CN115877852A - Robot motion control method, robot, and computer-readable storage medium - Google Patents
Robot motion control method, robot, and computer-readable storage medium Download PDFInfo
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- CN115877852A CN115877852A CN202310148694.2A CN202310148694A CN115877852A CN 115877852 A CN115877852 A CN 115877852A CN 202310148694 A CN202310148694 A CN 202310148694A CN 115877852 A CN115877852 A CN 115877852A
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Abstract
The application provides a robot motion control method, a robot and a computer readable storage medium. The method is used for controlling the movement of a robot, which is provided with at least one distance sensor for detecting the distance between the robot and an object in at least one direction. The robot motion control method comprises the following steps: in the process of controlling the robot to move according to the preset navigation route, the distances detected by the distance sensors are obtained, and whether obstacles exist around the robot or not is judged according to the distances detected by the distance sensors; and if the obstacle is determined to be around the robot, determining the obstacle avoiding direction according to the direction of the obstacle, and controlling the robot to move towards the obstacle avoiding direction. The obstacle avoidance direction is the direction in which no obstacle exists within the preset distance of the robot. The method provided by the application can ensure that the robot can avoid the obstacle in advance, so that the obstacle avoidance success rate of the robot can be improved.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a robot motion control method, a robot, and a computer-readable storage medium.
Background
In the moving process of the robot, the situation that the robot enters a special corner during moving due to the fact that the map is built irregularly, the environment of the built map changes, or an object intentionally blocks the moving line of the robot can occur. Under the special condition, the existing robot is easy to be blocked at a corner and cannot fall off due to the single obstacle avoidance scheme and the inconsistent coordination between the sensor and the control end.
Disclosure of Invention
In view of the above, the present application mainly aims to provide a robot motion control method, a robot and a computer readable storage medium, and aims to solve the technical problem that an existing robot is easy to get stuck at a corner and cannot get out of the body due to a single obstacle avoidance scheme and an uncoordinated sensor and control end.
To achieve the above object, a first aspect of the present application provides a robot motion control method for controlling a robot motion, the robot being provided with at least one distance sensor for detecting a distance between the robot and an object in at least one direction. The robot motion control method includes: in the process of controlling the robot to move according to a preset navigation route, the distances detected by the distance sensors are acquired, and whether obstacles exist around the robot or not is judged according to the distances detected by the distance sensors; and if the obstacle is determined to be around the robot, determining an obstacle avoiding direction according to the direction of the obstacle, and controlling the robot to move towards the obstacle avoiding direction. And the obstacle avoidance direction is the direction in which no obstacle exists within the preset distance of the robot.
According to the robot motion control method, whether obstacles exist around the robot or not is judged in the process of controlling the robot to move according to the preset navigation route, the obstacle avoidance direction is determined according to the direction where the obstacles exist, the robot is controlled to move towards the obstacle avoidance direction, and therefore the robot can be ensured to avoid the obstacles in advance, the obstacle avoidance success rate of the robot can be improved, and the probability that the robot is trapped is reduced.
Optionally, if it is determined that there are obstacles around the robot, determining an obstacle avoidance direction according to a direction in which the obstacles are located, and controlling the robot to move in the obstacle avoidance direction includes: if the situation that obstacles exist around the robot is determined, controlling the robot to send a way giving prompt signal to prompt the surrounding objects to give way; if the situation that obstacles still exist around the robot within the preset time after the way-giving prompt signal is sent out is determined, determining an obstacle-avoiding direction according to the direction of the obstacles; and controlling the robot to move towards the obstacle avoidance direction.
Optionally, if it is determined that there is an obstacle around the robot, controlling the robot to issue a way-giving prompt signal to prompt a surrounding object to give way includes: if the obstacle around the robot is determined, controlling the robot to stop at the current position; controlling the robot to send a way giving prompt signal to prompt surrounding objects to give way; and acquiring the distance detected by each distance sensor during the period that the robot stops moving, and judging whether the obstacle still exists around the robot according to the distance detected by each distance sensor.
Optionally, after the controlling the robot issues the route guidance prompt, the method further comprises: and if it is determined that no barrier exists around the robot within the preset time after the way offering prompt signal is sent out, controlling the robot to continue to move according to the preset navigation route.
Optionally, the determining an obstacle avoidance direction according to a direction in which the obstacle is located includes: when an obstacle exists in only one direction around the robot, determining that the obstacle avoiding direction is the direction opposite to the direction of the obstacle; judging whether the robot is trapped or not according to the direction of the obstacles when the obstacles exist in at least two directions around the robot; and if the robot is determined not to be trapped, determining the direction without the obstacle within a preset distance as the obstacle avoidance direction.
Optionally, the at least one direction includes at least a front right direction, a rear right direction, a front left direction, a rear left direction, a front right direction, and a rear right direction. The judging whether the robot is trapped according to the direction in which the obstacle exists includes: judging whether the directions in which the obstacles exist include opposite directions or not; wherein, the right back and the right front are opposite directions, the left front and the right back are opposite directions, and the right front and the left back are opposite directions; if the direction in which the obstacle exists comprises the opposite direction, determining that the robot is trapped; and determining that the robot is not trapped if the direction in which the obstacle exists does not include the opposite direction.
Optionally, if it is determined that the robot is not trapped, determining that a direction in which no obstacle exists within a preset distance is the obstacle avoidance direction includes: if obstacles exist in both a positive direction and a lateral direction of the robot, determining that the direction opposite to the lateral direction is the obstacle avoidance direction; the positive direction comprises a positive front or a positive back, and the lateral direction comprises one of a left front, a left back, a right front and a right back; if obstacles exist in one positive direction and two lateral directions of the robot, determining that the direction opposite to the positive direction is the obstacle avoidance direction; and if the two lateral directions of the robot have obstacles, determining a direction opposite to one of the two lateral directions as the obstacle avoidance direction.
Optionally, after the determining whether the robot is trapped according to the direction in which the obstacle exists, the method further includes: and if the robot is determined to be trapped, controlling the robot to send out a trapped alarm signal so as to inform a manager.
Optionally, when it is determined that there is an obstacle around the robot, the method further includes: and recording the direction of the obstacle as a first obstacle direction. The control the robot toward keep away barrier direction motion, include: in the process of controlling the robot to move towards the obstacle avoidance direction, acquiring the distances detected by each distance sensor in real time or according to a preset time interval, and judging whether an obstacle exists around the robot currently according to the distances detected by each distance sensor; if the current obstacles are determined to exist around the robot, updating the obstacle avoiding direction when the direction of the current obstacle is inconsistent with the direction of the first obstacle; and controlling the robot to move towards the updated obstacle avoidance direction.
Optionally, when the direction of the current obstacle is not consistent with the direction of the first obstacle, updating the obstacle avoidance direction includes: when the direction of the current obstacle is not consistent with the direction of the first obstacle, recording the direction of the current obstacle as the direction of a second obstacle, and determining the direction which is away from the second obstacle and is away from the first obstacle as an updated obstacle avoiding direction.
Optionally, when it is determined that there are obstacles around the robot, the method further comprises: and recording the direction of the obstacle as a first obstacle direction. The control the robot toward keep away barrier direction motion, include: and when the obstacle avoidance direction is left front, right front, left rear or right rear, the corner operation is repeatedly executed. Wherein the turning operation comprises: controlling the robot to perform corner motion at a speed corresponding to the obstacle avoidance direction and at a corner angle; when the distance of the corner motion of the robot reaches a preset corner distance, obtaining the distance detected by each distance sensor, and judging whether an obstacle exists around the robot currently according to the distance detected by each distance sensor; if it is determined that no obstacle exists around the robot, stopping executing the corner operation; if the fact that obstacles exist around the robot is determined, whether the times of executing the corner turning operation reach preset times is judged; if the times of executing the corner turning operation do not reach the preset times, executing the corner turning operation again based on the current position of the robot; if the times of executing the corner operation reach the preset times, determining that the current obstacle avoidance direction is the impassable direction, and updating the obstacle avoidance direction based on the first obstacle direction; and controlling the robot to move towards the updated obstacle avoidance direction.
Optionally, the updating the obstacle avoidance direction based on the first obstacle direction includes: and determining the direction except the first obstacle direction and the current obstacle avoidance direction as an updated obstacle avoidance direction.
Optionally, the controlling the robot to move toward the obstacle avoidance direction includes: when the obstacle avoidance direction is right ahead or right behind, controlling the robot to perform linear motion towards the obstacle avoidance direction at a first speed; when the obstacle avoidance direction is the left front or the right front, controlling the robot to perform corner motion towards the obstacle avoidance direction at a second speed and a first corner angle; when the obstacle avoidance direction is left rear or right rear, controlling the robot to perform corner motion towards the obstacle avoidance direction at a third speed and a second corner angle; wherein the second speed is greater than the third speed and less than the first speed, and the first rotation angle is greater than the second rotation angle.
Optionally, the acquiring distances detected by the distance sensors and determining whether there is an obstacle around the robot according to the distances detected by the distance sensors includes: acquiring the distance detected by the at least one distance sensor; and when the distance detected by the at least one distance sensor is determined to be smaller than or equal to a preset distance threshold value, determining that obstacles exist around the robot.
Optionally, the at least one direction includes at least a front, a rear, a front left, a rear left, a front right, and a rear right, and the at least one distance sensor includes a front distance sensor, a rear distance sensor, a front left distance sensor, a front right distance sensor, a rear left distance sensor, a rear right distance sensor, and a rear right distance sensor that are sequentially disposed at the front, rear, front left, front right, rear left, and rear right of the robot; wherein each distance sensor is used for detecting the distance between the distance sensor and the object in the corresponding direction. When it is determined that the distance detected by the at least one distance sensor is less than or equal to a preset distance threshold, determining that there is an obstacle around the robot includes: for each positive direction distance sensor in the positive front distance sensor or the positive rear distance sensor, judging whether the distance detected by the positive direction distance sensor is greater than a first preset distance threshold value; if the distance detected by the positive direction distance sensor is greater than the first preset distance threshold, determining that no obstacle exists in the corresponding positive direction of the positive direction distance sensor of the robot; if the distance detected by the positive direction distance sensor is smaller than or equal to the first preset distance threshold value, determining that a barrier exists in the positive direction of the robot corresponding to the positive direction distance sensor; for each side direction distance sensor in the left front distance sensor, the right front distance sensor, the left rear distance sensor and the right rear distance sensor, judging whether the distance detected by the side direction distance sensor is greater than a second preset distance threshold value; if the distance detected by the side direction distance sensor is greater than a second preset distance threshold value, determining that no obstacle exists in the side direction corresponding to the side direction distance sensor of the robot; and if the distance detected by the side direction distance sensor is smaller than or equal to a second preset distance threshold value, determining that an obstacle exists in the side direction corresponding to the side direction distance sensor of the robot. Wherein the first preset distance threshold is greater than the second preset distance threshold.
The second aspect of the present application also provides a robot comprising at least one distance sensor for detecting a distance between the robot and an object in at least one direction, and a processor. The processor is used for controlling and executing the steps in the robot motion control method.
The third aspect of the present application further provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used for executing the steps in the robot motion control method after being called by a processor.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present application.
Fig. 2 is a flowchart of a robot motion control method according to an embodiment of the present disclosure.
Fig. 3 is a detailed flowchart of step 10 in fig. 2.
Fig. 4 is a detailed flowchart of step 20 in fig. 2.
Fig. 5 is a detailed flowchart of steps 21, 22 and 23 in fig. 4.
Fig. 6a is a schematic view of a first application scenario of a robot according to an embodiment of the present application.
Fig. 6b is a schematic view of a second application scenario of the robot provided in the embodiment of the present application.
Fig. 6c is a schematic view of a third application scenario of the robot provided in the embodiment of the present application.
Fig. 6d is a schematic diagram of a fourth application scenario of the robot according to the embodiment of the present application.
Fig. 6e is a schematic view of a fifth application scenario of the robot provided in the embodiment of the present application.
Fig. 7 is another detailed flowchart of step 23 in fig. 4.
Fig. 8a is a schematic view of a sixth application scenario of the robot provided in the embodiment of the present application.
Fig. 8b is a schematic view of a seventh application scenario of the robot according to the embodiment of the present application.
Description of the main element symbols:
100-a robot; 1-a dead ahead distance sensor; 2-a direct rear distance sensor; 3-a left front distance sensor; 4-a right front distance sensor; 5-left rear distance sensor; 6-right rear distance sensor; 8-a processor.
The following detailed description will further illustrate the present application in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present disclosure.
In the description of the present application, it is noted that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The embodiment of the application provides a robot motion control method, which is used for controlling the motion of a robot 100, wherein the robot 100 is provided with at least one distance sensor, and the at least one distance sensor is used for detecting the distance between the robot 100 and an object in at least one direction. Illustratively, as shown in fig. 1, the outer contour of the robot is square or rectangular, the at least one distance sensor includes a front distance sensor 1, a rear distance sensor 2, a front distance sensor 3, a front distance sensor 4, a rear distance sensor 5 and a rear distance sensor 6, which are sequentially disposed at the front, rear, front left, front right, rear left and rear right of the robot, and the at least one direction includes front, rear, front left, front right, rear left and rear right. Each distance sensor is configured to detect a distance between the distance sensor and an object in a corresponding direction, for example, the left front distance sensor 3, and the left front distance sensor 3 is configured to detect a distance between the left front distance sensor 3 and the object in the left front. Alternatively, the detection direction of each distance sensor may be approximately a direction in which the center of the robot points to the distance sensor, that is, an angle between the detection direction of each distance sensor and the direction in which the center of the robot points to the distance sensor is less than or equal to a preset angle (e.g., 5 degrees). Of course, in other embodiments, the number of the at least one distance sensor may also be another number, for example, 4 (i.e. including a front distance sensor, a right distance sensor, a left distance sensor, a right distance sensor, and a right distance sensor), 10 (i.e. including a front distance sensor, a left distance sensor, a right distance sensor, a left distance sensor, a right distance sensor, a front left distance sensor, a front right distance sensor, a back left distance sensor, a back right distance sensor, and a right distance sensor, that is, including two distance sensors at each corner, where the left distance sensor is located at a front end portion on the left side of the robot), and so on. Illustratively, the at least one distance sensor may be one of an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor. It should be noted that, when an object in the detection direction of a distance sensor is away from the distance sensor by a distance exceeding the maximum detection distance of the distance sensor, or there is no object in the detection direction of the distance sensor, the distance detected by the distance sensor is regarded as an infinite distance.
Referring to fig. 2, a robot motion control method provided in an embodiment of the present application includes the following steps:
And 20, if it is determined that obstacles exist around the robot 100, determining an obstacle avoidance direction according to the direction of the obstacles, and controlling the robot 100 to move in the obstacle avoidance direction. The obstacle avoidance direction is a direction in which no obstacle exists within a preset distance of the robot 100. Optionally, when the obstacle avoidance direction is right ahead or right behind, the robot 100 is controlled to perform linear motion in the obstacle avoidance direction at a first speed. And when the obstacle avoidance direction is left front or right front, controlling the robot 100 to perform corner motion towards the obstacle avoidance direction at a second speed and a first corner angle. And when the obstacle avoidance direction is left rear or right rear, controlling the robot 100 to perform corner motion towards the obstacle avoidance direction at a third speed and a second corner angle. Wherein the second speed is greater than the third speed and less than the first speed, the first corner angle is greater than the second corner angle, illustratively, the first speed is 50 cm/min, the second speed is 30 cm/min, the third speed is 25 cm/min, the first corner angle is 30 degrees, and the second corner angle is 25 degrees. It should be noted that, by setting the straight speed to be greater than the angular speed, the angle of the forward corner to be greater than the angle of the backward corner, and the speed of the forward corner to be greater than the speed of the backward corner, the stability of the movement of the robot 100 can be improved, and the situation of "car rollover" of the robot 100 can be avoided.
According to the robot motion control method provided by the application, whether obstacles exist around the robot 100 is judged in the process of controlling the robot 100 to move according to the preset navigation route, the obstacle avoidance direction is determined according to the direction of the obstacles, and the robot 100 is controlled to move towards the obstacle avoidance direction, so that the robot 100 can be ensured to avoid the obstacles in advance, the obstacle avoidance success rate of the robot 100 can be improved, and the probability that the robot 100 is trapped is reduced.
Referring to fig. 3, in the embodiment of the present application, the step 10 includes steps 11 to 12, which are as follows:
and 11, acquiring the distance detected by the at least one distance sensor. In the process of controlling the robot 100 to move according to the preset navigation route, the frequency of acquiring the detection distance of the at least one distance sensor may be in real time, or may be acquired once at preset time intervals (for example, 100 milliseconds).
And 12, when the distance detected by the at least one distance sensor is determined to be smaller than or equal to a preset distance threshold, determining that an obstacle exists around the robot 100. Further, in the embodiment of the present application, the step 12 includes:
and judging whether the distance detected by the positive direction distance sensor is greater than a first preset distance threshold value or not for each positive direction distance sensor in the positive front distance sensor 1 or the positive rear distance sensor 2. If the distance detected by the positive direction distance sensor is greater than the first preset distance threshold, it is determined that no obstacle exists in the positive direction corresponding to the positive direction distance sensor of the robot 100. If the distance detected by the positive direction distance sensor is less than or equal to the first preset distance threshold, it is determined that an obstacle exists in the positive direction corresponding to the positive direction distance sensor of the robot 100. Illustratively, taking the first preset distance threshold as 30 cm and the front distance sensor 1 as an example, if the distance detected by the front distance sensor 1 is less than or equal to 30 cm (e.g. 25 cm), it is determined that there is an obstacle in front of the robot.
And judging whether the distance detected by the side direction distance sensor is greater than a second preset distance threshold or not for each side direction distance sensor in the left front distance sensor 3, the right front distance sensor 4, the left rear distance sensor 5 and the right rear distance sensor 6. If the distance detected by the side direction distance sensor is greater than a second preset distance threshold, it is determined that there is no obstacle in the side direction corresponding to the side direction distance sensor of the robot 100. If the distance detected by the side direction distance sensor is less than or equal to a second preset distance threshold, it is determined that an obstacle exists in the side direction corresponding to the side direction distance sensor of the robot 100. The first preset distance threshold is greater than the second preset distance threshold, so that a sufficient corner space can be reserved for the robot 100, and the robot 100 is ensured not to collide with an obstacle when a corner is avoided. The first preset distance threshold and the second preset distance threshold may be set according to the size of the robot 100, for example, if the second preset distance threshold is 20 cm, and the left front distance sensor 3 is taken as an example, if the distance detected by the left front distance sensor 3 is less than or equal to 20 cm (for example, 17 cm), it is determined that there is an obstacle in the left front of the robot.
Further, referring to fig. 4, in the embodiment of the present application, the step 20 includes steps 21 to 23, which are specifically as follows:
and step 21, if it is determined that obstacles exist around the robot 100, controlling the robot 100 to send a way-giving prompt signal to prompt the surrounding objects to give way. For example, a voice prompt of "block the cheer and ask a waiter" can be sent to remind surrounding objects or human bodies to give way.
And step 23, controlling the robot 100 to move towards the obstacle avoidance direction.
Further, referring to fig. 5, in an embodiment, the at least one direction includes at least a front direction, a rear direction, a front left direction, a rear left direction, a front right direction, and a rear right direction. In performing step 10, the method further comprises: the direction of the obstacle is recorded as the first obstacle direction, optionally, only the latest obstacle information detected for a plurality of consecutive times (for example, 3 times) may be saved, or only the obstacle information detected within a preset time (for example, within 5 minutes from the current time) may be saved, and other obstacle information may be deleted. The step 21 includes steps 211 to 214, the step 22 includes steps 221 to 224, and the step 23 includes steps 231 to 234, which are as follows:
in step 211, if it is determined that there is an obstacle around the robot 100, the robot 100 is controlled to stop at the current position. Therefore, the robot 100 can be prevented from continuously approaching to the obstacle, so that a larger obstacle avoidance space can be reserved, and the obstacle avoidance success rate can be improved.
And step 214, controlling the robot 100 to continue to move according to the preset navigation route. After the preset time length of the way-giving prompt signal is sent out, if no obstacle exists around the robot 100, the obstacle can be determined to be a temporary obstacle, and obstacle avoidance is not needed, so that the calculation amount of the robot 100 can be reduced, and system resources can be saved.
in step 2221, it is determined whether the direction in which the obstacle exists includes the opposite direction.
In step 2222, if the direction in which the obstacle exists includes the opposite direction, it is determined that the robot 100 is trapped. It is understood that if the direction in which an obstacle exists includes the opposite direction, the robot 100 cannot circumvent the obstacle around it by adjusting the pose. For example, when there is an obstacle in both the front and rear of the robot 100, or there is an obstacle in both the front and rear of the left, or there is an obstacle in both the front and rear of the right, it is considered that the robot 100 is enclosed and cannot escape.
In step 2223, if the direction in which the obstacle exists does not include the opposite direction, it is determined that the robot 100 is not trapped.
And 224, determining the direction without the obstacle in a preset distance as the obstacle avoidance direction. In this embodiment, the step 224 includes steps 2241 to 2243, which are as follows:
step 2241, if both a positive direction and a lateral direction of the robot 100 have an obstacle, determining a direction opposite to the lateral direction as the obstacle avoidance direction. Wherein, the positive direction includes dead ahead or dead behind, the side direction includes one in left front, left rear, right front, the right back. As shown in fig. 6a, when there are obstacles in front of the robot 100 and in front of the right, and there are no obstacles in front of the right, front of the left, rear of the left, and rear of the right, the obstacle avoidance direction is the rear of the left. As shown in fig. 6b, when there are obstacles in front of and behind the robot 100, and there are no obstacles in front of and behind the robot, left front of and behind the robot, right rear of the robot, and right front of the robot, the obstacle avoidance direction is right front.
Step 2242, if there are obstacles in both the positive direction and the two lateral directions of the robot 100, determining that the direction opposite to the positive direction is the obstacle avoidance direction. As shown in fig. 6c, when there are obstacles in front of the robot 100, in front of the left, and in front of the right, and there are no obstacles in front of the rear, in rear of the left, and in rear of the right, the obstacle avoidance direction is in the rear.
Step 2243, if there is an obstacle in both lateral directions of the robot 100, determining a direction opposite to one of the lateral directions as the obstacle avoidance direction. As shown in fig. 6d, when there are obstacles in the front left and the rear left of the robot 100 and there are no obstacles in the front right, the rear right, the front right, and the rear right, the obstacle avoidance direction is one of the front right and the rear right.
And 232, updating the obstacle avoidance direction when the direction of the current obstacle is inconsistent with the direction of the first obstacle. Specifically, in this embodiment, when the direction of the current obstacle is not the same as the direction of the first obstacle, the direction of the current obstacle is recorded as a second obstacle direction, and a direction other than the first obstacle direction and away from the second obstacle direction is determined as the updated obstacle avoidance direction. In an embodiment of the present application, the method further includes: when the direction of the current obstacle is consistent with the direction of the first obstacle, the robot 100 is continuously controlled to move towards the obstacle avoidance direction.
And 233, controlling the robot 100 to move towards the updated obstacle avoidance direction. It should be noted that, during the process that the robot 100 moves in the obstacle avoidance direction, a new obstacle may be encountered, and the robot 100 may not detect the new obstacle and the original obstacle at the same time, for example, as shown in fig. 6e, when the first obstacle direction of the robot 100 is the front, that is, the obstacle avoidance direction before updating is the rear, during the process that the robot 100 moves in the rear, it may be determined that the first obstacle does not exist in the front and the second obstacle exists in the rear, at this time, if the front is determined as the updated obstacle avoidance direction again, a problem that the robot 100 moves back and forth between the first obstacle and the second obstacle occurs, and thus, the robot 100 cannot get out of the trouble and continuously consumes electric energy. At this time, the direction (for example, the right front) other than the front and far from the front is determined as the updated obstacle avoidance direction, so that the robot 100 can successfully get rid of the obstacle, and the success rate of obstacle avoidance can be further improved.
And 234, replanning a navigation route according to the target position in the preset navigation route, and controlling the robot 100 to move according to the new navigation route. It can be understood that when the robot 100 avoids the obstacle, the robot cannot travel along the preset navigation route, and therefore, the navigation route needs to be re-planned according to the target position in the preset navigation route.
Optionally, in an embodiment, the step 23 includes: and when the obstacle avoidance direction is left front, right front, left rear or right rear, the corner operation is repeatedly executed. Specifically, referring to fig. 7 to 8b, the turning operation includes the following steps:
And 2302, when the distance of the corner movement of the robot 100 reaches a preset corner distance, acquiring the distance detected by each distance sensor, and judging whether an obstacle exists around the robot 100 according to the distance detected by each distance sensor. If it is determined that there are no obstacles around the robot 100, step 2303 is performed. If it is determined that there is an obstacle around the robot 100, step 2304 is performed.
In an application scenario, as shown in fig. 8a, if there are obstacles in front of and behind the robot 100 and there are no obstacles in front of and behind the robot 100, and there are no obstacles in front of and behind the robot, the front of the left is determined to be an obstacle avoidance direction, so that the robot 100 is controlled to perform corner turning motion towards the front of the left, and when the robot 100 completes a first corner turning operation, reaches a position B, at this time, the front-right distance sensor 4 of the robot 100 detects that there is an obstacle in front of the right of the robot 100, so as to perform a second corner turning operation, reaches a position C, at this time, there are no obstacles around the robot 100, so that step 2303 is performed.
In another application scenario, as shown in fig. 8B, if there are obstacles in front of and behind the robot 100, and there are no obstacles in front of and behind, left front, right front, and left rear, the front left is determined as an obstacle avoidance direction, so as to control the robot 100 to perform a turning motion to the front left, when the robot 100 reaches the B position, the front distance sensor 1 of the robot 100 detects that there are obstacles in front of the robot 100, so as to perform a second turning operation, and reaches the C position, at this time, the front distance sensor 1 and the front distance sensor 4 of the robot 100 detect that there are obstacles in front of and in front right of the robot 100, and reach the D position, at this time, the front distance sensor 1 and the front distance sensor 4 of the robot 100 still detect that there are obstacles in front of and in front right of the robot 100, and the number of times of turning operations performed by the robot 100 reaches 3 times. Therefore, the left front direction can be determined to be the impassable direction, the left rear direction is determined to be the updated obstacle avoidance direction, and the robot is controlled to move towards the left rear direction to avoid the obstacle.
It can be understood that, in some special application scenarios, when the robot 100 performs the corner obstacle avoidance, the obstacle may not be avoided by one corner operation, and therefore, the success rate of obstacle avoidance may be improved by controlling the robot 100 to perform the corner operation repeatedly. In addition, when the number of turning angles in one direction reaches a preset number (for example, 3), the obstacle avoidance direction is updated, so that the success rate of obstacle avoidance can be further improved.
Based on the same inventive concept, please refer to fig. 1 again, the embodiment of the present application further provides a robot 100, where the robot 100 includes at least one distance sensor for detecting a distance between the robot 100 and an object in at least one direction, and a processor 8. Illustratively, the at least one distance sensor includes a front distance sensor 1, a rear distance sensor 2, a front distance sensor 3, a front distance sensor 4, a rear distance sensor 5, and a rear distance sensor 6, which are sequentially disposed right in front, right behind, left front, right front, left rear, and right rear of the robot. Each distance sensor is configured to detect a distance between the distance sensor and an object in a corresponding direction, and taking the left front distance sensor 3 as an example, the left front distance sensor 3 is configured to detect a distance between the distance sensor and the object in the left front. The processor 8 is electrically connected with each distance sensor, and the processor 8 is used for controlling and executing the steps in the robot motion control method in any one of the above embodiments.
For example, the processor 8 is configured to control the following steps to be performed:
And 20, if it is determined that obstacles exist around the robot 100, determining an obstacle avoidance direction according to the direction of the obstacles, and controlling the robot 100 to move towards the obstacle avoidance direction. The obstacle avoidance direction is a direction in which no obstacle exists within a preset distance of the robot 100.
Based on the same inventive concept, embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the storage medium, and the computer program is used for a processor to call and then execute the steps in the robot motion control method in any of the above embodiments.
For example, the computer program is configured to be invoked by a processor to perform the following steps:
And 20, if it is determined that obstacles exist around the robot 100, determining an obstacle avoidance direction according to the direction of the obstacles, and controlling the robot 100 to move towards the obstacle avoidance direction. The obstacle avoidance direction is a direction in which no obstacle exists within a preset distance of the robot 100.
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 can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (17)
1. A robot movement control method for controlling the movement of a robot, characterized in that the robot is provided with at least one distance sensor for detecting the distance between the robot and an object in at least one direction; the robot motion control method includes:
in the process of controlling the robot to move according to a preset navigation route, the distances detected by the distance sensors are acquired, and whether obstacles exist around the robot or not is judged according to the distances detected by the distance sensors; and
if the obstacle is determined to be around the robot, determining an obstacle avoiding direction according to the direction of the obstacle, and controlling the robot to move towards the obstacle avoiding direction; and the obstacle avoidance direction is the direction in which no obstacle exists within the preset distance of the robot.
2. The robot motion control method of claim 1, wherein if it is determined that there is an obstacle around the robot, determining an obstacle avoidance direction according to a direction in which the obstacle is located, and controlling the robot to move in the obstacle avoidance direction comprises:
if the situation that obstacles exist around the robot is determined, controlling the robot to send a way giving prompt signal to prompt the surrounding objects to give way;
if the situation that obstacles still exist around the robot within the preset time after the way-giving prompt signal is sent out is determined, determining an obstacle-avoiding direction according to the direction of the obstacles; and
and controlling the robot to move towards the obstacle avoidance direction.
3. The robot motion control method according to claim 2, wherein if it is determined that there is an obstacle around the robot, controlling the robot to issue a concession prompting signal to prompt a surrounding object to conceive of concession includes:
if the fact that obstacles exist around the robot is determined, controlling the robot to stop at the current position;
controlling the robot to send a way giving prompt signal to prompt surrounding objects to give way; and
and acquiring the distance detected by each distance sensor during the period that the robot stops moving, and judging whether the obstacle still exists around the robot or not according to the distance detected by each distance sensor.
4. The robot motion control method of claim 2, wherein after the controlling the robot issues a let-way prompt signal, the method further comprises:
and if it is determined that no barrier exists around the robot within the preset time after the way offering prompt signal is sent out, controlling the robot to continue to move according to the preset navigation route.
5. The robot motion control method of claim 2, wherein determining the obstacle avoidance direction according to the direction of the obstacle comprises:
when an obstacle exists in only one direction around the robot, determining that the obstacle avoiding direction is the direction opposite to the direction of the obstacle;
judging whether the robot is trapped according to the direction of the obstacles when the obstacles exist in at least two directions around the robot; and
and if the robot is determined not to be trapped, determining the direction without the obstacle within a preset distance as the obstacle avoidance direction.
6. The robot motion control method of claim 5, wherein the at least one direction includes at least a right front, a right rear, a left front, a left rear, a right front, and a right rear;
the judging whether the robot is trapped according to the direction in which the obstacle exists includes:
judging whether the directions in which the obstacles exist include opposite directions or not; wherein, the right back and the right front are opposite directions, the left front and the right back are opposite directions, and the right front and the left back are opposite directions;
if the direction of the obstacle comprises the opposite direction, determining that the robot is trapped; and
if the direction in which the obstacle exists does not include the opposite direction, it is determined that the robot is not trapped.
7. The robot motion control method according to claim 6, wherein the determining that there is no obstacle within a preset distance is the obstacle avoidance direction if it is determined that the robot is not trapped comprises:
if obstacles exist in both a positive direction and a lateral direction of the robot, determining that the direction opposite to the lateral direction is the obstacle avoidance direction; wherein the positive direction comprises a positive front or a positive rear, and the lateral direction comprises one of a left front, a left rear, a right front, and a right rear;
if obstacles exist in one positive direction and two lateral directions of the robot, determining that the direction opposite to the positive direction is the obstacle avoidance direction; and
and if the two lateral directions of the robot have obstacles, determining that the direction opposite to one of the two lateral directions is the obstacle avoidance direction.
8. The robot motion control method according to claim 6, wherein after the judging whether the robot is trapped according to the direction in which the obstacle exists, the method further comprises:
and if the robot is determined to be trapped, controlling the robot to send out a trapped alarm signal so as to inform a manager.
9. The robot motion control method of claim 2, wherein when the determination is that there are obstacles around the robot, the method further comprises:
recording the direction of the obstacle as a first obstacle direction;
the control the robot toward keep away barrier direction motion, include:
in the process of controlling the robot to move towards the obstacle avoidance direction, acquiring the distances detected by each distance sensor in real time or according to a preset time interval, and judging whether an obstacle exists around the robot currently according to the distances detected by each distance sensor;
if the current obstacles are determined to exist around the robot, updating the obstacle avoiding direction when the direction of the current obstacle is inconsistent with the direction of the first obstacle; and
and controlling the robot to move towards the updated obstacle avoidance direction.
10. The robot motion control method of claim 9, wherein the updating of the obstacle avoidance direction when the direction of the current obstacle is not the same as the first obstacle direction comprises:
when the direction of the current obstacle is inconsistent with the direction of the first obstacle, the direction of the current obstacle is recorded as a second obstacle direction, and the direction which is away from the second obstacle direction and is beyond the first obstacle direction is determined as an updated obstacle avoiding direction.
11. The robot motion control method of claim 6, wherein when the determination is that there are obstacles around the robot, the method further comprises:
recording the direction of the obstacle as a first obstacle direction;
the control the robot toward keep away barrier direction motion includes:
when the obstacle avoidance direction is left front, right front, left rear or right rear, the corner turning operation is repeatedly executed;
wherein the turning operation includes:
controlling the robot to perform corner motion at a speed corresponding to the obstacle avoidance direction and at a corner angle;
when the distance of the corner motion of the robot reaches a preset corner distance, obtaining the distance detected by each distance sensor, and judging whether an obstacle exists around the robot currently according to the distance detected by each distance sensor;
if it is determined that no obstacle exists around the robot, stopping executing the corner operation;
if the fact that obstacles exist around the robot is determined, whether the times of executing the corner turning operation reach preset times is judged;
if the times of executing the corner turning operation do not reach the preset times, executing the corner turning operation again based on the current position of the robot;
if the times of executing the corner operation reach the preset times, determining that the current obstacle avoidance direction is the impassable direction, and updating the obstacle avoidance direction based on the first obstacle direction; and
and controlling the robot to move towards the updated obstacle avoidance direction.
12. The robot motion control method of claim 11, wherein the updating the obstacle avoidance direction based on the first obstacle direction comprises:
and determining the direction except the first obstacle direction and the current obstacle avoidance direction as an updated obstacle avoidance direction.
13. The robot motion control method of claim 11, wherein the controlling the robot to move in the obstacle avoidance direction comprises:
when the obstacle avoidance direction is right ahead or right behind, controlling the robot to perform linear motion towards the obstacle avoidance direction at a first speed;
when the obstacle avoidance direction is the left front or the right front, controlling the robot to perform corner motion towards the obstacle avoidance direction at a second speed and a first corner angle; and
when the obstacle avoidance direction is left rear or right rear, controlling the robot to perform corner motion towards the obstacle avoidance direction at a third speed and a second corner angle; wherein the second speed is greater than the third speed and less than the first speed, and the first rotation angle is greater than the second rotation angle.
14. The robot motion control method according to claim 1, wherein the acquiring of the distances detected by the respective distance sensors and the determining of whether there is an obstacle around the robot based on the distances detected by the respective distance sensors comprises:
acquiring the distance detected by the at least one distance sensor; and
and when the distance detected by the at least one distance sensor is determined to be smaller than or equal to a preset distance threshold value, determining that obstacles exist around the robot.
15. The robot motion control method of claim 14, wherein the at least one direction includes at least a front, a rear, a front left, a rear left, a front right, and a rear right, and the at least one distance sensor includes a front distance sensor, a rear distance sensor, a front left distance sensor, a front right distance sensor, a rear left distance sensor, and a rear right distance sensor, which are sequentially disposed at the front, rear, front left, front right, rear left, and rear right of the robot; each distance sensor is used for detecting the distance between the distance sensor and the object in the corresponding direction;
when it is determined that the distance detected by the at least one distance sensor is less than or equal to a preset distance threshold, determining that there is an obstacle around the robot includes:
for each positive direction distance sensor in the positive front distance sensor or the positive rear distance sensor, judging whether the distance detected by the positive direction distance sensor is greater than a first preset distance threshold value;
if the distance detected by the positive direction distance sensor is greater than the first preset distance threshold, determining that no obstacle exists in the corresponding positive direction of the positive direction distance sensor of the robot;
if the distance detected by the positive direction distance sensor is smaller than or equal to the first preset distance threshold, determining that an obstacle exists in the positive direction of the robot corresponding to the positive direction distance sensor;
for each side direction distance sensor in the left front distance sensor, the right front distance sensor, the left rear distance sensor and the right rear distance sensor, judging whether the distance detected by the side direction distance sensor is greater than a second preset distance threshold value;
if the distance detected by the side direction distance sensor is greater than a second preset distance threshold value, determining that no obstacle exists in the side direction corresponding to the side direction distance sensor of the robot; and
if the distance detected by the side direction distance sensor is smaller than or equal to a second preset distance threshold value, determining that an obstacle exists in the side direction corresponding to the side direction distance sensor of the robot; wherein the first preset distance threshold is greater than the second preset distance threshold.
16. A robot, comprising:
at least one distance sensor for detecting a distance between the robot and an object in at least one direction; and
a processor for controlling the execution of the steps in the robot motion control method according to any of claims 1-15.
17. A computer-readable storage medium, in which a computer program is stored, which, when being invoked by a processor, is adapted to carry out the steps of the method for controlling the movement of a robot according to any one of claims 1-15.
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