CN112034856A - Robot traveling method, device, equipment and storage medium - Google Patents
Robot traveling method, device, equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The application discloses a robot advancing method, a robot advancing device, equipment and a storage medium, and belongs to the technical field of robots. The robot traveling method includes: in the process of robot running, determining a preset running range in a future preset time period to determine whether an obstacle exists in the preset running range; and if the obstacle is determined to exist, determining the type and the moving speed of the obstacle so as to determine the traveling strategy of the robot. In the application, the influence of scene factors is considered, and the material distribution task is ensured to be accurately completed in time, so that the technical problem that the existing robot can difficultly accurately and timely complete the material distribution task is solved.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method, an apparatus, a device, and a storage medium for robot traveling.
Background
With the continuous development of technologies such as computer communication and the like, more and more related technologies are applied to the robot industry, but the robot industry also puts higher requirements on the technologies, for example, the robot industry also has higher requirements on a robot traveling method.
At present, a plurality of robots all undertake the tasks of material distribution in hotels, KTVs or other office buildings, the robots only walk according to preset paths in the material distribution process, the preset paths are often influenced by various scene factors such as various barrier factors, and obviously, the robots cannot accurately and timely complete the material distribution tasks if the robots only walk according to the preset paths.
Disclosure of Invention
The application mainly aims to provide a robot advancing method, a robot advancing device, equipment and a storage medium, and aims to solve the technical problem that an existing robot cannot accurately and timely complete material distribution tasks.
In order to achieve the above object, the present application provides a robot traveling method applied to a robot, the robot traveling method including:
in the process of robot running, determining a preset running range in a future preset time period to determine whether an obstacle exists in the preset running range;
and if the obstacle is determined to exist, determining the type and the moving speed of the obstacle so as to determine the traveling strategy of the robot.
Optionally, the determining, during the robot traveling, a preset driving range within a future preset time period to determine whether an obstacle exists within the preset driving range includes:
when a traveling instruction is received, analyzing the traveling instruction to obtain a target traveling address which the robot needs to reach;
planning a path according to the target traveling address and the current position of the robot to obtain a target traveling path;
determining a preset driving range within a future preset time period from the current moment in the process that the robot travels according to the target traveling path;
and determining whether an obstacle exists in the preset driving range.
Optionally, if it is determined that an obstacle exists, determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot includes:
if the obstacle is determined to exist, determining the type and the moving speed of the obstacle;
if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero, determining that the advancing strategy of the robot is a preset advancing strategy advancing along with the moving type obstacle;
and if the type of the obstacle is a fixed type and the moving speed of the obstacle is equal to zero, determining that the traveling strategy of the robot is an obstacle bypassing strategy.
Optionally, if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero, determining that the traveling strategy of the robot is a preset traveling strategy that advances along with the moving type obstacle, including:
if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero, determining the distance between the robot and the moving obstacle;
if the distance between the robot and the moving obstacle is gradually reduced and is smaller than or equal to a first preset distance, controlling the robot to decelerate and move forwards according to a preset deceleration strategy;
and when the distance between the robot and the moving obstacle is smaller than or equal to a second preset distance, controlling the robot to pause to move forwards, wherein the first preset distance is larger than the second preset distance.
Optionally, after determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot if it is determined that the obstacle exists, the method includes:
and if it is determined that the moving speed of the robot is less than the preset speed in the moving process of the robot and the robot keeps running for the preset duration at the moving speed less than the preset speed, replanning the moving path of the robot.
Optionally, the replanning the path of travel of the robot comprises:
according to the target traveling address which the robot needs to reach, re-determining the re-planned paths with the preset number and the shortest walking path of the robot;
counting the types of the obstacles on each re-planned path;
determining the number of each type of obstacles and the obstacle weight of each type of obstacles;
and selecting the optimal re-planning path from the pre-set number of re-planning paths as the traveling path of the robot according to the number of the obstacles of each type and the obstacle weight of the obstacles of each type.
Optionally, after the re-determining the preset number of re-planned paths with the shortest robot walking distance according to the target travel address that the robot needs to reach, the method includes:
establishing communication with other robots located in the same scene, thereby sharing obstacle distribution information with the other robots;
and selecting an optimal re-planning path from the re-planning paths as a traveling path of the robot according to the obstacle distribution information.
The present application also provides a robot traveling apparatus applied to a robot, the robot traveling apparatus including:
applied to a robot, the robot traveling device includes:
the robot control system comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining a preset driving range in a future preset time period in the process of robot traveling so as to determine whether an obstacle exists in the preset driving range;
and the second determination module is used for determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot if the obstacle is determined to exist.
Optionally, the first determining module includes:
the first acquisition unit is used for analyzing the traveling instruction when the traveling instruction is received to obtain a target traveling address which the robot needs to reach;
the second acquisition unit is used for planning a path according to the target travelling address and the current position of the robot to obtain a target travelling path;
the first determining unit is used for determining a preset driving range within a preset time period in the future from the current moment in the process that the robot travels according to the target traveling path;
a second determination unit for determining whether an obstacle exists within the preset travel range.
Optionally, the second determining module includes:
a third determination unit, configured to determine a type and a moving speed of the obstacle if it is determined that the obstacle exists;
a fourth determining unit, configured to determine, if the type of the obstacle is a moving type and a moving speed of the obstacle is greater than zero, that a traveling strategy of the robot is a preset traveling strategy that advances along with the moving type obstacle;
and the fifth determining unit is used for determining that the traveling strategy of the robot is the obstacle bypassing strategy if the type of the obstacle is a fixed type and the moving speed of the obstacle is equal to zero.
Optionally, the fourth determining unit includes:
the determining subunit is used for determining the distance between the robot and the moving obstacle if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero;
the first control subunit is used for controlling the robot to decelerate and move forwards according to a preset deceleration strategy if the distance between the robot and the moving obstacle gradually decreases and is less than or equal to a first preset distance;
and the second control subunit is used for controlling the robot to pause to move forwards when the distance between the robot and the moving obstacle is less than or equal to a second preset distance, wherein the first preset distance is greater than the second preset distance.
Optionally, the robot traveling device further includes:
and the replanning module is used for replanning the traveling path of the robot if the fact that the moving speed of the robot is smaller than the preset speed and the robot keeps traveling for the preset duration at the moving speed smaller than the preset speed is determined in the traveling process of the robot.
Optionally, the replanning module comprises:
the extracting unit is used for determining the replanned paths with the preset number, which are the shortest in the walking path of the robot, again according to the target traveling address which the robot needs to reach;
a counting unit for counting the types of obstacles on each of the re-planned paths;
a sixth determining unit for determining the number of each type of obstacle and the obstacle weight of each type of obstacle;
and the first selection unit is used for selecting an optimal re-planning path from the pre-set number of re-planning paths as the traveling path of the robot according to the number of the obstacles of each type and the obstacle weight of the obstacles of each type.
Optionally, the replanning module comprises:
the communication unit is used for establishing communication with other robots in the same scene so as to share obstacle distribution information with the other robots;
and the second selecting unit is used for selecting an optimal re-planned path from the re-planned paths as the traveling path of the robot according to the obstacle distribution information.
The present application further provides a robot traveling apparatus, the robot traveling apparatus being an entity apparatus, the robot traveling apparatus including: a memory, a processor, and a program of the robot traveling method stored on the memory and executable on the processor, the program of the robot traveling method being executable by the processor to implement the robot traveling method as described above.
The present application also provides a storage medium having stored thereon a program for implementing the robot traveling method as described above, which when executed by a processor implements the robot traveling method as described above.
Compared with the prior art, the method, the device, the equipment and the storage medium for the robot to advance are characterized in that a preset travelling range in a future preset time period is determined in the advancing process of the robot so as to determine whether an obstacle exists in the preset travelling range; and if the obstacle is determined to exist, determining the type and the moving speed of the obstacle so as to determine the traveling strategy of the robot. In the application, in the process of the robot traveling, if the obstacle is determined to exist in the preset traveling range, the type and the moving speed of the obstacle are determined to determine the traveling strategy of the robot, namely, in the application, the traveling strategy is determined according to the type and the moving speed of the obstacle, and the robot does not only advance according to a preset traveling path, namely, in the application, the influence of scene factors is considered, and the timely and accurate material distribution task is ensured, so that the technical problem that the existing robot cannot accurately complete the material distribution task in time is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart diagram of a first embodiment of a robot travel method of the present application;
fig. 2 is a flowchart illustrating a detailed process of determining a preset driving range within a future preset time period during the robot traveling process to determine whether an obstacle exists within the preset driving range according to a first embodiment of the robot traveling method of the present application;
fig. 3 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application.
The objectives, features, and advantages of the present application will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In a first embodiment of the robot traveling method of the present application, referring to fig. 1, the method applied to a robot includes the following steps S10 to S20:
step S10, in the process of the robot moving, determining a preset driving range in a future preset time period to determine whether an obstacle exists in the preset driving range;
and step S20, if the obstacle is determined to exist, determining the type and the moving speed of the obstacle so as to determine the traveling strategy of the robot.
The method comprises the following specific steps:
step S10, in the process of the robot moving, determining a preset driving range in a future preset time period to determine whether an obstacle exists in the preset driving range;
in the present embodiment, the robot traveling method is applied to a robot traveling system subordinate to a robot traveling apparatus applied to a robot. In this embodiment, the robot traveling method may be applied to hotels, KTVs or other office buildings, and at present, the robot travels or travels according to an initial planned path pre-stored in a robot map, and the initial planned path in the robot map does not consider a travel obstacle or only considers a fixed obstacle, and since the travel obstacle is mobile, it is difficult to complete tasks such as material distribution and the like in time based on the initial planned path in the robot map. In the present embodiment, during the travel of the robot, a preset travel range within a future preset time period is determined, and, specifically, for example, the preset speed of the robot in the initially planned path may be acquired within 5 seconds in the future within the preset time period in the future, the preset driving range may be determined according to the preset time period in the future and the preset speed, or, further, a preset traveling range may be determined according to a preset forward direction for a future preset time period, and a preset speed, if the preset driving range is 5 meters ahead, after the preset driving range in the future preset time period is determined, whether an obstacle exists in the preset driving range is determined, the obstacle may be fixed or movable, the fixed obstacle may be a pillar or a sculpture, and the movable obstacle may be another robot or a person, or a vehicle.
Referring to fig. 2, the determining a preset driving range within a future preset time period during the robot traveling to determine whether an obstacle exists within the preset driving range includes steps S11-S14:
step S11, when a traveling instruction is received, the traveling instruction is analyzed to obtain a target traveling address which the robot needs to reach;
when a traveling instruction is received, analyzing the traveling instruction to obtain a target traveling address which the robot needs to reach, wherein the traveling instruction carries information of the target traveling address, preset speed, traveling time of a traveling area, materials to be distributed and the like.
Step S12, planning a path according to the target traveling address and the current position of the robot to obtain a target traveling path;
planning a path according to the target travel address and the current position of the robot to obtain a target travel path, specifically, planning a path according to the target travel address and the current position of the robot at a certain time interval to obtain a target travel path, for example, planning a path according to the target travel address and the current position of the robot at time t1 to obtain a target travel path, and planning a path according to the target travel address and the current position of the robot at time t2 of t1+5 minutes to obtain a target travel path.
Planning a path according to the target traveling address and the current position of the robot, wherein the method for obtaining the target traveling path comprises the following steps:
the first method is as follows: calling a navigation map to plan a path according to the target traveling address and the current position of the robot to obtain a target traveling path;
the second method comprises the following steps: and calling historical advancing paths according to the target advancing address and the current position of the robot, and selecting the historical advancing paths to obtain the target advancing paths.
Step S13, determining a preset driving range in a preset time period after the current time in the process that the robot travels according to the target travel path;
in the process that the robot travels according to the target travel path, a preset travel range in a future preset time period after the current time is determined, for example, the preset travel range in 5 seconds in the future is determined by taking the current time of 3 points as a starting point, or the preset travel range in 5 seconds in the future is continuously and correspondingly determined by taking 5 seconds after the current time of 3 points as a starting point.
And step S14, acquiring whether an obstacle exists in the preset driving range.
Whether the obstacle exists in the preset driving range is obtained through scanning of a camera, whether the obstacle exists in the preset driving range is obtained through scanning of a radar, whether the obstacle exists in the preset driving range is obtained through scanning of a laser, the obstacle possibly exists in the preset driving range, or the obstacle possibly does not exist in the preset driving range.
And step S20, if the obstacle is determined to exist, determining the type and the moving speed of the obstacle so as to determine the traveling strategy of the robot.
In this embodiment, if there is no obstacle, the vehicle directly travels according to an initial planned route, and if it is determined that there is an obstacle, the type of the obstacle is determined first, where the manner of determining the type of the obstacle includes:
the first method is as follows: acquiring an image of an obstacle, and identifying the image of the obstacle based on a preset image identification network to obtain the type of the obstacle;
the second method comprises the following steps: acquiring an image of an obstacle, and identifying the image of the obstacle based on a locally preset image library to obtain the type of the obstacle;
and thirdly, acquiring an image of the obstacle, recognizing the image of the obstacle based on a local preset image library, and if the image of the obstacle cannot be recognized, networking and recognizing the image of the obstacle based on the local preset image library to obtain the type of the obstacle.
The types of obstacles are classified into two major types, namely, a mobile type and a fixed type, and the mobile type is classified into a pedestrian type, a mobile robot type and the like.
If the obstacle is determined to exist, determining the moving speed of the obstacle, wherein the mode for determining the moving speed of the obstacle comprises the following steps:
the first method is as follows: acquiring images of the obstacles in different time periods to determine the moving speed of the obstacles;
the second method comprises the following steps: and transmitting a laser radar to the obstacle, and determining the moving speed of the obstacle according to the received reflected laser information.
If the obstacle is determined to exist, determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot, wherein the method comprises the following steps A1-A3:
step A1, if the obstacle is determined to exist, determining the type and the moving speed of the obstacle;
step A2, if the type of the barrier is a moving type and the moving speed of the barrier is greater than zero, determining that the traveling strategy of the robot is a preset traveling strategy which follows the moving type barrier to travel;
if the obstacle is determined to exist, determining the type and the moving speed of the obstacle, and if the type of the obstacle is the moving type and the moving speed of the obstacle is greater than zero, determining the advancing strategy of the robot to be a preset advancing strategy advancing along with the moving type obstacle.
Step A3, if the type of the obstacle is a fixed type and the moving speed of the obstacle is equal to zero, determining that the robot has a traveling strategy of bypassing the obstacle.
And if the type of the obstacle is a fixed type and the moving speed of the obstacle is equal to zero, determining that the traveling strategy of the robot is an obstacle bypassing strategy. Wherein the obstacle-bypassing strategy is to change the advancing direction of the robot.
Wherein, if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero, determining that the traveling strategy of the robot is a preset traveling strategy that follows the moving type obstacle, including the following steps B1-B3:
step B1, if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero, determining the distance between the robot and the moving obstacle;
if the type of the obstacle is a moving type and the moving speed of the obstacle is larger than zero, determining the distance between the robot and the moving obstacle and determining the distance trend between the robot and the moving obstacle, wherein the distance trend comprises that the distance gradually becomes smaller and the distance gradually becomes larger.
Step B2, if the distance between the robot and the moving obstacle gradually decreases and is less than or equal to a first preset distance, controlling the robot to decelerate according to a preset deceleration strategy;
and step B3, when the distance between the robot and the moving obstacle is smaller than or equal to a second preset distance, controlling the robot to pause to move forwards, wherein the first preset distance is larger than the second preset distance.
If the distance between the robot and the moving barrier gradually becomes smaller and is smaller than or equal to a first preset distance, the robot is controlled to decelerate and move forwards according to a preset deceleration strategy, the robot is controlled to pause and move forwards when the distance between the robot and the moving barrier is smaller than or equal to a second preset distance, and the first preset distance is larger than the second preset distance. In this embodiment, the advancing speed is adjusted accordingly according to the type and the moving speed of the obstacle, wherein when facing the moving type obstacle, the robot follows the obstacle ahead, when the relative distance to the obstacle ahead is gradually reduced and is smaller than a first preset distance, the robot decelerates to advance, when the relative distance to the obstacle ahead is smaller than a second preset distance, the robot pauses to advance, wherein the first preset distance is greater than the second preset distance, when the relative distance to the obstacle ahead is gradually increased and is greater than the second preset distance, the robot accelerates to advance, and when the relative distance is greater than the first preset distance, the robot advances at a preset maximum speed.
After determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot if the obstacle is determined to exist, the method comprises the following steps:
step S30, if it is determined that the moving speed of the robot is less than the preset speed in the moving process of the robot, and the robot keeps running for the preset duration at the moving speed less than the preset speed, the moving path of the robot is planned again.
If the fact that the moving speed of the robot is smaller than the preset speed in the moving process of the robot is determined, and the robot keeps running for the preset duration at the moving speed smaller than the preset speed is determined, the moving path of the robot is re-planned, and the purpose of re-planning the moving path of the robot is to avoid the problem that the time consumed for conveying materials is too long, and tasks are delayed.
Compared with the prior art, the method, the device, the equipment and the storage medium for the robot to advance are characterized in that a preset travelling range in a future preset time period is determined in the advancing process of the robot so as to determine whether an obstacle exists in the preset travelling range; and if the obstacle is determined to exist, determining the type and the moving speed of the obstacle so as to determine the traveling strategy of the robot. In the application, in the process of the robot traveling, if the obstacle is determined to exist in the preset traveling range, the type and the moving speed of the obstacle are determined to determine the traveling strategy of the robot, namely, in the application, the traveling strategy is determined according to the type and the moving speed of the obstacle, and the robot does not only advance according to a preset traveling path, namely, in the application, the influence of scene factors is considered, and the timely and accurate material distribution task is ensured, so that the technical problem that the existing robot cannot accurately complete the material distribution task in time is solved.
In another embodiment of the robot traveling method, the replanning the traveling path of the robot includes the following steps C1-C4:
step C1, according to the target traveling address that the robot needs to reach, re-determining the re-planned paths with the preset number that the robot has the shortest walking distance;
in this embodiment, according to the target travel address that the robot needs to reach, and according to the target travel address, the replanned paths with the preset number that the robot has the shortest travel distance are determined again, for example, the first three paths that the travel distance is the shortest are extracted as analysis objects or the paths are replanned, and one path that is the fewest pedestrians (obstacles) among the three paths may be determined as the target planned path, or the target planned path is determined by other means.
Step C2, counting the types of obstacles on each of the re-planned paths;
step C3, determining the number of each type of obstacles and the obstacle weight of each type of obstacles;
counting the types of the obstacles on each re-planned path, determining the number of the obstacles of each type, and the obstacle weight of each type of obstacle, for example, the obstacles are classified into pedestrian, mobile robot, fixed obstacle, etc., wherein the weight condition may be: the pedestrian is 0.3, the mobile robot is 0.5, and the fixed obstacle is 0.2.
And step C4, selecting the optimal re-planning path from the pre-set number of re-planning paths as the traveling path of the robot according to the number of the obstacles of each type and the obstacle weight of the obstacles of each type.
And selecting an optimal re-planning path from the pre-set number of re-planning paths as a traveling path of the robot according to the number of the various types of obstacles and the obstacle weight of the various types of obstacles, specifically, calculating the total obstacle weight of the various re-planning paths according to the obstacle weight ratio and the number of the obstacles, and taking the path with the maximum total obstacle weight as the optimal re-planning path.
In this embodiment, the replanned paths with the preset number, which are shortest in the walking path of the robot, are determined again according to the target traveling address to which the robot needs to arrive; counting the types of the obstacles on each re-planned path; determining the number of each type of obstacles and the obstacle weight of each type of obstacles; and selecting the optimal re-planning path from the pre-set number of re-planning paths as the traveling path of the robot according to the number of the obstacles of each type and the obstacle weight of the obstacles of each type. In this embodiment, the optimal re-planned path is accurately selected.
In another embodiment of the robot traveling method, after re-determining the preset number of re-planned paths where the robot travels shortest distance according to the target traveling address that the robot needs to reach, the method further includes the following steps D1-D2:
step D1, establishing communication with other robots in the same scene, so as to share obstacle distribution information with other robots;
and D2, selecting an optimal re-planning path from the re-planning paths as the traveling path of the robot according to the obstacle distribution information.
In this embodiment, the robot further establishes communication with other robots located in the same scene, so as to share obstacle distribution information with the other robots, where the obstacle distribution information includes the number of obstacles, the positions of the obstacles, and the like, and according to the obstacle distribution information, an optimal re-planned path is selected from the re-planned paths as a traveling path of the robot, for example, a path with the fewest obstacles is selected as an optimal re-planned path.
In the embodiment, communication is established with other robots located in the same scene, so that obstacle distribution information is shared with the other robots; and selecting an optimal re-planning path from the re-planning paths as a traveling path of the robot according to the obstacle distribution information, so that excessive resource consumption is avoided.
Referring to fig. 3, fig. 3 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 3, the robot traveling apparatus may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used for realizing connection communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.
Optionally, the robotic travel device may further include a user interface, a network interface, a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and so forth. The user interface may comprise a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
Those skilled in the art will appreciate that the robot traveling apparatus configuration shown in fig. 3 does not constitute a limitation of the robot traveling apparatus, and may include more or less components than those shown, or combine some components, or a different arrangement of components.
As shown in fig. 3, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, and a robot traveling program. The operating system is a program that manages and controls hardware and software resources of the robot traveling apparatus, and supports the operation of the robot traveling program as well as other software and/or programs. The network communication module is used to enable communication between the components within the memory 1005, as well as with other hardware and software in the robot travel system.
In the robot traveling apparatus shown in fig. 3, the processor 1001 is configured to execute a robot traveling program stored in the memory 1005, and implement any one of the robot traveling methods described above.
The specific implementation of the robot traveling device of the present application is substantially the same as the embodiments of the robot traveling method described above, and is not described herein again.
The present application still provides a robot advancing device, and the present application still provides a robot advancing device, is applied to the robot, the robot advancing device includes:
applied to a robot, the robot traveling device includes:
the robot control system comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining a preset driving range in a future preset time period in the process of robot traveling so as to determine whether an obstacle exists in the preset driving range;
and the second determination module is used for determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot if the obstacle is determined to exist.
Optionally, the first determining module includes:
the first acquisition unit is used for analyzing the traveling instruction when the traveling instruction is received to obtain a target traveling address which the robot needs to reach;
the second acquisition unit is used for planning a path according to the target travelling address and the current position of the robot to obtain a target travelling path;
the first determining unit is used for determining a preset driving range within a preset time period in the future from the current moment in the process that the robot travels according to the target traveling path;
a second determination unit for determining whether an obstacle exists within the preset travel range.
Optionally, the second determining module includes:
a third determination unit, configured to determine a type and a moving speed of the obstacle if it is determined that the obstacle exists;
a fourth determining unit, configured to determine, if the type of the obstacle is a moving type and a moving speed of the obstacle is greater than zero, that a traveling strategy of the robot is a preset traveling strategy that advances along with the moving type obstacle;
and the fifth determining unit is used for determining that the traveling strategy of the robot is the obstacle bypassing strategy if the type of the obstacle is a fixed type and the moving speed of the obstacle is equal to zero.
Optionally, the fourth determining unit includes:
the determining subunit is used for determining the distance between the robot and the moving obstacle if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero;
the first control subunit is used for controlling the robot to decelerate and move forwards according to a preset deceleration strategy if the distance between the robot and the moving obstacle gradually decreases and is less than or equal to a first preset distance;
and the second control subunit is used for controlling the robot to pause to move forwards when the distance between the robot and the moving obstacle is less than or equal to a second preset distance, wherein the first preset distance is greater than the second preset distance.
Optionally, the robot traveling device further includes:
and the replanning module is used for replanning the traveling path of the robot if the fact that the moving speed of the robot is smaller than the preset speed and the robot keeps traveling for the preset duration at the moving speed smaller than the preset speed is determined in the traveling process of the robot.
Optionally, the replanning module comprises:
the extracting unit is used for determining the replanned paths with the preset number, which are the shortest in the walking path of the robot, again according to the target traveling address which the robot needs to reach;
a counting unit for counting the types of obstacles on each of the re-planned paths;
a sixth determining unit for determining the number of each type of obstacle and the obstacle weight of each type of obstacle;
and the first selection unit is used for selecting an optimal re-planning path from the pre-set number of re-planning paths as the traveling path of the robot according to the number of the obstacles of each type and the obstacle weight of the obstacles of each type.
Optionally, the replanning module comprises:
the communication unit is used for establishing communication with other robots in the same scene so as to share obstacle distribution information with the other robots;
and the second selecting unit is used for selecting an optimal re-planned path from the re-planned paths as the traveling path of the robot according to the obstacle distribution information.
The specific implementation of the robot traveling device of the present application is substantially the same as the embodiments of the robot traveling method described above, and is not described herein again.
The embodiment of the application provides a storage medium, and the storage medium stores one or more programs, which can be executed by one or more processors for implementing any one of the robot traveling methods.
The specific implementation of the storage medium of the present application is substantially the same as that of each embodiment of the robot running method, and is not described herein again.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A robot traveling method, applied to a robot, the robot traveling method comprising:
in the process of robot running, determining a preset running range in a future preset time period to determine whether an obstacle exists in the preset running range;
and if the obstacle is determined to exist, determining the type and the moving speed of the obstacle so as to determine the traveling strategy of the robot.
2. The robot traveling method according to claim 1, wherein the determining a preset travel range within a preset time period in the future to determine whether an obstacle exists within the preset travel range during the traveling of the robot comprises:
when a traveling instruction is received, analyzing the traveling instruction to obtain a target traveling address which the robot needs to reach;
planning a path according to the target traveling address and the current position of the robot to obtain a target traveling path;
determining a preset driving range in a preset time period after the current moment in the process that the robot travels according to the target traveling path;
and acquiring whether an obstacle exists in the preset driving range.
3. The robot traveling method according to claim 1, wherein the determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot if it is determined that the obstacle exists comprises:
if the obstacle is determined to exist, determining the type and the moving speed of the obstacle;
if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero, determining that the advancing strategy of the robot is a preset advancing strategy advancing along with the moving type obstacle;
and if the type of the obstacle is a fixed type and the moving speed of the obstacle is equal to zero, determining that the traveling strategy of the robot is an obstacle bypassing strategy.
4. The robot traveling method according to claim 3, wherein the determining of the traveling strategy of the robot as a preset traveling strategy for traveling following the obstacle of the moving type if the type of the obstacle is the moving type and the moving speed of the obstacle is greater than zero includes:
if the type of the obstacle is a moving type and the moving speed of the obstacle is greater than zero, determining the distance between the robot and the moving obstacle;
if the distance between the robot and the moving obstacle is gradually reduced and is smaller than or equal to a first preset distance, controlling the robot to decelerate and move forwards according to a preset deceleration strategy;
and when the distance between the robot and the moving obstacle is smaller than or equal to a second preset distance, controlling the robot to pause to move forwards, wherein the first preset distance is larger than the second preset distance.
5. The robot traveling method according to claim 1, wherein after determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot if it is determined that the obstacle exists, the method comprises:
and if it is determined that the moving speed of the robot is less than the preset speed in the moving process of the robot and the robot keeps running for the preset duration at the moving speed less than the preset speed, replanning the moving path of the robot.
6. The robot travel method of claim 5, wherein the re-planning the travel path of the robot comprises:
according to the target traveling address which the robot needs to reach, re-determining the re-planned paths with the preset number and the shortest walking path of the robot;
counting the types of the obstacles on each re-planned path;
determining the number of each type of obstacles and the obstacle weight of each type of obstacles;
and selecting the optimal re-planning path from the pre-set number of re-planning paths as the traveling path of the robot according to the number of the obstacles of each type and the obstacle weight of the obstacles of each type.
7. The robot traveling method according to claim 6, wherein after the re-determining the preset number of re-planned paths where the robot travels the shortest distance according to the target travel address to which the robot needs to reach, the method further comprises:
establishing communication with other robots located in the same scene, thereby sharing obstacle distribution information with the other robots;
and selecting an optimal re-planning path from the re-planning paths as a traveling path of the robot according to the obstacle distribution information.
8. A robot traveling apparatus applied to a robot, the robot traveling apparatus comprising:
the robot control system comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining a preset driving range in a future preset time period in the process of robot traveling so as to determine whether an obstacle exists in the preset driving range;
and the second determination module is used for determining the type and the moving speed of the obstacle to determine the traveling strategy of the robot if the obstacle is determined to exist.
9. A robot traveling apparatus characterized by comprising: a memory, a processor, and a program stored on the memory for implementing a robot travel method,
the memory is used for storing a program for realizing the robot traveling method;
the processor is configured to execute a program implementing the robot traveling method to implement the robot traveling method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a program for implementing a robot traveling method, the program being executed by a processor to implement the robot traveling method according to any one of claims 1 to 7.
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