CN111923038B - Mechanical arm type robot, obstacle avoidance method of robot and storage medium - Google Patents
Mechanical arm type robot, obstacle avoidance method of robot and storage medium Download PDFInfo
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- CN111923038B CN111923038B CN202010627285.7A CN202010627285A CN111923038B CN 111923038 B CN111923038 B CN 111923038B CN 202010627285 A CN202010627285 A CN 202010627285A CN 111923038 B CN111923038 B CN 111923038B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention provides a mechanical arm type robot, an obstacle avoidance method of the robot and a storage medium, wherein the method comprises the following steps: when the obstacle is judged to exist on the motion trail of the robot, the current motion speed of the robot is obtained; calculating an emergency degree threshold value of the robot according to the current movement speed of the robot; when the obstacle is judged to exist on the motion trail of the robot, the distance between the robot and the obstacle at present is also acquired; when the distance is judged to be larger than the emergency degree threshold value, controlling the robot to adopt a first obstacle avoidance behavior so that the robot avoids the obstacle; and when the judgment distance is smaller than or equal to the emergency degree threshold value, controlling the robot to adopt a second obstacle avoidance behavior so that the robot avoids the obstacle, and avoiding the problem that the robot collides with the obstacle due to the fact that the robot is not close to the obstacle or the current movement speed is too high in the obstacle avoidance process so as to avoid the obstacle.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mechanical arm type robot, an obstacle avoidance method of the robot and a storage medium.
Background
With the high-speed development of science and technology in China, robots are fully utilized in various fields, particularly in some occasions requiring the robots to run through automatic control, such as fire-fighting robots, floor-sweeping robots and the like, the robots are required to be capable of automatically avoiding obstacles in the running process to solve safety problems caused by obstacles, most of existing robot obstacle-avoiding methods tend to obtain an obstacle-avoiding path through an obstacle-avoiding path planning algorithm according to the position and distance relation between the obstacles and the robots to avoid the obstacles, but when the robots run at a high speed or are close to the obstacles before finding the obstacles, the robots may collide with the obstacles when the obstacles are not yet avoided.
Disclosure of Invention
The invention mainly solves the technical problem of avoiding collision with an obstacle in the obstacle avoidance process when the current moving speed of the robot is higher or the robot is closer to the obstacle.
According to a first aspect, an embodiment provides an obstacle avoidance method for a robot, including:
acquiring a signal for sensing the surrounding environment of the robot;
judging whether the robot has an obstacle on the motion trail or not according to the signal for sensing the surrounding environment of the robot;
when the obstacle is judged to exist on the motion trail of the robot, the current motion speed of the robot is obtained;
calculating an emergency degree threshold value of the robot according to the current movement speed of the robot;
when the obstacle is judged to exist on the motion trail of the robot, the distance between the robot and the obstacle at present is also acquired;
judging the relation between the distance and an emergency degree threshold value;
when the distance is judged to be larger than the emergency degree threshold value, controlling the robot to adopt a first obstacle avoidance behavior so that the robot avoids the obstacle;
and when the distance is judged to be smaller than or equal to the emergency degree threshold value, controlling the robot to adopt a second obstacle avoidance behavior so that the robot avoids the obstacle.
Further, the control robot takes a first obstacle avoidance behavior, including:
on the basis of keeping the speed and the direction of the current movement of the robot, the robot is controlled to generate a speed with a preset magnitude, and the direction of the speed is within an included angle range of 45-135 degrees in the direction of the current movement of the robot.
Further, the control robot takes a second obstacle avoidance behavior, including:
and controlling to apply an acceleration to the current moving speed direction of the robot so that the speed of the robot in the current direction is gradually reduced to zero, and meanwhile, controlling to enable the robot to generate a preset speed, wherein the direction of the speed is within an included angle range of 45-135 degrees in the current moving speed direction.
Further, calculating an emergency threshold of the robot according to the current moving speed of the robot, including:
acquiring a preset time constant;
and multiplying the absolute value of the current movement speed of the robot by the time constant to obtain the emergency degree threshold value of the robot.
Further, the value of the time constant is in the range of [0.05,0.15 ].
According to a second aspect, there is provided in an embodiment a robotic arm type robot comprising:
a mechanical arm;
the driving circuit is used for driving the mechanical arm to move;
the electronic skin is arranged on the mechanical arm and used for sensing the surrounding environment and converting the surrounding environment into corresponding signals to be transmitted;
the controller is used for receiving the signals transmitted by the electronic skin to judge whether an obstacle exists on the motion track of the mechanical arm, and when the obstacle exists, the current motion speed of the mechanical arm and the current distance between the current motion speed and the obstacle are acquired; the controller calculates an emergency degree threshold value according to the current movement speed of the mechanical arm and judges the relation between the distance and the emergency degree threshold value; and when the distance is judged to be greater than the emergency degree threshold value, the controller controls to adopt a first obstacle avoidance behavior so that the mechanical arm avoids the obstacle, otherwise, when the distance is judged to be less than or equal to the emergency degree threshold value, the controller controls to adopt a second obstacle avoidance behavior so that the mechanical arm avoids the obstacle.
Further, the controller controls taking a first obstacle avoidance action, including:
the controller controls the driving circuit, so that on the basis that the mechanical arm keeps the current movement speed and direction, a preset speed is generated to the mechanical arm, and the speed direction is within an included angle range of 45-135 degrees in the current movement speed direction.
Further, the controller controls taking a second obstacle avoidance action, including:
the controller controls the driving circuit to apply an acceleration to the current moving speed direction of the mechanical arm, so that the speed of the mechanical arm in the current moving direction is gradually reduced to zero, and meanwhile, the driving circuit is controlled to enable the mechanical arm to generate a preset speed, and the speed direction is within an included angle range of 45-135 degrees in the current moving speed direction.
Further, the controller calculates an urgency threshold according to the current movement speed of the mechanical arm, and includes:
the controller acquires a preset time constant;
and the controller multiplies the absolute value of the current movement speed of the mechanical arm by the time constant to obtain the emergency degree threshold value.
According to a third aspect, an embodiment provides a computer-readable storage medium comprising a program executable by a processor to implement the method of the above-described embodiment.
According to the robot arm type robot, the obstacle avoidance method of the robot and the storage medium of the robot, when it is judged that an obstacle exists on a motion track of the robot, the current motion speed of the robot is obtained, the emergency degree threshold value of the robot is calculated according to the current motion speed of the robot, the distance between the current motion speed of the robot and the obstacle is obtained, and if the distance is equal to or smaller than the dynamic emergency degree threshold value, the robot is controlled to decelerate and suddenly stop in the current motion speed direction while avoiding the obstacle, so that the problem that the robot cannot avoid the obstacle due to the fact that the robot is close to the obstacle or the current motion speed is too high in the obstacle avoidance process, and the robot collides with the obstacle is solved.
Drawings
Fig. 1 is a schematic structural diagram of a robotic robot according to an embodiment;
fig. 2 is a flowchart of an obstacle avoidance method of a robot according to an embodiment;
FIG. 3 is a schematic structural diagram of a robotic arm robot according to another embodiment;
fig. 4 is a schematic diagram of an obstacle avoidance movement track of the robot according to an embodiment;
fig. 5 is a schematic diagram of a robot obstacle avoidance moving track according to another embodiment;
fig. 6 is a schematic diagram of a robot obstacle avoidance moving track according to yet another embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, operations related to the present application have not been shown or described in detail in order not to obscure the core of the present application with unnecessary detail for those skilled in the art, and they will be fully understood from the description and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, various steps or actions in the description of the method may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components herein, as such, for example "first", "second", etc., is used merely to distinguish one element from another, and does not imply any order or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
When an existing robot avoids an obstacle, a driving path of the robot is generally planned according to a position relation of the obstacle through a complex algorithm, so that the robot can get around the obstacle, however, in some cases, when the robot detects the obstacle, the distance from the robot to the obstacle is already short, and the current speed is too high, so that the robot cannot completely avoid the obstacle when driving according to the obstacle avoiding path, or the robot collides with the obstacle.
In the embodiment of the invention, the emergency degree threshold value is determined according to the current moving speed of the robot, the actual distance between the robot and the obstacle is compared with the emergency degree threshold value, if the actual distance is less than or equal to the emergency degree threshold value, the problem that the robot possibly collides with the obstacle in the obstacle avoidance process is shown, the robot is controlled to decelerate, and the obstacle avoidance is carried out while decelerating, so that the collision with the obstacle is avoided.
The electronic skin in the embodiment of the invention can refer to application numbers: 201910712970.7, patent name: a robot electronic skin, a robot and an interaction method.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a mechanical arm type robot according to an embodiment. The mechanical arm robot in this embodiment may be a 1-degree-of-freedom mechanical arm robot, a 2-degree-of-freedom mechanical arm robot, a 3-degree-of-freedom mechanical arm robot, or a 6-degree-of-freedom mechanical arm robot. The robot arm type robot includes a base 11, a robot arm 12, a drive circuit 13, an electronic skin 14, and a controller 15. The controller 15 controls the driving circuit 13 so that the driving circuit 13 drives the robot arm 12 to move in a preset manner.
A robot arm 12 is attached to the base 11. The base 11 in this embodiment can be fixedly mounted on the workbench for a fixing seat and the like; the robot can also be a movable base, for example, a driving wheel and the like are installed at the bottom of the base, and the robot is driven to move by the mechanical arm type robot. In this embodiment, the mechanical arm 12 may perform a swinging, rotating or linear motion relative to the base 11 under the driving of the driving circuit 13. In some embodiments, the robotic arm 12 includes a plurality of articulated arms, each articulated arm being pivotally connected to one another, and the plurality of articulated arms are driven by the driving circuit 13 to move in respective directions of movement such that the end of the robotic arm 12 moves in respective directions. The drive circuit 13 may also be used to brake the robot arm 12 to stop its motion. In some embodiments, the driving circuit 13 may also drive the robot arm to return to a preset state when the robot arm 12 is actuated.
The electronic skin 14 is disposed on the mechanical arm 12, and is used for sensing the surrounding environment and converting the sensed environment into a corresponding signal to be transmitted. The electronic skin 14 in this embodiment covers part of the surface of the mechanical arm 12, and it is understood that in other embodiments, the electronic skin 14 may cover the whole surface of the mechanical arm 12 or the whole surface of the mechanical arm type robot, and the shape of the electronic skin 14 matches the external shape of the mechanical arm or the mechanical arm type robot. In one embodiment, when there is an obstacle in the motion trace of the mechanical arm 12, the induced capacitance on the electronic skin 14 changes, and the changed capacitance is converted into an electrical signal and sent to the controller 15.
The controller 15 is configured to receive a signal transmitted by the electronic skin 14 to determine whether an obstacle exists on a motion trajectory of the mechanical arm 12, and when it is determined that an obstacle exists, obtain a current motion speed of the mechanical arm 12 and a current distance from the obstacle; the controller 15 calculates an emergency degree threshold value according to the current movement speed of the mechanical arm 12, and judges the relationship between the distance and the emergency degree threshold value; when the judgment distance is greater than the emergency degree threshold value, the controller 15 controls to take a first obstacle avoidance behavior so that the mechanical arm 12 avoids the obstacle, and on the contrary, when the judgment distance is less than or equal to the emergency degree threshold value, the controller 15 controls to take a second obstacle avoidance behavior so that the mechanical arm 12 avoids the obstacle.
Referring to fig. 2, fig. 2 is a flowchart illustrating an obstacle avoidance method of a robot according to an embodiment, where the obstacle avoidance method uses a controller 15 as an execution main body, and includes steps S101 to S108, which are described in detail below.
Step S101, acquiring a signal for sensing the surrounding environment of the robot.
In the present embodiment, the signal for sensing the environment around the robot is acquired from the electronic skin 14 provided on the robot arm. When an obstacle approaches the robot, a change in the capacitance of the inductive circuit in the electronic skin 14 is induced, and in addition, the electronic skin 14 can generate an electrical signal that is characteristic of the distance between the obstacle and the housing of the robot or a change thereof.
And S102, judging whether the moving track of the robot has obstacles or not according to the signal for sensing the surrounding environment of the robot.
After the controller 15 acquires the signal for sensing the surrounding environment of the robot, if the change of the signal is detected, the obstacle on the motion track of the robot can be judged according to the change; if the detected signal is not changed, it can be judged that no obstacle exists on the motion trail of the robot. The controller 15 can also determine which part of the robot arm 12 has an obstacle in the movement path, for example, a joint or a long arm of the robot arm 12, by detecting the change. The controller 15 can further determine the moving direction of the obstacle according to the variation trend of the sensing circuit, so that the controller 15 can accurately adopt the obstacle avoidance behavior. When judging that the robot has an obstacle in the movement track, the controller 15 may further calculate the distance between the obstacle and the housing of the robot and the change rule of the distance according to an electric signal generated by the electronic skin 14 and representing the distance between the obstacle and the housing of the robot or the change of the distance, so as to find the obstacle in the movement track in time and control the driving circuit 13 to drive the mechanical arm 12 in time to avoid the obstacle or reduce the collision force with an external conductor. In one embodiment, the robot and the obstacle may both move, and the obstacle moves in the direction of the robot, and the relative distance between the robot and the obstacle decreases; in another embodiment, it may be that the obstacle is stationary and the robot moves in the direction of the obstacle, in which case the relative distance between the robot and the obstacle is also reduced.
S103, when the obstacle is judged to exist on the motion track of the robot, the current motion speed of the robot is obtained. The current movement speed of the robot is the current speed of the robot corresponding to the moment when the obstacle is judged to exist on the movement track of the robot.
In an embodiment, the current movement speed of the robot may be a speed of the end of the arm 12 of the arm robot or a speed of any position on the arm 12, a driving motor and an encoder are provided at each joint of the arm robot, an angular speed of each joint of the arm robot may be obtained according to the encoder at each joint, and the speed of the end of the arm 12 or any position of the arm robot may be calculated according to the angular speed of each joint. Referring to fig. 3, the robot includes a first moving part 21 and a second moving part 22. One end of the first moving member 21 is connected to one end of the second moving member 22. The first moving member 21 is driven to move and drives the second moving member 22 to move. The second motion member 22 can be driven to oscillate or rotate relative to the first motion member 21.
When the robot is controlled to avoid collision with an obstacle or reduce the collision strength, it is necessary to determine a collision portion of the first moving member 21 and the second moving member 22, which is required to avoid collision with an obstacle or reduce the collision strength.
If a certain part on the first moving component 21 needs to avoid collision with an obstacle or reduce collision strength, calculating the current speed of the corresponding part on the first moving component 21 according to the speed of the joint between the first moving component 21 and the second moving component 22 and the speed of the joint connected with the base of the first moving component 21, acquiring the maximum allowable collision speed of the collision part on the obstacle and the acceleration for deceleration, and calculating the emergency degree threshold corresponding to the collision part of the robot. And the robot controls the first moving part 21 of the robot to take corresponding obstacle avoidance behaviors according to the emergency degree threshold value.
The speed corresponding to each part on the mechanical arm type robot is different, so the embodiment obtains the current speed corresponding to any collision part of the robot through the formula (1):
wherein J is a Jacobian matrix corresponding to the collision part of the robot,
the current angular velocity vector of the mechanical arm joint of the robot is shown, and v is the current velocity corresponding to the collision part of the robot.
In one embodiment, such as a3 degree-of-freedom robotic arm, for example, then
Wherein
The angular velocity of the first joint, the second joint and the third joint of the mechanical arm with 3 degrees of freedom is obtained through an encoder arranged at the joint of the mechanical arm, Jacobian moments J corresponding to different parts of the mechanical arm are different, the vector linear velocity of the corresponding part of the mechanical arm robot can be obtained through the formula (1), and then the linear velocity of the corresponding part of the mechanical arm robot can be obtained through vector synthesis.
In an embodiment, the robot may also be a mobile robot moving integrally, that is, the robot as a whole has only one speed at any time, for example, a driving wheel is disposed at the bottom of the base 11, and the current moving speed of the robot is the moving speed of the driving wheel, and it can obtain the current moving speed thereof by a speed detecting device such as an encoder mounted on the driving wheel.
And step S104, calculating the emergency degree threshold of the robot according to the current movement speed of the robot.
In one embodiment, the step S104 of calculating the emergency threshold of the robot according to the current movement speed of the robot includes acquiring a preset time constant; and multiplying the absolute value of the current movement speed of the robot by the time constant to obtain the emergency degree threshold value of the robot.
The emergency degree threshold value of the robot is calculated by the formula (2) in the embodiment:
T＝kv*|v| (2)
wherein T is the emergency threshold of the robot, kvFor a preset time constant, | v | is an absolute value of the current moving speed of the robot. The preset time constant k in this embodimentvIs taken to be [0.05,0.15]]Within a predetermined time constant kvThe optimum value of (a) is 0.1. Wherein a predetermined time constant k is setvIf the unit of the current moving speed of the robot is m/s, the preset time constant k isvThe unit of (d) is s.
And step S105, when the obstacle is judged to exist on the motion trail of the robot, the distance between the current robot and the obstacle is also acquired.
In an embodiment, when the controller 15 determines that there is an obstacle on the motion trajectory of the robot, the distance between the obstacle and the housing of the robot and the change rule of the distance may be calculated according to an electric signal generated by the electronic skin 14 and representing the distance between the obstacle and the housing of the robot or the change of the distance.
The present embodiment calculates the distance d between the robot and the obstacle by formula (3):
d＝εS/4πkC (3)
wherein epsilon is the dielectric constant of air, S is the facing area of the robot and the barrier, and the facing area S in the embodiment is half of the current electronic skin area; c is the capacitance of the current electron skin and k is the electrostatic force constant.
In another embodiment, an existing laser scanner mounted on the robot may be further used to detect the obstacle and the distance between the obstacle and the robot, or a camera may be disposed on the robot, and a control module of the robot performs image processing and analysis on an environment image acquired by the camera to obtain the distance between the robot and the obstacle.
Step S106, judging the relation between the distance and the emergency degree threshold value.
The distance between the detected robot and the obstacle is greater than the emergency threshold, the distance between the robot and the obstacle is equal to the emergency threshold, and the distance between the robot and the obstacle is less than the emergency threshold.
And S107, when the distance is judged to be larger than the emergency degree threshold value, controlling the robot to take a first obstacle avoidance behavior so that the robot avoids the obstacle.
In one embodiment, controlling the robot to take a first obstacle avoidance behavior comprises:
on the basis of keeping the speed and the direction of the current movement of the robot, the robot is controlled to generate a speed with a preset magnitude, and the direction of the speed is within an included angle range of 45-135 degrees in the direction of the current movement of the robot.
The optimal value range of the included angle between the direction of the preset speed and the current moving speed direction of the robot is 75-115 degrees. For example, the speed of the preset magnitude is superimposed in a direction perpendicular to the current moving speed direction of the robot to control the robot to bypass the obstacle. In this embodiment, the value of the speed needs to enable the robot to bypass the obstacle in the shortest path, and the value of the speed can be calculated by using an existing obstacle avoidance algorithm, for example, an existing robot obstacle avoidance algorithm such as a VFH algorithm and a DWA algorithm.
And S108, when the distance is judged to be smaller than or equal to the emergency degree threshold value, controlling the robot to take a second obstacle avoidance behavior so as to avoid the obstacle.
In one embodiment, controlling the robot to take the second obstacle avoidance behavior comprises:
and controlling to apply an acceleration to the current moving speed direction of the robot so that the speed of the robot in the current direction is gradually reduced to zero, and meanwhile, controlling to enable the robot to generate a preset speed, wherein the direction of the speed is within an included angle range of 45-135 degrees in the current moving speed direction.
When the distance between the obstacle and the robot is equal to or less than the emergency degree threshold value, that is, the robot is close to the obstacle, at this time, if the obstacle is avoided at the current moving speed of the robot, the obstacle may be avoided with the obstacle, so from the detection of the obstacle, the robot needs to be controlled to decelerate in the current moving speed direction, the robot can decelerate at a constant acceleration, or decelerate at a variable acceleration, and the deceleration is performed while superimposing the speed of the preset magnitude. For example, the preset magnitude of the speed is superimposed in a direction perpendicular to the current moving speed direction of the robot to control the robot to bypass the obstacle. In this embodiment, the value of the speed needs to enable the robot to bypass the obstacle in the shortest path, and the value may be calculated by using an existing obstacle avoidance algorithm, for example, an existing robot obstacle avoidance algorithm such as a VFH algorithm and a DWA algorithm.
As shown in fig. 4, fig. 4 is a schematic diagram of an obstacle avoidance moving track of a robot according to an embodiment, where the robot moves at a current moving speed vxMoving towards the end point B, setting the velocity vxIs X, moves to a point a, detects the obstacle, and if the distance from the point a to the obstacle is less than or equal to the emergency degree threshold value, the robot starts from the point a at a speed vxWhile decelerating in the direction of the speed v starting from point axIs superimposed by a predetermined magnitude of velocity v in the vertical directionyAssuming a superimposed acceleration vyIs in the direction of motion (vertical direction) of Y, and the velocity vyIs sized to enable the robot to bypass the obstacle; suppose that the time at which an obstacle is detected is t0Since the robot needs to stop suddenly and decelerate while avoiding the obstacle, the time t is from0Starting to apply an acceleration in the direction opposite to the X direction, and controlling the robot to be 10 times the time t0Velocity vxIs decelerated as acceleration a, vx(t)＝vx(t0)-a(t-t0) So that the speed of the robot in the obstacle avoidance process is
When the robot avoids the obstacle (after the electronic skin no longer detects the obstacle signal), the robot re-plans the path to the terminal point B.
As shown in fig. 5, fig. 5 is a schematic diagram of a robot obstacle avoidance moving track according to another embodiment, when the robot moves to point a, if the distance from point a to the obstacle is greater than the emergency threshold, starting from point a at a speed vxIs superimposed with a preset velocity v 'in the vertical direction'ySo that the robot can avoid the obstacle, and the speed of the robot in the X direction is unchanged in the obstacle avoiding process, so that the speed of the robot is
In addition to controlling the robot to generate a preset speed perpendicular to the current moving speed direction, the present embodiment may also generate a preset speed within an angle range of 45 ° to 135 ° with the current moving speed direction, for example, if the generated preset speed is 120 ° with the current moving speed direction, the robot is decelerated while avoiding the obstacle, so as to improve the obstacle avoidance efficiency.
In an embodiment, the obstacle may also be in a moving state, as shown in fig. 6, fig. 6 is a schematic diagram of an obstacle avoidance moving track of a robot according to still another embodiment, and at an initial time (time: 0S), the robot moves at a current speed vxMoving from the starting point A0 to the end point B, the velocity v is setxIs X in the direction of movement (horizontal direction); an obstacle at point C1 is detected when the robot moves to point A1 at the second time (time: 1S), starting from point A1 at speed vx(the current movement direction) superimposing a first preset speed on the direction with the included angle theta, theta belongs to [45 DEG, 135 DEG ]]So that the robot bypasses the obstacle at point C1, and the robot moves along the planned path 1; at the third time (time: 2S), the robot detects that the obstacle moves from the point C1 to the point C2 when moving to the point A2, and starts from the point A2 at the speed vx(current direction of motion) superimposing a second on the direction of angle θPreset speed, θ' e [45 °, 135 °]So that the robot bypasses the obstacle at point C2, and the robot moves along the planned path 2; at the fourth moment (time: 3S), the robot detects that the obstacle moves from the point C2 to the point C3 when moving to the point A3, and starts from the point A3 at the same speed vx(the current movement direction) superimposing a third preset speed in the direction with the included angle theta ∈ 45 DEG, 135 DEG]So that the robot bypasses the obstacle at point C3, and the robot moves to the end point B along the planned path 3. It should be noted that, at each moment when an obstacle is detected, the robot needs to determine whether the distance from the robot to the obstacle is greater than an emergency threshold before avoiding the obstacle, if so, the generated speed with a preset magnitude is directly superimposed in the direction having an angle θ with the direction of the current moving speed (current moving direction), and if not, an acceleration needs to be applied in the opposite direction of the current moving speed while superimposing the speed with the preset magnitude to decelerate the robot while avoiding the obstacle.
The speed value of the preset magnitude in this embodiment may enable the robot to leave the current moving speed direction to bypass the obstacle, and after the obstacle is bypassed, that is, when the obstacle is not on the current moving track, the robot is controlled to return to the running track before the obstacle avoidance.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or by a computer program. When all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, or the like, and the program is executed by a computer to realize the above-described functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above may be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a mobile hard disk, downloaded or copied to a memory of a local device, or a version-updated system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (8)
1. An obstacle avoidance method for a robot, comprising:
acquiring a signal for sensing the surrounding environment of the robot;
judging whether obstacles exist on the motion trail of the robot or not according to the signal for sensing the surrounding environment of the robot;
when the obstacle is judged to exist on the motion trail of the robot, the current motion speed of the robot is obtained;
calculating an emergency degree threshold value of the robot according to the current movement speed of the robot;
when the obstacle is judged to exist on the motion trail of the robot, the distance between the robot and the obstacle at present is also acquired;
judging the relation between the distance and an emergency degree threshold value;
when the distance is judged to be larger than the emergency degree threshold value, controlling the robot to adopt a first obstacle avoidance behavior so that the robot avoids the obstacle; the control robot takes a first obstacle avoidance behavior, and the method specifically comprises the following steps: on the basis of keeping the current movement speed and direction of the robot, controlling the robot to generate a preset speed, wherein the speed direction is within an included angle range of 45-135 degrees in the current movement speed direction;
and when the distance is judged to be smaller than or equal to the emergency degree threshold value, controlling the robot to adopt a second obstacle avoidance behavior so that the robot avoids the obstacle.
2. An obstacle avoidance method according to claim 1, wherein said controlling robot to take a second obstacle avoidance behavior comprises:
and controlling to apply an acceleration to the current moving speed direction of the robot so that the speed of the robot in the current direction is gradually reduced to zero, and meanwhile, controlling to enable the robot to generate a preset speed, wherein the direction of the speed is within an included angle range of 45-135 degrees in the current moving speed direction.
3. An obstacle avoidance method according to claim 1, wherein calculating the threshold of the urgency level of the robot based on the current speed of movement of the robot comprises:
acquiring a preset time constant;
and multiplying the absolute value of the current movement speed of the robot by the time constant to obtain the emergency degree threshold value of the robot.
4. An obstacle avoidance method according to claim 3, wherein the time constant is in the range of [0.05,0.15 ].
5. A robot arm, comprising:
a mechanical arm;
the driving circuit is used for driving the mechanical arm to move;
the electronic skin is arranged on the mechanical arm and used for sensing the surrounding environment and converting the surrounding environment into corresponding signals to be transmitted;
the controller is used for receiving the signal transmitted by the electronic skin to judge whether an obstacle exists on the motion track of the mechanical arm, and when the obstacle exists, the current motion speed of the mechanical arm and the current distance between the current mechanical arm and the obstacle are obtained; the controller calculates an emergency degree threshold value according to the current movement speed of the mechanical arm and judges the relation between the distance and the emergency degree threshold value; when the distance is judged to be greater than the emergency degree threshold value, the controller controls to take a first obstacle avoidance behavior so that the mechanical arm avoids the obstacle, and the controller controls to take the first obstacle avoidance behavior, which specifically includes: the controller controls the driving circuit, so that on the basis that the mechanical arm keeps the speed and the direction of the current movement, a preset speed is generated to the mechanical arm, and the speed direction is within an included angle range of 45-135 degrees in the speed direction of the current movement; otherwise, when the distance is judged to be smaller than or equal to the emergency degree threshold value, the controller controls to take a second obstacle avoidance behavior so that the mechanical arm avoids the obstacle.
6. The robotic arm of claim 5, wherein the controller controls taking a second obstacle avoidance behavior comprising:
the controller controls the driving circuit to apply an acceleration to the current moving speed direction of the mechanical arm, so that the speed of the mechanical arm in the current direction is gradually reduced to zero, and meanwhile, the driving circuit is controlled to enable the mechanical arm to generate a preset speed, and the speed direction is within an included angle range of 45-135 degrees in the current moving speed direction.
7. The robotic arm of claim 5, wherein the controller calculates the urgency threshold based on a speed of current movement of the robotic arm comprising:
the controller acquires a preset time constant;
and the controller multiplies the absolute value of the current movement speed of the mechanical arm by the time constant to obtain the emergency degree threshold value.
8. A computer-readable storage medium, comprising a program executable by a processor to implement the method of any one of claims 1-4.
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| CN112440283A (en) * | 2020-12-11 | 2021-03-05 | 深圳市越疆科技有限公司 | Robot pop-up window interaction method and device, robot and computer storage medium |
| CN112476438B (en) * | 2020-12-11 | 2022-07-29 | 深圳市越疆科技有限公司 | Mechanical arm obstacle avoidance method and device, mechanical arm and robot |
| CN112947439A (en) * | 2021-02-05 | 2021-06-11 | 深圳市优必选科技股份有限公司 | Position adjusting method and device, terminal equipment and readable storage medium |
| CN113021359B (en) * | 2021-05-27 | 2021-10-29 | 深圳市越疆科技有限公司 | Mechanical arm control method, device, equipment, system, storage medium and mechanical arm |
| CN114167872A (en) * | 2021-12-08 | 2022-03-11 | 江西省智能产业技术创新研究院 | Robot obstacle avoidance method and system, computer and robot |
| CN114545925A (en) * | 2022-01-11 | 2022-05-27 | 遨博（北京）智能科技有限公司 | Compound robot control method and compound robot |
| CN115373406B (en) * | 2022-10-24 | 2023-01-20 | 深圳市捷牛智能装备有限公司 | Obstacle crossing method and system for crawling robot |
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| CN101352854B (en) * | 2008-07-17 | 2011-01-26 | 上海交通大学 | Remote operation planar redundant manipulator automated guided intelligent element, system and method |
| CN102999050B (en) * | 2012-12-13 | 2015-04-08 | 哈尔滨工程大学 | Automatic obstacle avoidance method for intelligent underwater robots |
| CN106610664A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Movement obstacle avoidance device and control method |
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