CN111352424A - Robot obstacle avoidance method, nonvolatile computer readable storage medium and robot - Google Patents
Robot obstacle avoidance method, nonvolatile computer readable storage medium and robot Download PDFInfo
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Abstract
The invention relates to the technical field of robots, and discloses a robot obstacle avoidance method, a nonvolatile computer readable storage medium and a robot. The method comprises the following steps: acquiring the target distance between a target point on the planned path and the robot, and enabling the robot to travel to the target point according to the planned path; measuring an obstacle distance between an obstacle in a traveling direction and the robot; and controlling the robot to avoid the obstacle according to the target distance and the obstacle distance. Compared with the method for avoiding the obstacle by only adopting the obstacle distance in the traditional technology, the method for avoiding the obstacle by combining the target distance and the obstacle distance has higher obstacle avoiding reliability and is not easy to collide with the obstacle.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot obstacle avoidance method, a nonvolatile computer readable storage medium and a robot.
Background
With the development of the obstacle avoidance technology of the robot, when the robot executes operation, the robot can avoid obstacles in a working environment and avoid collision with the obstacles.
Generally, a robot is provided with an obstacle avoidance sensor, and the robot can measure an obstacle distance between the robot and an obstacle and implement obstacle avoidance according to the obstacle distance.
However, the conventional techniques have at least the following problems: due to the fact that the obstacle avoidance sensor has errors such as installation errors and progressive errors, the distance of the obstacle measured by the robot is not accurate enough, the robot cannot reliably avoid the obstacle according to the distance of the obstacle, and the robot is prone to colliding with the obstacle.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a robot obstacle avoidance method, a non-volatile computer-readable storage medium, and a robot, which can reliably control the robot to implement obstacle avoidance.
In a first aspect, an embodiment of the present invention provides an obstacle avoidance method for a robot, including:
acquiring a target distance between a target point on a planned path and a robot, wherein the robot travels to the target point according to the planned path;
measuring an obstacle distance between an obstacle in a traveling direction and the robot;
and controlling the robot to avoid the obstacle according to the target distance and the obstacle distance.
Optionally, the controlling the robot to avoid the obstacle according to the target distance and the obstacle distance includes:
judging whether the target distance and the barrier distance simultaneously meet an anti-collision condition, and/or judging whether the target distance is smaller than a first distance early warning threshold value;
and if so, controlling the robot to stop traveling according to the planned path.
Optionally, the controlling the robot to avoid an obstacle according to the target distance and the obstacle distance further includes:
and if the target distance and the barrier distance do not meet the anti-collision condition at the same time, and/or the target distance is not smaller than a first distance early warning threshold value, controlling the robot to continue to travel to the target point according to the planned path.
Optionally, the determining whether the target distance and the obstacle distance simultaneously satisfy an anti-collision condition includes:
and judging whether the target distance is smaller than a second distance early warning threshold value or not, and whether the barrier distance is smaller than a third distance early warning threshold value or not.
Optionally, the first distance warning threshold is smaller than the second distance warning threshold; the second distance forewarning threshold is greater than the third distance forewarning threshold.
Optionally, the method further comprises:
and according to the target distance and the obstacle distance, decreasing the traveling speed of the robot.
Optionally, the decreasing the travel speed of the robot according to the target distance and the obstacle distance includes:
traversing a minimum distance value from the target distance and the obstacle distance;
and according to the minimum distance value, the travel speed of the robot is decreased.
Optionally, said decrementing the travel speed of the robot in accordance with the minimum distance value comprises:
multiplying the minimum distance value by a first adjustable coefficient to obtain a multiplication result;
performing evolution processing on the multiplication result to obtain an evolution result;
and adding a second adjustable coefficient by using the evolution result to obtain the advancing speed.
Optionally, said decrementing the travel speed of the robot in accordance with the minimum distance value comprises:
multiplying the minimum distance value by a first adjustable coefficient to obtain a multiplication result;
and adding a second adjustable coefficient by using the multiplication result to obtain the travelling speed.
In a second aspect, an embodiment of the present invention provides an obstacle avoidance device for a robot, including:
the distance acquisition module is used for acquiring the target distance between a target point on a planned path and a robot, and the robot travels to the target point according to the planned path;
a distance measuring module for measuring an obstacle distance between an obstacle in a traveling direction and the robot;
and the obstacle avoidance module is used for controlling the robot to avoid the obstacle according to the target distance and the obstacle distance.
In some embodiments, the obstacle avoidance module is specifically configured to: judging whether the target distance and the barrier distance simultaneously meet an anti-collision condition, and/or judging whether the target distance is smaller than a first distance early warning threshold value; and if so, controlling the robot to stop traveling according to the planned path.
In some embodiments, the obstacle avoidance module is further specifically configured to: and if the target distance and the barrier distance do not meet the anti-collision condition at the same time, and/or the target distance is not smaller than a first distance early warning threshold value, controlling the robot to continue to travel to the target point according to the planned path.
In some embodiments, the obstacle avoidance module is further specifically configured to: and judging whether the target distance is smaller than a second distance early warning threshold value or not, and whether the barrier distance is smaller than a third distance early warning threshold value or not.
In some embodiments, the first distance forewarning threshold is less than the second distance forewarning threshold; the second distance forewarning threshold is greater than the third distance forewarning threshold.
In some embodiments, the robot obstacle avoidance device further includes a deceleration module, and the deceleration module is configured to decrease the traveling speed of the robot according to the target distance and the obstacle distance.
In some embodiments, the deceleration module is specifically configured to traverse a minimum distance value from both the target distance and the obstacle distance; and according to the minimum distance value, the travel speed of the robot is decreased.
In some embodiments, the deceleration module is specifically configured to: multiplying the minimum distance value by a first adjustable coefficient to obtain a multiplication result;
performing evolution processing on the multiplication result to obtain an evolution result;
and adding a second adjustable coefficient by using the evolution result to obtain the advancing speed.
In some embodiments, the deceleration module is specifically configured to: multiplying the minimum distance value by a first adjustable coefficient to obtain a multiplication result;
and adding a second adjustable coefficient by using the multiplication result to obtain the travelling speed.
In a third aspect, the embodiment of the present invention provides a non-transitory computer-readable storage medium, where computer-executable instructions are stored, and are used to enable a robot to execute any one of the robot obstacle avoidance methods.
In a fourth aspect, an embodiment of the present invention provides a robot, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the robot obstacle avoidance methods.
In a fifth aspect, an embodiment of the present invention provides a computer program product, where the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions, when the program instructions are executed by a robot, the robot is caused to execute any one of the robot obstacle avoidance methods.
Compared with the prior art, in the robot obstacle avoidance method provided by each embodiment of the invention, firstly, the target distance between the target point on the planned path and the robot is obtained, and the robot travels to the target point according to the planned path. Next, the obstacle distance between the obstacle in the traveling direction and the robot is measured. And thirdly, controlling the robot to avoid the obstacle according to the target distance and the obstacle distance. Therefore, compared with the method for avoiding the obstacle by only adopting the obstacle distance in the traditional technology, the method for avoiding the obstacle by combining the target distance and the obstacle distance has higher obstacle avoiding reliability and cannot collide with the obstacle.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic circuit structure diagram of a robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a communication architecture between a robot and an external terminal according to an embodiment of the present invention;
fig. 3a is a schematic flow chart of a robot obstacle avoidance method according to an embodiment of the present invention;
FIG. 3b is a schematic diagram of a robot moving linearly in space according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating the traversing effect of the robot performing linear motion by using the method according to the embodiment of the present invention;
fig. 5a is a schematic structural diagram of an obstacle avoidance device for a robot according to an embodiment of the present invention;
fig. 5b is a schematic structural diagram of a robot obstacle avoidance device according to another embodiment of the present invention;
fig. 6 is a schematic circuit structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
The robot of embodiments of the present invention may be configured in any suitable shape to perform a particular business function operation, for example, the robot of embodiments of the present invention may be a cleaning robot, a pet robot, a handling robot, a nursing robot, and the like. The cleaning robot includes, but is not limited to, a sweeping robot, a dust collecting robot, a mopping robot, or a floor washing robot.
Referring to fig. 1, a robot 100 includes: a control unit 11, a sensing unit 12, a wireless communication unit 13, a cleaning unit 14, and a driving unit 15.
The control unit 11 serves as a control core of the robot 100, and may use various path planning algorithms to control the robot to perform traversal work, for example, the control unit 11 uses a full coverage path planning algorithm to instruct the robot to completely traverse an environmental space. The full coverage path planning algorithm refers to an algorithm for planning a path after the robot acquires environmental information and builds a map so as to traverse an environmental space.
The control unit 11 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, an arm (acorn RISC machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the control unit 11 may be any conventional processor, controller, microcontroller, or state machine. The control unit 11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP, and/or any other such configuration.
The sensing unit 12 is used for collecting some motion parameters of the robot 100 and various types of data of an environmental space, and the sensing unit 12 includes various types of suitable sensors, such as an Inertial Measurement Unit (IMU), a gyroscope, a magnetic field meter, an accelerometer or a speedometer, an optical camera, a laser radar or a sonic radar, and the like.
In some embodiments, the control unit 11 employs SLAM (simultaneous localization and mapping) technology to construct maps and locations from environmental data. The control unit 11 instructs the robot to completely traverse an environmental space by means of a full coverage path planning algorithm based on the established map and the position of the robot. For example, during the traversal of the robot 100, the sensing unit 12 acquires an image of a traversal region, wherein the image of the traversal region may be an image of the entire traversal region or an image of a local traversal region in the entire traversal region. The control unit 11 generates a map, which has indicated the area that the robot 100 needs to traverse and the coordinate positions where the obstacles located in the traversed area are located, from the image of the traversed area. After each location or area traversed by the robot 100, the robot 100 marks that the location or area has been traversed based on the map. In addition, as the obstacle is marked in a coordinate mode in the map, when the robot passes, the distance between the robot and the obstacle can be judged according to the coordinate point corresponding to the current position and the coordinate point related to the obstacle, and therefore the robot can pass around the obstacle. Similarly, after the position or the area is marked by traversal, when the next position of the robot 100 moves to the position or the area, the robot 100 makes a turn around or stop traversal strategy based on the map and the mark of the position or the area.
It will be appreciated that the control unit 11 may also identify traversed locations or areas, or identify obstacles, in a number of ways to make a control strategy that meets product requirements.
Referring to fig. 2, in some embodiments, the robot 100 wirelessly communicates with an external terminal 200 through a wireless communication unit 13, and the wireless communication unit 13 is electrically connected with the control unit 11. During the traversal, the user sends a control instruction to the robot 100 through the external terminal 200, the wireless communication unit 13 receives the control instruction and sends the control instruction to the control unit 11, and the control unit 11 controls the robot 100 to complete the traversal work according to the control instruction.
In some embodiments, the external terminal 200 includes a smartphone, a remote controller, a tablet computer, or the like terminal.
In some embodiments, the wireless communication unit 13 includes a combination of one or more of a broadcast receiving module, a mobile communication module, a wireless internet module, a short-range communication module, and a location information module. Wherein the broadcast receiving module receives a broadcast signal and/or broadcast associated information from an external broadcast management server via a broadcast channel. The broadcast receiving module may receive a digital broadcast signal using a digital broadcasting system such as terrestrial digital multimedia broadcasting (DMB-T), satellite digital multimedia broadcasting (DMB-S), media forward link only (MediaFLO), digital video broadcasting-handheld (DVB-H), or terrestrial integrated services digital broadcasting (ISDB-T).
The mobile communication module transmits or may receive a wireless signal to or from at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include a voice call signal, a video call signal, or various forms of data according to the reception and transmission of the character/multimedia message.
The wireless internet module refers to a module for wireless internet connection, and may be built in or out of the terminal. Wireless internet technologies such as wireless lan (wlan) (Wi-Fi), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), High Speed Downlink Packet Access (HSDPA) may be used.
The short-range communication module refers to a module for performing short-range communication. Short range communication technologies such as Bluetooth (Bluetooth), Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), or ZigBee may be used.
The cleaning unit 14 is used for cleaning the floor, and the cleaning unit 14 may be configured in any cleaning structure, for example, in some embodiments, the cleaning unit 14 includes a cleaning motor and a roller brush, the surface of the roller brush is provided with a cleaning portion, the roller brush is connected with the cleaning motor through a driving mechanism, the cleaning motor is connected with a control unit, and the control unit may send an instruction to the cleaning motor to control the cleaning motor to drive the roller brush to rotate, so that the cleaning portion thereof can effectively clean the floor.
The driving unit 15 is used for driving the robot 100 to move forward or backward, when cleaning, the control unit 11 sends a control instruction to the driving unit 15, and the driving unit 15 drives the cleaning unit 16 to complete the cleaning work according to the control instruction.
In some embodiments, the drive unit 15 is divided into a left drive unit and a right drive unit. Taking a left driving unit as an example, the left driving unit comprises a motor, a wheel driving mechanism and a left wheel, wherein a rotating shaft of the motor is connected with the wheel driving mechanism, the left wheel is connected with the wheel driving mechanism, the motor is connected with a control unit, the motor receives a control instruction sent by the control unit to rotate the rotating shaft of the motor, and torque is transmitted to the left wheel through the wheel driving mechanism to realize the rotation of the left wheel; and at the same time, a right driving unit is combined, thereby driving the robot 100 to travel or retreat.
In some embodiments, after the robot 100 has constructed the map, the robot plans a planned path according to the map and performs cleaning work according to the planned path. During the cleaning operation, the robot performs obstacle avoidance according to the obstacle avoidance method explained below.
The embodiment of the invention provides an obstacle avoidance method for a robot. Referring to fig. 3a, the robot obstacle avoidance method S300 includes:
s31, acquiring the target distance between a target point on the planned path and the robot, and enabling the robot to travel to the target point according to the planned path;
in this embodiment, when the planned path is a path planned by the robot to construct a map of a space, the planned path includes suitable paths such as a straight path and the like according to a path planning algorithm, and the robot travels according to the planned path to complete corresponding work.
The target point is located on the planned path and is also in front of the traveling direction of the robot, and the robot can travel to the target point on the planned path, wherein on each planned path, the number of the target points can be 1, or more than two, and the target points can also be updated at any time.
Referring to fig. 3b, the robot 31 moves linearly on the linear path 32 in the space 300, and the target point 33 is disposed at the end point of the linear path 32, wherein the target point 33 is spaced from the wall 34 of the space 300 by a predetermined distance, for example, the target point 33 is spaced from the wall 34 by 10 cm.
As the target distance is the distance between the robot and the target point, please continue to refer to fig. 3b, as the time that the robot 31 travels on the straight path 32 passes, the target distance between the robot 31 and the target point 33 becomes smaller, i.e. the robot 31 gets closer to the target point 33, and similarly, the robot 31 gets closer to the wall 34 as the obstacle.
In this embodiment, since the target point is given by the robot when planning the path, and the coordinate value of the target point in the global coordinate system of the map is known, the robot can obtain the coordinate value of the target point through the positioning and mapping unit. And the robot travels on the planned path or deviates the planned path, and the robot can obtain the coordinate values in the global coordinate system through the positioning and mapping unit. Therefore, assume that the real-time coordinate value of the robot is P (x, y), and the coordinate value of the target point is Pend(xend,yend) The target distance | PP can be obtained by a distance calculation formula between two pointsendIs { (x-x)end)2+(y-yend)2The square of.
S32, measuring the obstacle distance between the obstacle in the traveling direction and the robot;
in the embodiment, the obstacle can block the robot from traveling and damage the robot, so that the robot provided by the embodiment can avoid easily colliding with the obstacle.
In this embodiment, the wall 34 may act as an obstacle. It will be appreciated that within the space 300, the type of object that is an obstacle may also be a chair 35, a flowerpot 36 or a trash can 37.
In this embodiment, the obstacle distance is a distance between the obstacle and the robot, and the robot measures the distance between the obstacle and the robot through the environment data sampling unit, so as to obtain the obstacle distance.
And S33, controlling the robot to avoid the obstacle according to the target distance and the obstacle distance.
In some embodiments, first, the robot determines whether the target distance and the obstacle distance satisfy the collision avoidance condition at the same time, e.g., determines whether the robot satisfies the collision avoidance condition △ d<D2And △ dlds<D3Wherein △ D is the target distance, D2Is a second distance threshold, △ dldsIs the distance of the obstacle, D3Is a third distance threshold, wherein the second distance pre-warning threshold D2Greater than a third distance warning threshold D3E.g. selecting a second distance warning threshold D20.1m, third distance warning threshold D3Is 0.01 m.
It is understood that when △ D is less than D2When △ d indicates that the robot has reached the peripheral position of the target pointldsIs less than D3In this case, it indicates that an obstacle exists in the vicinity of the robot in the traveling direction.
Secondly, if the target distance and the obstacle distance simultaneously meet the anti-collision condition, the robot is controlled to stop traveling according to the planned path, for example, the robot judges that the target distance △ D is smaller than a second distance early warning threshold D2And an obstacle distance △ dldsIs less than the third distance early warning threshold D3Therefore, it is indicated that the robot has reached the peripheral position of the target point and is about to approach the obstacle, and at this time, the robot stops traveling along the planned path.
If the target distance and the obstacle distance do not satisfy the anti-collision condition at the same time, for example, the robot determines that the target distance △ D is greater than the second distance warning threshold D2And/or, obstacle distance △ dldsGreater than a third distance warning threshold D3Then, the robot pitch is describedAnd the robot is further far away from the target point, or the robot is further far away from the obstacle, so that the robot travels according to a preset control rule.
In some embodiments, even if the obstacle distance between the robot and the obstacle is relatively large, the robot needs to stop traveling when the robot reaches the target point1If the target distance △ D is less than the first distance warning threshold D1And controlling the robot to stop traveling according to the planned path. If the target distance is greater than or equal to the first distance early warning threshold D1And controlling the robot to continue to travel to the target point according to the planned path. Wherein the first distance early warning threshold value D1By user-definition, e.g. selection of D1Is 0.01 m.
Therefore, it can be understood whether the robot satisfies at least one of the following conditions:
condition 1: judging whether the target distance and the barrier distance simultaneously meet the anti-collision condition; condition 2: judging whether the target distance is smaller than a first distance early warning threshold value or not;
and if so, controlling the robot to stop traveling according to the planned path.
In this embodiment, the obstacle avoidance manner may be various, for example, the robot stops moving before the obstacle, or the robot adopts an obstacle avoidance strategy to avoid the obstacle, or the robot moves the obstacle using an obstacle avoidance tool. Therefore, for those skilled in the art, the obstacle avoidance manner of the robot can broadly include any suitable obstacle avoidance measures.
In general, in this embodiment, compared with the conventional method for avoiding obstacles only by using the obstacle distance, the method for avoiding obstacles by using the target distance and the obstacle distance has higher obstacle avoidance reliability and is not easy to collide with the obstacles, and an effect diagram of traveling by using the method is shown in fig. 4.
Generally, as the robot travels along the planned path, the target distance to the target point and the obstacle distance to the obstacle gradually decrease, that is, if the speed of the robot is not controlled to be reduced, the probability that the robot will go past the target point or collide with the obstacle without having to brake gradually increases. For this reason, in some embodiments, the robot may further decrease the traveling speed of the robot according to the target distance and the obstacle distance, so as to reduce the occurrence probability of the above phenomenon.
For example, first, the robot traverses a minimum distance value from both the target distance and the obstacle distance, e.g., according to the rule △ ds-min (△ d )lds) From which a minimum distance value of △ ds is traversed, e.g., when △ d is greater than △ dldsWhen it is, △ d is selectedldsThe minimum distance value of △ ds. is when △ d is less than △ dldsWhen △ d is selected as the minimum distance value △ ds. when △ d equals △ dldsWhen it is selected △ d or △ dldsAs the minimum distance value △ ds.
And thirdly, the robot decrements the traveling speed of the robot according to the minimum distance value. Since the abnormal phenomenon is more likely to occur as the distance is smaller, the method calculates the travel speed as the dependent variable by traversing the minimum distance value from both the target distance and the obstacle distance as the independent variable, thereby reliably controlling the travel speed of the robot.
In some embodiments, the robot may employ any suitable algorithm to decrease the travel speed of the robot according to the minimum distance value, for example, the robot multiplies the minimum distance by a first adjustable coefficient to obtain a multiplication result, performs an evolution process on the multiplication result to obtain an evolution result, and adds a second adjustable coefficient by the evolution result to obtain the travel speed, as follows:
where V is the travel speed, a is the first adjustable coefficient multiplied by b is the second adjustable coefficient, and a and b can be flexibly selected, for example, a is 0.1 and b is-0.02.
For another example, the robot may further multiply the minimum distance by the first adjustable coefficient to obtain a multiplication result, and add the second adjustable coefficient by the multiplication result to obtain a traveling speed, as shown below:
V＝a*△ds+b
where V is the travel speed, a is the first adjustable coefficient, b is the second adjustable coefficient, and a and b can be flexibly selected, for example, a is 0.1 and b is-0.02.
In some embodiments, the travel speed V must also satisfy the following condition:
0<Vmin<＝V<＝Vmax
vmin is the minimum travel speed, and may be selected to be 0.05 m/s.
Vmax is the maximum travel speed, and Vmax can be selected to be 0.3 m/s.
Therefore, the travel speed is tracked by using the target distance and the obstacle distance, and the travel speed is reduced, so that the robot can be further reliably and stably prevented from colliding with the obstacle, and can reliably reach the target point.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present invention that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiments of the present invention, an embodiment of the present invention provides an obstacle avoidance device for a robot. The robot obstacle avoidance device may be a software module, the software module includes a plurality of instructions, the instructions are stored in a memory in the electric tilt, and the processor may access the memory and call the instructions to execute the instructions, so as to complete the robot obstacle avoidance method described in each of the above embodiments.
In some embodiments, the robot obstacle avoidance device may also be built by hardware devices, for example, the robot obstacle avoidance device may be built by one or more than two chips, and each chip may work in coordination with each other to complete the robot obstacle avoidance method described in each embodiment. For another example, the obstacle avoidance apparatus may be constructed by various logic devices, such as a general processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, an arm (acorn RISC machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.
Referring to fig. 5a, the robot obstacle avoidance device 500 includes a distance obtaining module 51, a distance measuring module 52, and an obstacle avoidance module 53.
The distance obtaining module 51 is configured to obtain a target distance between a target point on the planned path and the robot, and the robot travels to the target point according to the planned path.
The distance measuring module 52 is used to measure the obstacle distance between the obstacle in the traveling direction and the robot.
And the obstacle avoidance module 53 is used for controlling the robot to avoid the obstacle according to the target distance and the obstacle distance.
Compared with the device for avoiding the barrier by only adopting the barrier distance in the traditional technology, the device is combined with the target distance and the barrier distance to avoid the barrier, the barrier avoiding reliability is higher, and the collision with the barrier is not easy to occur.
In some embodiments, the obstacle avoidance module 53 is specifically configured to: judging whether the target distance and the barrier distance simultaneously meet an anti-collision condition, and/or judging whether the target distance is smaller than a first distance early warning threshold value; and if so, controlling the robot to stop traveling according to the planned path.
In some embodiments, the obstacle avoidance module 53 is further specifically configured to: if the target distance and the barrier distance do not meet the anti-collision condition at the same time, judging whether the target distance is smaller than a first distance early warning threshold value; if so, controlling the robot to stop traveling according to the planned path; if not, the robot is controlled to continue to travel to the target point according to the planned path.
In some embodiments, the obstacle avoidance module 53 is further specifically configured to:
judging whether the robot meets the following anti-collision conditions:
△d<D2and △ dlds<D3；
Wherein △ D is the target distance, D2Is a second distance threshold, △ dldsIs the distance of the obstacle, D3Is a third distance threshold.
In some embodiments, D1<D2，D2>D3，D1Is a first distance threshold.
In some embodiments, referring to fig. 5b, the obstacle avoidance device 500 further includes a deceleration module 54, and the deceleration module 54 is configured to decrease the traveling speed of the robot according to the target distance and the obstacle distance.
In some embodiments, deceleration module 54 is specifically configured to traverse a minimum distance value from both the target distance and the obstacle distance; and according to the minimum distance value, the travel speed of the robot is decreased.
In some embodiments, the deceleration module 54 is specifically configured to multiply the minimum distance by the first adjustable coefficient to obtain a multiplication result; performing evolution processing on the multiplication result to obtain an evolution result; and adding the second adjustable coefficient by using the square root result to obtain the advancing speed.
In some embodiments, the deceleration module 54 is specifically configured to multiply the minimum distance by the first adjustable coefficient to obtain a multiplication result; and adding the second adjustable coefficient by using the multiplication result to obtain the traveling speed.
The robot obstacle avoidance device can execute the robot obstacle avoidance method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the robot obstacle avoidance device, reference may be made to the robot obstacle avoidance method provided in the embodiment of the present invention.
Fig. 6 is a schematic circuit structure diagram of an electronic device according to an embodiment of the present invention. The electronic device may be any suitable electronic product such as a robot. As shown in fig. 6, the electronic device includes one or more processors 61 and a memory 62. In fig. 6, one processor 61 is taken as an example.
The processor 61 and the memory 62 may be connected by a bus or other means, such as the bus connection in fig. 6.
The memory 62 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the robot obstacle avoidance method in the embodiment of the present invention. The processor 61 executes various functional applications and data processing of the robot obstacle avoidance device by running the nonvolatile software program, instructions and modules stored in the memory 62, that is, the functions of the robot obstacle avoidance method provided by the above method embodiment and the modules or units of the above device embodiment are realized.
The memory 62 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 62 may optionally include memory located remotely from the processor 61, and these remote memories may be connected to the processor 61 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 62 and when executed by the one or more processors 61 perform the robot obstacle avoidance method of any of the above-described method embodiments.
Embodiments of the present invention further provide a non-volatile computer storage medium, where the computer storage medium stores computer-executable instructions, which are executed by one or more processors, for example, one processor 61 in fig. 6, and may enable the one or more processors to execute the robot obstacle avoidance method in any method embodiment described above.
An embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by an electronic device, the electronic device is caused to execute any one of the robot obstacle avoidance methods.
Compared with the method for avoiding the obstacle by only adopting the obstacle distance in the traditional technology, the method for avoiding the obstacle by combining the target distance and the obstacle distance has higher obstacle avoiding reliability and is not easy to collide with the obstacle.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. A robot obstacle avoidance method is characterized by comprising the following steps:
acquiring a target distance between a target point on a planned path and a robot, wherein the robot travels to the target point according to the planned path;
measuring an obstacle distance between an obstacle in a traveling direction and the robot;
and controlling the robot to avoid the obstacle according to the target distance and the obstacle distance.
2. The method of claim 1, wherein controlling the robot to implement obstacle avoidance according to the target distance and the obstacle distance comprises:
judging whether the target distance and the barrier distance simultaneously meet an anti-collision condition, and/or judging whether the target distance is smaller than a first distance early warning threshold value;
and if so, controlling the robot to stop traveling according to the planned path.
3. The method of claim 2, wherein controlling the robot to implement obstacle avoidance based on the target distance and the obstacle distance further comprises:
and if the target distance and the barrier distance do not meet the anti-collision condition at the same time, and/or the target distance is not smaller than a first distance early warning threshold value, controlling the robot to continue to travel to the target point according to the planned path.
4. The method of claim 2, wherein the determining whether the target distance and the obstacle distance simultaneously satisfy a collision avoidance condition comprises:
and judging whether the target distance is smaller than a second distance early warning threshold value or not, and whether the barrier distance is smaller than a third distance early warning threshold value or not.
5. The method of claim 4,
the first distance early warning threshold value is smaller than the second distance early warning threshold value;
the second distance forewarning threshold is greater than the third distance forewarning threshold.
6. The method of any of claims 1 to 5, further comprising:
and according to the target distance and the obstacle distance, decreasing the traveling speed of the robot.
7. The method of claim 6, wherein said decrementing the travel speed of the robot as a function of the target distance and the obstacle distance comprises:
traversing a minimum distance value from the target distance and the obstacle distance;
and according to the minimum distance value, the travel speed of the robot is decreased.
8. The method of claim 7, wherein said decrementing the travel speed of the robot based on the minimum distance value comprises:
multiplying the minimum distance value by a first adjustable coefficient to obtain a multiplication result;
performing evolution processing on the multiplication result to obtain an evolution result;
and adding a second adjustable coefficient by using the evolution result to obtain the advancing speed.
9. The method of claim 7, wherein said decrementing the travel speed of the robot based on the minimum distance value comprises:
multiplying the minimum distance value by a first adjustable coefficient to obtain a multiplication result;
and adding a second adjustable coefficient by using the multiplication result to obtain the travelling speed.
10. A non-transitory computer-readable storage medium storing computer-executable instructions for causing a robot to perform the robot obstacle avoidance method of any one of claims 1 to 9.
11. A robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robotic obstacle avoidance method of any of claims 1 to 9.
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