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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- CN109753070A CN109753070A CN201910041517.8A CN201910041517A CN109753070A CN 109753070 A CN109753070 A CN 109753070A CN 201910041517 A CN201910041517 A CN 201910041517A CN 109753070 A CN109753070 A CN 109753070A
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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 present invention relates to avoidance technical field more particularly to a kind of barrier-avoiding methods, device and storage robot.
Background technique
Barrier-avoiding method is an important link in some intelligent automation technology fields, such as intelligent storage robot,
It can effectively avoid storage robot from generating collision during the work time by using barrier-avoiding method and cause unnecessary loss.
In the prior art, because of the restriction of environment or avoidance equipment, the avoidance effect of most barrier-avoiding methods be unable to reach compared with
Good avoidance effect.For example, barrier-avoiding method majority is realized based on infrared type scanner, but because of infrared counter ambient light interference
Ability is poor, so that avoidance effect is poor.
Summary of the invention
The embodiment of the present invention provides a kind of barrier-avoiding method, device and storage robot, to improve the avoidance of storage robot
Precision.
In a first aspect, being applied to storage robot, the method packet the embodiment of the invention provides a kind of barrier-avoiding method
It includes:
Obtain work state information；
Detection zone is determined according to the work state information；
If there are barriers in the detection zone, braked.
Optionally, the work state information includes operating mode；
Determine that detection zone includes: according to the work state information
Detection zone is determined according to the operation mode.
Optionally, described to determine that detection zone includes: according to the operation mode
When operating mode is straight trip, it is determined that detection zone is quadrangle；
When operating mode is rotation, it is determined that detection zone is circle.
Optionally, the work state information further comprises working region；
Determine that detection zone includes: according to the work state information
Detection zone is determined with working region according to the operation mode.
Optionally, described to determine that detection zone includes: with working region according to the operation mode
When operating mode is straight trip and working region is second area, it is determined that detection zone is trapezoidal.
Optionally, the work state information includes working region；
Determine that detection zone includes: according to the work state information
Detection zone is determined according to the working region.
Optionally, described to determine that detection zone includes: according to the working region
When working region is second area, it is determined that detection zone is quadrangle；
When working region is first area, it is determined that detection zone is quadrangle or circle.
Optionally, the work state information further comprises operating mode；
Determine that detection zone includes: according to the work state information
Detection zone is determined according to the working region and operating mode.
Optionally, described to determine that detection zone includes: according to the working region and operating mode
When working region is second area and operating mode is straight trip, it is determined that detection zone is trapezoidal；
When working region is first area, and operating mode is straight trip, it is determined that detection zone is quadrangle；
When working region is first area, and operating mode is rotation, it is determined that detection zone is circle.
Optionally, described to determine that detection zone includes: according to the working region
When working region is second area, it is determined that detection zone is trapezoidal.
Optionally, if being determined according to the work state information after detection zone and being deposited in the detection zone described
In barrier, then before being braked, further includes:
Obtain the current speed of service；
According to the current speed of service and preset threshold speed section, the range of the detection zone is dynamically adjusted,
The range of the detection zone is corresponding with the threshold speed section.
Second aspect, the embodiment of the invention provides a kind of obstacle avoidance apparatus, for the robot that stores in a warehouse,
It is characterized by: described device includes:
First obtains module, for obtaining work state information；
Determining module, for determining detection zone according to the work state information；
Judgment module, if being braked for there are barriers in the detection zone.
Optionally, the determining module includes:
First determination unit, for determining detection zone according to the operation mode；
First determination unit is specifically used for:
When operating mode is straight trip, it is determined that detection zone is quadrangle；
When operating mode is rotation, it is determined that detection zone is circle.
Optionally, the determining module includes:
Second determination unit, for determining detection zone with working region according to the operation mode；
Second determination unit is specifically used for:
When operating mode is straight trip and working region is second area, it is determined that detection zone is trapezoidal.
Optionally, the determining module includes:
Third determination unit, for determining detection zone according to the working region.
Optionally, the third determination unit is specifically used for:
When working region is second area, it is determined that detection zone is quadrangle；
When working region is first area, it is determined that detection zone is quadrangle or circle.
Optionally, the determining module includes:
4th determination unit, for determining detection zone according to the working region and operating mode；
4th determination unit is specifically used for:
When working region is second area and operating mode is straight trip, it is determined that detection zone is trapezoidal；
When working region is first area, and operating mode is straight trip, it is determined that detection zone is quadrangle；
When working region is first area, and operating mode is rotation, it is determined that detection zone is circle.
Optionally, the third determination unit is specifically used for:
When working region is second area, it is determined that detection zone is trapezoidal.
Optionally, described device further include:
Second obtains module, for obtaining the current speed of service；
Module is adjusted, for dynamically adjusting the inspection according to the current speed of service and preset threshold speed section
The range in region is surveyed, the range of the detection zone is corresponding with the threshold speed section.
The third aspect, the embodiment of the present invention provide a kind of storage robot, and the storage robot includes:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor is able to carry out barrier-avoiding method as described above.
Fourth aspect, the embodiment of the present invention provide a kind of storage medium, and the storage medium is stored with executable instruction, institute
When stating executable instruction and being executed by intelligent terminal, the intelligent terminal is made to execute barrier-avoiding method as described above.
5th aspect, the embodiment of the invention also provides a kind of program product, the machine program product includes being stored in
Program on storage media, described program include program instruction, when described program instruction is executed by intelligent terminal, make the intelligence
Terminal executes barrier-avoiding method as described above.
The beneficial effect of the embodiment of the present invention is: barrier-avoiding method, device and storage robot provided in this embodiment lead to
Cross acquisition work state information；Detection zone is determined according to the work state information；The work state information includes work
Mode and/or working region.If there are barriers in the detection zone, braked.The embodiment of the present invention is according to storage
Robot is arranged different modes and determines detection zone in different working regions and/or different working regions, and when described
There are barriers in detection zone, then are braked.To promote avoidance success rate, and operating cost is relatively low.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of schematic diagram of one of application environment of barrier-avoiding method provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of barrier-avoiding method provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of barrier-avoiding method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of obstacle avoidance apparatus provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of obstacle avoidance apparatus provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of obstacle avoidance apparatus provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of robot that stores in a warehouse provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, shall fall within the protection scope of the present invention.
It should be noted that each feature in the embodiment of the present invention can be combined with each other, in this hair if do not conflicted
Within bright protection scope.In addition, though having carried out functional module division in schematic device, shows patrol in flow charts
Sequence is collected, but in some cases, it can be shown in the sequence execution in the module division being different from device or flow chart
The step of out or describing.Furthermore the printed words such as " first " of the present invention, " second ", " third " are not to data and execution
Order is defined, and is distinguished to function and the essentially identical identical entry of effect or similar item.
Barrier-avoiding method, device and storage robot 2 provided in an embodiment of the present invention, are suitable for attached applied field shown in FIG. 1
Scape.Attached application scenarios shown in FIG. 1 are the working region of robot 2 of storing in a warehouse, including first area, second area, and at least
One storage robot 2.The first area is the biggish region of active area, for example, first area can be multiple storages
The public domain that robot 2 is acted simultaneously, the second area is the lesser region of active area, for example, described second
Region is the tunnel region of multiple shelf put positioned at interval, and the first area is public for no shelf and other barriers
Region, at least one described storage robot 2 are communicated with director server simultaneously in work.Robot 2 store in a warehouse in progress goods
Need to carry out the walking movement of various different directions when the pick-and-place of object, for example, when storage robot 2 needs to move from first area
When to a target position of one of second area, storage robot 2 needs to make rotating motion before entering second area,
Direction of advance is adjusted to parallel with second area, moves in a straight line and advances toward target position.
It should be noted that the running track of storage robot 2 can be allocated according to task situation, in certain situations
Under can also temporarily change.The storage robot 2 is controlled by server, and server is equipped with the working ways of storage robot 2
Diameter, the location information that server can correspond to storage robot 2 carry out the distribution of target position information.2 meeting of storage robot
The location information of itself is reported, server can send target position information according to the location information that the storage robot 2 reports
To the storage robot 2, storage robot 2 is moved after receiving target position information.
Storage robot 2 is likely encountered shelf foot, pedestrian or other barriers during the work time, in motion path,
Storage robot 2 then can generate collision with barrier, lead to the damage and other unnecessary losses of storage robot 2.This
Inventive embodiments provide barrier-avoiding method, device and storage robot, and detection zone is arranged on storage 2 running track of robot
Domain, different working modes and different zones correspond to different detection zone range and shape.There is barrier in detection zone
When, then storage robot 2 is braked, storage robot 2 and barrier is avoided to generate collision.
Foregoing exemplary shows a kind of form of application scenarios, in other application scenarios, storage robot 2, the
The number and region distribution of two areals and first area, can be arranged according to practical situations.
Fig. 2 is the flow chart of one embodiment of barrier-avoiding method provided in an embodiment of the present invention, and the barrier-avoiding method can be by
Storage robot 2 in Fig. 1 executes.As shown in Fig. 2, the barrier-avoiding method includes:
S110: work state information is obtained；
In the present embodiment, the map of working region, each object within the scope of working region are preset in the server
Reason facility is all corresponding with coordinate.The storage robot work region is divided into first area and second area, and the coordinate pair is answered
The area of first area and second area in working region is converted to coordinate information in the ratio of each region size and is stored in clothes
It is engaged in device.The coordinate also presses real work region equal proportion and divides second area and first area, thus according to storage machine
The location information that device people 2 sends in real time judges that the robot is located at which region and the specific location of working region.Institute's rheme
Confidence breath refers to 2 current location of storage robot corresponding coordinate information in the coordinate that server presets working region.
Wherein, the work state information includes operating mode and/or working region.The operating mode refers to storage machine
Device people 2 is straight trip or rotation；Working region refers to that storage robot 2 is run in first area or second area.
Obtaining current location information can be with are as follows:
Preset two dimensional code distinguishes uniform array distribution on first area and the floor of second area in working region
On, the two dimensional code includes the accurate location information where it in map of depot area, pre- in the location information and server
If coordinate is corresponding namely the location information of current location in the two dimensional code is according to coordinate preset in server
Figure is configured.For example, it is provided with two-dimensional code scanning positioning device in the storage robot 2, for scanning the two-dimensional code
Two-dimensional barcode information is obtained, the positioning device is arranged in the 2 pedestal center of storage robot, and scanning direction faces floor
Region.Robot 2 store in a warehouse after scanning to current two-dimension information, the location information in acquisition two-dimensional barcode information, and report
To server.In walking process, the current position of the storage robot 2 can be obtained by two dimensional code preset on floor and believed
Breath.It should be noted that the current location information for how obtaining storage robot 2 is not emphasis of the invention.
Specifically, the confirmation of working region is to carry out first area and the according to the coordinate preset in map in the server
The division in two regions, in other words, coordinate a part that server presets map correspond to first area, corresponding secondth area of a part
Domain, the first area of specific partitioning standards practical matter and the relative positional relationship of second area are corresponded.If worked as
Coordinate in the information corresponding server of front position in preset map belongs to first area, then 2 current operating region of robot of storing in a warehouse
For first area, if current location information corresponds to the coordinate in map and belongs to second area, current operating region is the secondth area
Domain.
Storage robot can also pass through the position information confirming operating mode；The operating mode includes straight-going mode
And rotary mode.The straight-going mode refer to storage robot 2 move along a straight line, rotary mode refer to storage robot 2 by
Central axis is rotated, and then adjusts the direction of motion of storage robot 2.The operating mode is described
The movement of one region and second area.Further, storage robot can be sent according to current location information and server
The next position information obtain current operating mode, for example, as shown in Fig. 1, the direction of advance for the robot that stores in a warehouse is default
The X-direction of coordinate, and the location information of current location is coordinate (X1, Y1), when the location information of target position is coordinate
(X1, Y2), then robot needs of storing in a warehouse, which rotate by a certain angle, gets to the target position, it is determined that current operating mode
For rotary mode.When target position location information be (X2, Y1), then determine current operating mode be straight-going mode.
Specifically, corresponding operating mode can also be directly transmitted to the robot that stores in a warehouse for server.Server obtains storage
The current location information of robot 2, meanwhile, according to current location information and the next position acquisition of information store in a warehouse robot 2 from
Current location information is run to the operating mode of the next position information, and the operating mode is back to storage robot 2.Storage
Robot 2 is directly acted according to the operating mode that server is sent.
It should be noted that storage robot 2 can carry out straight-going mode and rotary mode in the first area
Two kinds of operating modes.It can be not provided with rotary mode in second area because of the limitation of shelf in the second area, only carried out straight
Row mode, two kinds of operating modes of straight-going mode and rotary mode can also be arranged in second area can be achieved.The straight trip mould
Formula may include advance and setback.The rotary mode may include being rotated clockwise and counterclockwise revolving
Turn.
S120, detection zone is determined according to the work state information；
In the present embodiment, operating mode includes straight-ahead operation mode and rotary work mode, and storage robot 2 is obtaining
When to current operating mode and/or working region, can confirm should be to set in advance using which kind of detection pattern, the detection pattern
The detection mode set.In other words, the storage robot 2 is to take corresponding inspection according to present position and/or movement
Survey mode judges whether there is barrier.
Further, the operating mode that can first obtain storage robot 2 carries out first time confirmation to detection zone, then leads to
The working region for obtaining storage robot 2 carries out further second to the detection zone and confirms.Storehouse can also first be obtained
The working region for storing up robot 2 carries out first time confirmation, then the logical operating mode for obtaining storage robot 2 to detection zone, right
The detection zone carries out further second and confirms.
Specifically, the detection zone may include quadrangle and circle, different working modes and/or different operating area
Domain corresponds to different detection zones.For example, the corresponding detection zone of rotary mode is circle, the corresponding detection zone of straight-going mode
For quadrangle.It should be noted that detection zone may be provided at storage machine as shown in multiple storage robots 1 in attached drawing 1
Direction of advance, direction of retreat or the surrounding around the storage robot of people.For example, storage robot when advancing, examines
Region is surveyed then in the direction of advance of storage robot, retrogressing then in direction of retreat, rotation then around the four of storage robot
Week.The purpose of setting of detection zone is to avoid collision, personal damage when occurring personnel, other articles in the detection area
Deng.
It should be noted that the detection zone can be storage robot 2 by laser radar projection radiation, such as project
It is rectangular, the regions such as isosceles trapezoid, circle；Laser radar divergent-ray in target zone, if there is barrier can receive
From the reflected indirect ray of barrier, by the way that the data of divergent-ray and indirect ray are compared, so that it may learn mesh
Whether there is barrier appearance in mark range.If after divergent-ray and indirect ray are done proper treatment, can obtain target range,
The various data such as orientation, height, speed, posture, shape.
S130: it if there are barriers in the detection zone, is braked.
In the present embodiment, when detecting that detection zone has barrier to occur, braking instruction is sent at the first time to institute
The drive system of storage robot 2 is stated, the storage robot 2 is controlled and carries out braking maneuver.If detection zone does not hinder
Hinder object, then work is continued according to the instruction of drive system.
It should be noted that when storing in a warehouse robot 2 when the time that certain coordinate position is braked being more than preset time threshold, it can
Issuing warning information by the storage robot 2 or server notifies staff to carry out removal of obstacle.After removal of obstacle, storage
Robot 2 passes through or redistributes a paths according to original path to current storage robot 2.
Barrier-avoiding method provided in this embodiment, by obtaining work state information；It is determined according to the work state information
Detection zone；If there are barriers in the detection zone, braked.Work state information described in the embodiment of the present invention can
Working region and/or different working regions are thought, if the work of storage robot 2 is made to be applicable in different inspections in different regions
Region is surveyed, the adaptability of avoidance is improved, to promote avoidance success rate, and operating cost is relatively low.
Embodiment 2, a kind of barrier-avoiding method that another embodiment of the application provides, this method can be by the storehouse in Fig. 1
Robot 2 is stored up to execute.
The work state information includes operating mode；
Determine that detection zone includes: according to the work state information
Detection zone is determined according to the operation mode.
In the present embodiment, storage robot 2, according to the operating mode, determines institute after getting operating mode
State detection zone shape.Also, different operating modes corresponds to different detection zone shapes.It should be noted that workspace
Rotary mode is arranged in the second area alternative in domain, then the method for determination of the detection zone is also different.Specifically, it is described not
With method of determination include:
Rotary mode is set in second area, detection zone is determined by operating mode, and can by working region into
One step determines detection zone；
It is not provided with rotary mode in second area, detection zone can be directly determined by working region.
It should be noted that in the second area whether setting rotary mode can be according to second area size and storehouse
The occupied area for storing up robot carries out adaptability selection, can also carry out adaptability according to the personal habits or work requirements of user
Selection.
Specifically, described to determine that detection zone includes: according to the operation mode
When operating mode is straight trip, it is determined that detection zone is quadrangle；
When operating mode is rotation, it is determined that detection zone is circle.
It should be noted that the quadrangle includes the regular figures such as rectangle, trapezoidal, parallelogram, further, when
When operating mode is straight trip, when the detection zone is quadrangle, the ontology seamless interfacing of quadrangle and storage robot 2, position
In the direction of advance or direction of retreat of the storage robot 2.And the side length that quadrangle is docked with storage 2 ontology of robot
Can not less than it is described storage robot transverse width, for example, when the quadrangle be it is trapezoidal when, trapezoidal bottom with
The side length docking of the direction of advance of the pedestal of storage robot 2, then the trapezoidal bottom is not less than the advance side of the pedestal
To side length, it is therefore an objective to prevent detection zone be not covered with it is described storage 2 direction of advance of robot path and cause missing inspection；When
When the detection shape is round, the radius of detection zone is to guarantee the storage greater than the radius of turn of the storage robot 2
Robot 2 will not generate collision with barrier when making rotating motion.
In the present embodiment, the work state information further comprises working region when including working condition；
Determine that detection zone includes: according to the work state information
Detection zone is determined with working region according to the operation mode.
It is described to determine that detection zone be with working region according to the operation mode are as follows:
When operating mode is straight trip and working region is second area, it is determined that detection zone is trapezoidal.
It should be noted that the detection zone when the detection pattern is second area straight trip detection pattern is set as ladder
Shape can avoid the shake of detection zone caused by the shake because of storage robot 2 in walk process, so that shelf foot meeting
It is strayed into detection zone because of the shake of detection zone, causes to judge by accident.
It is wherein, described to determine detection zone with working region according to the operation mode further include:
When operating mode is rotation and working region is second area, it is determined that detection zone is circle；
When operating mode is straight trip and working region is first area, it is determined that detection zone is quadrangle；
When operating mode is rotation and working region is first area, it is determined that detection zone is circle.
It should be noted that may further determine that detection zone when operating mode is straight trip and working region is first area
For specific any quadrangle, such as presetting the quadrangle of the detection zone in the first area is rectangle, then works as Working mould
When formula is straight trip and working region is first area, it is determined that detection zone is rectangle.The shape setting of specific quadrangle can root
Different selections is carried out according to different demands.
Barrier-avoiding method provided in this embodiment, by obtaining work state information；It is determined according to the work state information
Detection zone；The work state information includes operating mode and working region.If there are barrier in the detection zone,
It is braked.The embodiment of the present invention is according to storage robot in different working regions and/or different working regions, and setting is not
With mode determine detection zone, and when there are barriers in the detection zone, then braked.To promote avoidance success
Rate, and operating cost is relatively low.
Embodiment 3, a kind of barrier-avoiding method that another embodiment of the application provides, this method can be by the storehouse in Fig. 1
Robot 2 is stored up to execute.
The work state information includes working region；
Determine that detection zone includes: according to the work state information
Detection zone is determined according to the working region.
In the present embodiment, spinning movement is not available in the second area, namely the setting second area can only
Carry out straight-going mode.Robot 2 store in a warehouse after getting working region, determines the detection zone according to the working region
Domain, it is specifically, described to determine that detection zone includes: according to the working region
When working region is second area, it is determined that detection zone is quadrangle；
When working region is first area, it is determined that detection zone is quadrangle or circle.
In the present embodiment, the work state information can also include operating mode, determine institute according to working region
After stating detection shape, the detection zone can be further determined by the operating mode.It is described according to the Working mould
Formula and working region determine that detection zone includes:
When working region is second area and operating mode is straight trip, it is determined that detection zone is trapezoidal；
When working region is first area, and operating mode is straight trip, it is determined that detection zone is quadrangle；
When working region is first area, and operating mode is rotation, it is determined that detection zone is circle.
It should be noted that may further determine that detection zone when operating mode is straight trip and working region is first area
For specific any quadrangle, such as presetting the quadrangle of the detection zone in the first area is rectangle, then works as Working mould
When formula is straight trip and working region is first area, it is determined that detection zone is rectangle.The shape setting of specific quadrangle can root
Different selections is carried out according to different demands.
Barrier-avoiding method provided in this embodiment, by obtaining work state information；It is determined according to the work state information
Detection zone；The work state information includes operating mode and working region.If there are barrier in the detection zone,
It is braked.The embodiment of the present invention is according to storage robot in different working regions and/or different working regions, and setting is not
With mode determine detection zone, and when there are barriers in the detection zone, then braked.To promote avoidance success
Rate, and operating cost is relatively low.
Embodiment 4, a kind of barrier-avoiding method that another embodiment of the application provides, this method can be by the storehouse in Fig. 1
Robot 2 is stored up to execute.
It is described to determine that detection zone includes: according to the working region
When working region is second area, it is determined that detection zone is trapezoidal.The present embodiment is based on above-mentioned according to institute
It states working region and determines preferred embodiment based on this embodiment of detection zone, when storage robot gets working region
When for second area, then it is trapezoidal for directly determining the detection zone.Remaining technical characteristic is with above-mentioned according to the workspace
Domain determines that this embodiment of detection zone is identical.
Such as the determination of remaining detection zone may is that
When working region is first area, and operating mode is straight trip, it is determined that detection zone is rectangle；Work as workspace
Domain is first area, and operating mode is when rotating, it is determined that detection zone is circle.
It should be noted that there may be one for second area because storage robot 2 is smaller in the scope of activities of second area
Fixed shelf etc. furnish object, and the detection zone when the detection pattern is second area straight trip detection pattern is set as trapezoidal, can
The shake of detection zone caused by because of storage shake of the robot 2 in walk process is avoided, so that similar shelf foot etc.
The support leg of ornaments object can be strayed into detection zone because of the shake of detection zone, cause to judge by accident.
Barrier-avoiding method provided in this embodiment, by obtaining work state information；It is determined according to the work state information
Detection zone；The work state information includes operating mode and working region.If there are barrier in the detection zone,
It is braked.The embodiment of the present invention is according to storage robot in different working regions and/or different working regions, and setting is not
With mode determine detection zone, and when there are barriers in the detection zone, then braked.To promote avoidance success
Rate, and operating cost is relatively low.
Embodiment 5, a kind of barrier-avoiding method that another embodiment of the application provides, as shown in figure 3, this method can be by
Storage robot 2 in Fig. 1 executes.
If being determined according to the work state information after detection zone and there are obstacles in the detection zone described
Object, then before being braked, further includes:
S310, the current speed of service is obtained；
Specifically, the speed of service refers to the speed of service of the storage robot 2 in the case where operating mode is straight-going mode,
When the operating mode is rotary mode, the angular speed that the settable storage robot 2 rotates is to fix.The storage machine
The movement of people 2 is to realize that the speed of service is obtained by the driver of the motor, is passed through by the work of motor
The speed of service that motor driver obtains is more accurate, so that the accuracy of avoidance is higher.In another embodiment, the fortune
Scanning frequency degree can also be by peripheral hardware velocity meter or according to the front and rear coordinate information and runing time progress in storage robot 2
It calculates and obtains；
In other embodiments, when the operating mode is rotary mode, it may also set up the storage robot 2 and rotate
Angular speed be transformable.
S320, according to the current speed of service and preset threshold speed section, dynamically adjust the detection zone
Range, the range of the detection zone are corresponding with the threshold speed section.
Specifically, when the storage robot 2 is rotated, the shape of the detection zone is circle, at this time
Storage robot 2 without the change on position, be only rotated in situ.Speed of service value at this time is 0, when
It is to set radius of turn of the radius slightly larger than storage robot 2 that speed of service value, which is 0, and effective avoidance can be realized.Specifically
Radius distance value can be based on the fuselage size self-setting of the storage robot 2.
When the storage robot 2 is to carry out straight trip movement, the shape of the detection zone is rectangle or waits at this time
Waist trapezoidal shape, detection zone at this time is that the direction of motion of storage robot 2 is arranged in, for example, being located at machine when forward travel
The front end of device people, positioned at the rear end of robot when setback.The speed of service of the robot 2 of storage at this time is not 0, according to described
The size of the speed of service adjusts the size of detection zone, for example, when the detection zone is rectangle, the width of rectangle and bottom
The wide of seat is overlapped, and the speed of service is bigger, and the length of rectangle is bigger, and the area of detection zone is bigger.
It should be noted that when the speed of service for the robot 2 that stores in a warehouse is bigger, because the deceleration of storage robot 2 is solid
Definite value, in other words time when being decelerated to 0 of the storage robot 2 can increase with the increase of the speed of service, then institute
The braking distance for stating storage robot 2 can also increase with the increase of the speed of service, therefore the area of detection zone also can be with
The increase of the speed of service and increase.
Specifically, it can be calculated from the braking distance for moving to stopping according to the deceleration of storage robot 2, and according to storehouse
The size for storing up robot 2 itself, calculates the safe distance braked when an obstacle is detected in advance, guarantees to go out in detection zone
The first time of existing barrier carries out braking maneuver Shi Buyu barrier and generates collision, causes unnecessary loss.It needs to illustrate
It is that, when operating mode is rotary mode, storage robot 2 is to stay cool, therefore its speed is 0, and there is no brakings
Distance, the shape of detection zone at this time are circle, after the rotating diameter for calculating the storage robot 2, can be preset
The detection zone diameter of one appropriate speed and a default rotating diameter slightly larger than the storage robot 2, guarantees institute
Collision will not be generated with barrier when rotated by stating storage robot 2.
It optionally, is 1300mm with the chassis of the storage robot 2, width 900mm, rotating diameter is 1581 and maximum
For deceleration is 1.2m/s*s, shown in following table:
| 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 above table parameter, then corresponding speed threshold interval and corresponding with the threshold speed section can be preset
Safely rotate diameter or safe stopping distance.
Specifically, threshold speed section include: [0], (0,0.25], (0.25,0.5], (0.5,1.0], (1.0,1.5],
(1.5,2.0] this 6 interval ranges.
Corresponding speed threshold interval is that the diameter that safely rotates of [0] is 1.7m；Corresponding speed threshold interval be (0,0.25],
(0.25,0.5], (0.5,1.0], (1.0,1.5], (1.5,2.0] safe stopping distance be respectively 0.1m, 0.2m, 0.5m, 1m
And 1.8m.
Further, it can be lifted according to the detection pattern and the corresponding detection zone range of threshold speed interval computation
Example explanation:
When the operating mode is rotary mode, the corresponding speed of service is 0, then corresponding speed threshold interval is [0], peace
Full rotation diameter is 1.7m, then detection zone area at this time are as follows: (1.7/2) * π, about 2.270 square metres.
When the operating mode is straight-going mode, corresponding detection zone shape is rectangle, corresponding 5 threshold speed areas
Between detection zone area be respectively as follows:
When the threshold speed section is (0,0.25] when, safe stopping distance 0.1m, then detection zone area at this time
Are as follows: 0.9m*0.1m=0.09m2；
When the threshold speed section is (0.25,0.5] when, safe stopping distance 0.2m, then detection zone face at this time
Product are as follows: 0.9m*0.2m=0.18m2；
When the threshold speed section is (0.5,1.0] when, safe stopping distance 0.5m, then detection zone area at this time
Are as follows: 0.9m*0.5m=0.45m2；
When the threshold speed section is (1.0,1.5] when, safe stopping distance 1m, then detection zone area at this time
Are as follows: 0.9m*1m=0.9m2；
When the threshold speed section is (1.5,2.0] when, safe stopping distance 1.8m, then detection zone area at this time
Are as follows: 0.9m*1.8m=1.62m2；
When the detection zone shape be it is trapezoidal, it is 0.1m fewer than lower bottom part to preset upper bottom portion, then corresponding 5 threshold speed sections
Detection zone area be respectively as follows:
When the threshold speed section is (0,0.25] when, safe stopping distance 0.1m, then detection zone area at this time
Are as follows: (0.9m+0.8m)/2*0.1m=0.085m2；
When the threshold speed section is (0.25,0.5] when, safe stopping distance 0.2m, then detection zone face at this time
Product are as follows: (0.9m+0.8m)/2*0.2m=0.17m2；
When the threshold speed section is (0.5,1.0] when, safe stopping distance 0.5m, then detection zone area at this time
Are as follows: (0.9m+0.8m)/2*0.5m=0.425m2；
When the threshold speed section is (1.0,1.5] when, safe stopping distance 1m, then detection zone area at this time
Are as follows: (0.9m+0.8m)/2m*1m=0.85m2；
When the threshold speed section is (1.5,2.0] when, safe stopping distance 1.8m, then detection zone area at this time
Are as follows: (0.9m+0.8m)/2*1.8m=1.53m2；
In the present embodiment, the detection zone for setting different area size can be improved the precision of avoidance, also, tie
The braking distance for closing the storage robot 2, changes the range size of detection zone according to speed, can be avoided because speed is excessive
And avoidance is caused to fail, further improve the avoidance precision of the storage robot 2.
The beneficial effect of the embodiment of the present invention is: barrier-avoiding method provided in this embodiment, by obtaining working condition letter
Breath；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, then are braked.The embodiment of the present invention is according to storage robot in different workspaces
Domain and/or different working regions are arranged different modes and determine detection zone, and when there are obstacles in the detection zone
Object is then braked.To promote avoidance success rate, and operating cost is relatively low.
The embodiment of the invention also provides a kind of obstacle avoidance apparatus, Fig. 4 is the knot of obstacle avoidance apparatus provided in an embodiment of the present invention
Structure schematic diagram, as shown in figure 4, the obstacle avoidance apparatus 4 includes:
First obtains module 41, for obtaining work state information；
Determining module 42, for determining detection zone according to the work state information；
Judgment module 43, if being braked for there are barriers in the detection zone.
Specifically, as shown in figure 5, the determining module 5 includes:
First determination unit 51, for determining detection zone according to the operation mode；
First determination unit 51 is specifically used for:
When operating mode is straight trip, it is determined that detection zone is quadrangle；
When operating mode is rotation, it is determined that detection zone is circle.
Specifically, the determining module 5 includes:
Second determination unit 52, for determining detection zone with working region according to the operation mode；
Second determination unit 52 is specifically used for:
When operating mode is straight trip and working region is second area, it is determined that detection zone is trapezoidal.
Specifically, the determining module 6 includes:
Third determination unit 61, for determining detection zone according to the working region.
Specifically, the third determination unit 61 is specifically used for:
When working region is second area, it is determined that detection zone is quadrangle；Alternatively, when working region is the secondth area
When domain, it is determined that detection zone is trapezoidal.
When working region is first area, it is determined that detection zone is quadrangle or circle.
Specifically, the determining module 6 includes:
4th determination unit 62, for determining detection zone according to the working region and operating mode；
4th determination unit 62 is specifically used for:
When working region is second area and operating mode is straight trip, it is determined that detection zone is trapezoidal；
When working region is first area, and operating mode is straight trip, it is determined that detection zone is quadrangle；
When working region is first area, and operating mode is rotation, it is determined that detection zone is circle.
Specifically, described device further include:
Second obtains module 44, for obtaining the current speed of service；
Module 45 is adjusted, described according to the current speed of service and preset threshold speed section, dynamic is adjusted
The range of detection zone, the range of the detection zone are corresponding with the threshold speed section.
Obstacle avoidance apparatus provided in this embodiment, by obtaining work state information；It is determined according to the work state information
Detection zone；The work state information includes operating mode and working region.If there are barrier in the detection zone,
It is braked.The embodiment of the present invention is according to storage robot in different working regions and/or different working regions, and setting is not
With mode determine detection zone, and when there are barriers in the detection zone, then braked.To promote avoidance success
Rate, and operating cost is relatively low.
It should be noted that due to the device configuration device and being set applied to client terminal in above method embodiment
Standby equipment configuration method is based on identical inventive concept, therefore, the corresponding contents and beneficial effect of above method embodiment
It is equally applicable to present apparatus embodiment, and will not be described here in detail.
The embodiment of the invention also provides a kind of storage robot, Fig. 7 is storage robot provided in an embodiment of the present invention
Hardware structural diagram, as shown in fig. 7, the storage robot includes:
At least one processor 71；And
With the memory 72 of at least one described processor 71 communication connection；Wherein,
The memory 72 is stored with the instruction that can be executed by least one described processor 71, described instruction by it is described extremely
A few processor 71 executes, so that at least one described processor 71 is able to carry out avoidance detection method as the aforementioned.
Specifically, by taking a processor 71 in attached drawing 7 as an example.Processor 71 and memory 72 can by bus or its
He connects mode, in Fig. 7 for being connected by bus.
Memory 72 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as the corresponding program of detection method of standing up in the embodiment of the present invention
Instruction/module (for example, attached step S110-S130 shown in Fig. 2).Processor 71 is stored in non-in memory 72 by operation
Volatibility software program, instruction and module, thereby executing the various function application and data processing of storage robot, i.e., in fact
The barrier-avoiding method of existing above method embodiment.
Memory 72 may include storing program area and storage data area, wherein storing program area can storage program area,
Application program required at least one function；Storage data area, which can be stored, uses created data according to storage robot
Deng.In addition, memory 72 may include high-speed random access memory, it can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 72
Optional includes the memory remotely located relative to processor 71, these remote memories can pass through network connection to storage machine
On device people.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 72, when by one or more of processors 71
When execution, the detection barrier-avoiding method in above-mentioned any means embodiment is executed, for example, executing the method in Fig. 2 described above
Method and step S310 to step S320 in step S210 to step S230, Fig. 3；The function of module 41-45 in realization Fig. 4,
Realize Fig. 5 in module 51-52 function, realize Fig. 6 in module 61-62 function.
Method provided by the embodiment of the present invention can be performed in the said goods, has the corresponding functional module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to method provided by the embodiment of the present invention.
A kind of storage robot provided in this embodiment, by obtaining work state information；Believed according to the working condition
It ceases and determines detection zone；The work state information includes operating mode and working region.If there is barrier in the detection zone
Hinder object, is then braked.The embodiment of the present invention is according to storage robot in different working regions and/or different workspaces
Domain is arranged different modes and determines detection zone, and when there are barriers in the detection zone, then it is braked.To mention
Avoidance success rate is risen, and operating cost is relatively low.
By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow
Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage
All or part of the process in the solution realization embodiment method is can be by the relevant hardware of computer program instructions come complete
At the program can be stored in computer-readable storage medium, and the program is when being executed, it may include such as each method
Embodiment process.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only
Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
The embodiment of the invention provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage mediums
Matter is stored with computer executable instructions, which is executed by one or more processors, such as above-mentioned place
Device is managed, may make said one or multiple processors that the barrier-avoiding method in above-mentioned any means embodiment can be performed, for example, executing
Method and step S310 to step S320 in method and step S210 to step S230 in Fig. 2 described above, Fig. 3；Realize Fig. 4
In module 41-45 function, realize Fig. 5 in module 51-52 function, realize Fig. 6 in module 61-62 function.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.
Method provided by the embodiment of the present invention can be performed in the said goods, has the corresponding functional module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to method provided by the embodiment of the present invention.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (15)
1. a kind of barrier-avoiding method is applied to storage robot, which is characterized in that the described method includes:
Obtain work state information；
Detection zone is determined according to the work state information；
If there are barriers in the detection zone, braked.
2. barrier-avoiding method according to claim 1, it is characterised in that:
The work state information includes operating mode；
Determine that detection zone includes: according to the work state information
Detection zone is determined according to the operation mode.
3. barrier-avoiding method according to claim 2, it is characterised in that:
It is described to determine that detection zone includes: according to the operation mode
When operating mode is straight trip, it is determined that detection zone is quadrangle；
When operating mode is rotation, it is determined that detection zone is circle.
4. barrier-avoiding method according to claim 3, it is characterised in that:
The work state information further comprises working region；
Determine that detection zone includes: according to the work state information
Detection zone is determined with working region according to the operation mode.
5. barrier-avoiding method according to claim 4, it is characterised in that:
It is described to determine that detection zone includes: with working region according to the operation mode
When operating mode is straight trip and working region is second area, it is determined that detection zone is trapezoidal；
When operating mode is straight trip and working region is first area, it is determined that detection zone is rectangle.
6. barrier-avoiding method according to claim 1, it is characterised in that:
The work state information includes working region；
Determine that detection zone includes: according to the work state information
Detection zone is determined according to the working region.
7. barrier-avoiding method according to claim 6, it is characterised in that:
It is described to determine that detection zone includes: according to the working region
When working region is second area, it is determined that detection zone is quadrangle；
When working region is first area, it is determined that detection zone is quadrangle or circle.
8. barrier-avoiding method according to claim 7, it is characterised in that:
The work state information further comprises operating mode；
Determine that detection zone includes: according to the work state information
Detection zone is determined according to the working region and operating mode.
9. barrier-avoiding method according to claim 8, it is characterised in that:
It is described to determine that detection zone includes: according to the working region and operating mode
When working region is second area, and operating mode is straight trip, it is determined that detection zone is trapezoidal；
When working region is first area, and operating mode is straight trip, it is determined that detection zone is quadrangle；
When working region is first area, and operating mode is rotation, it is determined that detection zone is circle.
10. barrier-avoiding method according to claim 6, it is characterised in that:
It is described to determine that detection zone includes: according to the working region
When working region is second area, it is determined that detection zone is trapezoidal.
11. -10 described in any item barrier-avoiding methods according to claim 1, it is characterised in that: described according to the working condition
If information determines detection zone, there are barriers later and in the detection zone, before being braked, further includes:
Obtain the current speed of service；
According to the current speed of service and preset threshold speed section, the range of the detection zone is dynamically adjusted, it is described
The range of detection zone is corresponding with the threshold speed section.
12. a kind of obstacle avoidance apparatus, for the robot that stores in a warehouse, it is characterised in that: described device includes:
First obtains module, for obtaining work state information；
Determining module, for determining detection zone according to the work state information；
Judgment module, if being braked for there are barriers in the detection zone.
13. obstacle avoidance apparatus according to claim 12, which is characterized in that the determining module includes:
First determination unit, for determining detection zone according to the operation mode；
First determination unit is specifically used for:
When operating mode is straight trip, it is determined that detection zone is quadrangle；
When operating mode is rotation, it is determined that detection zone is circle；
The determining module further include:
Second determination unit, for determining detection zone with working region according to the operation mode；
Second determination unit is specifically used for:
When operating mode is straight trip and working region is second area, it is determined that detection zone is trapezoidal；
Alternatively,
The determining module includes:
Third determination unit, for determining detection zone according to the working region.
The third determination unit is specifically used for:
When working region is second area, it is determined that detection zone is quadrangle；Alternatively, when working region is second area
When, it is determined that detection zone is trapezoidal；
When working region is first area, it is determined that detection zone is quadrangle or circle.
The determining module further include:
4th determination unit, for determining detection zone according to the working region and operating mode；
4th determination unit is specifically used for:
When working region is second area and operating mode is straight trip, it is determined that detection zone is trapezoidal；
When working region is first area, and operating mode is straight trip, it is determined that detection zone is quadrangle；
When working region is first area, and operating mode is rotation, it is determined that detection zone is circle.
14. obstacle avoidance apparatus according to claim 12 or 13, it is characterised in that: described device further include:
Second obtains module, for obtaining the current speed of service；
Module is adjusted, for dynamically adjusting the detection zone according to the current speed of service and preset threshold speed section
The range in domain, the range of the detection zone are corresponding with the threshold speed section.
15. a kind of storage robot, which is characterized in that the storage robot includes:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out such as the described in any item methods of claim 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 US20210341930A1 (en) | 2019-01-16 | 2021-07-15 | Obstacle avoidance method and apparatus, and warehousing robot |
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| CN201910041517.8A CN109753070A (en) | 2019-01-16 | 2019-01-16 | A kind of barrier-avoiding method, device and storage robot |
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| CN113335808A (en) * | 2021-04-27 | 2021-09-03 | 深圳市海柔创新科技有限公司 | Robot control method, control terminal and automatic goods sorting system |
| WO2022268113A1 (en) * | 2021-06-25 | 2022-12-29 | 深圳市海柔创新科技有限公司 | Obstacle avoidance method and apparatus, electronic device, and storage medium |
| WO2023082283A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Obstacle avoidance method and apparatus for movable platform, movable platform, and storage medium |
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