CN116718192A - Path planning system of robot - Google Patents
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- CN116718192A CN116718192A CN202310672405.9A CN202310672405A CN116718192A CN 116718192 A CN116718192 A CN 116718192A CN 202310672405 A CN202310672405 A CN 202310672405A CN 116718192 A CN116718192 A CN 116718192A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a path planning system of a robot. The system comprises: the environment map module is used for acquiring the current position of the robot, determining the position point on the digital map corresponding to the current position, and acquiring environment information corresponding to the robot according to the position point; the condition constraint module is used for determining external environment constraints according to the environment information, and determining constraint conditions of the robot according to the external environment constraints, performance constraints of the robot and task constraints; and the path planning module is used for determining the moving path of the robot according to the task of the robot and the constraint condition. By adopting the technical scheme of the application, the robot can autonomously plan the moving path according to the constraint conditions and the tasks when facing complex and changeable environments, so that collision risks are avoided greatly.
Description
Technical Field
The application relates to the technical field of artificial intelligence, in particular to a path planning system of a robot.
Background
At present, robots are applied to various fields in life, and most of the robots are controlled by computers and have the functions of moving, automatic navigation, multi-sensor control, network interaction and the like. Along with the increase of tasks of robots and the increasing complexity of working environments of robots, the robots often need to analyze data information according to collected data information when planning paths according to tasks to be completed, so that a mode for executing the tasks can be identified, and finally, the robots must move according to a formulated planning route according to analysis results to execute the tasks to be completed. For the robot, if the quality of the collected data is poor, or the system hardware is problematic, the network environment is poor, when the robot system is attacked maliciously, the artificial intelligence algorithm is easy to fail, the moving path of the robot is deviated, and a collision event is caused; it can be seen that autonomous planning of a movement path by a robot without completely relying on sensors or artificial intelligence algorithms is a problem to be solved.
Disclosure of Invention
The application provides a path planning system of a robot, which solves the problems that the robot has great risk to move according to a set moving path or can not autonomously plan the moving path in the process of executing tasks when the robot faces emergency, so that the robot is difficult to re-correct the path and autonomously avoid the risk.
The application provides a path planning system of a robot, which comprises:
the environment map module is used for acquiring the current position of the robot, determining a position point on a digital map corresponding to the current position, and acquiring environment information corresponding to the robot according to the position point, wherein the environment information comprises topographic information, meteorological information and mobile threat information;
the condition constraint module is used for determining external environment constraints according to the environment information, and determining constraint conditions of the robot according to the external environment constraints, performance constraints of the robot and task constraints;
and the path planning module is used for determining the moving path of the robot according to the task of the robot and the constraint condition.
Optionally, the system further comprises:
the communication module is used for sending the moving path to the ground station or receiving a control instruction of the ground station;
and the man-machine interaction module is used for displaying the digital map, the global path and the moving path, editing and outputting the task, wherein the global path is a moving route preset for the robot.
Further, the system further comprises:
and the storage module is used for storing the environment information, the movement log of the robot and the communication data with the server.
Optionally, the path planning module includes:
the determining unit is used for determining a forbidden area in the digital map according to the constraint condition;
the task unit is used for generating a path planning task according to the global path and the forbidden area;
and the planning unit is used for detecting the external environment constraint according to the path planning task and determining the moving path meeting the constraint condition in the plurality of path information.
Optionally, the task unit includes:
the sensor subunit is used for acquiring sensor information, navigation information and communication information;
the evaluation subunit is used for performing environment evaluation after integrating the sensor information, the navigation information and the communication information;
and the task sub-unit is used for determining the path planning task according to the environment evaluation result.
Optionally, the planning unit includes:
the sorting subunit is used for sorting the path information according to the size of the fitness value, and the fitness value is determined according to a path evaluation function;
and the output subunit is used for determining the moving path in the path information according to the sorting result.
Optionally, the planning unit is specifically configured to determine a next location point according to whether a first path of the robot passes through the forbidden area, where the first path is a moving route from a current location point to a first location point of the robot, and the first location point is one of the next moving location points searched by the robot when the robot is at the current location point;
determining a working area of the robot according to the path planning task, wherein a plurality of position points exist in the working area;
searching for a new first location point within the work area when the first path passes through the forbidden area;
when the first path does not pass through the forbidden area, judging whether a second path formed by the first position point and a second position point passes through the forbidden area, wherein the second position point is the next moving position point searched when the robot moves to the position of the first position point.
Further, the determining whether the second path formed by the first location point and the second location point passes through the forbidden area includes:
searching a new second position point based on the first position point in the operation area if the second path passes through the forbidden area;
and if the second path does not pass through the forbidden area, searching a third position point based on the second position point until the task is completed, wherein the first position point, the second position point and the third position point are position points in the moving path.
Optionally, the system further comprises a control function module for controlling the movement state of the robot, calculating the navigation information and managing the progress of the task.
Optionally, the system further includes a state monitoring module, configured to display movement parameters in the process of executing the task by the robot, where the movement parameters include: speed, acceleration, angular velocity, and angular acceleration.
The application discloses a path planning system of a robot. The system comprises: the environment map module is used for acquiring the current position of the robot, determining the position point on the digital map corresponding to the current position, and acquiring environment information corresponding to the robot according to the position point; the condition constraint module is used for determining external environment constraints according to the environment information, and determining constraint conditions of the robot according to the external environment constraints, performance constraints of the robot and task constraints; and the path planning module is used for determining the moving path of the robot according to the task of the robot and the constraint condition. By adopting the technical scheme of the application, the robot can autonomously plan the moving path according to the constraint conditions and the tasks when facing complex and changeable environments, so that collision risks are avoided greatly.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of an application scenario of a path planning system of a robot in which an embodiment of the present application may be implemented;
fig. 2 is a schematic structural diagram of a path planning system of a robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a path planning module in a path planning system of a robot according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a task unit in a path planning system of a robot according to an embodiment of the present application;
fig. 5 is a schematic structural view of a planning unit in a path planning system of a robot according to an embodiment of the present application;
fig. 6 is a schematic diagram of path coding according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is an application scenario diagram 100 of a path planning system of a robot according to an embodiment of the present application.
In the application scenario of fig. 1, the path planning system of the robot is set up on the computing device 110 shown in fig. 1, as shown in fig. 1, the path planning system includes an environment map module 101, configured to obtain a current position of the robot, determine a location point on a digital map corresponding to the current position, and obtain environment information corresponding to the robot according to the location point, where the environment information includes topographic information and mobile threat information. The path planning system further comprises a condition constraint module 102 for determining an external environment constraint according to the environment information, and determining a constraint condition of the robot according to the external environment constraint, a performance constraint of the robot and a task constraint. The path planning system further comprises a path planning module 103 for determining a movement path of the robot according to the task of the robot and the constraints. It should be noted that the above application scenario is only an example, and is not limited to the embodiment of the present application.
According to an embodiment of the present application, there is provided a path planning system for a robot, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein. As shown in fig. 2, the path planning system of the robot includes: an environment map module 210, a condition constraint module 220, and a path planning module 230.
Wherein:
the environment map module 210 is configured to obtain a current position of a robot, determine a location point on a digital map corresponding to the current position, and obtain environment information corresponding to the robot according to the location point, where the environment information includes topographic information and mobile threat information.
The path planning system of the robot acquires a known digital map, determines a corresponding position point in the digital map according to the current position, and further determines the topographic information of the position point in the digital map and the movement threat information faced by other robots. And determining new threat information generated for the robot according to the environment information, and further modifying the digital map. Illustratively, robots are exposed to a number of influencing factors as they move in a scene, such as: liquid scattered from the ground, dynamic moving human beings in a scene, the passing of fire-fighting channels, the blocking of obstacles in front, and the like. Generally, robots will typically have some ability to identify obstacles, either from machine vision systems or relying on multi-sensor fusion techniques; if the images collected by the camera of the vision system are affected by light, deviation is easy to exist, and the recognition efficiency of the sensor is often limited by the characteristic of the performance of the sensor, so that the robot cannot work normally and stably, and even collision accidents occur. The digital map is pre-arranged in a software program of the robot, and environmental information at the actual position of the robot is further acquired according to the position points in the digital map, including but not limited to terrain information and other movement threat information, and if an unknown obstacle which cannot be identified by the robot appears in front, the unknown obstacle is regarded as other movement threat information.
The condition constraint module 220 is configured to determine an external environment constraint according to the environment information, and determine a constraint condition of the robot according to the external environment constraint, a performance constraint of the robot, and a task constraint.
The path planning of the robot is equivalent to outputting a piece of path information meeting the conditions after inputting a plurality of conditions into the planning system. Wherein the plurality of conditions are the constraint conditions; according to specific environment information of the robot movement, selecting a proper method for environment modeling, determining all constraints of the robot in the movement process, and analyzing the constraints; and carrying out real-time path planning on the basis of the task to be executed by the robot and a preset global path for controlling the robot, so that the robot finds an optimal moving path meeting the constraint condition under the condition of facing uncontrollable factors in the actual moving process. The global path is a preset moving route of the server according to environmental constraints possibly faced in a moving area corresponding to the digital map and performance constraints of the robot; the performance constraints of the robot define index data for its specific actions to be performed during movement. The dynamic threats encountered by the robot during actual movement are the external environmental constraints, such as: suddenly changing population density information in an environment, unknown forward obstacles (e.g., temporarily placed goods to be handled in the environment), etc. are all considered dynamic threats; because the robot inevitably generates barriers and threats between the starting point corresponding to the task and the target point, the model can meet the constraint conditions and avoid all barriers and threats in the moving process by modeling the external environment constraint. The task constraint is determined according to the task to be executed by the robot, different tasks correspond to different task constraints, and a proper environment modeling mode is selected according to the different task constraints.
The external environmental constraints include, but are not limited to, terrain constraints. Specifically, the robot is divided into an indoor environment terrain and an outdoor environment terrain according to different mobile environments of the robot. The topography is flat in the indoor environment topography, and the obstacle that includes is the indoor facility of fixed setting in the environment, sets up the robot is in the indoor topography environment with invariable speed removal, and the indoor facility place region of environment sets up as forbidden region. For outdoor environment terrain, the terrain changes in a complex manner, and the green belt serves as a main obstacle in the terrain environment, which determines that the robot needs to plan a three-dimensional path. Accordingly, the established green belt simulation formula is shown as the following formula (1):
wherein Z (x, y) is the height of the green belt in the outdoor environment, Z 0 To define the height of the horizontal plane, z is higher than the horizontal plane z 0 Is of a height of (2); (x) 0 ，y 0 ) The horizontal and vertical coordinates of the position point of the green belt; a. b are variables related to the gradient of the green belt along the direction of the axis of abscissa and ordinate, and the values of a and b are inversely proportional to the gradient of the green belt.
And a path planning module 230, configured to determine a movement path of the robot according to the task of the robot and the constraint condition.
In one aspect, the path planning may be performed by the robot according to control instructions transmitted by the server, including a movement speed, a target point, a task, and the like, through parameter setting of the server. On the other hand, if the robot encounters other threats, the path planning system plans the path in real time through manually set parameters and a path planning algorithm, and corrects a preset global path to form an actual moving route, wherein the actual moving route is the moving path. The global path is global optimization according to environment priori information, the moving path is path local optimization when handling sudden threat, planning time is greatly shortened, and real-time performance is achieved.
Optionally, the system further comprises: the communication module is used for sending the moving path to the ground station or receiving a control instruction of the ground station;
and the man-machine interaction module is used for displaying the digital map, the global path and the moving path, editing and outputting the task, wherein the global path is a moving route preset for the robot.
Threat information such as forbidden areas and the like is displayed on the digital map. The man-machine interaction module supports automatic or manual generation of the task and can also realize the scaling and translation functions of the digital map.
Further, the system further comprises:
and the storage module is used for storing the environment information, the movement log of the robot and the communication data with the server.
The storage module is used for recording the movement log of the robot in real time, and storing the environment information detected in the movement process and the path information planned by the path planning module. After the task is executed, the server can also analyze the storage information of the storage module, so that the control operation of the robot is further improved. And the man-machine interaction module is respectively in bidirectional interaction with the communication module, the path planning module and the storage module.
As shown in fig. 3, the path planning module 230 includes: a determining unit 231, a task unit 232, and a planning unit 233, wherein:
a determining unit 231 configured to determine a forbidden region in the digital map according to the constraint condition;
a task unit 232, configured to generate a path planning task according to the global path and the forbidden area;
and a planning unit 233, configured to detect the external environment constraint according to the path planning task, and determine the moving path that satisfies the constraint condition in the multiple path information.
As shown in fig. 4, the task unit 232 includes: a sensing subunit 201, an evaluation subunit 202, and a task subunit 203, wherein: a sensor subunit 201, configured to acquire sensor information, navigation information, and communication information; an evaluation subunit 202, configured to integrate the sensor information, the navigation information, and the communication information and then perform environmental evaluation; and the task subunit 203 is configured to determine the path planning task according to the environmental evaluation result. The path planning tasks include: the task is distributed in a target mode and the task time sequence is set; after the task allocation result is sent to the planning unit, a feedback result of the path cost path generated by the path information planned by the planning unit 233 is waited.
As shown in fig. 5, the planning unit 233 includes: a sorting subunit 234, configured to sort the path information according to a magnitude of an fitness value, where the fitness value is determined according to a path evaluation function; an output subunit 235, configured to determine the movement path in the path information according to the sorting result.
When the task is of a moving route operation type, generating the path planning task according to a moving route of the robot and a position point list of the global path; and when the task type is regional operation, generating the path planning task according to the moving region and the boundary point list of the robot. On the basis of meeting the task constraint and the self-performance constraint of the robot, determining a plurality of path information according to the external environment constraint detected by the robot, wherein each path information corresponds to a moving route meeting the constraint condition, and generating an initial population by encoding the plurality of path information, and the individuals of the initial population are single paths. Calculating path fitness values according to the initial population, and sequencing all paths according to the fitness values; further, calculating an average value of the population fitness values, and selecting a path with the fitness value larger than the average value; and calculating the similarity degree of the paths, taking the path with the highest fitness value as a template, removing the path with high similarity, and determining the moving path with the minimum path cost.
The plurality of path information is encoded by adopting the following encoding method: as shown in fig. 6, in the rectangular coordinate system xoy, the starting point of the path and the abscissa of the target point are equally divided into N segments with length a according to a fixed step length. As the abscissas of the corresponding steps of different paths are the same and the difference is only that the abscissas are different, the ordinate of the position point on the path is used as a gene to be encoded by adopting a genetic algorithm, and the full a is more than or equal to a by adjusting the step length and the turning angle according to the performance constraint of the robot min And |Deltaθ i |≤θ max . During the movement of the robot, the coordinates of the robot at the time t are set to be (x (t), y (t)) in relation to the forbidden region, and the coordinates in the forbidden region are set to be (x) w (t)，y w (t)), then the path cost of the robot is represented by the following formula (2):
wherein J is t To disable threat cost of an area, J l The value range is 0-1, K p As a switching function, the calculation method is shown in the following formula (3):
r in the formula (4) is the distance between the robot and the central point of the forbidden area at the moment t; r is R p A coverage radius for the forbidden area; v (V) min A minimum speed at which the robot can cross the forbidden zone; v (V) max For the maximum moving speed of the robot, the switch function K p The method is used for judging the feasibility of the moving path and guaranteeing the moving safety of the robot. Thus, when X i Representing the ith path, the fitness function of the path is shown in the following equation (5):
optionally, the planning unit 233 is specifically configured to determine a next location point according to whether a first path of the robot passes through the forbidden area, where the first path is a moving route of the robot from a current location point to a first location point, and the first location point is one of the next moving location points searched by the robot at the current location point; determining a working area of the robot according to the path planning task, wherein a plurality of position points exist in the working area; searching for a new first location point within the work area when the first path passes through the forbidden area; when the first path does not pass through the forbidden area, judging whether a second path formed by the first position point and a second position point passes through the forbidden area, wherein the second position point is the next moving position point searched when the robot moves to the position of the first position point.
Further, the determining whether the second path formed by the first location point and the second location point passes through the forbidden area includes: searching a new second position point based on the first position point in the operation area if the second path passes through the forbidden area; and if the second path does not pass through the forbidden area, searching a third position point based on the second position point until the task is completed, wherein the first position point, the second position point and the third position point are position points in the moving path.
Optionally, the system further comprises a control function module for controlling the movement state of the robot, calculating the navigation information and managing the progress of the task. The control function module supports the control of functions such as unlocking, off-line mode and on-line mode switching, fixed speed movement and charging of the robot.
Optionally, the system further includes a state monitoring module, configured to display movement parameters in the process of executing the task by the robot, where the movement parameters include: speed, acceleration, angular velocity, and angular acceleration. After the robot establishes communication with the server according to the communication module, the robot continuously sends message packets to the server according to the request at a certain frequency, and feeds back the mobile data monitored by the state monitoring module.
The application discloses a path planning system of a robot. The system comprises: the environment map module is used for acquiring the current position of the robot, determining the position point on the digital map corresponding to the current position, and acquiring environment information corresponding to the robot according to the position point; the condition constraint module is used for determining external environment constraints according to the environment information, and determining constraint conditions of the robot according to the external environment constraints, performance constraints of the robot and task constraints; and the path planning module is used for determining the moving path of the robot according to the task of the robot and the constraint condition. By adopting the technical scheme of the application, the robot can autonomously plan the moving path according to the constraint conditions and the tasks in complex and changeable environments, so that collision risks are avoided greatly.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired result of the technical solution provided by the present application is achieved, and the present application is not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (10)
1. A path planning system for a robot, the system comprising:
the environment map module is used for acquiring the current position of the robot, determining a position point on a digital map corresponding to the current position, and acquiring environment information corresponding to the robot according to the position point, wherein the environment information comprises topographic information and mobile threat information;
the condition constraint module is used for determining external environment constraints according to the environment information, and determining constraint conditions of the robot according to the external environment constraints, performance constraints of the robot and task constraints;
and the path planning module is used for determining the moving path of the robot according to the task of the robot and the constraint condition.
2. The system of claim 1, further comprising:
the communication module is used for sending the moving path to the robot or receiving a control instruction of a server;
and the man-machine interaction module is used for displaying the digital map, the global path and the moving path, editing and outputting the task, wherein the global path is a moving route preset for the robot.
3. The system of claim 2, further comprising:
and the storage module is used for storing the environment information, the movement log of the robot and the communication data with the server.
4. The system of claim 2, wherein the path planning module comprises:
the determining unit is used for determining a forbidden area in the digital map according to the constraint condition;
the task unit is used for generating a path planning task according to the global path and the forbidden area;
and the planning unit is used for detecting the external environment constraint according to the path planning task and determining the moving path meeting the constraint condition in the plurality of path information.
5. The system of claim 4, wherein the task unit comprises:
the sensor subunit is used for acquiring sensor information, navigation information and communication information;
the evaluation subunit is used for performing environment evaluation after integrating the sensor information, the navigation information and the communication information;
and the task sub-unit is used for determining the path planning task according to the environment evaluation result.
6. The system according to claim 4, wherein the planning unit is specifically configured to determine a next location point according to whether a first path of the robot passes through the forbidden area, the first path being a movement route of the robot from a current location point to a first location point, the first location point being one of the next movement location points searched by the robot at the current location point;
determining a working area of the robot according to the path planning task, wherein a plurality of position points exist in the working area; searching for a new first location point within the work area when the first path passes through the forbidden area;
when the first path does not pass through the forbidden area, judging whether a second path formed by the first position point and a second position point passes through the forbidden area, wherein the second position point is the next moving position point searched when the robot moves to the position of the first position point.
7. The system of claim 6, wherein the determining whether a second path comprised of the first location point and a second location point passes through the keep-out area comprises:
searching a new second position point based on the first position point in the operation area if the second path passes through the forbidden area;
and if the second path does not pass through the forbidden area, searching a third position point based on the second position point until the task is completed, wherein the first position point, the second position point and the third position point are position points in the moving path.
8. The system of claim 6, wherein the planning unit comprises:
the sorting subunit is used for sorting the path information according to the size of the fitness value, and the fitness value is determined according to a path evaluation function;
and the output subunit is used for determining the moving path in the path information according to the sorting result.
9. The system of claim 1, further comprising a control function module for controlling a movement state of the robot, calculating the navigation information, and managing progress of the task.
10. The system of claim 1, further comprising a status monitoring module for displaying movement parameters of the robot during performance of the task, the movement parameters comprising: speed, acceleration, angular velocity, and angular acceleration.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310672405.9A CN116718192A (en) | 2023-06-07 | 2023-06-07 | Path planning system of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310672405.9A CN116718192A (en) | 2023-06-07 | 2023-06-07 | Path planning system of robot |
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- 2023-06-07 CN CN202310672405.9A patent/CN116718192A/en not_active Withdrawn
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