize unit 12 and fill up virtual obstacles automatically for optimizing the shape of the virtual obstacles
Edge notches width is less than the sunk area of the current diameter of robot；And/or return for carrying out neighborhood to the virtual obstacles
The virtual obstacles that interval is less than the current diameter of robot are grouped together by class；
Virtual obstacles adding unit 13 is added to initial map for the virtual obstacles after optimizing, and generates virtual
Limit map.
Specifically, the virtual obstacle avoidance apparatus of the present embodiment further include: practical obstacle object module 20 is practical for real time scan
Practical obstacle object addition is entered in virtual limitation map, generates real-time map by barrier；
Barrier expands module 30, raw for equidistantly expanding outwardly to each barrier in real-time map by its profile
At real-time navigation map, the barrier includes virtual obstacles and practical obstacle object；
Obstacle avoidance module 40, for carrying out avoidance according to each barrier in real-time navigation map.
A kind of virtual obstacle avoidance apparatus provided in this embodiment, by being optimized to virtual obstacles: optimization virtual obstacles
The shape of object and merge small spacing barrier, it is therefore prevented that when robot ambulation due to be spaced it is too small cause robot part body into
Enter barrier region, the problem of avoidance failure occurs.
Embodiment three
It will appreciated by the skilled person that all or part of the steps in the various methods of above-described embodiment can be with
It is completed by instructing, or relevant hardware is controlled by instruction to complete, which can store computer-readable deposits in one
In storage media, and is loaded and executed by processor.
For this purpose, the embodiment of the present invention provides a kind of storage medium, wherein being stored with a plurality of instruction, which can be processed
Device is loaded, to execute the step in any human face target distance measuring method provided by the embodiment of the present invention.For example, this refers to
Order can execute following steps:
Several virtual obstacles are added on initial map, generate virtual limitation map；Specifically comprise the following steps:
The virtual obstacles parameter that user draws on initial map is obtained, several virtual obstacles are generated；
The virtual obstacles are optimized, are specifically included: optimizing the shape of the virtual obstacles, fill up empty automatically
Quasi- barrier edge notches width is less than the sunk area of the current diameter of robot；And/or the virtual obstacles are carried out adjacent
Domain is sorted out, and the virtual obstacles that interval is less than the current diameter of robot are grouped together；
Virtual obstacles after optimization are added on initial map, virtual limitation map is generated.
The specific implementation of above each operation can be found in the embodiment of front, and details are not described herein.
Wherein, which may include: read-only memory (ROM, Read Only Memory), random access memory
Body (RAM, Random Access Memory), disk or CD etc..
Example IV
The present embodiment provides a kind of robot, which includes virtual obstacle avoidance apparatus described in embodiment two as above.
The existing specific explanation of the specific structure embodiment two of virtual obstacle avoidance apparatus, details are not described herein.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of virtual barrier-avoiding method characterized by comprising add several virtual obstacles on initial map, generate empty
Quasi- limitation map；Specifically comprise the following steps:
The virtual obstacles parameter that user draws on initial map is obtained, several virtual obstacles are generated；
The virtual obstacles are optimized, are specifically included: optimizing the shape of the virtual obstacles, fill up virtual barrier automatically
Object edge notches width is hindered to be less than the sunk area of the current diameter of robot；And/or neighborhood is carried out to the virtual obstacles and is returned
The virtual obstacles that interval is less than the current diameter of robot are grouped together by class；
Virtual obstacles after optimization are added on initial map, virtual limitation map is generated.
2. virtual barrier-avoiding method according to claim 1, which is characterized in that the step: if being added on initial map
Dry virtual obstacles generate after virtually limiting map, further includes:
Practical obstacle object addition is entered in virtual limitation map, generates real-time map by real time scan practical obstacle object；
Each barrier in real-time map is equidistantly expanded outwardly by its profile, generates real-time navigation map, the barrier
Including virtual obstacles and practical obstacle object；
Avoidance is carried out according to each barrier in real-time navigation map.
3. virtual barrier-avoiding method according to claim 2, which is characterized in that each barrier in real-time map is pressed
Its profile equidistantly expands outwardly, and specifically includes:
It is drawn out outside the current outline sideline of barrier around the expansion profile sideline in current outline sideline, expands profile sideline
Upper each point is greater than or equal to the passage radius of robot to the distance in current outline sideline, after forming expansion by expansion profile sideline
Barrier.
4. virtual barrier-avoiding method according to claim 1, which is characterized in that if the virtual obstacles parameter includes being formed
The vertex of dry virtual obstacles profile, by the way that each vertex is successively connected generation virtual obstacles.
5. virtual barrier-avoiding method according to claim 1, which is characterized in that the step: if being added on initial map
Dry virtual obstacles generate before virtually limiting map, further includes:
Pre-loaded initial map includes several initial obstacle objects on initial map.
6. a kind of virtual obstacle avoidance apparatus characterized by comprising virtual obstacles module, if for being added on initial map
Dry virtual obstacles generate virtual limitation map；The virtual obstacles module includes:
Virtual obstacles generation unit, the virtual obstacles parameter drawn on initial map for obtaining user generate several
Virtual obstacles；
Virtual obstacles optimize unit and it is recessed to fill up virtual obstacles edge automatically for optimizing the shape of the virtual obstacles
Mouth width degree is less than the sunk area of the current diameter of robot；It, will and/or for carrying out neighborhood classification to the virtual obstacles
The virtual obstacles that interval is less than the current diameter of robot are grouped together；
Virtual obstacles adding unit generates virtual limitation for the virtual obstacles after optimization to be added to initial map
Map.
7. virtual obstacle avoidance apparatus according to claim 6, which is characterized in that further include: practical obstacle object module, for real
When scan practical obstacle object, practical obstacle object addition is entered in virtual limitation map, real-time map is generated；
Barrier expands module, for equidistantly expanding outwardly to each barrier in real-time map by its profile, generates real-time
Navigation map, the barrier include virtual obstacles and practical obstacle object；
Obstacle avoidance module, for carrying out avoidance according to each barrier in real-time navigation map.
8. a kind of storage medium, which is characterized in that the storage medium is stored with a plurality of instruction, described instruction be suitable for processor into
Row load requires the step in 1 to 5 described in any item virtual barrier-avoiding methods with perform claim.
9. a kind of robot, which is characterized in that the robot includes virtual obstacle avoidance apparatus as claimed in claims 6 or 7.
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| CN110522359A (en) * | 2019-09-03 | 2019-12-03 | 深圳飞科机器人有限公司 | The control method of clean robot and clean robot |
| CN110726416A (en) * | 2019-10-23 | 2020-01-24 | 西安工程大学 | Reinforced learning path planning method based on obstacle area expansion strategy |
| CN110967029A (en) * | 2019-12-17 | 2020-04-07 | 中新智擎科技有限公司 | Picture construction method and device and intelligent robot |
| CN111176301A (en) * | 2020-03-03 | 2020-05-19 | 江苏美的清洁电器股份有限公司 | Map construction method and sweeping method of sweeping robot |
| CN111338384A (en) * | 2019-12-17 | 2020-06-26 | 北京化工大学 | Self-adaptive path tracking method of snake-like robot |
| CN112578795A (en) * | 2020-12-15 | 2021-03-30 | 深圳市优必选科技股份有限公司 | Robot obstacle avoidance method and device, robot and storage medium |
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| US11593539B2 (en) | 2018-11-30 | 2023-02-28 | BlueOwl, LLC | Systems and methods for facilitating virtual vehicle operation based on real-world vehicle operation data |
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| US11707683B2 (en) | 2020-01-20 | 2023-07-25 | BlueOwl, LLC | Systems and methods for training and applying virtual occurrences and granting in-game resources to a virtual character using telematics data of one or more real trips |
| US11691084B2 (en) | 2020-01-20 | 2023-07-04 | BlueOwl, LLC | Systems and methods for training and applying virtual occurrences to a virtual character using telematics data of one or more real trips |
| CN111176301A (en) * | 2020-03-03 | 2020-05-19 | 江苏美的清洁电器股份有限公司 | Map construction method and sweeping method of sweeping robot |
| CN112578795A (en) * | 2020-12-15 | 2021-03-30 | 深圳市优必选科技股份有限公司 | Robot obstacle avoidance method and device, robot and storage medium |
| US11504622B1 (en) | 2021-08-17 | 2022-11-22 | BlueOwl, LLC | Systems and methods for generating virtual encounters in virtual games |
| US11697069B1 (en) | 2021-08-17 | 2023-07-11 | BlueOwl, LLC | Systems and methods for presenting shared in-game objectives in virtual games |
| US11896903B2 (en) | 2021-08-17 | 2024-02-13 | BlueOwl, LLC | Systems and methods for generating virtual experiences for a virtual game |
| US11918913B2 (en) | 2021-08-17 | 2024-03-05 | BlueOwl, LLC | Systems and methods for generating virtual encounters in virtual games |
| US11969653B2 (en) | 2021-08-17 | 2024-04-30 | BlueOwl, LLC | Systems and methods for generating virtual characters for a virtual game |
| CN114427859B (en) * | 2022-03-14 | 2023-06-02 | 季华实验室 | Mobile robot virtual forbidden zone setting and deleting control system |
| CN114427859A (en) * | 2022-03-14 | 2022-05-03 | 季华实验室 | Mobile robot virtual forbidden zone setting and deleting control system |
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Application publication date: 20190319 |