CN114237220A - Robot, robot control method, robot control device, and storage medium - Google Patents
Robot, robot control method, robot control device, and storage medium Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 32
- 230000004044 response Effects 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 description 26
- 238000010408 sweeping Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a control method of a robot, which comprises the following steps: controlling the robot to perform an edgewise operation on a first obstacle on a first side; in the process of executing the edgewise operation, if a second obstacle is detected to exist on the second side, ignoring the second obstacle, and maintaining and controlling the robot to execute the edgewise operation on the first obstacle on the first side; wherein the first side and the second side are different sides of the robot. The invention also discloses a robot, a control method and a control device thereof, and a storage medium. The invention aims to realize smooth passing of the robot in a narrow road and reduce the limitation on the moving range of the robot.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a robot, a method and an apparatus for controlling the same, and a storage medium.
Background
With the development of economic technology, robots are applied more and more widely in daily production and life. The robot moving autonomously needs to run along the edge during the moving process, and the running along the edge means that the robot moves along the edge of the obstacle.
When the robot moves along an obstacle on one side and collides with the obstacle on the other side, the robot is switched to the operation along the edge of the obstacle on the other side, so that the robot can easily collide with the obstacle in a narrow road with a small width and cannot enter the narrow road due to turning, and the moving range of the robot is limited.
Disclosure of Invention
The invention mainly aims to provide a robot, a control method and a control device thereof, and a storage medium, aiming at realizing smooth passing of the robot in a narrow road and reducing the limitation on the moving range of the robot.
In order to achieve the above object, the present invention provides a control method of a robot, including:
controlling the robot to perform an edgewise operation on a first obstacle on a first side;
in the process of executing the edgewise operation, if a second obstacle is detected to exist on the second side, ignoring the second obstacle, and maintaining and controlling the robot to execute the edgewise operation on the first obstacle on the first side;
wherein the first side and the second side are different sides of the robot.
Optionally, the method further comprises:
in the edgewise operation maintaining and executing process, if a third obstacle is detected to exist on the third side, controlling the robot to turn towards the second side and maintaining and controlling the robot to execute the edgewise operation on the first side until the third obstacle is located on the first side of the robot;
the first side and the second side are two opposite sides of the robot, and the third side is the front side of the robot.
Optionally, the method further comprises:
and in the process that the robot turns towards the second side, if the fourth obstacle is detected to exist on the second side, controlling the robot to execute the target moving operation so that the fourth obstacle is located on the first side of the robot, and maintaining and controlling the robot to execute the edgewise operation on the first side.
Optionally, the step of controlling the robot to perform the target moving operation includes:
controlling the robot to turn around to enable a second obstacle on the second side to be located on the first side of the robot;
after the step of controlling the robot to perform the target moving operation, the method further includes:
and after the robot successfully turns around, controlling the robot to execute the edgewise operation on the first side.
Optionally, the step of controlling the robot to perform the target moving operation includes:
controlling the robot to turn to the first side to enable the robot to face the third obstacle;
controlling the robot to retreat;
controlling the robot to turn towards the second side;
and in the process of turning towards the second side, if the obstacle is detected to exist on the second side, the robot is controlled to turn towards the first side.
Optionally, the first side and the second side are opposite sides of the robot, the method further comprising:
in the process of executing the edge operation, if the robot is in the state of turning towards the first side, and a second obstacle is detected to exist on the second side, controlling the robot to move backwards;
and after the robot retreats for the first distance or the first time length, continuing to control the robot to turn towards the first side, and executing the step of maintaining and controlling the robot to execute the edgewise operation on the first side.
Optionally, the step of controlling the robot to perform an edgewise operation on a first obstacle of the first side comprises:
acquiring obstacle detection information of the first side;
determining a current second distance between the first obstacle and the robot according to the obstacle detection information;
and controlling the robot to move according to the second distance so that the distance between the first obstacle and the robot reaches a preset distance.
Optionally, the step of controlling the robot to move according to the second distance so that the distance between the first obstacle and the robot reaches a preset distance includes:
calculating an edge control parameter according to a preset algorithm and the second distance; the preset algorithm is used for calculating control parameters of the robot in the edgewise operation process by taking the preset distance as a target value;
and controlling the robot to move according to the edge control parameters.
In order to achieve the above object, the present application also proposes a control device for a robot, the control device including:
an edgewise module for controlling the robot to perform an edgewise operation on a first obstacle on a first side;
the obstacle response module is used for ignoring a second obstacle if the second obstacle is detected to exist on the second side in the edgewise operation execution process, and calling the edgewise module to maintain and control the robot to execute the edgewise operation on the first obstacle on the first side;
wherein the first side and the second side are different sides of the robot.
Further, in order to achieve the above object, the present application also proposes a robot comprising:
an obstacle detection module;
a moving module; and
control device, obstacle detection module with remove the module all with control device connects, control device includes: a memory, a processor and a control program of the robot stored on the memory and executable on the processor, the control program of the robot implementing the steps of the control method of the robot as described in any one of the above when executed by the processor.
Further, in order to achieve the above object, the present application also proposes a computer-readable storage medium having stored thereon a control program of a robot, which when executed by a processor, implements the steps of the control method of a robot according to any one of the above.
The invention provides a control method of a robot, which is characterized in that in the process that the robot runs along the edge of an obstacle on one side, when the other side is detected to have the obstacle, the robot is controlled to ignore the obstacle detected on the other side and maintain the operation along the edge of the obstacle on the original one side, so that the situation that the robot collides with the obstacle on a narrow road junction and cannot enter the narrow road due to unnecessary obstacle avoidance can be avoided, the smooth running of the robot on the narrow road can be ensured, and the limitation on the moving range of the robot is reduced.
Drawings
FIG. 1 is a schematic diagram of a hardware configuration involved in the operation of one embodiment of the robot of the present invention;
FIG. 2 is a flowchart illustrating a control method of a robot according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a control method of the robot according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of the robot moving relative to an obstacle according to the embodiment of FIG. 3;
FIG. 5 is a schematic flow chart illustrating a control method of the robot according to another embodiment of the present invention;
FIG. 6 is a schematic diagram of the robot moving relative to an obstacle according to the embodiment of FIG. 5;
FIG. 7 is a flowchart illustrating a control method of a robot according to still another embodiment of the present invention;
FIG. 8 is a schematic diagram of the robot of FIG. 7 in a position relative to an obstacle;
fig. 9 is a flowchart illustrating a control method of a robot according to still another embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: controlling the robot to perform an edgewise operation on a first obstacle on a first side; in the process of executing the edgewise operation, if a second obstacle is detected to exist on the second side, ignoring the second obstacle, and maintaining and controlling the robot to execute the edgewise operation on the first obstacle on the first side; wherein the first side and the second side are different sides of the robot.
In the prior art, when the robot moves along an obstacle on one side and touches the obstacle on the other side, the robot is switched to the operation along the edge of the obstacle on the other side, so that the robot easily encounters a narrow road with a small width, and the robot cannot enter the narrow road due to the fact that the robot turns and collides with the obstacle, and the moving range of the robot is limited.
The invention provides the solution, and aims to realize smooth passing of the robot in a narrow road and reduce the limitation on the moving range of the robot.
The embodiment of the invention provides a robot.
The robot related to the embodiment of the application can comprise a cleaning robot, a logistics robot, a service robot, a carrying robot, a warehousing robot and the like, wherein the cleaning robot can be used for automatically cleaning the ground, and the application scene can be household indoor cleaning, large-scale place cleaning and the like.
The cleaning robot is of a sweeping robot, a mopping robot, a sweeping and mopping integrated robot and the like. On the cleaning robot, a cleaning assembly and a driving device are arranged. The cleaning robot moves along a set cleaning path by itself under the driving of the driving device, and cleans the floor through the cleaning assembly. For the sweeping robot, the cleaning assembly comprises a sweeping assembly and a dust suction device, in the cleaning process, the sweeping assembly sweeps dust, garbage and the like to a dust suction port of the dust suction device, so that the dust suction device absorbs the dust, the garbage and the like for temporary storage, and the sweeping assembly can comprise an edge brush assembly. For the mopping robot, the cleaning assembly comprises a mopping assembly, the mopping assembly is in contact with the ground, and the mopping piece mops the ground in the moving process of the mopping robot, so that the ground is cleaned.
In an embodiment of the present invention, referring to fig. 1, the robot includes an obstacle detecting module 1, a moving module 2, and a control device 3.
The obstacle detection module 1 is specifically configured to detect obstacle information. Specifically, the obstacle detecting module 1 may include at least one of a binocular sensor, an infrared sensor, a laser radar, a collision sensor, and the like. The obstacle detection modules 1 can be distributed on at least two sides of the robot to detect obstacles on at least two sides of the robot. For example, the obstacle detecting module 1 may include sub-detecting modules disposed on the left, front, and right sides to detect obstacle information of the left, right, and front sides of the robot in a distributed manner. Laser radar sets up at the top of robot main part, and at the during operation, laser radar is rotatory to through the transmitter transmission laser signal on the laser radar, laser signal is by the barrier reflection, thereby laser radar's receiver receives the laser signal that the barrier reflected back. The laser radar analyzes the received laser signal, and obtains surrounding environment information such as a distance and an angle of an obstacle with respect to the laser radar. In addition, a camera can be used to replace the laser radar, and the distance, the angle and the like of the obstacle relative to the camera can be obtained by analyzing the obstacle in the image shot by the camera.
The moving module 2 is specifically used for a module for realizing the movement of the robot, such as a caster, a driving mechanism connected to the caster, and the like.
The obstacle detection module 1 and the mobile module 2 are both connected with the control device 3, and the control device 3 can be used for acquiring data detected by the obstacle detection module 1 and controlling the operation of the mobile module 2.
Specifically, referring to fig. 1, the control device 3 includes: a processor 1001 (e.g., a CPU), a memory 1002, a timer 1003, and the like. The memory 1002 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1002 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a control program of the robot may be included in a memory 1002 as a computer-readable storage medium. In the apparatus shown in fig. 1, the processor 1001 may be configured to call a control program of the robot stored in the memory 1002, and perform the following operations:
controlling the robot to perform an edgewise operation on a first obstacle on a first side;
in the process of executing the edgewise operation, if a second obstacle is detected to exist on the second side, ignoring the second obstacle, and maintaining and controlling the robot to execute the edgewise operation on the first obstacle on the first side;
wherein the first side and the second side are different sides of the robot.
Further, the processor 1001 may call the control program of the robot stored in the memory 1002, and also perform the following operations:
during the edgewise operation maintaining execution, if a third obstacle is detected to exist on the third side, controlling the robot to turn towards the second side until the third obstacle is located on the first side of the robot;
maintaining control of the robot to perform edgewise operations on the first side during steering of the robot toward the second side;
the first side and the second side are two opposite sides of the robot, and the third side is the front side of the robot.
Further, the processor 1001 may call the control program of the robot stored in the memory 1002, and also perform the following operations:
and in the process that the robot turns towards the second side, if the fourth obstacle is detected to exist on the second side, controlling the robot to execute the target moving operation so that the fourth obstacle is located on the first side of the robot, and maintaining and controlling the robot to execute the edgewise operation on the first side.
Further, the processor 1001 may call the control program of the robot stored in the memory 1002, and also perform the following operations:
controlling the robot to turn around to enable a second obstacle on the second side to be located on the first side of the robot;
and after the U-turn is successful, controlling the robot to perform the edgewise operation on the first side in a maintaining way.
Further, the processor 1001 may call the control program of the robot stored in the memory 1002, and also perform the following operations:
the step of controlling the robot to perform the target moving operation includes:
controlling the robot to turn to the first side to enable the robot to face the third side;
controlling the robot to retreat;
controlling the robot to turn towards the second side;
and in the process of turning towards the second side, if the obstacle is detected to exist on the second side, the robot is controlled to turn towards the first side.
Further, the first side and the second side are opposite sides of the robot, and the processor 1001 may call the control program of the robot stored in the memory 1002, and further perform the following operations:
the method further comprises the following steps:
in the process of executing the edge operation, if the robot is in the state of turning towards the first side, and a second obstacle is detected to exist on the second side, controlling the robot to move backwards;
and after the robot retreats for the first distance or the first time length, continuing to control the robot to turn towards the first side, and executing the step of maintaining and controlling the robot to execute the edgewise operation on the first side.
Further, the processor 1001 may call the control program of the robot stored in the memory 1002, and also perform the following operations:
acquiring obstacle detection information of the first side, wherein the obstacle detection information comprises obstacle points of the first obstacle;
determining a current second distance between the first obstacle and the robot according to the obstacle detection information;
and controlling the robot to move according to the second distance so that the distance between the first obstacle and the robot reaches a preset distance.
Further, the processor 1001 may call the control program of the robot stored in the memory 1002, and also perform the following operations:
calculating an edge control parameter according to a preset algorithm and the first distance; the preset algorithm is used for calculating control parameters of the robot in the edgewise operation process by taking the preset distance as a target value;
and controlling the robot to move according to the edge control parameters.
The embodiment of the invention also provides a control method of the robot, which is applied to the robot.
Referring to fig. 2, an embodiment of a control method of a robot according to the present application is provided. In this embodiment, the method for controlling the robot includes:
step S10, controlling the robot to execute the edge operation of the first obstacle on the first side;
the edgewise operation is an operation of maintaining a distance between a side edge of a target side of the robot and an obstacle located at the target side of the robot at a preset threshold, and specifically, the robot controls the distance between the side edge of the target side of the robot and the obstacle at the target side to be near the preset threshold during traveling so as to prevent the robot from colliding with the obstacle at the target side.
Here, the edgewise operation of the first obstacle on the first side refers to an operation in which a first distance between the side edge of the first side of the robot and the first obstacle located at the first side of the robot is maintained at a preset threshold value. Specifically, in the moving process of the robot, the obstacle point on the first obstacle may be detected continuously or at set intervals for a set time period, a first distance is obtained by detecting a distance between the obstacle point and a side edge of the first side of the robot, the moving of the robot is adjusted in real time based on a comparison result between the first distance and a preset threshold value, the advancing direction of the robot is adjusted toward a direction close to the first obstacle when the first distance is greater than the preset threshold value, the advancing direction of the robot is adjusted toward a direction away from the first obstacle when the first distance is smaller than the preset threshold value, and the robot maintains the current advancing direction to move when the first distance is equal to the preset threshold value.
In this embodiment, the first side may be set by the user based on his own needs, and the first side may also be determined by the robot based on the scene characteristic parameters of the space in which the robot is detected and/or its cleaning mode.
In this embodiment, the first side may be the right side, i.e. the robot is close to the right edge. In other embodiments, the first side may also be the left side, front side, or back side of the robot, etc.
Step S20, in the course of executing the edgewise operation, if it is detected that a second obstacle exists on the second side, ignoring the second obstacle, and maintaining and controlling the robot to execute the edgewise operation on the first obstacle on the first side;
wherein the first side and the second side are different sides of the robot.
In this embodiment, the second side is the left side. In other embodiments, the second side may also be a right side, a front side, a rear side, or the like of the robot, and only the second side needs to be ensured to be a different side from the first side.
Further, in this embodiment, the first side and the second side are opposite sides of the robot, for example, the first side is a right side, and the second side is a left side; for another example, the first side is the left side and the second side is the right side; in other embodiments, the first side and the second side may also be two adjacent sides of the robot, such as the first side being a front side and the second side being a right side, and the first side being a left side and the second side being a front side, and so on.
In the process that the robot carries out the operation along the edge of the first obstacle on the first side, the obstacle on the second side can be synchronously detected to obtain the obstacle detection data of the second side, and if the obstacle detection data of the second side has the characteristic signal corresponding to the obstacle, the second obstacle on the second side can be determined to be detected. For example, when a feature signal generated by collision of an obstacle exists in detection data of a collision sensor on the second side, it is determined that a second obstacle exists on the second side; for another example, when the point cloud data corresponding to the obstacle exists in the detection data of the lidar at the second side, it can be determined that the second obstacle exists at the second side.
The step of ignoring the second obstacle specifically means that the robot is not controlled to avoid the second obstacle on the second side according to the obstacle detection data on the second side, and the robot is continuously controlled to maintain the edge operation on the first obstacle on the first side according to the obstacle point detected on the first side. In the process of maintaining the edgewise operation of the first side after the second obstacle is detected, the distance threshold value of the distance between the side edge of the first side of the robot and the first obstacle can adopt a first threshold value smaller than the preset threshold value, namely, the distance between the robot and the first obstacle in the edgewise operation process is reduced, so that the robot can smoothly pass through a narrow passage opening. In other embodiments, after detecting the second obstacle, the robot may maintain the operation of the first side along the edge after turning towards the first side by the set angle, and in the process of maintaining the operation of the first side along the edge, the distance threshold for the distance between the side edge of the first side of the robot and the first obstacle may be maintained by using the preset threshold.
For example, if the left side of the robot collides with an obstacle while the robot moves along the edge of the obstacle on the right side, the robot ignores the obstacle detected on the left side and continues to move along the edge of the obstacle on the right side.
The method for controlling the robot provided by the embodiment of the invention controls the robot to ignore the obstacle detected by the other side and maintain the operation along the edge of the obstacle on the original one side when the obstacle on the other side is detected in the process that the robot operates along the edge of the obstacle on one side, so that the problem that the robot collides with the obstacle on the narrow road junction and unnecessarily turns to cause the robot to be incapable of entering the narrow road can be avoided, the robot can be ensured to smoothly pass through the narrow road, and the limitation on the moving range of the robot is reduced.
Further, based on the above embodiments, another embodiment of the control method of the robot of the present application is provided. In this embodiment, referring to fig. 3, the method for controlling a robot further includes:
step S30, in the edgewise operation maintaining and executing process, if it is detected that a third obstacle exists on the third side, controlling the robot to turn towards the second side and maintaining and controlling the robot to execute the edgewise operation on the first side until the third obstacle is located on the first side of the robot; the first side and the second side are two opposite sides of the robot, and the third side is the front side of the robot.
In the process that the robot carries out the operation along the edge of the first obstacle on the first side, in addition to the detection of the entrance and exit of the obstacle on the second side, the robot can also synchronously detect the obstacle on the third side to obtain the obstacle detection data on the third side, and if the obstacle detection data on the third side has the characteristic signal corresponding to the obstacle, the robot can determine that the third obstacle exists on the third side. For example, when a feature signal generated by collision of an obstacle exists in the detection data of the collision sensor of the third side, it is determined that the third side has the third obstacle; for another example, when the point cloud data corresponding to the obstacle exists in the detection data of the laser radar on the third side, it may be determined that the third obstacle exists on the third side.
And continuously maintaining the edgewise operation of the first side in the process that the robot turns towards the second side, so that the distance between the side edge of the first side of the robot and the obstacle positioned on the first side of the robot can be maintained at a preset threshold value. The distance between the side edge of the first side of the robot and the obstacle located on the first side of the robot may be an average value of a plurality of distance values between a plurality of position points on the side edge and the obstacle point on the first side, a distance between a preset reference point on the side edge and the obstacle point on the first side, or a minimum distance value among a plurality of distance values between a plurality of position points on the side edge and the obstacle point on the first side.
In an implementation manner of this embodiment, the first side is a right side of the robot, the second side is a left side of the robot, and the third side is a front side of the robot, referring to fig. 4, when the robot moves forward in the direction a and moves along an edge of the right obstacle 1, if the obstacle 2 on the front side of the robot is detected, the robot may be controlled to move in a left direction (e.g., the direction B in fig. 4), and the robot maintains an edgewise operation on the obstacle on the right side of the robot during the left direction turning, so that a distance between the right side of the robot and an obstacle point detected on the right side of the robot is maintained at a preset threshold, and the obstacle 2 originally on the front side of the robot is changed to be on the right side of the robot (the robot moves to a position of a dashed frame in fig. 4), and the obstacle 1 originally on the right side of the robot is changed to be on the rear side of the robot.
In another implementation manner of this embodiment, the first side is a left side of the robot, the second side is a right side of the robot, and the third side is a front side of the robot, and when the robot moves along an edge of an obstacle on the left side, if an obstacle on the front side of the robot is detected, the robot may be controlled to turn and move towards the right side, and when the robot turns towards the right side, the robot maintains an edgewise operation on the obstacle on the left side, so that a distance between the left side of the robot and an obstacle point detected on the left side of the robot is maintained at a preset threshold, and an obstacle originally located on the front side of the robot is changed to be located on the left side of the robot, and an obstacle originally located on the left side of the robot is changed to be located on the rear side of the robot.
In this embodiment, at the in-process that the robot removed along one side edgewise, when there is the barrier in its front side, the robot maintains the edgewise operation to original one side towards the in-process that opposite side relatively turned to guarantee that the robot removes the one side barrier that can press close to needs edgewise as far as possible when can dodging the barrier and remove as far as moving in-process, guarantee the satisfying of robot edgewise demand, avoid the robot to have the removal blind area, the movable range of robot can cover the corner, the lane, further reduce the restriction to robot moving range, the flexibility that the robot removed improves.
Further, based on any of the above embodiments, a further embodiment of the control method of the robot of the present application is provided. In this embodiment, referring to fig. 5, the method further includes:
and step S40, in the process of turning the robot to the second side, if it is detected that a fourth obstacle exists on the second side, controlling the robot to perform a target moving operation so that the fourth obstacle is located on the first side of the robot, and maintaining control of the robot to perform an edgewise operation on the first side.
The target moving operation may specifically include one or more combinations of turning, retreating, turning around, and the like, and it is only necessary to ensure that the fourth obstacle originally located on the second side of the robot after the target moving operation is completed is changed to the first side of the robot.
In an implementation manner of this embodiment, the step of controlling the robot to perform the target moving operation includes: controlling the robot to turn around (as in direction C in fig. 6 a) with the second obstacle on the second side on the first side of the robot; after the step of controlling the robot to perform the target moving operation, the method further includes: after the robot turns around successfully (i.e. after the robot moves to the position of the dashed box), the step of maintaining and controlling the robot to perform the edgewise operation on the first side is performed. The turning around of the robot here specifically means that the robot switches the current forward direction to the opposite direction of the current forward direction (i.e. the opposite direction Q of the direction a in fig. 6 a). Specifically, the driving motor of the caster wheel of the robot can be controlled to be switched to the reverse operation of the current operation direction, and the turning around of the robot is realized by changing the rotation direction of the caster wheel. In addition, the robot can also be controlled to turn towards the rear side, so that the turning around of the robot is realized. When the first side is the right side and the second side is the left side, the turning around of the robot can change the obstacle originally positioned on the left side to the right side of the robot; when the first side is the left side and the second side is the right side, the turning around of the robot can change the obstacle originally located on the right side of the robot to the left side of the robot. After the advancing direction of the robot is changed to the reverse direction, the robot continues to execute the edge operation on the first side, and therefore the robot can be guaranteed not to interrupt moving even if entering a dead road, and the moving flexibility of the robot is improved.
In another implementation manner of this embodiment, the step of controlling the robot to perform the target moving operation includes: controlling the robot to turn to the first side to enable the robot to face the third obstacle; controlling the robot to retreat; controlling the robot to turn towards the second side; and in the process of turning towards the second side, if the obstacle is detected to exist on the second side, the robot is controlled to turn towards the first side. Referring to fig. 6B, in the present embodiment, the first side is a right side, the second side is a left side, when the robot moves forward along the direction a and moves along the edge of the right obstacle 1, if it detects that there is an obstacle 2 in front, the robot turns to the left side along the direction B, during the turning of the robot in the direction B towards the second side, if it is detected at the position of the dashed box that an obstacle 3 is present on the left side of the robot, the robot can be controlled to turn towards the first side along the direction D, the front side edge of the robot can approach the obstacle 2, at this time, the robot is controlled to back for a preset time or a preset distance, the robot is controlled to turn towards the left side again, and if the obstacle 2 at the second side is detected again in the process of turning towards the left side, the robot is again controlled in its movement in the manner mentioned above until the obstacle 2 switches from being located at the second side of the robot to being located at the first side of the robot. The obstacle 2 is located behind the first side of the robot to maintain control of the robot to perform edgewise operations on the first side. In other embodiments, the robot movement can also be controlled in analogy to the solution mentioned here when the first side is the left side and the second side is the right side. When the robot detects an obstacle in the process of turning towards the second side, the space allowed to move by the second side of the robot can be increased through the cooperation of turning towards the first side and retreating, the robot can be enabled to smoothly turn towards the second side, the obstacle on the second side can be enabled to be offset to the first side of the robot, and the robot can be enabled to smoothly pass even if entering a narrow road.
In this embodiment, if there is a fourth obstacle to block the turning of the robot in the process of turning the robot toward the second side, the obstacle on the second side is shifted to the first side on which the robot needs to perform the edgewise operation by executing the target moving operation, and the edgewise operation of the robot on the first side is maintained in the process, so that when there is an obstacle on multiple sides of the robot (for example, the robot is in a dead road or a narrow road), the robot can smoothly pass through, the limitation on the moving range of the robot is effectively reduced, and the flexibility of the robot movement is improved.
Further, based on any of the above embodiments, a further embodiment of the control method of the robot of the present application is provided. In this embodiment, the first side and the second side are opposite sides of the robot, and referring to fig. 7, the method for controlling the robot further includes:
step S201, in the process of executing the edge operation, if the robot is in the state of turning towards the first side, and a second obstacle is detected to exist on the second side, controlling the robot to move backwards;
and S202, after the robot is retreated for a first distance or a first time length, continuing to control the robot to turn towards the first side, and executing the step of maintaining and controlling the robot to execute the edgewise operation on the first side.
The first distance and the first duration may be fixed parameters set in advance, or may be parameters determined according to a distance between the reference position on the second side and the second obstacle.
In this embodiment, the first side is a right side, the second side is a left side, and with reference to fig. 8, in the process of turning the robot to the right side, when an obstacle is detected to exist on the left side, the robot is controlled to retreat, when the robot retreats for a first distance or a first time to reach a dashed-line frame position, the robot is further controlled to turn to the right side, and the robot is maintained to move along the edge of the obstacle on the right side.
In other embodiments, the first side is a left side, the second side is a right side, and when the robot turns to the left side, the robot is controlled to move backward when an obstacle is detected to exist on the right side, and when the robot moves backward for a first distance or a first time period, the robot is further controlled to turn to the left side, and the robot is maintained to move along the edge of the obstacle on the left side.
In the embodiment, through the steps, the robot can be ensured to smoothly enter a narrow passage in the steering process, the limitation of the moving range of the robot is further reduced, and the moving flexibility of the robot is improved.
Further, based on any of the above embodiments, another embodiment of the control method of the robot according to the present application is provided. In the present embodiment, referring to fig. 9, step S10 includes:
step S11, acquiring obstacle detection information of the first side;
specifically, the data detected by the obstacle detection module disposed on the first side of the robot may be acquired at intervals of a set duration as the obstacle detection information.
The obstacle detection information specifically includes first position information of an obstacle point on the first obstacle.
Step S12, determining a current second distance between the first obstacle and the robot according to the obstacle detection information;
the second distance is specifically the distance between the first obstacle and the side of the first side of the robot. Specifically, second position information of a preset reference point on the side edge of the first side of the robot can be acquired, and the second distance can be determined according to the first position information and the second position information. Specifically, in this embodiment, the first position information is a first coordinate of the obstacle point in the preset coordinate system, the second position information is a second coordinate of the preset reference point in the preset coordinate system, and the second distance can be calculated from the first coordinate and the second coordinate.
And step S13, controlling the robot to move according to the second distance so that the distance between the first obstacle and the robot reaches a preset distance.
And if the second distance is different, the movement control parameters of the robot are different. Specifically, controlling the robot to move based on the second distance may specifically include controlling the robot to adjust the advancing direction, so as to adjust the distance between the robot and the first obstacle to a preset distance.
In the embodiment, the edge control parameter is calculated according to a preset algorithm and the second distance; the preset algorithm is used for calculating control parameters of the robot in the edgewise operation process by taking the preset distance as a target value; and controlling the robot to move according to the edge control parameters. In the present embodiment, the predetermined algorithm is a proportional-integral-derivative (PID) algorithm. Specifically, based on a PID algorithm established according to the preset distance, a proportional gain, an integral gain, and a differential gain corresponding to the second distance are calculated first, and then a target value of the position control parameter of the output robot is calculated through the proportional gain, the integral gain, and the differential gain and is used as the edge control parameter. Based on this, thereby realize that the distance between the barrier can accurately be maintained at preset distance in the robot movement process. In other embodiments, the preset algorithm may also be set as another algorithm such as a Darling algorithm according to actual requirements.
In other embodiments, a distance difference between the second distance and the preset distance may also be determined, and the edgewise control parameter herein is determined based on the distance difference to control the robot to move.
In the embodiment, the edgewise movement of the robot is controlled according to the above manner, so that the robot can be ensured to accurately move close to the obstacle on one side of the robot, and the coverage of the moving range of the robot is further improved.
Further, based on any of the above embodiments, in this embodiment, the robot is a cleaning robot, and in the moving process of the robot (i.e., in the edgewise operation executing process, the turning process, the target moving executing process, and the like), the robot synchronously executes cleaning operations (e.g., sweeping operations or mopping operations, and the like), and based on this, the cleaning robot is controlled to move according to the above mentioned manner, which is beneficial to avoiding that the cleaning robot breaks in cleaning due to colliding with an obstacle or cannot enter a narrow road for cleaning, thereby causing cleaning leakage, ensuring that the cleaning robot can comprehensively clean the environment where the cleaning robot is located, and improving the cleaning effect of the cleaning robot.
In addition, an embodiment of the present invention further provides a control device for a robot, where the control device includes:
an edgewise module for controlling the robot to perform an edgewise operation on a first obstacle on a first side;
the obstacle response module is used for ignoring a second obstacle if the second obstacle is detected to exist on the second side in the edgewise operation execution process, and calling the edgewise module to maintain and control the robot to execute the edgewise operation on the first obstacle on the first side;
wherein the first side and the second side are different sides of the robot.
For a detailed implementation of the steps executed by each hardware module in the control apparatus of the robot in this embodiment and the technical effects that can be achieved by the detailed implementation of the steps executed by each hardware module in the control apparatus of the robot in this embodiment, reference may be made to the detailed implementation of the corresponding steps in the control method of the robot and the technical effects that can be achieved by the detailed implementation of the steps executed by each hardware module in the control apparatus of the robot, which are not described herein again.
Optionally, the obstruction response module is further configured to:
in the edgewise operation maintaining and executing process, if a third obstacle is detected to exist on the third side, controlling the robot to turn towards the second side and maintaining and controlling the robot to execute the edgewise operation on the first side until the third obstacle is located on the first side of the robot;
the first side and the second side are two opposite sides of the robot, and the third side is the front side of the robot.
Optionally, the obstruction response module is further configured to:
and in the process that the robot turns towards the second side, if the fourth obstacle is detected to exist on the second side, controlling the robot to execute the target moving operation so that the fourth obstacle is located on the first side of the robot, and maintaining and controlling the robot to execute the edgewise operation on the first side.
Optionally, in controlling the robot to perform the target moving operation, the obstacle response module is specifically configured to:
controlling the robot to turn around to enable a second obstacle on the second side to be located on the first side of the robot;
after the step of controlling the robot to perform the target moving operation, the method further includes:
and after the robot successfully turns around, controlling the robot to execute the edgewise operation on the first side.
Optionally, in controlling the robot to perform the target moving operation, the obstacle response module is specifically configured to:
controlling the robot to turn to the first side to enable the robot to face the third obstacle;
controlling the robot to retreat;
controlling the robot to turn towards the second side;
and in the process of turning towards the second side, if the obstacle is detected to exist on the second side, the robot is controlled to turn towards the first side.
Optionally, the first side and the second side are opposite sides of the robot, and the obstacle response module is further configured to:
in the process of executing the edge operation, if the robot is in the state of turning towards the first side, and a second obstacle is detected to exist on the second side, controlling the robot to move backwards;
and after the robot retreats for the first distance or the first time length, continuing to control the robot to turn towards the first side, and executing the step of maintaining and controlling the robot to execute the edgewise operation on the first side.
Optionally, in terms of the controlling the robot to perform the edgewise operation on the first obstacle on the first side, the edgewise module is specifically configured to:
acquiring obstacle detection information of the first side;
determining a current second distance between the first obstacle and the robot according to the obstacle detection information;
and controlling the robot to move according to the second distance so that the distance between the first obstacle and the robot reaches a preset distance.
Optionally, in the aspect of controlling the robot to move according to the second distance so that the distance between the first obstacle and the robot reaches a preset distance, the edge module is specifically configured to:
calculating an edge control parameter according to a preset algorithm and the second distance; the preset algorithm is used for calculating control parameters of the robot in the edgewise operation process by taking the preset distance as a target value;
and controlling the robot to move according to the edge control parameters.
According to the control device of the robot, when the other side of the robot is detected to have the obstacle in the process that the robot runs along the edge of the obstacle on the other side, the robot is controlled to ignore the obstacle detected on the other side, the original edge running of the obstacle on the one side is maintained, the situation that the robot cannot enter a narrow road due to unnecessary obstacle avoidance caused by the fact that the robot collides with the obstacle on the narrow road can be avoided, the robot can be guaranteed to run smoothly on the narrow road, and the limitation on the moving range of the robot is reduced.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a control program of a robot is stored, and when the control program of the robot is executed by a processor, the relevant steps of any embodiment of the above control method of the robot are implemented.
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 an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a robot, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. A control method of a robot, characterized by comprising the steps of:
controlling the robot to perform an edgewise operation on a first obstacle on a first side;
in the process of executing the edgewise operation, if a second obstacle is detected to exist on the second side, ignoring the second obstacle, and maintaining and controlling the robot to execute the edgewise operation on the first obstacle on the first side;
wherein the first side and the second side are different sides of the robot.
2. The method of controlling a robot according to claim 1, further comprising:
in the edgewise operation maintaining and executing process, if a third obstacle is detected to exist on a third side, controlling the robot to turn towards the second side and maintaining and controlling the robot to execute the edgewise operation on the first side until the third obstacle is located on the first side of the robot;
the first side and the second side are two opposite sides of the robot, and the third side is the front side of the robot.
3. The method of controlling a robot according to claim 2, further comprising:
and in the process that the robot turns towards the second side, if the fourth obstacle is detected to exist on the second side, controlling the robot to execute the target moving operation so that the fourth obstacle is located on the first side of the robot, and maintaining and controlling the robot to execute the edgewise operation on the first side.
4. The method of controlling a robot according to claim 3, wherein the step of controlling the robot to perform the target moving operation includes:
controlling the robot to turn around to enable a second obstacle on the second side to be located on the first side of the robot;
after the step of controlling the robot to perform the target moving operation, the method further includes:
and after the robot successfully turns around, controlling the robot to execute the edgewise operation on the first side.
5. The method of controlling a robot according to claim 3, wherein the step of controlling the robot to perform the target moving operation includes:
controlling the robot to turn to the first side to enable the robot to face the third obstacle;
controlling the robot to retreat;
controlling the robot to turn towards the second side;
and in the process of turning towards the second side, if the obstacle is detected to exist on the second side, the robot is controlled to turn towards the first side.
6. The method of controlling a robot of claim 1, wherein the first side and the second side are opposite sides of the robot, the method further comprising:
in the process of executing the edge operation, if the robot is in the state of turning towards the first side, and a second obstacle is detected to exist on the second side, controlling the robot to move backwards;
and after the robot retreats for the first distance or the first time length, continuing to control the robot to turn towards the first side, and executing the step of maintaining and controlling the robot to execute the edgewise operation on the first side.
7. The method of controlling a robot according to any one of claims 1 to 5, wherein the step of controlling the robot to perform the edgewise operation on the first obstacle of the first side includes:
acquiring obstacle detection information of the first side;
determining a current second distance between the first obstacle and the robot according to the obstacle detection information;
and controlling the robot to move according to the second distance so that the distance between the first obstacle and the robot reaches a preset distance.
8. The method of controlling a robot according to claim 6, wherein the step of controlling the robot to move according to the second distance so that the distance between the first obstacle and the robot reaches a preset distance comprises:
calculating an edge control parameter according to a preset algorithm and the second distance; the preset algorithm is used for calculating control parameters of the robot in the edgewise operation process by taking the preset distance as a target value;
and controlling the robot to move according to the edge control parameters.
9. A control device of a robot, characterized by comprising:
an edgewise module for controlling the robot to perform an edgewise operation on a first obstacle on a first side;
the obstacle response module is used for ignoring a second obstacle if the second obstacle is detected to exist on the second side in the edgewise operation execution process, and calling the edgewise module to maintain and control the robot to execute the edgewise operation on the first obstacle on the first side;
wherein the first side and the second side are different sides of the robot.
10. A robot, characterized in that the robot comprises:
an obstacle detection module;
a moving module; and
control device, obstacle detection module with remove the module all with control device connects, control device includes: memory, a processor and a control program of a robot stored on the memory and executable on the processor, the control program of the robot implementing the steps of the control method of a robot according to any one of claims 1 to 8 when executed by the processor.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program of a robot, which when executed by a processor implements the steps of the control method of a robot according to any one of claims 1 to 8.
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| CN108196555A (en) * | 2018-03-09 | 2018-06-22 | 珠海市微半导体有限公司 | The control method that autonomous mobile robot is walked along side |
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