CN111650933A - Control robot escaping method, device, terminal and readable storage medium - Google Patents
Control robot escaping method, device, terminal and readable storage medium Download PDFInfo
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Abstract
The invention discloses a method for controlling a robot to get rid of a trouble, which is used for the robot to enter a getting rid of the trouble state after the front of the robot is blocked, and comprises the following steps: controlling the robot to enter a reversing state; receiving real-time distance information of the robot from obstacles in front, back, left and right directions; controlling the robot to enter a rotating state; judging whether the real-time distance information of the left direction and the right direction of the robot is simultaneously larger than or smaller than a preset rotation threshold value, if not, controlling the robot to back and rotate towards the direction larger than the preset rotation threshold value; judging whether the real-time distance information right ahead is larger than a preset advancing threshold value or not, and if so, controlling the robot to be switched to an advancing state; and acquiring the escaping information of the robot and controlling the robot to exit the escaping state. The invention improves the autonomous movement capability of the robot and increases the working efficiency of the robot.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to a method, a device, a terminal and a readable storage medium for controlling a robot to get rid of difficulties.
[ background of the invention ]
With the rapid development of technology and applications in the field of service robots, robots performing tasks are readily visible in people's daily lives, such as: an autonomous delivery robot in an office building, a hospital disinfecting robot, an airport inquiry robot, and the like. In these complex scenarios, the stopping behavior of the robot is often triggered to ensure safety until the danger is relieved. Such as: the robot has the advantages that the robot is suddenly clung to the outer contour of the robot, the robot slips or overshoots in movement to clamp the robot at a corner and the like, manual intervention is often needed for moving the robot out of a trapped area under the conditions, the autonomous movement capability of the robot is greatly reduced, and therefore the robot can autonomously escape after being trapped in a forbidden area, and the problem that needs to be solved urgently is solved.
In view of the above, it is desirable to provide a method, an apparatus, a terminal and a readable storage medium for controlling a robot to get rid of difficulties, so as to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a method, a device, a terminal and a readable storage medium for controlling a robot to escape, aiming at solving the problem that the robot cannot escape automatically after falling into a forbidden area and improving the autonomous movement capability of the robot.
In order to achieve the above object, a first aspect of the present invention provides a method for controlling a robot to escape from a trouble, the method being used for the robot to enter into an escape state after being blocked in front of the robot, the method comprising the steps of:
controlling the robot to enter a reversing state;
receiving real-time distance information of the robot from obstacles in front, back, left and right directions;
controlling the robot to enter a rotating state;
judging whether the real-time distance information in the left and right directions of the robot is simultaneously larger than or smaller than a preset rotation threshold value, and if so, controlling the robot to back up linearly; if the result is negative, controlling the robot to back and rotate towards the direction larger than a preset rotation threshold value;
judging whether the real-time distance information right ahead is larger than a preset advancing threshold value or not, and if so, controlling the robot to be switched to an advancing state; if the result is negative, controlling the robot to maintain the reversing state;
and acquiring the escaping information of the robot and controlling the robot to exit the escaping state.
In a preferred embodiment, said step of controlling said robot into a rotating state comprises the steps of: judging whether the real-time distance information in each direction is larger than the self rotation radius of the robot or not, and if so, controlling the robot to enter a rotation state; and if the result is negative, controlling the robot to back up linearly.
In a preferred embodiment, the method further comprises the following steps: judging whether the real-time distance information behind the robot is larger than a preset reversing threshold value or not, and if so, controlling the robot to continue reversing; and if so, controlling the robot to wait.
In a preferred embodiment, the method further comprises the following steps: judging whether the waiting time of the robot exceeds a preset time threshold, and if not, controlling the robot to continue waiting; and if not, controlling the robot to exit the stranded state.
The second aspect of the present invention provides a control robot escaping device, comprising:
the backing control module is used for controlling the robot to enter a backing state;
the distance processing module is used for receiving real-time distance information of the robot from obstacles in four directions, namely front, back, left and right;
the rotation control module is used for controlling the robot to enter a rotation state;
the rotation judging module is used for judging whether the real-time distance information in the left and right directions of the robot is simultaneously larger than or smaller than a preset rotation threshold value or not, and if so, controlling the robot to linearly back; if the result is negative, controlling the robot to back and rotate towards the direction larger than a preset rotation threshold value;
the forward judging module is used for judging whether the real-time distance information in front is larger than a preset forward threshold value or not, and if so, controlling the robot to be switched to a forward state; if the result is negative, controlling the robot to maintain the reversing state;
and the escaping confirmation module is used for acquiring escaping information of the robot and controlling the robot to exit an escaping state.
In a preferred embodiment, the rotation control module further comprises: the distance judging unit is used for judging whether the real-time distance information in each direction is larger than the self rotation radius of the robot or not, and if so, controlling the robot to enter a rotation state; and if the result is negative, controlling the robot to back up linearly.
In a preferred embodiment, the method further comprises: the backing judgment module is used for judging whether the real-time distance information behind the robot is larger than a preset backing threshold value or not, and if so, controlling the robot to continue backing; and if not, controlling the robot to wait.
In a preferred embodiment, the method further comprises: the time length judging module is used for judging whether the waiting time length of the robot exceeds a preset time length threshold value or not, and if the waiting time length of the robot does not exceed the preset time length threshold value, controlling the robot to continue waiting; and if so, controlling the robot to exit the stranded state.
A third aspect of the present invention is to provide a terminal, which includes a memory, a processor, and a control robot escaping program stored in the memory and executable on the processor, wherein the control robot escaping program, when executed by the processor, implements the steps of the control robot escaping method according to any one of claims 1 to 4.
A third aspect of the present invention is to provide a readable storage medium storing a control robot escaping program, which when executed by a processor implements the steps of the control robot escaping method according to any one of claims 1 to 4.
The robot enters a reversing state and a rotating state, the robot is controlled to reverse in the direction far away from the obstacle by judging whether the robot has the obstacle left and right, when the real-time distance information in front of the robot is larger than a forward threshold value, the robot is controlled to move forward, and if the robot meets the obstacle again, the previous steps are repeated until the robot gets out of the way, so that the autonomous movement capability of the robot is improved, and the working efficiency of the robot is increased.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a method for controlling a robot to escape from a poverty according to the present invention;
FIG. 2 is a schematic flow chart illustrating another embodiment of the method for controlling the robot to escape from the trouble shown in FIG. 1;
FIG. 3 is a schematic flow chart illustrating another embodiment of the method for controlling the robot to escape from the trouble shown in FIG. 1;
fig. 4 is a system architecture diagram for controlling a robot escaping device according to the present invention;
fig. 5 is a system architecture diagram of another embodiment of the control robot escaping device shown in fig. 4.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1-3, the present invention provides a method for controlling a robot to escape from a trouble, which is used to control the robot to enter an escape state after being blocked in front of the robot, and periodically send a control command to the robot in the escape state by a control robot escape device until the robot finishes escaping from the trouble. The robot has autonomous movement capability, distance measuring sensors are mounted in the front, back, left and right directions, and each distance measuring sensor can measure the distance from an obstacle in front of the direction to the robot, and the distance measuring sensors include but are not limited to 2D laser radars, ultrasonic sensors and the like.
As shown in fig. 1, the method includes the following steps S101, S102, S103, S104, S105, and S106.
In step S101, the robot is controlled to enter a reverse state.
Here, the reverse state means that the robot can travel in reverse, and at this time, the robot is prevented from traveling forward, and there is a possibility of getting out of the way only when traveling in reverse, and thus, the robot is controlled to travel in reverse to be away from an obstacle located in front of the robot.
In step S102, real-time distance information of the robot from obstacles in four directions, front, rear, left, and right, is received.
In this step, the ranging sensor of the robot measures the real-time distance information between the obstacles in front of the robot and the robot in each direction at intervals of a short time, and sends the information to the control robot escaping device. The real-time distance information comprises distance information of the robot in four directions, namely front, back, left and right directions, and it can be understood that in other embodiments, the distance information of the robot exceeding a plurality of angle directions can be measured through a plurality of distance measuring sensors installed on the robot, so that the real-time distance information sent by the robot is more accurate. The front, rear, left, and right directions of the robot are based on the direction in which the robot normally travels.
In step S103, the robot is controlled to enter a rotation state.
The rotation state refers to that the robot can rotate on site or can rotate simultaneously in the process of reverse driving, and the robot rotates by itself while backing up linearly, so that the effect of curve reversing is achieved.
Further, as shown in fig. 2, in an embodiment, the method further includes step S1031: judging whether the real-time distance information in each direction is larger than the self rotation radius of the robot or not, and if so, controlling the robot to enter a rotation state; and if the result is negative, controlling the robot to back up linearly.
In this step, the self-rotation radius of the robot, which means the radius of the maximum circular track formed by the robot rotating one circle around the rotation axis and passing through the outer side of the robot, is measured in advance to obtain the rotation radius information of the robot. When the real-time distance information in one direction is smaller than the self rotation radius of the robot in the four directions, the fact that the robot can block an obstacle when rotating means that the robot is controlled not to enter a rotation state, and only the linear reversing is maintained until the real-time distance information in each direction of the robot is larger than the self rotation radius.
In step S104, it is determined whether the real-time distance information of the robot in the left-right direction is simultaneously greater than or less than a preset rotation threshold, and if so, the robot is controlled to back up linearly; and if the result is negative, controlling the robot to reverse and rotate towards the direction larger than the preset rotation threshold value.
For example, if the real-time distance information on the left side of the robot is greater than the preset rotation threshold value but the real-time distance information on the right side of the robot is greater than the preset rotation threshold value, the robot is controlled to keep a reversing state and rotate to the left side, that is, the robot reverses to the left and back; if the judgment result shows that the real-time distance information on the left side of the robot is smaller than the preset rotation threshold value and the real-time distance information on the right side of the robot is larger than the preset rotation threshold value, controlling the robot to keep a reversing state and rotate rightwards, namely, reversing the robot to the right and back; if the judgment result shows that the left side and the right side of the robot are both larger than or both smaller than a preset rotation threshold value, controlling the robot to keep a reversing state, and performing linear reversing on the robot; therefore, the robot is enabled to continuously move towards the direction far away from the obstacle by continuously judging the real-time distance information of the left side and the right side of the robot, and the possibility of getting rid of the trouble is increased.
It should be noted that, when the robot is in the process of backing up in a straight line, if it is continuously determined whether the real-time distance information in the left and right directions of the robot is greater than or less than the preset rotation threshold value at the same time, the same operation is performed after the determination, that is, if it is detected that the real-time distance information in one direction on the left and right sides of the robot is greater than the preset rotation threshold value in the process of backing up, the robot rotates and backs up in the direction, which is helpful for the robot to get rid of difficulties in a narrow place.
Further, as shown in fig. 3, in an embodiment, the method further includes step S1041: judging whether the real-time distance information behind the robot is larger than a preset reversing threshold value or not, and if so, controlling the robot to continue reversing; and if not, controlling the robot to wait.
When the robot backs a car, pedestrians or other objects may appear on the rear of the robot suddenly, so that the robot is hindered from running backwards, or the robot is damaged by touching obstacles in the process of backing a car, therefore, when the real-time distance information on the rear of the robot in the process of backing the car is judged to be smaller than the threshold value of backing the car, the robot stops moving, stands on the spot and waits until the obstacles on the rear disappear. The reversing threshold refers to the minimum distance between the rear of the robot and the obstacle closest to the direction. And in the waiting process, judging whether the real-time distance information behind the robot is greater than a preset reversing threshold value again, and if so, controlling the robot to continue reversing.
Further, as shown in fig. 3, in an embodiment, the method further includes step S1042: judging whether the waiting time of the robot exceeds a preset time threshold, and if not, controlling the robot to continue waiting; and if so, controlling the robot to exit the escaping state.
It can be understood that, when the robot backs a car, except for a pedestrian suddenly appearing, a situation that the rear part of the robot also touches an obstacle may occur, and when the waiting time of the robot exceeds a preset duration threshold, it can be considered that the robot cannot be used for escaping from the car, and at this time, the robot is controlled to exit from the escaping state, so that the energy of the robot is prevented from being wasted.
S105, judging whether the real-time distance information right ahead is larger than a preset advancing threshold value, and if so, controlling the robot to switch to an advancing state; and if not, controlling the robot to maintain the reversing state.
After the robot runs in reverse and turns for a plurality of times, the nearest distance between the front of the robot and the obstacle exceeds a forward threshold, at this time, the reverse state is finished, the robot is controlled to move forward, and if the real-time distance information of the obstacle in front of the robot in the moving process is smaller than the forward threshold again, the operation returns to the step S101. The forward threshold refers to a minimum distance from the robot to an obstacle in front of the robot.
And S106, acquiring the escaping information of the robot and controlling the robot to quit the escaping state.
In this step, by repeating the above steps several times, the robot returns to the normal travel path, and the robot can be considered to have completed getting out of the trouble, and at this time, the robot is controlled to exit the getting out of the trouble state, and the robot is switched to the normal forward mode.
The second aspect of the present invention is to provide a device 100 for controlling a robot to get rid of a trouble, which is used to control the robot to enter a state of getting rid of a trouble to help the robot get rid of a trouble.
Specifically, as shown in fig. 4, the control robot escaping device 100 includes:
the reversing control module 10 is used for controlling the robot to enter a reversing state;
the distance processing module 20 is used for receiving real-time distance information of the robot from obstacles in four directions, namely front, back, left and right;
a rotation control module 30 for controlling the robot to enter a rotation state;
the rotation judging module 40 is used for judging whether the real-time distance information of the robot in the left and right directions is simultaneously larger than or smaller than a preset rotation threshold value, and if so, controlling the robot to linearly back; if the result is negative, controlling the robot to back and rotate towards the direction larger than the preset rotation threshold;
the forward judging module 50 is configured to judge whether the real-time distance information right ahead is greater than a preset forward threshold, and if so, control the robot to switch to a forward state; if the result is negative, controlling the robot to maintain the reversing state;
and a escaping confirmation module 60, configured to obtain escaping information of the robot and control the robot to exit the escaping state.
Further, the rotation control module 30 further includes: a distance determining unit (not shown in the figure) for determining whether the real-time distance information in each direction is larger than the self-rotation radius of the robot, and if so, controlling the robot to enter a rotation state; and if the result is negative, controlling the robot to return to the reversing state.
Further, as shown in fig. 5, in an embodiment, the controlling the robot escaping apparatus 100 further includes: the reversing judgment module 70 is used for judging whether the real-time distance information behind the robot is greater than a preset reversing threshold value or not, and if so, controlling the robot to continue reversing; and if not, controlling the robot to wait.
Further, as shown in fig. 5, in an embodiment, the controlling the robot escaping apparatus 100 further includes: the duration judging module 80 is configured to judge whether the duration of the robot waiting exceeds a preset duration threshold, and if the result is negative, control the robot to continue waiting; and if not, controlling the robot to exit the escaping state.
The invention further provides a terminal (not shown in the figure), wherein the terminal comprises a memory, a processor and a control robot escaping program which is stored in the memory and can run on the processor, and the control robot escaping program realizes each step of the control robot escaping method when being executed by the processor.
The present invention further provides a readable storage medium (not shown in the figures), wherein the readable storage medium stores a control robot escaping program, and the control robot escaping program realizes the steps of the control robot escaping method according to any one of the above mentioned items when being executed by a processor.
The robot enters a reversing state and a rotating state, the robot is controlled to reverse in the direction far away from the obstacle by judging whether the robot has the obstacle left and right, when the real-time distance information in front of the robot is larger than a forward threshold value, the robot is controlled to move forward, and if the robot meets the obstacle again, the previous steps are repeated until the robot gets out of the way, so that the autonomous movement capability of the robot is improved, and the working efficiency of the robot is increased.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A method for controlling a robot to get rid of a trouble is used for the robot to enter a state of getting rid of the trouble after being blocked in front, and is characterized by comprising the following steps:
controlling the robot to enter a reversing state;
receiving real-time distance information of the robot from obstacles in front, back, left and right directions;
controlling the robot to enter a rotating state;
judging whether the real-time distance information in the left and right directions of the robot is simultaneously larger than or smaller than a preset rotation threshold value, and if so, controlling the robot to back up linearly; if the result is negative, controlling the robot to back and rotate towards the direction larger than a preset rotation threshold value;
judging whether the real-time distance information right ahead is larger than a preset advancing threshold value or not, and if so, controlling the robot to be switched to an advancing state; if the result is negative, controlling the robot to maintain the reversing state;
and acquiring the escaping information of the robot and controlling the robot to exit the escaping state.
2. The method of controlling a robot to escape from a poverty as claimed in claim 1, wherein said step of controlling said robot into a rotating state comprises the steps of:
judging whether the real-time distance information in each direction is larger than the self rotation radius of the robot or not, and if so, controlling the robot to enter a rotation state; and if the result is negative, controlling the robot to back up linearly.
3. The method of controlling escape from a robot of claim 1, further comprising the steps of:
judging whether the real-time distance information behind the robot is larger than a preset reversing threshold value or not, and if so, controlling the robot to continue reversing; and if not, controlling the robot to wait.
4. The method of controlling escape from a robot of claim 3, further comprising the steps of:
judging whether the waiting time of the robot exceeds a preset time threshold, and if not, controlling the robot to continue waiting; and if so, controlling the robot to exit the stranded state.
5. A controlled robot escape apparatus, comprising:
the backing control module is used for controlling the robot to enter a backing state;
the distance processing module is used for receiving real-time distance information of the robot from obstacles in four directions, namely front, back, left and right;
the rotation control module is used for controlling the robot to enter a rotation state;
the rotation judging module is used for judging whether the real-time distance information in the left and right directions of the robot is simultaneously larger than or smaller than a preset rotation threshold value or not, and if so, controlling the robot to linearly back; if the result is negative, controlling the robot to back and rotate towards the direction larger than a preset rotation threshold value;
the forward judging module is used for judging whether the real-time distance information in front is larger than a preset forward threshold value or not, and if so, controlling the robot to be switched to a forward state; if the result is negative, controlling the robot to maintain the reversing state;
and the escaping confirmation module is used for acquiring escaping information of the robot and controlling the robot to exit an escaping state.
6. The controlled robot escape apparatus of claim 5, wherein the rotation control module further comprises:
the distance judging unit is used for judging whether the real-time distance information in each direction is larger than the self rotation radius of the robot or not, and if so, controlling the robot to enter a rotation state; and if the result is negative, controlling the robot to back up linearly.
7. The controlled robot escape apparatus according to claim 5, further comprising:
the backing judgment module is used for judging whether the real-time distance information behind the robot is larger than a preset backing threshold value or not, and if so, controlling the robot to continue backing; and if not, controlling the robot to wait.
8. The controlled robot escape apparatus according to claim 7, further comprising:
the time length judging module is used for judging whether the waiting time length of the robot exceeds a preset time length threshold value or not, and if the waiting time length of the robot does not exceed the preset time length threshold value, controlling the robot to continue waiting; and if so, controlling the robot to exit the stranded state.
9. A terminal, characterized in that the terminal comprises a memory, a processor and a control robot escaping program stored in the memory and executable on the processor, wherein the control robot escaping program realizes the steps of the control robot escaping method according to any one of claims 1-4 when being executed by the processor.
10. A readable storage medium storing a control robot escaping program which, when executed by a processor, implements the steps of the control robot escaping method according to any one of claims 1-4.
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| CN113031589A (en) * | 2021-02-02 | 2021-06-25 | 深圳市优必选科技股份有限公司 | Robot navigation method and device and robot |
| CN113693523A (en) * | 2021-02-10 | 2021-11-26 | 北京石头世纪科技股份有限公司 | Cleaning robot escaping method and device, medium and electronic equipment |
| WO2022170715A1 (en) * | 2021-02-10 | 2022-08-18 | 北京石头创新科技有限公司 | Cleaning robot escape method and apparatus, medium, and electronic device |
| CN112947464A (en) * | 2021-03-05 | 2021-06-11 | 上海有个机器人有限公司 | Method, device, terminal and storage medium for robot to pass through narrow space |
| CN114237245A (en) * | 2021-12-14 | 2022-03-25 | 北京云迹科技股份有限公司 | Method and device for avoiding elevator by robot |
| WO2023160368A1 (en) * | 2022-02-25 | 2023-08-31 | 追觅创新科技(苏州)有限公司 | Self-moving device control method, device, and storage medium |
| CN116700237A (en) * | 2022-02-25 | 2023-09-05 | 追觅创新科技(苏州)有限公司 | Control method and device of self-mobile device and storage medium |
| CN114521837A (en) * | 2022-03-09 | 2022-05-24 | 美智纵横科技有限责任公司 | Sweeping robot control method and device and sweeping robot |
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