CN109508019A - A kind of motion planning and robot control method, apparatus and storage medium - Google Patents
A kind of motion planning and robot control method, apparatus and storage medium Download PDFInfo
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- CN109508019A CN109508019A CN201811627346.9A CN201811627346A CN109508019A CN 109508019 A CN109508019 A CN 109508019A CN 201811627346 A CN201811627346 A CN 201811627346A CN 109508019 A CN109508019 A CN 109508019A
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- 238000000034 method Methods 0.000 title claims abstract description 75
- 238000003860 storage Methods 0.000 title abstract description 18
- 230000004888 barrier function Effects 0.000 claims abstract description 159
- 230000008569 process Effects 0.000 claims abstract description 32
- 238000012545 processing Methods 0.000 claims description 22
- 238000005266 casting Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 11
- 238000004590 computer program Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 241000894007 species Species 0.000 description 4
- 208000012661 Dyskinesia Diseases 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 241000282373 Panthera pardus Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a kind of motion planning and robot control method, apparatus and storage medium, to reduce the resource overhead during robot obstacle-avoiding, robot obstacle-avoiding effect is improved.The motion planning and robot control method, comprising: when robot executes task according to barrier is detected in planning path motion process, determine the obstacle identity；From the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, searches the corresponding Robot dodge strategy of the obstacle identity determined and control the robot execution Robot dodge strategy.
Description
Technical field
The present invention relates to field of artificial intelligence more particularly to a kind of motion planning and robot control method, apparatus and storages
Medium.
Background technique
The path planning of robot is problem extremely important in robot research field, and total control target is to make machine
People moves to target point, and total constraint is that in the whole process, robot is without impinging on any one barrier.But due to machine
The environment of device people movement changes in real time, and robot is all likely to occur obstacle in the path motion process according to planning at any time
Object, therefore, robot obstacle-avoiding technology are also one of the important branch in robot research institute field.
In existing robot obstacle-avoiding technology, used when detecting barrier in robot kinematics rotation hide with
And the strategy that planning path detours again, this Robot dodge strategy increase the expense of process resource, avoidance effect is also poor.
Summary of the invention
The embodiment of the present invention provides a kind of motion planning and robot control method, to reduce the resource during robot obstacle-avoiding
Expense improves robot obstacle-avoiding effect.
In a first aspect, providing a kind of motion planning and robot control method, comprising:
When robot executes task according to barrier is detected in planning path motion process, the obstacle species are determined
Type；
From the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, the obstacle species determined are searched
The corresponding Robot dodge strategy of type, and control robot and execute the Robot dodge strategy.
Optionally, the obstacle identity includes non-rapid moving obstacle and quick moving obstacle；And preparatory
In corresponding relationship between the obstacle identity and Robot dodge strategy of storage, the corresponding Robot dodge strategy of non-rapid moving obstacle be by
The barrier is bypassed according to the path planned again；The quick corresponding Robot dodge strategy of moving obstacle is pause motion.
Alternatively, if it is determined that the barrier is quick moving obstacle, robot fortune provided in an embodiment of the present invention
Flowing control method, further includes:
If robot detects that the barrier is not present in pause motion N seconds, robot is controlled according to the planning
Continue to move in path；
If robot detects that there are still control robot according to planning again for the barrier after pause motion N seconds
Path bypass the barrier.
Optionally, N is preset value or N is to be determined according to the movement velocity of the barrier.
Optionally, if robot detected after pause motion N seconds the barrier there are still, further includes:
If planning path fails again, according to failure cause type, controls robot and execute corresponding first processing
Strategy.
Optionally, the failure cause type include execute task time time-out, the number of attempting planning path again reaches
It is exclusive path to preset times or current planning path；And
According to failure cause type, controls robot and executes corresponding first processing strategie, specifically include:
If failure cause type is to attempt the number of planning path again to reach preset times or execute task time
Time-out then controls robot and ends task, and controls robot and broadcast preset first speech prompt information；
If failure cause type is that current planning path is exclusive path, controls robot and broadcast preset second language
Sound prompt information.
Optionally, if it is exclusive path that failure cause type, which is current planning path, further includes:
If detecting that the barrier still has after robot executes task time time-out, then controlling robot knot
Beam task, and control robot and broadcast preset first speech prompt information.
Alternatively, if it is determined that the barrier is quick moving obstacle, then intelligent machine provided in an embodiment of the present invention
Device people's control method, further includes:
In robot pause, control robot broadcasts third speech prompt information.
Alternatively, if it is determined that the barrier is non-rapid moving obstacle, robot provided in an embodiment of the present invention
Motion control method, further includes:
If planning path fails again, according to failure cause type, controls robot and execute corresponding second processing
Strategy.
Optionally, the failure cause type include execute task time time-out, the number of attempting planning path again reaches
It is exclusive path to preset times or current planning path；And
According to failure cause type, controls robot and executes corresponding second processing strategy, specifically include:
If failure cause type is that current planning path is exclusive path, robot pause motion is controlled, and control
Robot broadcasts preset second speech prompt information；
If failure cause type is to attempt the number of planning path again to reach preset times or execute task time
Time-out then controls robot and ends task, and controls robot and broadcast preset first speech prompt information.
Optionally, if it is exclusive path that failure cause type, which is current planning path, further includes:
If robot detect after pause motion M seconds the barrier there are still, control robot and end task,
And it controls robot and broadcasts preset first speech prompt information.
Optionally, when robot executes task according to barrier is detected in planning path motion process, described in determination
Obstacle identity specifically includes:
When robot executes task according to barrier is detected in planning path motion process, the barrier is determined
Movement velocity；
Judge whether the movement velocity of the barrier is greater than threshold speed；
If it is, determining that the barrier is quick moving obstacle；
If not, determining that the barrier is non-rapid moving obstacle.
Optionally, using laser according to the barrier on the scan frequency inspection planning path of setting；And
When robot executes task according to barrier is detected in planning path motion process, the barrier is determined
Movement velocity specifically includes:
When robot executes task according to barrier is detected in planning path motion process, obtains the barrier and exist
Location information in laser scanning data twice；
According in laser scanning data twice location information and time interval determine the movement speed of the barrier.
It optionally, further include the distance between barrier information in the laser scanning data；And
When robot executes task according to barrier is detected in planning path motion process, obtains the barrier and exist
Location information in laser scanning data twice, specifically includes:
When robot executes task according to barrier is detected in planning path motion process, according to the range information
When the distance between determining and barrier is less than pre-determined distance threshold value, the barrier is obtained in laser scanning data twice
Location information.
Optionally, when robot executes task according to barrier is detected in planning path motion process, when according to institute
When stating the distance between range information determination and barrier not less than pre-determined distance threshold value, further includes:
Controlling robot reduces movement velocity.
Second aspect provides a kind of robot movement control device, comprising:
Determination unit, for robot execute task according to barrier is detected in planning path motion process when, really
The fixed obstacle identity；
Searching unit, it is true for searching from the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy
The corresponding Robot dodge strategy of the obstacle identity made；
Control unit executes the Robot dodge strategy for controlling robot.
Optionally, the obstacle identity includes non-rapid moving obstacle and quick moving obstacle；And preparatory
In corresponding relationship between the obstacle identity and Robot dodge strategy of storage, the corresponding Robot dodge strategy of non-rapid moving obstacle be by
The barrier is bypassed according to the path planned again；The quick corresponding Robot dodge strategy of moving obstacle is pause motion.
Optionally, described control unit, if being also used to the determination unit determines that the barrier is that quickly movement hinders
Hinder object, and if robot detects that the barrier is not present in pause motion N seconds, controls robot according to the planning road
Diameter continues to move；If robot detects the barrier after pause motion N seconds, there are still control robot according to advising again
The path drawn bypasses the barrier.
Optionally, N is preset value or N is to be determined according to the movement velocity of the barrier.
Optionally, described control unit, if detecting after being also used to robot pause motion N seconds, the barrier is still deposited
, and if planning path fails again, according to failure cause type, controls robot and execute corresponding first processing plan
Slightly.
Optionally, the failure cause type include execute task time time-out, the number of attempting planning path again reaches
It is exclusive path to preset times or current planning path；And
Described control unit, if being to attempt the number of planning path again to reach default specifically for failure cause type
Number executes task time time-out, then controls robot and end task, and control robot and broadcast preset first voice
Prompt information；If failure cause type is that current planning path is exclusive path, robot casting preset second is controlled
Speech prompt information.
Optionally, described control unit, if it is exclusive path that be also used to failure cause type, which be current planning path,
After robot executes task time time-out, detects that the barrier still has, then control robot and end task, and control
Robot broadcasts preset first speech prompt information.
Optionally, described control unit, if being also used to the determination unit determines that the barrier is that quickly movement hinders
Hinder object, in robot pause, control robot broadcasts third speech prompt information.
Optionally, described control unit determines the barrier for non-rapid movement if being also used to the determination unit
Barrier, and if planning path fails again, according to failure cause type, controls robot and execute corresponding second processing
Strategy.
Optionally, the failure cause type include execute task time time-out, the number of attempting planning path again reaches
It is exclusive path to preset times or current planning path；And
Described control unit controls if being current planning path specifically for failure cause type is exclusive path
Robot pause motion, and control robot and broadcast preset second speech prompt information；
If failure cause type is to attempt the number of planning path again to reach preset times or execute task time
Time-out then controls robot and ends task, and controls robot and broadcast preset first speech prompt information.
Optionally, described control unit, if be also used to failure cause type be current planning path be exclusive path and
Robot detected that there are still then control robot and end task, and control robot the barrier after pause motion M seconds
Broadcast preset first speech prompt information.
Wherein, the determination unit, specifically for executing task according to detecting in planning path motion process in robot
When to barrier, the movement velocity of the barrier is determined；Judge whether the movement velocity of the barrier is greater than threshold speed；
If it is, determining that the barrier is quick moving obstacle；If not, determining that the barrier is non-rapid dyskinesia
Object.
Optionally, using laser according to the barrier on the scan frequency inspection planning path of setting；And
The determination unit, specifically for executing task according to detecting obstacle in planning path motion process in robot
When object, location information of the barrier in laser scanning data twice is obtained；According to the position in laser scanning data twice
Confidence breath and time interval determine the movement speed of the barrier.
It optionally, further include the distance between barrier information in the laser scanning data；And
The determination unit, specifically for executing task according to detecting obstacle in planning path motion process in robot
When object, when being less than pre-determined distance threshold value according to the distance between range information determination and barrier, the barrier is obtained
Location information in laser scanning data twice.
Optionally, robot movement control device provided in an embodiment of the present invention further includes deceleration unit, in which:
The deceleration unit, for working as basis when robot is according to barrier is detected in planning path motion process
When the distance between the range information determination and barrier are greater than pre-determined distance threshold value, movement velocity is reduced.
The third aspect provides a kind of control equipment, including at least one processor and at least one processor, wherein
The memory is stored with computer program, when described program is executed by the processor, so that the processor executes
State step described in motion planning and robot control method.
Fourth aspect provides a kind of computer-readable medium, is stored with the computer program that can be executed by processor, when
When described program is run on a processor, so that the processor executes step described in above-mentioned motion planning and robot control method.
Above-mentioned motion planning and robot control method, apparatus provided in an embodiment of the present invention and storage medium, by detecting
Cognitive disorders species type when barrier, different Robot dodge strategies is executed according to different obstacle identities, is avoided to all barriers
Hinder object to be all made of the same policy that rotation is hidden and planning path detours again, reduces the resource during robot obstacle-avoiding
Expense improves robot obstacle-avoiding effect.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the implementation process diagram of motion planning and robot control method in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of robot movement control device in the embodiment of the present invention；
Fig. 3 is to control the structural schematic diagram of equipment in the embodiment of the present invention.
Specific embodiment
In order to reduce the resource overhead during robot obstacle-avoiding, robot obstacle-avoiding effect is improved, the embodiment of the present invention mentions
A kind of motion planning and robot control method, apparatus and storage medium are supplied.
Specification and claims in the embodiment of the present invention and the term " first " in above-mentioned attached drawing, " second " etc. are
It is used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that the data used in this way
It is interchangeable under appropriate circumstances, so that the embodiments described herein can be other than the content for illustrating or describing herein
Sequence implement.
Referenced herein " multiple or several " refer to two or more."and/or" describes affiliated partner
Incidence relation, indicate may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B,
These three situations of individualism B.Character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Below in conjunction with Figure of description, preferred embodiment of the present invention will be described, it should be understood that described herein
Preferred embodiment only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention, and in the absence of conflict, this hair
The feature in embodiment and embodiment in bright can be combined with each other.
As shown in Figure 1, it is the implementation process diagram of motion planning and robot control method provided in an embodiment of the present invention, it should
The executing subject of method is the control equipment of robot, which specifically can be the control equipment of robot interior,
It may be the control equipment with the outside of robot communication.Specifically, motion planning and robot control side provided in an embodiment of the present invention
Method the following steps are included:
S11, robot execute task according to barrier is detected in planning path motion process when, confirmly detect
Obstacle identity.
In the embodiment of the present invention, according to the difference of the movement velocity of barrier, barrier is divided into non-rapid movement barrier
Hinder object and quick moving obstacle.Wherein, movement velocity is non-rapid dyskinesia no more than the barrier of certain speed threshold value
Object, and the barrier that movement velocity is greater than the threshold speed is quick moving obstacle.
When it is implemented, the movement velocity threshold value for distinguishing non-rapid moving obstacle and quick moving obstacle can basis
The working environment of robot is set, and the embodiment of the present invention is to this without limiting.For example, the working space of robot is low
Fast region, i.e., if the movement velocity of object is lower in its working environment, which be can be set lower, for example,
It can be set to 0.6m/s.
S12, from the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, search the obstacle determined
The corresponding Robot dodge strategy of species type.
The present invention, for different types of barrier, takes different Robot dodge strategies in implementing.Specifically, for identification
Non-rapid moving obstacle out, presetting its corresponding Robot dodge strategy is according to the path cut-through object planned again；
For the quick moving obstacle identified, presetting its corresponding Robot dodge strategy is pause motion, for example, can be set to
Pause motion N seconds, wherein N is the numerical value greater than 0, and specific value can be preset according to actual needs, can also basis
The movement velocity of barrier determines, the embodiment of the present invention to this without limiting, for example, can be set as N=2.5s.
S13, control robot execute the Robot dodge strategy found.
When it is implemented, robot executes task, such as navigation task according to the path of planning in working space, cruise
Task dispatching etc..
Robot can control scanning of the robot using laser according to setting during moving according to planning path
Period is scanned, and to detect working space, whether there are obstacles.If detecting barrier, in laser scanning data
It include the data such as the location information of the distance between barrier, barrier, the location information of barrier can be presented as barrier
Hinder position coordinates of the object on laser figure.
When it is implemented, the period of laser scanning can be configured according to actual needs, for example, can be set to
200ms, i.e., every 200ms run-down.
Location information based on barrier in laser scanning data twice may determine that whether Obstacle Position has occurred
Variation.If it is judged that Obstacle Position changes, then it can be according further to the position in laser scanning data twice
Information and time interval determine the movement velocity of barrier.It specifically, can be according to the position of barrier in twice sweep laser figure
Coordinate is set, determines the move distance of barrier, determines barrier movement speed in conjunction with the time interval between laser scanning twice
Degree.Wherein, the data that laser scanning data can obtain twice for adjacent laser scanning twice, or separated in time
Laser scanning data twice, to this without limiting in the embodiment of the present invention, for example, between the time of adjacent laser scanning twice
It is divided into 200ms.
Due to the movement properties of quick moving obstacle, even if Robot Scanning may meet it in the two to barrier
Preceding quick moving obstacle has moved away from the planning path of robot.Therefore, in order to save robot process resource, the present invention is real
It applies in example, can judge whether to need to execute Robot dodge strategy to the barrier detected by set distance threshold value.Specifically,
If determine that the distance between barrier is less than pre-determined distance threshold value according to the range information in laser scanning data, then obtain
Take location information of the barrier in laser scanning data twice.If according in laser scanning data range information determine with
When the distance between barrier is not less than pre-determined distance threshold value, can control robot reduces movement velocity, in this way, can be fast
Fast moving obstacle evacuation robot sets aside some time, if during this, detecting that barrier is not present, then can control machine
Device people continues to move according to programme path.
After determining the movement velocity of barrier, compare barrier movement velocity and preset threshold speed, if
The movement velocity of barrier is greater than threshold speed, it is determined that obstacle identity is quick moving obstacle, if the fortune of barrier
Dynamic speed is not more than threshold speed, it is determined that obstacle identity is non-rapid moving obstacle.According to the difference of obstacle identity,
Different Robot dodge strategies can be taken in the embodiment of the present invention.Below in conjunction with quick moving obstacle and non-rapid movement barrier
The implementation procedure of the corresponding Robot dodge strategy of object is hindered to be illustrated implementation process of the invention.
One, the Robot dodge strategy executed for quick moving obstacle.
According to the movement velocity of barrier, if it is determined that the movement velocity of the barrier detected is greater than pre-set velocity threshold
Value, it is determined that the barrier detected is quick moving obstacle.It, can in the embodiment of the present invention for quick moving obstacle
With the pause motion when retarded motion is to apart from position of the quick moving obstacle less than pre-determined distance threshold value, for example, pause
Movement N seconds, N are the numerical value greater than 0.When it is implemented, N value can preset or be determined according to the movement velocity of barrier
Out, for example, N can be set to 2.5 seconds.
In one embodiment, during pause motion, preset third speech prompt information can also be broadcasted, for example,
Third speech prompt information can be set to " small leopard is hurrying on a journey, and please allow ".
Within the N second of pause motion, control robot, which persistently detects barrier according to the scan period of setting, whether there is,
If robot detects that the barrier is not present in pause motion N seconds, control robot continues to move according to planning path.
When it is implemented, within the N second of pause motion, if detecting that barrier is not present, can control robot immediately according to
Planning path continues to move, or in pause motion N seconds, even if detecting that barrier is not present, control robot waits N
Second, after N seconds, control robot continues to move according to planning path.
If robot detects that there are still control robot according to the road planned again to barrier after pause motion N seconds
Diameter bypasses the barrier.Path Planning Technique is an important branch of robot research field.So-called robot it is optimal
Path planning problem is exactly according to some or certain Optimality Criterias (as work cost is minimum, track route is most short, travel time
It is most short etc.), the optimal path of the energy avoiding obstacles from initial state to dbjective state is found in its working space.Root
According to the Grasping level to environmental information, path planning can be divided into two classes: one kind is the known Global motion planning of environmental information, another
Class is the unknown sector planning of environmental information.Global Planning goes out one according to the environmental information obtained, to robot planning
Paths.The levels of precision of planning path depends on obtaining the order of accuarcy of environmental information.Global approach can usually be found most
Excellent solution, but need to be known in advance the accurate information of environment, and calculation amount is very big.Sector planning method lays particular emphasis on consideration machine
The current local environmental information of people allows robot to have good obstacle avoidance ability.Based on this, when the planning path of robot is hindered
When object being hindered to stop, then it can control robot and rotate in place, the path found within the scope of 360 degree is planned again.
It should be noted that can also control robot according to failure cause type if planning path fails again and hold
Corresponding first processing strategie of row.
Wherein, failure cause type may include any one of following: executing task time time-out, attempts planning path again
Number to reach preset times or current planning path be exclusive path.Wherein, it executes task time time-out and refers to that execution is led
Boat task, cruise task dispatching time-out, attempt again planning path number and refer to the number for allowing again planning path, which can
To be arranged according to actual needs, for example, can be set to 3 times, i.e., planning path 3 times again it is failed when determination plan again
Path failure.For different failure cause types, it can control robot in the embodiment of the present invention and take different processing strategies.
If failure cause type is to attempt the number of planning path again to reach preset times or execute task time
Time-out, this may be that someone deliberately stops robot motion or limited working space planning path is caused to fail, such case
Under, then it controls robot and ends task, and control robot and broadcast preset first speech prompt information.For example, the first voice
Prompt tone can be set to " I cannot get through, and first go back ".
If failure cause type is that initial planning path is exclusive path, controls robot and broadcast preset second voice
Prompt information.For example, the second speech prompt information can be set to ", my route please allow as being blocked ".
Further, if detecting that barrier still has after robot execution task time time-out, then controlling robot terminates to appoint
Business, and control robot and broadcast preset first speech prompt information " I cannot get through, and first go back ".
Two, non-rapid moving obstacle.
According to the movement velocity of barrier, if it is determined that the movement velocity of the barrier detected is not more than pre-set velocity threshold
Value, it is determined that the barrier detected is non-rapid moving obstacle.For non-rapid moving obstacle, the embodiment of the present invention
In, the Robot dodge strategy of execution is the as robot planning path again according to the path cut-through object planned again.Specifically
Ground, the application scenarios in robot motion path are stopped for non-rapid moving obstacle, and control robot rotates in place searching 360
Again it plans in path in degree range.When it is implemented, can control robot deceleration after for robot again planning path
Cut-through object.
It is similar with the Robot dodge strategy of quick moving obstacle of above-mentioned introduction, it is planned again for non-rapid moving obstacle
In path process, it is also possible to planning path failure.In the embodiment of the present invention, after the failure of planning path again, then according to failure
Cause type, control robot execute corresponding second processing strategy.
Wherein, failure cause type includes any one of following: time for executing task time time-out, attempting again planning path
Number reaches preset times or current planning path is exclusive path.
When it is implemented, controlling robot pause if it is exclusive path that failure cause type, which is current planning path,
Movement, for example, can control robot pause motion M seconds, M is the numerical value greater than 0, and M value is to preset, for example, M can be set
It is set to 20s.Within the M second of pause motion, it can control robot and broadcast preset second speech prompt information, the second voice mentions
Show that information can be set to ", my route please allow as being blocked ".
Preferably, can continue to monitor whether barrier is deposited according to the preset scan period within the M second of operation suspension
If barrier is not present, after stop motion M seconds, continuing to move according to planning path；Or in M seconds, work as detection
To in the absence of barrier, continue to move according to the path of planning immediately.If robot detects barrier after pause motion M seconds
Hindering object, there are still then control robot and end task, and control robot and broadcast preset first speech prompt information, the first language
Sound prompt tone can be set to " I cannot get through, and first go back ".
If failure cause type is to attempt the number of planning path again to reach preset times or execute task time
Time-out then controls robot and ends task.Further, robot can also be controlled and broadcast preset first voice prompting letter
Breath, for example, the first voice prompting sound can be set to " I cannot get through, and first go back ".
When it is implemented, while using laser detection barrier calculating can be utilized using the camera of robot
Machine vision technique, In vivo detection technology etc. detect barrier, for example, passing through In vivo detection technology, if it is determined that detection
The barrier arrived is life entity, then can broadcast the various voice messagings of above-mentioned setting, if detecting that barrier is non-life
Body, then without carrying out voice broadcast.
In motion planning and robot control method provided in an embodiment of the present invention, barrier is drawn according to the movement velocity of barrier
It is divided into quick moving obstacle and non-rapid moving obstacle, different types of barrier control robot is taken different
Robot dodge strategy, wherein controlled for quick moving obstacle pause motion if barrier still has after pause motion N seconds
Robot processed is according to planning path cut-through object again, if pause motion is not present in N seconds, control robot continue by
It is moved according to planning path, can control robot while detecting that barrier is not present immediately according to planning path after reforwarding
It is dynamic, it also can control robot after n seconds, continuation continues to move according to planning path；And for non-rapid moving obstacle,
Robot then be can control according to the Robot dodge strategy of planning path cut-through object again, in the above process, for different type
Barrier the rotating avoiding of discrimination is no longer not added or plans again, so as to reduce the resource during robot obstacle-avoiding
Expense improves avoidance effect.
Based on the same inventive concept, a kind of robot movement control device is additionally provided in the embodiment of the present invention, due to upper
State that the principle that device solves the problems, such as is similar to motion planning and robot control method, therefore the implementation of above-mentioned apparatus may refer to method
Implement, overlaps will not be repeated.
As shown in Fig. 2, it is the structural schematic diagram of robot movement control device provided in an embodiment of the present invention, comprising:
Determination unit, for robot execute task according to barrier is detected in planning path motion process when, really
The fixed obstacle identity；
Searching unit, it is true for searching from the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy
The corresponding Robot dodge strategy of the obstacle identity made；
Control unit executes the Robot dodge strategy for controlling robot.
Optionally, the obstacle identity includes non-rapid moving obstacle and quick moving obstacle；And preparatory
In corresponding relationship between the obstacle identity and Robot dodge strategy of storage, the corresponding Robot dodge strategy of non-rapid moving obstacle be by
The barrier is bypassed according to the path planned again；The quick corresponding Robot dodge strategy of moving obstacle is pause motion.
Optionally, described control unit, if being also used to the determination unit determines that the barrier is that quickly movement hinders
Hinder object, and if robot detects that the barrier is not present in pause motion N seconds, controls robot according to the planning road
Diameter continues to move；If robot detects the barrier after pause motion N seconds, there are still control robot according to advising again
The path drawn bypasses the barrier.
Optionally, N is preset value or N is to be determined according to the movement velocity of the barrier.
Optionally, described control unit, if detecting after being also used to robot pause motion N seconds, the barrier is still deposited
, and if planning path fails again, according to failure cause type, controls robot and execute corresponding first processing plan
Slightly.
Optionally, the failure cause type include execute task time time-out, the number of attempting planning path again reaches
It is exclusive path to preset times or current planning path；And
Described control unit, if being to attempt the number of planning path again to reach default specifically for failure cause type
Number executes task time time-out, then controls robot and end task, and control robot and broadcast preset first voice
Prompt information；If failure cause type is that current planning path is exclusive path, robot casting preset second is controlled
Speech prompt information.
Optionally, described control unit, if it is exclusive path that be also used to failure cause type, which be current planning path,
After robot executes task time time-out, detects that the barrier still has, then control robot and end task, and control
Robot broadcasts preset first speech prompt information.
Optionally, described control unit, if being also used to the determination unit determines that the barrier is that quickly movement hinders
Hinder object, in robot pause, control robot broadcasts third speech prompt information.
Optionally, described control unit determines the barrier for non-rapid movement if being also used to the determination unit
Barrier, and if planning path fails again, according to failure cause type, controls robot and execute corresponding second processing
Strategy.
Optionally, the failure cause type include execute task time time-out, the number of attempting planning path again reaches
It is exclusive path to preset times or current planning path；And
Described control unit controls if being current planning path specifically for failure cause type is exclusive path
Robot pause motion, and control robot and broadcast preset second speech prompt information；
If failure cause type is to attempt the number of planning path again to reach preset times or execute task time
Time-out then controls robot and ends task, and controls robot and broadcast preset first speech prompt information.
Optionally, described control unit, if be also used to failure cause type be current planning path be exclusive path and
Robot detected that there are still then control robot and end task, and control robot the barrier after pause motion M seconds
Broadcast preset first speech prompt information.
Wherein, the determination unit, specifically for executing task according to detecting in planning path motion process in robot
When to barrier, the movement velocity of the barrier is determined；Judge whether the movement velocity of the barrier is greater than threshold speed；
If it is, determining that the barrier is quick moving obstacle；If not, determining that the barrier is non-rapid dyskinesia
Object.
Optionally, using laser according to the barrier on the scan frequency inspection planning path of setting；And
The determination unit, specifically for executing task according to detecting obstacle in planning path motion process in robot
When object, location information of the barrier in laser scanning data twice is obtained；According to the position in laser scanning data twice
Confidence breath and time interval determine the movement speed of the barrier.
It optionally, further include the distance between barrier information in the laser scanning data；And
The determination unit, specifically for executing task according to detecting obstacle in planning path motion process in robot
When object, when being less than pre-determined distance threshold value according to the distance between range information determination and barrier, the barrier is obtained
Location information in laser scanning data twice.
Optionally, robot movement control device provided in an embodiment of the present invention further includes deceleration unit, in which:
The deceleration unit, for working as root after robot is according to barrier is detected in planning path motion process
When being greater than pre-determined distance threshold value according to the distance between range information determination and barrier, movement velocity is reduced.
For convenience of description, above each section is divided by function describes respectively for each module (or unit).Certainly, exist
Implement to realize the function of each module (or unit) in same or multiple softwares or hardware when the present invention.
It should be noted that robot movement control device provided in an embodiment of the present invention can be set in robot interior
Equipment is controlled, also can be set in the server of the external control devices with robot communication, such as network side, remotely control machine
Device people movement.
After describing the motion planning and robot control method and apparatus of exemplary embodiment of the invention, next, being situated between
The control equipment for the another exemplary embodiment according to the present invention that continues.
In some possible embodiments, control equipment according to the present invention can include at least at least one processing
Device and at least one processor.Wherein, the memory is stored with program code, when said program code is by the processing
When device executes, so that the processor executes the machine of the illustrative embodiments various according to the present invention of this specification foregoing description
Step in device people's motion control method.For example, the processor can execute step as shown in fig. 1.
The control equipment specifically can be the control equipment of robot interior, it is also possible to the outside of robot communication
Equipment is controlled, such as the server of network side.
The control equipment 30 of this embodiment according to the present invention is described referring to Fig. 3.The control that Fig. 3 is shown is set
Standby 30 be only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 3, the component of control equipment 30 can include but is not limited to: at least one above-mentioned processor 31, above-mentioned
At least one processor 32, the bus 33 of the different system components (including memory 32 and processor 31) of connection.
Bus 33 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, processor or the local bus using any bus structures in a variety of bus structures.
Memory 32 may include the readable medium of form of volatile memory, such as random access memory (RAM) 321
And/or cache memory 322, it can further include read-only memory (ROM) 323.
Memory 32 can also include program/utility 325 with one group of (at least one) program module 324, this
The program module 324 of sample includes but is not limited to: operating system, one or more application program, other program modules and journey
It may include the realization of network environment in ordinal number evidence, each of these examples or certain combination.
Control equipment 30 can also be communicated with one or more external equipments 34 (such as keyboard, sensing equipment etc.), may be used also
Enable a user to equipment communication interact with control equipment 30 with one or more, and/or with enable the control equipment 30
Any equipment (such as router, modem etc.) communicated with one or more of the other calculating equipment communicates.This
Kind communication can be carried out by input/output (I/O) interface 35.Also, control equipment 30 can also pass through network adapter 36
With one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.
As shown, network adapter 36 is communicated by bus 33 with other modules for controlling equipment 30.It will be appreciated that though figure
In be not shown, can in conjunction with control equipment 30 use other hardware and/or software module, including but not limited to: microcode, equipment
Driver, redundant processor, external disk drive array, RAID system, tape drive and data backup storage system etc..
In some possible embodiments, the various aspects of motion planning and robot control method provided by the invention can be with
It is embodied as a kind of form of program product comprising program code, when described program product is executed by processor, described program
The machine for the illustrative embodiments various according to the present invention that code is used to that the processor to be made to execute this specification foregoing description
Step in people's motion control method.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example may be-but not limited to-electricity, magnetic, optical, electromagnetic, red
The system of outside line or semiconductor, device or device, or any above combination.The more specific example of readable storage medium storing program for executing
(non exhaustive list) includes: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory
(RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The program product for motion planning and robot control of embodiments of the present invention can be using portable compact disc only
Read memory (CD-ROM) and including program code.However, program product of the invention is without being limited thereto, it is in this document, readable
Storage medium can be it is any include or storage program tangible medium, the program can be commanded execution system, device or
Device use or in connection.
Readable signal medium may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying
Readable program code.The data-signal of this propagation can take various forms, including --- but being not limited to --- electromagnetism letter
Number, optical signal or above-mentioned any appropriate combination.Readable signal medium can also be other than readable storage medium storing program for executing it is any can
Read medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Program in connection.
The program code for including on readable medium can transmit with any suitable medium, including --- but being not limited to ---
Wirelessly, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
It should be noted that although being referred to several unit or sub-units of device in the above detailed description, this stroke
It point is only exemplary not enforceable.In fact, embodiment according to the present invention, it is above-described two or more
The feature and function of unit can embody in a unit.Conversely, the feature and function of an above-described unit can
It is to be embodied by multiple units with further division.
In addition, although describing the operation of the method for the present invention in the accompanying drawings with particular order, this do not require that or
Hint must execute these operations in this particular order, or have to carry out shown in whole operation be just able to achieve it is desired
As a result.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or by one
Step is decomposed into execution of multiple steps.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of motion planning and robot control method characterized by comprising
When robot executes task according to barrier is detected in planning path motion process, the obstacle identity is determined；
From the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, the obstacle identity pair determined is searched
The Robot dodge strategy answered, and control robot and execute the Robot dodge strategy.
2. the method as described in claim 1, which is characterized in that the obstacle identity includes non-rapid moving obstacle and fast
Fast moving obstacle；And in the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, non-rapid movement
The corresponding Robot dodge strategy of barrier is to bypass the barrier according to the path planned again；Quickly moving obstacle is corresponding keeps away
Barrier strategy is pause motion.
3. method according to claim 2, which is characterized in that if it is determined that the barrier is quick moving obstacle, also
Include:
If robot detects that the barrier is not present in pause motion N seconds, robot is controlled according to the planning path
Continue to move；
If robot detects that there are still control robot according to the road planned again to the barrier after pause motion N seconds
Diameter bypasses the barrier.
4. method as claimed in claim 3, which is characterized in that N is preset value or N is the movement speed according to the barrier
What degree was determined.
5. method as claimed in claim 3, which is characterized in that if robot detects the barrier after pause motion N seconds
There are still, further includes:
If planning path fails again, according to failure cause type, controls robot and execute corresponding first processing strategie.
6. method as claimed in claim 5, which is characterized in that the failure cause type include execute task time time-out,
The number for attempting again planning path reaches preset times or current planning path is exclusive path；And
According to failure cause type, controls robot and executes corresponding first processing strategie, specifically include:
If failure cause type is to attempt the number of planning path again to reach preset times or execute task time time-out,
It then controls robot to end task, and controls robot and broadcast preset first speech prompt information；
If failure cause type is that current planning path is exclusive path, controls robot preset second voice of casting and mention
Show information.
7. method as claimed in claim 6, which is characterized in that if it is unique road that failure cause type, which is current planning path,
Diameter, further includes:
If detecting that the barrier still has after robot executes task time time-out, then controlling robot terminates to appoint
Business, and control robot and broadcast preset first speech prompt information.
8. method according to claim 2, which is characterized in that if it is determined that the barrier is quick moving obstacle, also
Include:
In robot pause, control robot broadcasts third speech prompt information.
9. method according to claim 2, which is characterized in that if it is determined that the barrier is non-rapid moving obstacle,
Further include:
If planning path fails again, according to failure cause type, controls robot and execute corresponding second processing strategy.
10. method as claimed in claim 9, which is characterized in that the failure cause type include execute task time time-out,
The number for attempting again planning path reaches preset times or current planning path is exclusive path；And
According to failure cause type, controls robot and executes corresponding second processing strategy, specifically include:
If failure cause type is that current planning path is exclusive path, robot pause motion is controlled, and control machine
People broadcasts preset second speech prompt information；
If failure cause type is to attempt the number of planning path again to reach preset times or execute task time time-out,
It then controls robot to end task, and controls robot and broadcast preset first speech prompt information.
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| CN110758388A (en) * | 2019-11-26 | 2020-02-07 | 北京京东乾石科技有限公司 | Autonomous vehicle, and autonomous driving control method and apparatus |
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