CN109739223A - Robot obstacle-avoiding control method, device and terminal device - Google Patents
Robot obstacle-avoiding control method, device and terminal device Download PDFInfo
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- CN109739223A CN109739223A CN201811540871.7A CN201811540871A CN109739223A CN 109739223 A CN109739223 A CN 109739223A CN 201811540871 A CN201811540871 A CN 201811540871A CN 109739223 A CN109739223 A CN 109739223A
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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
Abstract
The present invention is suitable for technical field of robot control, provide robot obstacle-avoiding control method, device, terminal device and computer readable storage medium, it include: to obtain obstacle detection data, the obstacle detection data include: the first infrared sensor data, the second infrared sensor data, camera data, current sensor data, Ultrasonic Sensor Data；According to the obstacle detection data acquisition robot obstacle-avoiding decision；According to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.By above method, the high accuracy of robot obstacle-avoiding control function can be realized on the basis of low production cost.
Description
Technical field
The invention belongs to technical field of robot control more particularly to a kind of robot obstacle-avoiding control methods, device, terminal
Equipment and computer readable storage medium.
Background technique
With the continuous development of science and technology, the function of robot is also more and more abundant.Existing robot can be real
Existing interactive voice, vision-based detection hide the functions such as trouble shooting.Robot hides trouble shooting function and can pass through vibration at present
Sensor or ultrasonic sensor realize that, although the method production cost is low, accuracy is lower；Robot hides at present
Vision technique can also be used to realize in obstacle avoidance control function, although the method accuracy is higher, production cost is higher.With
The method cannot all be provided simultaneously with that production cost is low and the high advantage of accuracy, cause the utilization of robot not extensive.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of robot obstacle-avoiding control method, device, terminal device and calculating
Machine readable storage medium storing program for executing, to solve to realize that robot obstacle-avoiding controls function on the basis of low production cost in the prior art
The problem of high accuracy of energy.
The first aspect of the embodiment of the present invention provides a kind of robot obstacle-avoiding control method, and the robot at least wraps
Include: the first infrared sensor, the second infrared sensor, camera, current sensor, ultrasonic sensor, described first is infrared
Sensor is mounted on robot left front, and second infrared sensor is mounted on robot right front, comprising:
Obstacle detection data are obtained, the obstacle detection data include: the first infrared sensor data, the second infrared sensing
Device data, camera data, current sensor data, Ultrasonic Sensor Data；
According to the obstacle detection data acquisition robot obstacle-avoiding decision；
According to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.
The second aspect of the embodiment of the present invention provides a kind of robot obstacle-avoiding control device, and the robot at least wraps
Include: the first infrared sensor, the second infrared sensor, camera, current sensor, ultrasonic sensor, described first is infrared
Sensor is mounted on robot left front, and second infrared sensor is mounted on robot right front, comprising:
Obstacle detection data capture unit, for obtaining obstacle detection data, the obstacle detection data include: first red
Outer sensor data, the second infrared sensor data, camera data, current sensor data, Ultrasonic Sensor Data；
Robot obstacle-avoiding decision acquiring unit, for according to the obstacle detection data acquisition robot obstacle-avoiding decision；
Robot obstacle-avoiding control unit, for according to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.
The third aspect of the embodiment of the present invention provides a kind of terminal device, comprising: memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
It realizes such as the step of the robot obstacle-avoiding control method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, which is characterized in that such as the robot is realized when the computer program is executed by processor
The step of avoidance obstacle method.
Existing beneficial effect is the embodiment of the present invention compared with prior art: described by obtaining obstacle detection data
Obstacle detection data include: infrared sensor data, camera data, current sensor data, Ultrasonic Sensor Data；Root
According to the obstacle detection data acquisition robot obstacle-avoiding decision；According to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.By
It is relatively low in the cost of the devices such as infrared sensor, camera, current sensor, ultrasonic sensor, pass through infrared sensor
Data, camera data, current sensor data, Ultrasonic Sensor Data realize robot obstacle-avoiding control function, can improve
The accuracy of robot obstacle-avoiding control function.Robot obstacle-avoiding control function can be realized on the basis of low production cost
High accuracy.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is a kind of flow diagram of robot obstacle-avoiding control method provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the good obstacle detection data fusion model of pre-training provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of robot obstacle-avoiding control device provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of terminal device provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this present specification merely for the sake of description specific embodiment
And be not intended to limit the application.As present specification and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in present specification and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In the specific implementation, terminal described in the embodiment of the present application is including but not limited to such as with touch sensitive surface
The mobile phone, laptop computer or tablet computer of (for example, touch-screen display and/or touch tablet) etc it is other just
Portable device.It is to be further understood that in certain embodiments, above equipment is not portable communication device, but there is touching
Touch the desktop computer of sensing surface (for example, touch-screen display and/or touch tablet).
In following discussion, the terminal including display and touch sensitive surface is described.It is, however, to be understood that
It is that terminal may include one or more of the other physical user-interface device of such as physical keyboard, mouse and/or control-rod.
Terminal supports various application programs, such as one of the following or multiple: drawing application program, demonstration application journey
Sequence, word-processing application, website create application program, disk imprinting application program, spreadsheet applications, game application
Program, telephony application, videoconference application, email application, instant messaging applications, exercise
Support application program, photo management application program, digital camera application program, digital camera application program, web-browsing application
Program, digital music player application and/or video frequency player application program.
The various application programs that can be executed at the terminal can be used such as touch sensitive surface at least one is public
Physical user-interface device.It can adjust and/or change among applications and/or in corresponding application programs and touch sensitive table
The corresponding information shown in the one or more functions and terminal in face.In this way, the public physical structure of terminal is (for example, touch
Sensing surface) it can support the various application programs with user interface intuitive and transparent for a user.
Embodiment one:
Fig. 1 shows the flow diagram of the first robot obstacle-avoiding control method provided by the embodiments of the present application, is described in detail
It is as follows:
The robot includes at least: the first infrared sensor, camera, current sensor, surpasses the second infrared sensor
Sonic sensor, first infrared sensor are mounted on robot left front, and second infrared sensor is mounted on machine
People right front.Certainly, if there is also other infrared sensors, the corresponding position of robot can be mounted on according to actual needs.
Above-described first infrared sensor, the second infrared sensor, camera, current sensor, supersonic sensing
Device is all lower-cost device.
Step S11 obtains obstacle detection data, and the obstacle detection data include: the first infrared sensor data, second
Infrared sensor data, camera data, current sensor data, Ultrasonic Sensor Data.
Optionally, red by first if the step S11 includes: that the first infrared sensor does not detect echo signal
Outer sensor data are set as default first infrared sensor data, and the echo signal is the substance institute in addition to the robot
The infrared signal given off；If the second infrared sensor does not detect echo signal, by the second infrared sensor data
It is set as default second infrared sensor data.
Specifically, if target is on the right side of robot, the first infrared sensor is likely to not detect the target pair
Answer echo signal；Similarly, if target is in the left side of robot, the second infrared sensor is likely to not detect the target pair
Answer echo signal.In this way, when the first infrared sensor of appearance or/and the second infrared sensor do not detect the feelings of echo signal
When condition, it can be deposited according to the default first infrared sensor data or/and default second infrared sensor data, disturbance of analysis
In situation, the accuracy of robot obstacle-avoiding control is improved.
Optionally, the robot further includes motor.If the step S11 includes: that current sensor does not detect mesh
Mark current signal, then set predetermined current sensing data for current sensor data, the target current signal be greater than
The motor current signal of default current of electric threshold value.
In this way, when there is the case where current sensor is not hindered by external force, current of electric is equal to or less than default electricity
Machine current threshold, current sensor do not detect target current signal, can be according to predetermined current sensor data analysis obstacle
There are situation, improve the accuracy of robot obstacle-avoiding control.
Step S12, according to the obstacle detection data acquisition robot obstacle-avoiding decision.
Optionally, the step S12 includes:
A1, melted according to the good complaint message data fusion model acquisition complaint message of the obstacle detection data and pre-training
Close data.
A2, robot obstacle-avoiding decision is obtained according to the complaint message fused data.
Optionally, the A1 includes: the disorder characteristics for extracting the obstacle detection data；It is obtained according to the disorder characteristics
The data format of complaint message data, the complaint message data is vector；It is good according to the complaint message data and pre-training
Obstacle detection data fusion model obtain complaint message fused data.
Specifically, the disorder characteristics of the obstacle detection data are extracted, the disorder characteristics comprise at least one of the following: barrier
Hinder whether there is or not, obstacle positions, distance of obstacle, obstacle shape.And then rule and the barrier are determined according to default complaint message data
Feature is hindered to obtain complaint message data, preferably based on the good obstacle detection data fusion mould of the complaint message data and pre-training
Type obtains complaint message fused data.
For example, extract the disorder characteristics of the obstacle detection data, the disorder characteristics include: obstacle whether there is or not, obstacle sides
Position, distance of obstacle, obstacle shape.Assuming that the default complaint message data determine rule are as follows: complaint message data are expressed as X
=(a, b, c, d), a indicate obstacle whether there is or not, if there is obstacle, a 1, if accessible, a 0；B indicates obstacle positions, if nothing
Obstacle positions, then b is 0, if obstacle positions are left front, b 1, if obstacle positions are front, b 2, if obstacle side
Position is right front, then b is 3；C indicates distance of obstacle, if unobstructed distance, i.e., accessible, then c is infinity, if there is obstacle,
C is actual range detected value；D indicates obstacle shape, if amorphism, i.e., accessible, then d is 0, if obstacle shape is regular shape
Shape, then d is 1, if obstacle shape is irregular shape, d 2.Complaint message data are preset according to this and determine rule, obtain the
One infrared sensor data, the second infrared sensor data, camera data, current sensor data, ultrasonic sensor number
According to corresponding complaint message data.By taking Ultrasonic Sensor Data as an example, extracted according to the Ultrasonic Sensor Data
Corresponding disorder characteristics, it is assumed that the corresponding disorder characteristics of the Ultrasonic Sensor Data are to exist not at 0.5 meter away from robot
The obstacle of regular shape, and the obstacle is in the front of the robot, presets complaint message data according to this and determines rule, it can
Obtaining the corresponding complaint message data of the Ultrasonic Sensor Data is (1,2,0.5,2).
It is one of example of the good obstacle detection data fusion model of pre-training represented by Fig. 2, as shown in Fig. 2,
The good obstacle detection data fusion model of the pre-training is one of multilayer perceptron model foundation using back-propagation algorithm
Three-layer artificial neural network, the obstacle detection data fusion model are made of input layer, middle layer and output layer, wherein input
Layer is made of X1, X2, X3, X4, X5 and input layer weight Ai, wherein and i={ 1,2,3,4,5 }, middle layer weight indicate with Bj,
Wherein, { 1,2,3,4,5 } j=, Y indicates output as a result, i.e. Y is complaint message fused data.Assuming that X1, X2, X3, X4, X5 points
What is do not indicated is the corresponding complaint message data of the first infrared sensor data, the corresponding obstacle letter of the second infrared sensor data
Data, the corresponding complaint message data of camera data, the corresponding complaint message data of current sensor data, ultrasonic wave is ceased to pass
The corresponding complaint message data of sensor data, according to functional relationIt obtains
Complaint message fused data.
Due to the first infrared sensor data, the second infrared sensor data, camera data, current sensor data,
Ultrasonic Sensor Data, covering has general character content and has different characteristics, is believed according to the above obstacle detection data acquired disturbance
Data are ceased, obtain complaint message fusion further according to the good obstacle detection data fusion model of the complaint message data and pre-training
Data, the complaint message fused data remain the first infrared sensor data, the second infrared sensor data, camera number
According to, the connection between current sensor data, Ultrasonic Sensor Data, the accuracy of complaint message fused data is improved,
Improve the accuracy of robot obstacle-avoiding control function.
Optionally, before the A2, comprising: judge whether there is obstacle according to the complaint message fused data；It is right
Ying Di, it is described that robot obstacle-avoiding decision is obtained according to the complaint message fused data specifically: obstacle if it exists, then according to institute
State obstacle detection data acquisition robot obstacle-avoiding decision.
Specifically, the complaint message fused data is analyzed, obtains the analysis of complaint message fused data as a result, according to described
Complaint message fused data analysis result judges whether there is obstacle；Accordingly, described according to the complaint message fused data
Obtain robot obstacle-avoiding decision specifically: obstacle if it exists, then according to the obstacle detection data acquisition robot obstacle-avoiding decision.
Due to that can improve the robot obstacle-avoiding and determine according to the obstacle detection data acquisition robot obstacle-avoiding decision
The science of plan is conducive to robot accurately avoidance.
Optionally, the obstacle if it exists, then according to the obstacle detection data acquisition robot obstacle-avoiding decision, comprising:
Obstacle if it exists obtains the distance between the obstacle and the robot according to the complaint message fused data；According to institute
It states distance and obtains robot obstacle-avoiding decision.
It is optionally, described that obtain robot obstacle-avoiding decision according to the distance include: that judge whether the distance is less than pre-
If distance threshold；If the distance is less than pre-determined distance threshold value, the first robot obstacle-avoiding decision, first robot are generated
Avoidance decision includes the decision information that robot retreats；If the distance is not less than pre-determined distance threshold value, according to the obstacle
Position generate the second robot obstacle-avoiding decision, the second robot obstacle-avoiding decision includes instruction robot with far from the barrier
The direction hindered is the decision information of the direction of motion.
For example, the distance is 0.2 meter, pre-determined distance threshold value is 0.5 meter, then determines that the distance is less than pre-determined distance threshold
Value, then generate the first robot obstacle-avoiding decision, and the first robot obstacle-avoiding decision includes the decision information that robot retreats.
Step S13, according to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.
For example, the robot obstacle-avoiding decision is the first robot obstacle-avoiding decision, then according to first robot obstacle-avoiding
The entire revolute 180 degree of Decision Control is advanced towards the direction after rotation 180 degree.
In the embodiment of the present invention, by obtaining obstacle detection data, the obstacle detection data include: infrared sensor number
According to, camera data, current sensor data, Ultrasonic Sensor Data；According to obstacle detection data acquisition robot
Avoidance decision；According to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.Due to infrared sensor, camera, current sense
The cost of the devices such as device, ultrasonic sensor is relatively low, passes through infrared sensor data, camera data, current sensor number
Robot obstacle-avoiding control function is realized according to, Ultrasonic Sensor Data, can improve the accuracy of robot obstacle-avoiding control function.I.e.
The high accuracy of robot obstacle-avoiding control function can be realized on the basis of low production cost.
Embodiment two:
Corresponding with above-described embodiment one, Fig. 3 shows a kind of robot obstacle-avoiding control device provided by the embodiments of the present application
Structural schematic diagram illustrate only part relevant to the embodiment of the present application for ease of description.
The robot includes at least: the first infrared sensor, camera, current sensor, surpasses the second infrared sensor
Sonic sensor, first infrared sensor are mounted on robot left front, and second infrared sensor is mounted on machine
People right front.Certainly, if there is also other infrared sensors, the corresponding position of robot can be mounted on according to actual needs.
The robot obstacle-avoiding control device includes: obstacle detection data capture unit 31, robot obstacle-avoiding decision acquisition list
First 32, robot obstacle-avoiding control unit 33.
Obstacle detection data capture unit 31, for obtaining obstacle detection data, the obstacle detection data include: first
Infrared sensor data, the second infrared sensor data, camera data, current sensor data, Ultrasonic Sensor Data.
Optionally, which is used for: if the first infrared sensor does not detect that target is believed
Number, then default first infrared sensor data are set by the first infrared sensor data, the echo signal is except the machine
The infrared signal that substance outside device people is given off；If the second infrared sensor does not detect echo signal, by second
Infrared sensor data are set as default second infrared sensor data.
Optionally, the robot further includes motor.The obstacle detection data capture unit 31 is used for: if current sensor
It does not detect target current signal, then sets predetermined current sensing data, the target electricity for current sensor data
Flowing signal is the motor current signal greater than default current of electric threshold value.
Robot obstacle-avoiding decision acquiring unit 32, for according to the obstacle detection data acquisition robot obstacle-avoiding decision.
Optionally, robot obstacle-avoiding decision acquiring unit 32 includes: that complaint message fused data obtains module, decision obtains
Module.
The complaint message fused data obtains module, for the obstacle good according to the obstacle detection data and pre-training
Information data fusion model obtains complaint message fused data.
The decision obtains module, for obtaining robot obstacle-avoiding decision according to the complaint message fused data.
Optionally, the complaint message fused data obtains module and is specifically used for: extracting the barrier of the obstacle detection data
Hinder feature；Complaint message data are obtained according to the disorder characteristics, the data format of the complaint message data is vector；According to
The complaint message data and the good obstacle detection data fusion model of pre-training obtain complaint message fused data.
Optionally, which includes: obstacle with the presence or absence of judging unit.
The obstacle is used for the presence or absence of judging unit: it is described according to obstacle letter to obtain module execution in the decision
Before ceasing fused data acquisition robot obstacle-avoiding decision, obstacle is judged whether there is according to the complaint message fused data；It is right
Ying Di, the decision obtain module and are specifically used for: obstacle if it exists, then according to the obstacle detection data acquisition robot obstacle-avoiding
Decision.
The obstacle is specifically used for the presence or absence of judging unit: it is described according to the barrier to obtain module execution in the decision
Before hindering information fused data to obtain robot obstacle-avoiding decision, the complaint message fused data is analyzed, complaint message is obtained and melts
Data analysis result is closed, result is analyzed according to the complaint message fused data and judges whether there is obstacle；Accordingly, described to determine
Plan obtains module and is specifically used for: obstacle if it exists, then according to the obstacle detection data acquisition robot obstacle-avoiding decision.
Due to that can improve the robot obstacle-avoiding and determine according to the obstacle detection data acquisition robot obstacle-avoiding decision
The science of plan is conducive to robot accurately avoidance.
Optionally, it includes: apart from acquisition submodule, decision acquisition submodule that the decision, which obtains module,.
It is described to be used for obstacle if it exists apart from acquisition submodule, the barrier is obtained according to the complaint message fused data
Hinder the distance between described robot.
The decision acquisition submodule, for obtaining robot obstacle-avoiding decision according to the distance.
Optionally, the decision acquisition submodule is specifically used for: judging whether the distance is less than pre-determined distance threshold value；If
The distance is less than pre-determined distance threshold value, then generates the first robot obstacle-avoiding decision, the first robot obstacle-avoiding decision includes
The decision information that robot retreats；If the distance is not less than pre-determined distance threshold value, the is generated according to the position of the obstacle
Two robot obstacle-avoiding decisions, the second robot obstacle-avoiding decision include indicating robot with the direction far from the obstacle for fortune
The decision information in dynamic direction.
Robot obstacle-avoiding control unit 33, for according to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.
In the embodiment of the present invention, by obtaining obstacle detection data, the obstacle detection data include: infrared sensor number
According to, camera data, current sensor data, Ultrasonic Sensor Data；According to obstacle detection data acquisition robot
Avoidance decision；According to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.Due to infrared sensor, camera, current sense
The cost of the devices such as device, ultrasonic sensor is relatively low, passes through infrared sensor data, camera data, current sensor number
Robot obstacle-avoiding control function is realized according to, Ultrasonic Sensor Data, can improve the accuracy of robot obstacle-avoiding control function.I.e.
The high accuracy of robot obstacle-avoiding control function can be realized on the basis of low production cost.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Embodiment three:
Fig. 4 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in figure 4, the terminal of the embodiment is set
Standby 4 include: processor 40, memory 41 and are stored in the meter that can be run in the memory 41 and on the processor 40
Calculation machine program 42.The processor 40 realizes that above-mentioned each robot obstacle-avoiding control method is real when executing the computer program 42
Apply the step in example, such as step S11 to S13 shown in FIG. 1.Alternatively, the processor 40 executes the computer program 42
The function of each unit in the above-mentioned each Installation practice of Shi Shixian, such as the function of unit 31 to 33 shown in Fig. 3.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the terminal device 4 is described.For example, the computer program 42 can be divided
It is cut into obstacle detection data capture unit, robot obstacle-avoiding decision acquiring unit, robot obstacle-avoiding control unit, each unit is specific
Function is as follows:
Obstacle detection data capture unit, for obtaining obstacle detection data, the obstacle detection data include: first red
Outer sensor data, the second infrared sensor data, camera data, current sensor data, Ultrasonic Sensor Data；
Robot obstacle-avoiding decision acquiring unit, for according to the obstacle detection data acquisition robot obstacle-avoiding decision；
Robot obstacle-avoiding control unit, for according to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.
The terminal device 4 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that Fig. 4
The only example of terminal device 4 does not constitute the restriction to terminal device 4, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the terminal device 4, such as the hard disk or interior of terminal device 4
It deposits.The memory 41 is also possible to the External memory equipment of the terminal device 4, such as be equipped on the terminal device 4
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 41 can also both include the storage inside list of the terminal device 4
Member also includes External memory equipment.The memory 41 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, 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 should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of robot obstacle-avoiding control method, which is characterized in that the robot includes at least: the first infrared sensor,
Two infrared sensors, camera, current sensor, ultrasonic sensor, first infrared sensor are mounted on a robot left side
Front, second infrared sensor are mounted on robot right front, comprising:
Obstacle detection data are obtained, the obstacle detection data include: the first infrared sensor data, the second infrared sensor number
According to, camera data, current sensor data, Ultrasonic Sensor Data；
According to the obstacle detection data acquisition robot obstacle-avoiding decision；
According to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.
2. robot obstacle-avoiding control method as described in claim 1, which is characterized in that the acquisition obstacle detection data packet
It includes:
If the first infrared sensor does not detect echo signal, it is red that default first is set by the first infrared sensor data
Outer sensor data, the infrared signal that the echo signal is given off for the substance in addition to the robot；
If the second infrared sensor does not detect echo signal, it is red that default second is set by the second infrared sensor data
Outer sensor data.
3. robot obstacle-avoiding control method as described in claim 1, which is characterized in that described according to the obstacle detection data
Obtaining robot obstacle-avoiding decision includes:
Complaint message fused data is obtained according to the good complaint message data fusion model of the obstacle detection data and pre-training；
Robot obstacle-avoiding decision is obtained according to the complaint message fused data.
4. robot obstacle-avoiding control method as claimed in claim 3, which is characterized in that described according to the obstacle detection data
The complaint message data fusion model good with pre-training obtains complaint message fused data, comprising:
Extract the disorder characteristics of the obstacle detection data；
Complaint message data are obtained according to the disorder characteristics, the data format of the complaint message data is vector；
Complaint message fused data is obtained according to the good obstacle detection data fusion model of the complaint message data and pre-training.
5. robot obstacle-avoiding control method as claimed in claim 3, which is characterized in that melted described according to the complaint message
Before conjunction data acquisition robot obstacle-avoiding decision, comprising:
Obstacle is judged whether there is according to the complaint message fused data；
It is accordingly, described that robot obstacle-avoiding decision is obtained according to the complaint message fused data specifically:
Obstacle if it exists, then according to the obstacle detection data acquisition robot obstacle-avoiding decision.
6. robot obstacle-avoiding control method as claimed in claim 5, which is characterized in that the obstacle if it exists, then according to institute
Stating complaint message fused data acquisition robot obstacle-avoiding decision includes:
Obstacle if it exists obtains the distance between the obstacle and the robot according to the complaint message fused data；
Robot obstacle-avoiding decision is obtained according to the distance.
7. robot obstacle-avoiding control method as claimed in claim 6, which is characterized in that described to obtain machine according to the distance
People's avoidance decision includes:
Judge whether the distance is less than pre-determined distance threshold value；
If the distance is less than pre-determined distance threshold value, the first robot obstacle-avoiding decision is generated, first robot obstacle-avoiding is determined
Plan includes the decision information that robot retreats；
If the distance is not less than pre-determined distance threshold value, the second robot obstacle-avoiding decision is generated according to the position of the obstacle,
The second robot obstacle-avoiding decision includes indicating robot using the direction far from the obstacle as the decision information of the direction of motion.
8. a kind of robot obstacle-avoiding control device, which is characterized in that the robot includes at least: the first infrared sensor,
Two infrared sensors, camera, current sensor, ultrasonic sensor, first infrared sensor are mounted on a robot left side
Front, second infrared sensor are mounted on robot right front, comprising:
Obstacle detection data capture unit, for obtaining obstacle detection data, the obstacle detection data include: the first infrared biography
Sensor data, the second infrared sensor data, camera data, current sensor data, Ultrasonic Sensor Data；
Robot obstacle-avoiding decision acquiring unit, for according to the obstacle detection data acquisition robot obstacle-avoiding decision；
Robot obstacle-avoiding control unit, for according to the robot obstacle-avoiding Decision Control robot obstacle-avoiding.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 7 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
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| CN201811540871.7A CN109739223B (en) | 2018-12-17 | 2018-12-17 | Robot obstacle avoidance control method and device, terminal device and storage medium |
| PCT/CN2019/124353 WO2020125500A1 (en) | 2018-12-17 | 2019-12-10 | Control method and apparatus for obstacle avoidance of robot, and terminal device |
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| CN201811540871.7A CN109739223B (en) | 2018-12-17 | 2018-12-17 | Robot obstacle avoidance control method and device, terminal device and storage medium |
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| CN109739223B (en) | 2020-07-03 |
| WO2020125500A1 (en) | 2020-06-25 |
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