CN115540870A - Robot navigation method, device and storage medium - Google Patents
Robot navigation method, device and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The application discloses a robot navigation method, equipment and a storage medium, which relate to the field of intelligent warehousing, and the method comprises the following steps: acquiring distance data between a preset marker and the robot through the single-point laser; at least one preset marker is fixedly arranged on an obstacle in a signal shielding area; and adjusting the posture of the robot according to the distance data so as to enable the advancing direction of the robot to be parallel to the extending direction of the preset marker, and controlling the robot to continue to run. The robot and the barrier are prevented from colliding or rubbing the obstacle.
Description
Technical Field
The application relates to the field of intelligent warehousing, in particular to a robot navigation method, equipment and a storage medium.
Background
In the prior art, a warehouse logistics robot in an intelligent warehouse logistics System generally uses a Global Positioning System (GPS) to perform Positioning, but when the robot enters a signal blocking area (an environment such as indoor environment, tunnel environment, or under an overpass), the GPS cannot receive a satellite Positioning signal, and the robot generally uses an inertial measurement unit or a motor encoder to calculate a relative position of the robot, and then receives the GPS signal again to perform Positioning until the robot moves to an open area.
However, when entering the information-blocking area, the robot uses an inertial measurement unit or a motor encoder to calculate the relative position of the robot, which may cause inaccurate positioning and navigation of the robot.
Content of application
The application mainly aims to provide a robot navigation method, equipment and a storage medium, and aims to solve the technical problem that the robot is inaccurately positioned in an information occlusion area.
In a first aspect, to achieve the above object, the present application provides a robot navigation method, where a robot is configured with a single-point laser, the method including:
acquiring distance data between a preset marker and the robot through a single-point laser; wherein, at least one preset marker is fixedly arranged on the barrier in the signal shielding area;
and adjusting the posture of the robot according to the distance data so that the advancing direction of the robot is parallel to the extending direction of the preset marker, and controlling the robot to continuously run.
Optionally, the robot has a first side wall and a second side wall which are opposite to each other, the first side wall is provided with at least two first single-point lasers, the second side wall is provided with at least two second single-point lasers, and the first single-point lasers and the second single-point lasers are symmetrically arranged with each other;
before obtaining distance data between the preset marker and the robot through the single-point laser, the method further comprises the following steps:
detecting whether a preset marker exists on the side of the robot;
if the preset marker exists on the single side of the robot, the single-point laser is determined from the first single-point laser and the second single-point laser, distance data between the preset marker and the robot is obtained through the single-point laser, and the single-point laser faces the preset marker.
Optionally, the distance data includes a plurality of sub-distance data between the preset marker and the robot, which are respectively obtained by at least two single-point lasers;
according to the distance data, the posture of the robot is adjusted so that the advancing direction of the robot is parallel to the extending direction of the preset marker, and the method comprises the following steps:
obtaining a turning angle of the robot according to the difference value among the plurality of distance subdata;
and controlling the robot to rotate according to the turning angle so that the advancing direction of the robot is parallel to the extending direction of the preset marker.
Optionally, the preset identifier comprises a first identifier and a second identifier arranged oppositely;
after detecting whether the preset marker exists on the side of the robot, the method further comprises the following steps:
and if the preset markers are arranged on the two sides of the robot, determining the first single-point laser and the second single-point laser as the single-point lasers, and executing the acquisition of distance data between the preset markers and the robot through the single-point lasers, wherein the distance data comprises first distance data between the first preset markers and the robot acquired by the first single-point laser and second distance data between the second preset markers and the robot acquired by the second single-point laser.
Optionally, the detecting whether the preset marker exists on the side of the robot includes:
acquiring first detection distance information acquired by a first single-point laser and first detection distance information acquired by a second single-point laser;
if the first detection distance information is smaller than a preset distance threshold value, a preset marker exists on the side where a first single-point laser of the robot is located;
if the second detection distance information is smaller than a preset distance threshold value, a preset marker exists on the side where a second single-point laser of the robot is located;
and if the first detection distance information and the second detection distance information are both smaller than a preset distance threshold value, the preset markers are arranged on both sides of the robot.
Optionally, if the first detection distance information is smaller than a preset distance threshold, a preset marker exists on a side of the robot where the first single-point laser is located, and the method includes:
if all the first detection distance information corresponding to at least two first single-point lasers is smaller than a preset distance threshold value, a preset marker exists on the side where the first single-point lasers of the robot are located;
if the second detection distance information is smaller than the preset distance threshold, a preset marker exists on the side where the second single-point laser of the robot is located, and the method comprises the following steps:
and if all the second detection distance information corresponding to the at least two second single-point lasers is smaller than the preset distance threshold, the side of the robot where the second single-point laser is located has a preset marker.
Optionally, the first distance data includes a plurality of first distance subdata between the robot and a first preset identifier respectively acquired by at least two first single-point lasers;
the second distance data comprise a plurality of second distance subdata between a second preset marker and the robot, which are respectively obtained by at least two second single-point lasers;
according to the distance data, the posture of the robot is adjusted, so that the advancing direction of the robot is parallel to the extending direction of the preset marker, and the method comprises the following steps:
obtaining a turning angle of the robot according to a first difference value between the plurality of first distance subdata and a second difference value between the plurality of second distance subdata;
and controlling the robot to rotate according to the turning angle so that the advancing direction of the robot is parallel to the extending direction of the preset marker.
Optionally, the controlling the robot to travel along the extending direction of the preset marker comprises:
and controlling the robot to run along the extending direction of the preset marker at a preset constant speed.
In a second aspect, the present application also provides a robot navigation device, comprising: a processor, a memory and a robot navigation program stored in the memory, the robot navigation program when executed by the processor implementing the steps of the robot navigation method as the first aspect of the application.
In a third aspect, the present application further provides a computer-readable storage medium having a robot navigation program stored thereon, where the robot navigation program, when executed by a processor, implements the robot navigation method according to the first aspect of the present application.
According to the robot navigation method provided by the embodiment of the application, distance data between a preset marker and a robot is obtained through a single-point laser; and adjusting the posture of the robot according to the distance data so that the advancing direction of the robot is parallel to the extending direction of the preset marker, and controlling the robot to run along the extending direction of the preset marker.
Therefore, after the distance data between the preset marker and the robot is acquired through the single-point laser, the robot is controlled to adjust the posture until the preset marker keeps parallel, and then the robot runs along the direction which keeps parallel to the preset marker all the time, so that the robot is prevented from colliding with the preset marker, namely, from colliding with an obstacle or rubbing against the obstacle, and the robot can smoothly pass through a signal shielding area.
Drawings
FIG. 1 is a schematic structural diagram of a robot navigation device in a hardware operating environment according to the robot navigation method of the present application;
FIG. 2 is a schematic flow chart diagram of a first embodiment of a robot navigation method of the present application;
FIG. 3 is a schematic structural diagram of a setting position of a single-point laser according to the robot navigation method;
FIG. 4 is a schematic diagram of a preset marker on a single side of the robot navigation method of the present application;
fig. 5 is a schematic diagram illustrating that preset markers exist on two sides of the robot navigation method according to the present application.
The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
In the related art, a warehouse logistics robot in an intelligent warehouse logistics System usually uses a Global Positioning System (GPS) to perform Positioning, but when the robot enters a signal blocking area (an environment such as indoor environment, tunnel environment, or under an overpass), the GPS cannot receive a satellite Positioning signal, and the robot usually uses an inertial measurement unit or a motor encoder to calculate a relative position of the robot, and then receives the GPS signal again to perform Positioning when the robot moves to an open area. Because the navigation mode based on the inertial measurement unit mainly obtains the relative position of the robot by integrating the measured motion state data such as the real-time acceleration of the robot, the accumulated position error is continuously increased along with the integration process. And the method for solving the relative motion position of the robot according to the real-time rotating speed of the driving motor returned by the encoder has great positioning error when the robot slips and idles.
Therefore, when entering the information blocking area, the robot uses the inertial measurement unit or the motor encoder to calculate the relative position of the robot, which may cause inaccurate positioning and navigation of the robot.
In order to solve the technical problem, the application provides a robot navigation method, after distance data between a preset marker and a robot is acquired through a single-point laser, the robot is controlled to adjust the posture until the preset marker keeps parallel, and then the robot runs along the direction which always keeps parallel to the preset marker, so that the robot is prevented from colliding with the preset marker, namely the robot is prevented from colliding with an obstacle or rubbing the obstacle, and the accuracy of robot positioning and navigation in an information shielding area is improved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot navigation device in a hardware operating environment according to an embodiment of the present application.
As shown in fig. 1, the robot navigation apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the robotic navigation device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a robot navigation program.
In the robot navigation device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the robot navigation device may be disposed in the robot navigation device, and the robot navigation device calls the robot navigation program stored in the memory 1005 through the processor 1001 and executes the robot navigation method provided by the embodiment of the present application.
Based on the hardware structure of the robot navigation device but not limited to the hardware structure, the present application provides a first embodiment of robot navigation. Referring to fig. 2, fig. 2 shows a schematic flow chart of a first embodiment of the robot navigation method of the present application.
It should be noted that, although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than that shown or described herein.
In this embodiment, the robot navigation method includes:
step S10, obtaining distance data between a preset marker and a robot through a single-point laser; wherein at least one preset marker is fixedly arranged on the barrier in the signal shielding area.
It should be understood that, in an area where signals can be normally transmitted, the robot can perform positioning according to the existing GPS, and the robot navigation method provided by the embodiment is suitable for providing navigation services for the robot in a signal blocking area (an environment such as indoor, tunnel, or under an overpass). Corresponding obstacles such as cabinets, shelves, walls, etc. are provided in the signal-shielded area. And at least one preset marker is arranged on each barrier in the signal shielding area. The preset marker refers to an object capable of reflecting electromagnetic wave energy emitted by a single-point laser radar, such as a reflecting plate, and the specific arrangement of the preset marker on the obstacle can be obtained according to the specific situation of an expected collision surface on the obstacle. If the barrier is a wall with only one intended collision surface, the preset markers may be configured as a reverse strip that extends horizontally along the length of the wall. If the obstacle is a pillar standing in the middle of the area, and the expected collision surface thereof includes 4 faces in the circumferential direction, the preset markers may be configured as 4 reflectors, which are respectively arranged on the 4 faces, thereby enclosing the pillar.
The single-point laser is also called as a single-point laser radar, and because the motion condition between the robot and the ground can not be predicted in a signal shielding area, the positioning error is large, and accurate positioning information can not be provided for a GPS. If the multi-line laser radar is used, the positioning environment cannot be changed randomly and the cost is too high due to the fact that materials are frequently fed in and out of the region, namely the surrounding environment is changed frequently. On the basis of reducing cost, the single-line laser radar can provide relatively accurate coordinate information by combining with the fixedly arranged preset marker. In addition, the single-point laser radar has a small FOV (Field of View) and a high accuracy of measuring a distance.
Specifically, the present embodiment installs a reflective plate capable of reflecting laser light, i.e., a preset marker, on an obstacle in the signal blocking area. The single-point laser emits laser beams along with the walking of the robot, the emitted laser beams are directly reflected by the paved reflecting plate, and the robot is triggered to record distance data between the preset marker and the robot when the robot encounters the reflecting plate.
And S20, adjusting the posture of the robot according to the distance data so that the advancing direction of the robot is parallel to the extending direction of the preset marker, and controlling to continue driving.
It is to be understood that the robot may continue to travel based on the speed of entering the signal blocking area, and the posture of the robot includes the position and turning angle of the robot, and the like. After the single-point laser radar acquires the distance data from the preset marker to the robot, the gesture of the robot is adjusted to enable the advancing direction of the robot to be parallel to the extending direction of the preset marker, so that the robot can be prevented from colliding with the preset marker in the advancing process, namely the robot is prevented from colliding with an obstacle or being scratched by a knife, and the robot can smoothly pass through a signal shielding area.
Based on the above embodiments, the present application provides a second embodiment of a robot navigation method. Referring to fig. 3, fig. 3 shows a schematic structural diagram of a single-point laser setting position of the robot navigation method of the present application. LIDAR-1, LIDAR-2, LIDAR-3, and LIDAR-4 in FIG. 3 are the labels for four single-point lasers, and d denotes the distance between the radars.
Referring to fig. 3, the robot has a first side wall and a second side wall opposite to each other, the first side wall is provided with at least two first single-point lasers, and the LIDAR-1 and the LIDAR-2 are at least two first single-point lasers arranged on the first side wall; the second side wall is provided with at least two second single-point lasers, and the LIDAR-3 and the LIDAR-4 are at least two second single-point lasers arranged on the second side wall, and the first single-point laser and the second single-point laser are symmetrically arranged with each other, i.e. the distance d between the left LIDAR-1 and the LIDAR-2 is equal to the distance d between the right LIDAR-3 and the LIDAR-4 in fig. 3.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating the presence of a preset marker on a single side of the robot navigation method of the present application. The LIDAR-1 and the LIDAR-2 are two first single-point lasers respectively, d is the distance between the LIDAR-1 and the LIDAR-2, delta l is the distance difference between the distance data between the LIDAR-1 and the preset marker and the distance data between the LIDAR-2 and the preset marker,
is the turning angle of the robot.
In this embodiment, before step S10, the method further includes:
s8, detecting whether a preset marker exists on the side of the robot or not;
and S9, if the preset marker exists on one side of the robot, determining the single-point laser from the first single-point laser and the second single-point laser, and acquiring distance data between the preset marker and the robot through the single-point laser, wherein the single-point laser is arranged towards the preset marker.
It should be understood that, because the scenes where the robot is located are different and the specific points where the robot enters the signal shielding area are different, that is, for the behavior that the robot enters the signal shielding area once, the position of the preset marker is unknown, therefore, it is necessary to perform multiple detections to detect whether the preset marker exists on the side of the robot, and the time for performing the detections may be set manually. When the preset marker exists on one side of the single-point laser, the preset marker is located in the left side or right side area of the robot. And determining the single-point laser from the first single-point laser and the second single-point laser, and executing the operation of acquiring the distance data between the preset marker and the robot through the single-point laser after the single-point laser is determined. That is, when a preset marker exists on a single side of the robot, the distance data collected by the single-point laser on the side is used, and the data detected on the other side is not processed.
If the preset marker exists on the side of the first side wall, only the data collected by the at least two first single-point lasers are processed, but the data collected by the at least two second single-point lasers are not processed, namely, at the moment, the first single-point lasers form the single-point lasers used in the method.
In this embodiment, after detecting in advance whether the preset marker exists on the side of the robot and determining whether the preset marker is located in the left area or the right area of the robot, the single-point laser is determined from the first single-point laser and the second single-point laser, the single-point laser is determined, and the operation of obtaining distance data is performed. Therefore, the area of the preset marker is detected in advance, the information of the distance between the preset marker and the robot is acquired through the single-point laser, the robot posture is adjusted to enable the advancing direction of the robot to be parallel to the extending direction of the preset marker, the robot can be prevented from colliding with the preset marker in the advancing process, namely the robot is prevented from colliding with or rubbing an obstacle, and the robot can smoothly pass through the signal shielding area.
As a specific implementation manner, the distance data includes a plurality of pieces of sub-distance data between the preset marker and the robot, which are respectively acquired by at least two single-point lasers;
step S20, comprising:
step S201, obtaining a turning angle of the robot according to the difference value among the plurality of distance subdata;
and S202, controlling the robot to rotate according to the turning angle so that the advancing direction of the robot is parallel to the extending direction of the preset marker.
It should be understood that the operation of obtaining the distance data from the preset marker to the robot is performed by using at least two single-point lasers, and the turning angle of the robot is determined by the difference value of the distance data among the plurality of pieces of distance sub-data.
If the single-side positioning mode is entered, the left single-side positioning mode is used as an example, the distance between the single-point laser radars is d, d lidar1 And d lidar2 If the distance difference is delta l, the speed of the robot is a constant speed v, and the robot needs to turn at a turning angle
Wherein, LIDAR-1 and LIDAR-2 are the labels of the single-point lasers, d is the distance between the LIDAR-1 and the LIDAR-2, deltal is the distance difference between the distance data of the LIDAR-1 and the distance data of the LIDAR-2,
is the turning angle of the robot, d lidar1 Data representing the distance between the LIDAR-1 and a preset marker; and d lidar2 Representing the distance data between the LIDAR-2 and a predetermined marker.
In this embodiment, the operation of obtaining the distance data is executed by at least two single-point lasers, and the turning angle of the robot is more accurately determined by the robot navigation device according to the difference value of the distance data, so that the accuracy of controlling the robot is improved, and the robot is prevented from colliding with the preset marker.
The present application provides a third embodiment of a robot navigation method. Referring to fig. 5, fig. 5 is a schematic diagram illustrating that preset markers exist on two sides of the robot navigation method of the present application, where the preset markers include a first marker and a second marker which are arranged oppositely;
in this embodiment, after step S8, the method further includes:
and S9, if the preset markers exist on both sides of the robot, determining the first single-point laser and the second single-point laser as the single-point lasers, and executing the acquisition of distance data between the preset markers and the robot through the single-point lasers, wherein the distance data comprises first distance data between the first preset markers and the robot, which is acquired by the first single-point laser, and second distance data between the second preset markers and the robot, which is acquired by the second single-point laser.
It will be appreciated that the pre-set identifier is present on both sides of the robotThe objects are located in the left and right areas of the robot. And determining the first single-point laser and the second single-point laser as single-point lasers, and executing the operation of acquiring the distance data between the preset marker and the robot through the single-point lasers. When the preset markers are arranged on both sides of the robot, the robot enters a bilateral positioning mode, and the distance between the single-point laser radars is d, d lidar1 And d lidar2 If the distance difference is Δ l, the speed of the robot is a constant speed v, and the angle at which the robot needs to turn is:
the system comprises a first side wall, a second side wall, a third side wall, a fourth side wall, a third side wall and a fourth side wall, wherein the LIDAR-1, the LIDAR-2, the LIDAR-3 and the LIDAR-4 are four single-point lasers, and the LIDAR-1 and the LIDAR-2 are two first single-point lasers arranged on the first side wall;
for the robot turning angle, deltal, determined from LIDAR-1 and LIDAR-2 1 The distance difference between the data of the distance between the LIDAR-1 and the preset marker and the data of the distance between the LIDAR-2 and the preset marker is obtained;
LIDAR-3 and LIDAR-4 are at least a second single point laser of a second sidewall arrangement,
for the robot turning angle, Δ l, determined from LIDAR-3 and LIDAR-4 2 The distance difference between the data of the distance between the LIDAR-3 and the preset marker and the data of the distance between the LIDAR-4 and the preset marker,
is the turning angle of the robot.
For example, in the case of a real scene, one wall and two walls are encountered, and if only in the single-side mode, the robot cannot travel centrally in the scene with walls on both sides, and even hit the other wall if the angle is too large.
In this embodiment, the single-side positioning mode cannot keep the robot running in the middle, and the manner of determining the turning angle of the robot in the single-side positioning mode may cause the turning angle of the robot to be too large, which may cause collision or scratch between the robot and an obstacle, so that the robot running in the middle can be kept by switching from the single-side positioning mode to the double-side positioning mode, and the turning angle of the robot can be controlled in an optimal range by determining the turning angle of the robot in the double-side positioning mode, which can avoid the robot colliding with a preset marker in the forward process.
The present application provides a fourth embodiment of a robot navigation method.
In this embodiment, step S8 includes:
step S81, acquiring first detection distance information acquired by a first single-point laser and first detection distance information acquired by a second single-point laser;
step S82, if the first detection distance information is smaller than a preset distance threshold value, a preset marker exists on the side where the first single-point laser of the robot is located;
step S83, if the second detection distance information is smaller than a preset distance threshold value, a preset marker exists on the side where the second single-point laser of the robot is located;
step S84, if the first detection distance information and the second detection distance information are both smaller than the preset distance threshold, preset markers are arranged on both sides of the robot.
It should be understood that the preset distance threshold is set according to a specific usage scenario, and is not limited herein. For example, the warehouse is 1 meter wide, and 40 centimeters may be set as the preset distance threshold. When the robot navigation equipment detects whether a preset marker exists on the side of the robot, the distance from the robot to the marker is measured through the single-point laser radar at each sampling moment in a distance measuring period of the single-point laser radar, and a distance array is generated. In particular, the size of the distance array may be dynamically adjusted.
Because strong electric equipment in a using scene is more, spike pulse interference is inevitably generated, the interference is generally short in duration and large in peak value, so that a pulse interference prevention average value filtering method is selected during data preprocessing, the interference of field noise is eliminated, and the accuracy of the distance is ensured; the robot navigation equipment processes the distance arrays by using an anti-pulse interference average filtering method, namely, the distance arrays are sorted, the maximum value and the minimum value are removed, and the remaining data is averaged to obtain the final detection distance information.
(1) If the first detection distance information is smaller than a preset distance threshold value, a preset marker exists on the side where the first single-point laser of the robot is located; if the second detection distance information is smaller than a preset distance threshold value, a preset marker exists on the side where a second single-point laser of the robot is located;
(2) And if the first detection distance information and the second detection distance information are both smaller than a preset distance threshold value, the preset markers are arranged on both sides of the robot.
In the embodiment, the position of the preset marker in the scene around the robot is judged by comparing the detection distance information with the preset distance threshold, and the interference of field noise is eliminated by using a pulse interference prevention average filtering method, so that the accuracy of the distance from the robot to the preset marker is ensured, and the robot is accurately controlled.
As a specific implementation manner, in step S82, if the first detection distance information is smaller than the preset distance threshold, the existence of the preset marker on the side where the first single-point laser of the robot is located includes:
step S821, if all the first detection distance information corresponding to at least two first single-point lasers is smaller than a preset distance threshold, a preset marker exists on the side where the first single-point laser of the robot is located;
step S822, if the second detection distance information is smaller than the preset distance threshold, a preset marker exists on a side of the second single-point laser of the robot, including:
in step S823, if all the second detection distance information corresponding to at least two second single-point lasers is smaller than the preset distance threshold, a preset marker exists on the side of the robot where the second single-point laser is located.
It is to be understood that, if all the first detection distance information corresponding to at least two first single-point lasers is smaller than the preset distance threshold, a preset marker exists on the side of the robot where the first single-point lasers are located; if all the second detection distance information corresponding to the at least two second single-point lasers is smaller than the preset distance threshold value, a preset marker exists on the side where the second single-point laser of the robot is located.
In the embodiment, the detection distance information is compared with the preset distance threshold value, the position of the preset marker in the scene around the robot is judged, the accuracy of the distance from the robot to the preset marker is ensured, and the robot is accurately controlled.
As a specific implementation manner, the first distance data includes a plurality of first distance subdata between a first preset marker and the robot, which is acquired by at least two first single-point lasers respectively;
the second distance data comprise a plurality of second distance subdata between a second preset marker and the robot, which are respectively obtained by at least two second single-point lasers;
step S20, comprising:
step S201, obtaining a turning angle of the robot according to a first difference value between the plurality of first distance subdata and a second difference value between the plurality of second distance subdata;
and S202, controlling the robot to rotate according to the turning angle so that the advancing direction of the robot is parallel to the extending direction of the preset marker.
It should be understood that, the turning angle of the robot is obtained according to a first difference between the plurality of first distance subdata and a second difference between the plurality of second distance subdata; and controlling the robot to rotate according to the turning angle so that the advancing direction of the robot is parallel to the extending direction of the preset marker. Therefore, the turning angle of the robot can be controlled in the optimal range, and the robot can be prevented from colliding with the preset marker in the advancing process.
As a specific embodiment, step S20, controlling the robot to travel along the extending direction of the preset marker includes:
and S203, controlling the robot to run along the extending direction of the preset marker at a preset constant speed.
It should be understood that the preset constant speed refers to a driving speed adopted by the robot to enter the area with the signal being blocked, and the preset constant speed is preset. Before the robot enters the area where the signal is blocked, the robot also has an original driving speed, which is also preset here. The original travel speed and the preset constant speed of the robot may be the same or different. Alternatively, the preset constant speed may be a speed value configured in advance, and the speed value is only applicable to the signal shielding area, so that the robot runs at the preset constant speed when detecting the preset marker.
For example, the original running speed of the robot before entering the area where the signal is blocked is 2 m/s, and when the robot enters the area where the signal is blocked, the running speed can be kept consistent with the original running speed, that is, the preset constant speed is set to be 2 m/s; the preset constant speed may be set to 1 m/s when the vehicle enters a region where the signal is blocked, where the original driving speed is different from the preset constant speed. The driving speed of the robot can be flexibly controlled in different scenes.
In addition, an embodiment of the present application further provides a computer storage medium, where a robot navigation program is stored on the storage medium, and the robot navigation program, when executed by a processor, implements the steps of the robot navigation method as described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that the program instructions may be deployed to be executed on one computing device or on multiple computing devices located at one site or distributed across multiple sites and interconnected by a communication network, as examples.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a computer readable storage medium and includes the processes of the embodiments of the methods described above when the program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where units illustrated as separate components may or may not be physically separate, and components illustrated as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, where the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-only memory (ROM), a random-access memory (RAM), a magnetic disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods of the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A robot navigation method, wherein the robot is configured with a single point laser, the method comprising:
acquiring distance data between a preset marker and the robot through the single-point laser; at least one preset marker is fixedly arranged on an obstacle in a signal shielding area;
and adjusting the posture of the robot according to the distance data so as to enable the advancing direction of the robot to be parallel to the extending direction of the preset marker, and controlling the robot to continue to run.
2. The robot navigation method of claim 1, wherein the robot has opposing first and second sidewalls, the first sidewall is provided with at least two first single point lasers, the second sidewall is provided with at least two second single point lasers, and the first and second single point lasers are symmetrically arranged with respect to each other;
before the obtaining, by the single-point laser, distance data between a preset marker and the robot, the method further includes:
detecting whether the preset marker exists on the side of the robot or not;
if the preset marker exists on one side of the robot, the single-point laser is determined from the first single-point laser and the second single-point laser, and distance data between the preset marker and the robot is obtained through the single-point laser, wherein the single-point laser faces the preset marker.
3. The robot navigation method according to claim 2, wherein the distance data includes a plurality of pieces of distance sub-data between the preset identifier and the robot, which are respectively obtained by at least two single-point lasers;
the adjusting the posture of the robot according to the distance data to make the advancing direction of the robot parallel to the extending direction of the preset marker comprises:
obtaining the turning angle of the robot according to the difference value between the plurality of distance subdata;
and controlling the robot to rotate according to the turning angle so that the advancing direction of the robot is parallel to the extending direction of the preset marker.
4. The robot navigation method of claim 2, wherein the preset marker comprises a first marker and a second marker arranged oppositely;
after detecting whether the preset identifier exists on the side of the robot, the method further comprises the following steps:
if the preset markers exist on both sides of the robot, determining the first single-point laser and the second single-point laser as the single-point lasers, and executing the acquisition of distance data between the preset markers and the robot through the single-point lasers, wherein the distance data comprises first distance data between the first preset markers and the robot, which is acquired by the first single-point laser, and second distance data between the second preset markers and the robot, which is acquired by the second single-point laser.
5. The robot navigation method according to claim 4, wherein the detecting whether the preset marker is present on the side of the robot comprises:
acquiring first detection distance information acquired by the first single-point laser and first detection distance information acquired by the second single-point laser;
if the first detection distance information is smaller than a preset distance threshold value, the preset marker exists on the side where a first single-point laser of the robot is located;
if the second detection distance information is smaller than the preset distance threshold value, the preset marker exists on the side where a second single-point laser of the robot is located;
and if the first detection distance information and the second detection distance information are both smaller than the preset distance threshold value, the preset marker exists on both sides of the robot.
6. The robot navigation method according to claim 5, wherein if the first detected distance information is smaller than a preset distance threshold, the preset identifier exists on a side of the robot where the first single-point laser is located, and the method includes:
if all the first detection distance information corresponding to at least two first single-point lasers is smaller than the preset distance threshold, the preset marker exists on the side where the first single-point laser of the robot is located;
if the second detection distance information is smaller than a preset distance threshold, the preset marker exists on the side where the second single-point laser of the robot is located, and the method includes:
and if all the second detection distance information corresponding to at least two second single-point lasers is smaller than the preset distance threshold, the preset marker exists on the side where the second single-point laser of the robot is located.
7. The robot navigation method according to claim 4, wherein the first distance data includes a plurality of first distance sub-data between the first preset identifier and the robot, respectively acquired by at least two first single-point lasers;
the second distance data comprise a plurality of second distance subdata between the second preset identifier and the robot, which are respectively obtained by at least two second single-point lasers;
the adjusting the posture of the robot according to the distance data to make the advancing direction of the robot parallel to the extending direction of the preset marker comprises:
obtaining a turning angle of the robot according to a first difference value between the plurality of first distance subdata and a second difference value between the plurality of second distance subdata;
and controlling the robot to rotate according to the turning angle so that the advancing direction of the robot is parallel to the extending direction of the preset marker.
8. A robot navigation method according to any of claims 1 to 7, wherein the controlling the robot to travel in the direction of extension of the preset marker comprises:
and controlling the robot to run along the extending direction of the preset marker at a preset constant speed.
9. A robotic navigation device, comprising: a processor, a memory and a robot navigation program stored in the memory, the robot navigation program when executed by the processor implementing the steps of the robot navigation method according to any of claims 1 to 8.
10. A computer-readable storage medium, having a robot navigation program stored thereon, the robot navigation program implementing the robot navigation method of any one of claims 1 to 8 when executed by a processor.
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| CN116269059A (en) * | 2023-05-19 | 2023-06-23 | 杭州涂鸦信息技术有限公司 | Sweeping robot calibration system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116269059A (en) * | 2023-05-19 | 2023-06-23 | 杭州涂鸦信息技术有限公司 | Sweeping robot calibration system and method |
| CN116269059B (en) * | 2023-05-19 | 2023-08-11 | 杭州涂鸦信息技术有限公司 | Sweeping robot calibration system and method |
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