CN109753070A - A kind of barrier-avoiding method, device and storage robot - Google Patents
A kind of barrier-avoiding method, device and storage robot Download PDFInfo
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Abstract
The present invention relates to avoidance technical field more particularly to a kind of barrier-avoiding methods, device and storage robot.Barrier-avoiding method, device and storage robot provided in this embodiment, by obtaining work state information；Detection zone is determined according to the work state information；The work state information includes operating mode and working region.If there are barriers in the detection zone, braked.The embodiment of the present invention in different working regions and/or different working regions, is arranged different modes and determines detection zone according to storage robot, and when there are barriers in the detection zone, then it is braked.To promote avoidance success rate, and operate as opposite originally lower.
Description
Technical Field
The invention relates to the technical field of obstacle avoidance, in particular to an obstacle avoidance method, an obstacle avoidance device and a storage robot.
Background
The obstacle avoidance method is an important link in the technical field of intelligent automation, for example, an intelligent storage robot, and by using the obstacle avoidance method, unnecessary loss caused by collision of the storage robot in the working process can be effectively avoided.
In the prior art, due to the restriction of the environment or obstacle avoidance equipment, the obstacle avoidance effect of most obstacle avoidance methods cannot achieve a good obstacle avoidance effect. For example, most obstacle avoidance methods are implemented based on infrared scanners, but the obstacle avoidance effect is poor due to the poor capability of infrared rays to resist the interference of ambient light.
Disclosure of Invention
The embodiment of the invention provides an obstacle avoidance method, an obstacle avoidance device and a storage robot, and aims to improve the obstacle avoidance accuracy of the storage robot.
In a first aspect, an embodiment of the present invention provides an obstacle avoidance method, which is applied to a warehousing robot, and the method includes:
acquiring working state information;
determining a detection area according to the working state information;
and if the obstacle exists in the detection area, braking.
Optionally, the operating state information includes an operating mode;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working mode.
Optionally, the determining a detection area according to the working mode includes:
when the working mode is the straight line, determining that the detection area is a quadrangle;
when the working mode is rotation, the detection area is determined to be circular.
Optionally, the working state information further includes a working area;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working mode and the working area.
Optionally, the determining a detection area according to the working mode and the working area includes:
and when the working mode is the straight line and the working area is the second area, determining that the detection area is a trapezoid.
Optionally, the working state information includes a working area;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working area.
Optionally, the determining a detection area according to the working area includes:
when the working area is the second area, determining that the detection area is a quadrangle;
and when the working area is the first area, determining that the detection area is a quadrangle or a circle.
Optionally, the operating state information further includes an operating mode;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working area and the working mode.
Optionally, the determining a detection region according to the working region and the working mode includes:
when the working area is the second area and the working mode is the straight line, determining that the detection area is in a trapezoid shape;
when the working area is the first area and the working mode is the straight line, determining that the detection area is a quadrangle;
and when the working area is the first area and the working mode is rotation, determining that the detection area is circular.
Optionally, the determining a detection area according to the working area includes:
and when the working area is the second area, determining that the detection area is a trapezoid.
Optionally, after the determining the detection area according to the operating state information and before braking if an obstacle exists in the detection area, the method further includes:
acquiring a current running speed;
and dynamically adjusting the range of the detection area according to the current running speed and a preset speed threshold interval, wherein the range of the detection area corresponds to the speed threshold interval.
In a second aspect, an embodiment of the present invention provides an obstacle avoidance device for a storage robot,
the method is characterized in that: the device comprises:
the first acquisition module is used for acquiring the working state information;
the determining module is used for determining a detection area according to the working state information;
and the judging module is used for braking if the obstacle exists in the detection area.
Optionally, the determining module includes:
the first determining unit is used for determining a detection area according to the working mode;
the first determining unit is specifically configured to:
when the working mode is the straight line, determining that the detection area is a quadrangle;
when the working mode is rotation, the detection area is determined to be circular.
Optionally, the determining module includes:
the second determining unit is used for determining a detection area according to the working mode and the working area;
the second determining unit is specifically configured to:
and when the working mode is the straight line and the working area is the second area, determining that the detection area is a trapezoid.
Optionally, the determining module includes:
and the third determining unit is used for determining the detection area according to the working area.
Optionally, the third determining unit is specifically configured to:
when the working area is the second area, determining that the detection area is a quadrangle;
and when the working area is the first area, determining that the detection area is a quadrangle or a circle.
Optionally, the determining module includes:
the fourth determining unit is used for determining a detection area according to the working area and the working mode;
the fourth determining unit is specifically configured to:
when the working area is the second area and the working mode is the straight line, determining that the detection area is in a trapezoid shape;
when the working area is the first area and the working mode is the straight line, determining that the detection area is a quadrangle;
and when the working area is the first area and the working mode is rotation, determining that the detection area is circular.
Optionally, the third determining unit is specifically configured to:
and when the working area is the second area, determining that the detection area is a trapezoid.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring the current running speed;
and the adjusting module is used for dynamically adjusting the range of the detection area according to the current running speed and a preset speed threshold interval, wherein the range of the detection area corresponds to the speed threshold interval.
In a third aspect, an embodiment of the present invention provides a warehousing robot, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform an obstacle avoidance method as described above.
In a fourth aspect, an embodiment of the present invention provides a storage medium, where the storage medium stores executable instructions, and when the executable instructions are executed by an intelligent terminal, the intelligent terminal is caused to execute the obstacle avoidance method described above.
In a fifth aspect, an embodiment of the present invention further provides a program product, where the program product includes a program stored on a storage medium, where the program includes program instructions, and when the program instructions are executed by an intelligent terminal, the intelligent terminal is caused to execute the obstacle avoidance method described above.
The embodiment of the invention has the beneficial effects that: according to the obstacle avoidance method, the obstacle avoidance device and the storage robot, the working state information is acquired; determining a detection area according to the working state information; the working state information comprises a working mode and/or a working area. And if the obstacle exists in the detection area, braking. According to the embodiment of the invention, different modes are set for determining the detection area according to different working areas and/or different working areas of the warehousing robot, and when an obstacle exists in the detection area, braking is carried out. Therefore, the obstacle avoidance success rate is improved, and the operation cost is relatively low.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic diagram of an application environment of an obstacle avoidance method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an obstacle avoidance method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of an obstacle avoidance method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an obstacle avoidance device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an obstacle avoidance device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an obstacle avoidance device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a warehousing robot provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
The obstacle avoidance method, the obstacle avoidance device and the storage robot 2 provided by the embodiment of the invention are suitable for the application scene shown in the attached figure 1. The application scenario shown in fig. 1 is a working area of the warehousing robot 2, and includes a first area, a second area, and at least one warehousing robot 2. The first area is an area with a large moving area, for example, the first area may be a common area where a plurality of warehousing robots 2 simultaneously operate, the second area is an area with a small moving area, for example, the second area is a roadway area where a plurality of shelves are arranged at intervals, the first area is a common area where no shelves or other obstacles are located, and the at least one warehousing robot 2 communicates with the main server while working. When the warehousing robot 2 takes and places goods, it needs to perform walking motions in different directions, for example, when the warehousing robot 2 needs to move from a first area to a target position of one of the second areas, the warehousing robot 2 needs to perform a rotation motion before entering the second area, adjust the advancing direction to be parallel to the second area, and perform a linear motion to advance to the target position.
It should be noted that the running track of the warehousing robot 2 may be allocated according to the task situation, and may be temporarily changed in some cases. The warehousing robots 2 are all controlled by the server, the server is provided with a working path of the warehousing robot 2, and the server can distribute target position information corresponding to the position information of the warehousing robot 2. The warehousing robot 2 reports position information of the warehousing robot, the server sends target position information to the warehousing robot 2 according to the position information reported by the warehousing robot 2, and the warehousing robot 2 moves after receiving the target position information.
During the operation of the warehousing robot 2, the movement path may encounter rack feet, pedestrians or other obstacles, and the warehousing robot 2 may collide with the obstacles, resulting in damage and other unnecessary loss of the warehousing robot 2. The embodiment of the invention provides an obstacle avoidance method, an obstacle avoidance device and a storage robot, wherein a detection area is arranged on a running track of the storage robot 2, and different working modes and different areas correspond to different detection area ranges and shapes. When the obstacle appears in the detection area, the storage robot 2 is braked, and the storage robot 2 is prevented from colliding with the obstacle.
The above exemplary embodiment shows one form of application scenario, and in other application scenarios, the warehousing robot 2, the number of the second areas, and the number of the first areas, and the area allocation may be set according to the actual application situation.
Fig. 2 is a flowchart of an embodiment of an obstacle avoidance method according to an embodiment of the present invention, where the obstacle avoidance method may be performed by the warehousing robot 2 in fig. 1. As shown in fig. 2, the obstacle avoidance method includes:
s110: acquiring working state information;
in this embodiment, a map of a working area is preset in the server, and each physical facility in the working area range corresponds to a coordinate. The storage robot working area is divided into a first area and a second area, the coordinates correspond to the areas of the first area and the second area in the working area, and the coordinates are converted into coordinate information according to the proportion of the size of each area and stored in the server. The coordinates are also divided into a second area and a first area according to the same proportion of the actual working area, so that the area and the specific position of the working area where the warehousing robot is located are judged according to the position information sent by the warehousing robot 2 in real time. The position information refers to coordinate information corresponding to the current position of the warehousing robot 2 in coordinates of a preset working area of the server.
Wherein the working state information comprises a working mode and/or a working area. The working mode refers to whether the warehousing robot 2 moves straight or rotates; the working area refers to whether the warehousing robot 2 operates in the first area or the second area.
The obtaining of the current location information may be:
the two-dimensional codes preset in the working area are respectively and uniformly distributed on the floors of the first area and the second area in an array mode, the two-dimensional codes comprise accurate position information in a warehouse area map where the two-dimensional codes are located, the position information corresponds to coordinates preset in the server, and namely the position information of the current position in the two-dimensional codes is set according to the coordinate map preset in the server. For example, a two-dimensional code scanning and positioning device is arranged on the warehousing robot 2 and used for scanning a two-dimensional code to obtain two-dimensional code information, the positioning device is arranged in the center of the base of the warehousing robot 2, and the scanning direction is opposite to the floor area. After scanning the current two-dimensional code information, the warehousing robot 2 acquires the position information in the two-dimensional code information and reports the position information to the server. In the walking process, the current position information of the warehousing robot 2 can be acquired through the two-dimensional code preset on the floor. It should be noted that how to acquire the current position information of the warehousing robot 2 is not the focus of the present invention.
Specifically, the work area is determined by dividing the first area and the second area according to coordinates in a preset map in the server, that is, a part of the coordinates of the preset map of the server corresponds to the first area and a part of the coordinates corresponds to the second area, and the specific division is performed in a one-to-one correspondence manner according to a relative position relationship between the first area and the second area in an actual situation. If the coordinates in the preset map in the server corresponding to the current position information belong to a first area, the current working area of the warehousing robot 2 is the first area, and if the coordinates in the map corresponding to the current position information belong to a second area, the current working area is the second area.
The warehousing robot can also confirm the working mode through the position information; the working modes comprise a straight mode and a rotating mode. The straight-moving mode refers to that the warehousing robot 2 performs straight-line motion, and the rotating mode refers to that the warehousing robot 2 performs rotating motion according to a central axis of the warehousing robot 2, so that the motion direction of the warehousing robot 2 is adjusted. The operation mode is an operation in the first area and the second area. Further, the warehousing robot may obtain the current working mode according to the current position information and the next position information sent by the server, for example, as shown in fig. 1, the advancing direction of the warehousing robot is an X-axis direction of the preset coordinates, the position information of the current position is coordinates (X1, Y1), and when the position information of the target position is coordinates (X1, Y2), the warehousing robot needs to rotate a certain angle to reach the target position, and the current working mode is determined to be the rotation mode. When the position information of the target position is (X2, Y1), it is determined that the current operation mode is the straight mode.
Specifically, the corresponding working mode can be directly sent to the warehousing robot for the server. The server acquires the current position information of the warehousing robot 2, and simultaneously acquires a working mode of the warehousing robot 2 from the current position information to the next position information according to the current position information and the next position information, and returns the working mode to the warehousing robot 2. The warehousing robot 2 directly acts according to the working mode sent by the server.
In the first area, the warehousing robot 2 can perform two operation modes, i.e., a straight mode and a rotation mode. In the second area, due to the limitation of the shelf, the rotation mode may not be set in the second area, only the straight mode may be performed, and both the straight mode and the rotation mode may be set in the second area. The straight mode may include forward and reverse motion. The rotation pattern may include clockwise rotation and counterclockwise rotation.
S120, determining a detection area according to the working state information;
in this embodiment, the working modes include a straight-going working mode and a rotating working mode, and when the warehousing robot 2 acquires the current working mode and/or working area, what detection mode should be adopted can be determined, where the detection mode is a preset detection mode. In other words, the warehousing robot 2 adopts a corresponding detection mode to determine whether an obstacle exists according to the current position and/or action.
Further, the working mode of the warehousing robot 2 can be acquired first, the detection area is confirmed for the first time, then the working area of the warehousing robot 2 is acquired, and the detection area is further confirmed for the second time. Or the working area of the warehousing robot 2 may be acquired first, the detection area is confirmed for the first time, then the working mode of the warehousing robot 2 is acquired, and the detection area is further confirmed for the second time.
Specifically, the detection area may include a quadrangle and a circle, and different operation modes and/or different operation areas correspond to different detection areas. For example, the detection area corresponding to the rotation mode is circular, and the detection area corresponding to the rectilinear mode is quadrangular. It should be noted that, as shown in fig. 1 for a plurality of warehousing robots 1, the detection area may be disposed in the forward direction, the backward direction of the warehousing robot, or around the warehousing robot. For example, the detection area is in the forward direction of the warehousing robot when the warehousing robot moves forward, in the backward direction when the warehousing robot moves backward, and surrounds the periphery of the warehousing robot when the warehousing robot rotates. The detection area is arranged to avoid causing collision, personnel damage and the like when personnel and other articles appear in the detection area.
It should be noted that the detection area may be an area where the warehousing robot 2 projects rays through a laser radar, for example, the rays are projected into a rectangle, an isosceles trapezoid, a circle, and the like; the laser radar emits rays in the target range, if an obstacle exists, the reflected rays reflected from the obstacle can be received, and whether the obstacle exists in the target range can be known by comparing the emitted rays with the data of the reflected rays. If the emitted rays and the reflected rays are properly processed, various data such as target distance, azimuth, height, speed, attitude, shape and the like can be obtained.
S130: and if the obstacle exists in the detection area, braking.
In this embodiment, when it is detected that an obstacle appears in the detection area, a braking instruction is sent to the driving system of the warehousing robot 2 at the first time to control the warehousing robot 2 to perform a braking action. And if no obstacle appears in the detection area, continuing to work according to the instruction of the driving system.
It should be noted that, when the braking time of the warehousing robot 2 at a certain coordinate position exceeds a preset time threshold, the warehousing robot 2 or the server may send out an early warning message to notify the staff to perform obstacle elimination. After the obstacle is eliminated, the warehousing robot 2 passes through the original path or redistributes a path to the current warehousing robot 2.
According to the obstacle avoidance method provided by the embodiment, the working state information is acquired; determining a detection area according to the working state information; and if the obstacle exists in the detection area, braking. The working state information can be working areas and/or different working areas, so that the warehousing robot 2 works in different areas and is suitable for different detection areas, the obstacle avoidance adaptability is improved, the obstacle avoidance success rate is improved, and the operation cost is relatively low.
Embodiment 2, another embodiment of the present application provides an obstacle avoidance method, which may be performed by the warehousing robot 2 in fig. 1.
The working state information comprises a working mode;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working mode.
In this embodiment, after acquiring the working mode, the warehousing robot 2 determines the shape of the detection area according to the working mode. Moreover, different working modes correspond to different detection area shapes. It should be noted that, if the second region of the working region can be selectively set to the rotation mode, the determination manner of the detection region is also different. Specifically, the different determination manners include:
a rotation mode is set in the second area, the detection area is determined through the working mode, and the detection area can be further determined through the working area;
the second region is not provided with a rotation mode, and the detection region can be directly determined through the working region.
Whether the rotation mode is set in the second region or not can be adaptively selected according to the area size of the second region and the floor area of the warehousing robot, and can also be adaptively selected according to the personal habits or work requirements of users.
Specifically, the determining the detection area according to the working mode includes:
when the working mode is the straight line, determining that the detection area is a quadrangle;
when the working mode is rotation, the detection area is determined to be circular.
It should be noted that the quadrangle includes regular figures such as a rectangle, a trapezoid, and a parallelogram, and further, when the working mode is a straight line, and the detection area is a quadrangle, the quadrangle is in seamless butt joint with the body of the warehousing robot 2 and is located in the forward direction or the backward direction of the warehousing robot 2. For example, when the quadrangle is trapezoidal, the lower bottom of the trapezoid is butted with the side length of the advancing direction of the base of the warehousing robot 2, and the lower bottom of the trapezoid is not smaller than the side length of the advancing direction of the base, so as to prevent the detection area from not covering the path of the advancing direction of the warehousing robot 2 to cause missed detection; when the detection shape is circular, the radius of the detection area is larger than the rotation radius of the warehousing robot 2, so that the warehousing robot 2 is guaranteed not to collide with the obstacle when rotating.
In this embodiment, the working state information further includes a working area when the working state information includes the working state;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working mode and the working area.
The determining the detection area according to the working mode and the working area may be:
and when the working mode is the straight line and the working area is the second area, determining that the detection area is a trapezoid.
It should be noted that, when the detection mode is the second area straight-ahead detection mode, the detection area is set to be trapezoidal, so that the shaking of the detection area caused by the shaking of the warehousing robot 2 during the walking process can be avoided, and the goods shelf legs can enter the detection area by mistake due to the shaking of the detection area, thereby causing misjudgment.
Wherein the determining a detection area according to the working mode and the working area further comprises:
when the working mode is rotation and the working area is a second area, determining that the detection area is circular;
when the working mode is straight and the working area is the first area, determining that the detection area is a quadrangle;
and when the working mode is rotation and the working area is the first area, determining that the detection area is circular.
It should be noted that, when the working mode is a straight line and the working area is the first area, it may also be determined which specific quadrangle the detection area is, for example, it is preset that the quadrangle of the detection area in the first area is a rectangle, and when the working mode is a straight line and the working area is the first area, it is determined that the detection area is a rectangle. The shape setting of the specific quadrangle can be selected differently according to different requirements.
According to the obstacle avoidance method provided by the embodiment, the working state information is acquired; determining a detection area according to the working state information; the working state information comprises a working mode and a working area. And if the obstacle exists in the detection area, braking. According to the embodiment of the invention, different modes are set for determining the detection area according to different working areas and/or different working areas of the warehousing robot, and when an obstacle exists in the detection area, braking is carried out. Therefore, the obstacle avoidance success rate is improved, and the operation cost is relatively low.
Embodiment 3, another embodiment of the present application provides an obstacle avoidance method, which may be performed by the warehousing robot 2 in fig. 1.
The working state information comprises a working area;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working area.
In this embodiment, the second area is not rotatable, that is, the second area is set to only perform the straight mode. After acquiring a working area, the warehousing robot 2 determines the detection area according to the working area, specifically, determining the detection area according to the working area includes:
when the working area is the second area, determining that the detection area is a quadrangle;
and when the working area is the first area, determining that the detection area is a quadrangle or a circle.
In this embodiment, the operating state information may further include an operating mode, and after the detection shape is determined according to an operating area, the detection area may be further determined through the operating mode. The determining a detection area according to the working mode and the working area comprises:
when the working area is the second area and the working mode is the straight line, determining that the detection area is in a trapezoid shape;
when the working area is the first area and the working mode is the straight line, determining that the detection area is a quadrangle;
and when the working area is the first area and the working mode is rotation, determining that the detection area is circular.
It should be noted that, when the working mode is a straight line and the working area is the first area, it may also be determined which specific quadrangle the detection area is, for example, it is preset that the quadrangle of the detection area in the first area is a rectangle, and when the working mode is a straight line and the working area is the first area, it is determined that the detection area is a rectangle. The shape setting of the specific quadrangle can be selected differently according to different requirements.
According to the obstacle avoidance method provided by the embodiment, the working state information is acquired; determining a detection area according to the working state information; the working state information comprises a working mode and a working area. And if the obstacle exists in the detection area, braking. According to the embodiment of the invention, different modes are set for determining the detection area according to different working areas and/or different working areas of the warehousing robot, and when an obstacle exists in the detection area, braking is carried out. Therefore, the obstacle avoidance success rate is improved, and the operation cost is relatively low.
Embodiment 4, another embodiment of the present application provides an obstacle avoidance method, which may be performed by the warehousing robot 2 in fig. 1.
The determining a detection area according to the working area comprises:
and when the working area is the second area, determining that the detection area is a trapezoid. Based on the above preferred embodiment of determining the detection area according to the working area, when the warehousing robot acquires that the working area is the second area, it is directly determined that the detection area is trapezoidal. The remaining technical features are the same as the above-described embodiment in which the detection region is determined based on the working region.
For example, the determination of the remaining detection regions may be:
when the working area is the first area and the working mode is the straight line, determining that the detection area is a rectangle; and when the working area is the first area and the working mode is rotation, determining that the detection area is circular.
It should be noted that, because the moving range of the warehousing robot 2 in the second area is small, there may be some ornaments such as shelves in the second area, and the detection area when the detection mode is the second area straight-moving detection mode is set to be trapezoidal, it can avoid the shake of the detection area caused by the shake of the warehousing robot 2 in the walking process, so that the supporting legs of the ornaments such as similar shelves legs may enter the detection area by mistake due to the shake of the detection area, resulting in misjudgment.
According to the obstacle avoidance method provided by the embodiment, the working state information is acquired; determining a detection area according to the working state information; the working state information comprises a working mode and a working area. And if the obstacle exists in the detection area, braking. According to the embodiment of the invention, different modes are set for determining the detection area according to different working areas and/or different working areas of the warehousing robot, and when an obstacle exists in the detection area, braking is carried out. Therefore, the obstacle avoidance success rate is improved, and the operation cost is relatively low.
Embodiment 5, another embodiment of the present application provides an obstacle avoidance method, as shown in fig. 3, which may be performed by the warehousing robot 2 in fig. 1.
After the determining the detection area according to the working state information and before braking if an obstacle exists in the detection area, the method further includes:
s310, acquiring the current running speed;
specifically, the operation speed refers to an operation speed of the warehousing robot 2 when the operation mode is the straight mode, and when the operation mode is the rotation mode, the angular speed of the warehousing robot 2 can be set to be fixed. The motion of the warehousing robot 2 is realized through the work of the motor, the running speed is obtained through a driver of the motor, and the running speed obtained through the motor driver is accurate, so that the obstacle avoidance accuracy is high. In another embodiment, the running speed may also be obtained by an external speed measurer or by calculation according to the front and back coordinate information and the running time in the warehousing robot 2;
in other embodiments, when the operation mode is a rotation mode, the angular speed of the warehouse robot 2 may be set to be variable.
S320, dynamically adjusting the range of the detection area according to the current running speed and a preset speed threshold interval, wherein the range of the detection area corresponds to the speed threshold interval.
Specifically, when the warehousing robot 2 performs a rotational motion, the shape of the detection area is circular, and the warehousing robot 2 does not change its position but performs a rotational motion in situ. The operation speed value is 0, and when the operation speed value is 0, a radius is set to be slightly larger than the rotation radius of the warehousing robot 2, so that effective obstacle avoidance can be realized. The specific radius value can be set based on the size of the body of the warehousing robot 2.
When the warehousing robot 2 moves straight, the detection area is rectangular or isosceles trapezoid, and the detection area is arranged in the moving direction of the warehousing robot 2, for example, the detection area is located at the front end of the robot during forward movement and at the rear end of the robot during backward movement. At this time, the operation speed of the warehousing robot 2 is not 0, and the area of the detection area is adjusted according to the size of the operation speed, for example, when the detection area is rectangular, the width of the rectangle coincides with the width of the base, and the larger the operation speed is, the larger the length of the rectangle is, the larger the area of the detection area is.
It should be noted that, when the operating speed of the warehousing robot 2 is higher, since the deceleration of the warehousing robot 2 is a fixed value, that is, the time when the warehousing robot 2 decelerates to 0 increases with the increase of the operating speed, the braking distance of the warehousing robot 2 also increases with the increase of the operating speed, and therefore the area of the detection area also increases with the increase of the operating speed.
Specifically, the braking distance from the movement to the stop of the warehousing robot 2 can be calculated according to the deceleration of the warehousing robot 2, the safe distance for braking when the obstacle is detected is calculated according to the size of the warehousing robot 2, and the fact that the obstacle does not collide with the obstacle when braking is carried out at the first time when the obstacle appears in the detection area is guaranteed, so that unnecessary loss is caused. It should be noted that, when the operation mode is the rotation mode, the warehousing robot 2 is in the stagnation state, so the speed is 0, there is no braking distance, the shape of the detection area at this time is circular, after the rotation diameter of the warehousing robot 2 is calculated, an appropriate speed and a detection area diameter slightly larger than the rotation diameter of the warehousing robot 2 are preset, and it is ensured that the warehousing robot 2 does not collide with the obstacle during the rotation.
Alternatively, taking the chassis of the warehousing robot 2 as 1300mm, 900mm wide, 1581 in rotation diameter and 1.2m/s of maximum deceleration as an example, the following table shows:
| speed (m/s) | Time(s) | Braking distance (m) | Rotating diameter (m) |
| 0 | 0 | 0 | 1.581 |
| 0.25 | 0.2083 | 0.0260 | 0 |
| 0.5 | 0.4167 | 0.1042 | 0 |
| 1.0 | 0.8333 | 0.4166 | 0 |
| 1.5 | 1.2500 | 0.9375 | 0 |
| 2.0 | 1.6667 | 1.6667 | 0 |
According to the table parameters, a corresponding speed threshold value interval and a safe rotation diameter or a safe braking distance corresponding to the speed threshold value interval can be preset.
Specifically, the speed threshold interval includes: [0] 6 ranges of (0, 0.25), (0.25, 0.5), (0.5, 1.0), (1.0, 1.5) and (1.5, 2.0).
The safe rotation diameter corresponding to the speed threshold interval of [0] is 1.7 m; the safety braking distances corresponding to the speed threshold ranges (0,0.25], (0.25,0.5], (0.5,1.0], (1.0,1.5], (1.5,2.0] are 0.1m, 0.2m, 0.5m, 1m, and 1.8m, respectively.
Further, a corresponding detection area range may be calculated according to the detection mode and the speed threshold interval, which is exemplified by:
when the working mode is a rotation mode and the corresponding running speed is 0, the corresponding speed threshold interval is [0], the safe rotation diameter is 1.7m, and the area of the detection area at this time is: (1.7/2) × pi, about 2.270 square meters.
When the working mode is a straight-moving mode, the corresponding detection area is rectangular, and the areas of the detection areas corresponding to the 5 speed threshold intervals are respectively as follows:
when the speed threshold interval is (0, 0.25)]And the safe braking distance is 0.1m, and the area of the detection area is as follows: 0.9m 0.1m 0.09m2；
When the speed threshold interval is (0.25, 0.5)]And the safe braking distance is 0.2m, and the area of the detection area is as follows: 0.9m 0.2m 0.18m2；
When the speed threshold interval is (0.5, 1.0)]And the safe braking distance is 0.5m, and the area of the detection area is as follows: 0.9m 0.5 m-0.45 m2；
When the speed threshold interval is (1.0, 1.5)]And the safe braking distance is 1m, and the area of the detection area is as follows: 0.9m 1m 0.9m2；
When the speed threshold interval is (1.5, 2.0)]And the safe braking distance is 1.8m, and the area of the detection area is as follows: 0.9m 1.8m 1.62m2；
When the detection area shape is trapezoidal, predetermine the upper base and be less than lower bottom 0.1m, then the detection area that corresponds 5 speed threshold interval respectively is:
when the speed threshold interval is (0, 0.25)]And the safe braking distance is 0.1m, and the area of the detection area is as follows: (0.9m +0.8m)/2 x 0.1 m-0.085 m2；
When the speed threshold interval is (0.25, 0.5)]And the safe braking distance is 0.2m, and the area of the detection area is as follows: (0.9m +0.8m)/2 x 0.2 m-0.17 m2；
When the speed threshold interval is (0.5, 1.0)]And the safe braking distance is 0.5m, and the area of the detection area is as follows: (0.9m +0.8m)/2 x 0.5 m-0.425 m2；
When the speed threshold interval is (1.0, 1.5)]And the safe braking distance is 1m, and the area of the detection area is as follows: (0.9m +0.8m)/2m 1 m-0.85 m2；
When the speed threshold interval is (1.5, 2.0)]And the safe braking distance is 1.8m, and the area of the detection area is as follows: (0.9m +0.8m)/2 x 1.8 m-1.53 m2；
In this embodiment, set for the detection area of different area sizes, can improve the precision of keeping away the barrier to, combine storage robot 2's braking distance, according to the scope size of speed change detection area, can avoid because of too big obstacle avoidance failure that causes of speed, further improvement storage robot 2 keeps away the barrier precision.
The embodiment of the invention has the beneficial effects that: according to the obstacle avoidance method provided by the embodiment, the working state information is acquired; determining a detection area according to the working state information; the working state information comprises a working mode and a working area. And if the obstacle exists in the detection area, braking. According to the embodiment of the invention, different modes are set for determining the detection area according to different working areas and/or different working areas of the warehousing robot, and when an obstacle exists in the detection area, braking is carried out. Therefore, the obstacle avoidance success rate is improved, and the operation cost is relatively low.
An embodiment of the present invention further provides an obstacle avoidance device, fig. 4 is a schematic structural diagram of the obstacle avoidance device provided in the embodiment of the present invention, and as shown in fig. 4, the obstacle avoidance device 4 includes:
a first obtaining module 41, configured to obtain operating state information;
a determining module 42, configured to determine a detection area according to the working state information;
and a judging module 43, configured to perform braking if an obstacle exists in the detection area.
Specifically, as shown in fig. 5, the determining module 5 includes:
a first determining unit 51, configured to determine a detection area according to the operating mode;
the first determining unit 51 is specifically configured to:
when the working mode is the straight line, determining that the detection area is a quadrangle;
when the working mode is rotation, the detection area is determined to be circular.
Specifically, the determining module 5 includes:
a second determining unit 52, configured to determine a detection area according to the working mode and the working area;
the second determining unit 52 is specifically configured to:
and when the working mode is the straight line and the working area is the second area, determining that the detection area is a trapezoid.
Specifically, the determining module 6 includes:
a third determining unit 61, configured to determine a detection area according to the working area.
Specifically, the third determining unit 61 is specifically configured to:
when the working area is the second area, determining that the detection area is a quadrangle; or when the working area is the second area, determining that the detection area is a trapezoid.
And when the working area is the first area, determining that the detection area is a quadrangle or a circle.
Specifically, the determining module 6 includes:
a fourth determining unit 62, configured to determine a detection area according to the working area and the working mode;
the fourth determining unit 62 is specifically configured to:
when the working area is the second area and the working mode is the straight line, determining that the detection area is in a trapezoid shape;
when the working area is the first area and the working mode is the straight line, determining that the detection area is a quadrangle;
and when the working area is the first area and the working mode is rotation, determining that the detection area is circular.
Specifically, the apparatus further comprises:
a second obtaining module 44, configured to obtain a current operating speed;
and an adjusting module 45, configured to dynamically adjust a range of the detection area according to the current operating speed and a preset speed threshold interval, where the range of the detection area corresponds to the speed threshold interval.
The obstacle avoidance device provided by the embodiment acquires the working state information; determining a detection area according to the working state information; the working state information comprises a working mode and a working area. And if the obstacle exists in the detection area, braking. According to the embodiment of the invention, different modes are set for determining the detection area according to different working areas and/or different working areas of the warehousing robot, and when an obstacle exists in the detection area, braking is carried out. Therefore, the obstacle avoidance success rate is improved, and the operation cost is relatively low.
It should be noted that, since the device configuration apparatus and the device configuration method applied to the client terminal device in the foregoing method embodiment are based on the same inventive concept, corresponding contents and advantageous effects of the foregoing method embodiment are also applicable to this apparatus embodiment, and detailed description is omitted here.
An embodiment of the present invention further provides a warehousing robot, fig. 7 is a schematic diagram of a hardware structure of the warehousing robot provided in the embodiment of the present invention, and as shown in fig. 7, the warehousing robot includes:
at least one processor 71; and the number of the first and second groups,
a memory 72 communicatively coupled to the at least one processor 71; wherein,
the memory 72 stores instructions executable by the at least one processor 71, the instructions being executable by the at least one processor 71 to enable the at least one processor 71 to perform the obstacle avoidance detection method as described above.
Specifically, one processor 71 in fig. 7 is taken as an example. The processor 71 and the memory 72 may be connected by a bus or other means, such as the bus connection in fig. 7.
The memory 72, which is a non-volatile computer-readable storage medium, may be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the rise detection method in the embodiment of the present invention (e.g., steps S110-S130 shown in fig. 2). The processor 71 executes various functional applications and data processing of the warehousing robot by running the nonvolatile software programs, instructions and modules stored in the memory 72, that is, implements the obstacle avoidance method of the above-described method embodiment.
The memory 72 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the warehousing robot, and the like. Further, the memory 72 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 72 may optionally include memory located remotely from the processor 71, and these remote memories may be connected to the warehousing robot via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 72, and when executed by the one or more processors 71, perform the detection obstacle avoidance method in any of the above-described method embodiments, for example, perform the above-described method steps S210 to S230 in fig. 2, and the method steps S310 to S320 in fig. 3; to implement the functionality of the modules 41-45 in fig. 4, to implement the functionality of the modules 51-52 in fig. 5, and to implement the functionality of the modules 61-62 in fig. 6.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
According to the warehousing robot provided by the embodiment, the working state information is acquired; determining a detection area according to the working state information; the working state information comprises a working mode and a working area. And if the obstacle exists in the detection area, braking. According to the embodiment of the invention, different modes are set for determining the detection area according to different working areas and/or different working areas of the warehousing robot, and when an obstacle exists in the detection area, braking is carried out. Therefore, the obstacle avoidance success rate is improved, and the operation cost is relatively low.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes in the methods for implementing the embodiments may be implemented by hardware associated with computer program instructions, and the programs may be stored in a computer readable storage medium, and when executed, may include processes of the embodiments of the methods as described. The storage medium may be a magnetic disk, an optical disk, a Read-only Memory (ROM), a Random Access Memory (RAM), or the like.
Embodiments of the present invention provide a non-transitory computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, which are executed by one or more processors, for example, the processors, so that the one or more processors may perform the obstacle avoidance method in any of the method embodiments, for example, perform the method steps S210 to S230 in fig. 2, and the method steps S310 to S320 in fig. 3 described above; to implement the functionality of the modules 41-45 in fig. 4, to implement the functionality of the modules 51-52 in fig. 5, and to implement the functionality of the modules 61-62 in fig. 6.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. An obstacle avoidance method is applied to a storage robot, and is characterized by comprising the following steps:
acquiring working state information;
determining a detection area according to the working state information;
and if the obstacle exists in the detection area, braking.
2. An obstacle avoidance method according to claim 1, characterized in that:
the working state information comprises a working mode;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working mode.
3. An obstacle avoidance method according to claim 2, wherein:
the determining a detection area according to the working mode comprises:
when the working mode is the straight line, determining that the detection area is a quadrangle;
when the working mode is rotation, the detection area is determined to be circular.
4. An obstacle avoidance method according to claim 3, wherein:
the working state information further comprises a working area;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working mode and the working area.
5. An obstacle avoidance method according to claim 4, wherein:
the determining a detection area according to the working mode and the working area comprises:
when the working mode is a straight line and the working area is the second area, determining that the detection area is a trapezoid;
and when the working mode is the straight line and the working area is the first area, determining that the detection area is a rectangle.
6. An obstacle avoidance method according to claim 1, characterized in that:
the working state information comprises a working area;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working area.
7. An obstacle avoidance method according to claim 6, wherein:
the determining a detection area according to the working area comprises:
when the working area is the second area, determining that the detection area is a quadrangle;
and when the working area is the first area, determining that the detection area is a quadrangle or a circle.
8. An obstacle avoidance method according to claim 7, wherein:
the operating state information further comprises an operating mode;
determining a detection area according to the working state information comprises:
and determining a detection area according to the working area and the working mode.
9. An obstacle avoidance method according to claim 8, wherein:
the determining the detection area according to the working area and the working mode comprises:
when the working area is the second area and the working mode is the straight line, determining that the detection area is in a trapezoid shape;
when the working area is the first area and the working mode is the straight line, determining that the detection area is a quadrangle;
and when the working area is the first area and the working mode is rotation, determining that the detection area is circular.
10. An obstacle avoidance method according to claim 6, wherein:
the determining a detection area according to the working area comprises:
and when the working area is the second area, determining that the detection area is a trapezoid.
11. An obstacle avoidance method according to any one of claims 1 to 10, wherein: after the determining the detection area according to the working state information and before braking if an obstacle exists in the detection area, the method further includes:
acquiring a current running speed;
and dynamically adjusting the range of the detection area according to the current running speed and a preset speed threshold interval, wherein the range of the detection area corresponds to the speed threshold interval.
12. The utility model provides a keep away barrier device for storage robot, its characterized in that: the device comprises:
the first acquisition module is used for acquiring the working state information;
the determining module is used for determining a detection area according to the working state information;
and the judging module is used for braking if the obstacle exists in the detection area.
13. An obstacle avoidance apparatus according to claim 12, wherein the determination module comprises:
the first determining unit is used for determining a detection area according to the working mode;
the first determining unit is specifically configured to:
when the working mode is the straight line, determining that the detection area is a quadrangle;
when the working mode is rotation, determining that the detection area is circular;
the determining module further comprises:
the second determining unit is used for determining a detection area according to the working mode and the working area;
the second determining unit is specifically configured to:
when the working mode is a straight line and the working area is the second area, determining that the detection area is a trapezoid;
or,
the determining module comprises:
and the third determining unit is used for determining the detection area according to the working area.
The third determining unit is specifically configured to:
when the working area is the second area, determining that the detection area is a quadrangle; or when the working area is the second area, determining that the detection area is a trapezoid;
and when the working area is the first area, determining that the detection area is a quadrangle or a circle.
The determining module further comprises:
the fourth determining unit is used for determining a detection area according to the working area and the working mode;
the fourth determining unit is specifically configured to:
when the working area is the second area and the working mode is the straight line, determining that the detection area is in a trapezoid shape;
when the working area is the first area and the working mode is the straight line, determining that the detection area is a quadrangle;
and when the working area is the first area and the working mode is rotation, determining that the detection area is circular.
14. An obstacle avoidance device according to claim 12 or 13, wherein: the device further comprises:
the second acquisition module is used for acquiring the current running speed;
and the adjusting module is used for dynamically adjusting the range of the detection area according to the current running speed and a preset speed threshold interval, wherein the range of the detection area corresponds to the speed threshold interval.
15. A warehousing robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.
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| CN201910041517.8A CN109753070A (en) | 2019-01-16 | 2019-01-16 | A kind of barrier-avoiding method, device and storage robot |
| JP2021541520A JP2022539936A (en) | 2019-01-16 | 2020-02-13 | Obstacle avoidance method, device and warehouse robot |
| PCT/CN2020/075136 WO2020147864A1 (en) | 2019-01-16 | 2020-02-13 | Obstacle avoidance method, apparatus, and warehouse robot |
| US17/377,009 US12093047B2 (en) | 2019-01-16 | 2021-07-15 | Obstacle avoidance method and apparatus, and warehousing robot |
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| WO2021082964A1 (en) * | 2019-10-31 | 2021-05-06 | 灵动科技（北京）有限公司 | Autonomous moving device and warehouse logistics system |
| CN111273313A (en) * | 2020-02-26 | 2020-06-12 | 广东博智林机器人有限公司 | Anti-collision detection method and device for indoor walking of building robot and building robot |
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| CN111880525A (en) * | 2020-06-15 | 2020-11-03 | 北京旷视机器人技术有限公司 | Robot obstacle avoidance method and device, electronic equipment and readable storage medium |
| CN111880525B (en) * | 2020-06-15 | 2024-09-20 | 北京旷视机器人技术有限公司 | Robot obstacle avoidance method and device, electronic equipment and readable storage medium |
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Application publication date: 20190514 |