CN117420818A - Method and device for controlling movement of robot, storage medium and electronic device - Google Patents

Abstract

The application provides a movement control method and device of a robot, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring current movement parameters of a mobile robot, wherein the current movement parameters are used for representing the current running state of the mobile robot; determining a set of predicted location points according to the current movement parameters, wherein the set of predicted location points are predicted location points to which the mobile robot moves at each of a set of future times; and performing movement control on the mobile robot according to the cost value of each predicted position point in the group of predicted position points. By adopting the technical scheme, the problem that the operation safety is poor due to the fact that obstacle avoidance cannot be performed in time in the movement control method of the robot in the related technology is solved.

Description

Method and device for controlling movement of robot, storage medium and electronic device

[ field of technology ]

The application relates to the field of smart home, in particular to a movement control method and device of a robot, a storage medium and an electronic device.

[ background Art ]

Currently, a mobile robot may be controlled to move along a set movement path within a certain area to perform a specific task, for example, a cleaning task, a dispensing task, etc. During the movement of the mobile robot, there may be an obstacle on the actual movement path of the mobile robot due to a deviation of the movement path or the like.

In order to avoid the situation that the running safety of the mobile robot is affected due to the fact that the distance from the obstacle is too close, scratch, collision and the like, obstacle detection can be carried out through a collision plate, a ranging sensor and the like, and obstacle avoidance processing is carried out when the obstacle is detected.

However, the distance measuring sensor, the striking plate, etc. can only detect the obstacle at a close distance, and when the distance between the mobile robot and the obstacle is too close, even if the obstacle avoidance process is adopted, the situation such as scratch, collision, etc. may still occur. Therefore, the movement control method of the robot in the related art has the problem of poor operation safety caused by incapability of avoiding obstacles in time.

[ invention ]

The invention aims to provide a movement control method and device for a robot, a storage medium and an electronic device, so as to at least solve the problem that the movement control method for the robot in the related art is poor in operation safety caused by incapability of timely obstacle avoidance.

The purpose of the application is realized through the following technical scheme:

according to an aspect of the embodiments of the present application, there is provided a movement control method of a robot, including: acquiring current movement parameters of a mobile robot, wherein the current movement parameters are used for representing the current running state of the mobile robot; determining a set of predicted location points according to the current movement parameters, wherein the set of predicted location points are predicted location points to which the mobile robot moves at each of a set of future times; and performing movement control on the mobile robot according to the cost value of each predicted position point in the group of predicted position points.

In an exemplary embodiment, said determining a set of predicted location points based on said current movement parameter comprises: and carrying out position point prediction according to the current movement parameter and the preset time parameter to obtain the group of predicted position points.

In an exemplary embodiment, the predicting the location point according to the current movement parameter and the preset time parameter to obtain the set of predicted location points includes: and predicting the position points according to the current pose of the mobile robot, the current moving speed of the mobile robot and a preset time interval to obtain the group of predicted position points.

In an exemplary embodiment, before the predicting the location point according to the current movement parameter and the preset time parameter, the method further includes: and under the condition that the current moving speed of the mobile robot is smaller than or equal to a preset speed threshold, updating the current moving speed of the mobile robot to the preset speed threshold to obtain the updated current moving speed of the mobile robot.

In an exemplary embodiment, the performing movement control on the mobile robot according to the cost value of each predicted position point in the set of predicted position points includes: and controlling the mobile robot to execute a deceleration operation under the condition that the cost value of the target predicted position point in the group of predicted position points is greater than or equal to the target cost threshold value.

In an exemplary embodiment, said determining a set of predicted location points based on said current movement parameter comprises: determining the distance between the mobile robot and a path starting point of a preset moving path according to the current pose of the mobile robot; and determining the group of predicted position points according to the current movement parameters under the condition that the distance between the mobile robot and the path starting point of the preset movement path is greater than or equal to a preset distance threshold.

In an exemplary embodiment, after the mobile robot is motion controlled according to the cost value of each predicted position point in the set of predicted position points, the method further comprises: starting a target sensor on the mobile robot under the condition that the cost value of a target predicted position point in the group of predicted position points is greater than or equal to a target cost threshold value, wherein the target sensor is a sensor for detecting an obstacle; and carrying out movement control on the mobile robot according to the obstacle data detected by the target sensor.

According to another aspect of the embodiments of the present application, there is also provided a movement control device of a robot, including: the mobile robot comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring current movement parameters of the mobile robot, and the current movement parameters are used for representing the current running state of the mobile robot; a determining unit configured to determine a set of predicted position points according to the current movement parameter, wherein the set of predicted position points are predicted position points to which the mobile robot moves at each of a set of future times; and the first control unit is used for carrying out movement control on the mobile robot according to the cost value of each predicted position point in the group of predicted position points.

In an exemplary embodiment, the determining unit includes: and the prediction module is used for predicting the position points according to the current movement parameters and the preset time parameters to obtain the group of predicted position points.

In one exemplary embodiment, the prediction module includes: and the prediction sub-module is used for predicting the position points according to the current pose of the mobile robot, the current moving speed of the mobile robot and a preset time interval to obtain the group of predicted position points.

In an exemplary embodiment, the apparatus further comprises: and the updating unit is used for updating the current moving speed of the mobile robot into a preset speed threshold value under the condition that the current moving speed of the mobile robot is smaller than or equal to the preset speed threshold value before the position point prediction is carried out according to the current moving parameter and the preset time parameter to obtain the group of predicted position points, so as to obtain the updated current moving speed of the mobile robot.

In an exemplary embodiment, the first control unit includes: and the control module is used for controlling the mobile robot to execute the deceleration operation under the condition that the cost value of the target predicted position point in the group of predicted position points is greater than or equal to the target cost threshold value.

In an exemplary embodiment, the determining unit includes: the first determining module is used for determining the distance between the mobile robot and the path starting point of the preset moving path according to the current pose of the mobile robot; and the second determining module is used for determining the group of predicted position points according to the current movement parameters under the condition that the distance between the mobile robot and the path starting point of the preset movement path is greater than or equal to a preset distance threshold value.

In an exemplary embodiment, the apparatus further comprises: a starting unit, configured to start a target sensor on the mobile robot when the cost value of a target predicted position point in the set of predicted position points is greater than or equal to a target cost threshold after the mobile robot is subjected to movement control according to the cost value of each predicted position point in the set of predicted position points, where the target sensor is a sensor for detecting an obstacle; and the second control unit is used for performing movement control on the mobile robot according to the obstacle data detected by the target sensor.

According to still another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the above-described movement control method of the robot when run.

According to still another aspect of the embodiments of the present application, there is further provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the movement control method of the robot through the computer program.

In the embodiment of the application, a mode of predicting a future position point of the robot according to a current running state and performing movement control on the robot according to a cost value of the predicted position point is adopted, and current movement parameters of the mobile robot are obtained, wherein the current movement parameters are used for representing the current running state of the mobile robot; determining a set of predicted location points according to the current movement parameters, wherein the set of predicted location points are predicted location points to which the mobile robot moves at each of a set of future times; according to the cost value of each predicted position point in a group of predicted position points, the mobile robot is controlled to move, and the movement of the robot is controlled after the cost value of the predicted position points is judged in advance, so that the technical effect of improving the operation safety of the mobile robot can be achieved, and the problem that the operation safety is poor due to the fact that obstacle avoidance cannot be performed in time in the movement control method of the robot in the related art is solved.

[ description of the drawings ]

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic diagram of a hardware environment of an alternative method of motion control of a robot according to an embodiment of the present application;

FIG. 2 is a flow chart of an alternative method of controlling movement of a robot according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an alternative method of controlling movement of a robot according to an embodiment of the present application;

FIG. 4 is a flow chart of another alternative method of controlling movement of a robot according to an embodiment of the present application;

FIG. 5 is a block diagram of an alternative robotic movement control device according to an embodiment of the present application;

fig. 6 is a block diagram of an alternative electronic device according to an embodiment of the present application.

[ detailed description ] of the invention

The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

According to one aspect of the embodiments of the present application, a movement control method of a robot is provided. Alternatively, in the present embodiment, the above-described movement control method of the robot may be applied to a hardware environment constituted by the mobile robot 102, the base station 104 (e.g., the charging pile), and the server 106 as shown in fig. 1. As shown in fig. 1, the mobile robot 102 may connect with the base station 104 and/or the server 106 (e.g., a voice server) over a network to enable interaction between the mobile robot 102 and the base station 104 and/or the server 106.

The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (Wireless Fidelity ), bluetooth, infrared. The network used by the mobile robot 102 to communicate with the base station 104 and/or the server 106 may be the same or different from the network used by the base station 104 to communicate with the server 106.

The movement control method of the robot according to the embodiment of the present application may be performed by the mobile robot 102, the base station 104, or the server 106 alone, or may be performed by at least two of the mobile robot 102, the base station 104, and the server 106 together. The mobile robot 102 or the base station 104 may execute the method for controlling the movement of the robot according to the embodiment of the present application by a client installed thereon.

Taking the example that the server 106 executes the movement control method of the robot in the present embodiment as an example, fig. 2 is a schematic flow diagram of an alternative movement control method of the robot according to an embodiment of the present application, and as shown in fig. 2, the flow of the method may include the following steps:

step S202, obtaining current movement parameters of the mobile robot, wherein the current movement parameters are used for representing the current running state of the mobile robot.

The movement control method of the robot in the embodiment can be applied to a scene in which movement of the mobile robot is controlled in the process of moving the mobile robot. The mobile robot may be a cleaning robot, a dispensing robot, or other movable robots, wherein the cleaning robot may be a sweeping robot, a washing robot, or other robots having a cleaning function, and the dispensing robot may be a meal delivery robot, an article dispensing robot, or other dispensing robots. The type of the mobile robot is not limited in this embodiment.

In order to avoid the situation that the mobile robot is scratched, collided and the like due to too close distance to an obstacle in the moving process, the running safety of the mobile robot is influenced, the future moving path of the mobile robot can be predicted in advance, and a corresponding adjusting scheme is generated according to the predicted danger possibly encountered on the moving path, so that the mobile robot is helped to reduce the situation of scratch, collision and the like, and the running safety of the robot is improved.

In the present embodiment, for a mobile robot that is in operation, the current movement parameters of the mobile robot may be acquired. The current movement parameter here may be a parameter for representing the current operation state of the mobile robot. The current movement parameters may include one or more, and may include, but are not limited to, at least one of: current moving speed of the mobile robot, current pose of the mobile robot, and the like. The current movement speed may include, but is not limited to including, at least one of: current angular velocity, current linear velocity, etc. of the mobile robot. The current pose of the mobile robot may include, but is not limited to including, at least one of: the current position, current orientation, etc. of the mobile robot in the specified coordinate system. In addition, the current movement parameters of the mobile robot may also include other parameters for indicating the current operation state of the mobile robot, which is not limited in this embodiment.

Step S204, a set of predicted position points are determined according to the current movement parameters, wherein the set of predicted position points are predicted position points to which the mobile robot moves at each of a set of future times.

In this embodiment, the server may determine a set of predicted location points based on the obtained current movement parameters of the mobile robot. Wherein the set of predicted location points may be predicted location points to which the mobile robot moves at each of a set of future times. A set of predicted location points herein may be a series of regularly discrete points, e.g., equally spaced, equally predicted time intervals, etc.; or may be irregular discrete points.

For example, a current moving path of the mobile robot may be obtained, a section of the path to be moved by the mobile robot is extracted from the current moving path along the moving direction of the mobile robot with the current position of the mobile robot as a starting point, and the extracted path is discretized to obtain a series of discrete points as a set of predicted position points. Of course, other types of parameters, such as current movement speed, may also be combined to determine a set of predicted location points.

Because the current movement parameters can represent the current running state of the mobile robot, the possible moving position point of the mobile robot in a certain moment in the future can be determined according to the running state of the mobile robot, so that the running safety of the mobile robot is judged based on the predicted position point.

Step S206, performing movement control on the mobile robot according to the cost value of each predicted position point in the set of predicted position points.

In this embodiment, for each predicted location point in a set of predicted location points, a cost value for each predicted location point may be determined. Alternatively, the way to determine the cost value may be: and searching a cost map according to the position coordinates of each predicted position point to obtain a cost value of each predicted position point. For example, the determined set of predicted location points may be represented on a cost map, and a cost value for each predicted location point may be determined. Here, the cost map may be another map added on top of the map (e.g., grid map), which contains not only the original map information but also other auxiliary information, and may contain two maps of local_costmap (local cost map) and global_costmap (global cost map) for the local path planner and the global path planner, respectively. The cost value determining method may also be calculating according to the distance between the position of the obstacle detected by the sensor and each predicted position point in real time, and determining the cost value of each predicted position point, or may be other cost value determining methods, which are not limited in this embodiment.

Alternatively, the cost map may be obtained directly according to the existing characterization map of the obstacle information, and on the cost map, the cost value of the unobstructed area may be defined as 0, and the cost value of the obstacle occupying area is defined as 255. On the cost map, a corresponding cost value may be determined based on determining each predicted location point in the set of predicted location points. Based on the cost value for each predicted location point in the set of predicted location points, a corresponding movement control of the mobile robot may be performed. For example, when the cost value of part of the predicted position points is found to be too high, corresponding measures can be taken to control the moving speed, the acceleration, the direction and the like of the robot, so that the damage to the mobile robot at the predicted position points with higher cost values is reduced.

Through the steps S202 to S206, by acquiring the current movement parameter representing the current movement state of the mobile robot, predicting the position point to which the mobile robot moves at the future time according to the current movement parameter, and further performing movement control on the mobile robot based on the cost value of each predicted position point, possible collision and scratch of the mobile robot on the forward road can be predicted in advance, and further the mobile robot can be controlled in advance, such as speed control, travel path adjustment and the like, so that the probability of collision and scratch of the mobile robot is reduced, and the operation safety of the robot is improved.

In one exemplary embodiment, determining a set of predicted location points based on current movement parameters includes:

s11, predicting the position points according to the current movement parameters and the preset time parameters to obtain a group of predicted position points.

In this embodiment, a predicted preset time parameter may be preset according to a moving distance of the mobile robot, a current moving parameter, and the like, to generate a set of predicted position points. The preset time parameter may include, but is not limited to, a preset time length, a preset time interval. The preset time interval may be a time interval determined after equally dividing the preset time length into a certain number of segments. The preset time period may be fixed, the preset time interval may be variable, or the preset time period may be variable, the preset time interval may be fixed, or both the preset time period and the preset time interval may be fixed or variable.

In this embodiment, a linear motion model may be used to predict a location point according to the current movement parameter and the predicted time parameter, so as to obtain a set of predicted location points. The input parameters of the linear motion model may include an operation parameter, a time parameter, a position parameter, etc. of the mobile robot, and the output result may be a set of predicted position points. The current movement parameters may include a current movement speed of the mobile robot, e.g., a current linear speed, a current angular speed, etc.

Optionally, the position points in a certain time in the future can be predicted according to the product of the vector sum of the current linear speed and the angular speed of the mobile robot and a preset time interval, and the number of the predicted position points can be determined by the iteration times; the possible position points of the mobile robot in a certain time in the future can be predicted according to the product of the obtained current linear velocity (not looking at the angular velocity) of the mobile robot and the preset time interval, and the number of the predicted position points can be determined by the iteration times.

For example, as shown in fig. 3, the position point is predicted according to the movement parameter and the predicted time parameter of the mobile robot, so as to obtain the path position point in a certain future time. Within a certain time, the path of the predicted position point (dotted line in fig. 3) deviates from the actual path of the mobile robot (solid line in fig. 3) by a certain amount. In this embodiment, compared with the method of acquiring the predicted position point in a future period of time by extracting the discrete point according to the current movement path, the method of predicting the position point in a future period of time by using the current movement parameter and the preset time parameter combines the current movement parameter of the mobile robot, and is more in line with the current state of the mobile robot, so that the accuracy of the robot operation position prediction can be improved.

In an exemplary embodiment, performing location point prediction according to a current movement parameter and a preset time parameter to obtain a set of predicted location points includes:

s21, predicting the position points according to the current pose of the mobile robot, the current moving speed of the mobile robot and a preset time interval to obtain a group of predicted position points.

In this embodiment, the current movement parameters of the mobile robot may include a current pose of the mobile robot and a current movement speed of the mobile robot, and the preset time parameter may include a preset time interval. And according to the obtained current pose of the mobile robot, the current moving speed of the mobile robot and the preset time interval, predicting the position points to obtain a group of predicted position points. The current pose here may include the position and pose of the mobile robot, i.e., three-dimensional coordinates and orientation.

Alternatively, the position point of the mobile robot at each future time in a set of future times may be predicted according to the current movement speed of the mobile robot in combination with the current pose of the mobile robot, for example, the current pose of the mobile robot may be taken as a starting point, a set of position change vectors of the mobile robot may be obtained according to the product of the vectors of the angular speed and the linear speed and the preset time interval, and the vector sum of the current pose and each position change vector may be determined as a predicted position point, thereby obtaining a set of predicted position points.

According to the method and the device for predicting the position point, the possible position point of the robot is determined based on the current pose, the current moving speed and the preset time interval of the mobile robot, and the influence of the position and the pose on the moving position can be integrated due to the fact that the position point prediction is conducted by combining the current position and the pose of the mobile robot, so that accuracy of the movement prediction of the robot is improved.

In an exemplary embodiment, before performing the position point prediction according to the current movement parameter and the preset time parameter to obtain a set of predicted position points, the method further includes:

s31, under the condition that the current moving speed of the mobile robot is smaller than or equal to a preset speed threshold, updating the current moving speed of the mobile robot to the preset speed threshold, and obtaining the updated current moving speed of the mobile robot.

In this embodiment, the position point prediction may be directly performed according to the movement speed currently detected by the mobile robot. Considering that the moving speed of the mobile robot has a certain limit, if the moving speed is too small, the predicted moving distance is too short after multiplying the time interval, i.e., only the position points within a short distance range can be predicted, thereby reducing the efficiency of the robot movement control. In this regard, a speed threshold may be preset for the current moving speed of the mobile robot, that is, a preset speed threshold, and prediction of the future position point of the mobile robot may be performed based on the preset speed threshold.

Under the condition that the current moving speed of the mobile robot is larger than a preset speed threshold, the obtained current moving parameters including the current moving speed and preset time parameters can be input into a linear motion model to generate a group of predicted position points. Under the condition that the current moving speed of the mobile robot is smaller than or equal to a preset speed threshold, the current moving speed of the mobile robot can be updated to the preset speed threshold to obtain the updated current moving speed of the mobile robot, and then the updated current moving speed number and the preset time parameter are input into the linear motion model to generate a group of predicted position points.

By means of the embodiment, when the current moving speed is smaller than the moving speed threshold, the preset front moving speed is used for generating the predicted position point, so that the fact that the distance between the predicted position points is too short (the moving speed is too small, and the distance obtained by multiplying the time interval is too short) caused by too small moving speed can be avoided, and further the efficiency of robot moving control can be improved.

In one exemplary embodiment, mobile control of a mobile robot based on a cost value for each predicted location point in a set of predicted location points comprises:

S41, controlling the mobile robot to execute deceleration operation under the condition that the cost value of the target predicted position point in the group of predicted position points is larger than or equal to the target cost threshold value.

In this embodiment, in order to process the cost value of the predicted position point, a cost threshold, that is, a target cost threshold may be preset. By comparing the cost value of each predicted location point to a target cost threshold, it may be determined whether a corresponding processing decision (or processing strategy, processing operation, etc.) needs to be made for the mobile robot, where the processing decision may be a deceleration decision.

Alternatively, in the case where the cost value of the target predicted position point in the set of predicted position points is greater than or equal to the target cost threshold, the mobile robot may be controlled to perform the deceleration operation. The target predicted location point may be any one of a set of predicted location points. The deceleration operation may be specifically determined according to a specific relationship between the cost value of the target predicted position point and the target cost threshold, and may be an operation for reducing the moving speed of the mobile robot, an operation for increasing the reverse moving acceleration of the mobile robot, or the like.

For example, when the cost value of the target predicted location point is 255 representing the cost of the obstacle occupying area, the deceleration strategy may be a high acceleration deceleration; when the cost value of the target predicted position point is larger than a certain value, the deceleration strategy can be matched control such as relatively low acceleration deceleration and the like.

According to the method and the device, the deceleration strategy of the robot is determined according to the cost value of the position point, so that the movement of the mobile robot can be controlled in advance flexibly and pointedly under the condition that collision and scratch possibly occur on the forward road of the mobile robot are predicted, and the running safety and stability of the robot are further improved.

In one exemplary embodiment, determining a set of predicted location points based on current movement parameters includes:

s51, determining the distance between the mobile robot and a path starting point of a preset moving path according to the current pose of the mobile robot;

s52, determining a group of predicted position points according to the current movement parameters under the condition that the distance between the mobile robot and the path starting point of the preset movement path is greater than or equal to a preset distance threshold value.

In this embodiment, the distance between the current position of the mobile robot and the path start point of the preset moving path may be determined according to the current pose of the mobile robot. Meanwhile, a distance threshold value, that is, a preset distance threshold value, may be preset for the distance between the current position of the mobile robot and the path start point.

Under the condition that the distance between the mobile robot and the path starting point of the preset moving path is smaller than the preset distance threshold, the deviation between the actual moving path and the preset moving path is smaller due to the fact that the distance between the mobile robot and the path starting point is smaller, prediction of the position point can be omitted, and the current moving parameters of the robot can be continuously obtained; under the condition that the distance between the mobile robot and the path starting point of the preset moving path is greater than or equal to the preset distance threshold value, the prediction of the position points can be started, and a group of predicted position points are determined according to the current moving parameters.

Through the embodiment, through the preset distance threshold value, the position point of the robot is predicted when the distance between the robot and the starting point of the planned moving path is larger than or equal to the preset distance threshold value, so that the number of times of the position point prediction can be reduced and the calculation cost can be reduced under the condition that the running safety of the robot is ensured.

In an exemplary embodiment, after the mobile robot is motion controlled according to the cost value of each predicted position point in the set of predicted position points, the method further comprises:

s61, starting a target sensor on the mobile robot under the condition that the cost value of a target predicted position point in the group of predicted position points is greater than or equal to a target cost threshold value, wherein the target sensor is a sensor for detecting an obstacle;

S62, performing movement control on the mobile robot according to the obstacle data detected by the target sensor.

In this embodiment, the mobile robot is controlled to move according to the cost value of each predicted position point in the set of predicted position points, so that not only can the deceleration strategy be determined according to the cost value, but also the possible obstacle can be detected.

Alternatively, a target sensor on the mobile robot may be activated in case the cost value of a target predicted location point of the set of predicted location points is greater than or equal to a target cost threshold. The target sensor may be a sensor for detecting an obstacle, and the target sensor may focus on detecting an obstacle at a position point where the cost value is greater than or equal to the target cost value threshold and the surrounding environment thereof, and may be a sensor for detecting an obstacle, such as a striker plate, a ranging sensor, or the like, and the type of the target sensor is not limited in this embodiment.

Optionally, according to the obstacle data detected by the target sensor, corresponding movement control may be performed, for example, for detected obstacles that may be harmful to the mobile robot, movement control for bypassing the obstacle may be performed; for an obstacle detected to be likely to be less harmful to the mobile robot, or an obstacle that can pass through at a low speed, movement control to reduce the movement speed of the mobile robot can be performed.

Through this embodiment, detect the obstacle data on the great position point of cost through the sensor, in advance through the obstacle data of acquireing, carry out corresponding obstacle avoidance measure, in time avoid the robot in-process to take place conditions such as collision, turnover, and then promote the operational safety of robot.

The movement control method of the robot in the present embodiment is explained below in conjunction with an alternative example. In this alternative example, the current movement parameters include a current movement speed and a current pose, and the preset time parameters (preset predicted time parameters) may include a time length and a time interval point.

The mobile robot safety prediction scheme is provided in the optional example, and the safety of the operation of the robot is improved by generating exploration 'tentacles' according to the current speed and the set time to form a predicted potential safety hazard in advance and giving out avoidance signals and actions in advance.

As shown in fig. 4, the flow of the movement control method of the robot in this alternative example may include the steps of:

step S402, a current speed is acquired.

Step S404, obtaining the current pose.

Step S406, calculating the distance between the current position and the path start point.

Step S408, judging whether the distance is larger than the threshold value, if so, executing step S410, otherwise, executing step S402.

For the steps S402 to S408, the current speed and pose information of the mobile robot may be obtained, the distance between the current pose and the planned path start point may be calculated first, when the distance is smaller than the threshold K, the step S402 is directly exited, and otherwise, the subsequent steps are continuously performed.

Step S410, detecting the current speed, judging whether the speed is greater than a threshold, if so, executing step S414, otherwise, executing step S412.

In step S412, the speed is taken as a set threshold.

In step S414, a prediction time (including a time length and a time interval point) is set.

For the above steps S410 to S414, the current speed detection of the mobile robot may be performed, and when the speed is less than the set threshold, the speed is directly taken as the set threshold, and the same processing steps are performed in the following steps as in the case where the speed is greater than the threshold.

Step S416, generating a detection point using the linear motion model.

In step S418, the cost value of the detection point is calculated.

Step S420, judging whether the cost value is larger than the threshold value, if yes, executing step S422, otherwise, executing step S402.

In step S422, the state machine is updated and set as the hazard signal.

For the above steps S416 to S422, a linear motion model may be used to generate a series of detection points according to the current speed (i.e. the linear speed and the angular speed) and the predicted time, and calculate the cost values of the detection points respectively, if the cost value is higher than the threshold value D, update the state machine, set as a dangerous signal, otherwise return to step S402.

According to the method and the device, a group of predicted position points are determined according to the current pose, the current speed and the preset time of the mobile robot, dangerous occurrence is judged in advance through the value of the position points, a control decision is given in advance, and the safe and smooth control effect of the mobile robot is guaranteed.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the embodiments of the present application.

According to still another aspect of the embodiments of the present application, there is also provided a movement control apparatus of a robot for implementing the movement control method of the robot. Fig. 5 is a block diagram of an alternative movement control device of a robot according to an embodiment of the present application, and as shown in fig. 5, the device may include:

an obtaining unit 502, configured to obtain a current movement parameter of the mobile robot, where the current movement parameter is used to represent a current running state of the mobile robot;

A determining unit 504, coupled to the obtaining unit 502, for determining a set of predicted position points according to the current movement parameters, wherein the set of predicted position points is a predicted position point to which the mobile robot moves at each future time point in a set of future time points;

a first control unit 506, coupled to the determining unit 504, is configured to perform movement control on the mobile robot according to the cost value of each predicted position point in the set of predicted position points.

It should be noted that, the acquiring unit 502 in this embodiment may be used to perform the above-described step S202, the determining unit 504 in this embodiment may be used to perform the above-described step S204, and the first control unit 506 in this embodiment may be used to perform the above-described step S206.

Acquiring current movement parameters of the mobile robot through the module, wherein the current movement parameters are used for representing the current running state of the mobile robot; determining a set of predicted location points according to the current movement parameters, wherein the set of predicted location points are predicted location points to which the mobile robot moves at each of a set of future times; according to the cost value of each predicted position point in a group of predicted position points, the mobile robot is controlled to move, the problem that the operation safety of the robot in the related art is poor due to the fact that obstacle avoidance cannot be performed in time is solved, and the operation safety of the mobile robot is improved.

In one exemplary embodiment, the determining unit includes:

the prediction module is used for predicting the position points according to the current movement parameters and the preset time parameters to obtain a group of predicted position points:

in one exemplary embodiment, the prediction module includes:

and the prediction sub-module is used for predicting the position points according to the current pose of the mobile robot, the current moving speed of the mobile robot and a preset time interval to obtain a group of predicted position points.

In an exemplary embodiment, the above apparatus further includes:

and the updating unit is used for updating the current moving speed of the mobile robot into a preset speed threshold value under the condition that the current moving speed of the mobile robot is smaller than or equal to the preset speed threshold value before the position point prediction is carried out according to the current moving parameter and the preset time parameter to obtain a group of predicted position points, so as to obtain the updated current moving speed of the mobile robot.

In one exemplary embodiment, the first control unit includes:

and the control module is used for controlling the mobile robot to execute the deceleration operation under the condition that the cost value of the target predicted position point in the set of predicted position points is greater than or equal to the target cost threshold value.

In one exemplary embodiment, the determining unit includes:

the first determining module is used for determining the distance between the mobile robot and a path starting point of a preset moving path according to the current pose of the mobile robot;

the second determining module is used for determining a group of predicted position points according to the current movement parameters under the condition that the distance between the mobile robot and the path starting point of the preset movement path is greater than or equal to the preset distance threshold value.

In an exemplary embodiment, the above apparatus further includes:

a starting unit, configured to start a target sensor on the mobile robot when the cost value of a target predicted position point in the set of predicted position points is greater than or equal to a target cost threshold value after performing movement control on the mobile robot according to the cost value of each predicted position point in the set of predicted position points, where the target sensor is a sensor for performing obstacle detection;

and the second control unit is used for performing movement control on the mobile robot according to the obstacle data detected by the target sensor.

It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.

According to yet another aspect of embodiments of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used to execute the program code of the movement control method of any one of the robots described in the embodiments of the present application.

Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.

Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:

s1, acquiring current movement parameters of a mobile robot, wherein the current movement parameters are used for representing the current running state of the mobile robot;

s2, determining a group of predicted position points according to the current movement parameters, wherein the group of predicted position points are predicted position points to which the mobile robot moves at each future time in a group of future times;

and S3, performing movement control on the mobile robot according to the cost value of each predicted position point in the group of predicted position points.

Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.

Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.

According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the movement control method of the robot described above, which may be a server, a terminal, or a combination thereof.

Fig. 6 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 602, a communication interface 604, a memory 606, and a communication bus 608, as shown in fig. 6, wherein the processor 602, the communication interface 604, and the memory 606 communicate with each other via the communication bus 608, wherein,

a memory 606 for storing a computer program;

the processor 602, when executing the computer program stored on the memory 606, performs the following steps:

s1, acquiring current movement parameters of a mobile robot, wherein the current movement parameters are used for representing the current running state of the mobile robot;

s2, determining a group of predicted position points according to the current movement parameters, wherein the group of predicted position points are predicted position points to which the mobile robot moves at each future time in a group of future times;

And S3, performing movement control on the mobile robot according to the cost value of each predicted position point in the group of predicted position points.

Alternatively, in the present embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus. The communication interface is used for communication between the electronic device and other equipment.

The memory may include RAM or nonvolatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

As an example, the memory 606 may include, but is not limited to, the acquisition unit 502, the determination unit 504, and the first control unit 506 in a control apparatus including the device. In addition, other module units in the control device of the above apparatus may be included, but are not limited to, and are not described in detail in this example.

The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.

It will be understood by those skilled in the art that the structure shown in fig. 6 is only schematic, and the device implementing the method for controlling movement of the robot may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palm computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 6 is not limited to the structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 6, or have a different configuration than shown in FIG. 6.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims (10)

1. A movement control method of a robot, comprising:

acquiring current movement parameters of a mobile robot, wherein the current movement parameters are used for representing the current running state of the mobile robot;

determining a set of predicted location points according to the current movement parameters, wherein the set of predicted location points are predicted location points to which the mobile robot moves at each of a set of future times;

and performing movement control on the mobile robot according to the cost value of each predicted position point in the group of predicted position points.

2. The method of claim 1, wherein said determining a set of predicted location points based on said current movement parameters comprises:

and carrying out position point prediction according to the current movement parameter and the preset time parameter to obtain the group of predicted position points.

3. The method of claim 2, wherein said predicting a location point according to said current movement parameter and a predetermined time parameter to obtain said set of predicted location points comprises:

and predicting the position points according to the current pose of the mobile robot, the current moving speed of the mobile robot and a preset time interval to obtain the group of predicted position points.

4. A method according to claim 3, wherein prior to said predicting a location point according to said current movement parameter and a predetermined time parameter to obtain said set of predicted location points, said method further comprises:

and under the condition that the current moving speed of the mobile robot is smaller than or equal to a preset speed threshold, updating the current moving speed of the mobile robot to the preset speed threshold to obtain the updated current moving speed of the mobile robot.

5. The method of claim 1, wherein said performing movement control on the mobile robot based on the cost value of each predicted location point in the set of predicted location points comprises:

and controlling the mobile robot to execute a deceleration operation under the condition that the cost value of the target predicted position point in the group of predicted position points is greater than or equal to the target cost threshold value.

6. The method of claim 1, wherein said determining a set of predicted location points based on said current movement parameters comprises:

determining the distance between the mobile robot and a path starting point of a preset moving path according to the current pose of the mobile robot;

and determining the group of predicted position points according to the current movement parameters under the condition that the distance between the mobile robot and the path starting point of the preset movement path is greater than or equal to a preset distance threshold.

7. The method according to any one of claims 1 to 6, wherein after the mobile robot is motion controlled according to the cost value of each predicted position point in the set of predicted position points, the method further comprises:

starting a target sensor on the mobile robot under the condition that the cost value of a target predicted position point in the group of predicted position points is greater than or equal to a target cost threshold value, wherein the target sensor is a sensor for detecting an obstacle;

and carrying out movement control on the mobile robot according to the obstacle data detected by the target sensor.

8. A movement control device for a robot, comprising:

the mobile robot comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring current movement parameters of the mobile robot, and the current movement parameters are used for representing the current running state of the mobile robot;

a determining unit configured to determine a set of predicted position points according to the current movement parameter, wherein the set of predicted position points are predicted position points to which the mobile robot moves at each of a set of future times;

and the first control unit is used for carrying out movement control on the mobile robot according to the cost value of each predicted position point in the group of predicted position points.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of claims 1 to 7 by means of the computer program.