CN113334384B - Mobile robot control method, device, equipment and storage medium - Google Patents
Mobile robot control method, device, equipment and storage medium Download PDFInfo
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- CN113334384B CN113334384B CN202110695093.4A CN202110695093A CN113334384B CN 113334384 B CN113334384 B CN 113334384B CN 202110695093 A CN202110695093 A CN 202110695093A CN 113334384 B CN113334384 B CN 113334384B
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- 238000000034 method Methods 0.000 title claims abstract description 76
- 230000008569 process Effects 0.000 claims abstract description 26
- 238000004590 computer program Methods 0.000 claims description 12
- 230000006399 behavior Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 230000002265 prevention Effects 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
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- 238000005859 coupling reaction Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- 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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The embodiment of the invention provides a mobile robot control method, a mobile robot control device, mobile robot equipment and a storage medium. According to the method, the road type and the road detailed information of the front road section are obtained in the running process of the mobile robot; determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode; according to the road detailed information, the mobile robot is controlled to run in a running mode corresponding to the road type, and the running can be automatically switched to the running mode corresponding to the road of the front road section in real time according to the condition of the front road section, so that the free running of the mobile robot across areas and floors can be realized, a basis is provided for further enriching the application scenes and functions of the mobile robot, and the mobile robot can complete complex tasks such as transporting objects across areas and floors.
Description
The present application is a divisional application of the invention patent application with the name of "mobile robot control method, device, apparatus and storage medium", which is filed to the chinese patent office with the application number 201811479091.6 and the application date 2018, 12 and 05.
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a mobile robot control method, a mobile robot control device, mobile robot control equipment and a mobile robot storage medium.
Background
With further development of artificial intelligence technology, mobile robots are increasingly widely used, and autonomous mobile robots are becoming a research hotspot in the scientific community.
The mobile robot achieves collision-free movement from a starting position to a target position through autonomous navigation. Current mobile robots are capable of completing travel from a starting location to a target location. However, current mobile robots move intelligently in preset flat areas, for example, people who meet the needs of the people can not finish complex tasks such as transregional and transfloor goods transportation, and the mobile robots have single functions and can not meet the needs of the people.
Disclosure of Invention
The embodiment of the invention provides a mobile robot control method, a mobile robot control device, mobile robot control equipment and a mobile robot storage medium, which are used for solving the problems that the control method of a mobile robot in the prior art is not flexible and intelligent enough and cannot meet the demands of people.
An aspect of an embodiment of the present invention provides a mobile robot control method, including:
acquiring the road type and the road detailed information of a front road section in the running process of the mobile robot;
determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode;
and controlling the mobile robot to travel through the front road section in a travel mode corresponding to the road type according to the road detailed information.
Another aspect of an embodiment of the present invention provides a mobile robot control apparatus, including:
the data acquisition module is used for acquiring the road type and the road detailed information of the road section in front in the running process of the mobile robot;
the mode determining module is used for determining a running mode corresponding to the road type according to the road type of the front road section, and the running mode at least comprises a ground running mode and a stair running mode;
and the running control module is used for controlling the mobile robot to run through the front road section in a running mode corresponding to the road type according to the road detailed information.
Another aspect of an embodiment of the present invention is to provide a mobile robot control apparatus including:
a memory, a processor, and a computer program stored on the memory and executable on the processor,
the processor implements the mobile robot control method described above when running the computer program.
It is another aspect of embodiments of the present invention to provide a computer-readable storage medium, storing a computer program,
the computer program, when executed by a processor, implements the mobile robot control method described above.
Another aspect of an embodiment of the present invention provides a mobile robot including: a sensor, and a mobile robot control device as described above.
The mobile robot control method, the mobile robot control device, the mobile robot control equipment and the mobile robot storage medium provided by the embodiment of the invention acquire the road type and the road detailed information of the road section in front in the running process of the mobile robot; determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode; according to the road detailed information, the mobile robot is controlled to run in a running mode corresponding to the road type, and the running can be automatically switched to the running mode corresponding to the road of the front road section in real time according to the condition of the front road section, so that the free running of the mobile robot across areas and floors can be realized, a basis is provided for further enriching the application scenes and functions of the mobile robot, and the mobile robot can complete complex tasks such as transporting objects across areas and floors.
Drawings
FIG. 1 is a flowchart of a mobile robot control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a mobile robot control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a mobile robot control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a mobile robot control device according to a fifth embodiment of the present invention.
Specific embodiments of the present invention have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive embodiments in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with embodiments of the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of embodiments of the invention as detailed in the accompanying claims.
The terms "first," "second," and the like, according to embodiments of the present invention, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the following description of the embodiments, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Example 1
Fig. 1 is a flowchart of a mobile robot control method according to an embodiment of the present invention. Aiming at the problems that the control method of the mobile robot in the prior art is not flexible and intelligent enough and cannot meet the demands of people, the embodiment of the invention provides the control method of the mobile robot.
The method in this embodiment is applied to a control device that controls traveling of a mobile robot, and the computer device may be a control device that is mounted on the mobile robot or a control device that remotely controls the mobile robot. In other embodiments, the method may also be applied to other devices, and this embodiment is schematically illustrated by taking a computer device loaded on a mobile robot as an example.
As shown in fig. 1, the method specifically comprises the following steps:
step S101, acquiring the road type and the road detailed information of the front road section in the running process of the mobile robot.
In this embodiment, the mobile robot can be controlled to travel across the floor and across the place. In this embodiment, the control device may acquire the road type and the road detailed information of the road section ahead in real time during the traveling of the mobile robot due to the different roads in different places.
Wherein, the road type at least includes: the ground and stairs are leveled, in addition, the leveled ground can be subdivided into an ascending slope, a descending slope and the like, the types of the road comprise which types can be set by a technician according to the practical application scene and experience of the mobile robot to be put into use, and the embodiment is not particularly limited here.
If the road type of the front road section is a flat ground, the road detailed information of the front road section at least includes the length of the front road section, and may also include the width, the curved shape, the road surface flatness, the road surface material, whether the road surface is skid-proof, and the like, which is not specifically limited herein.
If the road type of the front road section is stairs, the road detailed information of the front road section at least comprises: whether to go upstairs, the number of steps, and the height, width and length of each step may further include the flatness of the step surface, the material of the step surface, whether the road surface is skid-proof, etc., which is not specifically limited herein. Whether the vehicle is going upstairs or downstairs is indicated by whether the vehicle is going upstairs or downstairs at the current running time.
Step S102, determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode.
In this embodiment, according to the characteristics of different road types, the driving modes corresponding to the road types are preset. After determining the road type of the front link, a travel mode corresponding to the road type of the front link may be determined.
For example, the travel mode corresponding to a flat ground is a ground travel mode, the travel mode corresponding to stairs is a stair travel mode, and the stair travel mode may also include a stair climbing mode and a stair descending mode, and so on.
Step S103, according to the road detailed information, the mobile robot is controlled to drive through the front road section in a driving mode corresponding to the road type.
In this step, the traveling mode of the mobile robot is switched to the traveling mode corresponding to the road type of the front link, and the mobile robot is controlled to travel through the front link according to the road detailed information.
For example, the front road section may be determined to be a flat ground according to the road type, and the length of the front flat ground may be determined to be 20 meters according to the road detailed information, and then the mobile robot may be controlled to travel in the ground travel mode for 20 meters. Then according to the road type of the road section in front, the next road section can be determined to be a stair, the stair needs to go upstairs, the stair comprises 10 steps, the height of each step is 15 cm, and the mobile robot can be controlled to travel through the road section in a stair climbing traveling mode.
The method comprises the steps of obtaining the road type and the road detailed information of a front road section in the running process of a mobile robot; determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode; according to the road detailed information, the mobile robot is controlled to travel through the front road section in a travel mode corresponding to the road type, and the travel mode corresponding to the road of the front road section can be automatically switched to in real time according to the condition of the front road section, so that the free travel of the mobile robot across areas and floors can be realized, a basis is provided for further enriching the application scenes and functions of the mobile robot, and the mobile robot can complete complex tasks such as transporting objects across areas and floors.
Example two
Fig. 2 is a flowchart of a mobile robot control method according to a second embodiment of the present invention. On the basis of the first embodiment, in this embodiment, each driving mode includes one or more driving scenario modes; the driving scenario mode is used for limiting the action amplitude and/or the noise level of the mobile robot when driving in the driving mode. According to the current scene type, the driving scene mode corresponding to the current scene type can be automatically switched. As shown in fig. 2, the method specifically comprises the following steps:
step S201, acquiring the road type and the road detailed information of the front road section during the running process of the mobile robot.
In this embodiment, the mobile robot can be controlled to travel across the floor and across the place. In this embodiment, the control device may acquire the road type and the road detailed information of the road section ahead in real time during the traveling of the mobile robot due to the different roads in different places.
Wherein, the road type at least includes: the ground and stairs are leveled, in addition, the leveled ground can be subdivided into an ascending slope, a descending slope and the like, the types of the road comprise which types can be set by a technician according to the practical application scene and experience of the mobile robot to be put into use, and the embodiment is not particularly limited here.
If the road type of the front road section is a flat ground, the road detailed information of the front road section at least includes the length of the front road section, and may also include the width, the curved shape, the road surface flatness, the road surface material, whether the road surface is skid-proof, and the like, which is not specifically limited herein.
If the road type of the front road section is stairs, the road detailed information of the front road section at least comprises: whether to go upstairs, the number of steps, and the height, width and length of each step may further include the flatness of the step surface, the material of the step surface, whether the road surface is skid-proof, etc., which is not specifically limited herein. Whether the vehicle is going upstairs or downstairs is indicated by whether the vehicle is going upstairs or downstairs at the current running time.
One possible implementation of this step is:
acquiring image data of a front road section in real time in the running process of the mobile robot; the road type and the road detailed information of the front road section are identified from the image data of the front road section.
In this embodiment, the mobile robot is mounted with a first photographing device for acquiring image data of the front link in real time, and the first photographing device can transmit the image data of the front link photographed in real time to the mobile robot control apparatus. The mobile robot control device receives the image data of the front road section sent by the shooting device in real time, performs image recognition processing on the image data, and recognizes the road type and the road detailed information of the front road section.
Another possible implementation of this step is:
positioning the current position in the running process of the mobile robot; and determining the road type and the road detailed information of the front road section according to the current position and the map data of the current place.
In such an embodiment, map data in the traveling range of the mobile robot may be collected in advance, the map data including the covered position, the road type, and the road detailed information of each link in the entire range. In this step, the current position of the mobile robot is located, and then the road section, the road type and the road detailed information corresponding to the current position in the map data are acquired.
Step S202, determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode.
In this embodiment, according to the characteristics of different road types, the driving modes corresponding to the road types are preset. After determining the road type of the front link, a travel mode corresponding to the road type of the front link may be determined.
In this embodiment, each travel pattern includes one or more travel profiles. The driving scenario mode is used for limiting the action amplitude and/or the noise level of the mobile robot when driving in the driving mode.
After determining the driving mode corresponding to the front road section, the corresponding driving scene mode can be further determined according to the current scene type.
Step S203, acquiring surrounding image data, and identifying the scene type of the current place according to the surrounding image data.
In this embodiment, the mobile robot is mounted with a second photographing device for acquiring surrounding image data in real time, and the second photographing device is capable of transmitting the surrounding image data photographed in real time to the mobile robot control apparatus. The mobile robot control equipment receives surrounding image data sent by the shooting device in real time, performs image recognition processing on the image data, and recognizes the scene type of the current place.
For example, the scene type of the place currently located may be a hospital, an office area, a parking lot, and the like.
Step S204, determining a driving scene mode corresponding to the scene type.
Specifically, the mobile robot control device may acquire a correspondence between the scene type and the driving scenario mode.
After the scene type of the current place is obtained, the driving scene mode corresponding to the scene type of the current place can be determined according to the corresponding relation between the scene type and the driving scene mode.
In practical application, due to some popular requirements of different places on noise, behavior habit and the like, such as hospital noise prohibition and the like, a plurality of scene types and driving scene modes corresponding to each scene type can be determined in advance according to the requirements of the places on noise and behavior modes, and stored in the mobile robot control equipment.
In addition, the driving scenario modes corresponding to different scene types may be different.
Step S205, according to the road detailed information, the mobile robot is controlled to travel through the front road section in a travel mode corresponding to the road type and a travel scene mode corresponding to the scene type.
In the step, the running mode of the mobile robot is switched to the running mode corresponding to the road type of the front road section, the running scene mode of the current running mode is determined to be the running scene mode corresponding to the current scene type, and then the mobile robot is controlled to run through the front road section according to the road detailed information.
For example, the road type can determine that the road section in front is a smooth ground, the scene type of the place where the road is currently located is a hospital, and the mobile robot is switched to the mute and gentle mode of the ground running mode if the running scene mode corresponding to the hospital is the mute and gentle mode, so that the noise and the action amplitude are reduced when the mobile robot runs in the hospital, and the influence and damage to people and apparatuses in the hospital are avoided.
In another implementation of this embodiment, the mobile robot may determine whether the current task is a task of transporting the article according to the current task information. If the task is determined to be an article transporting task, the type of the transported article is obtained, and whether the transported article belongs to a preset type is judged.
If the transported articles are determined to be of a preset type, acquiring the attitude information of the container in real time through a sensor in the transporting process; according to the attitude information of the container, adjusting a vibration-proof device corresponding to the container so that the vibration amplitude of the container is smaller than a first threshold value; and/or adjusting the anti-tilting device corresponding to the container according to the posture information of the container so as to enable the tilting amplitude of the container to be smaller than a second threshold value.
The first threshold and the second threshold may be set empirically by a skilled person, and the present embodiment is not specifically limited herein.
If the transported articles are determined not to be of the preset type, the articles which can be transported by the task are not easy to damage, and the articles can be transported rapidly without accurately adjusting the shockproof device and the inclination prevention device of the container.
The preset types include those which need to be noted during the transportation of the article, such as fragile, non-tiltable, fragile and non-tiltable, moisture-proof, etc., and the types of preset types may be set by the skilled person according to actual needs, and the embodiment is not particularly limited herein.
For example, if the transported article belongs to a fragile article, the vibration damper corresponding to the container is adjusted so that the vibration amplitude of the container is smaller than the first threshold value based on the posture information of the container.
For example, if the transported article belongs to a non-tiltable article, the tilting prevention device corresponding to the cargo box is adjusted so that the tilting amplitude of the cargo box is smaller than the second threshold value based on the posture information of the cargo box.
For example, if the transported article belongs to a fragile and non-tiltable article, the vibration-proof device and the tilting-proof device corresponding to the cargo box are adjusted so that the vibration amplitude of the cargo box is smaller than a first threshold value and the tilting amplitude of the cargo box is smaller than a second threshold value, based on the posture information of the cargo box.
For example, if the transported article belongs to both of the fragile article and the non-tiltable article, the vibration-proof device and the tilting-proof device corresponding to the cargo box are adjusted so that the vibration amplitude of the cargo box is smaller than the first threshold value and the tilting amplitude of the cargo box is smaller than the second threshold value, based on the posture information of the cargo box.
The method comprises the steps of obtaining the road type and the road detailed information of a front road section in the running process of a mobile robot; determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode; and the scene type of the current place is identified according to the surrounding image data; the method comprises the steps of determining a running scene mode corresponding to a scene type, controlling the mobile robot to run through a front road section according to road detailed information in a running mode corresponding to the road type and a running scene mode corresponding to the scene type, and automatically switching to the running mode corresponding to the road of the front road section and the running scene mode corresponding to the current scene type in real time according to the condition of the front road section and the surrounding scene type, so that the behavior mode of the mobile robot is more in line with the actual scene requirement on the basis of realizing free running of the mobile robot across areas and floors, and the mobile robot can apply a plurality of different scenes.
Example III
Fig. 3 is a schematic structural diagram of a mobile robot control device according to a third embodiment of the present invention. The mobile robot control device provided by the embodiment of the invention can execute the processing flow provided by the mobile robot control method embodiment. As shown in fig. 3, the mobile robot control device 30 includes: a data acquisition module 301, a mode determination module 302 and a travel control module 303.
Specifically, the data acquisition module 301 is configured to acquire the road type and the road detailed information of the road section ahead during the running process of the mobile robot.
The mode determining module 302 is configured to determine a driving mode corresponding to the road type according to the road type of the road section ahead, where the driving mode at least includes a ground driving mode and a stair driving mode.
The driving control module 303 is configured to control the mobile robot to drive through the front road segment in a driving mode corresponding to the road type according to the road detailed information.
Wherein, the road type at least includes: leveling floors and stairs.
If the road type of the front road section is a flat ground, the road detailed information of the front road section at least comprises the length of the front road section.
If the road type of the front road section is stairs, the road detailed information of the front road section at least comprises: whether it is going upstairs, the number of steps, and the height, width, and length of each step.
The apparatus provided in the embodiment of the present invention may be specifically used to perform the method embodiment provided in the first embodiment, and specific functions are not described herein.
The method comprises the steps of obtaining the road type and the road detailed information of a front road section in the running process of a mobile robot; determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode; according to the road detailed information, the mobile robot is controlled to travel through the front road section in a travel mode corresponding to the road type, and the travel mode corresponding to the road of the front road section can be automatically switched to in real time according to the condition of the front road section, so that the free travel of the mobile robot across areas and floors can be realized, a basis is provided for further enriching the application scenes and functions of the mobile robot, and the mobile robot can complete complex tasks such as transporting objects across areas and floors.
Example IV
On the basis of the third embodiment, in this embodiment, each driving mode includes one or more driving scenario modes; the driving scenario mode is used for limiting the action amplitude and/or the noise level of the mobile robot when driving in the driving mode.
Optionally, the data acquisition module is further configured to:
acquiring image data of a front road section in real time in the running process of the mobile robot; the road type and the road detailed information of the front road section are identified from the image data of the front road section.
Optionally, the data acquisition module is further configured to:
positioning the current position in the running process of the mobile robot; and determining the road type and the road detailed information of the front road section according to the current position and the map data of the current place.
Optionally, the data acquisition module is further configured to: surrounding image data is acquired.
The mode determination module is further configured to:
according to the surrounding image data, identifying the scene type of the current place; and determining the driving scene mode corresponding to the scene type.
Optionally, the running control module is further configured to:
and controlling the mobile robot to travel through the front road section according to the road detailed information in a travel mode corresponding to the road type and a travel scene mode corresponding to the scene type.
Optionally, the apparatus further includes: and (5) stabilizing the module. The stabilization module is used for:
if the task is an article transport task and the article belongs to a preset type, acquiring attitude information of a container through a sensor; according to the attitude information of the container, adjusting a vibration-proof device corresponding to the container so that the vibration amplitude of the container is smaller than a first threshold value; and/or adjusting the anti-tilting device corresponding to the container according to the posture information of the container so as to enable the tilting amplitude of the container to be smaller than a second threshold value.
The apparatus provided in the embodiment of the present invention may be specifically used to execute the method embodiment provided in the second embodiment, and specific functions are not described herein.
The method comprises the steps of obtaining the road type and the road detailed information of a front road section in the running process of a mobile robot; determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode; and the scene type of the current place is identified according to the surrounding image data; the method comprises the steps of determining a running scene mode corresponding to a scene type, controlling the mobile robot to run through a front road section according to road detailed information in a running mode corresponding to the road type and a running scene mode corresponding to the scene type, and automatically switching to the running mode corresponding to the road of the front road section and the running scene mode corresponding to the current scene type in real time according to the condition of the front road section and the surrounding scene type, so that the behavior mode of the mobile robot is more in line with the actual scene requirement on the basis of realizing free running of the mobile robot across areas and floors, and the mobile robot can apply a plurality of different scenes.
Example five
Fig. 4 is a schematic structural diagram of a mobile robot control device according to a fifth embodiment of the present invention. As shown in fig. 4, the mobile robot control device 50 includes: a processor 501, a memory 502, and a computer program stored on the memory 502 and executable by the processor 501.
The processor 501, when executing a computer program stored on the memory 502, implements the mobile robot control method provided by any of the method embodiments described above.
The method comprises the steps of obtaining the road type and the road detailed information of a front road section in the running process of a mobile robot; determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode; according to the road detailed information, the mobile robot is controlled to travel through the front road section in a travel mode corresponding to the road type, and the travel mode corresponding to the road of the front road section can be automatically switched to in real time according to the condition of the front road section, so that the free travel of the mobile robot across areas and floors can be realized, a basis is provided for further enriching the application scenes and functions of the mobile robot, and the mobile robot can complete complex tasks such as transporting objects across areas and floors.
Example six
The sixth embodiment of the invention provides a mobile robot. The mobile robot includes a sensor and the mobile robot control apparatus of the fifth embodiment described above.
Wherein, the sensor of mobile robot includes at least: a first photographing device for acquiring image data of a road section ahead in real time, a second photographing device for acquiring surrounding image data in real time, a sensor for acquiring attitude information of a cargo box in real time, and the like.
The method comprises the steps of obtaining the road type and the road detailed information of a front road section in the running process of a mobile robot; determining a running mode corresponding to the road type according to the road type of the front road section, wherein the running mode at least comprises a ground running mode and a stair running mode; according to the road detailed information, the mobile robot is controlled to travel through the front road section in a travel mode corresponding to the road type, and the travel mode corresponding to the road of the front road section can be automatically switched to in real time according to the condition of the front road section, so that the free travel of the mobile robot across areas and floors can be realized, a basis is provided for further enriching the application scenes and functions of the mobile robot, and the mobile robot can complete complex tasks such as transporting objects across areas and floors.
In addition, the embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and the computer program realizes the mobile robot control method provided by any one of the method embodiments when being executed by a processor.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working process of the above-described device may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (13)
1. A mobile robot control method comprising:
acquiring the road type and the road detailed information of a front road section in the running process of the mobile robot;
determining a driving mode corresponding to the road type according to the road type of the front road section;
acquiring surrounding image data, identifying the scene type of the current place according to the surrounding image data, and acquiring the corresponding relation between the scene type and the driving scene mode; determining a driving scene mode corresponding to the scene type of the current place according to the corresponding relation between the scene type and the driving scene mode;
according to the road detailed information, controlling the mobile robot to travel through the front road section according to the travel mode and the travel scene mode;
the method for acquiring the road type and the road detailed information of the front road section in the running process of the mobile robot comprises the following steps:
acquiring image data of a front road section in real time in the running process of the mobile robot;
identifying the road type and the road detailed information of the front road section according to the image data of the front road section;
wherein the road type at least comprises: leveling floors and stairs;
if the road type of the front road section is a flat ground, the road detailed information of the front road section comprises at least one of the following information of the front road section: width, curved shape, road flatness, road material, whether the road is skid-proof;
the determining the driving mode corresponding to the road type according to the road type of the front road section comprises the following steps:
if the road type of the front road section is a flat ground, determining that the running mode corresponding to the road type is a ground running mode;
and if the road type of the front road section is stairs, determining that the running mode corresponding to the road type is a stair running mode.
2. The method according to claim 1,
if the road type of the front road section is a flat ground, the road detailed information of the front road section at least further comprises the length of the front road section;
if the road type of the front road section is stairs, the road detailed information of the front road section at least comprises: whether it is going upstairs, the number of steps, and the height, width, and length of each step.
3. The method according to claim 1, wherein:
each running mode comprises one or more running profiles, and the running profiles are used for limiting behavior information of the mobile robot when running in the running mode;
wherein the behavior information includes at least one of:
action amplitude and noise are divided into two.
4. A method according to any one of claims 1-3, wherein the method further comprises:
if the task is an article transport task and the article belongs to a preset type, acquiring attitude information of a container through a sensor;
and adjusting an auxiliary carrying device corresponding to the container according to the posture information of the container and the preset type so that the posture of the container meets the posture requirement of the container corresponding to the preset type.
5. The method of claim 4, wherein the adjusting the auxiliary handling device corresponding to the container according to the posture information of the container and the preset type so that the posture of the container meets the posture requirement of the container corresponding to the preset type comprises:
according to the attitude information of the container and the preset type, adjusting a vibration prevention device corresponding to the container so that the vibration amplitude of the container is smaller than a first threshold;
and/or the number of the groups of groups,
and adjusting the anti-tilting device corresponding to the container according to the attitude information of the container and the preset type so as to enable the tilting amplitude of the container to be smaller than a second threshold value.
6. A mobile robot control device comprising:
the data acquisition module is used for acquiring the road type and the road detailed information of the road section in front in the running process of the mobile robot;
the mode determining module is used for determining a driving mode corresponding to the road type according to the road type of the front road section;
the data acquisition module is also used for acquiring surrounding image data;
the mode determining module is further used for identifying the scene type of the current place according to the surrounding image data and acquiring the corresponding relation between the scene type and the driving scene mode; determining a driving scene mode corresponding to the scene type of the current place according to the corresponding relation between the scene type and the driving scene mode;
the running control module is used for controlling the mobile robot to run through the front road section according to the running mode and the running scene mode according to the road detailed information;
the data acquisition module is further configured to:
acquiring image data of a front road section in real time in the running process of the mobile robot;
identifying the road type and the road detailed information of the front road section according to the image data of the front road section;
wherein the road type at least comprises: leveling floors and stairs;
if the road type of the front road section is a flat ground, the road detailed information of the front road section further comprises at least one of the following information of the front road section: width, curved shape, road flatness, road material, whether the road is skid-proof;
the mode determination module is further configured to:
if the road type of the front road section is a flat ground, determining that the running mode corresponding to the road type is a ground running mode;
and if the road type of the front road section is stairs, determining that the running mode corresponding to the road type is a stair running mode.
7. The device according to claim 6,
if the road type of the front road section is a flat ground, the road detailed information of the front road section at least further comprises the length of the front road section;
if the road type of the front road section is stairs, the road detailed information of the front road section at least comprises: whether it is going upstairs, the number of steps, and the height, width, and length of each step.
8. The apparatus of claim 6, wherein,
each running mode comprises one or more running profiles, and the running profiles are used for limiting behavior information of the mobile robot when running in the running mode;
wherein the behavior information includes at least one of:
action amplitude and noise are divided into two.
9. The apparatus according to any one of claims 6-8, wherein the apparatus further comprises: a stabilization module for:
if the task is an article transport task and the article belongs to a preset type, acquiring attitude information of a container through a sensor;
and adjusting an auxiliary carrying device corresponding to the container according to the posture information of the container and the preset type so that the posture of the container meets the posture requirement of the container corresponding to the preset type.
10. The apparatus of claim 9, wherein the stabilization module is further to:
according to the attitude information of the container and the preset type, adjusting a vibration prevention device corresponding to the container so that the vibration amplitude of the container is smaller than a first threshold;
and/or the number of the groups of groups,
and adjusting the anti-tilting device corresponding to the container according to the attitude information of the container and the preset type so as to enable the tilting amplitude of the container to be smaller than a second threshold value.
11. A mobile robot control device comprising:
a memory, a processor, and a computer program stored on the memory and executable on the processor,
the processor, when running the computer program, implements the method according to any of claims 1-5.
12. A computer-readable storage medium, storing a computer program,
the computer program implementing the method according to any of claims 1-5 when executed by a processor.
13. A mobile robot, comprising: sensor, and mobile robot control device according to claim 11.
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| CN109760043B (en) | 2021-07-20 |
| CN109760043A (en) | 2019-05-17 |
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