CN111791241A - Robot track error correction method and device and fire-fighting robot - Google Patents
Robot track error correction method and device and fire-fighting robot Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention provides a robot track error correction method and device and a fire-fighting robot, wherein the method comprises the steps of acquiring the deviation distance between a first position of the robot and a preset road route and the deviation angle between a first running track of the robot and the preset road route in the automatic running process of the robot; under the condition that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold value, correcting the running track of the robot; or correcting the running angle of the robot under the condition that the deviation angle of the first running track of the robot and the preset road route is larger than a second calibration threshold value. By the method and the device, the running track of the fire-fighting robot can be automatically corrected, and the effect of collision between the fire-fighting robot and the surrounding environment is avoided.
Description
Technical Field
The invention relates to the field of special fire-fighting equipment, in particular to a robot track error correction method and device and a fire-fighting robot.
Background
The fire-fighting robot is a special robot which replaces fire-fighting officers to enter or approach dangerous environments such as fire scene and the like and executes tasks such as fire extinguishing, rescuing, reconnaissance and the like. The automatic driving function of the fire-fighting robot has wide application scenes in both blind playground scenes in manual non-line-of-sight and cruising scenes under full-automatic control. The manual non-line-of-sight inner blind playground refers to that when an operator controls the fire-fighting robot to enter a dangerous area where fire officers cannot enter, the operator needs to observe a fire-fighting robot field picture returned by the handheld remote controller to judge and control. The cruising scene under full-automatic control means that the fire-fighting robot autonomously runs in a certain range by depending on environmental information under the control of an autonomous setting program, and the collision with a terrain barrier is effectively avoided.
In above-mentioned operation scene, when the long-distance straight line of fire-fighting robot is gone to the operator need be controlled, often can appear great deviation of traveling because of lacking the judgement reference to fire-fighting robot surrounding environment, influence rescue efficiency, increase operator operating pressure.
Aiming at the problem that in the related art, when the fire-fighting robot is driven automatically or in a sound control mode without the sight range of an operator, the straightness of the driving track of the fire-fighting robot is difficult to distinguish in time only by judging through a display picture of a remote controller, an effective solution is not available at present.
Disclosure of Invention
The embodiment of the invention provides a robot track error correction method and device and a fire-fighting robot, and at least solves the problem that in the related art, when the fire-fighting robot runs automatically or in a sound control mode without departing from the sight range of an operator, the straightness of the running track of the fire-fighting robot is difficult to distinguish in time only through the judgment of a display picture of a remote controller.
According to an embodiment of the present invention, there is provided a robot trajectory error correction method including: in the automatic running process of the robot, acquiring a deviation distance between a first position of the robot and a preset road route and a deviation angle between a first running track of the robot and the preset road route; under the condition that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold value, correcting the running track of the robot; or correcting the running angle of the robot under the condition that the deviation angle of the first running track of the robot and the preset road route is larger than a second calibration threshold value.
According to another embodiment of the present invention, there is provided a robot trajectory error correction apparatus including: the robot control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a deviation distance between a first position of a robot and a preset road route and a deviation angle between a first driving track of the robot and the preset road route in the automatic driving process of the robot; the first correction module is used for correcting the running track of the robot under the condition that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold value; and the second correction module is used for correcting the running angle of the robot under the condition that the deviation angle of the first running track of the robot and the preset road route is greater than a second calibration threshold value.
There is also provided, in accordance with still another embodiment of the present invention, a fire fighting robot, including: a trajectory error correction system arranged to perform said robot trajectory error correction method when run.
According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, in the automatic running process of the robot, the deviation distance between the first position of the robot and the preset road route and the deviation angle between the first running track of the robot and the preset road route are acquired, so that track correction or angle correction is respectively carried out on the robot according to the deviation distance or the deviation angle. Therefore, the problem that when the fire-fighting robot automatically runs or runs in a sound control mode without the sight range of an operator, the straightness of the running track of the fire-fighting robot is difficult to distinguish in time only through the judgment of a display picture of a remote controller can be solved, the running track of the fire-fighting robot can be automatically corrected, and the fire-fighting robot is prevented from colliding with the surrounding environment.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1(a) and 1(b) are schematic structural diagrams of a robot to which the method in the embodiment of the present application is applied;
FIG. 2 is a block diagram of a method for correcting errors in a robot trajectory according to an embodiment of the present invention;
fig. 3 is a block diagram of a robot trajectory error correction apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a trajectory error and an angle error according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a robotic system used for trajectory correction in an embodiment of the present invention;
FIG. 6 is a flowchart of the method operation of the trajectory error correction method according to an alternative embodiment of the present invention;
FIG. 7 is a graph of trajectory error and angle error correction in accordance with an alternative embodiment of the present invention;
FIG. 8 is a graph of trajectory error and angle error correction in accordance with an alternative embodiment of the present invention;
FIG. 9 is a graph of trajectory error and angle error correction in accordance with an alternative embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
Fig. 1(a) and 1(b) are schematic structural views of a robot to which the method in the embodiment of the present application is applied. Wherein, include: the fire-fighting robot comprises a fire-fighting robot body 1, a binocular camera 2, a main board 3, a sheet metal shell 4, a crawler 5, a driving wheel 6, a motor driver 7, an encoder 8, a motor 9 and other electrical components. The binocular camera 2 is installed above a fixed base in the middle of the fire-fighting robot body 1 and used for observing and collecting front images of the fire-fighting robot body. The main board 3 is installed in an electrical cabin inside the fire-fighting robot body 1 and used for processing and analyzing image data. The sheet metal shell 4 is installed in the fire-fighting robot car body outside, can be used to protect the car body and play the decorative role, still includes reference mark point A (43), B (44), C (42), D (41) on the sheet metal shell 4 simultaneously in the embodiment of this application. The crawler belts 5 are arranged on a left suspension assembly and a right suspension assembly of the fire-fighting robot body, and are used for contacting the ground to obtain friction force. The number of the driving wheels 6 is 2, the driving wheels are arranged on an output shaft of the motor speed reducer and connected with the crawler belt, and the driving wheels are used for transmitting the output torque and the rotating speed of the motor to the crawler belt. The motor drivers 7 are respectively provided with a left driver and a right driver, are arranged on a bracket in the electrical appliance bin and are used for converting control signals of the main board into pulse signals and outputting the pulse signals to the motor. The encoders 8 are respectively provided with a left encoder and a right encoder, are arranged at the tail end of the output shaft of the motor and are used for acquiring the angular speed of the motor. The motors 9 are arranged on the left and right sides, are arranged in an electrical appliance bin of the fire-fighting robot and are used for outputting torque and rotating speed.
In this embodiment, a robot trajectory error correction method operating in the fire-fighting robot is provided, and fig. 2 is a flowchart of the robot trajectory error correction method according to the embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, acquiring a deviation distance between a first position of the robot and a preset road route and a deviation angle between a first running track of the robot and the preset road route in the automatic running process of the robot;
step S204, correcting the running track of the robot under the condition that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold value; or correcting the running angle of the robot under the condition that the deviation angle of the first running track of the robot and the preset road route is larger than a second calibration threshold value.
Specifically, the deviation distance between the first position of the robot and the preset road route is obtained by identifying the image acquired by the camera in the automatic driving process of the robot. The preset road route refers to a road line or a road boundary. The first position is the position of the robot in one sampling period. Meanwhile, the deviation angle between the first running track of the robot and the preset road route is obtained by identifying the image acquired from the camera. The first travel track refers to a track traveled by the robot in one sampling period.
And if the deviation distance between the first position of the robot and the preset road route is judged to be smaller than a first calibration threshold value, correcting the running track of the robot, or if the deviation angle between the first running track of the robot and the preset road route is judged to be larger than a second calibration threshold value, correcting the running angle of the robot. The first calibration threshold and the second calibration threshold are set according to different scenarios, and are not specifically limited in the embodiments of the present application.
Through the steps, the deviation distance between the first position of the robot and the preset road route and the deviation angle between the first running track of the robot and the preset road route are acquired in the automatic running process of the robot, so that track correction or angle correction is respectively carried out on the robot according to the deviation distance or the deviation angle. Therefore, the problem that when the fire-fighting robot automatically runs or runs in a sound control mode without the sight range of an operator, the straightness of the running track of the fire-fighting robot is difficult to distinguish in time only through the judgment of a display picture of a remote controller can be solved, the running track of the fire-fighting robot can be automatically corrected, and the fire-fighting robot is prevented from colliding with the surrounding environment.
Optionally, the step S204 may further include correcting the running trajectory of the robot when the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold, and correcting the running angle of the robot when the deviation angle between the first running trajectory of the robot and the preset road route is larger than a second calibration threshold.
Optionally, after acquiring the deviation distance of the first position of the robot from the preset road route and the deviation angle of the first driving track of the robot from the preset road route, the method further includes one of: under the condition that the deviation distance between the first position of the robot and the preset road route is not smaller than a first calibration threshold value, controlling the robot to continuously and automatically run according to the deviation distance; and under the condition that the deviation angle of the first running track of the robot and the preset road route is not larger than a second calibration threshold value, controlling the robot to continue to automatically run according to the deviation angle of the first running track of the robot and the preset road route. Namely, if the deviation distance between the first position of the robot and the preset road route is not less than the first calibration threshold value, the robot is not considered to be corrected, and the robot is controlled to continue to automatically run according to the deviation distance. And if the deviation angle of the first running track of the robot from the preset road route is not larger than a second calibration threshold value, the robot is also considered not to be corrected, and the robot is controlled to continue to automatically run according to the deviation angle from the preset road route.
Preferably, in the case that the deviation distance between the first position of the robot and the preset road route is not less than the first calibration threshold and the deviation angle between the first travel track of the robot and the preset road route is greater than the second calibration threshold, correcting the travel angle of the robot; and under the condition that the deviation angle of the first driving track of the robot and the preset road route is not larger than a second calibration threshold value and the deviation distance of the first position of the robot and the preset road route is smaller than a first calibration threshold value, correcting the running track of the robot. That is, if the deviation distance between the first position of the robot and the preset road is not less than the first calibration threshold and the deviation angle between the first driving track of the robot and the preset road is greater than the second calibration threshold, the operation angle of the robot needs to be corrected. And if the deviation angle of the first driving track of the robot and the preset road route is not larger than a second calibration threshold value and the deviation distance of the first position of the robot and the preset road route is smaller than a first calibration threshold value, correcting the running track of the robot.
Preferably, after correcting the running track of the robot in the case that the deviation distance between the first position of the robot and the preset road route is smaller than the first calibration threshold, the method further includes: under the condition that the deviation distance between the second position of the robot and the preset road route is smaller than the second calibration threshold, continuing to correct the running track of the robot until the deviation distance between the target position of the robot and the preset road route is larger than the second calibration threshold; under the condition that the deviation angle of the first driving track of the robot and the preset road route is larger than a second calibration threshold, the method for correcting the driving angle of the robot comprises the following steps: and under the condition that the deviation angle of the second running track of the robot from the preset road route is larger than a second calibration threshold, continuously correcting the running angle of the robot until the deviation angle of the target running track of the robot from the preset road route is smaller than the second calibration threshold. When the robot is at the next position, continuously judging that the deviation distance between the second position and the preset road route is smaller than the second calibration threshold, if so, continuously correcting the running track of the robot until the deviation distance between the target position of the robot and the preset road route is larger than the second calibration threshold.
Or when the track of the robot in the next sampling period is acquired, continuously judging that the deviation angle of the second running track and the preset road route is larger than a second calibration threshold, and if so, continuously correcting the running angle of the robot until the deviation angle of the target running track of the robot and the preset road route is smaller than the second calibration threshold.
Optionally, in the case that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold, the correcting the running track of the robot includes: acquiring the deviation direction of the first position of the robot and the preset road route and the deviation distance of the first position of the robot and the preset road route; determining whether the deviation direction of the robot from the preset road route is rightward deviation or leftward deviation according to the deviation distance between the first position of the robot and the preset road route; determining a first correction parameter in a case where a deviation direction of the robot from a preset lane route is a rightward deviation, wherein the first correction parameter includes: the motor of the robot outputs the rotating speed; correcting the running track of the robot according to the first correction parameter; or, in a case where a deviation direction of the robot from a preset lane route is a leftward deviation, determining a second correction parameter, wherein the second correction parameter includes: the motor of the robot outputs the rotating speed; and correcting the running track of the robot according to the second correction parameter.
When the method is specifically implemented, firstly, the deviation direction, the deviation distance delta d and the deviation angle delta theta are calculated; if the delta alpha is larger than 0, judging that the vehicle deviates to the right, and setting the current deviation distance delta d to be alpha i-0.5 (alpha i + beta i); if Δ β is greater than 0, it is determined as being left-off, and the current deviation distance Δ d is β i-0.5(β i + α i). Then, correction parameters are calculated. If the fire-fighting robot is deviated to the right, calculating a correction parameter as the output rotating speed of the left motor: n0 × (1- Δ d/α i + β i), right motor output rotation speed: n0 x (1+ delta d/alpha i + beta i), wherein n0 represents the basic rotating speed of the left motor and the right motor during automatic driving, and the value is 0-2500; if the fire-fighting robot is biased to the left, calculating correction parameters as the output rotating speed of the left motor: n0 × (1+ Δ d/α i + β i) right motor output rotation speed: n0 x (1-delta d/alpha i + beta i), n0 represents the basic rotating speed of the left and right motors during automatic driving, and the value is 0-2500. Finally, correcting the track of the fire-fighting robot to the center line of the road to start straight-line running; outputting correction parameters, and respectively sending control parameters of the left motor and the right motor to corresponding motor drivers by the main board; the main board controls the left driver and the right driver to send pulse commands to the motor; and after the left motor and the right motor execute the control command, correcting the running track of the fire-fighting robot. Further, distance judgment is carried out again, whether the left side distance alpha i or the right side distance beta i is smaller than the calibration value L or not is carried out, and the value range of L is 1-1.5 m; if the current parameter state is less than the calibration value, the running track is corrected, otherwise, the current parameter state is kept to continue running.
Optionally, in the case that the deviation angle of the first driving track of the robot from the preset road line is smaller than a second calibration threshold, the correcting the driving angle of the robot includes: acquiring the deviation direction of the robot and a preset road route and the deviation angle of the robot and the preset road route; determining whether the deviation angle of the robot and the preset road route deviates to the right or the left according to the deviation angle of the first driving track of the robot and the preset road route; determining a third correction parameter in a case where a deviation angle of the first travel track of the robot from the preset road route is a right deviation, wherein the third correction parameter includes: the motor of the robot outputs the rotating speed; correcting the running angle of the robot according to the third correction parameter; or, in a case where a deviation angle of the first travel track of the robot from the preset road route is a left deviation, determining a fourth correction parameter, wherein the fourth correction parameter includes: the motor of the robot outputs the rotating speed; and correcting the running angle of the robot according to the fourth correction parameter.
In specific implementation, firstly, the deviation direction and the deviation angle delta theta are calculated; if delta theta is larger than 0, judging that the angle is deviated to the right according to the definition; if Δ θ is less than 0, it is determined to be biased to the left by definition. And then, calculating a correction parameter, wherein if the fire-fighting robot deviates to the right, the correction parameter is calculated as the output rotating speed of the left motor: n0 × (1-k × Δ θ/pi), right motor output rotation speed: n0 (1+ k delta theta/pi), wherein n0 represents the basic rotating speed of the left and right motors during automatic driving, the value is 0-2500, k represents an angle correction coefficient, and the value range is as follows: 5-10; if the fire-fighting robot deviates to the left, calculating a correction parameter as the output rotating speed of a left motor: n0 × (1+ k × Δ θ/pi), right motor output rotation speed: n0 (1-k delta theta/pi), wherein n0 represents the basic rotating speed of the left and right motors during automatic driving, the value is 0-2500, k represents an angle correction coefficient, and the value range is as follows: 5-10. Finally, correcting the track of the fire-fighting robot to the straight driving direction; outputting correction parameters, and respectively sending control parameters of the left motor and the right motor to corresponding motor drivers by the main board; the main board controls the left driver and the right driver to send pulse commands to the motor; and after the left motor and the right motor execute the control command, correcting the running track of the fire-fighting robot. Further, the deviation angle judgment is carried out when the included angle between the driving track and the road marking line central line is larger than a calibration value, if the deviation angle delta theta is smaller than the calibration value theta b and the value range of theta b is 0-2.5 degrees, the current parameter state is kept to drive continuously, and if the deviation angle delta theta is smaller than the calibration value theta b, the running angle is corrected.
Optionally, the acquiring, during automatic traveling of the robot, a deviation distance of the first position of the robot from the preset road route and a deviation angle of the first traveling track of the robot from the preset road route includes: the method comprises the following steps of identifying preset mark points and preset road lines on a vehicle body of the robot in a sampling image, wherein the preset mark points comprise: the robot comprises a first mark point, a second mark point, a third mark point and a fourth mark point, wherein the first mark point is positioned at the rear side of a parallel line of a vehicle body of the robot where the second mark point is positioned; the second mark point is positioned at the left end of the body of the robot, the third mark point is positioned at the right end of the body of the robot, and the fourth mark point is positioned at the rear side of the parallel line of the body of the robot where the third mark point is positioned; determining intersection points a and b between the second marking point and the third marking point in the coaxial direction and the two sides of the preset road path; determining intersection points c and d between the first marking point and the fourth marking point in the coaxial direction and the two sides of the preset road path; acquiring a deviation distance between a first position of the robot and a preset road route according to the actual distance between the second marking point and the third marking point and the distance between the second marking point and the third marking point in the sampling image, wherein the first position and the preset marking point have a corresponding relation in a preset sampling period; and acquiring a deviation angle between the first running track of the robot and a preset road route according to a fifth mark point and a preset midpoint coordinate of the vehicle body of the robot, wherein the fifth mark point is positioned outside the vehicle body of the robot and is used as an intersection point of extension lines at two sides of the preset road route, and the preset midpoint coordinate is a midpoint of a connecting line between the intersection points c and d.
The fire-fighting robot in this application includes: a trajectory error correction system configured to perform the robot trajectory error correction method when run, wherein the fire fighting robot comprises: the camera is used for acquiring image information of the fire-fighting robot in the automatic driving process; the main board is used for generating a corresponding control signal to correct the track and/or the angle of the fire-fighting robot according to the deviation distance and the deviation angle of the fire-fighting robot in the image information; and the driver is used for converting the control signal of the main board into a pulse signal and outputting the pulse signal to the motor.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 2
In this embodiment, a robot track error correction device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
FIG. 3 is a block diagram of a robot trajectory error correction apparatus according to an embodiment of the present invention, which includes, as shown in FIG. 3
The acquiring module 30 is configured to acquire a deviation distance between a first position of the robot and a preset road route and a deviation angle between a first driving track of the robot and the preset road route in an automatic driving process of the robot;
the first correction module 32 is configured to correct the running track of the robot when a deviation distance between a first position of the robot and a preset road route is smaller than a first calibration threshold;
and the second correction module 34 is used for correcting the running angle of the robot under the condition that the deviation angle of the first running track of the robot and the preset road route is larger than a second calibration threshold value.
Specifically, the deviation distance between the first position of the robot and the preset road route is obtained by identifying the image acquired by the camera in the automatic driving process of the robot. The preset road route refers to a road line or a road boundary. The first position is the position of the robot in one sampling period. Meanwhile, the deviation angle between the first running track of the robot and the preset road route is obtained by identifying the image acquired from the camera. The first travel track refers to a track traveled by the robot in one sampling period.
And if the deviation distance between the first position of the robot and the preset road route is judged to be smaller than a first calibration threshold value, correcting the running track of the robot, or if the deviation angle between the first running track of the robot and the preset road route is judged to be larger than a second calibration threshold value, correcting the running angle of the robot. The first calibration threshold and the second calibration threshold are set according to different scenarios, and are not specifically limited in the embodiments of the present application.
Through the modules, the deviation distance between the first position of the robot and the preset road route and the deviation angle between the first running track of the robot and the preset road route are acquired in the automatic running process of the robot, so that track correction or angle correction is respectively carried out on the robot according to the deviation distance or the deviation angle. Therefore, the problem that when the fire-fighting robot automatically runs or runs in a sound control mode without the sight range of an operator, the straightness of the running track of the fire-fighting robot is difficult to distinguish in time only through the judgment of a display picture of a remote controller can be solved, the running track of the fire-fighting robot can be automatically corrected, and the fire-fighting robot is prevented from colliding with the surrounding environment.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
In order to better understand the flow of the robot trajectory error correction method, the following explains the technical solutions with reference to preferred embodiments, but the technical solutions of the embodiments of the present invention are not limited thereto.
According to the method of the preferred embodiment of the invention, track correction and/or angle correction are carried out according to information such as deviation distance and deviation angle in the video image, and the running track of the fire-fighting robot can be automatically corrected, so that different correction algorithms can be applied according to various different working conditions, and the sensory comfort of an operator is improved on the basis of ensuring the correction effectiveness. In addition, through automatic identification fire-fighting robot and all ring edge borders apart from, according to predetermineeing safe value, keep safe distance with all ring edge borders, prevent the robot collision.
Fig. 4 is a schematic diagram of a trajectory error and an angle error according to an embodiment of the present application, fig. 5 is a schematic diagram of a robot system structure used for trajectory correction, fig. 6 is a flowchart of a trajectory error correction method, taking a fire-fighting robot as an example, including the steps of:
step S601, start.
And step S602, resetting the camera.
When the fire-fighting robot enters automatic linear running, the binocular camera is reset at first, the position of the camera is adjusted to be parallel to the ground in the horizontal direction, and the direction of the lens is coaxial with the advancing direction of the vehicle body.
And step S603, detecting the distance and the included angle between the fire-fighting robot and the two sides of the road marking line.
Specifically, fire-fighting robot mainboard control driver, driving motor operation begin automatic forward traveling, begin to gather the environmental information of the in-process of marcing through the camera simultaneously. The specific method for acquiring the distances alpha and beta between the fire-fighting robot and the two sides of the road marking line and the included angle theta between the driving track of the fire-fighting robot and the road is as follows:
And 2, identifying road lines or road boundaries.
Step 4, determining an intersection point F, G of the reference point A, D and the road marking lines on the two sides in the same horizontal axis direction;
and 5, making an FG midpoint J, fixing the J coordinate as the FG midpoint coordinate during the first sampling, and fitting a connecting line HF and a connecting line GI.
and 8, determining distances alpha i (LBC/lBC) and beta i (LBC/lBC) from two sides of the front end of the fire-fighting robot vehicle body to the road marking line in the actual current sampling period, wherein LBC represents the actual distance of the reference mark point BC on the fire-fighting robot metal plate, and lBC represents the distance of the reference mark point BC on the fire-fighting robot metal plate in the sampling image.
In step S604, is the left or right distance less than the calibration value? If so, the process proceeds to step S605, otherwise, the process proceeds to step S613.
Firstly, judging the distance, and judging whether the left side distance alpha i or the right side distance beta i is smaller than a calibration value L, wherein the value range of L is 1-1.5 m; and if the deviation angle is smaller than the calibration value, running a track correction algorithm, otherwise, judging the deviation angle delta theta.
And secondly, judging the deviation angle, if the deviation angle delta theta is larger than a calibration value theta b and the value range of theta b is 0-2.5 degrees, operating an angle correction algorithm, and if not, continuously keeping the current parameter state for driving.
In step S605, a trajectory correction algorithm is executed.
In step S606, the deviation direction, the deviation distance, and the deviation angle are calculated.
In step S607, a correction parameter is calculated.
And step S608, correcting the track of the fire-fighting robot to the center line of the road to start straight-line running.
In step S609, the correction parameter is output.
In step S610, the main board controls the left and right drivers.
In step S611, the correction trajectory is executed.
In step S612, is the distance difference between the left and right sides smaller than the calibration value?
In step S613, is the deviation angle greater than the calibration value? If yes, the process proceeds to step S614. If not, go to step S622.
Firstly, calculating a deviation direction, a deviation distance delta d and a deviation angle delta theta; if the delta alpha is larger than 0, judging that the vehicle deviates to the right, and setting the current deviation distance delta d to be alpha i-0.5 (alpha i + beta i); if the Δ β is greater than 0, determining that the vehicle is deviated to the left, and the current deviation distance is Δ d ═ β i-0.5(β i + α i); and then, calculating a correction parameter, wherein if the fire-fighting robot deviates to the right, the correction parameter is calculated as the output rotating speed of the left motor: n0 × (1- Δ d/α i + β i), right motor output rotation speed: n0 x (1+ delta d/alpha i + beta i), wherein n0 represents the basic rotating speed of the left motor and the right motor during automatic driving, and the value is 0-2500; if the fire-fighting robot is biased to the left, calculating correction parameters as the output rotating speed of the left motor: n0 × (1+ Δ d/α i + β i) right motor output rotation speed: n0 x (1-delta d/alpha i + beta i), n0 represents the basic rotating speed of the left and right motors during automatic driving, and the value is 0-2500. Finally, correcting the track of the fire-fighting robot to the center line of the road to start straight-line running; as shown in fig. 5, the correction parameters are output, and the control parameters of the left and right motors are respectively sent to the corresponding motor drivers by the main board; the main board controls the left driver and the right driver to send pulse commands to the motor; and after the left motor and the right motor execute the control command, correcting the running track of the fire-fighting robot. Preferably, the distance judgment is carried out again, whether the left side distance alpha i or the right side distance beta i is smaller than the calibration value L or not is carried out, and the value range of L is 1-1.5 m; if the current parameter state is less than the calibration value, the track correction algorithm is operated, otherwise, the current parameter state is kept to continue driving.
Step S614, operating an angle correction algorithm.
In step S615, the deviation direction and the deviation angle are calculated.
In step S616, correction parameters are calculated.
Step S617, the trajectory of the fire fighting robot is corrected to the straight traveling direction.
In step S618, the correction parameter is output.
In step S619, the main control board controls the left and right drivers.
In step S620, the correction trajectory is executed.
Step S621, is the included angle between the driving track and the road marking line center line greater than the calibration value? If yes, the process proceeds to step S622.
Firstly, calculating a deviation direction and a deviation angle delta theta; if delta theta is larger than 0, judging that the angle is deviated to the right according to the definition; if delta theta is smaller than 0, judging that the angle is biased to the left according to the definition; and then, calculating a correction parameter, wherein if the fire-fighting robot deviates to the right, the correction parameter is calculated as the output rotating speed of the left motor: n0 × (1-k × Δ θ/pi), right motor output rotation speed: n0 (1+ k delta theta/pi), wherein n0 represents the basic rotating speed of the left and right motors during automatic driving, the value is 0-2500, k represents an angle correction coefficient, and the value range is as follows: 5-10; if the fire-fighting robot deviates to the left, calculating a correction parameter as the output rotating speed of a left motor: n0 × (1+ k × Δ θ/pi), right motor output rotation speed: n0 (1-k delta theta/pi), wherein n0 represents the basic rotating speed of the left and right motors during automatic driving, the value is 0-2500, k represents an angle correction coefficient, and the value range is as follows: 5-10. Finally, correcting the track of the fire-fighting robot to the straight driving direction; outputting correction parameters, and respectively sending control parameters of the left motor and the right motor to corresponding motor drivers by the main board; the main board controls the left driver and the right driver to send pulse commands to the motor; and after the left motor and the right motor execute the control command, correcting the running track of the fire-fighting robot. Preferably, it is also required to determine that the included angle between the driving track and the road marking line center line is greater than a calibration value? And judging the deviation angle, if the deviation angle delta theta is smaller than a calibration value theta b and the value range of theta b is 0-2.5 degrees, continuing to keep the current parameter state for driving, and otherwise, operating an angle correction algorithm.
In step S622, the robot continues traveling.
Step S623, shutdown signal.
And stopping running the program when a shutdown signal or a manual control signal is detected, and otherwise, acquiring the image information again and running the program.
And step S624, shutdown.
As shown in fig. 7, which is a trace error and angle error correction graph in the embodiment of the present application, when an accumulative system error is generated, and the fire-fighting robot starts an automatic linear driving function, due to the influence of factors such as the performance of a left motor, the performance of a right motor, the performance of a speed reduction, the tightness of a track, the ground friction and the like, the fire-fighting robot has a deviation angle Δ θ 0, and the deviation angle Δ θ 0 is very small and always smaller than a standard value, and cannot be applied to an angle correction algorithm, so that the trace gradually deviates until a distance error Δ di on the left side and the right side of the fire-fighting robot triggers a limit value, and the trace correction algorithm is firstly operated; adjusting the running direction of the fire-fighting robot to be reversely deviated, wherein the deviation angle is-delta theta i, and gradually adjusting the track of the fire-fighting robot to be close to the center line of the road; and then, adjusting the deviation angle to be-delta theta i to be zero, wherein the running direction is parallel to the road direction, and the track deviation delta dj caused during the adjustment period does not trigger the track adjustment, so that the fire-fighting robot can continue running.
FIG. 8 is a graph showing the correction of the track error and the angle error in the embodiment of the present application, when a random error 1 caused by an operation error is generated. After the fire-fighting robot starts the automatic linear driving function, errors caused by operation deviation of an operator comprise a deviation angle delta theta 0 and a distance error delta d0, the distance error delta d0 is smaller than a limit value through analysis and judgment, the deviation angle delta theta 0 is larger than a standard value, therefore, an angle correction algorithm is operated, the deviation angle is adjusted to be-delta theta 0 to be zero, the driving direction is parallel to the road direction, track deviation delta dj caused during adjustment does not trigger track adjustment, and the fire-fighting robot can continue driving.
FIG. 9 is a graph of the correction of the trajectory error and the angle error in the embodiment of the present application, which shows the random error 2 caused by the misoperation. After the fire-fighting robot starts the automatic linear driving function, errors caused by operation deviation of an operator include a deviation angle delta theta 0 and a distance error delta d0, and after analysis and judgment, the distance error delta d0 is larger than a limit value, a track correction algorithm is firstly operated; adjusting the running direction of the fire-fighting robot to be reversely deviated, wherein the deviation angle is-delta theta i, and gradually adjusting the track of the fire-fighting robot to be close to the center line of the road; and then, adjusting the deviation angle to be-delta theta i to be zero, wherein the running direction is parallel to the road direction, and the track deviation delta dj caused during the adjustment period does not trigger the track adjustment, so that the fire-fighting robot can continue running.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring the deviation distance between the first position of the robot and a preset road route and the deviation angle between the first driving track of the robot and the preset road route in the automatic driving process of the robot;
s2, correcting the running track of the robot under the condition that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold value; or, under the condition that the deviation angle of the first driving track of the robot and the preset road route is larger than a second calibration threshold value, correcting the operation angle of the robot.
Optionally, the storage medium is further arranged to store a computer program for performing the steps of:
s1, controlling the robot to continue to automatically run according to the deviation distance when the deviation distance between the first position of the robot and the preset road route is not less than a first calibration threshold value;
and S2, controlling the robot to continuously and automatically travel according to the deviation angle of the preset road route when the deviation angle of the first travel track of the robot from the preset road route is not larger than a second calibration threshold value.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring the deviation distance between the first position of the robot and a preset road route and the deviation angle between the first driving track of the robot and the preset road route in the automatic driving process of the robot;
s2, correcting the running track of the robot under the condition that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold value; or correcting the running angle of the robot under the condition that the deviation angle of the first running track of the robot and the preset road route is larger than a second calibration threshold value.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot trajectory error correction method, comprising:
in the automatic running process of the robot, acquiring a deviation distance between a first position of the robot and a preset road route and a deviation angle between a first running track of the robot and the preset road route;
under the condition that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold value, correcting the running track of the robot; or correcting the running angle of the robot under the condition that the deviation angle of the first running track of the robot and the preset road route is larger than a second calibration threshold value.
2. The method of claim 1, wherein after obtaining the deviation distance of the first position of the robot from the preset road route and the deviation angle of the first travel track of the robot from the preset road route, the method further comprises one of:
under the condition that the deviation distance between the first position of the robot and the preset road route is not smaller than a first calibration threshold value, controlling the robot to continuously and automatically run according to the deviation distance;
and under the condition that the deviation angle of the first running track of the robot and the preset road route is not larger than a second calibration threshold value, controlling the robot to continue to automatically run according to the deviation angle of the first running track of the robot and the preset road route.
3. The method according to claim 1 or 2,
correcting the running angle of the robot under the condition that the deviation distance between the first position of the robot and the preset road route is not less than the first calibration threshold value and the deviation angle between the first running track of the robot and the preset road route is greater than the second calibration threshold value;
and under the condition that the deviation angle of the first driving track of the robot and the preset road route is not larger than a second calibration threshold value and the deviation distance of the first position of the robot and the preset road route is smaller than a first calibration threshold value, correcting the running track of the robot.
4. The method according to claim 1, wherein after correcting the running trajectory of the robot in the case that the deviation distance of the first position of the robot from the preset road route is smaller than the first calibration threshold, the method further comprises:
under the condition that the deviation distance between the second position of the robot and the preset road route is smaller than the second calibration threshold, continuing to correct the running track of the robot until the deviation distance between the target position of the robot and the preset road route is larger than the second calibration threshold;
under the condition that the deviation angle of the first driving track of the robot and the preset road route is larger than a second calibration threshold, the method for correcting the driving angle of the robot comprises the following steps:
and under the condition that the deviation angle of the second running track of the robot from the preset road route is larger than a second calibration threshold, continuously correcting the running angle of the robot until the deviation angle of the target running track of the robot from the preset road route is smaller than the second calibration threshold.
5. The method according to claim 1, wherein the correcting the running track of the robot in the case that the first position of the robot deviates from the preset road route by a distance less than a first calibration threshold comprises:
acquiring the deviation direction of the first position of the robot and the preset road route and the deviation distance of the first position of the robot and the preset road route;
determining whether the deviation direction of the robot from the preset road route is rightward deviation or leftward deviation according to the deviation distance between the first position of the robot and the preset road route;
determining a first correction parameter in a case where a deviation direction of the robot from a preset lane route is a rightward deviation, wherein the first correction parameter includes: the motor of the robot outputs the rotating speed;
correcting the running track of the robot according to the first correction parameter;
or, in a case where a deviation direction of the robot from a preset lane route is a leftward deviation, determining a second correction parameter, wherein the second correction parameter includes: the motor of the robot outputs the rotating speed;
and correcting the running track of the robot according to the second correction parameter.
6. The method according to claim 1, wherein the correcting the running angle of the robot in the case that the deviation angle of the first running track of the robot from the preset road route is smaller than a second calibration threshold value comprises:
acquiring the deviation direction of the robot and a preset road route and the deviation angle of the robot and the preset road route;
determining whether the deviation angle of the robot and the preset road route deviates to the right or the left according to the deviation angle of the first driving track of the robot and the preset road route;
determining a third correction parameter in a case where a deviation angle of the first travel track of the robot from the preset road route is a right deviation, wherein the third correction parameter includes: the motor of the robot outputs the rotating speed;
correcting the running angle of the robot according to the third correction parameter;
or, in a case where a deviation angle of the first travel track of the robot from the preset road route is a left deviation, determining a fourth correction parameter, wherein the fourth correction parameter includes: the motor of the robot outputs the rotating speed;
and correcting the running angle of the robot according to the fourth correction parameter.
7. The method of claim 1, wherein the acquiring the deviation distance of the first position of the robot from the preset road route and the deviation angle of the first travel track of the robot from the preset road route during the automatic travel of the robot comprises:
the method comprises the following steps of identifying preset mark points and preset road lines on a vehicle body of the robot in a sampling image, wherein the preset mark points comprise: the robot comprises a first mark point, a second mark point, a third mark point and a fourth mark point, wherein the first mark point is positioned at the rear side of a parallel line of a vehicle body of the robot where the second mark point is positioned; the second mark point is positioned at the left end of the body of the robot, the third mark point is positioned at the right end of the body of the robot, and the fourth mark point is positioned at the rear side of the parallel line of the body of the robot where the third mark point is positioned;
determining intersection points a and b between the second marking point and the third marking point in the coaxial direction and the two sides of the preset road path;
determining intersection points c and d between the first marking point and the fourth marking point in the coaxial direction and the two sides of the preset road path;
acquiring a deviation distance between a first position of the robot and a preset road route according to the actual distance between the second marking point and the third marking point and the distance between the second marking point and the third marking point in the sampling image, wherein the first position and the preset marking point have a corresponding relation in a preset sampling period;
and acquiring a deviation angle between the first running track of the robot and a preset road route according to a fifth mark point and a preset midpoint coordinate of the vehicle body of the robot, wherein the fifth mark point is positioned outside the vehicle body of the robot and is used as an intersection point of extension lines at two sides of the preset road route, and the preset midpoint coordinate is a midpoint of a connecting line between the intersection points c and d.
8. A robot trajectory error correction device, comprising:
the robot control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a deviation distance between a first position of a robot and a preset road route and a deviation angle between a first driving track of the robot and the preset road route in the automatic driving process of the robot;
the first correction module is used for correcting the running track of the robot under the condition that the deviation distance between the first position of the robot and the preset road route is smaller than a first calibration threshold value;
and the second correction module is used for correcting the running angle of the robot under the condition that the deviation angle of the first running track of the robot and the preset road route is greater than a second calibration threshold value.
9. A fire fighting robot, comprising: a trajectory error correction system arranged, when run, to perform the method of any of claims 1 to 7.
10. A fire fighting robot as recited in claim 9, comprising:
the camera is used for acquiring image information of the fire-fighting robot in the automatic driving process;
the main board is used for generating a corresponding control signal to correct the track and/or the angle of the fire-fighting robot according to the deviation distance and the deviation angle of the fire-fighting robot in the image information;
and the driver is used for converting the control signal of the main board into a pulse signal and outputting the pulse signal to the motor.
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