CN109885068A - A kind of control method and its system that robot advances - Google Patents
A kind of control method and its system that robot advances Download PDFInfo
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- CN109885068A CN109885068A CN201910253873.6A CN201910253873A CN109885068A CN 109885068 A CN109885068 A CN 109885068A CN 201910253873 A CN201910253873 A CN 201910253873A CN 109885068 A CN109885068 A CN 109885068A
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Abstract
This application discloses control method and its system that a kind of robot advances, the control method that one of robot advances is specifically includes the following steps: obtain the basic map information in robot travelling route；It advances according to basic map information, obtains straight trip route and turn information；Practical cartographic information is formed according to basic map information, straight trip route and turn information；Practical cartographic information is handled, compression map is obtained；It advances according to compression map, and judges whether robot will appear rollover in turning.The control method and its system that robot provided by the present application advances can obtain route information before robot advances, and form compression map and advance, and prevent robot from needing to go to explore route and take a significant amount of time repeatedly during traveling.
Description
Technical field
This application involves robot fields, and in particular, to the control method and its system that robot advances.
Background technique
Intelligent mobile robot is that one kind can perceive environment and oneself state by sensor, real now with barrier
Object-oriented autokinetic movement in environment, to complete the robot system of preplanned mission.In traditional robot traveling process
In, although the completion preplanned mission that robot can be autonomous, in fixed map, often by one side exploration road
Line issues navigation instruction on one side, if mistake or abnormal occurs in navigation instruction, robot may stop working.Therefore one is needed
The method that the control robot of kind more efficiently advances is controlled and is adjusted to the traveling process of robot.
Summary of the invention
The application's is designed to provide a kind of control method and its system that robot advances, according to the application, in machine
Travelling route is obtained in advance before the traveling of device people, robot is avoided to explore route in traveling, improves the efficiency of traveling.
In order to achieve the above objectives, this application provides the control methods that a kind of robot advances, specifically includes the following steps:
Obtain the basic map information in robot travelling route；It advances according to basic map information, obtains straight trip route and turning letter
Breath；Practical cartographic information is formed according to basic map information, straight trip route and turn information；At practical cartographic information
Reason obtains compression map；It advances according to compression map, and judges whether robot will appear rollover in turning.
As above, wherein setting starting route, middle position route and end route in scope of activities in advance；With
And the setting direction index between starting route, middle position route and end route.
As above, wherein it further include the setting map rope in basic map information before advancing according to basic map information
Draw, sub- map reference and/or barrier map reference.
As above, wherein setting map reference further includes that index of the picture carries out grade classification over the ground.
As above, wherein practical cartographic information is handled, obtains compression map specifically includes the following steps: by real
Border cartographic information is divided into several fragments；Judge whether robot travelling route needs to adjust according to action value；It needs to adjust
When adjust action value.
As above, wherein include several grids in each fragment, includes the straightway of different offsets in each grid
Or curved section.
As above, wherein it before judging whether robot traveling process is adjusted according to action value, further include determining
The action value occurred in grid according to the straightway of different offsets or curved section.
As above, wherein judge whether robot occurs rollover in turning and specifically include following sub-step: obtaining machine
History maximum speed when people keeps straight on；Obtain history maximum speed when robot turning；When according to the straight trip of acquisition robot
History maximum speed when history maximum speed and turning calculates turning command speed；Turning command speed v is expressed as,Wherein V0History maximum speed when keeping straight on for robot, x are history maximum speed when robot turns,
ρ is turning radius, indicates the truth of a matter in exponential function；If real-time speed when turning is more than turning command speed v, robot
It will turn on one's side, be unable to complete walking.
A kind of robot traveling control system specifically includes setting unit, acquiring unit, integral unit, processing unit, sentences
Disconnected unit；Setting unit is configured the route of robot, and map reference and barrier map rope are arranged in route
Draw；Acquiring unit obtains basic map information and route information；Integral unit, according to basic map information, straight trip route with
And turn information forms practical cartographic information；Processing unit handles practical cartographic information, obtains compression map；Judgement
Unit, judges whether robot turns, and turning when whether will appear rollover a possibility that.
As above, wherein it include following submodule in setting unit: route setup module, direction index setup module, inspection
Look into module, mark module, map reference setup module, grade setup module；Route setup module determines the traveling model of robot
It encloses, and is provided with starting route in the travel range of robot in advance, middle position route and end route；Direction index
Setup module, in starting route, setting direction index between middle position route and end route；It checks module, checks base
Route or road conditions in plinth map；Mark module is identified the barrier in basic map；Map reference setup module,
In starting route, middle position route and terminate that map reference or sub- map reference are arranged between route, and is being identified
It places obstacles before barrier object map reference；Grade setup module is connect with map reference setup module, is used for map reference
Or grade classification is carried out from map reference.
(1) control method and its system that robot provided by the present application advances can obtain route before robot advances
Information, and form compression map and advance, prevent robot from needing to go to explore route and spend big repeatedly during traveling
Measure the time.
(2) control method and its system that robot provided by the present application advances can judge whether when robot advances
It will appear rollover, prompted if rollover occur and can timely give, guarantee the normal traveling of robot.
(3) control method and its system that robot provided by the present application advances can compress basic map, subtract
Few occupied memory space of cartographic information.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application can also be obtained according to these attached drawings other for those of ordinary skill in the art
Attached drawing.
Fig. 1 is the control method flow chart advanced according to robot provided by the embodiments of the present application；
Fig. 2 is the structural schematic diagram inside the control system advanced according to robot provided by the embodiments of the present application；
Fig. 3 is the control system submodule schematic diagram of internal structure advanced according to robot provided by the embodiments of the present application；
Fig. 4 is that the another submodule internal structure for the control system advanced according to robot provided by the embodiments of the present application is shown
It is intended to.
Specific embodiment
Below with reference to the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on the application
In embodiment, those skilled in the art's every other embodiment obtained without making creative work, all
Belong to the range of the application protection.
The application is a kind of control method and its system that robot advances.According to the application, before the traveling of robot
Travelling route is obtained in advance, is avoided robot from exploring route in traveling, is improved the efficiency of traveling.Meanwhile in robot row
Into judging whether it can turn on one's side in the process, prompt can be issued if rollover occurs, guarantees normally traveling across for robot
Journey.
The control method flow chart advanced as shown in Figure 1 for robot provided by the present application.
Step S110: the basic map information in robot travelling route is obtained.
Specifically, setting originates route, middle position route and end road in the movable range of robot in advance
Line, this set can voluntarily plan acquisition according to scope of activities for the setting of user or robot, wherein starting route is machine
The starting point that device people advances, terminating route is the end point that robot advances.Middle position route can take starting route and knot
The median of beam road wire spacing or the numerical value of arbitrary proportion.
Further, the setting direction index between starting route, middle position route and end route, can indicate
The specific direction advanced.Such as the middle of the road of next step is reached from starting route, southeastward direction traveling is needed, from interposition
Setting route and terminating route needs northwestward to traveling.It is not in direction of travel during traveling convenient for robot
Mistake increases accuracy when robot advances.
By above-mentioned starting route, middle position route, end route and direction index can determine robot traveling road
The basic map information of line.
Step S120: robot advances according to basic map information, and obtains straight trip route and turn information.
The direction guided in the basic map information that robot is obtained according to step S110 is advanced, but robot is not at this time
Determine the route advanced.It therefore further include that map is set in basic map information before advancing according to basic map information
Index.Wherein map reference is system information acquisition according to the map.
Preferably, map software in the prior art can be used and obtain cartographic information.Wherein cartographic information and basic map
Information is different, has more detailed route situation and road conditions in cartographic information.
Specifically, it is respectively provided with map reference between starting route, middle position route and end route, wherein map rope
The quantity drawn is several (more than one), and the straight line or curve for indexing composition according to the map can more accurately obtain straight trip
Route or turn information.
Illustratively, it if in basic map information, originates route and terminates route and believed by the simple map of one line of two o'clock
Breath is constituted, and centre has no any barrier, then the only setting straight trip between starting route, middle position route and end route
Map reference just can obtain straight trip route by the map reference of straight trip.
Further, before map reference is arranged, information carries out road conditions or checking of routing in advance according to the map.
If inspection obtains in basic map information, same place can be eventually arrived at by a plurality of route in a certain starting point, then
Assert that basic map information is that then map can be respectively set in multiple fork crossings there are the complex road condition at multiple fork crossings
Index.
It, can be by barrier on basic ground if there are barriers in route according to the cartographic information that the prior art obtains
To be different from the representation method of road color or be marked using numerical symbol in figure information.And it is equipped in front of barrier
Barrier map reference allows the robot to timely avoiding barrier and advances.
Still further, map reference wherein be respectively set specifically in multiple fork on the road further include, index of the picture over the ground
Carry out grade classification.The specific division mode of grade is, if map reference is set to starting route and middle position route
Between, then the map reference is set as level-one map reference.If map reference setting is in middle position route and terminates route
Between, then the map reference is set as second level map reference.Wherein level-one map reference and the quantity of second level map reference are equal
It can be multiple.Specifically, due to that may also can have a plurality of route in each fork on the road in travelling route, then this feelings
Can also distribute sub- map reference under condition for map reference corresponding in every fork crossing, sub- map reference in the fork on the road
A plurality of route be corresponding relationship.
Illustratively, map reference is distributed if multiple fork on the road present in starting route and middle position route,
Then the map reference of the multiple fork on the road is the level-one map reference of ad eundem, and multiple routes are corresponding in the fork on the road
Sub- map reference is also the sub- map reference of level-one of same levels.
It is specifically represented by, if the representation of level-one map reference is respectively an A, a B, a C ..., with level-one
The corresponding sub- map reference of one A of index of the picture can be expressed as an A1, an A2, an A3 ..., similarly with B pairs of level-one map reference one
The sub- map reference answered can be expressed as a B1, a B2, a B3 ..., and so on.Wherein by level-one map reference, second level
Index of the picture ..., or the sub- map reference of level-one, the straight line of sub- map reference ... the composition of second level or curve are connected, just can
Access straight trip route and turn information.
Specifically, the above-mentioned set-up mode for map reference, additionally it is possible to prevent robot because itself breaks down, and
The corresponding route of the map reference of same grade repeatedly travels.If such as robot always one A of level-one map reference, a B it
Between advance, then staff can have found that in time robot does not find correct line according to the map reference after divided rank,
And then carry out abnormal examination.
It is worth noting that, the representation method of map reference or sub- map reference can be arbitrary form, and can be recognized
To modify, but it must assure that and can be identified by robot.
Wherein straight trip route is that map reference or sub- map reference connect the straightway to be formed, and turn information is map reference
Or sub- map reference connects the curved section to be formed, wherein may include the information such as the orientation information of curved section, longitude and latitude.
Step S130: practical cartographic information is formed according to basic map information, straight trip route and turn information.
Specifically, by the obtained basic map information of step S110 and pass through the map reference or son in step S120
The direct route and turn information that map reference is constituted are combined together, and form practical cartographic information.
Step S140: handling practical cartographic information, obtains compression map.
Wherein practical cartographic information is handled, obtain compression map specifically includes the following steps:
Step D1: practical cartographic information is divided into several fragments.
Wherein the size of several fragments is identical, includes several equal-sized grids in each fragment, in each grid
Straightway or curved section including different offsets.The straightway and curved section that wherein the grid in each fragment is constituted are machine
Direct route in people's travelling route or a certain section in turning route, different offsets is straight in the grid in several fragments
Line segment or curved section, which connect, constitutes straight line or Curve Path.
Step D2: judge whether robot travelling route needs to adjust according to action value.
It wherein, further include in determining fragment before judging whether robot travelling route needs adjustment according to action value
The step of action value of grid.
Action value can be wherein set in each grid according to the straightway or curved section of different offsets, and action value indicates machine
Device people is according to current straightway or curved section from movement range required for adjacent Grid Mobile to current grid.Wherein act
It is worth a corresponding specific numerical value or the representation using other forms.The bigger expression of action value is moved to current grid and is made
Movement range out is bigger, more difficult to control.
If action value is less than required movement threshold value, advance according to the skew route of current straightway or curved section.
If action value is greater than required movement threshold value, illustrates that travelling route needs are adjusted, then follow the steps D3.
Step D3: action value is then adjusted if necessary to adjustment.
By adjusting the travelling route of action value and then adjustment robot.Specifically, by the offset of straightway or curved section
Amount is adjusted, it is desirable that the offset of straightway and curved section is no more than specified threshold.Then the action value also will be in specified threshold
It is interior.
The offset and action value of straightway and curved section are all controlled within the specified range, and then formed compressively
Figure.
Step S150: robot advances according to compression map, and judges whether to will appear rollover in turning.
It further include judging whether robot starts to turn wherein before executing step S150.Specifically includes the following steps:
Step F1: coordinate is set for the grid in all fragments in compression map.
Specifically refer to the set-up mode of coordinate in the prior art, for example, may be configured as xy coordinate or xyz coordinate etc. its
The coordinate of his type.
Step F2: obtaining all curved sections occurred in all grids, the inflection point in judgment curves section, and is the complications
Point setting coordinate, is defined as turning coordinate.
Wherein the set-up mode of coordinate can refer to the coordinate set-up mode in step F1.
Step F3: judge whether robot starts to turn.
Specifically, it is advanced due to robot according to compression map, then can equally obtain the real-time advanced positions of robot
Coordinate.Judge whether the real-time advanced positions coordinate of robot matches or close enough with turning coordinate, if real-time advanced positions
Coordinate and turning coordinate are identical or approximately equal, then it is assumed that the two is matching or close enough degree, then determines robot
Start to turn.Then start to execute step S150.
Wherein whether judgement and its people occur to turn on one's side in turning specifically includes following sub-step:
Step P1: history maximum speed when robot straight trip is obtained.
Step P2: history maximum speed when robot turning is obtained.
Step P3: history maximum speed when according to history maximum speed when obtaining robot straight trip and turning, meter
Calculate turning command speed.
Specifically, it is made of due to turning path straightway and circular arc, the circular arc is turning path, then the specified speed of turning
Degree isWherein V0History maximum speed when keeping straight on for robot, x are that history when robot turns is maximum
Speed, ρ are turning radius, and e indicates the truth of a matter in exponential function.If real-time speed when turning is more than turning command speed v,
Robot will turn on one's side, and be unable to complete walking.
If wherein robot turns on one's side, prompt should be issued, makes robot system or staff in time to rollover feelings
Condition carries out respective handling, such as stops robot and advance or adjust travelling route.If being continued on there is no rollover.
It is illustrated in figure 2 robot traveling control system provided by the present application, is controlled according to above-mentioned traveling control method
Robot advances, wherein internal specifically include setting unit 201, acquiring unit 202, integral unit 203, processing unit 204, sentence
Disconnected unit 205.
Unit 201 is provided with for being configured to the route of robot, and be arranged in route map reference and
Barrier map reference.
Specifically, include route setup module in setting unit 201, direction index setup module, check module, mark mould
Block, map reference setup module, grade setup module (not shown).
Wherein route setup module is used to determine the travel range of robot, and sets in the travel range of robot in advance
It is equipped with starting route, middle position route and end route.
Direction index setup module is connect with route setup module, in starting route, middle position route and knot
Setting direction indexes between beam route.
Check that module is connect with route setup module, for checking route or road conditions in basic map.
Mark module is connect with route setup module, for being identified to the barrier in basic map.
Map reference setup module is connect with module and mark module is checked respectively, in starting route, middle position
Map reference or sub- map reference are respectively provided between route and end route, and object of placing obstacles before identified barrier
Map reference.
Grade setup module is connect with map reference setup module, for map reference or sub- map reference to be carried out grade
It divides.
Acquiring unit 202 is connect with setting unit 201, for obtaining basic map information and route information.
Integral unit 203 is connect with acquiring unit 202, for according to basic map information, straight trip route and turning letter
Breath forms practical cartographic information.
Processing unit 204 is connect with integral unit 203, for handling practical cartographic information, obtains compression map.
Wherein as shown in figure 3, processing unit 204 specifically includes following submodule: division module 301, adjustment judgment module
302, module 303 is adjusted.
Wherein division module 301 is used to practical cartographic information being divided into several fragments.
Adjustment judgment module 302 is connect with division module 301, for judging the row of robot according to the action value in fragment
Whether route line, which needs, is adjusted.
Adjustment module 303 is connect with adjustment judgment module 302, if being greater than required movement threshold value for action value, is needed
It is adjusted.
Judging unit 205 is connect with processing unit 204, for judging whether robot turns, and in turning
A possibility that whether will appear rollover.
Specifically, as shown in figure 4, further including turning judgment module 401, computing module 402 in judging unit 205.
Wherein turning judgment module 401 further includes following submodule: coordinate determining module, turning coordinate determining module (figure
In be not shown).
Wherein coordinate determining module is used to that coordinate to be arranged for the grid in compression map in all fragments.
Turning coordinate determining module is for obtaining all curved sections occurred in all grids, the complications in judgment curves section
Point, and coordinate is set for the inflection point, it is defined as turning coordinate.If the real-time advanced positions coordinate of robot is with turning coordinate
No matching or close enough, then judge that robot starts to turn.
History when history maximum speed, robot when computing module 402 is used to obtain robot straight trip are turned is maximum
Speed, and the history maximum speed according to history maximum speed when obtaining robot straight trip and when turning, when calculating turning
Command speed.
The application has the advantages that
(1) control method and its system that robot provided by the present application advances can obtain route before robot advances
Information, and form compression map and advance, prevent robot from needing to go to explore route and spend big repeatedly during traveling
Measure the time.
(2) control method and its system that robot provided by the present application advances can judge whether when robot advances
It will appear rollover, prompted if rollover occur and can timely give, guarantee the normal traveling of robot.
(3) control method and its system that robot provided by the present application advances can compress basic map, subtract
Few occupied memory space of cartographic information.
Although the example of present application reference is described, it is intended merely to the purpose explained rather than the limit to the application
System, the change to embodiment, increase and/or deletion can be made without departing from scope of the present application.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application should be based on the protection scope of the described claims.
Claims (10)
1. the control method that a kind of robot advances, which is characterized in that specifically includes the following steps:
Obtain the basic map information in robot travelling route；
It advances according to basic map information, obtains straight trip route and turn information；
Practical cartographic information is formed according to basic map information, straight trip route and turn information；
Practical cartographic information is handled, compression map is obtained；
It advances according to compression map, and judges whether robot will appear rollover in turning.
2. the control method that robot as described in claim 1 advances, which is characterized in that be arranged in scope of activities in advance
Beginning route, middle position route and end route；And it is set between starting route, middle position route and end route
Set direction index.
3. the control method that robot as described in claim 1 advances, which is characterized in that advance according to basic map information
Before, it further include that map reference, sub- map reference and/or barrier map reference are set in basic map information.
4. the control method that robot as claimed in claim 3 advances, which is characterized in that setting map reference further includes, right
Map reference carries out grade classification.
5. the control method that robot as described in claim 1 advances, which is characterized in that at practical cartographic information
Reason, obtain compression map specifically includes the following steps:
Practical cartographic information is divided into several fragments；
Judge whether robot travelling route needs to adjust according to action value；
Action value is adjusted when needing to adjust.
6. the control method that robot as claimed in claim 5 advances, which is characterized in that include several nets in each fragment
Lattice include the straightway or curved section of different offsets in each grid.
7. the control method that robot as claimed in claim 6 advances, which is characterized in that judging robot according to action value
It before whether traveling process is adjusted, further include determining in grid to be occurred according to the straightway of different offsets or curved section
Action value.
8. the control method that robot as described in claim 1 advances, which is characterized in that judge robot when turning whether
Rollover occurs and specifically includes following sub-step:
Obtain history maximum speed when robot straight trip；
Obtain history maximum speed when robot turning；
History maximum speed when according to history maximum speed when obtaining robot straight trip and turning calculates the specified speed of turning
Degree；
Turning command speed v is expressed as,Wherein V0History maximum speed when keeping straight on for robot, x is machine
History maximum speed when device people turns, ρ are turning radius, and e indicates the truth of a matter in exponential function；
If real-time speed when turning is more than turning command speed v, robot will turn on one's side, and be unable to complete walking.
9. a kind of robot traveling control system, which is characterized in that specifically include setting unit, acquiring unit, integral unit, place
Manage unit, judging unit；
Setting unit is configured the route of robot, and map reference and barrier map reference are arranged in route；
Acquiring unit obtains basic map information and route information；
Integral unit forms practical cartographic information according to basic map information, straight trip route and turn information；
Processing unit handles practical cartographic information, obtains compression map；
Judging unit, judges whether robot turns, and turning when whether will appear rollover a possibility that.
10. robot traveling control system as claimed in claim 9, which is characterized in that include following submodule in setting unit
Block: route setup module, checks module, mark module, map reference setup module, grade setting at direction index setup module
Module；
Route setup module determines the travel range of robot, and is provided with starting road in the travel range of robot in advance
Line, middle position route and end route；
Direction indexes setup module, in starting route, setting direction index between middle position route and end route；
It checks module, checks route or road conditions in basic map；
Mark module is identified the barrier in basic map；
Map reference or son ground is arranged in starting route in map reference setup module between middle position route and end route
Index of the picture, and object map reference of placing obstacles before identified barrier；
Grade setup module is connect with map reference setup module, for carrying out grade stroke by map reference or from map reference
Point.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111089593A (en) * | 2019-12-24 | 2020-05-01 | 山东科技大学 | Robot path planning method based on pigeon swarm algorithm |
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