CN117032218A - Robot cruise control method and device, robot and storage medium - Google Patents
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Abstract
The present disclosure relates to a method, apparatus, and storage medium for robot cruise control, which can achieve robot cruise without relying on a complex algorithm, and reduce the consumption of computing resources. The method comprises the following steps: receiving a cruising instruction; according to the cruising instruction, acquiring environmental data acquired by a sensor of the robot, wherein the environmental data at least comprises a detection distance between the sensor and a detected object; and controlling the robot to cruise based on preset control parameters and the environmental data.
Description
Technical Field
The disclosure relates to the technical field of robots, and in particular relates to a method and a device for controlling cruising of a robot, the robot and a storage medium.
Background
In the related art, a robot cruises based on a sensor, a cruising path and a cruising end point need to be specified, and in the cruising process, a dynamic obstacle perceived by the sensor needs to be dynamically loaded into a static map established in advance in a laser point cloud mode to update the map, so that the purpose of updating the cruising path is achieved. The realization of the robot cruising depends on complex algorithms such as a mapping algorithm, a positioning algorithm, a path planning algorithm, a control algorithm and the like, and a great deal of calculation resources are consumed.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a robot cruise control method, apparatus, robot, and storage medium.
According to a first aspect of embodiments of the present disclosure, there is provided a robot cruise control method, the method comprising:
receiving a cruising instruction;
according to the cruising instruction, acquiring environmental data acquired by a sensor of the robot, wherein the environmental data at least comprises a detection distance between the sensor and a detected object;
and controlling the robot to cruise based on preset control parameters and the environmental data.
Optionally, the acquiring the environmental data acquired by the sensor of the robot includes:
and acquiring a target detection distance between the sensor and the measured object, which are acquired in a preset direction by the sensor of the robot, and taking the target detection distance as the environment data.
Optionally, the controlling the robot to cruise based on the preset control parameter and the environmental data includes:
determining a first detection distance corresponding to a first direction in the environmental data, wherein the first direction represents the horizontal straight ahead of the sensor;
And under the condition that the first detection distance is smaller than a first preset distance threshold value, determining the advancing direction of the robot, and controlling the robot to steer along the direction opposite to the advancing direction based on the preset control parameter and the environment data.
Optionally, after the controlling the robot to steer in a direction opposite to the advancing direction based on the preset control parameter and the environmental data, the method further includes:
acquiring new environmental data acquired by the sensor, and determining a new first detection distance corresponding to the first direction, a second detection distance corresponding to the second direction and a third detection distance corresponding to a third direction in the new environmental data, wherein the second direction is 90 degrees in the horizontal direction with respect to the first direction, and the third direction is between the first direction and the second direction;
and determining that the robot steering is completed under the condition that the new first detection distance is larger than a second preset distance threshold value and the ratio between the second detection distance and the third detection distance is in a first preset ratio range.
Optionally, the preset control parameters include a first linear speed and/or a first angular speed of the robot for performing horizontal position adjustment, and the controlling the robot to perform cruising based on the preset control parameters and the environmental data includes:
Determining a fourth detection distance corresponding to a fourth direction and a fifth detection distance corresponding to a fifth direction in the environmental data, wherein the fourth direction and the fifth direction are horizontally symmetrical along the horizontal front of the sensor;
and controlling the robot to perform horizontal position adjustment based on the first linear speed and/or the first angular speed under the condition that the difference between the fourth detection distance and the fifth detection distance is larger than a preset difference.
Optionally, the preset control parameter includes a second angular velocity of the robot for adjusting a forward direction, and the controlling the robot for cruising based on the preset control parameter and the environmental data includes:
determining a sixth detection distance corresponding to a sixth direction and a seventh detection distance corresponding to a seventh direction in the environmental data, wherein the sixth direction is 90 degrees in the horizontal direction from the horizontal front of the sensor, and the seventh direction is between the horizontal front of the sensor and the sixth direction;
and controlling the robot to perform forward direction adjustment based on the second angular speed under the condition that the ratio between the sixth detection distance and the seventh detection distance exceeds a second preset ratio range.
Optionally, the method further comprises:
receiving a cruise stop instruction, and controlling the robot to stop cruising based on the cruise stop instruction; or alternatively, the first and second heat exchangers may be,
and controlling the robot to stop cruising under the condition that the cruising times of the robot are larger than the preset cruising times or the cruising time of the robot is larger than the preset cruising time.
According to a second aspect of embodiments of the present disclosure, there is provided a robotic cruise control device, the device comprising:
a receiving module configured to receive a cruise instruction;
the acquisition module is configured to acquire environmental data acquired by a sensor of the robot according to the cruising instruction, wherein the environmental data at least comprises a detection distance between the sensor and a detected object;
and the control module is configured to control the robot to cruise based on preset control parameters and the environment data.
According to a third aspect of embodiments of the present disclosure, there is provided a robot including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
receiving a cruising instruction;
according to the cruising instruction, acquiring environmental data acquired by a sensor of the robot, wherein the environmental data at least comprises a detection distance between the sensor and a detected object;
And controlling the robot to cruise based on preset control parameters and the environmental data.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the robot cruise control method provided by the first aspect of the present disclosure.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
firstly, a cruising instruction is received, then, environmental data acquired by a sensor of the robot is acquired according to the cruising instruction, and further, the robot is controlled to cruise based on preset control parameters and the environmental data, wherein the environmental data at least comprises detection distance between the sensor and an object to be detected. By adopting the method, the robot cruising can be controlled directly based on the environmental data collected by the sensor and the preset control parameters, a static map is not required to be established in advance, and laser point clouds are not required to be established, that is, the robot cruising can be realized without depending on a complex algorithm, the logic is simple, the consumption of calculation resources is small, and the calculation efficiency is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic diagram of a test environment, shown in accordance with an exemplary embodiment;
FIG. 2 is a flowchart illustrating a method of robotic cruise control according to an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating a sensor mounting location according to an exemplary embodiment;
FIG. 4 is a schematic diagram illustrating the detection direction of a sensor according to an exemplary embodiment;
FIG. 5 is a schematic diagram illustrating a robot steering according to an exemplary embodiment;
FIG. 6 is a flowchart illustrating another method of robotic cruise control according to an example embodiment;
FIG. 7 is a block diagram of a robotic cruise control device according to an exemplary embodiment;
fig. 8 is a block diagram of another robotic cruise control device, according to an example embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
Robotics is an important branch in the field of artificial intelligence, from industrial robots to service robots, which are changing people's lifestyle and work patterns. After the development of the robot is completed and before the mass production, the robot needs to be fully tested, such as functional test, performance test and the like, and in the case of a multi-legged robot, the tests of different gait and actions such as running, jumping and the like can be performed. Moreover, a test environment as shown in fig. 1 is generally constructed for a robot to perform a test, for example, a plurality of narrow and long test environments like a passage, a corridor or a corridor can be enclosed by a cardboard, a wood board, an iron board, a wall body and the like in an open space for the robot to perform a test by cruising back and forth, and the present disclosure does not limit materials for manufacturing the test environment, for example, the existing passage, corridor or corridor can also be utilized for performing a robot test.
In the related art, a complex algorithm adopted by the robot cruising is suitable for a complex environment, and the built robot testing environment is repeatedly monotonous and has higher similarity.
In view of the above, the present disclosure provides a method, an apparatus, a robot and a storage medium for controlling a cruise of a robot, so as to solve the above technical problems.
It should be noted that, the method for controlling the cruising of the robot provided in the embodiment of the present disclosure may be applied not only to the test scenario shown in fig. 1, but also to the actual use scenario, which is not limited in this disclosure. For example, in a warehouse scene, goods are generally placed on a goods shelf or orderly stacked on the ground, meanwhile, a reserved channel is convenient for warehouse inspection or goods transportation, the scene is monotonous, and the robot cruise control method provided by the embodiment of the disclosure can reduce the consumption of calculation resources and improve the calculation efficiency.
Fig. 2 is a flowchart illustrating a method of robot cruise control according to an exemplary embodiment, including the following steps, as shown in fig. 2.
In step S21, a cruise instruction is received.
In step S22, environmental data acquired by sensors of the robot is acquired in accordance with the cruise instruction.
The environment data at least comprises detection distance between the sensor and the detected object. The sensor may be an ultrasonic sensor, a laser sensor, an infrared sensor, etc. that may measure a distance, which is not limited in this disclosure. The object to be tested may be an object such as an obstacle, a wall, etc. that blocks the robot from cruising, and may be a boundary of the test environment in the test environment, which is not limited by the present disclosure.
By way of example, the robot of the disclosed embodiments may be a multi-legged robot, a tracked robot, a wheeled robot, etc., to which the disclosure is not limited. Referring to fig. 3, taking a multi-legged robot as an example, the sensor may be mounted on the head and neck of the robot, as long as the detection range of the sensor is at least 0 to 180 degrees in the horizontal direction in front of the robot, and the embodiment of the present disclosure is exemplified with 0 to 180 degrees from right to left, and the description will not be repeated.
In a possible manner, acquiring environmental data acquired by a sensor of the robot may include: and acquiring the target detection distance between the sensor acquired by the sensor of the robot in the preset direction and the detected object, and taking the target detection distance as environmental data.
For example, the detection distance between the sensor and the measured object may be collected as the environmental data in the directions of 0 degrees, 30 degrees, 90 degrees (right ahead of the horizontal), 150 degrees, 180 degrees, etc., and the preset direction may be determined according to the calculation requirement, which is not limited in the present disclosure.
In a possible manner, acquiring environmental data acquired by a sensor of the robot may include: acquiring initial acquisition data acquired by a sensor of a robot; and filtering the initial acquired data to obtain environmental data.
For example, the initial collected data collected by the sensor may be filtered to remove the laser noise, where the selection of the filter and the use of the filter may refer to related technologies, and this disclosure is not repeated herein.
In step S23, the robot is controlled to cruise based on preset control parameters and the environmental data.
For example, robots may be tested for reciprocal cruising in off-the-shelf hallways or aisles, or in test environments with similar aisles, hallways or aisles enclosed in the open space with cardboard, planks, iron plates, walls, etc. In addition, the robot may also perform inspection in an environment like a aisle, corridor or corridor in a practical application scenario, such as the warehouse scenario illustrated above. That is, the method for controlling the cruise of the robot provided by the embodiment of the present disclosure may be applied to a test environment, and may also be applied to an actual application in a similar scenario, which is not particularly limited in the present disclosure.
In a possible manner, controlling the robot to cruise based on the preset control parameters and the environmental data may include: determining a first detection distance corresponding to a first direction in the environmental data, wherein the first direction represents the horizontal front of the sensor; and under the condition that the first detection distance is smaller than a first preset distance threshold value, determining the advancing direction of the robot, and controlling the robot to steer along the direction opposite to the advancing direction based on preset control parameters and environment data.
It should be understood that, taking the example of the channel shown in fig. 1, the robot cruises from the first end of the channel to the second end of the channel, then cruises from the second end of the channel to the first end of the channel after steering, then cruises from the first end of the channel to the second end of the channel after steering, and so cruises back and forth. Thus, the horizontal front of the robot should be kept as far as possible in the direction facing the end of the channel during other times than during steering.
For example, a first detection distance (corresponding to a distance from the sensor to the end of the channel) corresponding to the right horizontal front side (90 degrees direction as shown in fig. 4) of the sensor is obtained, and when the first detection distance is smaller than a first preset distance threshold, it is indicated that the robot cruises to the vicinity of the end of the channel, and the robot needs to turn to continue cruising. The first preset distance threshold may be determined based on factors such as a length of the robot, a cruising speed, a braking performance, and the like, and may be, for example, 0.5 meters, which is not limited by the present disclosure.
For example, when the robot performs steering, the steering may be performed based on a preset angular velocity, and the linear velocity is 0 (i.e., in-situ steering). Of course, in other realizable modes, if the channel width allows, the steering can be performed along a certain arc track, and at this time, the linear speed and the angular speed of the robot are not 0, which is not limited by the disclosure.
In a possible manner, after controlling the robot to steer in a direction opposite to the advancing direction based on the preset control parameter and the environmental data, the method may further include: acquiring new environmental data acquired by a sensor, and determining a new first detection distance corresponding to a first direction, a second detection distance corresponding to a second direction and a third detection distance corresponding to a third direction in the new environmental data, wherein the second direction and the first direction are 90 degrees in the horizontal direction, and the third direction is between the first direction and the second direction; and determining that the robot steering is completed under the condition that the new first detection distance is larger than a second preset distance threshold value and the ratio between the second detection distance and the third detection distance is within a first preset ratio range.
For example, referring to fig. 5, the dashed line indicates a state of the robot in the in-situ steering process, if the robot steers 180 degrees, a virtual right triangle ABC is just formed, the AC side length is the detection distance (second detection distance) corresponding to the sensor 0 degree direction, the BC side length is the detection distance (third detection distance) corresponding to the sensor 30 degree direction, and the length from C to the end of the channel is the new first detection distance corresponding to the sensor 90 degree direction. Therefore, when the new first detection distance is greater than the second preset distance threshold and the ratio between the second detection distance and the third detection distance is within the first preset ratio range, it is indicated that the robot turns to just form a virtual right triangle ABC and is far from the end of the channel, i.e. the robot turns to completion. The first preset ratio range may be 0.866±threshold 1, where 0.866 is determined based on a side length ratio of a right triangle with an acute angle of 30 degrees, and the threshold 1 is determined according to the regularity of the channel, for example, may be 0.09, and the second preset distance threshold may be determined based on the length and the width of the channel, for example, may be not greater than the length of the channel and not less than 1.5 times the width of the channel, which is not limited by the present disclosure.
It should be understood that, in addition to determining whether the robot is turned based on the detection distances corresponding to the 0 degree direction, the 30 degree direction and the 90 degree direction of the sensor, the detection distances corresponding to the 180 degree direction, the 150 degree direction and the 90 degree direction of the sensor, the detection distances corresponding to the 0 degree direction, the 45 degree direction and the 90 degree direction of the sensor, the detection distances corresponding to the 0 degree direction, the 60 degree direction and the 90 degree direction of the sensor, and the like may be used, which are not limited in this disclosure, and the principle is similar to the above illustrated principle of determining whether the robot is turned based on the detection distances corresponding to the 0 degree direction, the 30 degree direction and the 90 degree direction of the sensor, so long as the corresponding ratio range is determined based on the side length ratio of the right triangle with different angles, which is not repeated herein.
It is worth noting that the robot remains as much as possible at the center line position of the tunnel (center position of the tunnel width) during cruising. Thus, in a possible manner, the preset control parameters include a first linear speed and/or a first angular speed of the robot for horizontal position adjustment, and controlling the robot for cruising based on the preset control parameters and the environmental data may include: determining a fourth detection distance corresponding to a fourth direction and a fifth detection distance corresponding to a fifth direction in the environmental data, wherein the fourth direction and the fifth direction are horizontally symmetrical along the horizontal front of the sensor; and controlling the robot to perform horizontal position adjustment based on the first linear speed and/or the first angular speed under the condition that the difference between the fourth detection distance and the fifth detection distance is larger than a preset difference.
For example, whether the robot is at the center position of the channel width may be determined by whether the distances between the robot and the two sides of the channel are equal or close to equal, for example, the distance between the robot and the two sides of the channel is represented by a fourth detection distance corresponding to a fourth direction and a fifth detection distance corresponding to a fifth direction, if the difference between the fourth detection distance and the fifth detection distance is smaller than or equal to a preset difference, the robot is at the center position of the channel width or is close to the center position of the channel width, otherwise, horizontal position adjustment needs to be performed on the robot, where the preset difference may be determined according to the regularity of the channel, the fourth direction may be a 0 degree direction, the fifth direction may be a 180 degree direction, and the fourth direction may be a 10 degree direction, and the fifth direction may be a 170 degree direction, as long as the fourth direction and the fifth direction are horizontally symmetrical along the right front of the level of the sensor, which is not limited by the present disclosure.
In addition, it is also possible to determine that the robot is at or near the center position of the channel width when the ratio between the fourth detection distance and the fifth detection distance is within the preset ratio range, otherwise, it is necessary to perform horizontal position adjustment on the robot. The preset ratio range can be 1+/-threshold value 1, and detection distances of the characterization sensor in two directions of horizontal symmetry are approximately equal.
For example, the robot may be controlled to make a horizontal position adjustment, e.g. to make a left or right shift, based on the first linear velocity and/or the first angular velocity, wherein it may be determined whether to make the adjustment based on the first linear velocity, or the first angular velocity, or based on the first linear velocity and the first angular velocity, depending on the cruising velocity of the robot, the offset distance between the robot and the centre line of the channel. And it should be understood that the robot is more focused on the running, jumping and other different gait and action tests or other functional tests or performance tests during the test, so that in order to avoid the robot consuming excessive computing resources for performing the horizontal position adjustment, the robot can be controlled to perform the horizontal position adjustment through the preset first linear velocity and/or the first angular velocity. However, in practical applications, the linear velocity and/or angular velocity required for the horizontal position adjustment may be determined based on the cruising speed of the robot and the offset distance between the robot and the center line of the channel, which is not limited in this disclosure.
In a possible manner, the preset control parameter includes a second angular velocity of the robot for adjusting a forward direction, and controlling the robot to cruise based on the preset control parameter and the environmental data may include: determining a sixth detection distance corresponding to a sixth direction and a seventh detection distance corresponding to a seventh direction in the environmental data, wherein the sixth direction and the horizontal front of the sensor form 90 degrees in the horizontal direction, and the seventh direction is between the horizontal front of the sensor and the sixth direction; and controlling the robot to perform forward direction adjustment based on the second angular velocity in the case that the ratio between the sixth detection distance and the seventh detection distance exceeds a second preset ratio range.
For example, during the cruising process, the robot keeps the advancing direction of the robot as far as possible along the center line of the channel, and by referring to the principle of judging whether the robot is completely turned, whether the advancing direction of the robot needs to be adjusted can be judged. For example, when the ratio between the sixth detection distance and the seventh detection distance is within the second preset ratio range, it is indicated that the sixth direction, the seventh direction and the channel boundary of the robot just form a virtual right triangle, which indicates that the robot does not need to adjust the advancing direction, i.e. the advancing direction of the robot is the direction along the center line of the channel, otherwise, the advancing direction of the robot deviates from the direction along the center line of the channel, i.e. the advancing direction adjustment is needed.
The second preset ratio range may be the same as the first preset ratio range, or may be different from the first preset ratio range, and may be adjusted according to the requirement. The sixth direction may be a 0 degree direction of the sensor, and the seventh direction may be a 30 degree direction of the sensor, and the sixth direction may also be a 180 degree direction of the sensor, and the seventh direction may be a 150 degree direction, and the disclosure will not be repeated herein. Accordingly, it is also possible to acquire the detection distances in two directions horizontally symmetrical right in front of the sensor to determine whether the robot needs to make a forward direction adjustment, which is not limited by the present disclosure.
In a possible manner, the method may further comprise: receiving a cruise stop instruction, and controlling the robot to stop cruising based on the cruise stop instruction; or controlling the robot to stop cruising under the condition that the cruising times of the robot are larger than the preset cruising times or the cruising time of the robot is larger than the preset cruising time.
For example, a cruise stop instruction may be sent to the robot, which controls the robot to stop cruising based on the received cruise stop instruction. Alternatively, the preset number of cruises or the preset cruising time may be preset, and in the case where the number of cruises of the robot is greater than the preset number of cruises or the cruising time of the robot is greater than the preset cruising time, the robot is controlled to stop cruising, which is not limited in the present disclosure.
It should be noted that, the preset values of the preset control parameter, the first preset ratio range, the preset difference value, the first preset distance threshold value, and the like may be set in the configuration file. In addition, the configuration file also includes the cruising speed of the robot and the cruising gait, action, etc. to be performed by the test, which is not limited by the present disclosure. Under the condition of receiving the cruise instruction, the preset value, the cruise gait, the cruise speed and other data in the configuration file can be obtained by reading the configuration file. In addition, the robot may also receive a test instruction, such as running, jumping or gait instructions, may also receive a modification instruction for modifying a configuration file to modify the configuration file, and so on, during the cruising process, and may also configure different configuration files for different cruising instructions to perform the cruising of the robot, for example, the cruising instruction 1 corresponds to the configuration file 1, and when the robot receives the cruising instruction 1, the robot reads the corresponding configuration file 1 to perform the cruising, which is not limited in the disclosure.
In addition, the environmental data may further include image data collected by a camera, and information such as a size of the object to be measured may be more accurately recognized based on the image data and the detection distance, so that the robot may perform cruise control, etc., which is not limited in the present disclosure.
By adopting the method, the robot cruising can be controlled directly based on the environmental data collected by the sensor and the preset control parameters, a static map is not required to be established in advance, and laser point clouds are not required to be established, that is, the robot cruising can be realized without depending on a complex algorithm, the logic is simple, the consumption of calculation resources is small, and the calculation efficiency is improved. Moreover, the function test, the performance test and the like are carried out on the robot based on the robot cruise control method, so that the interference of a complex algorithm on the test can be reduced, and the test efficiency is improved.
In a possible manner, referring to fig. 6, first, the robot receives a cruise command, performs cruise in response to the cruise command, reads a configuration file based on the cruise command, acquires distance data acquired by a sensor, performs filtering processing to obtain environment data, and then adjusts the posture and behavior of the robot in real time according to the real-time environment data, such as whether steering, forward direction adjustment, horizontal position adjustment, and the like are performed. Finally, based on the cruise stop instruction, or in the case that the number of cruising times of the robot is greater than the preset number of cruising times or the cruising time of the robot is greater than the preset cruising time, the robot is controlled to stop cruising.
Therefore, the robot cruising can be controlled directly based on the environmental data collected by the sensor and the preset control parameters, a static map is not required to be established in advance, and laser point clouds are not required to be established, that is, the robot cruising can be realized without depending on a complex algorithm, the logic is simple, the calculation resource consumption is low, and the calculation efficiency is improved. Moreover, the function test, the performance test and the like are carried out on the robot based on the robot cruise control method, so that the interference of a complex algorithm on the test can be reduced, and the test efficiency is improved.
Fig. 7 is a block diagram of a robotic cruise control device according to an example embodiment. Referring to fig. 7, the apparatus 700 includes a receiving module 701, an acquiring module 702, and a control module 703.
The receiving module 701 is configured to receive a cruise instruction.
The acquisition module 702 is configured to acquire environmental data acquired by a sensor of the robot according to the cruise instruction, wherein the environmental data at least comprises a detection distance between the sensor and a detected object.
A control module 703 configured to control the robot to cruise based on preset control parameters and the environmental data.
Optionally, the acquisition module 702 is configured to:
And acquiring a target detection distance between the sensor and the measured object, which are acquired in a preset direction by the sensor of the robot, and taking the target detection distance as the environment data.
Optionally, the control module 703 is configured to:
determining a first detection distance corresponding to a first direction in the environmental data, wherein the first direction represents the horizontal straight ahead of the sensor;
and under the condition that the first detection distance is smaller than a first preset distance threshold value, determining the advancing direction of the robot, and controlling the robot to steer along the direction opposite to the advancing direction based on the preset control parameter and the environment data.
Optionally, after controlling the robot to steer in a direction opposite to the advancing direction based on the preset control parameter and the environmental data, the apparatus 700 further includes an acquisition sub-module and a determination module:
the acquisition sub-module is configured to acquire new environmental data acquired by the sensor, and determine a new first detection distance corresponding to the first direction, a second detection distance corresponding to the second direction and a third detection distance corresponding to a third direction in the new environmental data, wherein the second direction is 90 degrees in the horizontal direction with respect to the first direction, and the third direction is between the first direction and the second direction;
The determining module is configured to determine that the robot steering is completed when the new first detection distance is greater than a second preset distance threshold and a ratio between the second detection distance and the third detection distance is within a first preset ratio range.
Optionally, the preset control parameters include a first linear speed and/or a first angular speed of the robot for horizontal position adjustment, and the control module 703 is configured to:
determining a fourth detection distance corresponding to a fourth direction and a fifth detection distance corresponding to a fifth direction in the environmental data, wherein the fourth direction and the fifth direction are horizontally symmetrical along the horizontal front of the sensor;
and controlling the robot to perform horizontal position adjustment based on the first linear speed and/or the first angular speed under the condition that the difference between the fourth detection distance and the fifth detection distance is larger than a preset difference.
Optionally, the preset control parameters include a second angular speed of the robot for forward direction adjustment, and the control module 703 is configured to:
determining a sixth detection distance corresponding to a sixth direction and a seventh detection distance corresponding to a seventh direction in the environmental data, wherein the sixth direction is 90 degrees in the horizontal direction from the horizontal front of the sensor, and the seventh direction is between the horizontal front of the sensor and the sixth direction;
And controlling the robot to perform forward direction adjustment based on the second angular speed under the condition that the ratio between the sixth detection distance and the seventh detection distance exceeds a second preset ratio range.
Optionally, the apparatus 700 further comprises a stopping module configured to:
receiving a cruise stop instruction, and controlling the robot to stop cruising based on the cruise stop instruction; or alternatively, the first and second heat exchangers may be,
and controlling the robot to stop cruising under the condition that the cruising times of the robot are larger than the preset cruising times or the cruising time of the robot is larger than the preset cruising time.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the robot cruise control method provided by the present disclosure.
Based on the same inventive concept, a robot comprising:
a processor;
a memory for storing processor-executable instructions;
Wherein the processor is configured to:
receiving a cruising instruction;
according to the cruising instruction, acquiring environmental data acquired by a sensor of the robot, wherein the environmental data at least comprises a detection distance between the sensor and a detected object;
and controlling the robot to cruise based on preset control parameters and the environmental data.
Based on the same inventive concept, the disclosed embodiments provide a computer-readable storage medium, on which computer program instructions are stored, which when executed by a processor, implement the steps of any one of the methods of the robot cruise control.
Fig. 8 is a block diagram illustrating a robot 800 according to an example embodiment. Referring to fig. 8, a robot 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output interface 812, a sensor component 814, and a communication component 816.
The processing component 802 generally controls overall operation of the robot 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the robotic cruise control method described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the robot 800. Examples of such data include instructions for any application or method operating on the robot 800, contact data, phonebook data, messages, pictures, videos, and the like. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The power supply assembly 806 provides power to the various components of the robot 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the robot 800.
The multimedia component 808 includes a screen between the robot 800 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the robot 800 is in an operation mode, such as a photographing mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the robot 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.
Input/output interface 812 provides an interface between processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of the robot 800. For example, the sensor assembly 814 may detect an on/off state of the robot 800, a relative positioning of the components, such as a display and keypad of the robot 800, the sensor assembly 814 may also detect a change in position of the robot 800 or a component of the robot 800, the presence or absence of a user's contact with the robot 800, an orientation or acceleration/deceleration of the robot 800, and a change in temperature of the robot 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate wired or wireless communication between the robot 800 and other devices. The robot 800 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the robot 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the above-described robot cruise control methods.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including instructions executable by processor 820 of robot 800 to perform the above-described robot cruise control method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
In another exemplary embodiment, a computer program product is also provided, which computer program product comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned robot cruise control method when being executed by the programmable apparatus.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A method of robot cruise control, the method comprising:
Receiving a cruising instruction;
according to the cruising instruction, acquiring environmental data acquired by a sensor of the robot, wherein the environmental data at least comprises a detection distance between the sensor and a detected object;
and controlling the robot to cruise based on preset control parameters and the environmental data.
2. The method of claim 1, wherein the acquiring environmental data acquired by the sensor of the robot comprises:
and acquiring a target detection distance between the sensor and the measured object, which are acquired in a preset direction by the sensor of the robot, and taking the target detection distance as the environment data.
3. The method of claim 1, wherein controlling the robot to cruise based on preset control parameters and the environmental data comprises:
determining a first detection distance corresponding to a first direction in the environmental data, wherein the first direction represents the horizontal straight ahead of the sensor;
and under the condition that the first detection distance is smaller than a first preset distance threshold value, determining the advancing direction of the robot, and controlling the robot to steer along the direction opposite to the advancing direction based on the preset control parameter and the environment data.
4. A method according to claim 3, wherein after said controlling the robot to steer in a direction opposite to the forward direction based on the preset control parameter and the environmental data, the method further comprises:
acquiring new environmental data acquired by the sensor, and determining a new first detection distance corresponding to the first direction, a second detection distance corresponding to the second direction and a third detection distance corresponding to a third direction in the new environmental data, wherein the second direction is 90 degrees in the horizontal direction with respect to the first direction, and the third direction is between the first direction and the second direction;
and determining that the robot steering is completed under the condition that the new first detection distance is larger than a second preset distance threshold value and the ratio between the second detection distance and the third detection distance is in a first preset ratio range.
5. The method according to claim 1, wherein the preset control parameters comprise a first linear speed and/or a first angular speed of the robot for horizontal position adjustment, and wherein controlling the robot for cruising based on the preset control parameters and the environmental data comprises:
Determining a fourth detection distance corresponding to a fourth direction and a fifth detection distance corresponding to a fifth direction in the environmental data, wherein the fourth direction and the fifth direction are horizontally symmetrical along the horizontal front of the sensor;
and controlling the robot to perform horizontal position adjustment based on the first linear speed and/or the first angular speed under the condition that the difference between the fourth detection distance and the fifth detection distance is larger than a preset difference.
6. The method of claim 1, wherein the preset control parameter comprises a second angular velocity of the robot for forward direction adjustment, the controlling the robot for cruise based on the preset control parameter and the environmental data comprising:
determining a sixth detection distance corresponding to a sixth direction and a seventh detection distance corresponding to a seventh direction in the environmental data, wherein the sixth direction is 90 degrees in the horizontal direction from the horizontal front of the sensor, and the seventh direction is between the horizontal front of the sensor and the sixth direction;
and controlling the robot to perform forward direction adjustment based on the second angular speed under the condition that the ratio between the sixth detection distance and the seventh detection distance exceeds a second preset ratio range.
7. The method according to any one of claims 1-6, further comprising:
receiving a cruise stop instruction, and controlling the robot to stop cruising based on the cruise stop instruction; or alternatively, the first and second heat exchangers may be,
and controlling the robot to stop cruising under the condition that the cruising times of the robot are larger than the preset cruising times or the cruising time of the robot is larger than the preset cruising time.
8. A robotic cruise control device, the device comprising:
a receiving module configured to receive a cruise instruction;
the acquisition module is configured to acquire environmental data acquired by a sensor of the robot according to the cruising instruction, wherein the environmental data at least comprises a detection distance between the sensor and a detected object;
and the control module is configured to control the robot to cruise based on preset control parameters and the environment data.
9. A robot, the robot comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
receiving a cruising instruction;
according to the cruising instruction, acquiring environmental data acquired by a sensor of the robot, wherein the environmental data at least comprises a detection distance between the sensor and a detected object;
And controlling the robot to cruise based on preset control parameters and the environmental data.
10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1-7.
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