CN113467459B - Robot route planning method, apparatus, device and computer readable storage medium - Google Patents
Robot route planning method, apparatus, device and computer readable storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The invention discloses a robot route planning method, which comprises the following steps: when the existence of the isolation area in the preset route is detected, the position information of the isolation area is acquired, and a standby route is calculated according to the position information; the method comprises the steps of obtaining first residual time of a current task of the robot, comparing the first residual time with a preset time threshold value to obtain a comparison result, and selecting a preset route or a standby route as a traveling route according to the comparison result. The invention also discloses a robot route planning device, equipment and a computer readable storage medium. According to the method and the device for processing the robot, the standby route is calculated according to the position information of the isolation area, the first residual time of the current task is compared with the preset time threshold, and the preset route or the standby route is selected to serve as the travelling route, so that the travelling efficiency of the robot is improved.
Description
Technical Field
The present invention relates to the field of robot technologies, and in particular, to a method, an apparatus, a device, and a computer readable storage medium for robot route planning.
Background
Along with the development of robot technology, more and more robots realize autonomous movement on a road, and the robots perform multiple movements on the same road and can store corresponding path planning records so as to facilitate the subsequent use of the robots.
In reality, however, the building and the road are often built or maintained, or accidents such as temporary blocking of the road occur, and when the accidents occur, related personnel can set isolation areas for preventing accidents, and the isolation areas are generally considered to allow human beings to normally pass through without affecting the traffic of the whole area, but the isolation areas are not necessarily suitable for robots to pass through.
Therefore, it is necessary to set a corresponding robot path planning method for these cases to improve the traveling efficiency of the robot.
Disclosure of Invention
The invention mainly aims to provide a robot route planning method, a robot route planning device and a computer readable storage medium, and aims to improve the travelling efficiency of a robot.
In order to achieve the above object, the present invention provides a robot route planning method, including the steps of:
When detecting that a preset route has an isolation area, acquiring position information of the isolation area, and calculating a standby route according to the position information;
obtaining a first residual time of a current task of the robot, comparing the first residual time with a preset time threshold value to obtain a comparison result, and selecting the preset route or the standby route as a traveling route according to the comparison result.
Preferably, when detecting that the preset route has an isolation area, the step of acquiring the position information of the isolation area includes:
detecting that an isolation area appears in a preset route through a sensing module in the robot, and obtaining the position information of the isolation area through a positioning module in the robot.
Preferably, the step of calculating the backup route according to the location information includes:
Acquiring building and road information in other feasible areas corresponding to the position information according to the position information;
And calculating the standby route according to the building and road information.
Preferably, before the step of obtaining the first remaining time of the current task, the robot route planning method further includes:
Scanning the isolation region through a sensing module in the robot to determine the area of the isolation region, and comparing the area with a preset area threshold;
if the area is smaller than the preset area threshold value, determining that the standby route is used as a traveling route so as to bypass the isolation area;
If the area is not smaller than the preset area threshold, executing the steps of: a first remaining time for the current task is obtained.
Preferably, the step of selecting the preset route or the standby route as the travel route according to the comparison result includes:
if the comparison result shows that the first remaining time is greater than the preset time threshold, determining that the preset route is taken as a traveling route so as to directly pass through the isolation area;
And if the comparison result shows that the first remaining time is not greater than the preset time threshold, determining that the standby route is used as the traveling route.
Preferably, after the step of selecting the preset route as the travel route to directly pass through the isolation zone, the robot route planning method further includes:
in the process of passing through the isolation area, acquiring first road condition information of the isolation area in real time through a sensing module in the robot;
And if the situation that the non-passing area exists in the isolation area is determined according to the first road condition information, returning to the starting point of the isolation area, and determining the standby route as the travelling route.
Preferably, after the step of selecting the backup route as the travel route, the robot route planning method further includes:
moving according to the standby route, and acquiring second road condition information of the standby route in real time through a sensing module of the robot in the moving process;
And acquiring a second residual time of the current task of the robot, and adjusting the motion parameters in real time according to the second road condition information and the second residual time.
In addition, to achieve the above object, the present invention also provides a robot route planning apparatus, including:
The calculation module is used for acquiring the position information of the isolation area when the isolation area exists in the preset route, and calculating a standby route according to the position information;
The determining module is used for obtaining first remaining time of a current task of the robot, comparing the first remaining time with a preset time threshold value to obtain a comparison result, and selecting the preset route or the standby route as a traveling route according to the comparison result.
Preferably, the computing module further comprises a positioning module for:
detecting that an isolation area appears in a preset route through a sensing module in the robot, and obtaining the position information of the isolation area through a positioning module in the robot.
Preferably, the computing module is further configured to:
Acquiring building and road information in other feasible areas corresponding to the position information according to the position information;
And calculating the standby route according to the building and road information.
Preferably, the determining module further comprises a comparing module, wherein the comparing module is used for:
Scanning the isolation region through a sensing module in the robot to determine the area of the isolation region, and comparing the area with a preset area threshold;
if the area is smaller than the preset area threshold value, determining that the standby route is used as a traveling route so as to bypass the isolation area;
If the area is not smaller than the preset area threshold, executing the steps of: a first remaining time for the current task is obtained.
Preferably, the determining module is further configured to:
if the comparison result shows that the first remaining time is greater than the preset time threshold, determining that the preset route is taken as a traveling route so as to directly pass through the isolation area;
And if the comparison result shows that the first remaining time is not greater than the preset time threshold, determining that the standby route is used as the traveling route.
Preferably, the determining module is further configured to:
in the process of passing through the isolation area, acquiring first road condition information of the isolation area in real time through a sensing module in the robot;
And if the situation that the non-passing area exists in the isolation area is determined according to the first road condition information, returning to the starting point of the isolation area, and determining the standby route as the travelling route.
Preferably, the determining module further comprises an adjusting module, the adjusting module being configured to:
moving according to the standby route, and acquiring second road condition information of the standby route in real time through a sensing module of the robot in the moving process;
And acquiring a second residual time of the current task of the robot, and adjusting the motion parameters in real time according to the second road condition information and the second residual time.
In addition, to achieve the above object, the present invention also provides a robot route planning apparatus including: the system comprises a memory, a processor and a robot routing program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the robot routing method as described above.
In addition, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a robot route planning program which, when executed by a processor, implements the steps of the robot route planning method as described above.
According to the robot route planning method, when the existence of an isolation area in a preset route is detected, the position information of the isolation area is acquired, and a standby route is calculated according to the position information; and obtaining a first residual time of the current task of the robot, comparing the first residual time with a preset time threshold value to obtain a comparison result, and selecting a preset route or a standby route as a traveling route according to the comparison result. According to the method and the device for processing the robot, the standby route is calculated according to the position information of the isolation area, the first residual time of the current task is compared with the preset time threshold, and the preset route or the standby route is determined to be used as the travelling route, so that the travelling efficiency of the robot is improved.
Drawings
FIG. 1 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present invention;
Fig. 2 is a flowchart of a first embodiment of a robot route planning method according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic device structure of a hardware running environment according to an embodiment of the present invention.
The device of the embodiment of the invention can be a PC or a server device.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a memory 1003, and a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The memory 1003 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1003 may alternatively be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the device structure shown in fig. 1 is not limiting of the device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a robot route planning program may be included in a memory 1003, which is a kind of computer storage medium.
In the robot routing device shown in fig. 1, the robot routing device calls a robot routing program stored in a memory 1003 through a processor 1001 and performs the steps of:
When detecting that a preset route has an isolation area, acquiring position information of the isolation area, and calculating a standby route according to the position information;
obtaining a first residual time of a current task of the robot, comparing the first residual time with a preset time threshold value to obtain a comparison result, and selecting the preset route or the standby route as a traveling route according to the comparison result.
Further, the processor 1001 may be configured to invoke the robot routing program stored in the memory 1003, and further perform the following steps:
detecting that an isolation area appears in a preset route through a sensing module in the robot, and obtaining the position information of the isolation area through a positioning module in the robot.
Further, the processor 1001 may be configured to invoke the robot routing program stored in the memory 1003, and further perform the following steps:
Acquiring building and road information in other feasible areas corresponding to the position information according to the position information;
And calculating the standby route according to the building and road information.
Further, the processor 1001 may be configured to invoke the robot routing program stored in the memory 1003, and further perform the following steps:
Scanning the isolation region through a sensing module in the robot to determine the area of the isolation region, and comparing the area with a preset area threshold;
if the area is smaller than the preset area threshold value, determining that the standby route is used as a traveling route so as to bypass the isolation area;
If the area is not smaller than the preset area threshold, executing the steps of: a first remaining time for the current task is obtained.
Further, the processor 1001 may be configured to invoke the robot routing program stored in the memory 1003, and further perform the following steps:
if the comparison result shows that the first remaining time is greater than the preset time threshold, determining that the preset route is taken as a traveling route so as to directly pass through the isolation area;
And if the comparison result shows that the first remaining time is not greater than the preset time threshold, determining that the standby route is used as the traveling route.
Further, the processor 1001 may be configured to invoke the robot routing program stored in the memory 1003, and further perform the following steps:
in the process of passing through the isolation area, acquiring first road condition information of the isolation area in real time through a sensing module in the robot;
And if the situation that the non-passing area exists in the isolation area is determined according to the first road condition information, returning to the starting point of the isolation area, and determining the standby route as the travelling route.
Further, the processor 1001 may be configured to invoke the robot routing program stored in the memory 1003, and further perform the following steps:
moving according to the standby route, and acquiring second road condition information of the standby route in real time through a sensing module of the robot in the moving process;
And acquiring a second residual time of the current task of the robot, and adjusting the motion parameters in real time according to the second road condition information and the second residual time.
Based on the hardware structure, the embodiment of the robot route planning method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a robot route planning method according to the present invention, the method includes:
step S10, when an isolation area exists in a preset route, acquiring position information of the isolation area, and calculating a standby route according to the position information;
Step S20, obtaining a first remaining time of the current task of the robot, comparing the first remaining time with a preset time threshold value to obtain a comparison result, and selecting the preset route or the standby route as a traveling route according to the comparison result.
The robot route planning method is applied to portable robot route planning equipment, wherein the robot route planning equipment can be a terminal, a robot or a server equipment, and is described by taking a robot as an example for convenience of description; the robot comprises a perception module, a server and a control module, wherein the perception module can acquire all information of the current motion environment in real time and receive corresponding information acquired by the server; in the running process of the robot, the sensing module in the robot detects that an isolation area appears in a current road, the robot positions the position of the robot through the positioning module, acquires the position information of the isolation area according to the position of the robot and a pre-stored electronic map, acquires the building layout, the road flatness and the road gradient in other feasible areas according to the position information of the isolation area, and further calculates a standby route; the robot acquires the first residual time of the current task, compares the first residual time with a preset time threshold value to obtain a comparison result, and selects a preset route or a standby route as a traveling route according to the comparison result. It should be noted that, the pre-stored electronic map and the preset time threshold are set in the robot by the relevant research personnel in advance, alternatively, the robot can update the pre-stored electronic map according to the information identified by the sensing module in the advancing process; the isolation area is an area which is set by related maintenance personnel when the road or the buildings around the road need to be maintained and prevents people from passing by and accidents, and the area can be used for people to pass through, but a robot can not necessarily pass through; the sensing module comprises a camera, a radar and an information receiver, wherein the information of the indication board of the isolation area can be obtained through the camera, the radar can obtain specific reflection information, for example, the laser radar can obtain specific identification feedback optical signals, the optical signals accord with a certain rule to represent that the area belongs to the isolation area, the information receiver can be in a short distance, for example, the isolation area continuously broadcasts the information of the isolation area through radio frequency or wifi, or in a long distance, for example, the robot walks to a certain positioning coordinate, and the server obtains the blocked information of the area through a municipal administration and transmits the blocked information to the robot through the receiver.
According to the robot route planning method, when the existence of an isolation area in a preset route is detected, position information of the isolation area is obtained, and a standby route is calculated according to the position information; and obtaining a first residual time of the current task, comparing the first residual time with a preset time threshold value to obtain a comparison result, and selecting a preset route or a standby route as a traveling route according to the comparison result. When the robot detects that the preset route has the isolation area, the position information of the isolation area is acquired, the standby route is calculated according to the position information, and the first residual time of the current task is compared with the preset time threshold value, so that the preset route or the standby route is determined to be used as the traveling route, and the traveling efficiency of the robot is improved.
The following will explain each step in detail:
step S10, when an isolation area exists in a preset route, acquiring position information of the isolation area, and calculating a standby route according to the position information;
In the embodiment, during the running process of the robot, the real-time scanning detection is performed through the surrounding environment of the sensing module, when the existence of an isolation area in a preset route is detected, the position information of the isolation area is obtained, and a standby route is calculated according to the position information of the isolation area; such as: the robot detects that the preset route has the isolation area, the position information of the isolation area is obtained, the position information is the road name of the road where the isolation area is located and the specific position of the road where the isolation area is located, and the standby route is calculated according to the position information, and the standby route is a route bypassing the isolation area, can be completely different from the preset route, and can also be partially identical to the current road. It should be noted that, when the preset route does not have an isolation area, the preset route is a more proper or even the most proper route selected by the robot after weighing according to road conditions; when there is no other area available for the robot to run, the robot can only try to pass through the isolation zone.
Specifically, step S10 further includes:
And a step a, detecting that an isolation area appears in a preset route through a sensing module in the robot, and obtaining the position information of the isolation area through a positioning module in the robot.
In the step, the robot detects that an isolation area appears on a preset route through a sensing module, acquires the position of the robot through a positioning module, and combines the position of the robot with a pre-stored electronic map to obtain the position information of the isolation area; further, the robot can also obtain the position information of the isolation area near the positioning coordinates of the robot through a signal receiver receiving server in the sensing module.
Step b, obtaining building and road information in other feasible regions corresponding to the position information according to the position information;
In this step, after the robot obtains the position information of the isolation area, the obtaining, by using the position information as a center and through the sensing module, building and road information in other feasible areas within the preset radius range includes: building layout, road flatness, and road grade; such as: the robot uses the position information as a center, and scans and detects the area within the preset radius range through a sensing module to acquire building layout, road flatness and road gradient in other feasible areas; it should be noted that, the preset radius is set by the relevant research and development personnel according to the optimal sensing distance of the sensing module, and the sensing module has the best effect of scanning and detecting the relevant information in the area within the preset radius; the robot can also obtain corresponding building layout, road flatness and road gradient near the isolation area through historical records or prestored records; other travelable areas refer to other areas available for the robot to travel than the isolation zone.
And c, calculating the standby route according to the building and road information.
In this step, the robot is based on the acquired building and road information: building layout, road flatness and road gradient, and calculating a standby route, such as: the robot obtains a plurality of standby routes according to the building layout, analyzes the road flatness and the road gradient in each standby route, and finally obtains an optimal standby route; it should be noted that, due to the design reason of the robot, when the calculated backup route has poor road flatness, the robot is not easy to pass through, the road gradient is large, and the robot is easy to turn over when the robot is in a side-turning state, etc., the backup route is eliminated by the robot, so that the optimal backup route is determined among the multiple backup routes.
Step S20, obtaining a first remaining time of the current task of the robot, comparing the first remaining time with a preset time threshold value to obtain a comparison result, and selecting the preset route or the standby route as a traveling route according to the comparison result.
In the embodiment, the robot acquires the first residual time of the current task, compares the first residual time with a preset time threshold value to obtain a comparison result, and selects a preset route or a standby route as a traveling route according to the comparison result; it should be noted that: the robot needs to pass through the isolation area in the unknown field, needs extra time, and even can be because the isolation area is unfavorable for passing and lead to the robot to return to the origin, leads to whole travel time to increase by a wide margin, therefore, if the first remaining time of current task is enough, the robot can be through exploring the isolation area so that follow-up robot passes through this isolation area, can adapt to this isolation area fast, need not judge any more and can select to bypass this isolation area or directly pass through this isolation area.
Specifically, step S20 further includes, before:
step d, scanning the isolation area through a sensing module in the robot to determine the area of the isolation area, and comparing the area with a preset area threshold;
in the step, after the robot calculates a standby route, the isolation area is scanned through the sensing module, the length and the width of the isolation area are obtained, the area of the isolation area is calculated, and the area of the isolation area is compared with a preset area threshold value; it should be noted that, in a practical situation, there may be an isolation area with a smaller area in the road, for example, in the case of underground pipeline maintenance, the robot may not consume too much time when selecting to bypass the isolation area with a smaller area, so when detecting the isolation area with a smaller area, the robot may directly select to bypass the isolation area, so as to improve the travelling efficiency.
Step e, if the area is smaller than the preset area threshold, determining to take the standby route as a traveling route so as to bypass the isolation area;
In the step, if the robot obtains that the area of the isolation area is smaller than the preset area threshold value by comparing the area with the area threshold value, determining to take the standby route as the travelling route, and directly bypassing the isolation area; it should be noted that, because the area of the isolation area is smaller at this time, the robot may optionally continue to travel according to the standby route after bypassing the isolation area, and may optionally discard the standby route and travel according to the preset route.
And f, if the second comparison result shows that the area is not smaller than the preset area threshold value, executing the steps: a first remaining time for the current task is obtained.
In the step, if the robot obtains that the area of the isolation area is not smaller than the preset area threshold value by comparing the area with the area threshold value, that is, the area of the isolation area is larger than or equal to the preset area threshold value, the first remaining time of the current task is obtained to determine whether to bypass the isolation area.
Specifically, step S20 further includes:
step g, if the comparison result shows that the first remaining time is greater than the preset time threshold, determining that the preset route is taken as a traveling route so as to directly pass through the isolation area;
In the step, the robot obtains a comparison result that the first residual time of the current task is larger than a preset time threshold value, and determines that a preset route is taken as a traveling route and directly passes through the isolation area; it should be noted that, since the information in the isolation area is unknown to the robot, when the robot passes through the isolation area, the information in the isolation area needs to be acquired in real time by the sensing module, and the information in the isolation area is stored in the memory of the robot.
Further, step g further comprises:
in the process of passing through the isolation area, acquiring first road condition information of the isolation area in real time through a sensing module in the robot;
in the step, in the process of passing through the isolation area, the robot acquires first road condition information of the isolation area in real time through the sensing module, and analyzes whether the first road condition information is suitable for advancing in real time; such as: the robot obtains that the road surface of the isolation area has pits through the perception module, and the robot adjusts the advancing angle according to the positions of the pits, so that the pits on the road surface are avoided.
And if the situation that the non-passing area exists in the isolation area is determined according to the first road condition information, returning to the starting point of the isolation area, and determining the standby route as the travelling route.
In the step, the robot acquires first road condition information in the isolation area, adjusts the traveling angle if the isolation area is analyzed according to the first road condition information and has an area which cannot pass through, returns to the starting point of the isolation area according to the original route of the route entering the isolation area, and determines a standby route as a traveling route.
And h, if the comparison result shows that the first remaining time is not greater than the preset time threshold, determining that the standby route is used as the traveling route.
In the step, if the first comparison result of the robot is that the first remaining time is not greater than the preset time threshold, the standby route is determined to be used as the traveling route, and the traveling angle and the traveling speed are adjusted in real time in the traveling process along the standby route so as to complete the current task within the preset time of the current task.
In the running process of the robot, the sensing module in the robot detects that an isolation area appears in a current road, the robot positions the robot by the positioning module, acquires the position information of the isolation area according to the position of the robot and a pre-stored electronic map, acquires the building and road information in other feasible areas according to the position information of the isolation area, and further calculates a standby route; the robot acquires the first residual time of the current task, compares the first residual time with a preset time threshold value to obtain a comparison result, and selects a preset route or a standby route as a traveling route according to the comparison result. According to the method and the device for processing the robot, the standby route is calculated according to the position information of the isolation area, the first residual time of the current task is compared with the preset time threshold, and the preset route or the standby route is determined to be used as the travelling route, so that the travelling efficiency of the robot is improved.
Further, based on the first embodiment of the robot route planning method of the present invention, a second embodiment of the robot route planning method of the present invention is proposed.
The second embodiment of the robot route planning method differs from the first embodiment of the robot route planning method in that after the robot determines the alternate route as the travel route, further comprises:
Step i, moving according to the standby route, and acquiring second road condition information of the standby route in real time through a sensing module of the robot in the moving process;
Step j, obtaining a second residual time of the current task of the robot, and adjusting motion parameters in real time according to the second road condition information and the second residual time.
In the embodiment, after the robot determines that the standby route is taken as the traveling route, the robot moves according to the standby route, and in the moving process, the second road condition information of the standby route is obtained in real time through the sensing module, the second residual time of the current task is obtained, and the moving parameters of the robot are adjusted in real time according to the second road condition information and the second residual time; it should be noted that the second road condition information includes building layout, road flatness and road gradient on the standby route, and the movement parameters include a traveling angle and a traveling speed. The types of areas for the robot to move include various areas, such as residential areas, squares, sidewalks, green roads, highways and the like, the passing speeds of the robot in different areas are different, the robot can adjust corresponding travelling speeds according to different types of moving areas, and corresponding passing time is calculated according to the travelling speeds and the lengths of the different areas in the standby route; when the current task fails due to too long a time through these areas, the robot reroutes to avoid the current road. The second remaining time is acquired in real time by the robot and is different from the first remaining time.
The following will explain each step in detail:
Step i, moving according to the standby route, and acquiring second road condition information of the standby route in real time through a sensing module of the robot in the moving process;
in the step, the robot moves according to the standby route, and in the moving process, the second road condition information of the standby route is obtained in real time through the sensing module and stored in the memory; it should be noted that, the robot can learn by other robots by acquiring and storing the second road condition information on the standby route.
Step j, obtaining a second residual time of the current task of the robot, and adjusting motion parameters in real time according to the second road condition information and the second residual time.
In the step, the robot acquires the second remaining time of the current task, and adjusts the motion parameters of the robot in real time according to the second road condition information and the second remaining time so as to ensure that the robot completes the current task within the specified time of the current task.
In this embodiment, after the robot determines that the standby route is taken as the traveling route, the robot moves according to the standby route, and in the moving process, the sensing module acquires second road condition information of the standby route in real time, acquires second remaining time of the current task, and adjusts motion parameters of the robot in real time according to the second road condition information and the second remaining time, so as to improve traveling efficiency of the robot.
In addition, to achieve the above object, the present invention also provides a robot route planning apparatus, including:
The calculation module is used for acquiring the position information of the isolation area when the isolation area exists in the preset route, and calculating a standby route according to the position information;
The determining module is used for obtaining the first remaining time of the current task, comparing the first remaining time with a preset time threshold value to obtain a comparison result, and selecting the preset route or the standby route as a traveling route according to the comparison result.
Preferably, the computing module further comprises a positioning module for:
detecting that an isolation area appears in a preset route through a sensing module in the robot, and obtaining the position information of the isolation area through a positioning module in the robot.
Preferably, the computing module is further configured to:
Acquiring building and road information in other feasible areas corresponding to the position information according to the position information;
And calculating the standby route according to the building and road information.
Preferably, the determining module further comprises a comparing module, wherein the comparing module is used for:
Scanning the isolation region through a sensing module in the robot to determine the area of the isolation region, and comparing the area with a preset area threshold;
if the area is smaller than the preset area threshold value, determining that the standby route is used as a traveling route so as to bypass the isolation area;
If the area is not smaller than the preset area threshold, executing the steps: a first remaining time for the current task is obtained.
Preferably, the determining module is further configured to:
if the comparison result shows that the first remaining time is greater than the preset time threshold, determining that the preset route is taken as a traveling route so as to directly pass through the isolation area;
And if the comparison result shows that the first remaining time is not greater than the preset time threshold, determining that the standby route is used as the traveling route.
Preferably, the determining module is further configured to:
in the process of passing through the isolation area, acquiring first road condition information of the isolation area in real time through a sensing module in the robot;
And if the situation that the non-passing area exists in the isolation area is determined according to the first road condition information, returning to the starting point of the isolation area, and determining the standby route as the travelling route.
Preferably, the determining module further comprises an adjusting module, the adjusting module being configured to:
moving according to the standby route, and acquiring second road condition information of the standby route in real time through a sensing module of the robot in the moving process;
And acquiring a second residual time of the current task of the robot, and adjusting the motion parameters in real time according to the second road condition information and the second residual time.
The invention also provides a computer readable storage medium.
The present invention computer readable storage medium has stored thereon a robot routing program which when executed by a processor implements the steps of the robot routing method as described above.
The method implemented when the robot route planning program running on the processor is executed may refer to various embodiments of the robot route planning method of the present invention, which are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein, or any application, directly or indirectly, in the field of other related technology.
Claims (9)
1. A robot route planning method, characterized in that the robot route planning method comprises the steps of:
When detecting that a preset route has an isolation area, acquiring position information of the isolation area, and calculating a standby route according to the position information;
acquiring a first residual time of a current task of the robot, comparing the first residual time with a preset time threshold value to obtain a comparison result, and selecting the preset route or the standby route as a traveling route according to the comparison result;
Wherein, the step of selecting the preset route or the standby route as the traveling route according to the comparison result includes:
if the comparison result shows that the first remaining time is greater than the preset time threshold, determining that the preset route is taken as a traveling route so as to directly pass through the isolation area;
And if the comparison result shows that the first remaining time is not greater than the preset time threshold, determining that the standby route is used as the traveling route.
2. The robot route planning method according to claim 1, wherein the step of acquiring the position information of the isolation zone when the existence of the isolation zone of the preset route is detected comprises:
detecting that an isolation area appears in a preset route through a sensing module in the robot, and obtaining the position information of the isolation area through a positioning module in the robot.
3. The robot route planning method of claim 1, wherein the step of calculating a backup route based on the position information comprises:
Acquiring building and road information in other feasible areas corresponding to the position information according to the position information;
And calculating the standby route according to the building and road information.
4. The robotic route planning method of claim 1, wherein prior to the step of obtaining the first remaining time for the current task, the robotic route planning method further comprises:
Scanning the isolation region through a sensing module in the robot to determine the area of the isolation region, and comparing the area with a preset area threshold;
if the area is smaller than the preset area threshold value, determining that the standby route is used as a traveling route so as to bypass the isolation area;
If the area is not smaller than the preset area threshold, executing the steps of: a first remaining time for the current task is obtained.
5. The robot routing method of claim 1, wherein the determining takes the preset route as a travel route, and after the step of directly passing through the isolation zone, the robot routing method further comprises:
in the process of passing through the isolation area, acquiring first road condition information of the isolation area in real time through a sensing module in the robot;
And if the situation that the non-passing area exists in the isolation area is determined according to the first road condition information, returning to the starting point of the isolation area, and determining the standby route as the travelling route.
6. The robot routing method of claim 1, wherein after the step of determining the alternate route as a travel route, the robot routing method further comprises:
moving according to the standby route, and acquiring second road condition information of the standby route in real time through a sensing module of the robot in the moving process;
And acquiring a second residual time of the current task of the robot, and adjusting the motion parameters in real time according to the second road condition information and the second residual time.
7. A robot routing device, the robot routing device comprising:
The calculation module is used for acquiring the position information of the isolation area when the isolation area exists in the preset route, and calculating a standby route according to the position information;
The determining module is used for obtaining first residual time of a current task of the robot, comparing the first residual time with a preset time threshold value to obtain a comparison result, and selecting the preset route or the standby route as a traveling route according to the comparison result;
the determining module is further configured to determine that the preset route is used as a travel route to directly pass through the isolation area if the comparison result indicates that the first remaining time is greater than the preset time threshold; and if the comparison result shows that the first remaining time is not greater than the preset time threshold, determining that the standby route is used as the traveling route.
8. A robotic route planning device, the robotic route planning device comprising: a memory, a processor and a robot routing program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the robot routing method according to any one of claims 1 to 6.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a robot routing program, which when executed by a processor, implements the steps of the robot routing method according to any of claims 1 to 6.
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| CN111781936A (en) * | 2020-08-07 | 2020-10-16 | 深圳中智永浩机器人有限公司 | Robot path planning method and device, robot and computer readable storage medium |
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| CN111830987A (en) * | 2020-07-27 | 2020-10-27 | 济南浪潮高新科技投资发展有限公司 | Control method and device of inspection robot and inspection system of robot |
| CN111781936A (en) * | 2020-08-07 | 2020-10-16 | 深圳中智永浩机器人有限公司 | Robot path planning method and device, robot and computer readable storage medium |
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Address after: Unit 7-11, 6th Floor, Building B2, No. 999-8 Gaolang East Road, Wuxi Economic Development Zone, Wuxi City, Jiangsu Province, China 214000 Patentee after: Youdi Robot (Wuxi) Co.,Ltd. Country or region after: China Address before: 5D, Building 1, Tingwei Industrial Park, No. 6 Liufang Road, Xingdong Community, Xin'an Street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: UDITECH Co.,Ltd. Country or region before: China |