CN116158707A - Mobile robot travelling method, device, mobile robot and storage medium - Google Patents
Mobile robot travelling method, device, mobile robot and storage medium Download PDFInfo
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- 238000004140 cleaning Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a mobile robot traveling method, a mobile robot traveling device, a mobile robot and a storage medium, wherein the mobile robot traveling method comprises the following steps: determining a target traveling path based on the environmental information acquired by the line laser; performing reverse laser calculation based on the current travelling position and the environmental information according to the travelling of the target travelling path to obtain simulated radar data of the obstacle; determining a traveling blind area according to the simulated radar data; updating the target travel path based on the travel dead zone, and traveling according to the updated target travel path. According to the invention, the travel path can be determined by three-dimensionally measuring the surrounding environment information according to the line laser and collecting the surrounding environment information, the existing travel blind area is determined by the simulated radar data obtained by reverse laser calculation during travel, and the travel path is determined again according to the travel blind area to move, so that short obstacles can be avoided, and the obstacle avoidance precision of the mobile robot is improved.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and apparatus for moving a robot, a mobile robot, and a storage medium.
Background
With the popularization of intelligent life, more families use the sweeper to facilitate daily life. However, most of the floor sweepers on the market cannot sense the low obstacle, and thus cannot realize the obstacle avoidance function for the low obstacle.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a mobile robot travelling method, a mobile robot travelling device, a mobile robot and a storage medium, and aims to solve the technical problem that a short obstacle cannot be avoided due to the fact that the short obstacle cannot be perceived.
In order to achieve the above object, the present invention provides a mobile robot traveling method including the steps of:
determining a target traveling path based on the environmental information acquired by the line laser;
performing reverse laser calculation based on the current travelling position and the environmental information according to the travelling of the target travelling path to obtain simulated radar data of the obstacle;
determining a traveling blind area according to the simulated radar data;
updating the target travel path based on the travel dead zone, and traveling according to the updated target travel path.
Optionally, the step of determining the target travel path based on the environmental information collected by the line laser includes:
acquiring environmental information on a preset travelling path according to line laser;
filling the environment information on the preset travelling path into a line laser grid map;
and determining a target travelling path according to the data of the line laser grid map and a preset threshold value.
Optionally, the step of obtaining simulated radar data of the obstacle by performing reverse laser calculation based on the current traveling position and the environmental information includes:
simulating radar emission rays for the current travelling position based on the line laser grid map;
and acquiring the environmental information of the line laser grid map based on the simulated radar emission rays to obtain simulated radar data.
Optionally, the step of updating the target travel path based on the travel dead zone includes:
determining a rotation angle and an angular speed for backing according to the travelling blind area;
when the back-off is carried out according to the rotation angle and the angular speed, the environment information of the travelling blind area is collected according to the line laser;
filling the environment information of the travelling blind area into a line laser grid map;
and updating the target travelling path according to the data of the line laser grid map.
Optionally, the determining the travel blind zone according to the simulated radar data comprises:
determining a region without environmental information in the simulated radar data as a traveling blind region;
the method further comprises the following steps when the vehicle travels according to the updated target travel path:
and returning to the step of determining the target traveling path based on the environment information acquired by the line laser.
Optionally, the step of updating the target travel path based on the travel blind area and traveling according to the updated target travel path includes:
comparing the environment information on the travelling blind area with the environment information on the preset travelling path, wherein the environment information comprises barrier information;
determining a distance between an obstacle of the travel blind area and an obstacle on the preset travel path when the obstacle of the travel blind area and the obstacle on the preset travel path are different;
and when the distance is smaller than a preset distance, updating the target traveling path according to the obstacle of the traveling blind area, the obstacle on the preset traveling path, the preset distance and the preset threshold value, and traveling according to the updated target traveling path.
Optionally, after the step of determining the distance between the obstacle of the travel dead zone and the obstacle on the preset travel path when the obstacle of the travel dead zone and the obstacle on the preset travel path are different, the method further includes:
updating the obstacle information of the traveling blind area on the line laser grid map when the obstacle of the traveling blind area is the same as the obstacle on the preset traveling path;
and updating the target traveling path according to the updated environment information of the traveling blind area and the preset threshold value, and traveling according to the updated target traveling path.
In addition, in order to achieve the above object, the present invention also proposes a mobile robot traveling device including: the system comprises a path determining module, a data acquisition module, a blind area determining module and a path advancing module;
the path determining module is used for determining a target traveling path based on the environment information acquired by the line laser;
the data acquisition module is used for advancing according to the target advancing path, and performing reverse laser calculation based on the current advancing position and the environment information to obtain simulated radar data of the obstacle;
the blind area determining module is used for determining a travelling blind area according to the simulated radar data;
the path traveling module is used for updating the target traveling path based on the traveling blind area and traveling according to the updated target traveling path.
In addition, to achieve the above object, the present invention also proposes a mobile robot comprising a memory, a processor and a mobile robot program stored on the memory and executable on the processor, the mobile robot program being configured to implement a mobile robot method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a mobile robot traveling program which, when executed by a processor, implements the mobile robot traveling method as described above.
The invention discloses a mobile robot traveling method, a mobile robot traveling device, a mobile robot and a storage medium, wherein the mobile robot traveling method comprises the following steps: determining a target traveling path based on the environmental information acquired by the line laser; performing reverse laser calculation based on the current travelling position and the environmental information according to the travelling of the target travelling path to obtain simulated radar data of the obstacle; determining a traveling blind area according to the simulated radar data; updating the target travel path based on the travel dead zone, and traveling according to the updated target travel path. According to the invention, the travel path can be determined by three-dimensionally measuring the surrounding environment information according to the line laser and collecting the surrounding environment information, the existing travel blind area is determined by the simulated radar data obtained by reverse laser calculation during travel, and the travel path is determined again according to the travel blind area to move, so that short obstacles can be avoided, and the obstacle avoidance precision of the mobile robot is improved.
Drawings
FIG. 1 is a flow chart of a first embodiment of a mobile robot running method according to the present invention;
FIG. 2 is a flow chart of a second embodiment of the mobile robot traveling method of the present invention;
FIG. 3 is a flow chart of a third embodiment of the mobile robot traveling method according to the present invention;
FIG. 4 is a schematic diagram of a structural light module of an embodiment of a mobile robot traveling method according to the present invention;
FIG. 5 is a schematic diagram of line laser acquisition according to an embodiment of the mobile robot traveling method of the present invention;
FIG. 6 is a robot pullback view of an embodiment of a mobile robot advancement method in accordance with the present invention;
fig. 7 is a block diagram showing the construction of a first embodiment of the mobile robot advancing device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the moving robot traveling method according to the present invention, and the first embodiment of the moving robot traveling method according to the present invention is provided.
Step S10: the target travel path is determined based on the environmental information collected by the line laser.
Note that, the execution body of the present embodiment may be a mobile robot having functions of data processing, network communication, and program running, or other electronic devices capable of implementing the same or similar functions, which is not limited in this embodiment.
It should be understood that, at present, a mobile cleaning or sweeping robot on the market mainly uses more obstacle avoidance sensors: infrared distance sensors, mechanical collision switches, lidar, etc. Wherein the infrared distance sensor cannot be used in some places with strong light due to interference of light. The mechanical collision sensor has the defects that the sensor can not be triggered due to the fact that the sensor contacts with an object, the risk of damaging the object is caused, or the sensor can not be triggered due to the fact that the object is light. The radar sensor is mainly applied to the positioning and mapping of a robot, but can only measure radar point information of a radar level, so that a shorter obstacle cannot be perceived. Meanwhile, the mobile robot detects low obstacles such as wires, socks and the like, and the obstacle avoidance on the low obstacles is not accurate enough.
In order to overcome the defects, the embodiment acquires and determines a target traveling path according to the surrounding environment information based on the line laser based on the structure light sensor, travels according to the target traveling path, and performs reverse laser calculation based on the current traveling position and the environment information to obtain simulated radar data of the obstacle; determining a traveling blind area according to the simulated radar data; updating the target travel path based on the travel dead zone, and traveling according to the updated target travel path.
It should be noted that, the depth information is obtained by using the line structured light sensor based on the principle of triangulation, mainly using two line structured light sensors to measure three-dimensional information of a low obstacle, and then avoiding the obstacle of the low obstacle existing in the surrounding environment. The line laser measurement has the advantages of high ranging precision, insensitivity to light, no need of contact measurement sensing and the like, for example, the line laser measurement can be used for measuring short obstacles such as places with illumination in home and short obstacles such as shoes, socks, wires and the like, and the travel path can be obtained by collecting surrounding environment information through the line laser, so that the measurement precision of the short obstacles can be improved.
It will be appreciated that the environmental information collected by the line laser may be all obstacles around, such as tables, stools, socks, wires, walls, etc., and the present embodiment is not limited thereto.
For ease of understanding, reference is made to fig. 4 and 4, fig. 4 being a structural optical module diagram, and fig. 5 being a line laser acquisition schematic diagram. In fig. 4, the main control unit 33 controls the camera module 31 to collect an image and transmits the collected image to the main control unit 33, the main control unit 33 receives the image and then sends signals for controlling the line laser to be emitted to the two line laser driving circuits 34, and the laser driving circuits amplify the signals and drive the two line laser sensors 32 to emit the line laser. In fig. 5, F and E are line laser transmitters 102, and in the middle of F and E are camera modules 101, a, b, c, d are focusing points where line laser is transmitted to an obstacle through the three-dimensional ranging principle.
It should be noted that, the target travel path may be an edge path, that is, the line laser fills the obstacle in the environmental information on the line laser grid map after the collected environmental information, and determines the target travel path according to the diameter of the obstacle on the line laser grid map and the radius of the robot body.
Further, in order to prevent the robot from colliding with the obstacle, step S10 may include:
acquiring environmental information on a preset travelling path according to line laser;
filling the environment information on the preset travelling path into a line laser grid map;
and determining a target travelling path according to the data of the line laser grid map and a preset threshold value.
It should be noted that, during the travel of the robot, collision with the obstacle occurs, and it is necessary to determine the travel path of the robot to avoid the obstacle, so that during the travel of the robot, line laser is emitted to collect information of the obstacle and fill the information of the obstacle into the line laser grid map to represent the position of the obstacle on the line laser grid map, the line laser grid map is divided into small square cells, each small cell has a side length, so that the diameter of the obstacle is determined according to the cell occupied by the obstacle on the line laser grid map, and the target travel path, that is, the side path, is determined according to the diameter of the obstacle and the radius of the robot body.
It is understood that the preset travel path may be a travel path that the robot has previously set before traveling, and travels according to the preset travel path, but there may be an obstacle during traveling, and thus, travel according to the target travel path after determining the target travel path according to the obstacle.
It is understood that the preset threshold may be a radius of the body of the robot, which is not limited by the comparison of the present embodiment.
Step S20: and carrying out reverse laser calculation based on the current travelling position and the environment information according to the travelling of the target travelling path to obtain the simulated radar data of the obstacle.
It should be noted that, in the traveling process according to the target traveling path, reverse laser calculation is performed on the obstacle in the line laser grid map, that is, according to the position of the obstacle on the line laser grid map, the position of the robot simulates the radar emission rays to judge the distribution situation of the obstacle position in front of the current robot, if the calculation finds that the data on the edge of the obstacle is empty, which indicates that the area is not recognized by the line laser, the area needs to be retracted, so that the double line laser can recognize the area with the empty data on the map, and if the obstacle is detected, the obstacle information needs to be filled on the line laser grid map, and the expansion and edge-following of the obstacle are continued; if no obstacle is found, the obstacle can be directly bordered and avoided.
In the line laser detection process (or in other detection processes), only the information of the obstacle is retained on the map, and the information of the searched area and the non-searched area is not retained, so that the reverse laser calculation is performed. If the information of the explored area and the unexplored area is reserved, the sweeper can directly skip the step of reverse laser calculation to realize the follow-up operation of obstacle avoidance and the like, but the reverse laser calculation can bring good effects, such as the obtained data is the same set of data of radar laser, and the advantages of data calculation and path planning control are facilitated; compared with the mode of distinguishing the explored area from the unexplored area by the line laser, the method has the advantages that the calculation resource consumption of the reverse laser calculation is smaller, and after all, the line laser range is small and the accuracy is high.
Step S30: and determining a traveling blind area according to the simulated radar data.
It can be understood that the information around the obstacle on the line laser grid map can be obtained according to the simulated radar data, if the information around the obstacle is empty, the area is not recognized by the line laser, and in order to prevent collision, the environment information of the area needs to be acquired again through the line laser, namely, the area with the information around the obstacle being empty is the travelling blind area.
Further, in order to improve the intelligence of the robot and prevent the robot from colliding with an obstacle, step S30 of this embodiment may include:
determining a region without environmental information in the simulated radar data as a traveling blind region;
the method further comprises the following steps when the vehicle travels according to the updated target travel path:
and returning to the step of determining the target traveling path based on the environment information acquired by the line laser.
It can be understood that the area without the environmental information in the simulated radar data is the area not identified by the line laser, the area is the traveling blind area, and because the traveling blind area may have an obstacle and is in danger of collision with the robot, the line laser is required to acquire the environmental information again to determine the target traveling path, when traveling according to the re-determined target traveling path, the simulated radar data of the obstacle is obtained by performing reverse laser calculation according to the current traveling position and the environmental information, whether the traveling blind area exists is judged according to the simulated radar data, if so, the steps are continued, and if not, the traveling is continued according to the current target traveling path.
Step S40: updating the target travel path based on the travel dead zone, and traveling according to the updated target travel path.
It will be appreciated that since the obstacle is redetermined and the size of the obstacle changes, the travel path cannot be determined according to the target travel path of the original obstacle, and it is necessary to redetermine the travel path.
It can be understood that the environment information of the travelling blind area is collected through the line laser, the collected information is filled into the line laser grid map, and the target travelling path is redetermined according to the diameter of the current obstacle in the line laser map and the radius of the robot body.
Further, in order to prevent the robot from colliding with the obstacle and to improve the working efficiency of the robot, step S40 of this embodiment may include:
determining a rotation angle and an angular speed for backing according to the travelling blind area;
when the back-off is carried out according to the rotation angle and the angular speed, the environment information of the travelling blind area is collected according to the line laser;
filling the environment information of the travelling blind area into a line laser grid map;
and updating the target travelling path according to the data of the line laser grid map.
It is understood that the back-moving may be performed according to the rotation angle and the angular velocity after the traveling blind area is determined, by moving back an arc line of about 90 degrees, collecting the environmental information of the traveling blind area by the line laser during the back-moving, and filling the collected environmental information into the line laser grid map. At this time, the target travel path is redetermined according to the new environmental information in the line laser grid map.
For ease of understanding, reference is made to fig. 6, where fig. 6 is a drawing of a robot retracted, and in fig. 6, information of an obstacle is collected by a line laser during the retraction.
The embodiment determines a target traveling path based on the environmental information acquired by the line laser; performing reverse laser calculation based on the current travelling position and the environmental information according to the travelling of the target travelling path to obtain simulated radar data of the obstacle; determining a traveling blind area according to the simulated radar data; updating the target travel path based on the travel dead zone, and traveling according to the updated target travel path. According to the embodiment, the travel path can be determined by three-dimensionally measuring the surrounding environment information according to the line laser and collecting the surrounding environment information, the existing travel blind area is determined by the simulated radar data obtained through reverse laser calculation during travel, the travel path is determined again according to the travel blind area to move, and therefore short obstacles can be avoided, and the obstacle avoidance precision of the mobile robot is improved.
Referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the moving robot traveling method according to the present invention, and the second embodiment of the moving robot traveling method according to the present invention is proposed based on the first embodiment shown in fig. 2.
In a second embodiment, the step S20 includes:
step S201: and simulating radar emission rays for the current travelling position based on the line laser grid map.
The process of calculating by reverse laser is a process of simulating laser radar to collect data, so that the radar emission ray is simulated based on the current position of the robot in the online laser grid map to collect data.
The data obtained by the reverse laser calculation and the data obtained by the laser radar are the same set of data, so that the accuracy of the obstacle information obtained by the reverse laser calculation is higher, and the calculation of the data is facilitated.
Step S202: and acquiring the environmental information of the line laser grid map based on the simulated radar emission rays to obtain simulated radar data.
It will be appreciated that the robot will collect environmental information for the line laser grid map for all directions of emitted radiation.
It can be understood that the obtained simulated radar data is the data information of the obstacle in the online laser grid map, and whether the obstacle is not identified or not and whether a travelling blind area exists can be judged according to the data information of the obstacle.
The embodiment simulates radar emission rays for the current travelling position based on the line laser grid map; and acquiring the environmental information of the line laser grid map based on the simulated radar emission rays to obtain simulated radar data. According to the implementation, the simulated radar data is obtained through the environment information in the simulated radar emission ray acquisition line laser grid map, so that the consumption of calculation resources is reduced.
Referring to fig. 4, fig. 4 is a schematic flow chart of a third embodiment of the moving robot traveling method according to the present invention, and the third embodiment of the moving robot traveling method according to the present invention is proposed based on the first embodiment shown in fig. 2.
In a third embodiment, the step S40 includes:
step S401: comparing the environment information on the travelling blind area with the environment information on the preset travelling path, wherein the environment information comprises barrier information.
It will be understood that the comparison of the environmental information on the traveling blind area and the environmental information on the preset traveling path is to determine whether the obstacle in the traveling blind area and the obstacle in the preset traveling path are the same, if the obstacle is the same obstacle, the target traveling path is determined again, if the obstacle is not the same obstacle, whether the target traveling path is determined for the two obstacles respectively or not is determined according to the distance between the two obstacles, or the target traveling path is determined by regarding the two obstacles as one obstacle.
Step S402: and determining the distance between the obstacle of the traveling blind area and the obstacle on the preset traveling path when the obstacle of the traveling blind area and the obstacle on the preset traveling path are different.
In a specific implementation, when the obstacle of the traveling blind area and the obstacle on the preset traveling path are different, determining a distance between the obstacle of the traveling blind area and the obstacle on the preset traveling path according to the position of the obstacle of the traveling blind area and the obstacle on the preset traveling path in the online laser grid map.
It will be appreciated that if the distance between the obstacle of the travel blind area and the obstacle on the preset travel path is small and the robot cannot pass, there is a risk of collision with the obstacle, and therefore, it is necessary to determine the distance between the obstacle of the travel blind area and the obstacle on the preset travel path, and take corresponding action according to the distance.
Further, in order to improve the recognition accuracy of the obstacle, the step S402 of this embodiment may further include:
updating the obstacle information of the traveling blind area on the line laser grid map when the obstacle of the traveling blind area is the same as the obstacle on the preset traveling path;
and updating the target traveling path according to the updated environment information of the traveling blind area and the preset threshold value, and traveling according to the updated target traveling path.
It can be understood that when the obstacle of the traveling blind area and the obstacle on the preset traveling path are the same, the diameter of the obstacle is determined again on the online laser grid map, and the target traveling path is obtained according to the diameter of the obstacle and the radius of the robot body.
Step S403: and when the distance is smaller than a preset distance, updating the target traveling path according to the obstacle of the traveling blind area, the obstacle on the preset traveling path, the preset distance and the preset threshold value, and traveling according to the updated target traveling path.
It will be appreciated that the predetermined distance may be the diameter of the body of the robot, or the diameter of the body of the robot plus a few centimeters, and the embodiment is not limited thereto.
It can be understood that the distance between the obstacle in the blind area of travel and the obstacle on the preset travel path is smaller than the preset distance, which means that the robot cannot pass, so that the target travel path is redetermined by regarding the two obstacles as the same obstacle, and the target travel path is not required to be calculated again for the two obstacles respectively, thereby improving the working efficiency of the robot.
Since the obstacles are not necessarily regarded as the same obstacle, the diameters of the two obstacles are determined in the online laser grid map, respectively, and since a certain distance exists between the two obstacles, it is necessary to obtain the target travel path by adding the diameter of the two obstacles to the distance between the two obstacles and adding the radius of the robot body to the diameter of the robot body.
The embodiment compares the environmental information on the travelling blind area with the environmental information on the preset travelling path, wherein the environmental information comprises barrier information; determining a distance between an obstacle of the travel blind area and an obstacle on the preset travel path when the obstacle of the travel blind area and the obstacle on the preset travel path are different; and when the distance is smaller than a preset distance, updating the target traveling path according to the obstacle of the traveling blind area, the obstacle on the preset traveling path, the preset distance and the preset threshold value, and traveling according to the updated target traveling path. According to the method, after the situation that the obstacles are not identical is judged by comparing the environment information on the traveling blind area with the environment information on the preset traveling path, the distance between the two obstacles is calculated, when the distance between the two obstacles cannot allow the robot to pass, the two obstacles are regarded as the identical obstacle, the target traveling path of the robot is determined, and therefore the target traveling paths of the two obstacles are not required to be determined respectively, and the working efficiency of the robot is improved.
In addition, referring to fig. 7, an embodiment of the present invention further proposes a mobile robot traveling device, including: the system comprises a path determining module 10, a data acquiring module 20, a blind area determining module 30 and a path advancing module 40;
the path determining module 10 is configured to determine a target traveling path based on the environmental information collected by the line laser;
the data acquisition module 20 is configured to perform reverse laser calculation based on the current travel position and the environmental information to obtain simulated radar data of the obstacle according to the travel of the target travel path;
the blind area determining module 30 is configured to determine a traveling blind area according to the simulated radar data;
the path traveling module 40 is configured to update the target traveling path based on the traveling blind area, and travel according to the updated target traveling path.
The embodiment determines a target traveling path based on the environmental information acquired by the line laser; performing reverse laser calculation based on the current travelling position and the environmental information according to the travelling of the target travelling path to obtain simulated radar data of the obstacle; determining a traveling blind area according to the simulated radar data; updating the target travel path based on the travel dead zone, and traveling according to the updated target travel path. According to the embodiment, the travel path can be determined by three-dimensionally measuring the surrounding environment information according to the line laser and collecting the surrounding environment information, the existing travel blind area is determined by the simulated radar data obtained through reverse laser calculation during travel, the travel path is determined again according to the travel blind area to move, and therefore short obstacles can be avoided, and the obstacle avoidance precision of the mobile robot is improved.
In addition, to achieve the above object, the present invention also proposes a mobile robot comprising a memory, a processor and a mobile robot program stored on the memory and executable on the processor, the mobile robot program being configured to implement a mobile robot method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a mobile robot traveling program which, when executed by a processor, implements the mobile robot traveling method as described above.
Based on the above-described first embodiment of the mobile robot traveling device of the present invention, a second embodiment of the mobile robot traveling device of the present invention is proposed.
In this embodiment, the path determining module 10 is configured to collect environmental information on a preset travel path according to a line laser.
Further, the path determining module 10 is further configured to populate the line laser grid map with the environmental information on the preset travel path.
Further, the path determining module 10 is further configured to determine a target travel path according to the data of the line laser grid map and a preset threshold.
Further, the data acquisition module 20 is further configured to simulate radar emission for a current travel location based on the line laser grid map.
Further, the data acquisition module 20 is further configured to acquire environmental information of the line laser grid map based on the simulated radar emission ray, so as to obtain simulated radar data.
Further, the path traveling module 40 is further configured to determine a rotation angle and an angular velocity for performing the pullback according to the traveling blind area.
Further, the path traveling module 40 is further configured to collect environmental information of the traveling blind area according to the line laser when the line laser is retracted according to the rotation angle and the angular velocity.
Further, the path traveling module 40 is further configured to fill the environment information of the traveling blind area into a line laser grid map.
Further, the path traveling module 40 is further configured to update the target traveling path according to the data of the line laser grid map.
Further, the blind area determining module 30 is further configured to determine an area without environmental information in the simulated radar data as a traveling blind area.
Further, the blind area determining module 30 is further configured to return to the step of determining the target travel path based on the environmental information acquired by the line laser.
Further, the path traveling module 40 is further configured to compare the environmental information on the traveling blind area with the environmental information on the preset traveling path, where the environmental information includes obstacle information.
Further, the path traveling module 40 is further configured to determine a distance between the obstacle of the traveling blind area and the obstacle on the preset traveling path when the obstacle of the traveling blind area and the obstacle on the preset traveling path are different.
Further, the path traveling module 40 is further configured to update the target traveling path according to the obstacle of the traveling blind area, the obstacle on the preset traveling path, the preset distance, and the preset threshold when the distance is smaller than a preset distance, and travel according to the updated target traveling path.
Further, the path traveling module 40 is further configured to update the obstacle information of the traveling blind area on the line laser grid map when the obstacle of the traveling blind area is the same as the obstacle on the preset traveling path.
Further, the path traveling module 40 is further configured to update the target traveling path according to the updated environmental information of the traveling blind area and the preset threshold value, and travel according to the updated target traveling path.
Other embodiments or specific implementation manners of the mobile robot traveling device according to the present invention may refer to the above-mentioned method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read only memory mirror (Read Only Memory image, ROM)/random access memory (Random Access Memory, RAM), magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A mobile robot advancement method, characterized in that it comprises the steps of:
determining a target traveling path based on the environmental information acquired by the line laser;
performing reverse laser calculation based on the current travelling position and the environmental information according to the travelling of the target travelling path to obtain simulated radar data of the obstacle;
determining a traveling blind area according to the simulated radar data;
updating the target travel path based on the travel dead zone, and traveling according to the updated target travel path.
2. The method of claim 1, wherein the step of determining the target travel path based on the line laser acquired environmental information comprises:
acquiring environmental information on a preset travelling path according to line laser;
filling the environment information on the preset travelling path into a line laser grid map;
and determining a target travelling path according to the data of the line laser grid map and a preset threshold value.
3. The method of claim 2, wherein the step of performing reverse laser calculation based on the current travel position and the environmental information to obtain simulated radar data of the obstacle comprises:
simulating radar emission rays for the current travelling position based on the line laser grid map;
and acquiring the environmental information of the line laser grid map based on the simulated radar emission rays to obtain simulated radar data.
4. The method of claim 1, wherein the step of updating the target travel path based on the travel dead zone comprises:
determining a rotation angle and an angular speed for backing according to the travelling blind area;
when the back-off is carried out according to the rotation angle and the angular speed, the environment information of the travelling blind area is collected according to the line laser;
filling the environment information of the travelling blind area into a line laser grid map;
and updating the target travelling path according to the data of the line laser grid map.
5. The method of claim 1, wherein said determining a travel dead zone from said simulated radar data comprises:
determining a region without environmental information in the simulated radar data as a traveling blind region;
the method further comprises the following steps when the vehicle travels according to the updated target travel path:
and returning to the step of determining the target traveling path based on the environment information acquired by the line laser.
6. The method of claim 2, wherein the step of updating the target travel path based on the travel dead zone and traveling according to the updated target travel path comprises:
comparing the environment information on the travelling blind area with the environment information on the preset travelling path, wherein the environment information comprises barrier information;
determining a distance between an obstacle of the travel blind area and an obstacle on the preset travel path when the obstacle of the travel blind area and the obstacle on the preset travel path are different;
and when the distance is smaller than a preset distance, updating the target traveling path according to the obstacle of the traveling blind area, the obstacle on the preset traveling path, the preset distance and the preset threshold value, and traveling according to the updated target traveling path.
7. The method of claim 6, wherein the step of determining the distance between the obstacle of the travel blind zone and the obstacle on the preset travel path further comprises, when the obstacle of the travel blind zone and the obstacle on the preset travel path are different:
updating the obstacle information of the traveling blind area on the line laser grid map when the obstacle of the traveling blind area is the same as the obstacle on the preset traveling path;
and updating the target traveling path according to the updated environment information of the traveling blind area and the preset threshold value, and traveling according to the updated target traveling path.
8. A mobile robot traveling device, characterized in that the mobile robot traveling device comprises: the system comprises a path determining module, a data acquisition module, a blind area determining module and a path advancing module;
the path determining module is used for determining a target traveling path based on the environment information acquired by the line laser;
the data acquisition module is used for advancing according to the target advancing path, and performing reverse laser calculation based on the current advancing position and the environment information to obtain simulated radar data of the obstacle;
the blind area determining module is used for determining a travelling blind area according to the simulated radar data;
the path traveling module is used for updating the target traveling path based on the traveling blind area and traveling according to the updated target traveling path.
9. A mobile robot, the mobile robot comprising: memory, a processor and a mobile robot traveling program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the mobile robot traveling method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a mobile robot traveling program which, when executed by a processor, implements the steps of the mobile robot traveling method according to any one of claims 1 to 7.
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| CN202310002395.8A CN116158707A (en) | 2023-01-03 | 2023-01-03 | Mobile robot travelling method, device, mobile robot and storage medium |
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| CN202310002395.8A CN116158707A (en) | 2023-01-03 | 2023-01-03 | Mobile robot travelling method, device, mobile robot and storage medium |
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