CN110942169A - Path planning method and robot - Google Patents
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- CN110942169A CN110942169A CN201811120283.8A CN201811120283A CN110942169A CN 110942169 A CN110942169 A CN 110942169A CN 201811120283 A CN201811120283 A CN 201811120283A CN 110942169 A CN110942169 A CN 110942169A
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Abstract
The invention discloses a path planning method and a robot, and belongs to the technical field of robots. A path planning method, comprising: acquiring geomagnetic data of the current position of the robot, and converting the geomagnetic data into three-dimensional coordinate information; identifying whether the current floor where the robot is located is consistent with a target floor or not according to the three-dimensional coordinate information; and when the current floor where the robot is located is not consistent with the target floor, planning a multi-floor planning path of the robot. In the process of planning the multi-floor planning path, auxiliary equipment is not needed to be added to assist the robot in positioning; the equipment cost and the construction cost are greatly reduced; and the phenomenon that positioning accuracy is influenced due to wireless transmission of positioning auxiliary information is avoided.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a path planning method and a robot.
Background
Currently, robots navigate indoors using technologies such as laser SLAM, visual VSLAM, IMU inertial navigation, alone or in combination. The navigation technology can realize the functions of mapping, navigation, area limitation and the like of the robot under an ideal state; the robot can also be helped to navigate, plan and run a path in a certain floor in the building.
However, the above navigation techniques are mostly based on the movement of the robot within one floor, so as to realize the path planning of one floor. When the robot relates to an upper floor and a lower floor, the robot cannot generally perform multi-floor path planning, can only perform path planning in the same floor, and completes a corresponding navigation task.
In addition, when planning a path in a building, auxiliary devices are usually added to assist the robot in positioning, such as wifi, bluetooth, RFID, UWB, etc., to provide the robot with relatively accurate position calibration information and to confirm the three-dimensional coordinates of the robot in the building.
The positioning method not only needs to additionally add accessories, but also improves the corresponding cost; but also greatly increases construction costs. In addition, since the positioning assistance information is limited by the transmission of wireless signals, the accuracy of positioning may be affected.
Disclosure of Invention
The invention aims to provide a path planning method and a robot, which can assist the robot in positioning without adding auxiliary equipment in the process of realizing multi-floor path planning; the equipment cost and the construction cost are greatly reduced; and the phenomenon that positioning accuracy is influenced due to wireless transmission of positioning auxiliary information is avoided.
The technical scheme provided by the invention is as follows:
the invention provides a path planning method, which comprises the following steps: acquiring geomagnetic data of the current position of the robot, and converting the geomagnetic data into three-dimensional coordinate information; identifying whether the current floor where the robot is located is consistent with a target floor or not according to the three-dimensional coordinate information; and when the current floor where the robot is located is not consistent with the target floor, planning a multi-floor planning path of the robot.
Further preferably, the planning the multi-floor path of the robot specifically includes: determining the current floor key position of the current floor, and planning a same-floor planning path from the current position to the current floor key position of the robot on the current floor; and determining a target floor key position of the target floor, and planning a same-floor planning path from the target floor key position to the target position of the robot on the target floor.
Further preferably, before the recognizing whether the current floor where the robot is located is consistent with the target floor according to the three-dimensional coordinate information, the method further includes: and analyzing the target floor where the preset target position is located according to the preset target position.
Preferably, the method further comprises the following steps: and when the current floor where the robot is located is consistent with the target floor, planning a path planned by the robot on the same floor from the current position to the target position on the current floor.
Further preferably, after the same-floor planning path is planned, the method further includes: acquiring geomagnetic data of a dynamic object in a current floor or a target floor, and converting the geomagnetic data of the dynamic object into position coordinate information; and adjusting the same-floor planning path of the robot on the current floor or the target floor according to the position coordinate information of the dynamic object.
The present invention also provides a robot comprising: the coordinate conversion module is used for acquiring geomagnetic data of the current position of the robot and converting the geomagnetic data into three-dimensional coordinate information; the identification module is connected with the coordinate conversion module and used for identifying whether the current floor where the robot is located is consistent with a target floor or not according to the three-dimensional coordinate information; and the path planning module is connected with the identification module and used for planning the multi-floor planning path of the robot when the current floor where the robot is located is not consistent with the target floor.
Further preferably, the path planning module determines a current floor key position of the current floor, and plans a same-floor planning path from the current position to the current floor key position of the robot on the current floor; and the path planning module is used for determining the target floor key position of the target floor and planning the same-floor planning path from the target floor key position to the target position of the robot on the target floor.
Further preferably, the method further comprises the following steps: and the floor analysis module is connected with the identification module and used for analyzing the target floor where the preset target position is located according to the preset target position.
Further preferably, the path planning module is further configured to plan a path planned by the robot on the same floor from the current position to the target position on the current floor when the current floor where the robot is located is consistent with the target floor.
Preferably, the coordinate conversion module is further configured to acquire geomagnetic data of the dynamic object on the current floor or the target floor, and convert the geomagnetic data of the dynamic object into position coordinate information; and the path planning module is further used for adjusting the robot to plan a path on the same floor of the current floor or the target floor according to the position coordinate information of the dynamic object.
Compared with the prior art, the path planning method and the robot provided by the invention have the following advantages
Has the advantages that:
1. according to the multi-floor planning method, geomagnetic data are collected through a geomagnetic sensor on a robot body, the geomagnetic data are converted into coordinate information, and when the current floor where the robot is located is identified to be inconsistent with a target floor through the coordinate information, multi-floor planning path planning is conducted.
In the process of planning the multi-floor planning path, auxiliary equipment is not needed to be added to assist the robot in positioning; the equipment cost and the construction cost are greatly reduced; and the phenomenon that positioning accuracy is influenced due to wireless transmission of positioning auxiliary information is avoided.
2. The same-floor planning path of the current floor is planned, and then the same-floor planning path of the target floor is planned; thereby completing the planning of the multi-floor planning path.
3. According to the invention, a geomagnetic sensor on a dynamic object acquires geomagnetic data and converts the geomagnetic data into coordinate information, so that a same-floor planning path is adjusted according to the coordinate information of the dynamic object; so that the robot can successfully reach the target position.
Drawings
The above features, technical features, advantages and implementations of a path planning method and a robot will be further explained in the following detailed description of preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.
FIG. 1 is a schematic flow chart of a path planning method according to the present invention;
FIG. 2 is a schematic flow chart of another path planning method according to the present invention;
FIG. 3 is a schematic flow chart of another path planning method according to the present invention;
FIG. 4 is a block diagram schematically illustrating the construction of a robot according to the present invention;
the reference numbers illustrate:
10-coordinate transformation module 20-floor analysis module 30-identification module
40-path planning module
Detailed Description
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.
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".
According to an embodiment provided by the present invention, as shown in fig. 1, a path planning method includes:
s10, acquiring geomagnetic data of the current position of the robot, and converting the geomagnetic data into three-dimensional coordinate information;
specifically, geomagnetic fingerprint information of each indoor floor is collected, each coordinate point of each indoor floor corresponds to geomagnetic fingerprint data of the coordinate point, a corresponding geomagnetic fingerprint coordinate system is established, and the coordinate system can convert the geomagnetic fingerprint data into three-dimensional coordinates in a building.
And acquiring specific coordinates (Xn, Yn, Zn) of the robot in a room through geomagnetic data acquired by the robot in real time.
S20, identifying whether the current floor where the robot is located is consistent with a target floor or not according to the three-dimensional coordinate information;
specifically, according to the value of Zn in the three-dimensional coordinate information; wherein, the value of Zn can be floor information or height information; and identifying whether the current floor Zn where the robot is located is consistent with the target floor Z. When the value of Zn is floor information, if Zn is 2, the robot is in the second floor; and if Zn is 1, the robot is in the first floor.
When the value of Zn is height information, the preset height range corresponding to each floor, for example, the preset height range corresponding to the first floor is 0-2 m, the preset height range corresponding to the second floor is 3-4 m, and the like. If Zn is 3.5m, the robot is in the second floor; and if Zn is 0.5m, the robot is in the first floor.
And S30, when the current floor where the robot is located is not consistent with the target floor, planning a multi-floor planning path of the robot.
Specifically, when the current floor Zn where the robot is located is not consistent with the target floor Z, a multi-floor planning path from the current position in the current floor to the target position in the target floor is planned.
And S40, when the current floor where the robot is located is consistent with the target floor, planning a same-floor planning path from the current position to the target position of the robot on the current floor.
In the embodiment, the earth magnetism belongs to the property of the earth, and as long as the robot carries the earth magnetism sensor, corresponding earth magnetism data can be obtained at any point, so that extra equipment and cost such as ultrasonic ranging and laser ranging sensors are not added; the internal procedures are also simplified correspondingly.
Through effectual algorithm, earth magnetism location can be with the accuracy control at 1m scope, consequently can be effectively in indoor real-time absolute position location, guarantees that the robot obtains accurate three-dimensional positional information indoor to guarantee that the robot can confirm the floor of locating through earth magnetism data, thereby automatic switch navigation map, effectively carry out the navigation movement of many floors.
Since the initial geomagnetic map carries the floor information and marks the corresponding vertical path point (the key position of the floor), the path planning and movement between floors can be effectively completed.
The geomagnetic fingerprint coordinate system is not limited to floors, any height value in a building can be obtained, and the height value is automatically converted into a floor value within a certain range, so that the scheme can be applied more widely. The vertical lifting method is not limited to a general elevator and may be any apparatus in which a transport robot performs vertical motion.
According to another embodiment provided by the present invention, as shown in fig. 2, a path planning method includes:
and S01, analyzing the target floor where the preset target position is located according to the preset target position.
Specifically, when the preset target position is set, the coordinates of the target position may be manually input, or the target position may be selected on the geomagnetic fingerprint map.
S10, acquiring geomagnetic data of the current position of the robot, and converting the geomagnetic data into three-dimensional coordinate information;
s20, identifying whether the current floor where the robot is located is consistent with a target floor or not according to the three-dimensional coordinate information;
s31, when the current floor where the robot is located is not consistent with the target floor, determining the current floor key position of the current floor, and planning a same-floor planning path from the current position to the current floor key position of the robot on the current floor;
specifically, if the current floor is the second floor, the key position of the current floor is the position of the second floor elevator, and a second floor planning path from the current position of the robot to the position of the second floor elevator is planned firstly.
And S32, determining the target floor key position of the target floor, and planning a same-floor planning path from the target floor key position to the target position of the robot on the target floor.
Specifically, if the target floor is a third floor, the key position of the target floor is the position of a third floor elevator, and then a third floor planning path from the position of the third floor elevator to the target position of the robot is planned.
And S40, when the current floor where the robot is located is consistent with the target floor, planning a same-floor planning path from the current position to the target position of the robot on the current floor.
Optionally, the method further includes: when the robot reaches a target floor from a current floor, planning an up-and-down planning path from the current floor key position of the current floor to the target floor key position of the target floor by the robot;
specifically, the elevator taken by the robot from the second floor to the third floor is determined, and the elevator position of the second floor and the elevator position of the third floor are respectively obtained. When the elevator on which the robot is to be used is determined, the elevator may be an elevator which is set in advance and is exclusively used by the robot, or an elevator in an idle state may be selected and used by the robot. After selecting an elevator in an idle state for the robot to use, the elevator is in a locked state; the elevator cannot be unlocked until the robot is used from the second floor to the third floor.
Take the example where the robot is operating in a 5-level mall.
1. Firstly, geomagnetic fingerprint information on each floor plane is collected to generate corresponding geomagnetic fingerprint-plane coordinate corresponding relations, wherein the coordinates have floor information Z, Z is 1-5, and the coordinates correspond to one floor to five floors.
2. Marking coordinate points (Xd1, Yd1, Zd1) … … (Xdn, Ydn, Zdn) of vertical path points (e.g. elevator position) in a three-dimensional coordinate system
3. The robot starts to operate at a certain layer, and the geomagnetic data of the position where the robot is located is obtained through the geomagnetic sensor.
4. Converting the geomagnetic data into coordinates (Xr, Yr, Zr) where the robot is located by corresponding algorithm comparison, wherein the coordinates (Xr, Yr) represent coordinates from a Zr layer to a plane of the robot;
5. setting target point coordinates (Xo, Yo, Zo);
6. if Zr is judged to be Zo, the target point and the robot are on the same floor, and the same-floor path planning scheme is used;
7. if Zr is not equal to Zo, the target point and the robot are not on the same floor, and a multi-floor path planning scheme is used.
8. Firstly, determining a vertical path point (Xdn, Ydn, Zdn) which is at the same floor as the robot and is closest to the robot, and planning a motion path of the robot to the vertical path point by using a same-floor path planning scheme;
9. completing a vertical path through vertical path points (Xdn, Ydn, Zdn) to a vertical path point (Xdm, Ydm, Zdm) co-floor with the target point;
10. planning a motion path from the vertical path point (Xdm, Ydm, Zdm) to the target point (Xo, Yo, Zo) by using a same-floor path planning scheme;
11. and combining the routes from the 8 th step to the 10 th step to generate a multi-floor planning route.
According to still another embodiment provided by the present invention, as shown in fig. 3, a path planning method includes:
and S01, analyzing the target floor where the preset target position is located according to the preset target position.
S10, acquiring geomagnetic data of the current position of the robot, and converting the geomagnetic data into three-dimensional coordinate information;
s20, identifying whether the current floor where the robot is located is consistent with a target floor or not according to the three-dimensional coordinate information;
s31, when the current floor where the robot is located is not consistent with the target floor, determining the current floor key position of the current floor, and planning a same-floor planning path from the current position to the current floor key position of the robot on the current floor;
s32, determining a target floor key position of the target floor, and planning a same-floor planning path from the target floor key position to the target position of the robot on the target floor;
and S40, when the current floor where the robot is located is consistent with the target floor, planning a same-floor planning path from the current position to the target position of the robot on the current floor.
S50, acquiring geomagnetic data of the dynamic object in the current floor or the target floor, and converting the geomagnetic data of the dynamic object into position coordinate information;
and S51, adjusting the same-floor planning path of the robot on the current floor or the target floor according to the position coordinate information of the dynamic object.
Specifically, a geomagnetic sensor is carried on the dynamic object, and geomagnetic data of the position of the dynamic object is collected; the geomagnetic data is converted into position coordinate information. When the planning robot moves from the current position to the key position of the current floor on the current floor, A, B, C, D, E fixed paths from the current position to the key position of the current floor can be known according to the position coordinate information of the upper static object; and selecting an optimal passable path D with the shortest path from A, B, C, D, E five fixed paths as the same-floor planning path. And then, combining the position coordinate information of the dynamic object, the user can know that the dynamic object can select a path A with a relatively short path in the path D as a same-floor planning path.
When planning the same-floor planning path of the robot on each floor map, according to whether the floor where the target position is located is the same as the floor where the current position of the robot is located, planning the planning path from the current position to the target position in different modes respectively.
Besides static objects, dynamic objects exist on the map of each floor, and the geomagnetic data of the dynamic objects are collected and converted into position coordinate information of the dynamic objects; adjusting the planned path in time; the planned path is more reliable.
According to an embodiment of the present invention, as shown in fig. 4, a robot includes:
optionally, the floor analyzing module 20 is connected to the identifying module 30, and configured to analyze a target floor where the preset target position is located according to a preset target position.
A coordinate conversion module 10, configured to obtain geomagnetic data of a current position of the robot, and convert the geomagnetic data into three-dimensional coordinate information;
the identification module 30 is connected with the coordinate conversion module 10 and used for identifying whether the current floor where the robot is located is consistent with the target floor or not according to the three-dimensional coordinate information;
and the path planning module 40 is connected with the identification module 30 and used for planning a multi-floor planning path of the robot when the current floor where the robot is located is not consistent with the target floor.
The path planning module 40 is further configured to plan a co-floor planning path from the current position to the target position of the robot on the current floor when the current floor where the robot is located is consistent with the target floor.
In this embodiment, the following contents may be further included:
the path planning module 40 determines a current floor key position of the current floor, and plans a same-floor planning path from the current position to the current floor key position of the robot on the current floor;
and the path planning module 40 determines a target floor key position of the target floor and plans a same-floor planning path from the target floor key position to the target position of the robot on the target floor.
The coordinate conversion module 10 is further configured to acquire geomagnetic data of a dynamic object on a current floor or a target floor, and convert the geomagnetic data of the dynamic object into position coordinate information;
the path planning module 40 is further configured to adjust a path planned by the robot on the same floor of the current floor or the target floor according to the position coordinate information of the dynamic object.
In the embodiment, the earth magnetism belongs to the property of the earth, and as long as the robot carries the earth magnetism sensor, corresponding earth magnetism data can be obtained at any point, so that extra equipment and cost such as ultrasonic ranging and laser ranging sensors are not added; the internal procedures are also simplified correspondingly.
Through effectual algorithm, earth magnetism location can be with the accuracy control at 1m scope, consequently can be effectively in indoor real-time absolute position location, guarantees that the robot obtains accurate three-dimensional positional information indoor to guarantee that the robot can confirm the floor of locating through earth magnetism data, thereby automatic switch navigation map, effectively carry out the navigation movement of many floors.
Because the initial geomagnetic map carries the floor information and marks the corresponding vertical path point, the path planning and movement between floors can be effectively finished.
Additionally, multiple destination locations may be selected, each destination location being on a different floor; the same-floor planning path or a multi-floor planning path from the current position to the first target position can be planned; then planning a same-floor planning path or a multi-floor planning path from the first target position to the second target position; and so on; so that the path of the robot can be systematically planned. The planning of the same-floor planning path or the planning of the multi-floor planning path is realized by referring to the method, and the description is omitted here.
After the system plans the path of the robot, in order to ensure that the planned path is more reliable, the walking of the robot is not influenced; the geomagnetic technology is utilized to position the dynamic object in time, and the position coordinate information of the dynamic object is obtained; and adjusting the planned path in time.
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 (10)
1. A method of path planning, comprising:
acquiring geomagnetic data of the current position of the robot, and converting the geomagnetic data into three-dimensional coordinate information;
identifying whether the current floor where the robot is located is consistent with a target floor or not according to the three-dimensional coordinate information;
and when the current floor where the robot is located is not consistent with the target floor, planning a multi-floor planning path of the robot.
2. The path planning method according to claim 1, wherein the planning of the multi-floor path of the robot specifically comprises:
determining the current floor key position of the current floor, and planning a same-floor planning path from the current position to the current floor key position of the robot on the current floor;
and determining a target floor key position of the target floor, and planning a same-floor planning path from the target floor key position to the target position of the robot on the target floor.
3. A path planning method according to claim 1, wherein before identifying whether the current floor where the robot is located is consistent with the target floor according to the three-dimensional coordinate information, the method further comprises:
and analyzing the target floor where the preset target position is located according to the preset target position.
4. A path planning method according to any one of claims 1 to 3, further comprising:
and when the current floor where the robot is located is consistent with the target floor, planning a path planned by the robot on the same floor from the current position to the target position on the current floor.
5. A path planning method according to claim 4, further comprising, after the same floor planning path is planned:
acquiring geomagnetic data of a dynamic object in a current floor or a target floor, and converting the geomagnetic data of the dynamic object into position coordinate information;
and adjusting the same-floor planning path of the robot on the current floor or the target floor according to the position coordinate information of the dynamic object.
6. A robot, comprising:
the coordinate conversion module is used for acquiring geomagnetic data of the current position of the robot and converting the geomagnetic data into three-dimensional coordinate information;
the identification module is connected with the coordinate conversion module and used for identifying whether the current floor where the robot is located is consistent with a target floor or not according to the three-dimensional coordinate information;
and the path planning module is connected with the identification module and used for planning the multi-floor planning path of the robot when the current floor where the robot is located is not consistent with the target floor.
7. A robot as claimed in claim 6, characterized in that:
the path planning module is used for determining the current floor key position of the current floor and planning a same-floor planning path from the current position to the current floor key position of the robot on the current floor;
and the path planning module is used for determining the target floor key position of the target floor and planning the same-floor planning path from the target floor key position to the target position of the robot on the target floor.
8. A robot as claimed in claim 6, further comprising:
and the floor analysis module is connected with the identification module and used for analyzing the target floor where the preset target position is located according to the preset target position.
9. A robot as claimed in any one of claims 6 to 8, characterized in that:
the path planning module is further used for planning a path planned by the robot on the same floor from the current position to the target position on the current floor when the current floor where the robot is located is consistent with the target floor.
10. A robot as claimed in claim 9, characterized in that:
the coordinate conversion module is also used for acquiring geomagnetic data of the dynamic object in the current floor or the target floor and converting the geomagnetic data of the dynamic object into position coordinate information;
and the path planning module is further used for adjusting the robot to plan a path on the same floor of the current floor or the target floor according to the position coordinate information of the dynamic object.
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