WO2018188200A1 - 机器人的路径规划系统、方法、机器人及存储介质 - Google Patents
机器人的路径规划系统、方法、机器人及存储介质 Download PDFInfo
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- WO2018188200A1 WO2018188200A1 PCT/CN2017/091370 CN2017091370W WO2018188200A1 WO 2018188200 A1 WO2018188200 A1 WO 2018188200A1 CN 2017091370 W CN2017091370 W CN 2017091370W WO 2018188200 A1 WO2018188200 A1 WO 2018188200A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/18—Distance travelled
Definitions
- the present invention relates to the field of computer technologies, and in particular, to a path planning system, method, robot, and computer readable storage medium for a robot.
- autonomous mobile robots can be widely used in many scenes, such as guiding the exhibition hall, leading visitors from one exhibition area to another; the service of the restaurant, actively welcome guests, and lead guests to vacant meals. ; guidance and patrol work in public places, moving along the route set by the program, someone needs help to stop answering questions and so on.
- the autonomous mobile robot is required to move to one or more designated locations to achieve certain specific functions.
- the path planning problem of the autonomous mobile robot is involved.
- the autonomous mobile robot In the prior art, in the path calculation problem, the autonomous mobile robot generally starts to calculate the path of how to move to the target point in real time when receiving the movement instruction. This real-time calculation process needs to consider many factors and is time consuming.
- the main object of the present invention is to provide a path planning system, method, robot and storage medium for a robot, which aims to improve the efficiency of autonomous mobile robot path planning.
- a first aspect of the present application provides a path planning system for a robot, where the path planning system includes:
- a selection module configured to pre-select one or more position points on the path for the robot to move in the predetermined area map as the reference positioning point;
- a path planning module configured to: if receiving an instruction to move the robot from the first location point to the second location point, analyze the first from the first according to the set reference positioning point and according to a predetermined path analysis rule Positioning a path to the second location point and controlling movement of the robot to the second location point based on the analyzed path.
- a second aspect of the present application provides a path planning method for a robot, the method comprising the following steps:
- the path planning system of the robot pre-selects one or more position points on the path for the robot to move in the predetermined area map as the reference positioning point;
- a third aspect of the present application provides a robot, including a processing device, a storage device, in which a path planning system for a robot is stored, the path planning system of the robot includes at least one computer readable instruction, the at least one computer readable instruction Can be executed by the processing device to:
- a fourth aspect of the present application provides a computer readable storage medium having stored thereon at least one executable device Computer-readable instructions to implement the following operations:
- the path planning system, method, robot and storage medium of the robot proposed by the present invention preselect one or more position points as reference positioning points on a path for the robot to move in a predetermined area map; After the robot moves from the first position point to the second position point, the path from the first position point to the second position point is analyzed according to the set reference positioning point and according to a predetermined path analysis rule. And controlling the movement of the robot to the second position point based on the analyzed path. It is not necessary for the robot to calculate the moving path in real time during path planning, but to make corresponding selection from the previously planned path, that is, the path planning process is changed from “calculation” to “selection”, which effectively reduces the real-time calculation amount and improves the path planning. s efficiency.
- FIG. 1 is a schematic diagram of an operating environment of a preferred embodiment of a path planning system for a robot of the present invention
- FIG. 2 is a schematic flow chart of an embodiment of a path planning method for a robot according to the present invention
- FIG. 3 is a schematic diagram of each reference positioning point selected in a public library area map in an embodiment of a path planning method for a robot according to the present invention
- FIG. 4 is a schematic diagram of a path planning of a point P to a point in a public library area map in an embodiment of a path planning method for a robot according to the present invention
- FIG. 5 is a schematic diagram of path planning from point A to point B in an embodiment of a path planning method for a robot according to the present invention
- FIG. 6 is a schematic diagram of quantitative calculation of an obstacle influencing factor in an actual index in an embodiment of a path planning method for a robot according to the present invention
- FIG. 7 is a schematic diagram of obstacle avoidance of a robot in an embodiment of a path planning method for a robot according to the present invention.
- FIG. 8 is a schematic diagram showing a division and trigger radius of a reference positioning point in an embodiment of a path planning method for a robot according to the present invention.
- FIG. 9 is a schematic diagram of functional modules of an embodiment of a path planning system for a robot according to the present invention.
- FIG. 1 it is a schematic diagram of an operating environment of a preferred embodiment of a road strength planning system for a robot of the present invention.
- the path planning system 10 of the robot is installed and operated in the robot 1.
- the robot 1 may include, but is not limited to, a memory 11, a processor 12, and a display 13 that are communicatively coupled to each other through a system bus.
- Figure 1 shows only the robot 1 with components 11-13, but it should be understood that not all illustrated components may be implemented, and more or fewer components may be implemented instead.
- the memory 11 includes a memory and at least one type of readable storage medium.
- the memory provides a cache for the operation of the robot 1;
- the readable storage medium may be a non-volatile storage medium such as a flash memory, a hard disk, a multimedia card, a card type memory, or the like.
- the readable storage medium may be an internal storage unit of the robot 1, such as the hard disk of the robot 1; in other embodiments, the non-volatile storage medium may also be an external storage device of the robot 1, For example, a plug-in hard disk equipped with the robot 1, a smart memory card (SMC), a Secure Digital (SD) card, a flash card, and the like.
- the readable storage medium of the memory 11 is generally used for storage.
- the memory 11 can also be used to temporarily store various types of data that have been output or are to be output.
- Processor 12 may, in some embodiments, include one or more microprocessors, microcontrollers, digital processors, and the like. This processor 12 is typically used to control the operation of the robot 1. In the present embodiment, the processor 12 is configured to run program code or process data stored in the memory 11, such as a path planning system 10 that runs a robot, and the like.
- the display 13 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch sensor, or the like in some embodiments.
- the display 13 is used to display information processed in the robot 1 and a user interface for displaying visualizations, such as an application menu interface, an application icon interface, and the like.
- the components 11-13 of the robot 1 communicate with each other through a system bus.
- the path planning system 10 of the robot includes at least one computer readable instructions stored in the memory 11, the at least one computer readable instructions being executable by the processor 12 to implement the path planning method of the robot of the various embodiments of the present application.
- the at least one computer readable instruction can be classified into different logic modules depending on the functions implemented by its various parts.
- the path planning system 10 of the robot when executed by the processor 12, the following operations are performed: first, one or more position points are preselected as a reference position on a path for the robot 1 to move in a predetermined area map. Point; then, if an instruction to move the robot 1 from the first position point to the second position point is received, analyzing from the first position point to the second position according to the set reference positioning point and according to a predetermined path analysis rule The path of the point, and based on the analyzed path, controls the movement of the robot 1 to the second position point.
- the path planning system 10 of the robot is stored in the memory 11 and includes at least one computer readable instruction stored in the storage device 11, the at least one computer readable instruction being executable by the processor 12 to implement the present The path planning method of the robot of each embodiment is applied.
- the invention provides a path planning method for a robot.
- FIG. 2 is a schematic flowchart diagram of an embodiment of a path planning method for a robot according to the present invention.
- the path planning method of the robot includes:
- step S10 the path planning system of the robot preselects one or more position points as reference positioning points on the path for the robot to move in the predetermined area map.
- one or more position points are preselected on the predetermined area map as the reference positioning points.
- one or more position points may be selected as reference positioning points on each path that is connected to each other and movable by the robot, as shown in FIG. 3, some small blacks in FIG. Dots are the various datum points selected in the public library area map. Each datum point is located on the path of the public library area map for the robot to move. The larger black dot in Figure 3 is a public book. Obstacle in the museum area map that the robot cannot pass.
- Step S20 if an instruction to move the robot from the first position point to the second position point is received, analyzing the point from the first position point according to the set reference positioning point and according to a predetermined path analysis rule a path of the second location point and controlling movement of the robot to the second location point based on the analyzed path.
- the robot needs to move from the first position point (for example, the P point shown in FIGS. 3 and 4) to the second position point.
- the path planning system of the robot analyzes the path from the first position point to the second position according to the set reference positioning point and according to the predetermined path analysis rule. And controlling the movement of the robot to the second position point based on the analyzed path. For example, for each of the selected reference positioning points in the area map, a plurality of movable paths y1, y2, and y3 between different reference positioning points may be determined in advance, as shown in FIG. 4, the reference positioning point A and the reference positioning point.
- a plurality of movable paths can be predetermined between B, and a plurality of determined movable paths can bypass a large black dot, that is, an obstacle that cannot be passed by the robot, so that the robot can move normally.
- the path planning system of the robot can select one of a plurality of predetermined movable paths between the reference positioning point A and the reference positioning point B as needed, and can be used as the moving path of the analyzed robot to complete the robot from The movement of the first position point to the second position point. For example, if the path required for the robot to move is the shortest, a predetermined movable path y1 or y3 between the reference positioning point A and the reference positioning point B may be selected, and the like.
- one or more position points are preselected as a reference positioning point on a path that can be moved by the robot in a predetermined area map; upon receiving the movement of the robot from the first position point to the second position point After the command, according to the set reference positioning point and according to the predetermined path analysis rule, the path from the first position point to the second position point is analyzed, and the robot movement is controlled based on the analyzed path. Said second location point. It is not necessary for the robot to calculate the moving path in real time during path planning, but to make corresponding selection from the previously planned path, that is, the path planning process is changed from “calculation” to “selection”, which effectively reduces the real-time calculation amount and improves the path planning. s efficiency.
- the predetermined path analysis rule includes:
- a first reference positioning point eg, point A shown in FIG. 4
- a second reference positioning point closest to the second position point eg, point B shown in FIG. 4
- the path from the first location point to the first reference location point, and the second location point to the second reference location point is planned according to a preset first planning manner
- the path from the first reference positioning point to the second reference positioning point is planned according to a preset second planning manner to obtain a second planning path.
- the first planning mode is:
- the second planning manner includes the following steps:
- H1 determining an optional planning path corresponding to the first reference positioning point and the second reference positioning point according to a mapping relationship between the first reference positioning point, the second reference positioning point, and the optional planning path;
- the optional planning path is used as the second planning path of the first reference positioning point to the second reference positioning point;
- the method further includes the following steps:
- the optional planning path is filtered by a predetermined filtering method to filter out the optional planning path to be scored.
- the predetermined screening method includes the following steps:
- An optional planning path including a predetermined specific reference point is selected from each of the optional planning paths, and the selected optional planning path is used as an optional planning path to be scored. For example, if the robot needs to play an advertisement in the process of moving from point A to point B, the advertisement needs to be played on the path M-N with more crowds. Then the robot must pass through the specific reference positioning points M and N in the path planning process, and the path selectable from A to B must contain the specific reference positioning points M and N, and only the specific reference positioning points M and N can be included.
- the planning path is selected for score calculation to simplify the path selection process.
- the total length corresponding to each optional planning path may be separately calculated according to a predetermined calculation formula, and the total length of each optional planning path and the first reference positioning point to the second are respectively calculated.
- the difference between the total length of the shortest path of the reference positioning point, and the shortest path of the first reference positioning point to the second reference positioning point may be a linear distance between the first reference positioning point and the second reference positioning point, or may be The shortest path among the various optional planning paths from a reference positioning point to a second reference positioning point.
- the optional planning path whose corresponding difference is less than the preset threshold is filtered out as an optional planning path to be scored. That is, an optional planning path with a short path length is selected to select to improve the efficiency of selecting the optimal planning path.
- the predetermined calculation formula is:
- d(path) represents the total length of the path and also includes:
- the predetermined scoring rule is:
- the score corresponding to each optional planning path is two out of the optional planning paths.
- the path between adjacent nodes is the score under the influence of walking distance, the influence factor of walking time or the influencing factors of obstacles.
- the last selected path can be defined as:
- Score(path i ) refers to the comprehensive score of the path numbered i, and the comprehensive scoring formula of the path is as follows:
- Score(path) g[o(1),o(2),...,o(i),...,o(n)]
- o(i) represents the influencing factors, including the influencing factors of walking distance, the influencing factors of walking time, and the influencing factors of obstacles (for example, difficulty in avoiding obstacles).
- the whole path The rating value of the influencing factors is the sum of the scores for each segment, ie:
- L k,k+1 represents the score of the influencing factor of the path between every two adjacent nodes in the path from A to B.
- path 1 A-L1-L2-L3-B
- path 2 A-M1-M2-M3-B
- path 3 A -N1-N2-N3-B
- the length of the path 1 path is d (path 1 )
- the length of the path 2 path is d ( Path 2 )
- the length of the path 3 path is d(path 3 ).
- the score corresponding to each optional planning path is the score of the path between each two adjacent nodes in the optional planning path, such as the walking distance influencing factor, the walking time influencing factor or the obstacle influencing factor, such as path 1
- the score corresponding to the path is the path A-L1, L1-L2, L2-L3, and L3-B between each two adjacent nodes in the optional planning path.
- scoring formula of the optional planning path is as follows:
- o(t) is the time score of the optional planning path
- o(d) is the distance score of the optional planning path
- a and b are predetermined weights
- the time score of the i-th optional planning path is defined o i (t) is:
- T(path 1 ), T(path 2 )...T(path n ) are the time used by the robot to move to the target point in different alternative planning paths
- T(path i ) is the ith optional planning path.
- the time taken by the lower robot to move to the target point k ti represents the time penalty factor of the i-th optional planning path, which is the time it takes for the robot to bypass the obstacle in the ith optional planning path.
- d i represents the path length of the i-th optional planning path
- v i represents the robot speed in the i-th optional planning path
- P i represents the probability of occurrence of an obstacle in the i-th optional planning path.
- the distance score o i (d) defining the i-th optional planning path is:
- d(path 1 ), d(path 2 )...d(path n ) are the distances that the robot travels to the target point in different alternative planning paths
- k di represents the distance penalty of the i-th alternative planning path.
- the distance penalty factor is the distance that the robot needs to move more than the obstacle in the ith optional planning path.
- the obstacle influencing factors include an obstacle avoidance difficulty coefficient and a probability of occurrence of an obstacle.
- the robot can access the Internet of Things system, and more useful information can be obtained through the system. For example: (1) The robot can get information about the indoor camera of the IoT system server. Because the surveillance camera generally corresponds to a fixed scene. The image processing method is used to process the data of the camera to obtain the number and approximate distribution of dynamic obstacles in a certain area. (2) The Internet of Things system server can statistically organize the data of personnel flow. Through statistical data, it is possible to predict the probability of which people are concentrated in which time periods and in which areas. (3) Further, the robot system can obtain the distribution of indoor dynamic obstacles (such as personnel distribution) through the indoor camera, and refresh the obstacle probability of the path of each section in real time. Therefore, the robot can dynamically select the optimal path according to the existing situation.
- indoor dynamic obstacles such as personnel distribution
- FIG. 6 is a schematic diagram of quantitative calculation of an obstacle influencing factor in an actual index, and the walking path of the robot is divided into several regions. Assume that it is known:
- the corresponding distance penalty coefficient is kd and the time penalty coefficient is kt
- the time scoring formula and distance scoring formula the time and distance scores of each path after the obstacle factor correction can be calculated.
- the comprehensive score of each path can be calculated, as shown in the following table. Second:
- the path with the lowest score is selected, that is, the third path is used as the optimal moving planning path of the robot.
- the step of controlling the movement of the robot to the second position based on the analyzed path includes:
- the path planning system of the robot analyzes whether there is an obstacle in the path to be moved in real time or timing, and needs to perform mobile avoidance.
- the path planning system of the robot acquires obstacle information in the current path to be moved from a predetermined area monitoring server (for example, an Internet of Things system server) in real time or at a time, and analyzes the acquired obstacle information according to the obtained obstacle information. Whether there are obstacles or not needs to be moved to avoid.
- a predetermined area monitoring server for example, an Internet of Things system server
- the path planning system of the robot detects the obstacle information in the current path to be moved by the obstacle detecting unit (for example, the radar unit) configured by the robot in real time or timing, and analyzes whether there is an obstacle to be performed. Mobile evasion.
- the obstacle detecting unit for example, the radar unit
- the path planning system of the robot takes the current position as the new first position point, and analyzes the new first position point according to the set reference positioning point and according to the predetermined path analysis rule. a path to the second location point and controlling movement of the robot to the second location point based on the analyzed path. (For example, the planned path from point P to point Q shown in Figure 4).
- FIG. 7 is a schematic diagram of the obstacle avoidance of the robot. It is assumed that the robot is to move from point A to point B, and a dynamic obstacle suddenly appears near the point C during the movement. In the prior art, the robot dynamically bypasses the obstacle according to an algorithm and recalculates the new planned path y4 according to the current position. There are some disadvantages to this approach, such as:
- the robot In the process of bypassing the obstacle, the robot needs to constantly calculate the avoidance path and continuously calculate the path from the current position to the target point. This process will consume a lot of computing resources and time.
- the robot cannot know the size of the obstacle in front of the eye, the time it takes to bypass it, and whether there are other obstacles after the bypass. For example, what appears in front of the robot is a long wall of people, using conventional methods. It will take a lot of time to get around this wall.
- the robot reselects another path by directly selecting other reference positioning points.
- L1 and L2 are reference positioning points.
- the robot can re-select another route C-L1-L2-B to reach point B, that is, the robot can choose not to bypass the obstacle, but choose another route, and select the route. It is more efficient to calculate the route in real time, does not take up a lot of computing resources of the robot, and the response is more timely.
- the path planning system of the robot pre-selects one or more position points as the reference positioning points on the predetermined area map, and also sets the corresponding position at the position corresponding to each of the reference positioning points in the predetermined area map.
- the location point identifier may be a manual location roadmap, eg, for example, the artificial landmark at the location corresponding to the second reference location of the second layer A3 region may be “L1A3P2”, or “L1A32”;
- the position road sign eg, for example, the natural road sign at the position corresponding to the second reference point of the second layer A3 area may be " ⁇ A3".
- the step of controlling the movement of the robot to the second position based on the analyzed path further includes:
- the path planning system of the robot performs position location in real time or at regular intervals
- the triggering coordinate area may be a center of the reference positioning point and a preset length of the radius A circular area or a square area, and so on.
- the open location point identification device (such as a camera) starts detecting the location point identifier
- the distance and direction of the robot and the detected position point identification are calculated by the sensor of the robot to obtain the current position and posture of the robot, and the forward direction is calibrated according to the current position and posture of the robot.
- the step of analyzing whether the current position is in the trigger coordinate area of a reference positioning point includes:
- the current position is in the trigger coordinate area of a target reference positioning point, it is determined that the current position is in the trigger coordinate area of a reference positioning point, or if the current position is not in the trigger coordinate area of a target reference positioning point, then determining The current position is not in the trigger coordinate area of a datum point.
- the robot During the movement of the robot according to the planned path, the robot needs to determine the position of the current position and the target point by positioning, and also needs to confirm its position during the movement.
- the combination of relative positioning and absolute positioning is now widely used. Because of the inevitable error accumulation problem of relative positioning, it is necessary to use absolute positioning method for calibration.
- the robot calculates the relative positioning of the sensor based on the previous positioning result and the relative displacement measured by the inertia sensor. Since there will be some error in each positioning, the error will continue to accumulate and become larger and larger, which will eventually lead to unacceptable positioning errors after a period of time. Therefore, the robot needs to calibrate the positioning information in some way at an appropriate time.
- the position point identification is used to calibrate in the reference positioning point mode, and the robot can roughly determine the position of the road sign according to its position.
- the robot recognizes the position point identification, the distance and direction of the robot and the road sign are calculated by the sensor. , get the current position and posture of the robot.
- the robot needs to open the detecting device at all times to search for a location point identifier nearby and perform calibration. Therefore, it is necessary to arrange a large number of location point identifiers in a wide range, and also waste a large amount of computing resources of the robot.
- the arrangement range of the position point identification is reduced to the reference setting. Near the site, there is no need to arrange a large number of road signs globally, and it is only necessary to arrange road signs near the reference positioning points, thereby effectively reducing the number of road sign arrangements and preventing confusion of other types of signs caused by the layout of a large number of road signs.
- the position point of each reference anchor point is identified as a picture corresponding to the unique coordinates (a, b) in the map.
- a camera is mounted on the top of the robot to identify the location point identification picture.
- the robot captures the position point identification picture, the relative coordinates (m, n) of the robot relative to the target picture can be obtained, and the robot can obtain its current coordinate (a+m, b+n) and use the coordinate as Current accurate coordinates for coordinate calibration.
- the robot in order to not miss the location point identification during the movement, the robot will open the top camera in real time and continuously process the video.
- the camera opens the capturing position point identification for calibration if and only if the robot enters the triggering coordinate area of the reference positioning point, that is, the triggering radius. Therefore, the present embodiment gives the timing of the robot calibration by setting the trigger coordinate area of the reference positioning point, and facilitates the control of the robot, thereby reducing the calculation amount and resource consumption.
- an implementation manner is that the robot uses the current coordinates and the coordinates of each of the reference positioning points in the database to calculate, and determines the current coordinates and Whether the coordinates of a datum point are smaller than the trigger radius.
- the map and the reference positioning point are divided and classified, and all the reference positioning points are not queried during the query, but only the area where the area is located is determined, and only the reference positioning points constituting the area are determined. Make queries, which greatly reduces the amount of calculation per query.
- FIG. 8 is a schematic diagram of a reference positioning area division and a trigger radius.
- the calibration scheme includes the following steps:
- the map is segmented into a plurality of polygonal regions 1, 2, ... using a reference positioning point r, each of which has a trigger radius R of a corresponding radius.
- the robot determines in which region the current coordinates are located. For example, the robot in Figure 8 is currently located in the area numbered 5.
- the robot when the robot is in a certain polygon area, the robot will query at time interval t to confirm whether its current coordinates are in the trigger radius of the reference point of the corner point of the area.
- the current coordinates of the robot are located in a square area numbered 5, and the robot will only query the area where the current coordinates are at the reference positioning points of the four corner points constituting the area (ie, numbered A, B, C, D is the area formed by the four reference positioning points).
- the robot will open the position point identification device (such as the camera) to start detecting the position point identification.
- the robot will calibrate the current coordinates by the calculated coordinate information.
- the invention further provides a path planning system for a robot.
- FIG. 9 is a functional block diagram of a preferred embodiment of the path planning system 10 of the robot of the present invention.
- the path planning system 10 of the robot may be divided into one or more modules, the one or more modules being stored in the memory 11 and being processed by one or more processors (this embodiment) Executed for the processor 12) to complete the present invention.
- the path planning system 10 of the robot may be divided into a selection module 01 and a path planning module 02.
- the term "module" as used in the present invention refers to a series of computer program instruction segments capable of performing a specific function, which is more suitable than the program for describing the execution process of the path planning system 10 of the robot in the robot 1. The following description will specifically describe the functions of the selection module 01 and the path planning module 02.
- the selection module 01 is configured to pre-select one or more position points on the path for the robot to move in the predetermined area map as the reference positioning point.
- one or more position points are preselected on the predetermined area map as the reference positioning points.
- one or more position points may be selected as reference positioning points on each path that is connected to each other and movable by the robot, as shown in FIG. 3, some small blacks in FIG. Dots are the various datum points selected in the public library area map. Each datum point is located on the path of the public library area map for the robot to move. The larger black dot in Figure 3 is a public book. Robots cannot pass through the museum area map Obstacle through.
- the path planning module 02 is configured to: if receiving an instruction to move the robot from the first location point to the second location point, analyze the rule from the first according to the set reference positioning point and according to a predetermined path analysis rule A location points a path to the second location point and controls movement of the robot to the second location point based on the analyzed path.
- the robot needs to move from the first position point (for example, the P point shown in FIGS. 3 and 4) to the second position point.
- the path planning system of the robot analyzes the path from the first position point to the second position according to the set reference positioning point and according to the predetermined path analysis rule. And controlling the movement of the robot to the second position point based on the analyzed path. For example, for each of the selected reference positioning points in the area map, a plurality of movable paths y1, y2, and y3 between different reference positioning points may be determined in advance, as shown in FIG. 4, the reference positioning point A and the reference positioning point.
- a plurality of movable paths can be predetermined between B, and a plurality of determined movable paths can bypass a large black dot, that is, an obstacle that cannot be passed by the robot, so that the robot can move normally.
- the path planning system of the robot can select the reference positioning according to the need.
- One of a plurality of predetermined movable paths between the point A and the reference positioning point B can be used as the moving path of the analyzed robot to complete the movement of the robot from the first position point to the second position point. mobile. For example, if the path required for the robot to move is the shortest, a predetermined movable path y1 or y3 between the reference positioning point A and the reference positioning point B may be selected, and the like.
- one or more position points are preselected as a reference positioning point on a path that can be moved by the robot in a predetermined area map; upon receiving the movement of the robot from the first position point to the second position point After the command, according to the set reference positioning point and according to the predetermined path analysis rule, the path from the first position point to the second position point is analyzed, and the robot movement is controlled based on the analyzed path. Said second location point. It is not necessary for the robot to calculate the moving path in real time during path planning, but to make corresponding selection from the previously planned path, that is, the path planning process is changed from “calculation” to “selection”, which effectively reduces the real-time calculation amount and improves the path planning. s efficiency.
- the predetermined path analysis rule includes:
- a first reference positioning point eg, point A shown in FIG. 4
- a second reference positioning point closest to the second position point eg, point B shown in FIG. 4
- the path from the first location point to the first reference location point, and the second location point to the second reference location point is planned according to a preset first planning manner
- the path from the first reference positioning point to the second reference positioning point is planned according to a preset second planning manner to obtain a second planning path.
- the first planning mode is:
- the second planning manner includes the following steps:
- H1 determining an optional planning path corresponding to the first reference positioning point and the second reference positioning point according to a mapping relationship between the first reference positioning point, the second reference positioning point, and the optional planning path;
- the optional planning path is used as the second planning path of the first reference positioning point to the second reference positioning point;
- the method further includes the following steps:
- the optional planning path is filtered by a predetermined filtering method to filter out the optional planning path to be scored.
- the predetermined screening method includes the following steps:
- An optional planning path including a predetermined specific reference point is selected from each of the optional planning paths, and the selected optional planning path is used as an optional planning path to be scored. For example, if the robot needs to play an advertisement in the process of moving from point A to point B, the advertisement needs to be played on the path M-N with more crowds. Then the robot must pass through the specific reference positioning points M and N in the path planning process, and the path selectable from A to B must contain the specific reference positioning points M and N, and only the specific reference positioning points M and N can be included.
- the planning path is selected for score calculation to simplify the path selection process.
- the total length corresponding to each optional planning path may be separately calculated according to a predetermined calculation formula, and the total length of each optional planning path and the first reference positioning point to the second are respectively calculated.
- the difference between the total length of the shortest path of the reference positioning point, and the shortest path of the first reference positioning point to the second reference positioning point may be a linear distance between the first reference positioning point and the second reference positioning point, or may be The shortest path among the various optional planning paths from a reference positioning point to a second reference positioning point.
- the optional planning path whose corresponding difference is less than the preset threshold is filtered out as an optional planning path to be scored. That is, an optional planning path with a short path length is selected to select to improve the efficiency of selecting the optimal planning path.
- the predetermined calculation formula is:
- d(path) represents the total length of the path and also includes:
- the predetermined scoring rule is:
- the score corresponding to each optional planning path is two out of the optional planning paths.
- the path between adjacent nodes is the score under the influence of walking distance, the influence factor of walking time or the influencing factors of obstacles.
- the last selected path can be defined as:
- Score(path i ) refers to the comprehensive score of the path numbered i, and the comprehensive scoring formula of the path is as follows:
- Score(path) g[o(1),o(2),...,o(i),...,o(n)]
- o(i) represents the influencing factors, including the influencing factors of walking distance, the influencing factors of walking time, and the influencing factors of obstacles (for example, difficulty in avoiding obstacles).
- the whole path The rating value of the influencing factors is the sum of the scores for each segment, ie:
- L k,k+1 represents the score of the influencing factor of the path between every two adjacent nodes in the path from A to B.
- path 1 A-L1-L2-L3-B
- path 2 A-M1-M2-M3-B
- path 3 A -N1-N2-N3-B
- the length of the path 1 path is d (path 1 )
- the length of the path 2 path is d ( Path 2 )
- the length of the path 3 path is d(path 3 ).
- the score corresponding to each optional planning path is the score of the path between each two adjacent nodes in the optional planning path, such as the walking distance influencing factor, the walking time influencing factor or the obstacle influencing factor, such as path 1
- the score corresponding to the path is the path A-L1, L1-L2, L2-L3, and L3-B between each two adjacent nodes in the optional planning path.
- scoring formula of the optional planning path is as follows:
- o(t) is the time score of the optional planning path
- o(d) is the distance score of the optional planning path
- a and b are predetermined weights
- the time score of the i-th optional planning path is defined o i (t) is:
- T(path 1 ), T(path 2 )...T(path n ) are the time used by the robot to move to the target point in different alternative planning paths
- T(path i ) is the ith optional planning path.
- the time taken by the lower robot to move to the target point k ti represents the time penalty factor of the i-th optional planning path, which is the time it takes for the robot to bypass the obstacle in the ith optional planning path.
- d i represents the path length of the i-th optional planning path
- v i represents the robot speed in the i-th optional planning path
- P i represents the probability of occurrence of an obstacle in the i-th optional planning path.
- the distance score o i (d) defining the i-th optional planning path is:
- d(path 1 ), d(path 2 )...d(path n ) are the distances that the robot travels to the target point in different alternative planning paths
- k di represents the distance penalty of the i-th alternative planning path.
- the distance penalty factor is the distance that the robot needs to move more than the obstacle in the ith optional planning path.
- the obstacle influencing factors include an obstacle avoidance difficulty coefficient and a probability of occurrence of an obstacle.
- the robot can access the Internet of Things system, and more useful information can be obtained through the system. For example: (1) The robot can get information about the indoor camera of the IoT system server. Because the surveillance camera generally corresponds to a fixed scene. The image processing method is used to process the data of the camera to obtain the number and approximate distribution of dynamic obstacles in a certain area. (2) The Internet of Things system server can statistically organize the data of personnel flow. Through statistical data, it is possible to predict the probability of which people are concentrated in which time periods and in which areas. (3) Further, the robot system can obtain the distribution of indoor dynamic obstacles (such as personnel distribution) through the indoor camera, and refresh the obstacle probability of the path of each section in real time. Therefore, the robot can dynamically select the optimal path according to the existing situation.
- indoor dynamic obstacles such as personnel distribution
- FIG. 6 is a schematic diagram of quantitative calculation of an obstacle influencing factor in an actual index, and the walking path of the robot is divided into several regions. Assume that it is known:
- the corresponding distance penalty coefficient is kd and the time penalty coefficient is kt
- the time scoring formula and distance scoring formula the time and distance scores of each path after the obstacle factor correction can be calculated.
- the comprehensive score of each path can be calculated, as shown in the following table. Four:
- the path with the lowest score is selected, that is, the third path is used as the optimal moving planning path of the robot.
- path planning module 02 is further configured to:
- the path planning system of the robot acquires obstacle information in the current path to be moved from a predetermined area monitoring server (for example, an Internet of Things system server) in real time or at a time, and analyzes the acquired obstacle information according to the obtained obstacle information. Whether there are obstacles or not needs to be moved to avoid. For example, if there is a static obstacle on the path to be moved, it is determined that movement avoidance is required, or if there is a intersection point between the moving path of the dynamic obstacle and the moving path of the robot, it is determined that movement avoidance is required, and the prior art There is a need to analyze whether there is an obstacle based on the acquired obstacle information.
- a predetermined area monitoring server for example, an Internet of Things system server
- the path planning system of the robot detects the obstacle information in the current path to be moved by the obstacle detecting unit (for example, the radar unit) configured by the robot in real time or timing, and analyzes whether there is an obstacle to be performed. Mobile evasion.
- the obstacle detecting unit for example, the radar unit
- the path planning system of the robot takes the current position as the new first position point, and analyzes the new first position point according to the set reference positioning point and according to the predetermined path analysis rule. a path to the second location point and controlling movement of the robot to the second location point based on the analyzed path. (For example, the planned path from point P to point Q shown in Figure 4).
- FIG. 7 is a schematic diagram of the obstacle avoidance of the robot. It is assumed that the robot is to move from point A to point B, and a dynamic obstacle suddenly appears near the point C during the movement. In the prior art, the robot dynamically bypasses the obstacle according to an algorithm and recalculates the new planned path y4 according to the current position. There are some disadvantages to this approach, such as:
- the robot In the process of bypassing the obstacle, the robot needs to constantly calculate the avoidance path and continuously calculate the path from the current position to the target point. This process will consume a lot of computing resources and time.
- the robot cannot know the size of the obstacle in front of the eye, the time it takes to bypass it, and whether there are other obstacles after the bypass. For example, what appears in front of the robot is a long wall of people, and it takes a lot of time to bypass the wall by conventional methods.
- the robot reselects another path by directly selecting other reference positioning points.
- L1 and L2 are reference positioning points.
- the robot can re-select another route C-L1-L2-B to reach point B, that is, the robot can choose not to bypass the obstacle, but choose another route, and select the route. It is more efficient to calculate the route in real time, does not take up a lot of computing resources of the robot, and the response is more timely.
- the selection module 01 pre-selects one or more position points as the reference positioning points on the predetermined area map, and also sets the corresponding position points at the positions corresponding to the respective reference positioning points in the predetermined area map.
- the location point identifier may be a manual location roadmap, eg, for example, the artificial landmark at the location corresponding to the second reference location of the second layer A3 region may be “L1A3P2”, or “L1A32”;
- the position road sign eg, for example, the natural road sign at the position corresponding to the second reference point of the second layer A3 area may be " ⁇ A3".
- the path planning module 02 is further configured to:
- the open location point identification device (such as a camera) starts detecting the location point identifier
- the distance and direction of the robot and the detected position point identification are calculated by the sensor of the robot to obtain the current position and posture of the robot, and the forward direction is calibrated according to the current position and posture of the robot.
- the path planning module 02 is further configured to:
- the current position is in the trigger coordinate area of a target reference positioning point, it is determined that the current position is in the trigger coordinate area of a reference positioning point, or if the current position is not in the trigger coordinate area of a target reference positioning point, then determining The current position is not in the trigger coordinate area of a datum point.
- the robot During the movement of the robot according to the planned path, the robot needs to determine the current position and the target point by positioning. The location, as well as the location of the move, also needs to be confirmed during the move.
- the combination of relative positioning and absolute positioning is now widely used. Because of the inevitable error accumulation problem of relative positioning, it is necessary to use absolute positioning method for calibration. In the relative positioning of the robot, the robot calculates the relative positioning of the sensor based on the previous positioning result and the relative displacement measured by the inertia sensor. Since there will be some error in each positioning, the error will continue to accumulate and become larger and larger, which will eventually lead to unacceptable positioning errors after a period of time. Therefore, the robot needs to calibrate the positioning information in some way at an appropriate time.
- the position point identification is used to calibrate in the reference positioning point mode, and the robot can roughly determine the position of the road sign according to its position.
- the robot recognizes the position point identification, the distance and direction of the robot and the road sign are calculated by the sensor. , get the current position and posture of the robot.
- the robot needs to open the detecting device at all times to search for a location point identifier nearby and perform calibration. Therefore, it is necessary to arrange a large number of location point identifiers in a wide range, and also waste a large amount of computing resources of the robot.
- the arrangement range of the position point identification is reduced to the vicinity of the reference positioning point, and there is no need to arrange a large number of road signs globally, and only the road markings are selectively arranged near the reference positioning point, thereby effectively reducing The number of road signs arranged to prevent confusion of other types of signs caused by the layout of a large number of road signs.
- the position point of each reference anchor point is identified as a picture corresponding to the unique coordinates (a, b) in the map.
- a camera is mounted on the top of the robot to identify the location point identification picture.
- the robot captures the position point identification picture, the relative coordinates (m, n) of the robot relative to the target picture can be obtained, and the robot can obtain its current coordinate (a+m, b+n) and use the coordinate as Current accurate coordinates for coordinate calibration.
- the robot in order to not miss the location point identification during the movement, the robot will open the top camera in real time and continuously process the video.
- the camera opens the capturing position point identification for calibration if and only if the robot enters the triggering coordinate area of the reference positioning point, that is, the triggering radius. Therefore, the present embodiment gives the timing of the robot calibration by setting the trigger coordinate area of the reference positioning point, and facilitates the control of the robot, thereby reducing the calculation amount and resource consumption.
- an implementation manner is that the robot uses the current coordinates and the coordinates of each of the reference positioning points in the database to calculate, and determines the current coordinates and Whether the coordinates of a datum point are smaller than the trigger radius.
- the map and the reference positioning point are divided and classified, and all the reference positioning points are not queried during the query, but only the area where the area is located is determined, and only the reference positioning points constituting the area are determined. Make queries, which greatly reduces the amount of calculation per query.
- FIG. 8 is a schematic diagram of a reference positioning area division and a trigger radius.
- the calibration scheme includes the following steps:
- the map is segmented into a plurality of polygonal regions 1, 2, ... using a reference positioning point r, each of which has a trigger radius R of a corresponding radius.
- the robot determines in which region the current coordinates are located. For example, the robot in Figure 8 is currently located in the area numbered 5.
- the robot when the robot is in a certain polygon area, the robot will query at time interval t to confirm whether its current coordinates are in the trigger radius of the reference point of the corner point of the area.
- the current coordinates of the robot are located in a square area numbered 5, and the robot will only query the area where the current coordinates are at the reference positioning points of the four corner points constituting the area (ie, numbered A, B, C, D is the area formed by the four reference positioning points).
- the robot will open the position point identification device (such as the camera) to start detecting the position point identification.
- the robot will calibrate the current coordinates by the calculated coordinate information.
- the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and can also be implemented by hardware, but in many cases, the former is A better implementation.
- the technical solution of the present invention which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk,
- the optical disc includes a number of instructions for causing a terminal device (which may be a cell phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the methods described in various embodiments of the present invention.
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Abstract
Description
路径 | 距离d | 速度v | 时间t | kd | kt | P |
L1-L2 | 55.0 | 3.0 | 18.3 | 1.5 | 5.0 | 0.8 |
L2-L3 | 55.0 | 3.0 | 18.3 | 1.5 | 5.0 | 0.8 |
M1-M2 | 50.0 | 3.0 | 16.7 | 2.0 | 8.0 | 0.6 |
M2-M3 | 50.0 | 3.0 | 16.7 | 2.0 | 8.0 | 0.6 |
N1-N2 | 70.0 | 3.0 | 23.3 | 1.5 | 5.0 | 0.3 |
N2-N3 | 70.0 | 3.0 | 23.3 | 1.5 | 5.0 | 0.3 |
路径 | 距离d | 速度v | 时间t | kd | kt | P |
L1-L2 | 55.0 | 3.0 | 18.3 | 1.5 | 5.0 | 0.8 |
L2-L3 | 55.0 | 3.0 | 18.3 | 1.5 | 5.0 | 0.8 |
M1-M2 | 50.0 | 3.0 | 16.7 | 2.0 | 8.0 | 0.6 |
M2-M3 | 50.0 | 3.0 | 16.7 | 2.0 | 8.0 | 0.6 |
N1-N2 | 70.0 | 3.0 | 23.3 | 1.5 | 5.0 | 0.3 |
N2-N3 | 70.0 | 3.0 | 23.3 | 1.5 | 5.0 | 0.3 |
Claims (20)
- 一种机器人的路径规划系统,运行于机器人中,其特征在于,所述路径规划系统包括:选择模块,用于在预先确定的区域地图中可供机器人移动的路径上预先选择一个或多个位置点作为基准定位点;路径规划模块,用于若接收到将所述机器人从第一位置点移动到第二位置点的指令,则根据设置的基准定位点并按照预先确定的路径分析规则,分析出从所述第一位置点到所述第二位置点的路径,并基于分析出的路径控制所述机器人运动到所述第二位置点。
- 如权利要求1所述的路径规划系统,其特征在于,所述预先确定的路径分析规则包括:确定距离所述第一位置点最近的第一基准定位点,及距离所述第二位置点最近的第二基准定位点;为所述第一位置点至所述第一基准定位点,以及所述第二位置点至所述第二基准定位点的路径按照预设的第一规划方式进行规划;为所述第一基准定位点至所述第二基准定位点的路径按照预设的第二规划方式进行规划,得到第二规划路径。
- 如权利要求2所述的路径规划系统,其特征在于,所述第一规划方式包括:若所述第一位置点与所述第一基准定位点之间无障碍物,则取所述第一位置点与所述第一基准定位点之间的直线路径;若所述第二位置点与所述第二基准定位点之间无障碍物,则取所述第二位置点与所述第二基准定位点之间的直线路径;若所述第一位置点与所述第一基准定位点之间有障碍物,则取所述第一位置点与所述第一基准定位点之间的绕过障碍物的最短路径;若所述第二位置点与所述第二基准定位点之间有障碍物,则取所述第一位置点与所述第一基准定位点之间的绕过障碍物的最短路径。
- 如权利要求2所述的路径规划系统,其特征在于,所述第二规划方式包括如下步骤:h1、根据预先确定的第一基准定位点、第二基准定位点及可选规划路径的映射关系,确定第一基准定位点和第二基准定位点对应的可选规划路径;h2、按照预先确定的评分规则计算出各个可选规划路径对应的分值;h3、若最高分值的可选规划路径只有一个,则将该可选规划路径作为第一基准定位点至第二基准定位点的第二规划路径;h4、若最高分值的可选规划路径有多个,则从多个最高分值的可选规划路径中随机选择一个可选规划路径作为第一基准定位点至第二基准定位点的第二规划路径。
- 如权利要求4所述的路径规划系统,其特征在于,所述步骤h1和h2之间,还包括如下步骤:从各个可选规划路径中,筛选出包含预先确定的特定基准定位点的可选规划路径,并将筛选出的可选规划路径作为待计算分值的可选规划路径;及/或,根据预先确定的计算公式分别计算出各个可选规划路径对应的总长度,并分别计算出各个可选规划路径的总长度与第一基准定位点至第二基准定位点的最短路径的总长度的差值,将差值小于预设阈值的可选规划路径筛选出来作为待计算分值的可选规划路径。
- 如权利要求4所述的路径规划系统,其特征在于,所述步骤h2包括:根据各个可选规划路径对应的行走距离影响因素、行走时间影响因素和/或障碍物影响因素进行评分;其中,每一可选规划路径对应的分值为该可选规划路径中每两个相邻节点之间的路径在行走距离影响因素、行走时间影响因素或障碍物影响因素下的评分和。
- 如权利要求6所述的路径规划系统,其特征在于,可选规划路径的评分公式如下:Score(path)=a·o(t)+b·o(d)其中,o(t)为可选规划路径的时间评分,o(d)为可选规划路径的距离评分,a、b为预先确定的权值;定义第i个可选规划路径的时间评分oi(t)为:其中,T(path1)、T(path2)……T(pathn)是不同可选规划路径下机器人移动到目标点所使用的时间,T(pathi)是第i个可选规划路径下机器人移动到目标点所使用的时间,kti代表第i个可选规划路径的时间惩罚系数,该时间惩罚系数为机器人在第i个可选规划路径内绕过障碍物需要多花费的时间,di代表第i个可选规划路径的路径长度,vi代表第i个可选规划路径内的机器人速度,Pi代表第i个可选规划路径内出现障碍物的概率;定义第i个可选规划路径的距离评分oi(d)为:d(pathi)=∑(kdi·di·Pi+di·(1-Pi))其中,d(path1)、d(path2)……d(pathn)是不同可选规划路径下机器人移动到目标点所行走的距离,kdi代表第i个可选规划路径的距离惩罚系数,该距离惩罚系数为机器人在第i个可选规划路径内绕过障碍物需要多移动的距离。
- 如权利要求1-7任一项所述的路径规划系统,其特征在于,所述路径规划模块还用于:实时或者定时分析当前待移动的路径中是否存在障碍物需要进行移动规避;若分析存在障碍物需要进行移动规避,则将当前位置作为新的第一位置点,根据设置的基准定位点并按照预先确定的路径分析规则,分析出从新的第一位置点到所述第二位置点的路径,并基于分析出的路径控制机器人运动到所述第二位置点。
- 如权利要求1-7任一项所述的路径规划系统,其特征在于,所述选择模块还用于:在预先确定的区域地图中各个基准定位点对应的位置处设置对应的位置点标识;所述路径规划模块还用于:实时或者定时进行位置定位;根据预先确定的基准定位点与触发坐标区域的映射关系,分析当前位置是否处于一个基准定位点的触发坐标区域中;若当前位置处于一个基准定位点的触发坐标区域中,则开启位置点标识识别设备开始检测位置点标识;当检测到位置点标识时,通过机器人的传感器计算出机器人与检测的位置点标识的距离和方向,以得到机器人当前的位置和姿态,并根据机器人当前的位置和姿态对前进方向进行校准。
- 一种机器人的路径规划方法,其特征在于,所述方法包括以下步骤:机器人的路径规划系统在预先确定的区域地图中可供机器人移动的路径上预先选择一个或多个位置点作为基准定位点;若接收到将所述机器人从第一位置点移动到第二位置点的指令,则根据设置的基准定位点并按照预先确定的路径分析规则,分析出从所述第一位置点到所述第二位置点的路径,并基于分析出的路径控制所述机器人运动到所述第二位置点。
- 一种机器人,包括处理设备、存储设备,该存储设备中存储有机器人的路径规划 系统,该机器人的路径规划系统包括至少一个计算机可读指令,该至少一个计算机可读指令可被所述处理设备执行,以实现以下操作:在预先确定的区域地图中可供机器人移动的路径上预先选择一个或多个位置点作为基准定位点;若接收到将所述机器人从第一位置点移动到第二位置点的指令,则根据设置的基准定位点并按照预先确定的路径分析规则,分析出从所述第一位置点到所述第二位置点的路径,并基于分析出的路径控制所述机器人运动到所述第二位置点。
- 如权利要求11所述的机器人,其特征在于,所述预先确定的路径分析规则包括:确定距离所述第一位置点最近的第一基准定位点,及距离所述第二位置点最近的第二基准定位点;为所述第一位置点至所述第一基准定位点,以及所述第二位置点至所述第二基准定位点的路径按照预设的第一规划方式进行规划;为所述第一基准定位点至所述第二基准定位点的路径按照预设的第二规划方式进行规划,得到第二规划路径。
- 如权利要求12所述的机器人,其特征在于,所述第一规划方式包括:若所述第一位置点与所述第一基准定位点之间无障碍物,则取所述第一位置点与所述第一基准定位点之间的直线路径;若所述第二位置点与所述第二基准定位点之间无障碍物,则取所述第二位置点与所述第二基准定位点之间的直线路径;若所述第一位置点与所述第一基准定位点之间有障碍物,则取所述第一位置点与所述第一基准定位点之间的绕过障碍物的最短路径;若所述第二位置点与所述第二基准定位点之间有障碍物,则取所述第一位置点与所述第一基准定位点之间的绕过障碍物的最短路径。
- 如权利要求12所述的机器人,其特征在于,所述第二规划方式包括如下操作:h1、根据预先确定的第一基准定位点、第二基准定位点及可选规划路径的映射关系,确定第一基准定位点和第二基准定位点对应的可选规划路径;h2、按照预先确定的评分规则计算出各个可选规划路径对应的分值;h3、若最高分值的可选规划路径只有一个,则将该可选规划路径作为第一基准定位点至第二基准定位点的第二规划路径;h4、若最高分值的可选规划路径有多个,则从多个最高分值的可选规划路径中随机选择一个可选规划路径作为第一基准定位点至第二基准定位点的第二规划路径。
- 如权利要求14所述的机器人,其特征在于,所述至少一个计算机可读指令还可被所述处理设备执行,在实现所述操作h1和h2之间,还实现如下操作:从各个可选规划路径中,筛选出包含预先确定的特定基准定位点的可选规划路径,并将筛选出的可选规划路径作为待计算分值的可选规划路径;及/或,根据预先确定的计算公式分别计算出各个可选规划路径对应的总长度,并分别计算出各个可选规划路径的总长度与第一基准定位点至第二基准定位点的最短路径的总长度的差值,将差值小于预设阈值的可选规划路径筛选出来作为待计算分值的可选规划路径。
- 如权利要求14所述的机器人,其特征在于,所述至少一个计算机可读指令被所述处理设备执行,实现所述操作h2包括:根据各个可选规划路径对应的行走距离影响因素、行走时间影响因素和/或障碍物影响因素进行评分;其中,每一可选规划路径对应的分值为该可选规划路径中每两个相邻节点之间的路径在行走距离影响因素、行走时间影响因素或障碍物影响因素下的评分和。
- 如权利要求16所述的机器人,其特征在于,可选规划路径的评分公式如下:Score(path)=a·o(t)+b·o(d)其中,o(t)为可选规划路径的时间评分,o(d)为可选规划路径的距离评分,a、b为 预先确定的权值;定义第i个可选规划路径的时间评分oi(t)为:其中,T(path1)、T(path2)……T(pathn)是不同可选规划路径下机器人移动到目标点所使用的时间,T(pathi)是第i个可选规划路径下机器人移动到目标点所使用的时间,kti代表第i个可选规划路径的时间惩罚系数,该时间惩罚系数为机器人在第i个可选规划路径内绕过障碍物需要多花费的时间,di代表第i个可选规划路径的路径长度,vi代表第i个可选规划路径内的机器人速度,Pi代表第i个可选规划路径内出现障碍物的概率;定义第i个可选规划路径的距离评分oi(d)为:d(pathi)=∑(kdi·di·Pi+di·(1-Pi))其中,d(path1)、d(path2)……d(pathn)是不同可选规划路径下机器人移动到目标点所行走的距离,kdi代表第i个可选规划路径的距离惩罚系数,该距离惩罚系数为机器人在第i个可选规划路径内绕过障碍物需要多移动的距离。
- 如权利要求11-17任一项所述的机器人,其特征在于,所述至少一个计算机可读指令还可被所述处理设备执行,以实现以下操作:实时或者定时分析当前待移动的路径中是否存在障碍物需要进行移动规避;若分析存在障碍物需要进行移动规避,则将当前位置作为新的第一位置点,根据设置的基准定位点并按照预先确定的路径分析规则,分析出从新的第一位置点到所述第二位置点的路径,并基于分析出的路径控制机器人运动到所述第二位置点。
- 如权利要求11-17任一项所述的机器人,其特征在于,所述至少一个计算机可读指令还可被所述处理设备执行,以实现以下操作:在预先确定的区域地图中各个基准定位点对应的位置处设置对应的位置点标识;实时或者定时进行位置定位;根据预先确定的基准定位点与触发坐标区域的映射关系,分析当前位置是否处于一个基准定位点的触发坐标区域中;若当前位置处于一个基准定位点的触发坐标区域中,则开启位置点标识识别设备开始检测位置点标识;当检测到位置点标识时,通过机器人的传感器计算出机器人与检测的位置点标识的距离和方向,以得到机器人当前的位置和姿态,并根据机器人当前的位置和姿态对前进方向进行校准。
- 一种计算机可读存储介质,其上存储有至少一个可被处理设备执行,以实现以下操作的计算机可读指令:在预先确定的区域地图中可供机器人移动的路径上预先选择一个或多个位置点作为基准定位点;若接收到将所述机器人从第一位置点移动到第二位置点的指令,则根据设置的基准定位点并按照预先确定的路径分析规则,分析出从所述第一位置点到所述第二位置点的路径,并基于分析出的路径控制所述机器人运动到所述第二位置点。
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EP3438611B1 (en) | 2020-12-02 |
JP6800989B2 (ja) | 2020-12-16 |
JP2019521401A (ja) | 2019-07-25 |
TWI639813B (zh) | 2018-11-01 |
EP3438611A4 (en) | 2019-09-11 |
CN107677285B (zh) | 2019-05-28 |
CN107677285A (zh) | 2018-02-09 |
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AU2017409109A1 (en) | 2018-11-08 |
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