CN112549033B - Trajectory control method and device, robot and storage medium - Google Patents
Trajectory control method and device, robot and storage medium Download PDFInfo
- Publication number
- CN112549033B CN112549033B CN202011483684.7A CN202011483684A CN112549033B CN 112549033 B CN112549033 B CN 112549033B CN 202011483684 A CN202011483684 A CN 202011483684A CN 112549033 B CN112549033 B CN 112549033B
- Authority
- CN
- China
- Prior art keywords
- track
- robot
- task
- expected
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a track control method, a track control device, a robot and a storage medium, wherein the method comprises the following steps: recording the forward movement track of the robot according to the current running task; and when the current planned track comprises the U-turn driving estimation and the current position of the robot does not have the U-turn driving space, acquiring an expected reversing track according to the forward moving track, and controlling the robot to drive to the end point of the task to be driven according to the expected reversing track and the forward planned track. According to the technical scheme disclosed by the embodiment of the invention, the accurate reverse track control is realized for the robot only provided with the forward monitoring device, the flexibility of the robot is greatly improved, and meanwhile, the reverse tracks are expected to be safe regions through which the robot runs, so that the safety of the running track of the robot is ensured on the premise of not being provided with the backward monitoring device.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a track control method and device, a robot and a storage medium.
Background
With the continuous progress of science and technology, the robot technology has been rapidly developed and becomes an important component in the industrial technology field, and among them, the trajectory control of the robot has become especially important.
In the traditional technical scheme, monitoring equipment such as a camera is usually installed at the front end of the robot, therefore, the robot can only execute forward traveling, and if rear-end monitoring equipment is added to the robot, the hardware structure of the robot can be changed, the complexity of the structure is increased, and the control difficulty of the robot is increased.
Therefore, the robot with only a forward monitoring device cannot effectively control the track, and particularly, after the robot enters a narrow one-way passage, the robot is often trapped at the end of the passage, and the flexibility of the robot is extremely poor.
Disclosure of Invention
The embodiment of the invention provides a track control method, a track control device, a robot and a storage medium, which are used for controlling a running track of the robot.
In a first aspect, an embodiment of the present invention provides a trajectory control method, including:
recording the forward movement track of the robot according to the current running task;
when the current driving task is determined to be processed and completed and the task to be driven is obtained, generating a forward planning track according to the end point of the task to be driven, and judging whether the forward planning track comprises a U-turn driving track;
if the forward planning track is determined to comprise a U-turn driving track, judging whether the current position of the robot has a U-turn driving space;
and if the current position of the robot is determined not to have the turning-around driving space, acquiring an expected backing track according to the forward moving track, and controlling the robot to drive to the end point of the task to be driven according to the expected backing track and the forward planning track.
In a second aspect, an embodiment of the present invention provides a trajectory control device, including:
the forward moving track recording module is used for recording the forward moving track of the robot according to the current running task;
the forward planning track generation module is used for generating a forward planning track according to the end point of the task to be driven and judging whether the forward planning track comprises a U-turn driving track when the current driving task is determined to be processed and the task to be driven is obtained;
the U-turn driving space judging module is used for judging whether the current position of the robot has a U-turn driving space or not if the forward planning track comprises the U-turn driving track is determined;
and the first control execution model is used for acquiring an expected backing track according to the forward moving track if the current position of the robot is determined not to have a turning-around driving space, and controlling the robot to drive to the end point of the task to be driven according to the expected backing track and the forward planning track.
In a third aspect, an embodiment of the present invention provides a robot, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the trajectory control method according to any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the trajectory control method according to any embodiment of the present invention.
According to the technical scheme disclosed by the embodiment of the invention, when the current planning track comprises the U-turn driving estimation and the current position of the robot does not have a U-turn driving space, the expected reversing track is generated according to the forward moving track obtained by the last driving task, and the robot is controlled to drive to the target position according to the expected reversing track and the forward planning track.
Drawings
Fig. 1A is a flowchart of a trajectory control method according to an embodiment of the present invention;
fig. 1B is a schematic diagram of a track of a robot according to an embodiment of the present invention;
fig. 2A is a flowchart of a trajectory control method according to a second embodiment of the present invention;
fig. 2B is a schematic track diagram of a robot according to a second embodiment of the present invention;
fig. 3 is a block diagram of a trajectory control device according to a third embodiment of the present invention;
fig. 4 is a block diagram of a robot according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Example one
Fig. 1A is a flowchart of a trajectory control method according to an embodiment of the present invention, where this embodiment is applicable to control a traveling trajectory of a robot, and the method may be executed by a trajectory control device in an embodiment of the present invention, where the device may be implemented by software and/or hardware and is integrated in the robot, and the method specifically includes the following steps:
and S110, recording the forward movement track of the robot according to the current running task.
The front end of the body of the robot is provided with a monitoring device, such as a front camera assembly and a distance sensor, so that the planned movement tracks for each running task are forward movement tracks, namely, when the robot runs, the robot runs in a forward posture with a front head in front and a rear tail in back to ensure the running safety of the robot, and the forward movement tracks can specifically comprise forward straight tracks, forward right-turning tracks, forward left-turning tracks and the like; after the current driving task is finished, the end track of the preset time length or the preset distance may be used as the forward moving track recorded by the current driving task, for example, the time consumed by the current driving task is 3 minutes, and the preset time length is 1 minute, that is, only the approaching moving track with the time length of 1 minute before the end of the current driving task is used as the forward moving track of the current driving task.
In particular, the diversity of the functions of the robot determines that the robot not only needs to complete a running task, but also can perform other functional operations while executing the running task or after executing the running task, for example, a transportation robot applied to the storage and logistics field needs to run to each task point, sort and transport goods while running or after reaching the task point, and continue to acquire the position of the next task point after sorting and transporting are completed; optionally, in the embodiment of the present invention, the type, function, and applicable field of the robot are not particularly limited.
Optionally, in an embodiment of the present invention, the recording a forward movement trajectory of the robot includes: acquiring position point information according to a preset sampling condition, and determining a forward movement track of the robot according to the position point information; wherein the preset sampling condition comprises a sampling interval time or a sampling interval distance. The motion trail of the robot is composed of a plurality of discrete position points, and for the information collection of each position point, the information of each position point of the robot can be collected according to a preset sampling condition, such as a preset sampling interval time or a preset sampling interval distance, so that the relevance of the obtained information of each position point on time or position is ensured, and the motion trail of the robot is accurately reflected.
Optionally, in the embodiment of the present invention, the acquiring position point information according to a preset sampling condition, and determining a forward movement trajectory of the robot according to each of the position point information includes: acquiring position point information through a distance sensor and a front camera assembly according to preset sampling conditions, and determining a forward movement track of the robot according to the position point information; or according to preset sampling conditions, acquiring position point information through prefabricated map information, and determining the forward movement track of the robot according to the position point information. The method comprises the steps that prefabricated map information is a scene map which is drawn in advance, the working environment of a robot, such as a warehouse, is drawn as map information in advance, each position point in the map information corresponds to a unique map coordinate, and the acquired position point information is converted into coordinate information in the prefabricated map information; the map information of the current scene can be constructed in real time according to the front camera assembly and the distance sensor, and the acquired position point information describes the moving distance and the moving direction during each movement, for example, if the position point information is turned right and advances by 10 centimeters, the current position point is the last position point, and the vehicle body turns right and advances by 10 centimeters to arrive.
And S120, when the current driving task is determined to be processed and the task to be driven is obtained, generating a forward planning track according to the end point of the task to be driven, and judging whether the forward planning track comprises a U-turn driving track.
The forward planning track is a driving route planned according to the current position of the robot and the end point of a task to be driven, namely the current position of the robot is used as the starting point of the task to be driven, namely the stopping point of the robot after processing each driving task is used as the starting point of the next task to be driven, and under the driving route, the robot always drives in a forward posture that the head of the robot is in front of the tail of the robot; particularly, in the forward planning track generated by the robot, the obstacle encountered in forward driving is avoided, and if the robot encounters a route in which the robot cannot advance forward, a turning-around driving track is generated for the robot, for example, when the front camera assembly and the distance sensor at the front end of the vehicle body detect that the obstacle such as a wall exists in the front and the forward driving route does not exist on the left side and the right side of the head of the robot, the turning-around driving track is included in the forward planning track to turn the posture of the vehicle body of the robot, so that the robot is ensured to still drive in the forward posture.
Optionally, in the embodiment of the present invention, after determining whether the forward planned trajectory includes a u-turn driving trajectory, the method further includes: and if the forward planning track does not comprise the turning-around driving track, controlling the robot to drive to the end point of the task to be driven according to the forward planning track. If the forward planning track does not comprise the turning-around driving track, the robot does not need to turn around to drive, and therefore whether the current position of the robot has a turning-around space or not does not need to be considered, and the robot can be directly controlled to drive according to the forward planning track.
And S130, if the forward planning track comprises the U-turn driving track, judging whether the current position of the robot has a U-turn driving space.
The front camera shooting assembly and the distance sensor at the front end of the vehicle body can acquire the information of a space area in front of the vehicle head, the distance between the vehicle body and two sides of a channel can be acquired through the distance sensors on two sides of the vehicle body, the width of the vehicle body and the width of the channel are combined simultaneously, the current position of the robot can be determined, and whether the robot has a space for turning around to run or not can be determined.
And S140, if the current position of the robot is determined not to have the turning-around driving space, acquiring an expected backing-up track according to the forward moving track, and controlling the robot to drive to the end point of the task to be driven according to the expected backing-up track and the forward planning track.
If the current position of the robot is determined not to have the turning-around running space, the robot needs to be controlled to run in a reverse mode, at the moment, an expected reversing track is generated in a reverse mode according to the forward moving track of the last running task finished by the running of the robot, and the robot is controlled to run in the reverse mode along the expected reversing track; when the robot runs to a certain positioning point of the expected reversing track, and the remaining non-running track in the forward planning track is determined to be positioned in front of the vehicle head, the robot is controlled to continue running along the non-running track in a forward running mode, and finally the end point of the task to be run is reached.
For example, as shown in fig. 1B, in the last driving task that has been completed, the forward movement trajectory of the robot is line ABC, and after the driving task is completed, the robot is located at point C; the end point of the task to be driven is point E, the generated forward planning track is CDCBE, namely the point C passes through point D and returns to point C, the vehicle body is turned around, and then the vehicle body is driven to the position of point E according to the line CBE; however, when the robot is located at the position of the point C, the robot does not have a u-turn driving space, that is, the u-turn driving trajectory CDC has an obstacle, so that the robot needs to run in reverse along the expected back-up trajectory CBA, when the robot moves to the position of the vehicle body in fig. 1B, that is, when the vehicle head of the robot runs to the point B, at this time, the remaining non-travelling trajectory in the forward planned path CDCBE is the line BE, and the line BE is located in front of the vehicle head of the robot, so that the robot is controlled to run in a forward travelling manner along the line BE, and finally reaches the end point E of the task to BE run.
Optionally, in the embodiment of the present invention, a reverse driving end point is determined on the expected reverse trajectory, and the robot is controlled to move to the reverse driving end point along the expected reverse trajectory; and updating the forward planning track at the reversing driving end point, and controlling the robot to drive to the end point of the task to be driven according to the updated forward planning track. After the expected backing track is obtained, determining a backing driving terminal, for example, determining the backing driving terminal on the expected backing track according to a preset backing distance; the starting point of the forward movement track, namely the starting point of the last driving task, can also be used as the reverse driving end point (for example, point a in fig. 1B); a turning point in the forward movement track can also be used as a reverse driving end point (for example, a point B in the figure 1B); specifically, each driving task may use only the track from the last turning point to the stopping point for completing the driving task as the forward moving track, for example, only the track BC in fig. 1B is used as the forward moving track, and the starting point of the forward moving track and the turning point are the same position point, i.e., point B in fig. 1B; and after the robot reaches the reversing driving terminal, updating the forward planning track, and controlling the robot to move to the terminal of the task to be driven along the updated forward planning track.
Optionally, in an embodiment of the present invention, the obtaining an expected reverse trajectory according to the forward movement trajectory includes: and fitting the forward moving track to obtain a smooth track, and obtaining an expected reversing track according to the smooth track. In the acquired forward movement track of the previous driving task, the sampling information of each position point may have a deviation, so that the forward movement track needs to be fitted, singular points in the forward movement track are removed, the deviation which may exist during track acquisition is corrected, so as to acquire a smooth forward movement track, and a reverse movement line of the forward movement track is an expected reversing track.
Optionally, in an embodiment of the present invention, the controlling the robot to travel to the end point of the task to be traveled according to the expected reverse trajectory and the forward planned trajectory includes: and correcting the actual backing track of the robot according to a front camera assembly and a distance sensor so as to enable the actual backing track of the robot to be consistent with the expected backing track. When the robot backs along the expected backing track, the actual backing track of the robot can be obtained according to the front camera assembly and the side distance sensors positioned on the two sides of the vehicle body, and the obtained actual backing track is corrected, so that the actual backing track of the robot is consistent with the expected backing track, and the robot is prevented from driving into an unknown area and colliding in the backing driving process; meanwhile, when the automobile runs in a reverse mode, the automobile can be backed up and reminded through the light and the sound effect, and therefore the collision accident can be prevented.
Optionally, in an embodiment of the present invention, after determining whether the current position of the robot has a u-turn driving space, the method further includes: and if the current position of the robot is determined to have a U-turn driving space, controlling the robot to drive to the end point of the task to be driven according to the forward planning track. If the current position of the robot has the turning travel space, the robot is controlled to complete turning of the vehicle body along the turning travel track in the forward planning track, and then the robot is controlled to travel in the forward posture along the rest track in the forward planning track, so that the robot is ensured to travel in the forward posture all the time in the whole travel task.
According to the technical scheme disclosed by the embodiment of the invention, when the current planned track comprises the U-turn driving estimation and the current position of the robot does not have the U-turn driving space, the expected reversing track is generated according to the forward moving track obtained by the last driving task, and the robot is controlled to drive to the target position according to the expected reversing track and the forward planned track.
Example two
Fig. 2 is a flowchart of a trajectory control method according to a second embodiment of the present invention, which is embodied on the basis of the above-described embodiment, and in the embodiment of the present invention, a robot is controlled to move along an expected reverse trajectory and reverse to drive, and a forward planned trajectory is updated in real time, where the method specifically includes the following steps:
and S210, recording the forward movement track of the robot according to the current running task.
And S220, when the current driving task is determined to be processed and the task to be driven is obtained, generating a forward planning track according to the end point of the task to be driven, and judging whether the forward planning track comprises a U-turn driving track.
And S230, if the forward planning track comprises the U-turn driving track, judging whether the current position of the robot has a U-turn driving space.
S240, if it is determined that the current position of the robot does not have the turning driving space, controlling the robot to move along the expected reversing track to perform reversing driving, and updating the forward planning track in real time.
S250, when the updated forward planning track comprises a U-turn driving track and the current position of the robot has a U-turn driving space, controlling the robot to drive to the end point of the task to be driven according to the updated forward planning track; or when the updated forward planning track does not comprise the turning-around driving track, controlling the robot to drive to the end point of the task to be driven according to the updated forward planning track.
By taking the above technical solution as an example, as shown in fig. 2B, in the last driving task that has been completed, the forward movement trajectory of the robot is line ABC, and after the driving task is completed, the robot is located at point C; the end point of the task to be driven is point E, the generated forward planning track is CDCBE, namely the point C passes through point D and returns to point C, the vehicle body is turned around, and then the vehicle body is driven to the position of point E according to the line CBE; however, when the robot is located at the position of the C point, the robot does not have a turning travel space, that is, the turning travel trajectory CDC has a barrier, so that the robot needs to travel in reverse along the expected reverse trajectory CBA, and the forward planning trajectory is updated in real time while the robot travels in reverse; when the robot head runs to the M point, the forward planning track updated in real time is MNMBE, namely the M point returns to the M point through the N point, the vehicle body turns around, and then the vehicle body runs to the E point according to the line MBE, the position space of the vehicle body at the M point meets the turning-around running requirement of the robot, and no barrier exists in the forward planning track MNMBE.
According to the technical scheme disclosed by the embodiment of the invention, when the robot is controlled to move along the expected backing track for backing running, the forward planning track is updated in real time, and when the updated forward planning track is determined to have no barrier, the robot is immediately controlled to run to the target position in a forward running mode according to the updated forward planning track, so that the backing running distance of the robot is shortened while accurate backing track control is realized, the fact that the robot is adjusted to be in a forward posture in time is ensured, and the safety of the running track is improved.
EXAMPLE III
Fig. 3 is a block diagram of a track control device according to a third embodiment of the present invention, where the track control device specifically includes: a forward movement trajectory recording module 310, a forward planning trajectory generating module 320, a u-turn driving space judging module 330 and a first control execution model 340;
a forward movement trajectory recording module 310, configured to record a forward movement trajectory of the robot according to the current driving task;
a forward planning track generating module 320, configured to generate a forward planning track according to a terminal point of the task to be driven when it is determined that the current driving task is processed and the task to be driven is obtained, and determine whether the forward planning track includes a u-turn driving track;
a u-turn driving space determining module 330, configured to determine whether the current position of the robot has a u-turn driving space if it is determined that the forward planning trajectory includes a u-turn driving trajectory;
and the first control execution model 340 is configured to, if it is determined that the current position of the robot does not have a u-turn driving space, obtain an expected reversing track according to the forward moving track, and control the robot to drive to the end point of the task to be driven according to the expected reversing track and the forward planning track.
According to the technical scheme disclosed by the embodiment of the invention, when the current planned track comprises the U-turn driving estimation and the current position of the robot does not have the U-turn driving space, the expected reversing track is generated according to the forward moving track obtained by the last driving task, and the robot is controlled to drive to the target position according to the expected reversing track and the forward planned track.
Optionally, on the basis of the above technical solution, the first control execution model 340 further includes:
the reversing driving terminal point acquiring unit is used for determining a reversing driving terminal point on the expected reversing track and controlling the robot to move to the reversing driving terminal point along the expected reversing track;
and the movement control execution unit is used for updating the forward planning track at the reversing driving end point and controlling the robot to drive to the end point of the task to be driven according to the updated forward planning track.
Optionally, on the basis of the above technical solution, the reverse driving end point includes a starting point or a turning point of the forward movement trajectory.
Optionally, on the basis of the above technical solution, the first control execution model 340 further includes:
the backing running execution unit is used for controlling the robot to move along the expected backing track for backing running and updating the forward planning track in real time;
the mobile control execution unit is used for controlling the robot to run to the end point of the task to be run according to the updated forward planning track when the updated forward planning track comprises a U-turn running track and the current position of the robot has a U-turn running space; or when the updated forward planning track does not comprise the turning-around driving track, controlling the robot to drive to the end point of the task to be driven according to the updated forward planning track.
Optionally, on the basis of the above technical solution, the forward movement trajectory recording module 310 is specifically configured to collect position point information according to a preset sampling condition, and determine a forward movement trajectory of the robot according to each of the position point information; wherein the preset sampling condition comprises a sampling interval time or a sampling interval distance.
Optionally, on the basis of the above technical solution, the forward movement trajectory recording module 310 is specifically further configured to acquire position point information through the distance sensor and the forward camera module according to a preset sampling condition, and determine a forward movement trajectory of the robot according to the position point information; or according to preset sampling conditions, acquiring position point information through prefabricated map information, and determining the forward movement track of the robot according to the position point information.
Optionally, on the basis of the above technical solution, the first control execution model 340 is specifically configured to perform fitting processing on the forward moving trajectory to obtain a smooth trajectory, and obtain an expected reversing trajectory according to the smooth trajectory.
Optionally, on the basis of the above technical solution, the first control execution model 340 is specifically configured to correct the actual backing track of the robot according to the front camera assembly and the distance sensor, so that the actual backing track of the robot is consistent with the expected backing track.
Optionally, on the basis of the above technical solution, the first control execution model 340 is specifically configured to control the robot to move along the expected reversing track to reverse and drive, and send a reversing prompt.
Optionally, on the basis of the above technical solution, the trajectory control device further includes:
the second control execution module is used for controlling the robot to run to the end point of the task to be run according to the forward planning track if the forward planning track does not comprise the turning-around running track;
and the third control execution module is used for controlling the robot to run to the terminal point of the task to be run according to the forward planning track if the current position of the robot is determined to have the turning running space.
The device can execute the track control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, reference may be made to the method provided in any embodiment of the present invention.
Example four
Fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary robot 12 suitable for use in implementing embodiments of the present invention. The robot 12 shown in fig. 4 is only an example, and should not bring any limitation to the function and the range of use of the embodiment of the present invention.
As shown in fig. 4, the robot 12 is in the form of a general purpose computing device. The components of the robot 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 that couples various system components including the memory 28 and the processing unit 16.
The robot 12 typically includes a variety of computer system readable media. These media may be any available media that can be accessed by the robot 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The robot 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The robot 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the robot 12, and/or with any devices (e.g., network card, modem, etc.) that enable the robot 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the robot 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the robot 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in connection with the robot 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing, such as implementing the trajectory control method provided by any of the embodiments of the present invention, by running a program stored in the memory 28. Namely: recording the forward movement track of the robot according to the current running task; when the current driving task is determined to be processed and completed and the task to be driven is obtained, generating a forward planning track according to the end point of the task to be driven, and judging whether the forward planning track comprises a U-turn driving track; if the forward planning track comprises the turning-around driving track, judging whether the current position of the robot has a turning-around driving space; and if the current position of the robot is determined not to have the turning-around driving space, acquiring an expected backing track according to the forward moving track, and controlling the robot to drive to the end point of the task to be driven according to the expected backing track and the forward planning track.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the trajectory control method according to any embodiment of the present invention; the method comprises the following steps:
recording the forward movement track of the robot according to the current running task;
when the current driving task is determined to be processed and completed and the task to be driven is obtained, generating a forward planning track according to the end point of the task to be driven, and judging whether the forward planning track comprises a U-turn driving track;
if the forward planning track comprises the turning-around driving track, judging whether the current position of the robot has a turning-around driving space;
and if the current position of the robot does not have the turning-around running space, acquiring an expected backing-up track according to the forward moving track, and controlling the robot to run to the end point of the task to be run according to the expected backing-up track and the forward planning track.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A trajectory control method, comprising:
recording the forward movement track of the robot according to the current running task;
when the current driving task is determined to be processed and completed and the task to be driven is obtained, generating a forward planning track according to the end point of the task to be driven, and judging whether the forward planning track comprises a U-turn driving track;
if the forward planning track is determined to comprise a U-turn driving track, judging whether the current position of the robot has a U-turn driving space;
if the current position of the robot is determined not to have the turning-around driving space, acquiring an expected backing-up track according to the forward moving track, and controlling the robot to drive to the end point of the task to be driven according to the expected backing-up track and the forward planning track;
the controlling the robot to travel to the end point of the task to be traveled according to the expected backing track and the forward planning track comprises:
determining a reverse driving terminal point on the expected reverse driving track, and controlling the robot to move to the reverse driving terminal point along the expected reverse driving track, wherein the reverse driving terminal point comprises a starting point or a turning point of the forward moving track;
and updating the forward planning track at the reversing driving end point, and controlling the robot to drive to the end point of the task to be driven according to the updated forward planning track.
2. The method of claim 1, wherein the recording of the forward trajectory of the robot comprises:
acquiring position point information according to a preset sampling condition, and determining a forward movement track of the robot according to the position point information; wherein the preset sampling condition comprises a sampling interval time or a sampling interval distance.
3. The method according to claim 2, wherein the collecting position point information according to a preset sampling condition and determining the forward moving track of the robot according to each position point information comprises:
acquiring position point information through a distance sensor and a front camera assembly according to preset sampling conditions, and determining a forward movement track of the robot according to the position point information;
or according to preset sampling conditions, acquiring position point information through prefabricated map information, and determining the forward movement track of the robot according to the position point information.
4. The method of claim 1, wherein obtaining a desired reverse trajectory from the forward movement trajectory comprises:
and fitting the forward moving track to obtain a smooth track, and obtaining an expected reversing track according to the smooth track.
5. The method of claim 1, wherein controlling the robot to travel to the end of the task to be traveled according to the desired reverse trajectory and the forward planned trajectory comprises:
and correcting the actual backing track of the robot according to a front camera assembly and a distance sensor so as to enable the actual backing track of the robot to be consistent with the expected backing track.
6. The method of claim 1, wherein controlling the robot to travel to the end of the task to be traveled according to the desired reverse trajectory and the forward planned trajectory comprises:
and controlling the robot to move along the expected backing track to carry out backing running and sending a backing reminding.
7. The method of claim 1, after determining whether the forward planned trajectory comprises a u-turn trajectory, further comprising:
if the forward planning track does not comprise the turning-around driving track, controlling the robot to drive to the end point of the task to be driven according to the forward planning track;
after judging whether the current position of the robot has a turning driving space, the method further comprises the following steps:
and if the current position of the robot is determined to have a U-turn driving space, controlling the robot to drive to the end point of the task to be driven according to the forward planning track.
8. A trajectory control device, comprising:
the forward moving track recording module is used for recording the forward moving track of the robot according to the current running task;
the forward planning track generation module is used for generating a forward planning track according to the end point of the task to be driven and judging whether the forward planning track comprises a U-turn driving track when the current driving task is determined to be processed and the task to be driven is obtained;
the U-turn driving space judging module is used for judging whether the current position of the robot has a U-turn driving space or not if the forward planning track comprises the U-turn driving track is determined;
the first control execution model is used for acquiring an expected backing track according to the forward moving track if the current position of the robot is determined not to have a turning-around driving space, and controlling the robot to drive to a terminal point of the task to be driven according to the expected backing track and the forward planning track;
wherein the first control execution model includes:
the reversing travel terminal point acquiring unit is used for determining a reversing travel terminal point on the expected reversing track and controlling the robot to move to the reversing travel terminal point along the expected reversing track, wherein the reversing travel terminal point comprises a starting point or a turning point of the forward movement track;
and the movement control execution unit is used for updating the forward planning track at the reversing driving end point and controlling the robot to drive to the end point of the task to be driven according to the updated forward planning track.
9. A robot, characterized in that the robot comprises:
one or more processors;
a storage device to store one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the trajectory control method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a trajectory control method according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011483684.7A CN112549033B (en) | 2020-12-15 | 2020-12-15 | Trajectory control method and device, robot and storage medium |
| PCT/CN2021/125593 WO2022127370A1 (en) | 2020-12-15 | 2021-10-22 | Track control method and device, robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011483684.7A CN112549033B (en) | 2020-12-15 | 2020-12-15 | Trajectory control method and device, robot and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112549033A CN112549033A (en) | 2021-03-26 |
| CN112549033B true CN112549033B (en) | 2022-12-02 |
Family
ID=75063855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011483684.7A Active CN112549033B (en) | 2020-12-15 | 2020-12-15 | Trajectory control method and device, robot and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112549033B (en) |
| WO (1) | WO2022127370A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112549033B (en) * | 2020-12-15 | 2022-12-02 | 灵动科技（北京）有限公司 | Trajectory control method and device, robot and storage medium |
| CN114995440A (en) * | 2022-06-15 | 2022-09-02 | 中国第一汽车股份有限公司 | Vehicle control method, vehicle control device, vehicle and storage medium |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972462B (en) * | 2014-04-14 | 2017-04-19 | 科沃斯机器人股份有限公司 | Obstacle avoidance walking method of self-moving robot |
| US20170028556A1 (en) * | 2015-07-28 | 2017-02-02 | Harris Corporation | Path-optimized manipulator reversing controller |
| CN105739503B (en) * | 2016-04-13 | 2018-06-01 | 上海物景智能科技有限公司 | A kind of method and control device of walking robot turn u-turn |
| KR102356476B1 (en) * | 2017-07-25 | 2022-02-03 | 현대모비스 주식회사 | Backward driving assist apparatus of vehicle and control method thereof |
| CN108437981B (en) * | 2018-03-01 | 2020-02-21 | 东软集团股份有限公司 | Automatic reversing method and device |
| KR102574289B1 (en) * | 2018-10-08 | 2023-09-05 | 주식회사 에이치엘클레무브 | Reverse drive control apparatus and everse drive control method thereof |
| CN109240309A (en) * | 2018-11-14 | 2019-01-18 | 三汽车制造有限公司 | Vehicle control method, device and the vehicles |
| CN111703421A (en) * | 2020-05-13 | 2020-09-25 | 重庆长安汽车股份有限公司 | Trajectory planning system, method and storage medium for automatic driving and getting rid of difficulty of vehicle |
| CN111891137B (en) * | 2020-08-13 | 2022-08-23 | 北京智行者科技有限公司 | Automatic driving narrow road turning method and system and vehicle |
| CN111994064A (en) * | 2020-08-31 | 2020-11-27 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment, system and storage medium |
| CN112549033B (en) * | 2020-12-15 | 2022-12-02 | 灵动科技（北京）有限公司 | Trajectory control method and device, robot and storage medium |
-
2020
- 2020-12-15 CN CN202011483684.7A patent/CN112549033B/en active Active
-
2021
- 2021-10-22 WO PCT/CN2021/125593 patent/WO2022127370A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN112549033A (en) | 2021-03-26 |
| WO2022127370A1 (en) | 2022-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3702230B1 (en) | Method and apparatus for planning travelling path, and vehicle | |
| EP3819194B1 (en) | Automatic parking method and apparatus, and electronic device | |
| US20200265710A1 (en) | Travelling track prediction method and device for vehicle | |
| CN112549033B (en) | Trajectory control method and device, robot and storage medium | |
| WO2022142592A1 (en) | Front-first parking method, device and system | |
| CN112419776B (en) | Autonomous parking method and device, automobile and computing equipment | |
| CN111994064A (en) | Vehicle control method, device, equipment, system and storage medium | |
| CN113267199A (en) | Driving track planning method and device | |
| CN113516862A (en) | Early warning method and device, electronic equipment and storage medium | |
| CN113561963A (en) | Parking method and device and vehicle | |
| US20190325223A1 (en) | Tracking objects with multiple cues | |
| CN112249014A (en) | Vehicle lateral control method, vehicle, and computer-readable storage medium | |
| CN112783166A (en) | Local trajectory planning method and device, electronic equipment and storage medium | |
| CN113885525A (en) | Path planning method and system for automatically driving vehicle to get rid of trouble, vehicle and storage medium | |
| CN115686028A (en) | Unmanned operation method and device based on manned driving, electronic equipment and storage medium | |
| CN114228703A (en) | Automatic parking method, system, vehicle and storage medium | |
| CN116867695A (en) | Autonomous vehicle steering false action event detector | |
| CN116022126A (en) | Autonomous learning parking method, electronic device and storage medium | |
| CN114115214A (en) | Vision-based agricultural machinery driving method, system, equipment and storage medium | |
| CN112009460A (en) | Vehicle control method, device, equipment and storage medium | |
| CN110497906A (en) | Control method for vehicle, device, equipment and medium | |
| CN116481541A (en) | Vehicle autonomous return control method, device and medium without satellite navigation | |
| CN113844460A (en) | Vehicle control method and device and vehicle | |
| CN114485627B (en) | Navigation method and device of rail trolley, rail trolley and storage medium | |
| CN115454053A (en) | Automatic guided vehicle control method, system and device and computer equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |