CN109828574A - A kind of barrier-avoiding method and electronic equipment - Google Patents
A kind of barrier-avoiding method and electronic equipment Download PDFInfo
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Abstract
The present embodiments relate to artificial intelligence field, a kind of barrier-avoiding method and obstacle avoidance apparatus are disclosed.In the present invention, which includes: the distance between basis and barrier, determines the type of entered obstacle-avoidance area；According to the current movement velocity of robot, the motion mode of robot is determined；According to the type of the motion mode of robot and obstacle-avoidance area, the avoidance mode of robot is determined；Avoidance is carried out according to determining avoidance mode.Pass through the type of obstacle-avoidance area and the motion mode of robot, determine that robot can use different avoidance modes in different obstacle-avoidance areas, avoidance is carried out using different avoidance modes, keep avoidance processing more flexible, guarantee that robot can be with avoiding obstacles, to improve the safety of robot, the number to stop in emergency is reduced, and then reduce the damage that the abrasion to the wheel of heavy-load robot and the motor to heavy-load robot are caused because stopping in emergency.
Description
Technical field
The present embodiments relate to artificial intelligence field, in particular to a kind of barrier-avoiding method and electronic equipment.
Background technique
Currently, autonomous mobile robot would ordinarily be encountered barrier in the process of moving, barrier can be divided into dynamic disorder
Object (such as pedestrian, other mobile robots) and static-obstacle thing (object of robot work region).If robot security keeps away
Barrier strategy is improper, it is possible to which colliding with these barriers leads to safety accident.Therefore keeping away for a safe and reasonable is needed
Barrier method to improve the safety of automatic robot driver, while guaranteeing the steady ramp to stop of robot to protect driving motor.
Common practice is that arrangement installs multiple ultrasonic sensors around robot, if a certain range around robot with
It is interior, detect that the linear velocity that robot is immediately controlled after barrier falls to zero, while brake apparatus is opened.
At least there are the following problems in the prior art for inventor's discovery: above-mentioned mode of braking is only applicable to underloading robot,
If using this mode of braking on heavily loaded buggy robot, since heavily loaded buggy robot inertia is larger, when stopping in emergency, easily
Driving motor is damaged and is worn the wheel of robot.
Summary of the invention
Embodiment of the present invention is designed to provide a kind of barrier-avoiding method and electronic equipment, passes through different avoidance sides
Formula keeps avoidance processing more flexible more flexible, guarantees that heavy-load robot can be with avoiding obstacles, to improve robot
Safety, reduces the number to stop in emergency, so reduce caused because stopping in emergency the abrasion to the wheel of heavy-load robot, with
And the damage of the motor to heavy-load robot.
In order to solve the above technical problems, embodiments of the present invention provide a kind of barrier-avoiding method, comprising the following steps: root
According to the distance between with barrier, the type of entered obstacle-avoidance area is determined；According to the current movement velocity of robot, determine
The motion mode of robot；According to the type of the motion mode of robot and obstacle-avoidance area, the avoidance mode of robot is determined；
Avoidance is carried out according to determining avoidance mode.
Embodiments of the present invention additionally provide a kind of electronic equipment, comprising: at least one processor；And at least
The memory of one processor communication connection；Wherein, memory is stored with the instruction that can be executed by least one processor, instruction
It is executed by least one processor, so that at least one processor is able to carry out above-mentioned barrier-avoiding method.
Embodiment of the present invention in terms of existing technologies, passes through the type of obstacle-avoidance area and the movement side of robot
Formula determines that robot can be carried out using different avoidance modes using different avoidance modes in different obstacle-avoidance areas
Avoidance keeps avoidance processing more flexible, guarantees that heavy-load robot can be with avoiding obstacles, to improve the safety of robot
Property, reduce the number to stop in emergency, and then reduce and cause abrasion to the wheel of heavy-load robot and right because stopping in emergency
The damage of the motor of heavy-load robot.
In addition, the type of obstacle-avoidance area, comprising: deceleration area, emergency deceleration area and emergency braking area；According to barrier it
Between distance, determine the type of entered obstacle-avoidance area, comprising: if it is determined that it is default to be greater than second with the distance between barrier
Threshold values, and, less than the first preset threshold, it is determined that the type of the obstacle-avoidance area entered is deceleration area；If it is determined that distance is greater than
Third preset threshold, and, less than the second preset threshold, it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area；If
Determine that distance is less than third preset threshold, it is determined that the type of the obstacle-avoidance area entered is emergency braking area；Wherein, first is pre-
If threshold values is greater than the second preset threshold, the second preset threshold is greater than third preset threshold.
In which, according to the distance between with barrier, each region corresponding to the type with obstacle-avoidance area it is pre-
It is specific to determine which obstacle-avoidance area robot has entered according to the comparison result if threshold values is compared, in different avoidances
Avoidance is carried out using different avoidance modes in region, guarantees that the avoiding obstacles of flexibility are capable of in robot, enables robot
Enough steady decelerations are with avoiding obstacles, or, stopping brake prevents heavy-load robot due to used after steady deceleration with avoiding obstacles
Property is larger, causes to wear to the wheel of heavy-load robot when stopping in emergency.
In addition, movement velocity includes: linear velocity, and/or, angular speed；According to the current movement velocity of robot, machine is determined
The motion mode of device people, comprising: if it is determined that the current linear velocity of robot is greater than the 4th preset threshold, and, determine that robot works as
Preceding angular speed is less than the 5th preset threshold, it is determined that the motion mode of robot is to move along a straight line according to linear velocity；It is no
Then, the motion mode for determining robot is to carry out curvilinear motion according to linear velocity and angular speed.
In addition, determining that the motion mode of robot is to carry out curvilinear motion according to linear velocity and angular speed, comprising: if it is determined that
Linear velocity is not more than the 4th preset threshold, it is determined that the motion mode of robot is to carry out non-displacement according to angular speed and linear velocity
Curvilinear motion；If it is determined that linear velocity is greater than the 4th preset threshold, and, angular speed is not less than the 5th preset threshold, it is determined that machine
The motion mode of device people is to carry out the curvilinear motion for having displacement according to linear velocity and angular speed.
In addition, determining the avoidance mode of robot according to the type of the motion mode of robot and obstacle-avoidance area, wrap
It includes: if it is determined that the motion mode of robot is linear motion, then keeping angular speed constant, according to the type and linear speed of obstacle-avoidance area
Degree, adjusts the linear velocity of robot, carries out avoidance using linear velocity adjusted；If it is determined that the motion mode of robot is no position
The curvilinear motion of shifting then keeps linear velocity constant, according to the type and angular speed of obstacle-avoidance area, adjusts the angular speed of robot,
Avoidance is carried out using angular speed adjusted；If it is determined that the motion mode of robot is the curvilinear motion for having displacement, then basis is kept away
Type, linear velocity and the angular speed for hindering region, adjust the linear velocity and angular speed of robot, use linear velocity adjusted and tune
Angular speed after whole carries out avoidance.
In which, by the type and movement velocity of the different motion mode of robot, obstacle-avoidance area, obtain different
Avoidance mode allows the robot to keep away with the stable avoiding barrier of movement velocity adjusted using different avoidance modes
Exempt to cause the wheel wear to robot in urgent reduction of speed because the inertia of heavy-load robot is larger.
In addition, adjusting the linear velocity of robot according to the type and linear velocity of obstacle-avoidance area, comprising: if it is determined that being entered
The type of obstacle-avoidance area be that deceleration area then according to the corresponding first avoidance coefficient of deceleration area and linear velocity adjusts robot
Linear velocity；If it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area, then kept away according to emergency deceleration area corresponding second
Hinder coefficient and linear velocity, adjust the linear velocity of robot, wherein the second avoidance coefficient is greater than the first avoidance coefficient, the second avoidance
Coefficient is directly proportional to the acceleration of motion of robot；If it is determined that the type of the obstacle-avoidance area entered is emergency braking area, then tightly
Anxious braking, is reduced to zero for linear velocity.
In which, by the linear velocity of robot and the type of determining entered obstacle-avoidance area, obtain adjusted
Linear velocity guarantees that robot can smoothly reduce linear velocity, in turn using the timely avoiding barrier of linear velocity adjusted
Avoiding obstacles.
In addition, adjusting the angular speed of robot according to the type and angular speed of obstacle-avoidance area, comprising: if it is determined that being entered
The type of obstacle-avoidance area be that deceleration area then according to the first avoidance coefficient and angular speed adjusts the angular speed of robot；If it is determined that
The type of the obstacle-avoidance area entered adjusts the angle of robot then according to the second avoidance coefficient and angular speed for emergency deceleration area
Speed, wherein the second avoidance coefficient is greater than the first avoidance coefficient, and the acceleration of motion of the second avoidance coefficient and robot is at just
Than；If it is determined that the type of the obstacle-avoidance area entered is emergency braking area, then angular speed is reduced to zero by emergency braking.
In which, by the angular speed of robot and the type of determining entered obstacle-avoidance area, obtain adjusted
Angular speed guarantees that robot can avoid the inertia because of heavy-load robot with the stable avoiding barrier of angular speed adjusted
It is larger, the wheel wear to robot is caused in urgent reduction of speed.
In addition, adjusting the linear velocity and angular speed of robot according to the type, linear velocity and angular speed of obstacle-avoidance area, wrap
It includes: if it is determined that the type of the obstacle-avoidance area entered is deceleration area, then according to the first avoidance coefficient, angular speed and linear velocity, adjusting
The angular speed and linear velocity of whole robot；If it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area, then according to second
Avoidance coefficient, angular speed and linear velocity adjust the angular speed and linear velocity of robot, wherein the second avoidance coefficient is greater than first
Avoidance coefficient, the second avoidance coefficient are directly proportional to the acceleration of motion of robot；If it is determined that the type of the obstacle-avoidance area entered
For emergency braking area, then the angular speed of robot and linear velocity are reduced to zero by emergency braking.
In addition, the corresponding first avoidance coefficient of deceleration area is to be determined according to distance and the first preset threshold, emergency deceleration area
Corresponding second avoidance coefficient is the acceleration of motion according to robot, or, distance is determined with the second preset threshold.
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 the barrier-avoiding method flow diagram in first embodiment according to the present invention；
Fig. 2 is the barrier-avoiding method flow diagram in second embodiment according to the present invention；
Fig. 3 is the obstacle avoidance apparatus block diagram in third embodiment according to the present invention；
Fig. 4 is the electronic equipment block diagram in the 4th embodiment according to the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, the application technical solution claimed also may be implemented.
The first embodiment of the present invention is related to a kind of barrier-avoiding methods.For keeping avoidance processing more flexible, guarantee machine
People, to improve the safety of robot, can reduce the number to stop in emergency, and then reduce because stopping in emergency with avoiding obstacles
And cause the abrasion to the wheel of heavy-load robot and the damage of the motor to heavy-load robot.
The realization details of the barrier-avoiding method in present embodiment is specifically described below, the following contents is only for convenience
Understand the realization details of this programme, not implements the necessary of this programme.
Fig. 1 show the flow chart of the barrier-avoiding method in present embodiment, and this method can be applied to robot.This method can
Include the following steps.
In a step 101, according to the distance between with barrier, the type of entered obstacle-avoidance area is determined.
Wherein, the type of obstacle-avoidance area, comprising: deceleration area, emergency deceleration area and emergency braking area.
Specifically, however, it is determined that the distance between barrier is greater than the second preset threshold, and, less than the first preset threshold,
The type for then determining entered obstacle-avoidance area is deceleration area；If it is determined that distance is greater than third preset threshold, and, it is pre- less than second
If threshold values, it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area；If it is determined that distance is less than third preset threshold, then
The type for determining entered obstacle-avoidance area is emergency braking area；Wherein, the first preset threshold be greater than the second preset threshold, second
Preset threshold is greater than third preset threshold.
It should be noted that deceleration area, emergency deceleration area and emergency braking area are one to robot plane in front region
Kind geometry divides: where the farthest region of the distance between robot is deceleration area, is secondly emergency deceleration area, with machine
The nearest region of the distance between people is emergency braking area.During robot obstacle-avoiding, robot that sensor detects with
The distance between barrier threshold values is divided into the first preset threshold, the second preset threshold and third preset threshold, wherein third is default
Threshold values is the most short tolerable distance that barrier suddenly appears in robot driving direction.
In a step 102, the movement velocity current according to robot, determines the motion mode of robot.
Wherein, movement velocity includes: linear velocity, and/or, angular speed.
Specifically, however, it is determined that the current linear velocity of robot is greater than the 4th preset threshold, and, determine the current angle of robot
Speed is less than the 5th preset threshold, it is determined that the motion mode of robot is to move along a straight line according to linear velocity；Otherwise, it determines
The motion mode of robot is to carry out curvilinear motion according to linear velocity and angular speed.
It should be noted that the movement velocity includes linear velocity and angular speed, or, linear velocity is only included, or, only including angle
Speed.For example, movement velocity of the robot at the k moment is [Vk, Wk], wherein VkIndicate linear velocity of the robot at the k moment, Wk
Indicate robot in the angular speed at k moment, however, it is determined that the linear velocity V of robotkGreater than the 4th preset threshold Vt, also, robot
Angular speed WkLess than the 5th preset threshold Wt, wherein the 5th preset threshold WtFor the number greater than zero, it is determined that the fortune of robot
Flowing mode is according to linear velocity VkIt moves along a straight line, or, according to linear velocity VkWith angular speed WkApproximate straight line motion is done, therefore
When angular speed WkVery little but be not zero, mainly by adjusting linear velocity VkWith avoiding obstacles；Otherwise, it determines robot
Motion mode is according to linear velocity VkWith angular speed WkCarry out curvilinear motion.
Wherein, curvilinear motion is divided into the curvilinear motion of the curvilinear motion and non-displacement that have displacement, specific to distinguish mode such as
Under: if it is determined that linear velocity is not more than the 4th preset threshold, it is determined that the motion mode of robot is to carry out according to angular speed without position
The curvilinear motion of shifting；If it is determined that linear velocity is greater than the 4th preset threshold, and, angular speed is not less than the 5th preset threshold, it is determined that
The motion mode of robot is to carry out the curvilinear motion for having displacement according to linear velocity and angular speed.
Such as: robot is when being moved at the k moment, as the 5th preset threshold WtWhen for number greater than zero, however, it is determined that machine
The linear velocity V of device peoplekNo more than the 4th preset threshold Vt, and, angular speed WkGreater than the 5th preset threshold Wt, it is determined that robot
Motion mode be according to angular speed WkThe curvilinear motion of non-displacement is carried out, the curvilinear motion of non-displacement therein can be machine
Device people carries out the biggish curvilinear motion of curvature, is also possible to robot and is carrying out rotating in place movement.As the 5th preset threshold Wt
When for minus integer, however, it is determined that the linear velocity V of robotkNo more than the 4th preset threshold Vt, and, angular speed WtLess than
Five preset threshold Wt, it is determined that the motion mode of robot is according to angular speed WkCarry out the curvilinear motion of non-displacement, nothing therein
The curvilinear motion of displacement can be robot and carry out the biggish curvilinear motion of curvature, is also possible to robot and is carrying out original place rotation
Transhipment is dynamic.If it is determined that linear velocity VkGreater than the 4th preset threshold Vt, and, angular speed WkNot less than the 5th preset threshold Wt, wherein
5th preset threshold WtFor the integer not equal to zero, it is determined that the motion mode of robot is according to linear velocity VkWith angular speed Wk
The curvilinear motion for having displacement is carried out, the curvilinear motion therein for having displacement refers to that robot carries out the lesser curvilinear motion of curvature.
In step 103, according to the type of the motion mode of robot and obstacle-avoidance area, the avoidance side of robot is determined
Formula.
At one in the specific implementation, the motion mode of robot include: linear motion, non-displacement curvilinear motion and have position
The curvilinear motion of shifting；The type of the obstacle-avoidance area entered has deceleration area, emergency deceleration area and emergency braking area, for a kind of fortune
The type of flowing mode and the obstacle-avoidance area entered, specifically to determine the movement velocity adjusted of robot, so that it is specific true
Determine the avoidance mode of robot.Such as: robot is when being moved at the k moment, according to the movement velocity [V of robotk, Wk], energy
Enough obtain movement velocity that is adjusted, travelling robot security: [Vsafety_k, Wsafety_k].If it is determined that the movement of robot
Mode is linear motion, then keeps angular speed constant, i.e. Wsafety_k=Wk, use linear velocity V adjustedsafety_kIt is kept away
Barrier.If it is determined that the motion mode of robot is the curvilinear motion of non-displacement, then keep linear velocity constant, i.e. Vsafety_k=Vk, make
With angular speed W adjustedsafety_kCarry out avoidance.If it is determined that the motion mode of robot is the curvilinear motion for having displacement, then make
With linear velocity V adjustedsafety_kWith angular speed W adjustedsafety_kCarry out avoidance.
At step 104, avoidance is carried out according to determining avoidance mode.
It should be noted that on the fuselage of robot, point three layers of eight orientation are respectively arranged with ultrasonic sensor, in total 24
A ultrasonic sensor, robot can detect barrier, Ge Gechao in the process of moving, according to each layer ultrasonic sensor
Sonic sensor is required to calculate distance between robot and barrier in slave computer processor, will be in data by serial ports
Report is to host computer processor, and the host computer processor is by treated the data compression of the ultrasonic sensor of three levels at one
Layer, in conjunction with the data in eight orientation, get robot in eight orientation between barrier at a distance from, wherein it is each
The data in a orientation represent in the orientation, and the numerical value in ultrasonic sensor data obtained is one the smallest.Also,
The front middle position of robot is equipped with laser radar sensor, and the mounting height of the laser radar sensor is according to robot
Working environment and reasonably select；Wherein, laser radar sensor continuously traverses multi-stripe laser beam, obtain each laser beam it
Between angle, calculate and obtain and the distance between barrier and orientation.The control system of robot is according to the above supersonic sensing
Device and the measured data obtained of laser sensor, obtain a smallest movement velocity adjusted, and this is adjusted
Movement velocity is issued to slave computer processor, carries out avoidance to control robot, for example, at the k moment, the movement adjusted
Speed is [Vsafety_k, Wsafety_k]。
In the present embodiment, by the motion mode of the type of obstacle-avoidance area and robot, determine robot in difference
Obstacle-avoidance area in can use different avoidance modes, carry out avoidance using different avoidance mode, make avoidance processing more
Flexibly, guarantee robot when encountering barrier can steady ramp to stop, or, it is slow steadily to decelerate to lower safe speed
It is current, enable the avoiding obstacles of heavy-load robot flexibility, reduces the number to stop in emergency, and then reduce because stopping in emergency
And cause the abrasion to the wheel of heavy-load robot and the damage of the motor to heavy-load robot.
Second embodiment of the present invention is related to a kind of barrier-avoiding method.Second embodiment and first embodiment substantially phase
Together, it is in place of the main distinction: according to corresponding to the type of the different motion mode of robot and the obstacle-avoidance area entered
Different avoidance coefficients, determine the avoidance mode of robot.
The flow chart of barrier-avoiding method in present embodiment is as shown in Fig. 2, this method may include following steps.
In step 201, however, it is determined that the motion mode of robot is linear motion, then keeps angular speed constant, according to keeping away
The type and linear velocity for hindering region, adjust the linear velocity of robot, carry out avoidance using linear velocity adjusted.
Wherein, however, it is determined that the type of the obstacle-avoidance area entered is deceleration area, then according to corresponding first avoidance of deceleration area
Coefficient and linear velocity adjust the linear velocity of robot；If it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area, then root
According to the corresponding second avoidance coefficient in emergency deceleration area and linear velocity, the linear velocity of robot is adjusted, wherein the second avoidance coefficient is big
In the first avoidance coefficient, the second avoidance coefficient is directly proportional to the acceleration of motion of robot；If it is determined that the obstacle-avoidance area entered
Type be emergency braking area, then linear velocity is reduced to zero by emergency braking.
It should be noted that the corresponding first avoidance coefficient of deceleration area is to be determined according to distance and the first preset threshold, tightly
The corresponding second avoidance coefficient of anxious deceleration area is the acceleration of motion according to robot, or, distance and the second preset threshold determine.
At one in the specific implementation, the first avoidance coefficient M1=(dis_obs/dis_th_1)2, the second avoidance coefficient M2=
(dis_obs/dis_th_2)3, wherein dis_obs be in driving direction robot between barrier at a distance from, dis_
Th_1 is the first preset threshold, and dis_th_2 is the second preset threshold.
At one in the specific implementation, movement velocity of the robot at the k moment is [Vk, Wk], when robot moves along a straight line
When, in being decelerated to docking process, angular speed WkSize remains unchanged, i.e. Wsafety_k=Wk.If it is determined that the avoidance area entered
The type in domain is deceleration area, then robot uses linear velocity V adjustedsafety_k=M1*VkReduced Speed Now is carried out, and then is avoided
Barrier；If it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area, then robot uses linear velocity adjusted
Vsafety_k=M2*VkCarry out emergency deceleration, and then avoiding obstacles；If it is determined that the type of the obstacle-avoidance area entered is urgent system
Dynamic area, then robot uses linear velocity V adjustedsafety_k=0, carry out emergency braking, and then avoiding obstacles.
In step 202, however, it is determined that the motion mode of robot is the curvilinear motion of non-displacement, then keeps linear velocity not
Become, according to the type and angular speed of obstacle-avoidance area, adjust the angular speed of robot, carries out avoidance using angular speed adjusted.
Wherein, however, it is determined that the type of the obstacle-avoidance area entered is deceleration area, then according to the first avoidance coefficient and angular speed,
Adjust the angular speed of robot；If it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area, then according to the second avoidance system
Several and angular speed, adjusts the angular speed of robot, wherein the second avoidance coefficient is greater than the first avoidance coefficient, the second avoidance coefficient
It is directly proportional to the acceleration of motion of robot；If it is determined that the type of the obstacle-avoidance area entered is emergency braking area, then it is urgent to make
It is dynamic, angular speed is reduced to zero.
At one in the specific implementation, movement velocity of the robot at the k moment is [Vk, Wk], when robot carries out non-displacement
When curvilinear motion, in being decelerated to docking process, linear velocity VkSize remains unchanged, i.e. Vsafety_k=Vk.If it is determined that being entered
Obstacle-avoidance area type be deceleration area, then robot using angular speed adjusted be Wsafety_k=M1*WkCarry out deceleration row
It sails, and then avoiding obstacles；If it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area, then after robot is using adjustment
Angular speed Wsafety_k=M2*WkCarry out emergency deceleration, and then avoiding obstacles；If it is determined that the type of the obstacle-avoidance area entered
For emergency braking area, then robot uses angular speed W adjustedsafety_k=0, carry out emergency braking, and then avoiding obstacles.
In step 203, however, it is determined that the motion mode of robot is the curvilinear motion for having displacement, then according to obstacle-avoidance area
Type, linear velocity and angular speed adjust the linear velocity and angular speed of robot, use linear velocity adjusted and angle adjusted
Speed carries out avoidance.
Wherein, however, it is determined that the type of the obstacle-avoidance area entered be deceleration area, then according to the first avoidance coefficient, angular speed and
Linear velocity adjusts the angular speed and linear velocity of robot；If it is determined that the type of the obstacle-avoidance area entered is emergency deceleration area, then
According to the second avoidance coefficient, angular speed and linear velocity, the angular speed and linear velocity of robot are adjusted, wherein the second avoidance coefficient
Greater than the first avoidance coefficient, the second avoidance coefficient is directly proportional to the acceleration of motion of robot；If it is determined that the avoidance area entered
The type in domain is emergency braking area, then the angular speed of robot and linear velocity are reduced to zero by emergency braking.
At one in the specific implementation, movement velocity of the robot at the k moment is [Vk, Wk], when robot carries out having displacement
When curvilinear motion, however, it is determined that the type of the obstacle-avoidance area entered is deceleration area, then robot is using angular speed adjusted
Wsafety_k=M1*WkAnd linear velocity V adjustedsafety_k=M1*VkCarry out Reduced Speed Now, and then avoiding obstacles；If it is determined that
The type of the obstacle-avoidance area entered is emergency deceleration area, then robot uses angular speed W adjustedsafety_k=M2*Wk, and
Linear velocity V adjustedsafety_k=M2*VkCarry out emergency deceleration, and then avoiding obstacles；If it is determined that the obstacle-avoidance area entered
Type be emergency braking area, then robot use angular speed W adjustedsafety_k=0, linear velocity Vsafety_k=0 carries out tightly
Anxious braking, and then avoiding obstacles.
In the present embodiment, it by the type and movement velocity of the different motion mode of robot, obstacle-avoidance area, obtains
Different avoidance modes allows the robot to smoothly hide barrier with movement velocity adjusted using different avoidance modes
Hinder object, increase the alternative of the avoidance mode of robot, avoids the inertia because of heavy-load robot larger, in urgent reduction of speed
Cause the wheel wear to robot.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as including identical logical relation, all in the protection scope of this patent
It is interior；To adding inessential modification in algorithm or in process or introducing inessential design, but its algorithm is not changed
Core design with process is all in the protection scope of the patent.
Third embodiment of the present invention is related to a kind of obstacle avoidance apparatus, and the specific implementation of the device can be found in the first embodiment party
The associated description of formula, overlaps will not be repeated.It is worth noting that the specific implementation of the device in present embodiment can also be joined
See the associated description of second embodiment, but be not limited to both examples above, other unaccounted embodiments are also in this dress
Within the protection scope set.
As shown in figure 3, the device mainly includes: it determines obstacle-avoidance area type block 301, determines motion mode module 302,
Determine avoidance mode module 303 and obstacle avoidance module 304；Determine obstacle-avoidance area type block 301 for according to between barrier
Distance, determine the type of entered obstacle-avoidance area；Determine motion mode module 302 for the movement current according to robot
Speed determines the motion mode of robot；Determine avoidance mode module 303 for the motion mode and avoidance according to robot
The type in region determines the avoidance mode of robot；Obstacle avoidance module 304 is used to carry out avoidance according to determining avoidance mode.
It is not difficult to find that present embodiment is Installation practice corresponding with first or second embodiment, this embodiment party
Formula can work in coordination implementation with first or second embodiment.The relevant technical details mentioned in first or second embodiment exist
In present embodiment still effectively, in order to reduce repetition, which is not described herein again.Correspondingly, the correlation mentioned in present embodiment
Technical detail is also applicable in first or second embodiment.
It is noted that each module involved in present embodiment is logic module, and in practical applications, one
A logic unit can be a physical unit, be also possible to a part of a physical unit, can also be with multiple physics lists
The combination of member is realized.In addition, in order to protrude innovative part of the invention, it will not be with solution institute of the present invention in present embodiment
The technical issues of proposition, the less close unit of relationship introduced, but this does not indicate that there is no other single in present embodiment
Member.
The 4th embodiment of the application provides a kind of electronic equipment, and the equipment specific structure is as shown in Figure 4.Including at least
One processor 401；And the memory 402 with the communication connection of at least one processor 401.Wherein, memory 402 stores
There is the instruction that can be executed by least one processor 401, instruction is executed by least one processor 401, so that at least one
Reason device 401 is able to carry out barrier-avoiding method described in first embodiment.
In present embodiment, for processor 401 is with central processing unit (Central Processing Unit, CPU),
For memory 402 is with readable and writable memory (Random Access Memory, RAM).Processor 401, memory 402 can be with
It is connected by bus or other modes, in Fig. 4 for being connected by bus.Memory 402 is used as a kind of non-volatile meter
Calculation machine readable storage medium storing program for executing can be used for storing non-volatile software program, non-volatile computer executable program and module,
As realized in the embodiment of the present application, the program of barrier-avoiding method is stored in memory 402.Processor 401 is stored in by operation
Non-volatile software program, instruction and module in memory 402, thereby executing the various function application and data of equipment
Processing, that is, realize above-mentioned barrier-avoiding method.
Memory 402 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；It storage data area can the Save option list etc..In addition, memory can wrap
High-speed random access memory is included, can also include nonvolatile memory, for example, at least disk memory, a flash memories
Part or other non-volatile solid state memory parts.In some embodiments, it includes relative to processor 401 that memory 402 is optional
Remotely located memory, these remote memories can pass through network connection to external equipment.
One or more program module is stored in memory 402, is executed when by one or more processor 401
When, execute the barrier-avoiding method in above-mentioned any means embodiment.
Method provided by the embodiment of the present application 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 application.
The 5th embodiment of the application is related to a kind of computer readable storage medium, in the computer readable storage medium
It is stored with computer program, which can be realized when being executed by processor involved in the application any means embodiment
Barrier-avoiding method.
It will be understood by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that one
A equipment (can be single-chip microcontroller, chip etc.) or processor (processor) execute each embodiment the method for the application
All or part of the steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of barrier-avoiding method, which is characterized in that be applied to robot, which comprises
According to the distance between with barrier, the type of entered obstacle-avoidance area is determined；
According to the current movement velocity of the robot, the motion mode of the robot is determined；
According to the type of the motion mode of the robot and the obstacle-avoidance area, the avoidance mode of the robot is determined；
Avoidance is carried out according to determining avoidance mode.
2. barrier-avoiding method according to claim 1, which is characterized in that the type of the obstacle-avoidance area, comprising: deceleration area,
Emergency deceleration area and emergency braking area；
According to the distance between with barrier, the type of entered obstacle-avoidance area is determined, comprising:
If it is determined that it is greater than the second preset threshold with the distance between barrier, and, less than the first preset threshold, it is determined that entered
Obstacle-avoidance area type be the deceleration area；
If it is determined that the distance is greater than third preset threshold, and, less than the second preset threshold, it is determined that the obstacle-avoidance area entered
Type be the emergency deceleration area；
If it is determined that the distance is less than third preset threshold, it is determined that the type of the obstacle-avoidance area entered is the emergency braking
Area；Wherein, first preset threshold is greater than second preset threshold, and second preset threshold is default greater than the third
Threshold values.
3. barrier-avoiding method according to claim 2, which is characterized in that the movement velocity includes: linear velocity, and/or, angle
Speed；
According to the current movement velocity of the robot, the motion mode of the robot is determined, comprising:
If it is determined that the current linear velocity of the robot is greater than the 4th preset threshold, and, determine the current angle speed of the robot
Degree is less than the 5th preset threshold, it is determined that the motion mode of the robot is to move along a straight line according to the linear velocity；
Otherwise, it determines the motion mode of the robot is to carry out curvilinear motion according to the linear velocity and the angular speed.
4. barrier-avoiding method according to claim 3, which is characterized in that determine the motion mode of the robot for according to institute
It states linear velocity and the angular speed carries out curvilinear motion, comprising:
If it is determined that the linear velocity is not more than the 4th preset threshold, it is determined that the motion mode of the robot is according to the angle
The curvilinear motion of speed progress non-displacement；
If it is determined that the linear velocity is greater than the 4th preset threshold, and, the angular speed is not less than the 5th preset threshold, it is determined that institute
The motion mode for stating robot is to carry out the curvilinear motion for having displacement according to the linear velocity and the angular speed.
5. barrier-avoiding method according to claim 4, which is characterized in that according to the motion mode of the robot and described
The type of obstacle-avoidance area determines the avoidance mode of the robot, comprising:
If it is determined that the motion mode of the robot is linear motion, then keep the angular speed constant, according to the avoidance area
The type in domain and the linear velocity, adjust the linear velocity of the robot, carry out avoidance using linear velocity adjusted；
If it is determined that the motion mode of the robot is the curvilinear motion of non-displacement, then keep the linear velocity constant, according to institute
State obstacle-avoidance area type and the angular speed, adjust the angular speed of the robot, kept away using angular speed adjusted
Barrier；
If it is determined that the motion mode of the robot is the curvilinear motion for having displacement, then according to the type of the obstacle-avoidance area, institute
Linear velocity and the angular speed are stated, the linear velocity and angular speed of the robot is adjusted, uses linear velocity adjusted and adjustment
Angular speed afterwards carries out avoidance.
6. barrier-avoiding method according to claim 5, which is characterized in that according to the type of the obstacle-avoidance area and the linear speed
Degree, adjusts the linear velocity of the robot, comprising:
If it is determined that the type of the obstacle-avoidance area entered is the deceleration area, then according to the deceleration area corresponding first avoidance system
The several and linear velocity, adjusts the linear velocity of the robot；
If it is determined that the type of the obstacle-avoidance area entered is the emergency deceleration area, then according to the emergency deceleration area corresponding the
Two avoidance coefficients and the linear velocity, adjust the linear velocity of the robot, wherein the second avoidance coefficient is greater than described the
One avoidance coefficient, the second avoidance coefficient are directly proportional to the acceleration of motion of the robot；
If it is determined that the type of the obstacle-avoidance area entered is the emergency braking area, then the linear velocity is reduced to by emergency braking
Zero.
7. barrier-avoiding method according to claim 5 or 6, which is characterized in that according to the type of the obstacle-avoidance area and described
Angular speed adjusts the angular speed of the robot, comprising:
If it is determined that the type of the obstacle-avoidance area entered is the deceleration area, then according to the first avoidance coefficient and angle speed
Degree, adjusts the angular speed of the robot；
If it is determined that the type of the obstacle-avoidance area entered be the emergency deceleration area, then according to the second avoidance coefficient with it is described
Angular speed adjusts the angular speed of the robot, wherein the second avoidance coefficient is greater than the first avoidance coefficient, described
Second avoidance coefficient is directly proportional to the acceleration of motion of the robot；
If it is determined that the type of the obstacle-avoidance area entered is the emergency braking area, then the angular speed is reduced to by emergency braking
Zero.
8. barrier-avoiding method according to claim 7, which is characterized in that according to the type of the obstacle-avoidance area, the linear speed
Degree and the angular speed, adjust the linear velocity and angular speed of the robot, comprising:
If it is determined that the type of the obstacle-avoidance area entered is the deceleration area, then according to the first avoidance coefficient, angle speed
Degree and the linear velocity, adjust the angular speed and linear velocity of the robot；
If it is determined that the type of the obstacle-avoidance area entered is the emergency deceleration area, then according to the second avoidance coefficient, described
Angular speed and the linear velocity adjust the angular speed and linear velocity of the robot, wherein the second avoidance coefficient is greater than institute
The first avoidance coefficient is stated, the second avoidance coefficient is directly proportional to the acceleration of motion of the robot；
If it is determined that the type of the obstacle-avoidance area entered is the emergency braking area, then emergency braking, by the angle of the robot
Speed and linear velocity are reduced to zero.
9. barrier-avoiding method according to claim 2, which is characterized in that the corresponding first avoidance coefficient of the deceleration area is root
It is determined according to the distance and first preset threshold, the corresponding second avoidance coefficient in the emergency deceleration area is according to the machine
The acceleration of motion of device people, or, the distance is determined with second preset threshold.
10. a kind of electronic equipment characterized by comprising
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 the barrier-avoiding method as described in any in claim 1 to 9.
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