CN114995416A - Global path navigation method, device, terminal equipment and storage medium - Google Patents

Abstract

The present application is applicable to the technical field of path planning, and provides a global path navigation method, device, terminal device and storage medium. Suppose the grid within the expansion radius has the first generation value, and the grid outside the preset expansion radius from the obstacle has the second generation value which is less than the first generation value and is negatively related to the distance between the grid and the obstacle; control the mobile robot Move in the working environment along the global path; traverse the first path point within the first preset distance from the mobile robot along the global path; if there is a second path point whose cost value is greater than the preset cost threshold in the first path point, determine The second path point is in the narrow channel; based on the narrow channel to control the mobile robot to move in the working environment, the narrow channel on the movement path of the mobile robot can be accurately detected, thereby improving the narrow channel passing ability of the mobile robot.

Description

Global route navigation method, device, terminal device and storage medium

technical field

The present application belongs to the technical field of route planning, and in particular, relates to a global route navigation method, apparatus, terminal device and storage medium.

Background technique

In some application environments of mobile robots, there are often a large number of narrow passages. The narrow channel passing ability of a mobile robot directly determines the flexibility of its navigation. On the one hand, one can start with reducing the size of the mobile robot, but this will reduce the stability of the mobile robot when it moves; on the other hand, it is to improve the path planning and control algorithms of the mobile robot. Therefore, the mobile robot can be precisely controlled to safely pass through the narrow passage under the premise of the size of the mobile robot. Before controlling the mobile robot to pass through the narrow channel, the narrow channel needs to be detected. The detection accuracy of the narrow channel directly affects the narrow channel passing ability of the mobile robot.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a global path navigation method, device, terminal device and storage medium, which can accurately detect narrow channels on the motion path of a mobile robot.

A first aspect of the embodiments of the present application provides a global path navigation method, including:

Based on the cost map of the working environment, plan the global path from the current position of the mobile robot to the target position. In the cost map, the grid within the preset expansion radius from the obstacle has the first generation value, and the preset expansion radius from the obstacle has the first generation value. The grid outside has the second generation value, and the second generation value is smaller than the first generation value and is negatively related to the distance between the grid and the obstacle;

controlling the mobile robot to move in the work environment along the global path;

During the movement of the mobile robot in the work environment along the global path, traverse a first path point within a first preset distance from the mobile robot along the global path, and detect the first path point value;

If there is a second waypoint with a cost value greater than a preset cost threshold in the first waypoint, determining that the second waypoint is in a narrow channel;

Based on the narrow passage, the mobile robot is controlled to move in the work environment.

A second aspect of the embodiments of the present application provides a global path navigation device, including:

The path planning unit is used to plan the global path from the current position of the mobile robot to the target position based on the cost map of the working environment, and the grids within the preset expansion radius from the obstacle in the cost map have the first generation value and the distance from the obstacle. The grid outside the preset expansion radius of the obstacle has the second generation value, and the second generation value is smaller than the first generation value and is negatively correlated with the distance between the grid and the obstacle;

a first motion control unit for controlling the mobile robot to move in the work environment along the global path;

A cost value detection unit for traversing a first path point within a first preset distance from the mobile robot along the global path during the movement of the mobile robot in the work environment along the global path , and detect the cost value of the first path point;

a narrow channel detection unit, configured to determine that the second waypoint is in a narrow channel if there is a second waypoint with a cost value greater than a preset cost threshold in the first waypoint;

The second motion control unit is configured to control the mobile robot to move in the working environment based on the narrow passage.

A third aspect of the embodiments of the present application provides a robot, including a processor and a computer program stored in the memory and executable on the processor, when the processor executes the computer program, the present invention is implemented The steps of the global path navigation method described in the first aspect of the application embodiments.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the first aspect of the embodiments of the present application is implemented Describe the steps of the global path navigation method.

In the global path navigation method provided by the first aspect of the embodiments of the present application, first, based on the cost map, a global path from the current position of the mobile robot to the target position is planned, and the mobile robot is controlled to move in the working environment along the global path. The grid within the preset expansion radius from the obstacle has the first generation value, and the grid outside the preset expansion radius from the obstacle has the second generation value. Then, traverse the first path point within the first preset distance from the mobile robot along the global path, if there is a second path point whose cost value is greater than the preset cost threshold in the first path point, then determine the second path point. The path point is in the narrow channel; finally, based on the narrow channel, the mobile robot is controlled to move in the working environment, and the narrow channel on the moving path of the mobile robot can be accurately detected, thereby improving the narrow channel passing ability of the mobile robot.

It can be understood that, for the beneficial effects of the foregoing second aspect to the fourth aspect, reference may be made to the relevant descriptions in the foregoing first aspect, and details are not described herein again.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a first schematic flowchart of a global path navigation method provided by an embodiment of the present application;

2 is a second schematic flowchart of a global path navigation method provided by an embodiment of the present application;

3 is a third schematic flowchart of a global path navigation method provided by an embodiment of the present application;

4 is a fourth schematic flowchart of a global path navigation method provided by an embodiment of the present application;

5 is a fifth schematic flowchart of a global path navigation method provided by an embodiment of the present application;

6 is a sixth schematic flowchart of a global path navigation method provided by an embodiment of the present application;

7 is a schematic diagram of a detection frame provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of an image mapped with ranging data points provided by an embodiment of the present application

9 is a schematic structural diagram of a global route navigation device provided by an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

References in this specification to "one embodiment" or "some embodiments" and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically emphasized otherwise. The terms "including", "including", "having" and their variants mean "including but not limited to" unless specifically emphasized otherwise.

The embodiment of the present application provides a global path navigation method, which can be executed by a processor of a terminal device when a corresponding computer program is run, by accurately detecting a narrow channel on a moving path of a mobile robot, and controlling the mobile robot based on the narrow channel Movement in the working environment can improve the narrow passage capacity of the mobile robot.

In the application, the terminal device can be a mobile robot, or a (cloud) server, a mobile phone, a tablet, a wearable device, an Augmented Reality (AR)/Virtual Reality (VR) device, a laptop, a super A mobile personal computer (Ultra-Mobile Personal Computer, UMPC), a netbook, a personal digital assistant (Personal Digital Assistant, PDA) and other computing devices that can communicate with a mobile robot to control the mobile robot. The mobile robot can be any type of robot with working and moving functions, such as a sweeping robot, a disinfecting robot, a plant protection drone, an automatic guided vehicle, and the like.

As shown in FIG. 1 , the global path navigation method provided by the embodiment of the present application includes the following steps S100 to S105:

In step S100, the grid map of the work environment is expanded to generate a cost map, and the process proceeds to step S101.

In the application, the working environment is the environment where the mobile robot is currently located, or any geographic location area where the mobile robot is working or is waiting to work. Depending on the type of mobile robot, the working environment is also different. For example, when the mobile robot is a sweeping robot, the working environment is the home, office, and production place where the sweeping robot is cleaning or is to be cleaned; When the robot is a robot, the working environment is the home, office, production site, etc. where the disinfecting robot is disinfecting or is to be disinfected; when the mobile robot is a plant protection robot, the working environment is that the plant protection robot is performing or waiting for plant protection. farmland, garden, etc.; when the mobile robot is an automatic guided vehicle, the working environment is the warehouse, production place, etc. where the automatic guided vehicle is working or is to be operated.

In the application, before generating the cost map, the electronic map of the working environment is first rasterized to generate the grid map of the working environment; The grid whose distance is within the preset expansion radius is assigned as the first generation value, and the grid in the grid map whose distance from the grid occupied by the obstacle is outside the preset expansion radius is assigned as the second generation value to generate cost map. The first generation value can be set to a fixed value greater than the second generation value. The second generation value should be smaller than the first generation value and negatively related to the distance of the grid from the grid occupied by the obstacle. The distance between any two grids can be the straight-line distance between the geometric center points of the two grids.

In one embodiment, the formula for calculating the cost value of the grid in the cost map is:

Among them, m ₀ represents the cost value, m ₁ represents the first generation value, ρ represents the distance from the grid to the obstacle, r represents the preset expansion radius, m ₂ represents the second generation value, and k represents the constant coefficient.

In application, the cost value of the grid can represent the gray value of the grid in the electronic map, or the probability that the grid is occupied by obstacles. When the contemporary value represents the gray value of the grid, the gray value of the grid occupied by the obstacle and the grid not occupied by the obstacle in the cost map are different, so that the grid occupied by the obstacle and the grid not occupied by the obstacle in the cost map are different. can be clearly distinguished. The value of the first generation and the value of the second generation can be set by the user through the human-computer interaction device of the terminal device according to actual needs, for example, the contemporary value represents the gray value and the gray value has a value from 0% (white) to 100% (black). ) and a grayscale of 0 (black) to 255 (white), the first cost value is a grayscale value with A brightness or a grayscale, and the second cost value is a grayscale with B brightness or b grayscale The gray value of the level, 0%≤B≤C<A≤100% and B is negatively related to the distance of the grid from the grid occupied by the obstacle, 0≤a<c≤b≤255 and B is the distance from the grid to the grid. The distance of the grid occupied by the obstacle is positively correlated; or, when the contemporary value represents the probability, the first cost value is the probability of 100%, the second cost value is the probability of D, 0%≤D<100% and D and the grid The distance of the grid from the grid occupied by the obstacle is negatively correlated.

In application, the preset expansion radius can be set to be less than or equal to the radius of the mobile robot. When the mobile robot is non-circular, the radius of the mobile robot may be the radius of the smallest circumscribed circle of the mobile robot. In order to increase the passability of the mobile robot through the narrow passage, the preset expansion radius can be set to be slightly lower than the radius of the mobile robot. For example, the value range of the preset expansion radius can be set to [90%*radius of the mobile robot, 100 %* The radius of the mobile robot).

In the application, the cost value after all the grids in the cost map are assigned can be stored in the memory, for example, a data storage list can be preset in the memory, and the cost value after all the grids in the cost map are assigned Stored in the datastore list. The corresponding relationship between the cost map and the corresponding operating environment can also be established in the memory, so that when the mobile robot needs to be controlled to operate in the operating environment, the corresponding cost map can be quickly found, effectively saving the computing power of the processor. resources and execution time. The corresponding relationship can be a mapping relationship, and can exist in the form of a corresponding relationship table. The corresponding relationship table can be a display look-up table (Look-Up-Table, LUT), or it can search and output the corresponding search results through other input data. form exists.

In the application, for any working environment, the terminal device only needs to perform step S100 once, generate and store a cost map according to the grid map of the working environment, so as to facilitate the subsequent planning of the mobile robot based on the cost map to move from the current position of the working environment Used when the global path to the target location. If the operating environment changes (for example, the number, location or size of obstacles in the operating environment changes), the grid map of the operating environment needs to be updated, and a new cost map should be regenerated based on the updated grid map , to update the cost map.

Step S101, planning a global path from the current position of the mobile robot to the target position based on the cost map;

Step S102 , controlling the mobile robot to move in the working environment along the global path, and proceeding to step S103 .

In the application, after the cost map is generated, according to the actual operation requirements of the operating environment, based on the path planning method, plan the global path from the current position of the mobile robot in the cost map to the target position, and then scale the global path based on the cost map. The scale is mapped to the real working environment. Based on the current pose of the mobile robot, the mobile robot is controlled to move along the global path in the working environment to realize the global operation of the working environment. At the same time, the real-time position of the mobile robot is marked in the cost map. The target position is the mapping of the end point of the mobile robot in the work environment in the cost map.

In applications, the path planning methods suitable for mobile robots can be traditional path planning algorithms, sampling-based path planning algorithms, intelligent bionic algorithms, and the like. The traditional path planning algorithm can be A algorithm, Dijkstra algorithm, D algorithm, artificial potential field method, etc. The sampling-based path planning algorithm can be PRM algorithm, RRT algorithm, etc. The intelligent bionic path planning algorithm can be neural network algorithm, ant colony algorithm, etc. Algorithms, Genetic Algorithms, etc.

Step S103 , traverse a first path point within a first preset distance from the mobile robot along the global path, detect the cost value of the first path point, and proceed to step S104 .

In the application, in the process of moving the mobile robot in the work environment along the global path, starting from the start time when the mobile robot moves in the work environment along the global path, in the cost map traversing along the global path and the mobile robot The distance between the path points is within the first preset distance (referred to as the first path point), and the cost value of the grid where all the traversed first path points are located is detected. Since each grid has been assigned the first generation value or the second generation value in step S100, the detected value of the grid where each first waypoint is located is the first generation value or the second generation value value.

In the application, since the walls or occluders on both sides of the narrow channel belong to the obstacles in the grid map and the cost map, to detect the narrow channel, you can detect the grid occupied by the obstacle and the grid around the obstacle In addition, since the grids occupied by obstacles and the grids around the obstacles have been assigned different cost values in step S100, to detect narrow channels, the cost value and obstacles of the grid occupied by obstacles can be detected. The cost value of the grid around the object is implemented.

In an application, the first preset distance can be set according to actual needs, and the first preset distance should be set to be greater than or equal to the width of one grid, so that the terminal device traverses at least one grid at a time. In order to improve the detection accuracy of the narrow channel and facilitate the subsequent control of the mobile robot to smoothly pass through or avoid the narrow channel, the terminal device can be set to detect at most one narrow channel at a time. Based on this setting, the first preset distance can be set It is less than or equal to the distance between two obstacles with the smallest distance in the grid map (or cost map), so as to avoid the terminal device from misidentifying the situation of detecting multiple narrow channels at one time as detecting one narrow channel.

Step S104 , if there is a second waypoint with a cost value greater than a preset cost threshold in the first waypoint, determine that the second waypoint is in a narrow channel, and go to step S105 .

In application, since a narrow channel usually refers to a channel whose width is less than, equal to or slightly larger than the diameter (twice of the radius) of the mobile robot, the distance from obstacles (including walls or obstructions on both sides of the narrow channel) has been set in step S100. ) The grid within the preset expansion radius is assigned the first generation value, and the grid outside the preset expansion radius from the obstacle is assigned the second generation value. Therefore, the grid where the path point in the narrow passage is located has the cost value. It must be equal to the value of the first generation or a larger value of the second generation. Correspondingly, the preset cost threshold can be set to be greater than or equal to the value of the third generation, and the value of the third generation is equal to the distance between the obstacle and the obstacle is greater than the preset distance. Thresholded raster has second generation value. The preset distance threshold is equal to the preset expansion radius + E* the radius of the mobile robot, and the value range of E can be set to 0% to 10%.

Step S105 , controlling the mobile robot to move in the working environment based on the narrow channel.

In the application, when it is determined that the mobile robot moves along the global path, when there is a narrow channel within the first preset distance from its current position, corresponding measures can be taken according to the position of the narrow channel to control the mobile robot to move in the working environment, so as to prevent the mobile robot from moving in the working environment. The mobile robot can pass through the narrow passage smoothly, or re-plan the global path to bypass the narrow passage.

As shown in FIG. 2, in one embodiment, step S105 includes:

Step S201 , controlling the mobile robot to reduce the movement speed to pass through the narrow passage.

In applications, in order to enable the mobile robot to safely pass through the narrow aisle and avoid collision between the mobile robot and obstacles on both sides of the narrow aisle, the moving speed of the mobile robot can be reduced so that the mobile robot can pass through the narrow aisle at a low speed. Specifically, the current motion speed of the mobile robot can be obtained, and when the current motion speed of the mobile robot is greater than the preset motion speed threshold, the current motion speed of the mobile robot is reduced to the preset motion speed threshold, and when the current motion speed of the mobile robot is less than the preset motion speed threshold or equal to the preset motion speed threshold, keep the current motion speed of the mobile robot unchanged.

As shown in FIG. 3, in one embodiment, step S105 includes the following steps S301 and S302:

Step S301, re-plan a new global path from the current position of the mobile robot to the target position, the distance between the third path point in the narrow channel and the center point of the narrow channel in the new global path is smaller than the second distance. Preset distance, enter step S302;

Step S302, controlling the mobile robot to move in the working environment along the new global path.

In the application, when it is determined that the mobile robot moves along the global path, when there is a narrow channel within the first preset distance from its current position, it is also possible to re-plan the new global from the current position of the mobile robot to the target position according to the position of the narrow channel. path to avoid collision with obstacles on both sides of the narrow passage when the mobile robot passes through the narrow passage. Specifically, the local path passing through the narrow channel in the global path (that is, the path where the second waypoint is located) can be adjusted, so that the adjusted local path (that is, the path where the third waypoint is located) passes through or is closer to the narrow channel. The center point of the channel, that is, the distance between the third path point and the center point of the narrow channel is smaller than the second preset distance, and the second preset distance can be set according to actual needs such that the third path point is relative to the second path. The distance value of the point closer to the center point of the narrow channel, for example, the second preset distance is less than or equal to the distance between the second path point and the center point of the narrow channel. After the new global path is generated based on the third path point, the mobile robot is controlled to continue to move in the work environment along the new global path, so as to continue to work on the work environment.

As shown in FIG. 4, in one embodiment, step S302 includes the following steps S401 and S402:

Step S401, detecting the third waypoint in the narrow channel that is within the third preset distance from the second waypoint and has the lowest cost value, and then proceeds to step S402;

Step S402, re-plan a new global path from the current position of the mobile robot to the target position and passing through the third path point.

In application, since in step S100, the grids within the preset expansion radius of the obstacles on both sides of the narrow channel have been assigned as the first generation value, and the grids outside the preset expansion radius of the obstacles are assigned as the second generation value , and the second generation value is smaller than the first generation value and negatively correlated with the distance from the grid to the obstacle. Therefore, according to the cost value of the second path point, the distance between the second path point and the obstacles on both sides of the narrow passage can be known. distance, and then know the position of the second waypoint from the center point of the narrow channel. When the new global path needs to be re-planned according to the third waypoint closer to the center point of the narrow channel, the position of the second waypoint can be used to determine the first path. The location of the three waypoints. Specifically, the grids within the third preset distance from the second waypoint in the cost map can be searched first; then the grids with the lowest cost value among the grids within the third preset distance from the second waypoint are screened out as The third waypoint; finally, the new global path is re-planned based on the third waypoint. The third preset distance can be set to be less than or equal to the maximum distance between the second waypoint and the obstacles on both sides of the narrow passage according to actual needs.

As shown in FIG. 5 , in one embodiment, the preset expansion radius is smaller than the radius of the mobile robot, and step S105 includes the following steps S501 to S504:

Step S501, obtaining the width of the narrow channel based on the ranging data of the ranging sensor set on the mobile robot, and entering step S502;

Step S502, if the width of the narrow channel is lower than a preset width threshold, add a virtual obstacle in the cost map where the narrow channel is located to generate a new cost map, and then go to step S503;

Step S503, based on the new cost map, re-plan a new global path from the current position of the mobile robot to the target position and avoid the narrow channel, and enter step S504;

Step S504, controlling the mobile robot to move in the working environment along the new global path.

In the application, if the preset expansion radius is set to be the same as the radius of the mobile robot, it is easy to cause some of the detected narrow channels to be determined in the cost map as channels that the mobile robot cannot pass due to the influence of data noise. Virtual obstacles are added to the narrow passages that pass through, so that the narrow passages that cannot be passed are blocked, which makes it impossible to plan a global path that enables the mobile robot to pass through the narrow passages. Therefore, the preset expansion radius can be set to be slightly lower than that of the mobile robot. radius.

In the application, if the preset expansion radius is set to be lower than the radius of the mobile robot, the planned global path may pass through a narrow channel whose width is lower than or very close to the diameter of the mobile robot. The actual width of the narrow channel is measured by the ranging sensor (for example, lidar, ultrasonic ranging sensor, infrared ranging sensor, depth camera (for example, RGBD camera), etc.), if the width of the narrow channel is lower than the preset width threshold, you can Virtual obstacles are added at the location of the narrow channel in the cost map, thereby forcing the terminal device to re-plan a new global path to avoid the narrow channel. The preset width threshold can be set equal to or slightly larger than the diameter of the mobile robot according to actual needs. For example, the value range of the preset width threshold can be set to [100%*diameter of the mobile robot, 110%*diameter of the mobile robot).

As shown in FIG. 6, in one embodiment, step S501 includes the following steps S601 to S607:

Step S601, taking the position of the mobile robot in the working environment as the boundary point, and taking the movement direction of the mobile robot in the working environment as the central axis direction, construct a detection covering the position of the narrow passage. frame, the boundary or tangent passing through the boundary point in the detection frame is perpendicular to the central axis, and the process goes to step S602;

Step S602, generate an image of the area where the detection frame is located, and enter step S603;

Step S603, map the global path to the image based on the current pose of the mobile robot, and enter step S604;

Step S604, using the global path as a dividing line, divide the image into a first image area and a second image area, and enter step S605;

Step S605, map the ranging data of the mobile robot to the image, and enter step S606;

Step S606, obtain the distance value between each detection data in the first image area and each detection data in the second image area, and enter step S607;

Step S607: Obtain the minimum distance value among all the distance values as the width of the narrow channel.

In the application, the terminal device can first construct a detection frame of suitable size covering the position of the narrow channel according to the position of the narrow channel in the real working environment;

Then, according to the ranging data obtained by the ranging sensor covering the detection frame, the image of the area where the detection frame is located is obtained at a preset resolution. When the ranging sensor is a lidar, ultrasonic ranging sensor or infrared ranging sensor, the ranging data is the point cloud data, and the image is the point cloud image; when the ranging sensor is the depth camera, the ranging data is the depth image data, and the image is the depth image; the preset resolution can be set to be greater than or equal to the resolution of the cost map, to Make each grid correspond to at least one point cloud data point in the point cloud data or at least one pixel point in the depth image;

Then obtain the current pose of the mobile robot. The pose includes the position coordinates and pose of the mobile robot in the image coordinate system. The image coordinate system can be a two-dimensional coordinate system or a three-dimensional coordinate system. Correspondingly, the position coordinates can include a two-dimensional coordinate system. Coordinates or three-dimensional coordinates; establish the mapping relationship between the cost map coordinate system and the image coordinate system based on the current pose of the mobile robot, and map the global map to the image based on the mapping relationship;

Then, take the global path mapped to the image as the dividing line, divide the image into two image areas, namely the first image area and the second image area, and map the ranging data to the image after the divided area; First map the ranging data to the image, and then use the global path mapped to the image as a dividing line to divide the image into two image areas, that is, the execution order of steps S604 and S605 can be exchanged;

Next, firstly obtain the distance value between the first ranging data point in the first image area and each ranging data point in the second image area, and then separately obtain the second ranging data point in the first image area. The distance value between the distance data point and each distance measurement data point in the second image area, ..., and so on; in the same way, the first distance measurement data point in the second image area can also be obtained separately. The distance value from each ranging data point in the first image area, and then obtain the distance between the second ranging data point in the second image area and each ranging data point in the first image area. The distance value of , ..., and so on, finally obtain the distance value between each ranging data point in the first image area and each ranging data point in the second image area; when the ranging sensor is When lidar, ultrasonic ranging sensor or infrared ranging sensor, ranging data points are data points in point cloud data; when ranging sensors are depth cameras, ranging data points are pixels in depth image data;

Finally, compare the size of all distance values, and use the smallest distance value among all distance values as the width of the narrow channel.

In application, the detection frame can be set to any regular shape according to actual needs, as long as it can cover the position where the narrow channel is located, for example, a rectangle, a circle, an ellipse, and the like.

As shown in FIG. 7 , a schematic diagram of the detection frame is exemplarily shown; wherein, 11 represents the target position, 12 represents the global path, 13 represents the ranging data point, 14 represents the obstacles on both sides of the narrow channel, and 15 represents the detection frame , 16 represents the mobile robot, X represents the movement direction, and Y represents the tangent or boundary direction.

As shown in FIG. 8 , it exemplarily shows a schematic diagram of an image mapped with ranging data points; wherein, 21 represents an image, 22 represents a global path, 23 represents ranging data points, 24 represents a first image area, and 25 represents a The second image area, 26, represents the mobile robot.

In one embodiment, step S603 includes:

Based on the current pose of the mobile robot, establishing a mapping relationship between the cost map coordinate system and the image coordinate system;

Based on the mapping relationship, the global path is mapped to the image.

In one embodiment, after step S103, it further includes:

If there is no second waypoint whose cost value is greater than the preset cost threshold in the first waypoint, the process returns to step S102.

In the application, if there is no second path point whose cost value is greater than the preset cost threshold value in the first path point, it means that there is no narrow channel within the first preset distance from the mobile robot on the global path, and the execution steps can be returned at this time. S102, continue to control the mobile robot to move along the global path, and then continue to perform step S103.

In one embodiment, before step S101, it includes:

If the start job control command is received, it will enter the narrow channel mode.

In the application, the user can input the start operation control instruction through the human-computer interaction device of the terminal device, so as to control the mobile robot to enter the narrow channel mode according to the start operation control instruction, and then perform step S101.

In one embodiment, after step S105, it includes:

If the stop operation control command is received, the movement will be stopped, and the machine will enter a shutdown mode, a standby mode or a charging mode.

In the application, the user can input the stop operation control instruction through the human-computer interaction device of the terminal device to control the mobile robot to stop the operation in the operation environment according to the stop operation control instruction. Enter shutdown mode, standby mode or charging mode. After the work on the work environment is stopped, cost maps of other work environments may also be acquired, and then step S101 is executed to work on other work environments based on the global route navigation method.

In an application, the human-computer interaction device of the terminal device may include at least one of a physical button, a touch sensor, a gesture recognition sensor, and a voice recognition unit, so that the user can use the corresponding touch method, gesture control method or voice control method Enter motion control commands. Physical buttons and touch sensors can be placed anywhere on the terminal device, for example, the control panel. The touch method for the physical button may be pressing or toggling. The touch method of the touch sensor may specifically be pressing or touching. The gesture recognition sensor can be set at any position outside the casing of the terminal device. The gestures used to control the terminal device can be customized by the user according to actual needs, or the factory default settings can be adopted. The speech recognition unit may include a microphone and a speech recognition chip, or may only include a microphone and the speech recognition function is implemented by the processor of the terminal device. The voice used to control the terminal device can be customized by the user according to actual needs or the factory default setting can be adopted.

In application, step S201 and steps S301 and S302 can be performed simultaneously, and step S201 and steps S501 and S504 can also be performed simultaneously, that is, before and during the process of controlling the mobile robot to pass through the narrow passage, or, during the control movement Before the robot avoids the narrow passage and during the process of avoiding the narrow passage, the running speed of the mobile robot can be reduced, so that the mobile robot can pass or avoid the narrow passage at a low speed and avoid collision with obstacles on both sides of the narrow passage.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

The embodiments of the present application further provide a global path navigation device, which is used for executing the method steps in the above method embodiments. The apparatus may be a virtual appliance (virtual appliance) in the terminal device, executed by the processor of the terminal device, or may be the terminal device itself.

As shown in FIG. 9 , the global route navigation apparatus 1000 provided by the embodiment of the present application includes:

The map generation unit 100 is used to expand the grid map of the working environment, generate a cost map, and enter the path planning unit 101;

The path planning unit 101 is used to plan the global path from the current position of the mobile robot to the target position based on the cost map, and enter the first motion control unit 102;

a first motion control unit 102, configured to control the mobile robot to move in the work environment along the global path, and enter the cost value detection unit 103;

The cost value detection unit 103 is configured to traverse a first path within a first preset distance from the mobile robot along the global path during the movement of the mobile robot in the work environment along the global path point, detect the cost value of the first path point, and enter the narrow channel detection unit 104;

Narrow channel detection unit 104, configured to determine that the second waypoint is in a narrow channel if there is a second waypoint with a cost value greater than a preset cost threshold in the first waypoint, and enter the second motion control unit 105;

The second motion control unit 105 is configured to control the mobile robot to move in the working environment based on the narrow channel.

In one embodiment, the global path navigation device further includes:

The returning unit is configured to return to the first motion control unit if there is no second waypoint whose cost value is greater than a preset cost threshold in the first waypoint.

In one embodiment, the global path navigation device further includes:

The start unit is used to enter the narrow channel mode if the start job control instruction is received.

In one embodiment, the global path navigation device further includes:

The stop unit is used to stop the movement and enter the shutdown mode, the standby mode or the charging mode if the stop operation control instruction is received.

In application, each unit in the above apparatus may be a software program module, or may be implemented by different logic circuits integrated in the processor or independent physical components connected to the processor, or may be implemented by multiple distributed processors.

As shown in FIG. 10 , an embodiment of the present application further provides a terminal device 2000 , including: at least one processor 201 (only one processor is shown in FIG. 10 ), a memory 202 , and a terminal device 200 stored in the memory 202 and available in at least one The computer program 203 running on the processor 201, when the processor 201 executes the computer program 203, implements the steps in each of the foregoing embodiments of the global path navigation method.

In an application, a terminal device may include, but is not limited to, a processor and a memory. FIG. 10 is only an example of a terminal device, and does not constitute a limitation to the terminal device, and may include more or less components than those shown in the figure, or Combining some components, or different components, for example, input and output devices, network access devices, etc., when the terminal device is a mobile robot, it may also include mobile components and ranging sensors. The input and output device may include the aforementioned human-computer interaction device, and may also include a display screen for displaying the working parameters of the terminal device. The network access device may include a communication module for the terminal device to communicate with the user terminal. The moving parts may include steering gears, motors, drivers and other devices for driving the joints of the mobile robot to move.

In an application, the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuits) , ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should be noted that the information exchange, execution process and other contents between the above-mentioned devices/modules are based on the same concept as the method embodiments of the present application. For specific functions and technical effects, please refer to the method embodiments section. It is not repeated here.

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example for illustration. The internal structure of the device is divided into different functional modules to complete all or part of the functions described above. Each functional module in the embodiment may be integrated in one processing module, or each module may exist physically alone, or two or more modules may be integrated in one module, and the above-mentioned integrated modules may be implemented in the form of hardware. , can also be implemented in the form of software function modules. In addition, the specific names of the functional modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working process of the modules in the above-mentioned system, reference may be made to the corresponding process in the foregoing method embodiments, which will not be repeated here.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

The embodiments of the present application provide a computer program product, which enables the terminal device to implement the steps in the foregoing method embodiments when the computer program product runs on a terminal device.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (10)

1. A global path navigation method, comprising:

planning a global path from the current position of the mobile robot to a target position based on a cost map of the working environment, wherein a grid in a preset expansion radius away from an obstacle in the cost map has a first generation value, a grid outside the preset expansion radius away from the obstacle has a second generation value, and the second generation value is smaller than the first generation value and is inversely related to the distance between the grid and the obstacle;

controlling the mobile robot to move in the work environment along the global path;

traversing a first path point within a first preset distance from the mobile robot along the global path, and detecting a cost value of the first path point;

if a second path point with the cost value larger than a preset cost threshold exists in the first path point, determining that the second path point is in a narrow channel;

controlling the mobile robot to move in the work environment based on the narrow channel.

2. The global path navigation method of claim 1, wherein said controlling the mobile robot to move in the work environment based on the narrow channel comprises:

and controlling the mobile robot to reduce the movement speed through the narrow passage.

3. The global path navigation method of claim 1, wherein said controlling the mobile robot to move in the work environment based on the narrow channel comprises:

replanning a new global path from the current position of the mobile robot to a target position, wherein the distance from a third path point of the narrow channel in the new global path to the central point of the narrow channel is smaller than a second preset distance;

controlling the mobile robot to move in the work environment along the new global path.

4. The global path navigation method of claim 3, wherein said replanning a new global path from a current position to a target position of the mobile robot comprises:

detecting a third path point which is within a third preset distance from the second path point and has the lowest cost value in the narrow channel;

replanning a new global path from the current position of the mobile robot to the target position and through the third path point.

5. The global path navigation method of claim 1, wherein the preset inflation radius is smaller than a radius of the mobile robot;

the controlling the mobile robot to move in the work environment based on the narrow channel includes:

acquiring the width of the narrow channel based on ranging data of a ranging sensor arranged on the mobile robot;

if the width of the narrow channel is lower than a preset width threshold value, adding a virtual barrier at the position of the narrow channel in the cost map to generate a new cost map;

replanning a new global path from the current position of the mobile robot to the target position and avoiding the narrow channel based on the new cost map;

controlling the mobile robot to move in the work environment along the new global path.

6. The global path navigation method according to claim 5, wherein the obtaining the width of the narrow channel based on ranging data of a ranging sensor provided to the mobile robot includes:

constructing a detection frame covering the position of the narrow channel by taking the position of the mobile robot in the operation environment as a boundary point and the motion direction of the mobile robot in the operation environment as a central axis direction, wherein the boundary or tangent line of the detection frame passing through the boundary point is perpendicular to the central axis;

generating an image of the area where the detection frame is located;

mapping the global path to the image based on a current pose of the mobile robot;

dividing the image into a first image area and a second image area by taking the global path as a separation line;

mapping ranging data of the mobile robot to the image;

acquiring a distance value between each ranging data point in the first image area and each ranging data point in the second image area;

and acquiring the minimum distance value of all the distance values as the width of the narrow channel.

7. The global path navigation method of claim 6, wherein said mapping the global path to the image based on the current pose of the mobile robot comprises:

establishing a mapping relation between the cost map coordinate system and the image coordinate system based on the current pose of the mobile robot;

mapping the global path to the image based on the mapping relationship.

8. A global path navigation apparatus, comprising:

the path planning unit is used for planning a global path from the current position of the mobile robot to the target position based on the cost map of the working environment;

a first motion control unit for controlling the mobile robot to move in the work environment along the global path, the grid within a preset expansion radius from an obstacle in the cost map having a first generation value, the grid outside the preset expansion radius from the obstacle having a second generation value, the second generation value being less than the first generation value and negatively correlated with the distance of the grid from the obstacle;

the cost value detection unit is used for traversing a first path point within a first preset distance from the mobile robot along the global path in the process that the mobile robot moves in the working environment along the global path, and detecting the cost value of the first path point;

the narrow channel detection unit is used for determining that a second path point with a cost value larger than a preset cost threshold exists in the first path point;

a second motion control unit for controlling the mobile robot to move in the work environment based on the narrow passage.

9. A terminal device comprising a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of the global path navigation method according to any of claims 1 to 7 when executing said computer program.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the steps of the global path navigation method according to any one of claims 1 to 7.

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