CN116300972A - Robot operation planning method, system and application thereof - Google Patents
Robot operation planning method, system and application thereof Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a robot operation planning method, a system and application thereof, wherein the method comprises the following steps: determining a surface to be operated; starting a manual mode, controlling the operation robot to start from a starting point, performing manual operation, and continuously recording path information and environment information in the operation process of the operation robot; starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information, and determining a safety boundary and an automatic operation path; the operation robot automatically operates in the safety boundary according to the automatic operation path until the operation of covering the enclosing area is completed; the job effect and the area coverage effect are checked. According to the scheme, the automatic operation area is determined by utilizing the working track of manual operation, so that the deployment link of the robot is completed, the efficient and safe automatic operation can be realized while the sufficient welt coverage performance is ensured, and the advantage of cooperative operation of a person and the robot can be fully exerted.
Description
Technical Field
The invention relates to the field of robot operation planning, in particular to a robot operation planning method, a system and application thereof.
Background
In the current industry, robots refer to man-made machine devices capable of automatically performing tasks, to replace or assist in human work, typically electromechanical devices, controlled by computer programs or electronic circuits. Robots perform work that replaces or assists in human work, such as manufacturing, construction, or dangerous work.
With the development of robot technology, robots are increasingly applied to various industries and scenes. Fully autonomous mobile robots (in any case, no human intervention is required, which is equivalent to the level of automatic driving L5) are ideal standards for robot development, and aim to completely simulate the adaptability of people to the environment, realize autonomous cognition, autonomous obstacle avoidance, autonomous planning and autonomous navigation, and pursue freedom in various environments.
The fully-automatic mobile robot is suitable for application in different complex scenes, the safety is guaranteed, the investment in the aspects of environment perception, intelligent algorithms, map labeling and the like is increased, and the early-stage research and development and application cost is extremely high. In addition, when the robot runs, the complex scene is required to be sensed, avoided, prevented from falling and the like, so that the running speed of the robot is greatly influenced. Meanwhile, the realization of algorithms such as sensing, obstacle avoidance and the like is not supported by hardware, and the higher the requirement of the robot on hardware is. Therefore, the existing robot technology also faces the problems of various interferences, lost positioning, sensor noise, unstable identification, sensor blind areas and the like, absolute safe operation cannot be ensured, and the operation efficiency is far lower than expected.
In order to ensure the coverage rate and effect of the operation, a robot is generally required to perform the welting operation. The taping operation is understood to be an operation performed close to the edge of the operation area, and the taping degree is higher as the operation is closer to the edge. The higher the welting degree is, the larger the area where the robot works automatically is, the smaller the area where the manual secondary work is required is, namely, the lower the specific gravity of the manual intervention is, which is also an important index for evaluating the quality of the robot working automatically. But the closer to the welt is to be to an obstacle or a dangerous area, the more challenges are presented to the perception and obstacle avoidance performance of the robot, which is also an industrial problem of the autonomous operation robot, and the problem cannot be effectively solved until now.
Robot automation generally requires a clear working area for path planning. Wherein, creating a map in advance, editing the map, and planning a working area and a working scheme, the link is called deployment. The deployment link is critical to the robot automatic operation, without a map as a guide, the robot can hardly complete the automatic operation in a designated area. And the deployment links are often complicated, and the work of building a map, setting a path and the like is required to be completed.
In the prior art, a scheme is adopted to realize a deployment link by adopting a teaching reproduction mode for a robot. According to the scheme, an operator needs to completely carry out path demonstration, so that a robot learns the path operated by the operator to repeat the same path, and the deployment link is simplified. However, in a large-scale operation area, operators can completely realize the working path of the whole area, which consumes time and has certain requirements on the operation technology of the operators. In some occasions, the operation can be completed manually by completely demonstrating the path of an operator. Therefore, the deployment is performed by adopting the teaching method, the efficiency is low, the labor cost is high, and the deployment link is relatively complex.
Disclosure of Invention
In view of the above, the invention provides a robot operation planning method, a system and application thereof, and the specific scheme is as follows:
the first part, the invention provides a robot operation planning method, which comprises the following steps:
determining a surface to be operated, and ensuring that a preset operation robot can safely operate on the surface to be operated;
starting a manual mode, and setting a manual operation starting point and a manual operation end point on the surface to be operated;
controlling the operation robot to start from the manual operation starting point, performing preset manual operation, continuously recording path information and environment information in the operation process of the operation robot until reaching the manual operation ending point, and ending a manual mode;
starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning a self-operation path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary;
automatically operating the operation robot in the safety boundary according to the automatic operation path until the operation covering the enclosing area is completed, and ending an automatic mode;
and checking the operation effect and the area coverage effect of the surface to be operated.
In a specific embodiment, after the operation of covering the enclosed area is completed, the operation robot is automatically returned to the manual operation end point or the manual operation start point, and the user is reminded of completing the automatic operation.
In a specific embodiment, if the working effect or the area coverage effect of the surface to be worked does not conform to the expected value, the working robot is controlled to perform manual work.
In a specific embodiment, based on the environmental information recorded in the manual mode, the obstacle on the surface to be worked is deduced, and the planned automatic working path is combined with the safety boundary, so that the planned automatic working path avoids the obstacle and does not enter the area beyond the safety boundary.
In a specific embodiment, when the operation robot performs automatic operation, the preset sensing device is used for detecting whether an obstacle exists in the advancing direction, the operation robot is controlled to automatically avoid the obstacle when the obstacle exists, and the operation robot is always in the safety boundary in the obstacle avoidance process.
In a specific embodiment, the work robot includes a floor sweeping robot, a floor washing robot, a mowing robot, a snow sweeping robot, and a patrol robot.
The second part, the invention provides a robot operation planning system, comprising:
the pre-stage preparation unit is used for determining a surface to be operated and ensuring that a preset operation robot can safely operate on the surface to be operated;
a manual operation unit for starting a manual mode, and setting a manual operation starting point and a manual operation end point on the surface to be operated;
controlling the operation robot to start from the manual operation starting point, performing preset manual operation, continuously recording path information and environment information in the operation process of the operation robot until reaching the manual operation ending point, and ending a manual mode;
the automatic operation unit is used for starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning a self-operation path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary;
automatically operating the operation robot in the safety boundary according to the automatic operation path until the operation covering the enclosing area is completed, and ending an automatic mode;
and the detection unit is used for checking the operation effect and the area coverage effect of the surface to be operated.
In a specific embodiment, the automatic job unit further includes:
after the operation covering the enclosing area is completed, enabling the operation robot to automatically return to the manual operation end point or the manual operation starting point, and reminding a user of completing automatic operation;
and/or, when the operation robot performs automatic operation, detecting whether an obstacle exists in the advancing direction or not through a preset sensing device, and controlling the operation robot to perform automatic obstacle avoidance when the obstacle exists;
and/or based on the environmental information recorded in the manual mode, the obstacle on the surface to be worked is deduced, and the planned automatic working path is combined with the safety boundary, so that the planned automatic working path avoids the obstacle and does not enter the area beyond the safety boundary.
In a specific embodiment, the detection unit further comprises:
and if the operation effect or the area coverage effect of the surface to be operated does not accord with the expected value, controlling the operation robot to perform manual operation.
In a third aspect, the present invention provides a cleaning method, using the robot job planning method according to any one of the first aspects, the cleaning method comprising:
determining a surface to be cleaned, and ensuring that a preset cleaning robot can safely clean the surface to be cleaned;
starting a manual mode, and setting a manual cleaning starting point and a manual cleaning end point on the surface to be cleaned;
controlling the cleaning robot to start from the manual cleaning starting point, performing preset manual cleaning, continuously recording path information and environment information in the cleaning process of the cleaning robot until reaching the manual cleaning finishing point, and ending a manual mode;
starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning an automatic cleaning path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary;
automatically cleaning the cleaning robot in the safety boundary according to the automatic cleaning path until the cleaning covering the enclosing area is completed, and ending an automatic mode;
and checking the cleaning effect and the area coverage effect of the surface to be cleaned.
The beneficial effects are that:
the invention provides a robot operation planning method, a system and application thereof, wherein the working track of manual operation is utilized to determine the automatic operation area before the automatic operation of a robot, so that the construction of another mode is realized, and the deployment link of the robot is completed. Compared with the prior art, the method has the advantages that professional and complicated deployment processes such as drawing establishment, editing and path setting are not needed, and complex operation processes such as task selection, position confirmation and task initiation are not needed, so that the advantages of cooperative operation of a person and a robot can be fully exerted.
Moreover, the safety area, the safety boundary and the danger area for the robot are divided by the manual operation enclosing area confirmed by the human, so that the automatic operation safety of the robot is ensured, and the automatic operation can be carried out more safely;
by the method, the safety boundary and the dangerous area of the robot are shown, the safety boundary already covers part of the boundary area when the robot works in the manual mode, and the robot does not need to work against the safety boundary again when working automatically, so that the probability of automatic edge pasting operation of the robot is skillfully reduced, the industrial problem and the challenge of edge pasting operation are avoided, and the robot can work automatically more safely and more efficiently.
Drawings
FIG. 1 is a flow chart of a robot job planning method in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an automated job area boundary in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robotic work planning system module according to an embodiment of the present invention;
FIG. 4 is a flow chart of a cleaning method according to an embodiment of the present invention.
Reference numerals: 1-a pre-preparation unit; 2-a manual work unit; 3-an automatic operation unit; 4-a detection unit.
Detailed Description
Hereinafter, various embodiments of the present disclosure will be more fully described. The present disclosure is capable of various embodiments and its modifications and variations are possible in light of the above teachings. However, it should be understood that: there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but rather the present disclosure is to be understood to cover all modifications, equivalents, and/or alternatives falling within the spirit and scope of the various embodiments of the present disclosure.
It should be noted that, the automatic operation is that the robot completes the operation fully independently, and no additional operation is required by an operator. Manual work also requires robot participation and requires the operator to perform work with the robot, not entirely manually. Therefore, in the present application, the same work robot is referred to regardless of automatic work and manual work.
It should be noted that the work robot of the present application is essentially understood as a semi-autonomous robot, which has both manual and automatic modes of operation. In manual mode, the robot can be manipulated by a human as in conventional tools, performing delicate operations requiring manual intervention. In the automatic mode, the robot can independently execute tasks according to a preset program and algorithm. Semi-autonomous robots are commonly used for tasks that require flexibility and efficiency. In the manual mode, operators can adjust and intervene as required to adapt to different production requirements; in the automatic mode, the robot can perform tasks at a faster speed and with higher accuracy, improving production efficiency and product quality. It should be noted that the difference between the semi-autonomous robot and the fully-autonomous robot is that the fully-autonomous robot can only perform tasks in an automatic mode, whereas the semi-autonomous robot has higher flexibility and customizable properties, and can meet wider production requirements.
The safety boundary in the present application is a boundary that the robot cannot exceed. Even if the robot needs to automatically avoid the obstacle during automatic operation, the safety boundary cannot be exceeded. The enclosed area is constructed based on the work path in the manual work mode of the work robot, and in general, the enclosed area is an area that does not include the work robot having completed the work in the manual work mode, but is defined according to the boundary of the area. Therefore, the boundary of the enclosed area (i.e. the safety boundary) has reserved space for the safety of the work robot.
Example 1
The embodiment 1 of the invention discloses a robot operation planning method, which fully utilizes the coordination relation of tasks among working areas, creates area information by utilizing the working tracks of other tasks before automatic operation of a robot, and can fully play the advantages of manual operation and automatic operation. The specific flow is shown in figure 1 of the specification. The specific scheme is as follows:
a robot operation planning method comprises the following steps:
101. determining a surface to be operated, and ensuring that a preset operation robot can safely operate on the surface to be operated;
102. starting a manual mode, and setting a manual operation starting point and a manual operation end point on a surface to be operated;
103. the operation robot is controlled to start from a manual operation starting point, preset manual operation is carried out, path information and environment information in the operation process of the operation robot are continuously recorded until the manual operation starting point is reached, and a manual mode is ended;
104. starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning a self-operation path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary;
105. enabling the operation robot to automatically operate according to an automatic operation path in the safety boundary until the operation of covering the enclosing area is completed, and ending the automatic mode;
106. and checking the operation effect and the area coverage effect of the surface to be operated.
According to the robot operation planning method, a brand new solution is provided for the deployment link of the robot, balance is sought between manual operation and automatic operation, and on the premise that the operation efficiency of the robot is guaranteed, the manual operation part is utilized to replace the deployment link and cover most of the welt operation area, so that complexity and cost of the deployment link are avoided, requirements of the robot on functions such as sensing and obstacle avoidance are reduced, the noninductive cooperation of the two modes is realized, and advantages of the manual operation and the automatic operation are fully exerted.
Firstly, determining a surface to be worked, and ensuring that a preset working robot can work safely on the surface to be worked. The surface to be worked is a region which can be an enclosing region of any polygon. The area involves an automatic operation and a manual operation, and the boundary of the automatic operation is unknown, and the manual operation is required to be defined, so that the manual operation and the automatic operation are in a cooperative relationship. The operation robot is a core device responsible for executing operation, an operator can control the operation robot to participate in the operation in the manual operation process, and the operation robot can realize the operation independently without manual participation in the automatic operation process.
The robot needs to work together with a human or other robot during the work, so that the safety thereof must be ensured. In practical applications, the surface to be worked often has some factors that are detrimental to the work, such as larger obstacles, dangerous objects placed, etc. Therefore, step 101 needs to remove unsafe factors on the surface to be worked, ensure that the working robot can work safely, and avoid collision with other objects or safety accidents by being equipped with various sensors to detect the surrounding environment.
And starting a manual mode, and setting a manual operation starting point and a manual operation end point on the surface to be operated. The purpose of manual work is to delineate the boundaries of the self-operating industry and requires the operator to control the work robot to delineate, thus requiring a starting point and an ending point to be preset. Preferably, the manual work and the manual work end point are the same location.
When the manual operation starting point and the manual operation ending point are the same point, the movement track of the operation robot can define a complete and closed boundary line, and the area surrounded by the boundary line is directly used as the automatic operation area of the operation robot. However, in some special situations, the manual operation starting point and the manual operation ending point cannot be the same point, a complete and closed area cannot be enclosed at the moment, a line can be fitted between the manual operation starting point and the manual operation ending point only through an algorithm, and the line is combined with the movement track of the operation robot to serve as an automatic operation area of the operation robot, as shown in fig. 2. In fig. 2, boundary a is a safety boundary, and an area within the safety boundary is an area that has been manually verified to enable the working robot to automatically work. The areas outside the boundary a are all dangerous areas, which cannot be considered. In the figure, the circular obstacle and the square obstacle are the boundaries of the surrounding area, which need to be automatically avoided when the working robot automatically works, and the boundary B is not a safety boundary.
And then, controlling the working robot to start from a manual working starting point, performing preset manual working, continuously recording path information and environment information in the working process of the working robot until reaching a manual working ending point, and ending the manual mode. The operator can move the working robot to the manual working starting point by pushing, driving or remote control, and the like, and then the manual working can be performed. In the manual operation process, an operator is required to control the movement of the operation robot, so that the smooth reaching of the end point is ensured.
The manual operation mode, that is, an operator manually controls the operation of the operation robot, can control the operation of the operation robot, can simply control the operation robot to move without operation, and is selected according to specific application scenes. In other words, in the automatic job mode, the work robot performs the related job of the first job type; in the manual operation mode, the operation robot executes related operation of the second operation type; the first job type may be the same as or different from the second job type.
The first robot is an automatic harvester, and the type of operation is to harvest specific crops. The farmland edge is often complex in environment, and accidents can occur when automatic harvesting is directly carried out. By adopting the robot operation planning method of the embodiment, the automatic harvester can be driven to harvest crops at the edge of the farmland before automatic harvesting, so that the automatic harvesting boundary is set, and then the automatic harvester is controlled to automatically harvest the crops in the boundary, so that the automatic harvesting efficiency of the automatic harvester can be ensured, and the farmland edge area can be well treated.
During execution of the manual work, path information and environment information of the work robot are recorded. The path information is the moving track of the working robot. The robot as a whole can be regarded as a point, and the moving track of the point is recorded. The environmental information can be used for detecting obstacles around the path through detection modules such as an ultrasonic device and a radar device, and can also be used for collecting images around the path through an image collecting unit such as a camera device, so that the surrounding obstacles or other environmental factors can be analyzed. By way of example, the robot is monitored in real time by the radar device and the camera device during movement, and the control system determines the obstacles around the robot according to the data fed back by the radar device, so that the obstacles can be avoided in the subsequent path planning part. Computer vision or machine learning techniques are then used to analyze and identify these obstacles. In practical applications, the working environments of different working robots are different, and specific environment information needs to be set according to the specific working environment, and then a determination is made as to which detection tool to select to detect the environment information. For example, when a high temperature area exists in a certain scene, the temperature sensor can be integrated to detect the temperature around the path, and the area with excessive temperature can be avoided in the subsequent path planning part.
The collection of the environment information and the path information can be carried out by selecting a mode of combining a plurality of collection schemes, and the relationship can be established with a related module of the automatic obstacle avoidance. For example, the path information and the environment information are collected through a related detection module of automatic obstacle avoidance. Based on the environmental information recorded in the manual mode, the obstacle on the working surface is deduced, so that the planned automatic working path avoids the obstacle and does not exceed the safety boundary, and the automatic obstacle avoidance of the working robot during automatic working is realized.
And starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning a self-operation path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary. The automatic operation is that the operation robot automatically performs the operation under the condition of not needing manual participation, the manual participation is not needed, the necessary operations such as parameter setting, maintenance and the like in the earlier stage are not included, and the degree of manual participation in the automatic mode is lower compared with the degree of manual participation in the manual mode. In other words, the automatic operation of the present embodiment is an automatic operation that can be realized in the conventional sense of the working robot, and the degree of the automatic operation depends on the degree of automation of the working robot.
And fitting an enclosing area with any shape based on the path information recorded in the manual mode, wherein the area is set by an operator in advance through the working robot, and is equivalent to the completion of the graph construction part. For example, during the movement, position coordinate information and direction information of the work robot may be recorded. The position coordinate information of the working robot is converted into point coordinates in a plane coordinate system, and the current position can be acquired by using a sensor on the robot or by installing a GPS or other positioning equipment on the robot. From the direction information of the robot, the direction angle at the moment of movement of the robot can be calculated. For example, if the direction of the robot is oriented in the north direction, the orientation angle is 0 degrees. And connecting the recorded point coordinates according to the sequence of movement, so as to obtain a path representing the movement track of the robot.
Under the conventional condition, the starting point of manual operation and the end point of manual operation are the same and similar, and a complete and closed area of the boundary line can be directly fitted according to the track. However, when the difference between the manual work start point and the manual work end point is large, the work robot is required to perform self-fitting. The operator can preset the fitting mode on the working robot in advance, for example, in the simplest mode, namely, connecting the manual working starting point and the manual working ending point to obtain a straight line, and combining the tracks to obtain a closed area. The method can also be complicated, the adjustment is carried out on the basis of the straight line, whether an obstacle exists between the manual operation starting point and the manual operation ending point is analyzed, then a curve is fitted and adjusted, and a closed area is obtained by combining the tracks. For the resulting line segment, an algorithm may be used to transform it into a polygon to represent the boundary line of the enclosed area. Common algorithms are convex hull algorithm, laplace smoothing algorithm, etc. These algorithms can join each inflection point of a line segment to form a closed polygon. And finally, trimming and smoothing the obtained enclosing area to remove unnecessary edge points and noise points, thereby obtaining a closed boundary line for autonomous navigation and obstacle avoidance of the robot in the area.
It should be noted that in practical applications, the movement track of the robot may be affected by environmental interference and errors, so real-time monitoring and correction are required when the boundary line is set, so as to improve the accuracy and stability of the boundary line.
According to the environment information, the obstacles in the closed area can be analyzed, and the factors of the obstacles can be considered when the path planning is carried out, so that the obstacle avoidance effect is realized. Meanwhile, when the working robot performs automatic operation, whether an obstacle exists in the advancing direction or not is detected through a preset sensing device, and the working robot is controlled to automatically avoid the obstacle when the obstacle exists. When the obstacle is automatically avoided, the working robot does not exceed the safety boundary and always moves in the safety boundary.
The sensing device comprises a laser radar, an ultrasonic sensor, a vision sensor or an infrared sensor. These sensors can detect the position, shape, distance and size of the obstacle. The control system receives the information sent by the sensor and calculates the action required to be taken by the robot. For example, if the robot detects an obstacle ahead, the control system calculates that the robot needs to turn left or right, or slow down to stop. In actual operation, the control system may record the type of obstacle, the position and the movement pattern encountered by the robot. The control system may use these data to continuously optimize the obstacle avoidance strategy of the robot to improve the performance and stability of the robot. The realization of automatic obstacle avoidance needs to comprehensively consider factors such as the precision, the reaction speed, the working distance and the like of the sensor, and the control system is debugged and optimized so as to ensure that the robot can effectively avoid the obstacle in various environments.
The operation robot can work other works in the automatic operation process. The operation robot only needs to automatically operate according to the automatic operation path until the operation of covering the enclosing area is completed, and the automatic mode is ended.
Under normal conditions, an automatic operation path which is automatically completed by the operation robot can completely cover an enclosing area, and the operation in the area is completely realized. However, in view of the situations such as automatic obstacle avoidance and hardware faults, there may be a partial area where the coverage operation cannot be implemented, and at this time, it is required to detect the completion of the automatic operation of the operation robot.
The indexes for measuring the completion condition comprise a working effect and an area coverage effect. And if the operation effect or the area coverage effect of the surface to be operated does not accord with the expected value, controlling the operation robot to perform manual operation. The operation effect is that whether the operation robot can realize preset operation or not, and the area coverage effect is that the area of the automatic operation of the operation robot occupies the whole area to be operated or the enclosing area. After the operation of covering the enclosing area is completed, the operation robot automatically returns to the manual operation end point or the manual operation starting point, and the user is reminded of completing the automatic operation.
The job planning method of the job robot of the embodiment can be applied to various service robots. Preferably, the work robot includes a floor sweeping robot, a floor washing robot, a mowing robot, a snow sweeping robot, and a patrol robot. Such robots are used to provide a variety of services to humans, including cleaning, maintenance, inspection, security, medical, and the like. The service robot can be used in various occasions such as families, hospitals, factories, public places and the like to improve the production efficiency, reduce the cost and improve the life quality of people.
The embodiment provides a robot operation planning method, wherein the working track of manual operation is utilized to determine the automatic operation area before the robot automatically operates, so that the map building of another mode is realized, and the deployment link of the robot is completed. Compared with the prior art, the method has the advantages that complicated deployment processes such as drawing construction, editing and path setting are not needed, and complex operation processes such as task selection, position confirmation and task initiation are not needed, so that most of the welting operation area can be covered, the welting operation capability of the robot is improved on the basis of ensuring the safety performance, and the advantages of cooperative operation of people and the robot can be fully exerted.
Example 2
The embodiment 2 of the invention discloses a robot operation planning system, which is more practical by systemizing the robot operation planning method of the embodiment 1. The whole structure diagram of the robot operation planning system is shown in the attached figure 3 of the specification, and the specific scheme is as follows:
a robotic work planning system comprising:
a pre-preparation unit 1, configured to determine a surface to be worked, and ensure that a preset working robot can safely work on the surface to be worked;
a manual operation unit 2 for starting a manual mode and setting a manual operation start point and a manual operation end point on a work surface; the operation robot is controlled to start from a manual operation starting point, preset manual operation is carried out, path information and environment information in the operation process of the operation robot are continuously recorded until the manual operation starting point is reached, and a manual mode is ended;
an automatic operation unit 3 for starting an automatic mode, fitting an enclosing region of any shape based on path information and environment information recorded in a manual mode, planning a self-operation path in the enclosing region, and taking the boundary of the enclosing region as a safety boundary; enabling the operation robot to automatically operate according to an automatic operation path in the safety boundary until the operation of covering the enclosing area is completed, and ending the automatic mode;
and a detection unit 4 for checking the work effect and the area coverage effect of the work surface to be worked.
Wherein the automatic job unit 3 further includes: after finishing the operation of covering the enclosing area, enabling the operation robot to automatically return to a manual operation end point or a manual operation starting point, and reminding a user of finishing automatic operation; and/or when the operation robot performs automatic operation, detecting whether an obstacle exists in the advancing direction or not through a preset sensing device, and controlling the operation robot to perform automatic obstacle avoidance when the obstacle exists; and/or, based on the environmental information recorded in the manual mode, deducing an obstacle on the working surface to be worked out, so that the planned automatic working path avoids the obstacle.
In a specific embodiment, the detection unit further comprises: and if the working effect or the area coverage effect of the working surface does not accord with the expected value, controlling the working robot to perform manual operation.
The present embodiment proposes a robot job planning system, and the robot job planning method of embodiment 1 is systemized, so that the robot job planning system is more practical.
Example 3
The present embodiment 2 discloses a cleaning method, and applies the robot job planning method of the embodiment 1 to the cleaning field. The cleaning method is shown in fig. 4, and the specific scheme is as follows:
a cleaning method, employing the robot job planning method of embodiment 1, includes:
201. determining a surface to be cleaned, and ensuring that a preset cleaning robot can safely clean the surface to be cleaned;
202. starting a manual mode, and setting a manual cleaning starting point and a manual cleaning end point on a surface to be cleaned;
203. controlling the cleaning robot to start from a manual cleaning starting point, performing preset manual cleaning, continuously recording path information and environment information in the cleaning process of the cleaning robot until reaching a manual cleaning finishing point, and ending a manual mode;
204. starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning an automatic cleaning path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary;
205. enabling the cleaning robot to automatically clean according to an automatic cleaning path in the safety boundary until the cleaning of the covered enclosing area is completed, and ending the automatic mode;
206. the cleaning effect and the area coverage effect of the surface to be cleaned were checked.
The invention provides a robot operation planning method, a system and application thereof, wherein the working track of manual operation is utilized to determine the automatic operation area before the automatic operation of a robot, so that the construction of another mode is realized, and the deployment link of the robot is completed. Compared with the prior art, the method has the advantages that complicated deployment processes such as drawing construction, editing and path setting are not needed, and complex operation processes such as task selection, position confirmation and task initiation are not needed, so that most of the welting operation area can be covered, the welting operation capability of the robot is improved on the basis of ensuring the safety performance, and the advantages of cooperative operation of people and the robot can be fully exerted.
Those skilled in the art will appreciate that the drawing is merely a schematic illustration of a preferred implementation scenario and that the modules or flows in the drawing are not necessarily required to practice the invention. Those skilled in the art will appreciate that modules in an apparatus in an implementation scenario may be distributed in an apparatus in an implementation scenario according to an implementation scenario description, or that corresponding changes may be located in one or more apparatuses different from the implementation scenario.
Claims (10)
1. A robot job planning method, comprising:
determining a surface to be operated, and ensuring that a preset operation robot can safely operate on the surface to be operated;
starting a manual mode, and setting a manual operation starting point and a manual operation end point on the surface to be operated;
controlling the operation robot to start from the manual operation starting point, performing preset manual operation, continuously recording path information and environment information in the operation process of the operation robot until reaching the manual operation ending point, and ending a manual mode;
starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning a self-operation path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary;
automatically operating the operation robot in the safety boundary according to the automatic operation path until the operation covering the enclosing area is completed, and ending an automatic mode;
and checking the operation effect and the area coverage effect of the surface to be operated.
2. The robot work planning method according to claim 1, wherein after the work covering the enclosed area is completed, the work robot is automatically returned to the manual work end point or the manual work start point, and a user is reminded of completion of the automatic work.
3. The robot work planning method according to claim 1, wherein the work robot is controlled to perform a manual work if the work effect or the area coverage effect of the work surface does not conform to a desired value.
4. The robot work planning method according to claim 1, wherein the obstacle on the work surface is deduced based on the environmental information recorded in the manual mode, and the planned automatic work path is made to avoid the obstacle while not entering an area other than the safety boundary in conjunction with the safety boundary.
5. The robot work planning method according to claim 1, wherein the work robot detects whether an obstacle exists in the advancing direction by a preset sensing device when performing automatic work, and controls the work robot to automatically avoid the obstacle when the obstacle exists, and the work robot is always within the safety boundary during the obstacle avoidance process.
6. The robotic work planning method of claim 1, wherein the work robot comprises a floor sweeping robot, a floor washing robot, a mowing robot, a snowplow robot, a patrol robot.
7. A robotic work planning system, comprising:
the pre-stage preparation unit is used for determining a surface to be operated and ensuring that a preset operation robot can safely operate on the surface to be operated;
a manual operation unit for starting a manual mode, and setting a manual operation starting point and a manual operation end point on the surface to be operated;
controlling the operation robot to start from the manual operation starting point, performing preset manual operation, continuously recording path information and environment information in the operation process of the operation robot until reaching the manual operation ending point, and ending a manual mode;
the automatic operation unit is used for starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning a self-operation path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary;
automatically operating the operation robot in the safety boundary according to the automatic operation path until the operation covering the enclosing area is completed, and ending an automatic mode;
and the detection unit is used for checking the operation effect and the area coverage effect of the surface to be operated.
8. The robotic job planning system of claim 7, wherein the automated job unit further comprises:
after the operation covering the enclosing area is completed, enabling the operation robot to automatically return to the manual operation end point or the manual operation starting point, and reminding a user of completing automatic operation;
and/or, when the operation robot performs automatic operation, detecting whether an obstacle exists in the advancing direction or not through a preset sensing device, and controlling the operation robot to perform automatic obstacle avoidance when the obstacle exists;
and/or based on the environmental information recorded in the manual mode, the obstacle on the surface to be worked is deduced, and the planned automatic working path is combined with the safety boundary, so that the planned automatic working path avoids the obstacle and does not enter the area beyond the safety boundary.
9. The robotic job planning system of claim 7, wherein the detection unit further comprises:
and if the operation effect or the area coverage effect of the surface to be operated does not accord with the expected value, controlling the operation robot to perform manual operation.
10. A cleaning method, characterized in that the robot job planning method according to any one of claims 1 to 6 is employed, the cleaning method comprising:
determining a surface to be cleaned, and ensuring that a preset cleaning robot can safely clean the surface to be cleaned;
starting a manual mode, and setting a manual cleaning starting point and a manual cleaning end point on the surface to be cleaned;
controlling the cleaning robot to start from the manual cleaning starting point, performing preset manual cleaning, continuously recording path information and environment information in the cleaning process of the cleaning robot until reaching the manual cleaning finishing point, and ending a manual mode;
starting an automatic mode, fitting an enclosing area with any shape based on path information and environment information recorded in a manual mode, planning an automatic cleaning path in the enclosing area, and taking the boundary of the enclosing area as a safety boundary;
automatically cleaning the cleaning robot in the safety boundary according to the automatic cleaning path until the cleaning covering the enclosing area is completed, and ending an automatic mode;
and checking the cleaning effect and the area coverage effect of the surface to be cleaned.
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