CN114296457A - Method for controlling movement of plastering robot by hand-drawn track - Google Patents
Method for controlling movement of plastering robot by hand-drawn track Download PDFInfo
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- CN114296457A CN114296457A CN202111636314.7A CN202111636314A CN114296457A CN 114296457 A CN114296457 A CN 114296457A CN 202111636314 A CN202111636314 A CN 202111636314A CN 114296457 A CN114296457 A CN 114296457A
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Abstract
The invention discloses a method for controlling a plastering robot to move by a hand-drawn track, which comprises the following steps of firstly, mapping an environment map acquired by the robot onto a touch screen of a mobile phone, and manually drawing the motion track of the robot by an operator; secondly, the system evaluates the safety of the hand-drawn track and corrects unreasonable track sections; thirdly, moving the robot according to the corrected hand-drawn track; and step four, judging whether a dynamic obstacle blocks a moving path or not according to the environmental data collected by the sensor while the robot moves, and carrying out emergency obstacle avoidance according to the situation. The invention reduces the calculation amount and improves the real-time property while ensuring better path planning effect.
Description
Technical Field
The invention relates to an automatic plastering technology, in particular to a method for controlling a plastering robot to move by a hand-drawn track.
Background
At present, most plastering robots with maneuverability lack the capabilities of obstacle avoidance and path planning, the working environment of the plastering robot is particularly complex, and the plastering robot finishes a plastering task on the premise of moving to a specified target position, so the path planning technology is one of the key technologies in the intellectualization of the plastering robot.
At present, robot path planning algorithms can be divided into two categories, global path planning and local path planning. The global path planning algorithm generally needs to acquire global map information in advance, and is suitable for path planning in a static working environment; the local path planning can correct the dynamic update of the environment model by collecting the environment data, and is suitable for path planning of a dynamic working environment. The two methods are good and complement each other, so the robot path planning usually adopts a method combining global planning and local planning. However, this method has the problems of poor real-time performance, large calculation amount and high hardware requirement.
Disclosure of Invention
The invention aims to provide a method for controlling the movement of a plastering robot by a hand-drawn track, which reduces the calculated amount and improves the real-time property while ensuring better path planning effect.
The technical scheme adopted by the invention is as follows:
a hand-drawn track control plastering robot moving method adopts an upper computer system and a lower computer system; the upper computer system is a mobile phone program and has the function of drawing a track by hand, correcting the track, processing the track into data and sending the data to the lower computer system; the lower computer system comprises a movement control module and a sensing module of the robot, and has the functions of receiving the track data sent by the upper computer, controlling the robot to move according to the track data after processing, and collecting environmental information in real time in the moving process so as to realize the obstacle avoidance of the robot on the dynamic obstacle; the working steps comprise:
mapping an environment map acquired by a robot onto a touch screen of a mobile phone, and manually drawing a motion track of the robot by an operator;
secondly, the system evaluates the safety of the hand-drawn track and corrects unreasonable track sections;
thirdly, moving the robot according to the corrected hand-drawn track;
and step four, judging whether a dynamic obstacle blocks a moving path or not according to the environmental data collected by the sensor while the robot moves, and carrying out emergency obstacle avoidance according to the situation.
Further, the working steps of the upper computer system comprise:
SU1the robot acquires environment map information and communicatesSending the map data to an upper computer system through wireless communication;
SU2the upper computer system maps the environment map information to the touch screen, so that an operator can draw a track on the touch screen;
SU3correcting coordinate points which are close to the obstacle in the hand-painted track: taking out a coordinate point from the hand-drawn track at a certain distance, calculating the distance between each point and each obstacle, if the distance between the point and each obstacle is greater than a set threshold distance, taking the point as a valid point, otherwise, taking the point as an invalid point, and correcting coordinate values of all invalid points in the direction away from the obstacle until all the points are valid points;
SU4and processing the corrected track coordinate values into changes of the distance L and the azimuth angle theta between adjacent points, and sending the changes to the lower computer system.
Further, the working steps of the lower computer system comprise:
SD1setting the angular speed of the wheel during turning and the angular speed of the wheel during straight running;
SD2receiving the track data [ L, theta ] sent by the upper computer system]And calculating the turning time T of the wheel according to the datarAnd a straight-ahead time Ts；
SD3And the robot moves according to the data, and whether a dynamic barrier blocks the movement of the robot is detected in real time in the moving process.
The invention has the beneficial effects that:
the invention replaces the global planning algorithm with the experience and judgment of people, reduces the calculated amount of path planning, improves the real-time property, also enables the operation mode to become simpler and more humanized, and simultaneously, the robot can judge the dynamic barrier through the environment information collected in real time, thereby improving the adaptability of the method to the dynamic working environment; the method reduces the calculation amount and improves the real-time property while ensuring better path planning effect.
Drawings
Fig. 1 is a flowchart of a method for controlling the movement of a plastering robot by a hand-drawn track in the embodiment of the present invention.
Fig. 2 is a flowchart of the operation steps of the upper computer system in the embodiment of the present invention.
FIG. 3 shows step S in the embodiment of the present inventionU4Schematic diagram of data processing.
FIG. 4 is a flowchart of the working steps of the lower computer system in the embodiment of the present invention.
Fig. 5 is a schematic diagram of a robot turning calculation idea in the embodiment of the invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1, a method for controlling the movement of a plastering robot by a hand-drawn track adopts an upper computer system and a lower computer system; the upper computer system is a mobile phone program and has the function of drawing a track by hand, correcting the track, processing the track into data and sending the data to the lower computer system; the lower computer system comprises a movement control module and a sensing module of the robot, and has the functions of receiving the track data sent by the upper computer, controlling the robot to move according to the track data after processing, and collecting environmental information in real time in the moving process so as to realize the obstacle avoidance of the robot on the dynamic obstacle; the working steps comprise:
mapping an environment map acquired by a robot onto a touch screen of a mobile phone, and manually drawing a motion track of the robot by an operator;
secondly, the system evaluates the safety of the hand-drawn track and corrects unreasonable track sections;
thirdly, moving the robot according to the corrected hand-drawn track;
and step four, judging whether a dynamic obstacle blocks a moving path or not according to the environmental data collected by the sensor while the robot moves, and carrying out emergency obstacle avoidance according to the situation.
As shown in fig. 2, the working steps of the upper computer system include:
SU1the robot acquires environment map information and sends map data to an upper computer system through wireless communication;
SU2the upper computer system maps the environment map information to the touch screen, so that an operator can draw a track on the touch screen;
SU3correcting coordinate points which are close to the obstacle in the hand-painted track: taking out a coordinate point from the hand-drawn track at a certain distance, calculating the distance between each point and each obstacle, if the distance between the point and each obstacle is greater than a set threshold distance, taking the point as a valid point, otherwise, taking the point as an invalid point, and correcting coordinate values of all invalid points in the direction away from the obstacle until all the points are valid points;
SU4processing the corrected track coordinate value into the change of the distance L and the azimuth theta between adjacent points, and sending the change to a lower computer system;
a, B, C are the adjacent points extracted on the hand-drawn trace, respectively, as shown in FIG. 3. L is1、L2、L3Respectively, the distance between adjacent points. Theta1、θ2、θ3Respectively the azimuth angle change value of the next section of track compared with the previous section of track;
the distance L between adjacent points can be calculated from the coordinates of the points, expressed as L1For example, the following steps are carried out:
similarly, the azimuth angle change value theta can be calculated and calculated according to theta1For example, the following steps are carried out:
when the upper computer sends data, the L and theta values of all the points are sent to the lower computer, so that the lower computer has a much smaller calculation amount in processing.
As shown in fig. 4, the working steps of the lower computer system include:
SD1setting the angular speed of the wheel during turning and the angular speed of the wheel during straight running;
SD2receiving the track data [ L, theta ] sent by the upper computer system]And calculating the turning time T of the wheel according to the datarAnd a straight-ahead time Ts；
For a four-wheel differential steering plastering robot with maneuverability, as shown in fig. 5, when the turning is set, the absolute values of the angular velocities of the left wheel and the right wheel are equal and are both omega, but the directions are opposite, namely omegar＝-ωl. Knowing that the wheel distance is D and the wheel diameter is D, when the lower computer system knows that the azimuth angle change value of the robot at the moment is theta, the following steps are carried out:
when the vehicle travels straight, the distance between two adjacent points is known as L, and the rotational angular velocity ω of the straight wheel is setsTime T required for straight travelingsComprises the following steps:
SD3and the robot moves according to the data, and whether a dynamic barrier blocks the movement of the robot is detected in real time in the moving process.
The invention replaces the global planning algorithm with the experience and judgment of people, reduces the calculated amount of path planning, improves the real-time property, also enables the operation mode to become simpler and more humanized, and simultaneously, the robot can judge the dynamic barrier through the environment information collected in real time, thereby improving the adaptability of the method to the dynamic working environment; the method reduces the calculation amount and improves the real-time property while ensuring better path planning effect.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (3)
1. A method for controlling a plastering robot to move by a hand-drawn track is characterized by comprising the following steps: an upper computer system and a lower computer system are adopted; the upper computer system is a mobile phone program and has the function of drawing a track by hand, correcting the track, processing the track into data and sending the data to the lower computer system; the lower computer system comprises a movement control module and a sensing module of the robot, and has the functions of receiving the track data sent by the upper computer, controlling the robot to move according to the track data after processing, and collecting environmental information in real time in the moving process so as to realize the obstacle avoidance of the robot on the dynamic obstacle; the working steps comprise:
mapping an environment map acquired by a robot onto a touch screen of a mobile phone, and manually drawing a motion track of the robot by an operator;
secondly, the system evaluates the safety of the hand-drawn track and corrects unreasonable track sections;
thirdly, moving the robot according to the corrected hand-drawn track;
and step four, judging whether a dynamic obstacle blocks a moving path or not according to the environmental data collected by the sensor while the robot moves, and carrying out emergency obstacle avoidance according to the situation.
2. The method of hand-drawn trajectory controlled plastering robot movement of claim 1, wherein: the working steps of the upper computer system comprise that,
SU1the robot acquires environment map information and sends map data to an upper computer system through wireless communication;
SU2the upper computer system maps the environment map information to the touch screen, so that an operator can draw a track on the touch screen;
SU3correcting coordinate points which are close to the obstacle in the hand-painted track: taking out a coordinate point from the hand-drawn track at a certain distance, calculating the distance between each point and each obstacle, if the distance between the point and each obstacle is greater than the set threshold distance, the point is a valid point, otherwise, the point is an invalid point, correcting the coordinate values of all invalid points in the direction away from the obstacle,until all points are valid points;
SU4and processing the corrected track coordinate values into changes of the distance L and the azimuth angle theta between adjacent points, and sending the changes to the lower computer system.
3. The method for hand-drawn trajectory controlled plastering robot movement of claim 2, wherein: the working steps of the lower computer system comprise that,
SD1setting the angular speed of the wheel during turning and the angular speed of the wheel during straight running;
SD2receiving the track data [ L, theta ] sent by the upper computer system]And calculating the turning time T of the wheel according to the datarAnd a straight-ahead time Ts；
SD3And the robot moves according to the data, and whether a dynamic barrier blocks the movement of the robot is detected in real time in the moving process.
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| CN102087530A (en) * | 2010-12-07 | 2011-06-08 | 东南大学 | Vision navigation method of mobile robot based on hand-drawing map and path |
| CN102313547A (en) * | 2011-05-26 | 2012-01-11 | 东南大学 | Vision navigation method of mobile robot based on hand-drawn outline semantic map |
| CN108227694A (en) * | 2016-12-14 | 2018-06-29 | 株式会社久保田 | Driving path generating means |
| CN111895999A (en) * | 2020-06-29 | 2020-11-06 | 福建（泉州）哈工大工程技术研究院 | Path planning method based on structured data |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102087530A (en) * | 2010-12-07 | 2011-06-08 | 东南大学 | Vision navigation method of mobile robot based on hand-drawing map and path |
| CN102313547A (en) * | 2011-05-26 | 2012-01-11 | 东南大学 | Vision navigation method of mobile robot based on hand-drawn outline semantic map |
| CN108227694A (en) * | 2016-12-14 | 2018-06-29 | 株式会社久保田 | Driving path generating means |
| CN111895999A (en) * | 2020-06-29 | 2020-11-06 | 福建（泉州）哈工大工程技术研究院 | Path planning method based on structured data |
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