CN117289688A - Robot obstacle avoidance method, robot obstacle avoidance device and computer program product - Google Patents
Robot obstacle avoidance method, robot obstacle avoidance device and computer program product Download PDFInfo
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Abstract
The invention discloses a robot obstacle avoidance method, a robot obstacle avoidance device, a computer program product and an autonomous mobile robot, and relates to the relevant technical field of robots; the robot obstacle avoidance method comprises the following steps: an information acquisition step of acquiring positioning information of other robots, wherein the positioning information comprises data information representing the maximum outline of the other robots; and controlling the robot to normally run, stop, slow down or plan an obstacle avoidance route based on the positioning information of the other robots. Therefore, the invention can control the current robot to execute action based on the maximum outline of other robots, avoid collision caused by obstacle avoidance when the groove is detected, and further realize effective obstacle avoidance among robots.
Description
Technical Field
The present invention relates to the field of robots, and more particularly, to a robot obstacle avoidance method, apparatus, computer program product, and autonomous mobile robot.
Background
In the environment that multiple robots work cooperatively with a scene, the robots mutually detect obstacle avoidance so as to ensure that the mutual operation is not interfered; at present, a vehicle-mounted sensor (such as a laser radar (Lidar), a vision sensor, an ultrasonic sensor, an infrared sensor and the like) is mainly used for detecting other robots to acquire relative pose information of the other robots so as to finish obstacle recognition, obstacle avoidance and the like. However, since the surface of the robot body is usually provided with the groove actively or passively, the relative pose of the inner wall of the groove, which is actually detected by the vehicle-mounted sensor, is on the height plane of the groove, and the obstacle avoidance can possibly collide with the protruding part of other robots relative to the groove, so that effective obstacle avoidance cannot be realized.
Disclosure of Invention
The invention aims to provide a robot obstacle avoidance method, a robot obstacle avoidance device, a computer program product and an autonomous mobile robot, and solves the problem that effective obstacle avoidance between robots cannot be realized in the prior art.
In order to achieve the above object, the present invention provides the following technical solutions:
a robot obstacle avoidance method, comprising:
an information acquisition step of acquiring positioning information of other robots, wherein the positioning information comprises data information representing the maximum outline of the other robots;
and controlling the robot to normally run, stop, slow down or plan an obstacle avoidance route based on the positioning information of the other robots.
Optionally, acquiring positioning information of the other robots includes:
acquiring positioning information of the other robots from a server;
and/or communicate with the other robots, and acquire self-positioning information sent by the other robots based on the communication;
and/or acquiring positioning information of the other robots based on the identifiable marks of the other robots.
Optionally, acquiring positioning information of the other robot based on the identifiable mark of the other robot includes:
and detecting the outline information of the other robots and the identifiable mark by using a sensor arranged on the robot body, correcting the outline information of the other robots based on the identifiable mark, and taking the corrected outline information as the positioning information of the other robots.
Optionally, the identifiable marking is disposed in a recess on the robotic vehicle body for mounting a Lidar (Lidar).
Optionally, the identifiable marking is formed from at least one of: light reflecting strips for Lidar, v-markers, two-dimensional codes and bar codes; the v-marker is a v-shaped concave part.
Optionally, the reflective strip or v-marker comprises a plurality of reflective strips or v-markers, respectively, and the plurality of reflective strips or v-markers form a code.
Optionally, the method further comprises:
when the identifiable marks of the other robots are detected, the identifiable marks are also subjected to integrity check;
performing an integrity check on the identifiable marking, comprising:
the identifiable tag is integrity checked based on the location information and/or the encoding information of the identifiable tag.
Optionally, communicating with the other robots includes:
and establishing a robot-robot communication connection, communicating with the other robots based on the communication connection, and disconnecting the communication connection after the communication is completed.
Optionally, after obtaining the positioning information of the other robots, the method further includes:
if the obtained positioning information of the other robots is at least two types of positioning information, comprehensively processing the at least two types of positioning information according to the weight parameter of each type of positioning information to obtain final positioning information for realizing obstacle avoidance.
A robotic obstacle avoidance device, comprising:
the acquisition module is used for acquiring positioning information of other robots, wherein the positioning information comprises data information representing the maximum outline of the other robots;
and the control module is used for controlling the robot to normally run, park, slow down or plan an obstacle avoidance route based on the positioning information of the other robots.
A computer program product comprising a computer program which, when executed by a processor, causes the processor to implement a robot obstacle avoidance method as claimed in any one of the preceding claims.
An autonomous mobile robot comprising a body provided with a lidar and a groove for mounting the lidar on at least one face of the body, and a processor for performing the robot obstacle avoidance method as claimed in any one of the preceding claims.
Optionally, grooves are formed in four side faces of the vehicle body, and 1 laser radar is installed on one diagonal corner of each groove.
Optionally, at least one groove in the grooves for mounting the laser radar is also formed with an identifiable mark.
The invention provides a robot obstacle avoidance method, a device, a computer program product and an autonomous mobile robot, wherein the robot obstacle avoidance method comprises the following steps: an information acquisition step of acquiring positioning information of other robots, wherein the positioning information comprises data information representing the maximum outline of the other robots; and controlling the robot to normally run, stop, slow down or plan an obstacle avoidance route based on the positioning information of the other robots. The invention can be seen that the positioning information of other robots is obtained through the information obtaining step, the current robot is controlled to normally run, stop, slow down or plan the obstacle avoidance route through the control step based on the positioning information, and the positioning information comprises data information representing the maximum outline of the other robots; therefore, the invention can control the current robot to execute action based on the maximum outline of other robots, avoid collision caused by obstacle avoidance when the groove is detected, and further realize effective obstacle avoidance among robots.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a first flowchart of a robot obstacle avoidance method according to an embodiment of the present invention;
fig. 2 is a second flowchart of a robot obstacle avoidance method according to an embodiment of the present invention;
FIG. 3 is a flowchart of acquiring positioning information based on identifiable marks in a robot obstacle avoidance method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a groove in a robot obstacle avoidance method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of identifiable marks in a robot obstacle avoidance method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a robot obstacle avoidance device according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a groove and a lidar in an autonomous mobile robot according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flowchart of a robot obstacle avoidance method provided by an embodiment of the present invention may specifically include the following steps:
s11: and an information acquisition step of acquiring positioning information of other robots, wherein the positioning information comprises data information representing the maximum outline of the other robots.
S13: and a control step of controlling the robot to normally run, stop, slow down or plan an obstacle avoidance route based on the positioning information of other robots.
When the robots detect each other, the current robot can acquire the positioning information of other robots in at least one mode, and further control the behavior of the current robot based on the positioning information.
The other robots may be other robots that may collide with the current robot (e.g., other robots located in front of the current robot in the driving direction), may be any other robots within the detection range of the current robot (e.g., other robots that are closer to the current robot), may be other robots that need to acquire positioning information according to actual scene requirements (e.g., other robots that need to acquire positioning information under the direction of a dispatch system or the like), or may be robots that are determined based on other principles, and are not particularly limited herein.
The maximum outer contour of the robot is the maximum outer contour of the robot, which is formed by the convex plane of each most convex point on each surface of the robot; for example, the surface of the robot body is provided with a groove, and the groove is not the most protruding point on the surface, so that the groove needs to be expanded outwards to the same protruding plane as the most protruding point on the surface, and the peripheral contour including the protruding plane is obtained as the maximum peripheral contour. Correspondingly, after the positioning information of other robots is obtained, the convex plane where the most convex point on each surface of the other robots is located can be determined based on the data information of the maximum outer contour of the other robots in the positioning information, so that the safety distance between the most convex point and the convex plane is determined, and the safety distance is the safety distance between the most convex point and the other robots, wherein the safety distance can be understood as the distance without collision, so that the collision is avoided. In addition, the positioning information can also comprise the position coordinates, the headstock direction and the like of the robot, so that the behavior of the robot can be accurately controlled based on the positioning information of other robots, and collision is avoided.
After the current robot acquires the positioning information of other robots, the current robot controls the current robot to execute corresponding actions based on the positioning information, and the current robot can comprise any one of normal running, parking, decelerating and planning an obstacle avoidance route. In a specific implementation manner, if the positioning information based on the other robots considers that the robot is likely to collide with the other robots and does not have a task which is urgent to execute at present, the current robot can stop the vehicle and wait until the other robots leave to continue moving, if the positioning information based on the other robots considers that the robot is likely to collide with the other robots and has a task which is urgent to execute at present, the obstacle avoidance route can be planned to bypass the obstacle avoidance route to continue moving, if the positioning information based on the other robots considers that the possibility of collision with the other robots exists but is not large, the speed can be reduced to avoid increasing the possibility of collision, and if the positioning information based on the other robots considers that the possibility of collision with the other robots is not possible or is extremely small, the vehicle can run normally.
The method comprises the steps of acquiring positioning information of other robots through an information acquisition step, and controlling the current robot to normally run, stop, slow down or plan an obstacle avoidance route through a control step based on the positioning information, wherein the positioning information comprises data information representing the maximum outline of the other robots; therefore, the invention can control the current robot to execute action based on the maximum outline of other robots, avoid collision caused by obstacle avoidance when the groove is detected, and further realize effective obstacle avoidance among robots.
The robot obstacle avoidance method provided by the embodiment of the invention, the obtaining of the positioning information of other robots can include:
acquiring positioning information of other robots from a server;
and/or communicate with other robots, and acquire self-positioning information sent by the other robots based on the communication;
and/or acquiring positioning information of other robots based on the identifiable marks of the other robots.
The embodiment of the invention can acquire the positioning information of other robots in at least one of the three modes. The first mode is specifically described, that is, each robot actively uploads its own real-time positioning information to a server, or a video monitoring system obtains the real-time positioning information of each robot and uploads the real-time positioning information to the server, or both, so that the real-time positioning information of each robot is maintained in the server, and only the latest real-time positioning information of each robot is stored, and then when the current robot needs to obtain the positioning information of other robots, the current robot can directly access the server to obtain the positioning information. The second mode is specifically described, and a robot-to-robot communication connection can be established between different robots, so that information transmission can be achieved between the different robots based on the communication connection, and based on the current robot, a request for acquiring positioning information can be sent to other robots, so that the other robots can send current positioning information of the other robots to the current robot. To explain the third mode specifically, each robot can be provided with an identifiable mark, the current robot can obtain the data information of the maximum outline of other robots by detecting the identifiable marks of other robots, and the positioning information of other robots can be obtained by combining the detected position coordinates, the head direction and the like of other robots. In summary, the first mode can acquire the positioning information of a plurality of robots at the same time, the second mode can acquire the positioning information of a certain robot in a directional way, the pertinence and the instantaneity are high, the third mode does not need to communicate with other terminals, and the positioning information is not influenced by a network; different modes have different characteristics, and the embodiment of the invention can realize the acquisition of the positioning information of other robots based on at least one mode based on the actual scene requirements, thereby not only realizing flexibility, but also meeting the different actual scene requirements and further ensuring the successful acquisition of the positioning information.
In a specific implementation manner, as shown in fig. 2, after positioning information based on other robots, S12 is further included: if the obtained positioning information of the other robots is at least two types of positioning information, comprehensively processing the at least two types of positioning information according to the weight parameter of each type of positioning information to obtain final positioning information for realizing obstacle avoidance.
The weight parameter is preset based on the importance degree of each positioning information, and the actual scene thereof can also be considered when setting the weight parameter. For example, in the case of unstable network, the weight parameters may be set to be, in order from large to small, positioning information acquired based on the identifiable mark, positioning information acquired based on the communication connection between robots, positioning information acquired from the server; in the case of stable network, the weight parameters may be set to be, in order from large to small, positioning information acquired based on communication connection between robots, positioning information acquired based on identifiable marks, and positioning information acquired from a server.
After the weight parameter of each positioning information in the current scene is determined, aiming at the situation that the acquired positioning information of other robots is at least two types of positioning information, the at least two types of positioning information can be weighted and summed to obtain final positioning information based on the weight parameter, or only one type of positioning information with the largest weight parameter is reserved based on the weight parameter and is used as the final positioning information, when the positioning information is three types, the positioning information with larger difference with the other two types of positioning information can be deleted first, and then the rest two types of positioning information are comprehensively processed based on the weight parameter to obtain the final positioning information; of course, other determining manners of the final positioning information set based on the actual requirement are also within the protection scope of the present invention, and will not be described herein. Based on the weight parameters, the obtained at least two kinds of positioning information are comprehensively processed to obtain final positioning information, so that even if some obtained positioning information has problems, the obtained positioning information can be corrected based on other positioning information, and the positioning information with higher accuracy is finally obtained, thereby being beneficial to realizing effective obstacle avoidance among robots.
The method for avoiding obstacle of robot provided by the embodiment of the invention, as shown in fig. 3, can obtain positioning information of other robots based on identifiable marks of other robots, and can include:
s31: the profile information and the identifiable marking of the other robots are detected using sensors mounted on the robot body.
S32: the profile information of the other robots is modified based on the identifiable marking.
S33: and taking the corrected contour information as positioning information of other robots.
The body of each robot can be respectively provided with a sensor, the current robot can use the sensor arranged on the current robot to detect the outline information and the identifiable mark of other robots, the outline information of the detected other robots comprises the outline of the other robots at the detection height, but the outline is not the largest outline, for example, the outline of the other robots is not the largest outline of the other robots when the grooves of the other robots are detected. Therefore, the identifiable mark is required to be detected to obtain the size information of the non-maximum outline part in the outline, the non-maximum outline part in the outline is outwards expanded to become the maximum outline based on the size information, the correction of the outline information is realized, for example, the identifiable mark is detected to obtain the size information of the grooves of other robots, and then the grooves are outwards expanded to the protruding surface where the most protruding point of the surface is located according to the size information, so that the data information of the maximum outline of other robots can be obtained; and the corresponding safe distance can be set based on the corrected contour information (namely the data information of the maximum outer contour of other robots) so as to realize the obstacle avoidance action among the robots. Therefore, the invention can correct the outline information of other robots based on the identifiable mark so as to obtain the maximum outline of the other robots, and further control the current robot to execute the action based on the maximum outline of the other robots, thereby realizing effective obstacle avoidance among the robots.
In particular, the identifiable marking may be disposed in a recess on the robot body for mounting a Lidar (Lidar). Fig. 4 shows a groove with a robot, and fig. 5 shows an identifiable marking provided in the groove of the robot (the position of the identifiable marking is described here by taking the formation of the identifiable marking by a bar code as an example), at which time the size information of the groove can be obtained by detecting the identifiable marking.
The identifiable marks of the different surfaces of the robot body can be identical or at least partially different; and different portions may be used to identify the respective faces while at least partially different.
In one implementation manner, the embodiment of the invention can maintain the depth (such as 0.1 m) and the height (such as 0.1 m) of the groove as the size information of the groove in the robot parameter library; when no special requirement exists, grooves on different surfaces of robots of the same vehicle model are identical, identifiable marks in the grooves are identical, the vehicle model can be obtained by detecting the identifiable marks, and then the size information of the grooves on the vehicle of the vehicle model is obtained from a robot parameter library; when special requirements exist (such as the space occupying part of the grooves due to the arrangement of certain lines, lamp tubes and the like), the sizes of the grooves on different surfaces of robots of the same vehicle model are possibly different, the identifiable marks in the grooves are also different, the identification information of the vehicle model and the surface where the vehicle model is located can be obtained by detecting the identifiable marks, and then the vehicle of the vehicle model and the size information of the grooves on the surface of the identification information are obtained from a robot parameter library. In another implementation manner, the size information of the groove can be directly obtained by detecting the identifiable mark, and at the same time, the situation that the identifiable marks are identical and at least partially different in the grooves of different surfaces of the robot of the same vehicle model exist in the same way as the situation described above, and the detailed description is omitted.
The identifiable marking may be formed from at least one of: light reflecting strips for Lidar, v-markers, two-dimensional codes and bar codes; the v-marker is a v-shaped concave part; the reflective strip or v-marker comprises a plurality of reflective strips or v-markers, respectively, and the plurality of reflective strips or v-markers form a code.
Specifically, the code formed by the identifiable mark may be a code of a vehicle model of the robot, identification information of the face, groove size information, or the like; the code formed by the identifiable marking may take various possible forms including, but not limited to, binary code, numbers, text, etc., but may of course be any combination thereof. In one implementation, lidar uses reflective strips with corresponding widths to represent corresponding codes, two-dimensional codes and bar codes can be displayed on a plane according to a certain rule by using a certain specific geometric figure, and v-markers can represent corresponding codes by using the size, the number and/or the relative position relation of v-shaped concave parts; in the case of forming the identifiable marking by Lidar with light reflective strips, the binary code may be represented by light reflective strips of corresponding widths, for example, a certain light reflective strip width representing a "1" in the binary system in a first width range and a "0" in the binary system in a second width range, to form the identifiable marking representing the desired binary code from a plurality of light reflective strips of corresponding widths. In another implementation, the code may be represented by whether there are specific marker formations (e.g., light reflective bars) within a fixed area or at fixed intervals; for example, the face of any one groove is divided in the lateral direction into four lateral portions of equal width, where each lateral portion represents one bit of a four-bit binary number, and for each lateral portion, if there is a reflective strip in the area of the lateral portion, the lateral portion represents "1" in the binary system, and if there is no reflective strip in the area of the lateral portion, the lateral portion represents "0" in the binary system. Therefore, the invention can form the identifiable mark based on at least one of the reflective strip, the v-marker, the two-dimensional code and the bar code for Lidar, and can effectively and accurately realize the coding representation of the corresponding information by utilizing the characteristics of the corresponding mark forming object.
Aiming at the situation that the identifiable mark is formed by a reflective strip, the reflective intensity of the reflective strip on the detection light is higher than that of the surface of the robot body; based on this, when detecting the identifiable mark formed by the reflective strip, the reflective strip may be extracted based on the information of the reflection intensity of the detected light, for example, a portion of the detected light having a reflection intensity greater than a preset radiation intensity threshold is extracted as the identifiable mark, and a portion of the detected light having a reflection intensity greater than the reflection intensity of other surrounding areas is extracted as the identifiable mark, and further, based on the extracted identifiable mark, analysis is performed to obtain the corresponding data information.
In a specific implementation manner, after the positioning information of other robots is obtained, the vehicle information and the positioning information of the other robots can be packaged and reported to a scheduling module of the cloud, and the scheduling module updates the pose of the other robots through the positioning information of the other robots uploaded by the current robot and the self-positioning information (namely the positioning information measured by the discovery end and the positioning information measured by the discovery end) uploaded by the other robots, thereby realizing global pose update, and further carrying out a coordination scheduling function, a lost retrieving function and the like of the robots based on the global pose. The vehicle information may include information such as a vehicle model number and a vehicle number of the vehicle, and the information may be obtained by detecting the identifiable mark, or may be obtained through communication between robots, or may be obtained through other setting manners, which are all within the protection scope of the present invention. The server can be arranged at the cloud, so that the scheduling module can directly acquire self-positioning information uploaded by other robots by the server, and further, pose updating of the other robots is realized based on the self-positioning information. In addition, when the pose of the other robots is updated according to the positioning information of the other robots uploaded by the current robot and the self-positioning information uploaded by the other robots, if the positioning information time of the two other robots is different, the positioning information of the latest time is used as the reference, otherwise, the information obtained by comprehensively processing the positioning information of the two other robots is used as the final positioning information of the other robots.
The robot obstacle avoidance method provided by the embodiment of the invention can further comprise the following steps: when detecting the identifiable marks of other robots, carrying out integrity check on the identifiable marks;
integrity checking the identifiable marking may include: the identifiable tag is integrity checked based on the location information of the identifiable tag and/or the encoded information.
In order to further ensure the accuracy of positioning information obtained based on the identifiable mark, the embodiment of the invention also performs integrity check on the identifiable mark when detecting the identifiable marks of other robots, performs subsequent operation when checking to determine that the identifiable mark is complete, and can slow down or stop the vehicle when checking to determine that the identifiable mark is incomplete, and/or re-detects the identifiable mark after adjusting the detection angle and/or the detection distance.
The integrity check may be performed based on the location information and/or the encoded information of the identifiable marking. Specifically, the integrity verification is performed based on the position information of the identifiable mark, which may be that the detected identifiable mark is determined to be complete when the detected identifiable mark includes a specific position of the groove, otherwise, the detected identifiable mark is determined to be incomplete, the specific position is two points of the groove which are farthest from each other in the length direction, the detected identifiable mark is determined to be complete when the detected identifiable mark includes two points of the groove which are farthest from each other in the length direction, otherwise, the detected identifiable mark is determined to be incomplete; the integrity verification is carried out based on the coded information of the identifiable mark, namely the integrity of the coded information of the detected identifiable mark is determined when the coded information of the detected identifiable mark accords with the characteristics of the coded information of the complete identifiable mark, otherwise, the integrity of the coded information of the detected identifiable mark is determined, if the two pieces of information which are farthest in distance in the coded information of the detected identifiable mark are the same as the two pieces of information which are farthest in distance in the coded information of the complete identifiable mark in a one-to-one correspondence manner, the integrity of the coded information of the detected identifiable mark is determined, otherwise, the incompleteness of the coded information of the detected identifiable mark is determined; and meanwhile, the integrity verification is carried out based on the position information and the coding information of the identifiable mark, so that the detected identifiable mark comprises a specific position of the groove, the coding information of the detected identifiable mark comprises a specific item of information, the integrity of the identifiable mark is determined, and otherwise, the integrity of the identifiable mark is determined. By means of the method, verification of the integrity of the identifiable mark can be achieved in a simple and effective manner.
The robot obstacle avoidance method provided by the embodiment of the invention can be communicated with other robots, and can comprise the following steps:
and establishing a robot-robot communication connection, communicating with other robots based on the communication connection, and disconnecting the communication connection after the communication is completed.
The embodiment of the invention can establish communication connection with other robots, communicate with other robots based on the established communication connection to acquire the positioning information of the other robots, and in order to avoid waste of communication resources, the embodiment of the invention can also directly disconnect the communication connection with the other robots when acquiring the positioning information of the other robots, and establish the communication connection when needed.
The embodiment of the invention also provides a robot obstacle avoidance device, as shown in fig. 6, which may include:
the acquisition module 11 acquires positioning information of other robots, wherein the positioning information comprises data information representing the maximum outline of the other robots;
the control module 12 is used for controlling the robot to normally run, stop, slow down or plan an obstacle avoidance route based on positioning information of other robots.
The acquisition module acquires positioning information of other robots, the control module controls the current robot to normally run, stop, slow down or plan an obstacle avoidance route based on the positioning information, and the positioning information comprises data information representing the maximum outline of the other robots; therefore, the invention can control the current robot to execute action based on the maximum outline of other robots, avoid collision caused by obstacle avoidance when the groove is detected, and further realize effective obstacle avoidance among robots.
The embodiment of the invention also provides a computer program product, wherein the computer program product comprises a computer program, and the computer program when being executed by a processor causes the processor to implement the robot obstacle avoidance method.
The computer program may be stored in a computer readable storage medium, which may include, for example, high speed random access memory, but may also include non-volatile memory, such as a hard disk, memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), at least one disk storage device, a Flash memory device, or other volatile solid state storage device. The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like; a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The embodiment of the invention also provides an autonomous mobile robot, which comprises a vehicle body and a processor, wherein the laser radar and a groove for installing the laser radar are arranged on at least one surface of the vehicle body, and the processor is used for executing the robot obstacle avoidance method according to any one of the above.
According to the autonomous mobile robot, the laser radar is arranged on at least one surface of the body of the autonomous mobile robot, and is arranged in the groove of the surface, so that the laser radar can normally realize the detection function and can not protrude out of the surface to be in existence, damage to the laser radar caused by collision and other conditions can be avoided, and the service life of the laser radar is effectively prolonged; while the field of view of the lidar is as large as possible. On the basis, the autonomous mobile robot is provided with the processor for realizing the robot obstacle avoidance method, can control the autonomous mobile robot to execute actions based on the maximum outline of other robots, avoid collision caused by obstacle avoidance when detecting grooves of the other robots, and further realize effective obstacle avoidance with the other robots.
Fig. 7 is a schematic view (left view) of an autonomous mobile robot according to an embodiment of the present invention, in which grooves may be formed on four sides of a vehicle body, and 1 lidar is installed on one diagonal of the grooves. Based on the setting mode, the detection angle of each laser radar can reach 270 degrees, and two radars respectively positioned at one diagonal angle of the groove can realize the detection of all angles around, so that the detection blind area is effectively eliminated. In another specific implementation manner, 1 laser radar can be installed on each opposite angle of the groove and/or each surface, and a final detection result is obtained by comprehensively processing data information detected by each laser radar.
According to the autonomous mobile robot provided by the embodiment of the invention, the identifiable mark is also formed in at least one groove in the grooves for installing the laser radar; the identifiable mark and the laser radar are located at the same height, so that the laser radar can easily detect the identifiable mark at the same time when detecting the surrounding environment, the identifiable mark is not required to be searched through the change of the detection angle, the detection distance and the like, and then the identifiable mark is detected. The identifiable indicia may further be provided using a lidar sensitive material or means, such as: reflective strips for Lidar, v-markers, etc.; further, the code formed by the identifiable mark may be a code of a vehicle model number of the robot, identification information of the face, groove size information, or the like. The content related to the acquisition and encoding of the positioning information is the same as the embodiment of the foregoing method, and is not described herein. Therefore, the arrangement mode of the identifiable mark in the embodiment of the invention can effectively avoid the situation that the laser radar of the robot can incorrectly calculate the relative pose of other robots because the laser radar of the robot scans the grooves of the other robots, thereby affecting the running safety of the robots.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A robot obstacle avoidance method, comprising:
an information acquisition step of acquiring positioning information of other robots, wherein the positioning information comprises data information representing the maximum outline of the other robots;
and controlling the robot to normally run, stop, slow down or plan an obstacle avoidance route based on the positioning information of the other robots.
2. The robot obstacle avoidance method of claim 1 wherein obtaining positioning information for the other robots comprises:
acquiring positioning information of the other robots from a server;
and/or communicate with the other robots, and acquire self-positioning information sent by the other robots based on the communication;
and/or acquiring positioning information of the other robots based on the identifiable marks of the other robots.
3. The robot obstacle avoidance method of claim 2 wherein obtaining positioning information for the other robot based on the identifiable indicia of the other robot comprises:
and detecting the outline information of the other robots and the identifiable mark by using a sensor arranged on the robot body, correcting the outline information of the other robots based on the identifiable mark, and taking the corrected outline information as the positioning information of the other robots.
4. A robotic obstacle avoidance method as claimed in claim 3 wherein the identifiable indicia is provided in a recess in the other robotic body for mounting a lidar.
5. The robotic obstacle avoidance method of any of claims 2-4, wherein the identifiable indicia is formed from at least one of: light reflecting strips for Lidar, v-markers, two-dimensional codes and bar codes; the v-marker is a v-shaped concave part.
6. The robot obstacle avoidance method of claim 5 wherein the light reflective strips or v-markers comprise a plurality of light reflective strips or v-markers, respectively, and the plurality of light reflective strips or v-markers form a code.
7. The robotic obstacle avoidance method of claim 3, further comprising:
when the identifiable marks of the other robots are detected, the identifiable marks are also subjected to integrity check;
performing an integrity check on the identifiable marking, comprising:
the identifiable tag is integrity checked based on the location information and/or the encoding information of the identifiable tag.
8. A robot obstacle avoidance device, comprising:
the acquisition module is used for acquiring positioning information of other robots, wherein the positioning information comprises data information representing the maximum outline of the other robots;
and the control module is used for controlling the robot to normally run, park, slow down or plan an obstacle avoidance route based on the positioning information of the other robots.
9. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, causes the processor to implement the robot obstacle avoidance method of any of claims 1-7.
10. An autonomous mobile robot comprising a body provided with a lidar and a recess for mounting the lidar on at least one surface of the body, and a processor for performing the robot obstacle avoidance method of any of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210690926.2A CN117289688A (en) | 2022-06-17 | 2022-06-17 | Robot obstacle avoidance method, robot obstacle avoidance device and computer program product |
| PCT/CN2023/098456 WO2023241395A1 (en) | 2022-06-17 | 2023-06-06 | Robot obstacle avoidance method, apparatus and computer program product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210690926.2A CN117289688A (en) | 2022-06-17 | 2022-06-17 | Robot obstacle avoidance method, robot obstacle avoidance device and computer program product |
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| CN117289688A true CN117289688A (en) | 2023-12-26 |
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| CN202210690926.2A Pending CN117289688A (en) | 2022-06-17 | 2022-06-17 | Robot obstacle avoidance method, robot obstacle avoidance device and computer program product |
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| WO (1) | WO2023241395A1 (en) |
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| CN110936383B (en) * | 2019-12-20 | 2022-11-18 | 上海有个机器人有限公司 | Obstacle avoiding method, medium, terminal and device for robot |
| CN112703144A (en) * | 2020-12-21 | 2021-04-23 | 华为技术有限公司 | Control method, related device and computer-readable storage medium |
| CN112907625B (en) * | 2021-02-05 | 2023-04-28 | 齐鲁工业大学 | Target following method and system applied to quadruped bionic robot |
| CN113219974A (en) * | 2021-05-08 | 2021-08-06 | 上海景吾智能科技有限公司 | Automatic navigation robot multi-machine obstacle avoidance method, system, medium and equipment |
| CN113433949A (en) * | 2021-07-19 | 2021-09-24 | 北京云迹科技有限公司 | Automatic following object conveying robot and object conveying method thereof |
| CN113867347A (en) * | 2021-09-24 | 2021-12-31 | 深圳优艾智合机器人科技有限公司 | Robot path planning method, device, management system and computer storage medium |
| CN114564022A (en) * | 2022-03-04 | 2022-05-31 | 北京盈迪曼德科技有限公司 | Robot collision processing method and device |
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