CN115877852B - 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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- CN115877852B CN115877852B CN202310148694.2A CN202310148694A CN115877852B CN 115877852 B CN115877852 B CN 115877852B CN 202310148694 A CN202310148694 A CN 202310148694A CN 115877852 B CN115877852 B CN 115877852B
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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 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 a preset navigation route, acquiring the distance detected by each distance sensor, and judging whether an obstacle exists around the robot according to the distance detected by each distance sensor; and if the obstacle is determined to exist around the robot, determining an obstacle avoidance direction according to the direction in which the obstacle is located, and controlling the robot to move towards the obstacle avoidance direction. The obstacle avoidance direction is the direction in which no obstacle exists in the preset distance of the robot. According to the method, 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 movement due to the fact that the map is not standard, the environment of the built map changes, or an object deliberately blocks the moving line of the robot can occur. Under the special condition, the existing robot is easy to get stuck in the corner and cannot get out of the body due to single obstacle avoidance scheme and uncoordinated cooperation between the sensor and the control end.
Disclosure of Invention
In view of this, the main objective of the present application is to provide a robot motion control method, a robot and a computer readable storage medium, which aims to solve the technical problem that the existing robot is easy to get stuck in a corner and cannot get out of the body due to single obstacle avoidance scheme and 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 comprises the following steps: in the process of controlling the robot to move according to a preset navigation route, acquiring the distance detected by each distance sensor, and judging whether an obstacle exists around the robot according to the distance detected by each distance sensor; and if the obstacle is determined to exist around the robot, determining an obstacle avoidance direction according to the direction in which the obstacle is located, and controlling the robot to move in the obstacle avoidance direction. The obstacle avoidance direction is the direction without an obstacle within the preset distance of the robot.
According to the robot motion control method, in the process of controlling the robot to move according to the preset navigation route, whether the obstacle exists around the robot is judged, the obstacle avoidance direction is determined according to the direction of the obstacle, and the robot is controlled to move towards the obstacle avoidance direction, so that the robot can be ensured to avoid the obstacle in advance, the obstacle avoidance success rate of the robot can be improved, and the probability of trapping the robot is reduced.
Optionally, 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, including: if it is determined that the surrounding of the robot has an obstacle, controlling the robot to send out a road giving prompt signal so as to prompt surrounding objects to give way; if it is determined that the obstacle still exists around the robot within the preset time after the road giving prompt signal is sent, determining an obstacle avoidance direction according to the direction in which the obstacle exists; 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 send a yielding prompt signal to prompt surrounding objects to yield, including: if it is determined that the periphery of the robot has an obstacle, controlling the robot to stop at the current position; controlling the robot to send out a road giving prompt signal so as 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 an obstacle still exists around the robot according to the distance detected by each distance sensor.
Optionally, after the controlling the robot sends out the yielding prompt signal, the method further includes: and if no obstacle exists around the robot within the preset time after the giving-out prompt signal is sent out, controlling the robot to continue to move according to the preset navigation route.
Optionally, the determining the obstacle avoidance direction according to the direction in which the obstacle is located includes: when only one direction around the robot has an obstacle, determining the obstacle avoidance direction to be the direction opposite to the direction in which the obstacle is located; judging whether the robot is trapped according to the direction in which the obstacle exists when the obstacle exists in at least two directions around the robot; and if the robot is not 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, a rear right, a front left, a rear left, a front right, and a rear right. The judging whether the robot is trapped according to the direction of the obstacle comprises the following steps: judging whether the direction in which the obstacle exists includes the opposite direction; wherein the right rear and the right front are in opposite directions, the left front and the right rear are in opposite directions, and the right front and the left rear are in opposite directions; if the direction in which the obstacle exists comprises the opposite direction, determining that the robot is trapped; and if the opposite direction is not included in the directions in which the obstacle exists, determining that the robot is not trapped.
Optionally, if it is determined that the robot is not trapped, determining a direction without an obstacle within a preset distance as the obstacle avoidance direction includes: if an obstacle exists in one positive direction and one lateral direction of the robot, determining the direction opposite to the lateral direction as the obstacle avoidance direction; wherein the positive direction includes a positive front or a positive rear, and the lateral direction includes one of a left front, a left rear, a right front, and a right rear; if an obstacle exists in one positive direction and two lateral directions of the robot, determining the direction opposite to the positive direction as the obstacle avoidance direction; and if an obstacle exists in both side directions of the robot, determining a direction opposite to one of the two side 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, in the determining that there is an obstacle around the robot, the method further comprises: and recording the direction of the obstacle as a first obstacle direction. The controlling the robot to move towards the obstacle avoidance direction comprises the following steps: in the process of controlling the robot to move towards the obstacle avoidance direction, acquiring the distance 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 distance detected by each distance sensor; if it is determined that the current obstacle exists around the robot, updating the obstacle avoidance 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 inconsistent with the direction of the first obstacle, updating the obstacle avoidance direction includes: when the direction of the current obstacle is inconsistent with the direction of the first obstacle, recording the direction of the current obstacle as a second obstacle direction, and determining the direction which is beyond the first obstacle direction and is far away from the second obstacle direction as an updated obstacle avoidance direction.
Optionally, in the determining that there is an obstacle around the robot, the method further comprises: and recording the direction of the obstacle as a first obstacle direction. The controlling the robot to move towards the obstacle avoidance direction comprises the following steps: and repeating the corner operation when the obstacle avoidance direction is left front, right front, left rear or right rear. Wherein the turning operation includes: controlling the robot to perform corner motion at a speed corresponding to the obstacle avoidance direction and a corner angle; when the distance of the robot corner movement reaches a preset corner distance, acquiring 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; stopping executing the corner operation if it is determined that no obstacle exists around the robot; if it is determined that the surrounding of the robot is currently provided with obstacles, judging whether the number of times of executing the corner operation reaches a preset number of times or not; if the number of times of executing the corner operation does not reach the preset number of times, executing the corner operation again based on the current position of the robot; if the number of times of executing the corner operation reaches the preset number of times, determining that the current obstacle avoidance direction is an unvented 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, 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 towards 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 left front or right front, controlling the robot to perform corner movement 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 movement 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 angle of rotation is greater than the second angle of rotation.
Optionally, the acquiring the distance detected by each distance sensor, and determining whether there is an obstacle around the robot according to the distance detected by each distance sensor includes: acquiring the distance detected by the at least one distance sensor; and determining that an obstacle exists around the robot when the distance detected by the at least one distance sensor is determined to be less than or equal to a preset distance threshold.
Optionally, the at least one direction at least includes a front, a left rear, a right front, and a right rear, and the at least one distance sensor includes a front distance sensor, a left front Fang Juli sensor, a right front distance sensor, a left rear Fang Juli sensor, and a right rear Fang Juli sensor sequentially disposed at the front, the front rear, the left front, the right front, the left rear, and the right rear of the robot; wherein each distance sensor is adapted to detect a distance between it and an object in a respective direction. And when the distance detected by the at least one distance sensor is less than or equal to a preset distance threshold, determining that the robot is surrounded by an obstacle comprises the following steps: judging whether the distance detected by the forward direction distance sensor is greater than a first preset distance threshold for each forward direction distance sensor in the forward direction distance sensor or the forward and backward Fang Juli sensors; if the distance detected by the forward direction distance sensor is greater than the first preset distance threshold, determining that no obstacle exists in the forward direction corresponding to the forward 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 an obstacle exists in the positive direction corresponding to the positive direction distance sensor of the robot; judging whether the distance detected by each lateral direction distance sensor is larger than a second preset distance threshold value for each lateral direction distance sensor in the left front Fang Juli sensor, the right front distance sensor, the left rear Fang Juli sensor and the right rear Fang Juli sensor; if the distance detected by the lateral direction distance sensor is greater than a second preset distance threshold, determining that no obstacle exists in the lateral direction corresponding to the lateral direction distance sensor of the robot; and if the distance detected by the lateral direction distance sensor is smaller than or equal to a second preset distance threshold value, determining that an obstacle exists in the lateral direction corresponding to the lateral direction distance sensor of the robot. Wherein the first preset distance threshold is greater than the second preset distance threshold.
A 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.
A third aspect of the present application also provides a computer readable storage medium having stored therein a computer program for executing the steps of the robot motion control method described above after being called by a processor.
Additional aspects and advantages of the 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 application.
Drawings
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present application.
Fig. 2 is a flowchart of a robot motion control method provided in an embodiment of the present application.
Fig. 3 is a detailed flow chart of step 10 in fig. 2.
Fig. 4 is a detailed flow chart of step 20 in fig. 2.
Fig. 5 is a detailed flow chart of step 21, step 22 and step 23 of fig. 4.
Fig. 6a is a schematic diagram of a first application scenario of a robot according to an embodiment of the present application.
Fig. 6b is a schematic diagram of a second application scenario of the robot according to the embodiment of the present application.
Fig. 6c is a schematic diagram of a third application scenario of a robot according to an embodiment of the present application.
Fig. 6d is a schematic diagram of a fourth application scenario of a robot according to an embodiment of the present application.
Fig. 6e is a schematic diagram of a fifth application scenario of a robot according to an embodiment of the present application.
Fig. 7 is another refinement of step 23 of fig. 4.
Fig. 8a is a schematic view of a sixth application scenario of a robot according to an embodiment of the present application.
Fig. 8b is a schematic view of a seventh application scenario of a robot according to an embodiment of the present application.
Description of main reference numerals:
100-robot; 1-a straight ahead distance sensor; 2-front-rear Fang Juli sensor; 3-front left Fang Juli sensor; 4-a front right distance sensor; 5-rear left Fang Juli sensor; 6-a rear right distance sensor; 8-processor.
The following detailed description will further illustrate the application in conjunction with the above-described figures.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without undue burden, are within the scope of the present application.
In the description of the present application, it should be 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 a robot 100 to move, 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 appearance outline of the robot is square or rectangular, the at least one distance sensor includes a front-side distance sensor 1, a front-side distance sensor 2, a front-side Fang Juli sensor 3, a front-side distance sensor 4, a rear-side Fang Juli sensor 5, and a rear-side distance sensor 6, which are sequentially disposed at the front-side, the rear-side, the front-side, the rear-side, and the rear-side of the robot, and the at least one direction includes the front-side, the rear-side, and the rear-side. Wherein each distance sensor is configured to detect a distance between the sensor and an object in a corresponding direction, for example, the front left Fang Juli sensor 3, and the front left Fang Juli sensor 3 is configured to detect a distance between the front left Fang Juli sensor 3 and an object in front left. Alternatively, the detection direction of each distance sensor may be approximately the direction in which the center of the robot points to the distance sensor, that is, the 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 (for example, 5 degrees). Of course, in other embodiments, the number of the at least one distance sensor may be other numbers, for example, 4 (i.e., including a front distance sensor, a front left Fang Juli sensor, a front right distance sensor, a front rear Fang Juli sensor), 10 (i.e., including a front distance sensor, a front left Fang Juli sensor, a front right distance sensor, a rear left Fang Juli sensor, a rear right distance sensor, a front left Fang Juli sensor, a front right distance sensor, a rear left Fang Juli sensor, a rear right distance sensor, a front rear Fang Juli sensor, that is, two distance sensors are included at each corner, wherein the front left Fang Juli sensor is located at a front end portion of the left of the robot), and so forth. Illustratively, the at least one distance sensor may be one of an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor. When the distance from an object to the distance sensor in the detection direction of the distance sensor exceeds the maximum detection distance of the distance sensor, or when there is no object in the detection direction of the distance sensor, the distance detected by the distance sensor may be regarded as an infinite distance.
Referring to fig. 2, the method for controlling the motion of the robot provided in the embodiment of the application includes the following steps:
According to the robot motion control method, in the process of controlling the robot 100 to move according to the preset navigation route, whether the periphery of the robot 100 is provided with the obstacle is judged, the obstacle avoidance direction is determined according to the direction in which the obstacle is located, and the robot 100 is controlled to move towards the obstacle avoidance direction, so that the robot 100 can be ensured to avoid the obstacle in advance, the obstacle avoidance success rate of the robot 100 can be improved, and the probability of the robot 100 being trapped is reduced.
Referring to fig. 3, in the embodiment of the present application, the step 10 includes steps 11 to 12, which are specifically as follows:
and 11, acquiring the distance detected by the at least one distance sensor. The frequency of acquiring the detection distance of the at least one distance sensor may be real-time or may be acquired at intervals of a preset time (for example, 100 ms) during the process of controlling the robot 100 to move according to the preset navigation route.
For each of the forward direction distance sensors 1 or the backward direction distance sensors 2, it is determined whether or not the distance detected by the forward direction distance sensor is greater than a first preset distance threshold. If the distance detected by the forward direction distance sensor is greater than the first preset distance threshold, it is determined that the forward direction corresponding to the forward direction distance sensor of the robot 100 is free of an obstacle. If the distance detected by the forward direction distance sensor is less than or equal to the first preset distance threshold, it is determined that an obstacle exists in the forward direction corresponding to the forward direction distance sensor of the robot 100. Illustratively, taking the first preset distance threshold value as 30 cm, the front distance sensor 1 is taken as an example, and if the distance detected by the front distance sensor 1 is less than or equal to 30 cm (for example, 25 cm), it is determined that there is an obstacle right in front of the robot.
For each of the front left Fang Juli sensor 3, front right distance sensor 4, rear left Fang Juli sensor 5, rear right Fang Juli sensor 6, it is determined whether the distance detected by the side direction distance sensor is greater than a second preset distance threshold. If the distance detected by the lateral direction distance sensor is greater than a second preset distance threshold, it is determined that there is no obstacle in the lateral direction corresponding to the lateral direction distance sensor of the robot 100. If the distance detected by the lateral direction distance sensor is less than or equal to a second preset distance threshold, it is determined that an obstacle exists in the lateral direction corresponding to the lateral direction distance sensor of the robot 100. The first preset distance threshold is greater than the second preset distance threshold, so that enough corner space can be reserved for the robot 100, and the robot 100 is ensured not to collide with an obstacle when the robot is in corner obstacle avoidance. The first preset distance threshold and the second preset distance threshold may be set according to the size of the robot 100, for example, the second preset distance threshold is 20 cm, and the front left Fang Juli sensor 3 is exemplified, and if the distance detected by the front left distance sensor 3 is less than or equal to 20 cm (for example, 17 cm), it is determined that there is an obstacle in front left 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:
Further, referring to fig. 5, in one embodiment, 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. In performing step 10, the method further comprises: the direction in which the obstacle is located is recorded as the first obstacle direction, alternatively, it may be set that only the latest obstacle information detected several times (for example, 3 times) consecutively is stored, or only the obstacle information detected within a preset time (for example, within 5 minutes from the current time) is stored, and other obstacle information is deleted, so that system resources can be saved. Step 21 includes step 211 to step 214, step 22 includes step 221 to step 224, and step 23 includes step 231 to step 234, which are specifically as follows:
step 2221 determines whether the opposite direction is included in the directions in which the obstacle exists.
Step 2222, if the direction in which the obstacle exists includes the opposite direction, determines that the robot 100 is trapped. It will be appreciated that if the direction in which an obstacle is present includes the opposite direction, the robot 100 cannot bypass the obstacle therearound by adjusting the pose. For example, when there is an obstacle in both the front and the rear of the robot 100, or when there is an obstacle in both the front left and the rear right, or when there is an obstacle in both the front right and the rear left, it is considered that the robot 100 is surrounded and cannot escape.
Step 2223, if the opposite direction is not included in the directions in which the obstacle exists, determines that the robot 100 is not trapped.
In step 2241, if there is an obstacle in both the forward direction and the side direction of the robot 100, the direction opposite to the side direction is determined as the obstacle avoidance direction. Wherein the positive direction includes a front or a rear, and the lateral direction includes one of a front left, a rear left, a front right, and a rear right. As shown in fig. 6a, when there is an obstacle in the right front and the front right of the robot 100, and there is no obstacle in the right rear, the front left, the rear left, and the rear right, the obstacle avoidance direction is the rear left. As shown in fig. 6b, when there is an obstacle in the right front and the left rear of the robot 100, and there is no obstacle in the right rear, the left front, the right rear, and the right front, the obstacle avoidance direction is the right front.
In step 2242, if there are obstacles in one positive direction and both lateral directions of the robot 100, a direction opposite to the positive direction is determined as the obstacle avoidance direction. As shown in fig. 6c, when there is an obstacle in the front, the left front, and the right front of the robot 100, and there is no obstacle in the front, the left rear, and the right rear, the obstacle avoidance direction is the front rear.
In step 2243, if there are obstacles in both side directions of the robot 100, a direction opposite to one of the two side directions is determined as the obstacle avoidance direction. As shown in fig. 6d, when there is an obstacle in the front left and the rear left of the robot 100, and there is no obstacle 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.
In step 231, in the process of controlling the robot 100 to move in the obstacle avoidance direction, the distances detected by the distance sensors are acquired, and whether an obstacle exists around the robot 100 is determined according to the distances detected by the distance sensors. If it is determined that there is currently an obstacle around the robot 100, step 232 is performed. If it is determined that there is currently no obstacle around the robot 100, step 234 is performed. The frequency of acquiring the detection distance of each distance sensor may be real-time or may be acquired at intervals of a predetermined time (for example, 100 milliseconds).
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 the present embodiment, when the current obstacle direction and the first obstacle direction do not coincide, the current obstacle direction is recorded as a second obstacle direction, and a direction other than the first obstacle direction and far from the second obstacle direction is determined as an updated obstacle avoidance direction. In an embodiment of the present application, the method further includes: and when the current obstacle direction is consistent with the first obstacle direction, continuously controlling the robot 100 to move towards the obstacle avoidance direction.
Step 233, controlling the robot 100 to move towards the updated obstacle avoidance direction. It should be noted that, during the movement of the robot 100 in the obstacle avoidance direction, a new obstacle may be encountered, and a situation may occur in which the robot 100 cannot 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 directly ahead, that is, the obstacle avoidance direction before updating is directly behind, during the movement of the robot 100 directly behind, it may be determined that the first obstacle is not directly ahead and the second obstacle is directly behind, and at this time, if the directly ahead is determined again as the updated obstacle avoidance direction, then a problem may occur in that the robot 100 moves back and forth between the first obstacle and the second obstacle, so that the robot 100 cannot not only get out of the jam, but also consumes continuous electric energy. At this time, the direction (for example, the right front direction) which is other than the front direction and far from the rear direction 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.
Optionally, in one embodiment, the step 23 includes: and repeating the corner operation when the obstacle avoidance direction is left front, right front, left rear or right rear. Specifically, referring to fig. 7 to 8b, the turning operation includes the following steps:
in step 2301, the robot 100 is controlled to perform a corner motion at a speed corresponding to the obstacle avoidance direction and at a corner angle. As shown in fig. 8a to 8b, in this embodiment, when the robot 100 is at the position a, there is an obstacle in the front right and rear of the robot, and at this time, the obstacle avoidance direction is the front left, that is, the robot 100 is controlled to perform the corner motion toward the front left at the second speed (for example, 30 cm/min) and the first corner angle (for example, 30 degrees).
In step 2302, when the distance of the angular movement of the robot 100 reaches the preset angular distance, the distance detected by each distance sensor is obtained, and whether there is an obstacle around the robot 100 is determined according to the distance detected by each distance sensor. If it is determined that there is currently no obstacle around the robot 100, step 2303 is performed. If it is determined that there is currently an obstacle around the robot 100, step 2304 is performed.
In step 2303, the turning operation is stopped, the navigation route is re-planned according to the target position in the preset navigation route, and the robot 100 is controlled to move according to the new navigation route.
In step 2304, it is determined whether the number of times of performing the turning operation reaches a preset number of times. If the number of times of performing the turning operation does not reach the preset number of times, step 2305 is performed. If the number of times of executing the turning operation reaches the preset number of times, step 2306 is executed. Illustratively, optionally, the product of the preset rotational angle distance and the preset number of times is smaller than the second preset distance threshold, the preset rotational angle distance is 5 cm, and the preset number of times is 3. In this way, it is ensured that the robot 100 does not collide with an obstacle when performing a plurality of turns.
In step 2307, the robot 100 is controlled to move in the updated obstacle avoidance direction. In this embodiment of the present application, the first obstacle direction and a direction other than the current obstacle avoidance direction are determined as updated obstacle avoidance directions.
In an application scenario, as shown in fig. 8a, when there is an obstacle in the right front and the right rear of the robot 100, and no obstacle is in the right rear, the left front, the right front, and the left rear, the left front is determined to be the obstacle avoidance direction, so as to control the robot 100 to perform the corner motion toward the left front, when the robot 100 completes the first corner operation, the robot reaches the B position, at this time, the right front distance sensor 4 of the robot 100 detects that there is an obstacle in the right front of the robot 100, so as to perform the second corner operation, and reach the C position, at this time, there is no obstacle around the robot 100, so as to perform step 2303.
In another application scenario, as shown in fig. 8B, when there is an obstacle in the right front and the right rear of the robot 100, and there is no obstacle in the right rear, the left front, the right front, and the left rear, the left front is determined to be the obstacle avoidance direction, so as to control the robot 100 to perform the corner motion toward the left front, when the robot 100 reaches the B position, the right front distance sensor 1 of the robot 100 detects that there is still an obstacle in the right front of the robot 100, so as to perform the second corner operation, to reach the C position, when the right front distance sensor 1 and the right front distance sensor 4 of the robot 100 detect that there is an obstacle in the right front and the right front of the robot 100, to reach the D position, and when the right front distance sensor 1 and the right front distance sensor 4 of the robot 100 still detect that there is an obstacle in the right front and the right front of the robot 100, and the number of times the corner operation is performed by the robot 100 reaches 3 times. Therefore, it is possible to determine that the left front is the non-passable direction and to determine the left rear as the updated obstacle avoidance direction, and further control the robot to move to the left rear to avoid the obstacle.
It may be appreciated that, in some special application scenarios, when the robot 100 turns to avoid the obstacle, the obstacle may not be avoided by one turning operation, so that the robot 100 is controlled to repeatedly perform the turning operation, so that the success rate of obstacle avoidance may be improved. In addition, when the number of times of turning to one direction reaches the preset number of times (for example, 3 times), the obstacle avoidance direction is updated, and the success rate of obstacle avoidance can be further improved.
Based on the same inventive concept, referring again to fig. 1, the present embodiment also provides a robot 100, the robot 100 including 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-to-front distance sensor 1, a front-to-rear distance sensor 2, a front-to-left Fang Juli sensor 3, a front-to-right distance sensor 4, a rear-to-left Fang Juli sensor 5, and a rear-to-right Fang Juli sensor 6 disposed in that order at the front-to-front, front-to-rear, front-to-left, front-to-right, rear-to-left, and rear-to-right of the robot. Wherein each distance sensor is adapted to detect a distance to an object in a corresponding direction, for example the front left Fang Juli sensor 3, and the front left Fang Juli sensor 3 is adapted to detect a distance to an object in front left. The processor 8 is electrically connected to each distance sensor, and the processor 8 is configured to control and execute the steps in the robot motion control method in any of the above embodiments.
For example, the processor 8 is configured to control the following steps to be performed:
Based on the same inventive concept, the embodiments of the present application also provide a computer readable storage medium, where a computer program is stored, where the computer program is used for executing the steps in the robot motion control method in any of the above embodiments after being called by a processor.
For example, the computer program is configured to perform the following steps after being called by the processor:
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may 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 (12)
1. A method of controlling movement of a robot, the method being for controlling movement of a robot, characterized in that the robot is 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 comprises the following steps:
in the process of controlling the robot to move according to a preset navigation route, acquiring the distance detected by each distance sensor, and judging whether an obstacle exists around the robot according to the distance detected by each distance sensor; and
if it is determined that the obstacle exists around the robot, determining an obstacle avoidance direction according to the direction in which the obstacle exists, and controlling the robot to move in the obstacle avoidance direction; the obstacle avoidance direction is the direction without an obstacle within the preset distance of the robot;
Wherein, the determining the obstacle avoidance direction according to the direction of the obstacle comprises:
when only one direction around the robot has an obstacle, determining the obstacle avoidance direction to be the direction opposite to the direction in which the obstacle is located;
judging whether the robot is trapped according to the direction in which the obstacle exists when the obstacle exists in at least two directions around the robot;
if the robot is determined to be trapped, controlling the robot to stop in place; and
if the robot is not trapped, determining the direction without an obstacle in a preset distance as the obstacle avoidance direction;
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;
the judging whether the robot is trapped according to the direction of the obstacle comprises the following steps:
judging whether the direction in which the obstacle exists includes the opposite direction; wherein the right rear and the right front are in opposite directions, the left front and the right rear are in opposite directions, and the right front and the left rear are in opposite directions;
if the direction in which the obstacle exists 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, determining that the robot is not trapped;
Upon said determining that there is an obstacle surrounding the robot, the method further comprises:
recording the direction of the obstacle as a first obstacle direction;
the controlling the robot to move towards the obstacle avoidance direction comprises the following steps:
in the process of controlling the robot to move towards the obstacle avoidance direction, acquiring the distance 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 distance detected by each distance sensor;
if it is determined that the current obstacle exists around the robot, updating the obstacle avoidance 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;
when the direction of the current obstacle is inconsistent with the direction of the first obstacle, updating the obstacle avoidance direction comprises the following steps:
when the direction of the current obstacle is inconsistent with the direction of the first obstacle, recording the direction of the current obstacle as a second obstacle direction, and determining the direction which is beyond the first obstacle direction and is far away from the second obstacle direction as an updated obstacle avoidance direction;
The step of obtaining the distance detected by each distance sensor and judging whether the robot has an obstacle or not according to the distance detected by each distance sensor comprises the following steps:
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 less than or equal to a preset distance threshold value, determining that obstacles exist around the robot.
2. The robot motion control method according to 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 it is determined that the surrounding of the robot has an obstacle, controlling the robot to send out a road giving prompt signal so as to prompt surrounding objects to give way;
if it is determined that the obstacle still exists around the robot within the preset time after the road giving prompt signal is sent, determining an obstacle avoidance direction according to the direction in which the obstacle exists; and
and controlling the robot to move towards the obstacle avoidance direction.
3. The method for controlling movement of a robot according to claim 2, wherein if it is determined that there is an obstacle around the robot, controlling the robot to issue a yielding prompt signal to prompt a surrounding object to yield, comprises:
If it is determined that the periphery of the robot has an obstacle, controlling the robot to stop at the current position;
controlling the robot to send out a road giving prompt signal so as to prompt surrounding objects to give way; and
and during the period that the robot stops moving, acquiring the distance detected by each distance sensor, and judging whether an obstacle still exists around the robot according to the distance detected by each distance sensor.
4. The robot motion control method of claim 2, wherein after said controlling said robot to issue a yield prompt signal, said method further comprises:
and if no obstacle exists around the robot within the preset time after the giving-out prompt signal is sent out, controlling the robot to continue to move according to the preset navigation route.
5. The method of claim 2, wherein if it is determined that the robot is not trapped, determining a direction in which there is no obstacle within a predetermined distance as the obstacle avoidance direction includes:
if an obstacle exists in one positive direction and one lateral direction of the robot, determining the direction opposite to the lateral direction as the obstacle avoidance direction; wherein the positive direction includes a positive front or a positive rear, and the lateral direction includes one of a left front, a left rear, a right front, and a right rear;
If an obstacle exists in one positive direction and two lateral directions of the robot, determining the direction opposite to the positive direction as the obstacle avoidance direction; and
and if the two side directions of the robot are both provided with barriers, determining the direction opposite to one of the two side directions as the obstacle avoidance direction.
6. The robot motion control method according to claim 2, wherein after said 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.
7. The robot motion control method of claim 2, wherein upon said determining that there is an obstacle around the robot, the method further comprises:
recording the direction of the obstacle as a first obstacle direction;
the controlling the robot to move towards the obstacle avoidance direction comprises the following steps:
when the obstacle avoidance direction is left front, right front, left rear or right rear, repeating the corner operation;
wherein the turning operation includes:
controlling the robot to perform corner motion at a speed corresponding to the obstacle avoidance direction and a corner angle;
When the distance of the robot corner movement reaches a preset corner distance, acquiring 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;
stopping executing the corner operation if it is determined that no obstacle exists around the robot;
if it is determined that the surrounding of the robot is currently provided with obstacles, judging whether the number of times of executing the corner operation reaches a preset number of times or not;
if the number of times of executing the corner operation does not reach the preset number of times, executing the corner operation again based on the current position of the robot;
if the number of times of executing the corner operation reaches the preset number of times, determining that the current obstacle avoidance direction is an unvented 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.
8. The robot motion control method of claim 7, wherein 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.
9. The robot motion control method of claim 7, wherein said controlling the robot motion 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 left front or right front, controlling the robot to perform corner movement 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 movement 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 angle of rotation is greater than the second angle of rotation.
10. The robot motion control method of claim 9, 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, the at least one distance sensor including a front distance sensor, a rear distance sensor, a front left Fang Juli sensor, a front right distance sensor, a rear left Fang Juli sensor, and a rear right Fang Juli sensor disposed in this order at the front, rear left, front right, rear left, and rear right of the robot; wherein each distance sensor is used for detecting the distance between the object and the object in the corresponding direction;
And when the distance detected by the at least one distance sensor is less than or equal to a preset distance threshold, determining that the robot is surrounded by an obstacle comprises the following steps:
judging whether the distance detected by the forward direction distance sensor is greater than a first preset distance threshold for each forward direction distance sensor in the forward direction distance sensor or the forward and backward Fang Juli sensors;
if the distance detected by the forward direction distance sensor is greater than the first preset distance threshold, determining that no obstacle exists in the forward direction corresponding to the forward 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 an obstacle exists in the positive direction corresponding to the positive direction distance sensor of the robot;
judging whether the distance detected by each lateral direction distance sensor is larger than a second preset distance threshold value for each lateral direction distance sensor in the left front Fang Juli sensor, the right front distance sensor, the left rear Fang Juli sensor and the right rear Fang Juli sensor;
if the distance detected by the lateral direction distance sensor is greater than a second preset distance threshold, determining that no obstacle exists in the lateral direction corresponding to the lateral direction distance sensor of the robot; and
If the distance detected by the lateral direction distance sensor is smaller than or equal to a second preset distance threshold value, determining that an obstacle exists in the lateral direction corresponding to the lateral direction distance sensor of the robot; wherein the first preset distance threshold is greater than the second preset distance threshold.
11. 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 one of claims 1-10.
12. A computer readable storage medium, characterized in that the storage medium has stored therein a computer program for executing the steps of the robot motion control method according to any one of claims 1-10 after being called by a processor.
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