CN110632933B

CN110632933B - Path moving method, robot and computer readable storage medium

Info

Publication number: CN110632933B
Application number: CN201910991756.XA
Authority: CN
Inventors: 陈禹; 李冰
Original assignee: Yuyue Robot Technology Shanghai Co ltd
Current assignee: Yuyue Robot Technology Shanghai Co ltd
Priority date: 2019-10-18
Filing date: 2019-10-18
Publication date: 2022-05-20
Anticipated expiration: 2039-10-18
Also published as: CN110632933A

Abstract

The invention discloses a path moving method, a robot and a computer readable storage medium, relating to the field of robot movement, wherein the method comprises the following steps: moving to a first starting position on the main road; moving from the first start position to a first inflection position by a first preset angle; moving from the first inflection point position to a second inflection point position at the secondary trunk road in a direction close to the second end of the target bookshelf; moving on the secondary trunk road from the second inflection point position to a third inflection point position in a direction close to the second end of the target bookshelf; and adopting a welting algorithm to retreat from the third inflection point position to a fourth inflection point position on the arterial road, and moving from the fourth inflection point position along the extension direction of the target bookshelf till a welting end position. The robot can flexibly turn in a narrow space through the multiple position change on the main road and the secondary road, and the collision is avoided.

Description

Path moving method, robot and computer readable storage medium

Technical Field

The present invention relates to the field of robot movement, and in particular, to a path moving method, a robot, and a computer-readable storage medium.

Background

Under the great era trend of the internet plus, the construction of libraries in the aspect of information technology is continuously strengthened, and the digitization of book resources has been greatly promoted in the past few years, but when the global scientific and technological informatization is rapidly developed, more specific requirements are put on the information management of the libraries, such as: how to realize the problems of fast and reliable book borrowing and returning, fast searching, book arrangement and the like.

In a traditional library operation mode, a librarian manually scans a borrowed book to update the data of the borrowed and returned book in a database, and then the librarian manually places the returned book on a corresponding bookshelf position and the like. The book checking can only be manually performed by a librarian, and based on the huge amount of books in a library, a large amount of manpower can be spent on the checking work, and the efficiency cannot be met.

Therefore, books in a library can be checked by adopting the robot. The bookshelf has been shown to one row in the library, has placed various books on the bookshelf, all can paste RFID electronic tags on every books, and the robot installs the antenna of corresponding quantity according to the number of piles of bookshelf, makes the robot read the information of each books along the in-process that the bookshelf removed. The reading distance of the electronic tag is different according to the model, but the electronic tag can be read only when the antenna is close to the electronic tag. For example: the electronic tag of 13.56 is widely used in libraries due to its reading stability, and books in libraries are generally placed on a bookshelf in a standing manner, under such a condition that the antenna is perpendicular to the electronic tag on the book, the readable range of the electronic tag is about 10cm-20 cm.

Based on the fact that the decorative wood boards are arranged on the periphery of the bookshelf and the thickness of the decorative wood boards is 2-5cm, if the electronic tags are attached according to the specifications, the electronic tags are attached to the edge close to the spine of the book (due to the binding relationship of books, the vertical distance between the attached position and the outermost side is about 2cm, if the electronic tag is not attached in the specification and is positioned in the middle, the vertical distance is about 10 cm), the distance between the electronic tags and the side (namely the side for holding and placing the books) of the bookshelf is 4-16cm, and the robot needs to be close to the side of the bookshelf as much as possible to ensure that the electronic tags on each book can be accurately read.

The existing robot is bulky, as shown in fig. 12 (only a frame part representing the volume of the robot is shown, and not all details are shown), and comprises a chassis 6, an antenna column 7 (i.e. an antenna for reading an electronic tag is installed in the antenna column), the height of the antenna column is set according to the bookshelves, and therefore, the large volume of the robot defines the turning direction between the bookshelves.

The distance between the bookshelves arranged in the library is not very wide, the interval between the front bookshelves and the rear bookshelves is generally 75-85 cm, some bookshelves are also obliquely arranged at the upper ends (the upper ends are convenient for users to take books), so that the running space of the robot is narrower, and if a conventional path moving method is adopted: if the robot is moved to a position (for example, 5cm) close to the opening side of the bookshelf directly on the corridor and then moved along the extending direction of the bookshelf after turning, due to the limitation of the huge volume and the moving space of the robot, a part of the robot collides with the bookshelf in the process of moving, and the position of the robot needs to be manually adjusted, which is very inconvenient.

Disclosure of Invention

The invention aims to provide a path moving method, a robot and a computer readable storage medium, which can prevent the robot from colliding with a bookshelf when moving in a narrow moving space, reduce the operation of manually adjusting the position of the robot and improve the working efficiency of the robot.

The technical scheme provided by the invention is as follows:

a path moving method is characterized in that the path moving method is applied to a robot, a plurality of bookshelves are arranged in a space, at least one main road and a plurality of secondary roads are formed, the secondary roads are passages allowing the robot to pass through and walk along the extending direction of the bookshelves, and the main road is a passage allowing the robot to pass through and enter the secondary roads; the path moving method includes the steps of: moving to a first starting position on the main road, wherein the first starting position is positioned in the extending direction of a secondary road corresponding to a target bookshelf; moving to a first inflection point position at a first preset angle from the first initial position, wherein the axial distance from the first initial position to the target bookshelf is greater than the axial distance from the first inflection point position to the target bookshelf; moving from the first inflection point position to a second inflection point position located at the secondary trunk road in a direction close to the second end of the target bookshelf, wherein the axial distance from the second inflection point position to the target bookshelf is not greater than the axial distance from the first inflection point position to the target bookshelf; moving to a third inflection point position on the secondary trunk road from the second inflection point position to a direction close to the second end of the target bookshelf, wherein the axial distance from the third inflection point position to the target bookshelf is smaller than the axial distance from the second inflection point position to the target bookshelf; and adopting a welting algorithm to retreat from the third inflection point position to a fourth inflection point position located on the main road, moving from the fourth inflection point position along the extension direction of the target bookshelf along a welting direction until the welting end position, wherein the axial distance from the fourth inflection point position to the target bookshelf is less than the axial distance from the third inflection point position to the target bookshelf.

In the technical scheme, the robot moves through direction change for many times in the main trunk road and the secondary trunk road, gradually approaches the target bookshelf, enters the secondary trunk road and has enough welting space, and then retreats to the fourth inflection point position with smaller axial distance from the target bookshelf, so that welting is realized, and the change of positions for many times enables the robot with larger car body length to flexibly turn in narrow space, so that collision is avoided, the opportunity of manual position adjustment of workers is reduced, and the working efficiency of the robot is greatly improved.

Further, the axial distance between the first starting position and the target bookshelf is determined by the width of the robot and the width of the main road.

In the above technical solution, the first starting position can be flexibly adjusted according to the actual application scenario.

Further, the axial distance between the first inflection point position and the target bookshelf is the axial distance between the first starting position and the target bookshelf minus a preset value.

In the above technical solution, the difference between the axial distance between the first starting position and the first inflection point position is fixed, and the change of the first starting position also changes the first inflection point position, which is highly adaptive.

Further, the radial distance range of the third inflection point position from the first end of the target bookshelf is 50cm-100 cm.

In the technical scheme, the radial distance from the third inflection point position to the first end of the target bookshelf is flexibly set along with the length of the body of the robot, and enough space is provided for the robot to retreat to the fourth inflection point position.

Further, the axial distance between the fourth inflection point and the target bookshelf ranges from 1cm to 9 cm.

In the technical scheme, the axial distance between the fourth inflection point and the target bookshelf is as small as possible, so that the electronic bookmark on the bookshelf is positioned in the antenna reading range on the robot, and the information on the electronic bookmark is normally acquired.

Further, the method also comprises the following steps: adopting a welting algorithm to retreat from a welting end position to a fourth inflection point position of the main road and then retreat from the fourth inflection point position to the third inflection point position; moving to a fifth inflection point position on the secondary main road from the third inflection point position in a direction close to the main road, wherein the axial distance from the fifth inflection point position to the target bookshelf is greater than the axial distance from the third inflection point position to the target bookshelf; and moving the main road from the fifth inflection point position to a second starting position located on the main road, wherein the axial distance from the second starting position to the target bookshelf is not less than the axial distance from the fifth inflection point position to the target bookshelf.

In the technical scheme, the positions of the first inflection points are reduced, and the dependence on global positioning in the moving process of the robot is reduced.

Further, the method also comprises the following steps: adopting a welting algorithm to retreat from a welting end position to a fourth inflection point position of the main road and then retreat from the fourth inflection point position to the third inflection point position; moving to a fifth inflection point position on the secondary main road from the third inflection point position in a direction close to the main road, wherein the axial distance from the fifth inflection point position to the target bookshelf is greater than the axial distance from the third inflection point position to the target bookshelf; moving from the fifth inflection location to the second inflection location; moving from the second inflection position to the first starting position.

In the technical scheme, the position of the fifth inflection point is separated from the welt, so that the robot is prevented from being corrected too fast and colliding.

The invention also provides a path moving method, which is applied to a robot, and a plurality of bookshelves are arranged in a space to form at least one main road and a plurality of secondary main roads, wherein the secondary main road is a passage for the robot to pass through and walk along the extending direction of the bookshelves, and the main road is a passage for the robot to pass through and enter the secondary main road; the path moving method includes the steps of: moving to a second starting position on the main road, wherein the second starting position is located in the extending direction of a secondary road corresponding to a target bookshelf; rotating the secondary main road corresponding to the target bookshelf by 90 degrees at the second starting position; moving to a second inflection point position of the secondary trunk road in a direction close to the second end of the target bookshelf; moving to a third inflection point position on the secondary trunk road from the second inflection point position to a direction close to the second end of the target bookshelf, wherein the axial distance from the third inflection point position to the target bookshelf is smaller than the axial distance from the second inflection point position to the target bookshelf; and adopting a welting algorithm to retreat from the third inflection point position to a fourth inflection point position located on the main road, moving from the fourth inflection point position along the extension direction of the target bookshelf along a welting direction until the welting end position, wherein the axial distance from the fourth inflection point position to the target bookshelf is less than the axial distance from the third inflection point position to the target bookshelf.

In the technical scheme, the position of an inflection point is reduced, the initial position is adjusted, the dependence on global positioning is reduced, and the collision condition caused by global positioning errors is prevented.

Further, the axial distance between the second starting position and the target bookshelf is determined by the width of the robot and the width of the main road.

Further, the method also comprises the following steps: adopting a welting algorithm to retreat from a welting end position to a fourth inflection point position of the main road and then retreat from the fourth inflection point position to the third inflection point position; moving to a fifth inflection point position on the secondary main road from the third inflection point position in a direction close to the main road, wherein the axial distance from the fifth inflection point position to the target bookshelf is greater than the axial distance from the third inflection point position to the target bookshelf; moving from the fifth inflection point position to a second inflection point position located in the secondary main road, wherein the axial distance from the second inflection point position to the target bookshelf is not less than the axial distance from the fifth inflection point position to the target bookshelf; and moving the second inflection point position to a first starting position of the main road, wherein the axial distance from the second inflection point position to the target bookshelf is not less than the axial distance from the first inflection point position to the target bookshelf.

The invention also provides a robot, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the path moving method according to any one of the above when running the computer program.

The invention also provides a computer readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the path moving method as set forth in any one of the above.

Compared with the prior art, the path moving method, the robot and the computer readable storage medium have the advantages that:

the robot moves in the main road and the secondary road in a plurality of directions in a changing way, gradually approaches the target bookshelf, returns to a fourth inflection point position with smaller axial distance from the target bookshelf after entering the secondary road and having enough welting space, thereby realizing welting, and the robot with larger vehicle body length can flexibly turn in a narrow space by changing the positions for a plurality of times, avoiding collision, reducing the opportunity of manual position adjustment of workers, and greatly improving the working efficiency of the robot.

Drawings

The above features, technical features, advantages and implementations of a path moving method, a robot, and a computer-readable storage medium will be further described in the following detailed description of preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.

FIG. 1 is a flow chart of one embodiment of a path moving method of the present invention;

FIG. 2 is a partial flow diagram of one embodiment of a path moving method of the present invention;

FIG. 3 is a schematic view showing the structure of an embodiment of the bookshelf arrangement space according to the invention;

FIG. 4 is a schematic diagram of the secondary trunk of FIG. 3;

FIG. 5 is a schematic structural diagram of one embodiment of the robot of the present invention;

FIG. 6 is a schematic diagram of the path shifting method according to an embodiment of the present invention;

FIG. 7 is a block diagram illustrating an exemplary exit of the path move method of the present invention;

FIG. 8 is a schematic structural diagram of another embodiment of the path moving method of the present invention upon exit;

FIG. 9 is a partial flow diagram of one embodiment of a path moving method of the present invention;

FIG. 10 is a schematic structural diagram of another embodiment of the path shifting method of the present invention;

FIG. 11 is a flow chart of another embodiment of a path moving method of the present invention;

fig. 12 is a schematic structural diagram of a robot for reading electronic tags on books according to the present invention.

The reference numbers illustrate:

1. bookshelf, 2 main road, 3 secondary road, 5 robot, 51 memory, 52 computer program, 53 processor, 6 chassis, 7 antenna column.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

Note that, in the following description based on the drawings, the upper, lower, left, and right directions refer to directions shown in the drawings, and are not methods in actual space.

In the present invention, for convenience of description, the front side (i.e., the lower side) of the upper left bookshelf in fig. 6 is used as a target bookshelf to illustrate the path movement. The axial distance is the direction of the Y axis in fig. 6, the radial distance is the direction of the X axis in fig. 6, and the X axis and the Y axis are orthogonal.

In an embodiment of the path moving method of the present invention, the path moving method is applied to a robot, and the application scenarios are as follows: a plurality of bookshelves 1 are arranged in a space to form at least one main trunk 2 and a plurality of secondary trunk 3, the secondary trunk 3 is a passage for a robot to pass through and walk along the extension direction of the bookshelves, and the main trunk is a passage for the robot to pass through and enter the secondary trunk.

As shown in fig. 3, four bookshelves 1 are arranged in a space, books are placed on both upper and lower sides of each bookshelf 1 (in actual operation, two bookshelves may be placed back to form the bookshelf 1 in the drawing), the bookshelves on the left and right sides form a main trunk 2, the bookshelves arranged up and down divide the space to form a plurality of sub-trunks 3, since the bookshelves on the left and right sides are symmetrically arranged, the left side is taken as an example for illustration, the upper side of the upper bookshelf 1 is provided with one sub-trunk 3 (the upper side of the upper bookshelf 1 is assumed to be a wall, which is not shown in the drawing), the other sub-trunk 3 is formed between the upper bookshelf 1 and the lower bookshelf 1, the robot can scan the electronic tags of the books on different bookshelves in the one sub-trunk 3, and the other sub-trunk 3 is arranged below the lower bookshelf 1.

The width of the main road and the secondary road in the library generally has specification requirements, such as: as shown in fig. 3, the width d1 of the trunk 2 is typically 150 cm; as shown in fig. 4, the width d2 of the secondary trunk is typically 85cm, and may be smaller, such as 75 cm. Most of the bookshelves are vertically arranged, namely the upper and lower surfaces of the bookshelves on the same side are vertical to the ground, some bookshelves are obliquely arranged, namely the upper ends of the bookshelves are inclined to the direction close to the secondary trunk road, the width of the secondary trunk road is calculated from the inclined part, and the operation space of the robot in the secondary trunk road is convenient to calculate.

FIG. 1 shows a flow diagram of a path moving method of one embodiment, comprising the steps of:

s101 moves to a first starting position S1 on the main road, and the first starting position S1 is located in the extending direction of the secondary road corresponding to the target bookshelf.

Specifically, the robot moves on the main road (namely the corridor) and moves to the extending direction of the secondary road corresponding to the target bookshelf, so that the robot can turn into the secondary road conveniently. The target bookshelf refers to a bookshelf on which books that the robot wants to read are placed.

For example: taking the four bookshelves shown in fig. 3 as an example, if each bookshelf is an integral body, the two sides on which the book is placed can be distinguished by the front side, the back side and the like.

Alternatively, the axial distance of the first start position S1 from the target bookshelf is determined by the width of the robot and the width of the main road.

The axial distance of the first start position S1 from the target bookshelf refers to the minimum Y-axis distance of the robot from the target bookshelf, i.e. the length of d3 in fig. 6. It should be noted that, if the target bookshelf is tilted outward, the axial distance from the target bookshelf to the first start position S1 is the distance from the robot to the Y-axis of the tilted part of the target bookshelf.

The axial distance from the first start position S1 to the target bookshelf varies with the change of the length of the robot body (i.e. the longer side of the length and width), the smaller the length of the robot body, the smaller the axial distance from the first start position S1 to the target bookshelf may be correspondingly reduced, and the larger the length of the robot body, the larger the axial distance from the first start position S1 to the target bookshelf needs to be correspondingly increased.

For example: a chassis of a robot is square, the length and width of the chassis are both 50cm, the width of a main road is 150cm, the axial distance from a first starting position S1 to a target bookshelf is preferably greater than or equal to 50cm (i.e. greater than a car body length, preferably greater than a car body length plus a compensation value, such as 20cm, 15cm and the like), and the range of the axial distance can ensure that the robot has enough turning space to prevent the robot from colliding with a nearby bookshelf.

Similarly, the radial distance from the first start position S1 to the first end n1 of the target bookshelf is determined by the width of the robot and the width of the main road.

The radial distance from the first start position S1 to the first end n1 of the target bookshelf refers to the distance from the robot to the first end n1 of the target bookshelf in the X-axis direction, i.e. the length of d4 in fig. 6.

The good selection of the first starting position S1 can ensure that the robot does not collide with the bookshelves during the process of turning to drive into the secondary trunk road corresponding to the target bookshelves.

The radial distance from the first start position S1 to the first end n1 of the target bookshelf changes along with the change of the length of the robot body, the smaller the length of the robot body is, the smaller the radial distance from the first start position S1 to the first end n1 of the target bookshelf can be correspondingly reduced, and the larger the length of the robot body is, the larger the radial distance from the first start position S1 to the first end n1 of the target bookshelf needs to be correspondingly increased.

For example: the chassis (i.e. the body) of a robot is square, the length and the width of the chassis are both 50cm, and the radial distance from the first starting position S1 to the first end n of the target bookshelf is preferably more than 25cm (preferably more than 35 cm), so that the robot has enough turning space to prevent the robot from colliding with the nearby bookshelf.

Optionally, the radial distance from the first start position S1 to the first end n1 of the target bookshelf is one half of the width of the main road. The robot is moved to the middle position of the main road, and the robot is prevented from touching the left bookshelf and the right bookshelf when turning.

When the robot moves to the first start position S1, it passes through several inflection points to gradually approach the target bookshelf.

S102 moves from a first starting position S1 to a first inflection position R1 at a first preset angle A, and the axial distance from the first starting position S1 to the target bookshelf is greater than the axial distance from the first inflection position R1 to the target bookshelf.

Specifically, the range of the first preset angle A is 45-90 degrees, the axial distance from the position reached by the steering movement with a slightly larger angle to the target bookshelf under the same moving distance is far greater than the axial distance from the position reached by the steering movement with a smaller angle within 45 degrees to the target bookshelf, and more position adjusting space is provided for the robot.

Preferably, the first inflection point position R1 is located on the main road, which may further give the robot more adjustment space to prevent it from colliding with a certain bookshelf during subsequent movement.

Optionally, the axial distance from the first inflection point position R1 to the target bookshelf is the axial distance from the first start position S1 to the target bookshelf minus a preset value. The radial distance of the first inflection point position R1 from the first end n1 of the target bookshelf is less than the radial distance of the first start position S1 from the first end n1 of the target bookshelf.

Specifically, the first start position S1 to the first inflection point position R1 are equivalent to moving toward the target bookshelf by a preset value in the axial distance, except that the robot moves from the first start position S1 to the first inflection point position R1 through a slightly larger rotation angle, which has started its own directional partial adjustment in the process.

If the robot directly moves to the first inflection point position R1 on the main road, no direction adjustment is performed, and all position adjustments need to be directly completed at subsequent positions, and if the robot is large in size, the robot easily collides with a bookshelf in such a narrow space.

The preset value can be determined according to the actual width of the main road and the length of the robot body.

For example: the chassis of a robot is square, the length and the width of the chassis are both 50cm, the width of a main road is 150cm, and the range of a preset value can be 15-25 cm. A value is selected within the range according to requirements, so that the robot is guaranteed not to collide with the bookshelf when moving from the first inflection point position R1 to the second inflection point position R2.

The radial distance from the first inflection point position R1 to the first end n1 of the target bookshelf can also be determined according to the actual width of the trunk road and the length of the body of the robot, so long as the robot is ensured not to collide with the bookshelf in the subsequent movement.

For example: the chassis of the robot is square, the length and the width of the chassis are both 50cm, the width of the main road is 150cm, and the radial distance of the first inflection point position R1 from the first end n1 of the target bookshelf can be 20cm-50 cm. A value is selected within the range according to requirements, so that the robot is guaranteed not to collide with the bookshelf when moving from the first inflection point position R1 to the second inflection point position R2.

S103, moving from the first inflection point position R1 to a direction (straight line) close to the second end n2 of the target bookshelf to a second inflection point position R2 of the secondary trunk road, wherein the axial distance from the second inflection point position R2 to the target bookshelf is not more than the axial distance from the first inflection point position R1 to the target bookshelf.

Specifically, the second inflection point position R2 is to allow the robot to smoothly enter the secondary main road and determine the welting direction, and therefore, the second inflection point position R2 must exceed the first end n1 of the target bookshelf, so that the robot can accurately move along the extension direction of the target bookshelf (i.e., the direction from n1 to n 2).

If the second inflection point position R2 is located on the main lane, the robot may mistakenly recognize the bordering direction with a high probability, and the axial direction in which the upper and lower bookshelves are arranged in fig. 6 is taken as the bordering direction, so that the books on the target bookshelves cannot be correctly scanned.

Optionally, the axial distance of the second inflection point position R2 from the target bookshelf is equal to the axial distance of the first inflection point position R1 from the target bookshelf. After the robot reaches the first inflection point position R1, the robot can directly rotate on the spot and linearly move to the second inflection point position R2, and the welting direction is confirmed.

Of course, if the robot direction is further adjusted, the axial distance from the second inflection point position R2 to the target bookshelf may be set to a small distance toward the target bookshelf. For example: the chassis of the robot is square, the length and the width of the chassis are both 50cm, the width of the main road is 150cm, and the axial distance between the second inflection point position R2 and the target bookshelf can be 35-50 cm. When the robot moves to the second inflection point position R2 from the first inflection point position R1, the overall movement direction of the robot is finely adjusted, and the subsequent welting direction is confirmed.

And S104, moving from the second inflection point position R2 to a third inflection point position R3 on the secondary trunk road in a direction close to the second end of the target bookshelf, wherein the axial distance from the third inflection point position R3 to the target bookshelf is less than the axial distance from the second inflection point position R2 to the target bookshelf.

Specifically, the axial distance from the third inflection point position R3 to the target bookshelf is much shorter than the axial distance from the second inflection point position R2 to the target bookshelf, and the third inflection point position R3 needs to be prepared for subsequent welting.

Optionally, the axial distance range from the third inflection point position R3 to the target bookshelf is 7cm-15cm, and the axial distance range can be flexibly selected according to the requirements of the welting algorithm, the length of the body of the robot, the width of the secondary trunk road and other factors.

The radial distance of the third inflection position R3 from the first end n1 of the target bookshelf is greater than the radial distance of the second inflection position R2 from the first end n1 of the target bookshelf. The larger the radial distance from the third inflection point position R3 to the first end n1 of the target bookshelf is, the smaller the body rotation angle when the directional robot subsequently retreats to the main road by adopting a welting algorithm is, and the collision probability is reduced.

Optionally, the radial distance from the third inflection point position R3 to the first end n1 of the target bookshelf ranges from 50cm to 100 cm. According to the length adjustment of the robot body, the larger the length of the robot body is, the larger the value is, and the condition that the welting of the robot is completed by enough distance is ensured.

The first start position S1, the first inflection point position R1, the second inflection point position R2 and the third inflection point position R3 are located by using global coordinates, and the locating manner may be an existing robot locating manner, which is not described in detail herein.

S105, adopting a welting algorithm to retreat from the third inflection point position R3 to a fourth inflection point position R4 located on the main track, moving from the fourth inflection point position R4 along the extension direction of the target bookshelf (i.e. the direction from n1 to n2 in the figure 6) in a welting mode until reaching a welting end position, wherein the axial distance from the fourth inflection point position R4 to the target bookshelf is smaller than the axial distance from the third inflection point position R3 to the target bookshelf.

Specifically, the process of welting by the welt algorithm is that the welt returns from the third inflection point position R3 to the fourth inflection point position R4, and when the welt sensor senses that the welt is finished, the welt is considered to reach the fourth inflection point position R4, so that the problem of errors of global coordinates can be solved.

Similarly, when the welting starts to move from the fourth inflection point position R4 along the extending direction of the target bookshelf, the welting ending position is determined by the welting sensor on the robot, and when the welting sensor senses that the welting is ended, the welting ending position is considered to be reached.

During the process that the robot moves from the fourth inflection point position R4 along the extension direction of the target bookshelf (i.e. the direction from n1 to n2 in fig. 6), the antenna arranged on the robot acquires information of books on each layer of the target bookshelf.

Based on the limitation of the readable range of the electronic tag used on the book, the axial distance between the fourth inflection point and the target bookshelf ranges from 1cm to 9 cm. Preferably, the axial distance of the fourth inflection point position R4 from the target bookshelf needs to be as small as possible, for example: 1cm, 2cm, 3cm, 4cm, etc.

If the robot directly moves from the main road to the fourth inflection point position R4, the robot can touch the bookshelf in the steering process due to the fact that the length of the robot body is larger, and the robot can smoothly reach the fourth inflection point position R4 with smaller axial distance from the target bookshelf through the mode of multiple turning, and collision cannot occur.

In the embodiment, the robot moves in the main road and the secondary road in a plurality of direction changes to gradually approach the target bookshelf, after the robot enters the secondary road and has enough welting space, the robot retreats to the fourth inflection point position with smaller axial distance from the target bookshelf to achieve welting, and the robot with larger vehicle body length can flexibly turn in the narrow space through a plurality of position changes, so that collision is avoided, the opportunity of manual position adjustment of workers is reduced, and the working efficiency of the robot is greatly improved.

According to the path moving method, after the robot enters the secondary trunk road of the target bookshelf, finishes book information acquisition work and reaches the welting end position, the robot also needs to return to the main trunk road to perform book information acquisition work of the next target bookshelf, the robot is ensured not to collide with the bookshelf in the process of returning to the main trunk road, and two modes of returning to the main trunk road are provided:

first, as shown in fig. 2 and 7, the path moving method further includes the steps of:

s201 adopts a welt algorithm to retreat from a welt end position E to a fourth inflection point position R4 of the main track and then retreat from the fourth inflection point position R4 to a third inflection point position R3.

Specifically, the welting end position E to the fourth inflection point position R4 and then to the third inflection point position R3 are still executed by using a welting algorithm, which is equivalent to the process of returning from the original route.

S202, the third inflection point position R3 moves to a fifth inflection point position R5 on the secondary main road in the direction approaching the main road, and the axial distance from the fifth inflection point position R5 to the target bookshelf is larger than that from the third inflection point position R3 to the target bookshelf.

Specifically, when the third inflection point position R3 is reached, the robot is separated from the welt in the next step, and the robot can slowly separate from the welt and cannot collide with the bookshelf due to too fast deviation rectification at the same time through the appropriate fifth inflection point position R5.

Optionally, the difference between the radial distance from the fifth inflection point position R5 to the first end n1 of the target bookshelf and the radial distance from the third inflection point position R3 to the first end n1 of the target bookshelf is one stall (the length of the long side) of the robot plus the radial compensation value.

Specifically, the compensation value can be determined according to the width of the secondary trunk road and the length of the body of the robot.

For example: the length of the body of the robot is 45 x 50, the width of the secondary main road is 80cm, the compensation value can be selected to be 5cm, and the difference between the radial distance from the fifth inflection point position R5 to the first end n1 of the target bookshelf and the radial distance from the third inflection point position R3 to the first end n1 of the target bookshelf is 50+ 5-55 cm.

Optionally, the axial distance of the fifth inflection point position R5 from the target bookshelf is greater than the axial distance of the third inflection point position R3 from the target bookshelf.

Specifically, the fifth inflection point position R5 is the first position after the detachment from the welt, and therefore, a certain distance is inevitably required from the target bookshelf, and therefore, the robot can successfully detach from the welt, and the robot cannot collide with the nearby bookshelf in the subsequent moving process to the main road.

In one embodiment, the axial distance from the target bookshelf to the fifth inflection point position R5 is equal to the axial distance from the target bookshelf to the second inflection point position.

As another embodiment, the axial distance of the fifth inflection point position R5 from the target bookshelf, one-half of the length of the body of the robot, and the axial compensation value are equal to the width of the secondary main road. Optionally, the range of the axial compensation value is 1cm-15cm, and the axial compensation value can be set according to factors such as positioning control precision of the robot.

S203 moves from the fifth inflection position R5 to the second inflection position R2.

Specifically, when the axial distance between the fifth inflection point position and the target bookshelf is smaller than the axial distance between the second inflection point position and the target bookshelf, the direction of the robot can be finely adjusted again in the process of moving from the fifth inflection point position to the second inflection point position, and the probability that the robot collides with the bookshelf is reduced.

S204 moves from the second inflection point position to the first start position.

In the implementation mode, in the process of returning to the first initial position, the position (namely the third inflection point position) at the beginning of edge attaching is returned through an edge attaching algorithm, and then the robot body is turned for multiple times and slowly adjusted, so that the condition that the robot directly performs large-amplitude deviation correction and collides with a bookshelf is avoided, and the normal operation of the robot is ensured.

Second, as shown in fig. 9 and 8, the path moving method further includes the steps of:

s301, the welt algorithm is adopted to retreat from the welt ending position E to the fourth inflection point position R4 of the main track, and then retreat from the fourth inflection point position R4 to the third inflection point position R3.

S302, the third inflection point position R3 moves to a fifth inflection point position R5 on the secondary main road in the direction approaching the main road, and the axial distance from the fifth inflection point position R5 to the target bookshelf is greater than the axial distance from the third inflection point position R3 to the target bookshelf.

S303, moving from the fifth inflection point position R5 to a second starting position S2 located on the main road, wherein the axial distance from the second starting position to the target bookshelf is not less than the axial distance from the fifth inflection point position to the target bookshelf.

Specifically, the axial distance from the second starting position S2 to the target bookshelf is the same as the axial distance from the second inflection point position R2 to the target bookshelf. The radial distance from the second starting position S2 to the first end n1 of the target bookshelf is the same as the radial distance from the first starting position S1 to the first end n1 of the target bookshelf.

Optionally, the radial distance from the second starting position S2 to the first end n1 of the target bookshelf is one half of the main road.

When the robot moves to the fifth inflection point position R5 and the second starting position S2, positioning is carried out according to global coordinates, the mode of returning to the main road at this time reduces the second inflection point position R2, and the problem of positioning errors of the global coordinates in the moving process can be solved.

In the embodiment, when the robot moves in a narrow space, the direction of the robot with a larger body is adjusted by turning for multiple times and changing the axial distance by a small amount every time, so that the robot can run along the bookshelf welt without collision, and the working efficiency of the robot is improved.

Fig. 10 and fig. 11 show a flow chart of a path moving method according to another embodiment, which includes the following steps:

s401 moves to a second start position S2 on the main road, and the second start position S2 is located in the extending direction of the secondary road corresponding to the target bookshelf.

Specifically, the axial distance from the second starting position S2 to the target bookshelf is determined by the width of the robot and the width of the main road.

The axial distance of the second start position S2 from the target bookshelf refers to the minimum Y-axis distance of the robot from the target bookshelf, i.e. the length of d5 in fig. 10. It should be noted that, if the target bookshelf is tilted outward, the axial distance from the second starting position S2 to the target bookshelf refers to the distance from the robot to the Y-axis direction of the tilted part of the target bookshelf.

The axial distance from the second starting position S2 to the target bookshelf varies with the length of the robot body (i.e. the longer side of the length and width), the smaller the length of the robot body is, the smaller the axial distance from the second starting position S2 to the target bookshelf can be correspondingly reduced, and the larger the length of the robot body is, the larger the axial distance from the second starting position S2 to the target bookshelf needs to be correspondingly increased.

S402, at the second starting position S2, the secondary main road corresponding to the target bookshelf is rotated by 90 degrees.

S403 moves to a second inflection point position R2 on the secondary thoroughfare in a direction approaching the second end of the target bookshelf.

Specifically, the second start position S2 is directly turned by 90 degrees and then moves to the second inflection point position R2, and no direction adjustment is performed when the second start position S2 is moved to the second inflection point position R3832, so that the axial distance from the second start position S2 to the target bookshelf is smaller than the axial distance from the first start position S1 to the target bookshelf, and the axial distance from the second start position S2 to the target bookshelf is the same as the axial distance from the second inflection point position R2 to the target bookshelf.

The radial distance of the second start position S2 from the first end n1 of the target bookshelf is determined by the width of the robot and the width of the main road. The radial distance of the second starting position S2 from the first end n1 of the target bookshelf refers to the distance of the robot to the first end n1 of the target bookshelf in the X-axis direction, i.e. the length of d4 in fig. 10.

The good selection of the second starting position S2 can ensure that the robot does not collide with the bookshelves during the process of turning to enter the secondary trunk road corresponding to the target bookshelves.

The radial distance from the second starting position S2 to the first end n1 of the target bookshelf changes along with the change of the length of the robot body, the smaller the length of the robot body is, the smaller the radial distance from the second starting position S2 to the first end n1 of the target bookshelf can be correspondingly reduced, and the larger the length of the robot body is, the larger the radial distance from the second starting position S2 to the first end n1 of the target bookshelf needs to be correspondingly increased.

Optionally, the radial distance from the second starting position S2 to the first end n1 of the target bookshelf is the same as the radial distance from the first starting position S1 to the first end n1 of the target bookshelf.

Optionally, the radial distance from the second starting position S2 to the first end n1 of the target bookshelf is one half of the main road. The robot is moved to the middle position of the main road, and the robot is prevented from touching the left bookshelf and the right bookshelf when turning.

S404, moving from the second inflection point position to a third inflection point position on the secondary trunk road in a direction close to the second end of the target bookshelf, wherein the axial distance from the third inflection point position to the target bookshelf is less than the axial distance from the second inflection point position to the target bookshelf.

S405, moving from the third inflection point position to a fourth inflection point position on the arterial road in a welt mode along the extending direction of the target bookshelf from the fourth inflection point position until a welt ending position by adopting a welt algorithm, wherein the axial distance from the fourth inflection point position to the target bookshelf is smaller than the axial distance from the third inflection point position to the target bookshelf.

The difference between the entry of the path moving method of this embodiment and the entry of the path moving method of the above embodiment is that the starting position is changed, and the first inflection point position R1 is reduced, so that the dependence on the global coordinate is reduced, and the situation that when the first inflection point position R1 is positioned erroneously, all subsequent movements are erroneously performed, and collision occurs is prevented. And the inflection point position is reduced, and the probability of collision caused by positioning errors is reduced.

S203, moving from the fifth inflection point position to a second inflection point position located in the secondary main road, wherein the axial distance from the second inflection point position to the target bookshelf is not less than the axial distance from the fifth inflection point position to the target bookshelf.

As another embodiment, the axial distance of the fifth inflection point position R5 from the target bookshelf, one-half of the length of the body of the robot, and the axial compensation value are equal to the width of the secondary artery. Optionally, the range of the axial compensation value is 1cm-15cm, and the axial compensation value can be set according to factors such as positioning control precision of the robot.

When the axial distance between the fifth inflection point position and the target bookshelf is smaller than the axial distance between the second inflection point position and the target bookshelf, the direction of the robot can be finely adjusted again in the process of moving from the fifth inflection point position to the second inflection point position, and the probability that the robot collides with the bookshelf is reduced.

S204, moving to a first starting position located on the main road from a second inflection point position, wherein the axial distance from the second inflection point position to the target bookshelf is not less than the axial distance from the first inflection point position to the target bookshelf.

Specifically, the axial distance from the target bookshelf to the first starting position S1 is determined by the width of the robot and the width of the main road. Similarly, the radial distance from the first start position S1 to the first end n1 of the target bookshelf is determined by the width of the robot and the width of the main road.

Optionally, the radial distance from the first start position S1 to the first end n1 of the target bookshelf is one half of the width of the main road.

It should be understood that, in the above embodiments, the size of the sequence number of each step does not mean the execution sequence, and the execution sequence of each step should be determined by functions and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Fig. 5 is a schematic structural diagram of the robot 5 provided in one embodiment of the present invention. As shown in fig. 5, the robot 5 of the present embodiment includes: a processor 53, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 53, such as: and (5) path moving program. The processor 53 implements the steps in the various path moving method embodiments described above when executing the computer program 52.

The Processor 53 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may be an internal storage unit of the terminal device 5, such as: hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as: the terminal equipment is provided with a plug-in hard disk, an intelligent memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) and the like. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing the computer program 52 and other programs and data required by the terminal device 5. The memory may also be used to temporarily store data that has been output or is to be output.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

If implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by sending instructions to relevant hardware through a computer program, where the computer program may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises: computer program code which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the contents of the computer-readable storage medium can be appropriately increased or decreased according to the requirements of the legislation and patent practice in the jurisdiction, for example: in certain jurisdictions, in accordance with legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunications signals.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A path moving method is characterized in that the path moving method is applied to a robot, a plurality of bookshelves are arranged in a space, at least one main road and a plurality of secondary roads are formed, the secondary roads are passages allowing the robot to pass through and walk along the extending direction of the bookshelves, and the main road is a passage allowing the robot to pass through and enter the secondary roads;

the path moving method includes the steps of:

moving to a first starting position on the main road, wherein the first starting position is positioned in the extending direction of a secondary road corresponding to a target bookshelf;

moving to a first inflection point position at a first preset angle from the first initial position, wherein the axial distance from the first initial position to the target bookshelf is greater than the axial distance from the first inflection point position to the target bookshelf;

moving from the first inflection point position to a second inflection point position located at the secondary trunk road in a direction close to the second end of the target bookshelf, wherein the axial distance from the second inflection point position to the target bookshelf is not greater than the axial distance from the first inflection point position to the target bookshelf;

moving to a third inflection point position on the secondary trunk road from the second inflection point position to a direction close to the second end of the target bookshelf, wherein the axial distance from the third inflection point position to the target bookshelf is smaller than the axial distance from the second inflection point position to the target bookshelf;

and adopting a welting algorithm to retreat from the third inflection point position to a fourth inflection point position located on the main road, moving from the fourth inflection point position along the extension direction of the target bookshelf along a welting direction until the welting end position, wherein the axial distance from the fourth inflection point position to the target bookshelf is less than the axial distance from the third inflection point position to the target bookshelf.

2. The path moving method as claimed in claim 1, wherein an axial distance of the first start position from a target bookshelf is determined by a width of the robot and a width of a main road.

3. The path moving method as claimed in claim 2, wherein the axial distance of the first inflection position from the target bookshelf is the axial distance of the first initial position from the target bookshelf minus a preset value.

4. The path moving method as claimed in claim 1, wherein a radial distance of the third inflection position from the first end of the target bookshelf ranges from 50cm to 100 cm.

5. The path moving method as claimed in claim 1, wherein the axial distance of the fourth inflection position from the target bookshelf ranges from 1cm to 9 cm.

6. The path moving method as claimed in claim 1, further comprising the steps of:

adopting a welting algorithm to retreat from a welting end position to a fourth inflection point position of the main road and then retreat from the fourth inflection point position to the third inflection point position;

moving to a fifth inflection point position on the secondary main road from the third inflection point position in a direction close to the main road, wherein the axial distance from the fifth inflection point position to the target bookshelf is greater than the axial distance from the third inflection point position to the target bookshelf;

and moving the main road from the fifth inflection point position to a second starting position located on the main road, wherein the axial distance from the second starting position to the target bookshelf is not less than the axial distance from the fifth inflection point position to the target bookshelf.

7. The path moving method as claimed in claim 1, further comprising the steps of:

moving from the fifth inflection position to the second inflection position;

moving from the second inflection position to the first starting position.

8. A path moving method is characterized in that the path moving method is applied to a robot, a plurality of bookshelves are arranged in a space, at least one main road and a plurality of secondary roads are formed, the secondary roads are passages allowing the robot to pass through and walk along the extending direction of the bookshelves, and the main road is a passage allowing the robot to pass through and enter the secondary roads;

the path moving method includes the steps of:

moving to a second starting position on the main road, wherein the second starting position is located in the extending direction of a secondary road corresponding to a target bookshelf;

rotating the secondary main road corresponding to the target bookshelf by 90 degrees at the second starting position;

moving to a second inflection point position of the secondary trunk road in a direction close to the second end of the target bookshelf;

9. The path moving method as claimed in claim 8, wherein an axial distance of the second start position from the target bookshelf is determined by a width of the robot and a width of the main road.

10. The path moving method as claimed in claim 8, further comprising the steps of:

11. The path moving method as claimed in claim 8, further comprising the steps of:

moving from the fifth inflection point position to a second inflection point position on the secondary trunk road, wherein the axial distance from the second inflection point position to the target bookshelf is not less than the axial distance from the fifth inflection point position to the target bookshelf;

and moving the second inflection point position to a first starting position of the main road, wherein the axial distance from the second inflection point position to the target bookshelf is not less than the axial distance from the first inflection point position to the target bookshelf.

12. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the path moving method according to any of claims 1-7 when running the computer program.

13. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the path moving method according to any of claims 8-11 when running the computer program.

14. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the path moving method according to any one of claims 1 to 7.

15. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the path moving method according to any one of claims 8-11.