WO2019042018A1

WO2019042018A1 - Travel control method and apparatus for robot, and storage medium and robot

Info

Publication number: WO2019042018A1
Application number: PCT/CN2018/095029
Authority: WO
Inventors: 全晓臣; 吴永海; 张文聪
Original assignee: 杭州海康机器人技术有限公司
Priority date: 2017-08-29
Filing date: 2018-07-09
Publication date: 2019-03-07
Also published as: CN109426251A; CN109426251B

Abstract

Disclosed are a travel control method and apparatus for a robot, and a storage medium and a robot, belonging to the technical field of robots. The method comprises: when a guide line pre-arranged on the ground is not detected in a travel process, controlling a robot such that same continues to travel according to an arc; and in the process of travelling according to the arc, when the guide line is detected, controlling the robot such that same continues to travel according to the guide line. By means of the present application, when a robot is not located on a guide line, the robot itself can find the guide line, and the robot can then continuously travel along the guide line, so that goods are successfully transported.

Description

Robot driving control method, device, storage medium and robot

This application claims priority to Chinese Patent Application No. 201710757056.5, entitled "A Robot's Driving Control Method and Apparatus", filed on August 29, 2017, the entire contents of which are incorporated by reference. In this application.

Technical field

The embodiments of the present invention relate to the field of robot technologies, and in particular, to a driving control method, device, storage medium, and robot of a robot.

Background technique

With the advancement of technology, the degree of intelligence of industrial production is getting higher and higher. Robots can adapt to high-strength working environment more than labor, and gradually replace artificial, playing an increasingly important role in production and life, for example, robots. Can be used to transport goods, etc.

At present, some robots used to transport goods are mostly driven by tracing. Specifically, the staff can pre-set corresponding guiding lines on the ground of the factory building, and the robot can continuously detect the guiding lines during driving, and travel along the detected guiding lines until the end of the journey to carry out the goods. Uninstall processing.

However, in some cases, the robot can easily get out of the guide line during the transportation of the material. For example, when there is oil on the ground, the robot will slide out of the guide line in inertia. After the robot is disengaged from the guide line, the guide line cannot be detected, and further, it is impossible to travel along the guide line, resulting in failure of cargo transportation.

Summary of the invention

The embodiment of the present application provides a driving control method, device, storage medium, and robot for a robot, which can solve the problem that the guiding line cannot be detected after the robot is separated from the guiding line, resulting in failure of cargo transportation. The technical solution is as follows:

In a first aspect, a driving control method for a robot is provided, the method comprising:

When the guide line pre-arranged on the ground is not detected during running, the control robot continues to travel according to the arc;

Continue to detect the guide line during the arc travel;

When the guide line is detected, the control robot continues to travel according to the guide line.

Optionally, when the guide line pre-arranged on the ground is not detected during the driving, the control robot continues to drive according to the arc, including:

When the guide line pre-arranged on the ground is not detected during running, the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.

Optionally, the method further includes:

During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.

Optionally, during the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius, including:

During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.

Optionally, the method further includes:

In the process of continuing to travel according to the guide line, when the position information is scanned by the detecting means of the robot for the first time, the travel route acquisition request is transmitted to the server, wherein the travel route acquisition request carries the position information, so that The server determines the driving route based on the location information;

When receiving the travel route sent by the server, the control robot travels on the guide line according to the travel route.

Optionally, during the arc running, when the guide line is detected, the control robot continues to follow the guide line, including:

During the arc running, when the guiding line is detected, the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;

Determining, according to the target angle and the current steering angle of the steering wheel, a target angular velocity by a calculation formula of the rotational angular velocity, wherein the calculation formula of the rotational angular velocity is an angle between the traveling direction and the guiding line, a steering angle of the steering wheel, The angular velocity of the steering wheel is a variable;

The steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.

In a second aspect, a travel control device for a robot is provided, the device comprising:

a control module, configured to control the robot to continue driving according to an arc when the guiding line pre-arranged on the ground is not detected during driving;

The control module is further configured to continue to detect the guide line during the arc running; when the guide line is detected, the control robot continues to travel according to the guide line.

Optionally, the control module is used to:

Optionally, the control module is further configured to:

Optionally, the control module is used to:

Optionally, the robot further includes:

a determining module, configured to send a travel route acquisition request to the server when the position information is detected by the detecting component of the robot for the first time in the process of continuing to travel according to the guide line, wherein the travel route acquisition request carries the location information So that the server determines the driving route based on the location information;

The control module is configured to control the robot to travel on the guide line according to the driving route when receiving the driving route sent by the server.

Optionally, the control module is used to:

In a third aspect, a storage medium is provided, the storage medium storing a computer program that, when executed by the processor, implements the method steps of the first aspect.

In a fourth aspect, a robot is provided. The robot includes a processor, a memory, a detecting component, and a running wheel, wherein the memory is configured to store a computer program, and the processor is configured to execute a program stored on the memory to implement the first The method steps of any of the aspects described.

The beneficial effects brought by the technical solutions provided by the embodiments of the present application are:

In the embodiment of the present application, when the guide line pre-arranged on the ground is not detected during the running, the control robot continues to travel according to the arc, and during the arc running, the guide line is continuously detected, and when the guide is detected When the line is on, the control robot continues to follow the guide line. In this way, the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a flowchart of a driving control method of a robot according to an embodiment of the present application;

2 is a schematic diagram of a control robot traveling in an arc according to an embodiment of the present application;

3 is a schematic diagram of a control robot traveling in an arc according to an embodiment of the present application;

4 is a schematic diagram of a control robot being operated according to an arc according to an embodiment of the present application;

FIG. 5 is a block diagram of a travel control apparatus for a robot according to an embodiment of the present application; FIG.

6 is a block diagram of a travel control device for a robot according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a travel control device for a robot according to an embodiment of the present application.

Detailed ways

In order to make the objects, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

Before the detailed description of the driving control method of the robot provided by the embodiment of the present application, the application scenario and the implementation environment involved in the embodiments of the present application are briefly introduced.

First, the application scenario involved in the embodiment of the present application is briefly introduced.

With the rapid advancement of electronic technology, robots are becoming more and more intelligent, and robots are widely used in some application scenarios, for example, can be applied to cargo transportation. In some embodiments, the guide wire may be pre-set on the floor of the plant such that the robot can transport the cargo by detecting the guide wire during travel. However, due to the slippery ground, etc., it is inevitable that the robot will derail the phenomenon. After the robot derails, the guide wire cannot be detected, resulting in the failure of cargo transportation. To this end, the embodiment of the present application provides a driving control method for a robot, which can cause the robot to find the guiding line after derailing, thereby ensuring that the robot can continue to travel along the guiding line to complete the cargo transportation. For the specific implementation process, please refer to the embodiment shown below.

Next, the application scenario involved in the embodiment of the present application is briefly introduced.

The travel control method of the robot provided by the embodiment of the present application can be implemented by a robot. In some embodiments, the robot may be an AGV (Automated Guided Vehicle) including a vehicle body and a detecting component disposed on the bottom of the vehicle body, and the detecting component may be used for detecting a guide wire disposed on the ground and Identify location marker information on the guide line. Among them, the body can be provided with a processor, a memory and the like, and the bottom of the vehicle body can also be provided with a steering wheel and a plurality of wheels, and a motor for driving the steering wheel and the wheel. In some embodiments, the processor may be a CPU (Central Processing Unit) or the like for receiving instructions and controlling related processes of driving the robot. The memory may be a RAM (Random Access Memory), a Flash (flash memory), etc., and is used for storing the read data, data required for the processing, data generated during the processing, and the like, for storage detection. The data of the guide line information, the steering angle, and the like. In addition, the above steering wheel can be used to adjust the traveling direction of the robot, and the wheel and the motor can cause the robot to travel or stop.

It should be noted that the above description is only for the case where the robot can be an AGV. In other embodiments, the robot can also be other smart devices, which is not limited in this embodiment of the present application.

After the application scenario and the implementation environment of the embodiment of the present application are introduced, the driving control method of the robot provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

Please refer to FIG. 1 , which is a traveling control method of a robot according to an exemplary embodiment of the present application. The processing flow of the method may include the following steps:

In step 101, when the guide line pre-arranged on the ground is not detected during running, the control robot continues to travel in an arc.

In the implementation, in order to enable the robot with the tracing function to transport the goods, the staff can pre-arrange the guiding line on the floor of the factory building. The guiding line is the line for guiding the robot to travel, the color of the guiding line and the floor of the factory building. There are differences so that the robot can detect it. When transporting the cargo, the robot can continuously detect the guide wire pre-arranged on the ground through the detecting component of the robot, and further, can travel along the detected guide wire. During the driving process, when the robot deviates from the guide line and the guide line is not detected, the robot can continue to travel according to the preset arc travel mode, that is, it can continue to travel according to the arc, as shown in FIG. 2 . The detecting component may be a component such as a camera capable of detecting a guide wire.

In addition, the position where the robot is currently parked may not be provided with a guide line. In this case, when the robot receives the start command, it can also travel in the mode of the arc travel.

Optionally, after the robot is disengaged from the guide line, the arc travel can be realized by adjusting the steering angle of the steering wheel. Accordingly, the process of step 101 can be as follows: when the guide is not pre-arranged on the ground during the running process When the lead is turned, the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.

In the implementation, the first predetermined angle may be pre-stored in the robot. When the robot does not detect the guide line pre-arranged on the ground during the running, the robot may travel in a preset driving mode. Specifically, when the robot does not detect the guide line pre-arranged on the ground during the running, the robot may acquire a pre-stored first preset angle, and then control the steering wheel of the robot to rotate the first preset angle, even if The angle between the steering wheel and the direction of the vehicle body is a first preset angle, and then the robot can drive while maintaining the steering angle at the first preset angle. In this case, the trajectory of the robot is an arc.

The first preset angle may be customized by the user according to actual needs, or may be set by default by the robot, which is not limited in the embodiment of the present application.

Optionally, the radius of the arc travel of the robot can be adjusted in the arc driving mode. Correspondingly, the processing can be as follows: during the arc running, when the preset adjustment condition is reached, the steering of the steering wheel of the robot is controlled. The angle is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.

In the implementation, a preset adjustment condition may be preset. For example, the preset adjustment condition may be a length of time, a number of revolutions of the motor, and the like. When the robot is driving in an arc, after the preset adjustment condition is reached, the robot can reduce the angle between the steering wheel and the vehicle body by a second preset angle value based on the first preset angle, that is, the increase is The radius of the arc travels, and then the robot continues to drive at a new angle, that is, to continue driving in an arc of increasing radius.

Optionally, an adjustment period may be set, and the steering angle is adjusted after the period of the adjustment period is reached. Accordingly, the processing may be as follows: during the arc running, the steering of the robot is controlled every time the preset adjustment period is reached. The steering angle of the wheel is reduced by the second predetermined angle, and the driving is continued according to the arc with the increased radius.

In the implementation, an adjustment period may be preset, and in the arc driving mode, during the arc running, when the preset adjustment period is reached, the robot may acquire the second preset angle stored in advance, and then control the steering. The wheel reduces the second preset angle based on the first preset angle, that is, the angle between the steering wheel and the vehicle body direction is decreased by the second preset angle, so that the driving radius of the robot is increased, that is, the driving arc Increase, then the robot travels in the arc after the radius increases. That is to say, after the robot starts the arc running, when the first adjustment period is reached, the robot can control the steering angle of the steering wheel to decrease the second preset angle based on the first preset angle, when reaching the second When adjusting the cycle, the robot can control the steering angle of the steering wheel to decrease the second preset angle after the first adjustment.

For example, if the first preset angle of the robot is 40 degrees, the second preset angle is 2 degrees, and the adjustment period is 10 seconds, the robot controls the steering wheel to decrease the steering angle every 10 seconds after the start of the arc exercise. Degree, that is, the steering angle is 38 degrees after 10 seconds, the steering angle is 36 degrees after 20 seconds, and so on.

Further, an obstacle detecting component may be further disposed at the designated position of the robot. For example, the obstacle detecting component may include an infrared sensor, an ultrasonic sensor, a camera, or the like for detecting an obstacle. For example, the designated position may refer to the front and rear ends of the robot, or the designated position may also refer to the left and right ends of the robot.

In addition, an adjustment angle may be set in advance so that the robot can adjust the steering wheel to rotate the adjustment angle when the obstacle detecting member detects the obstacle. As shown in FIG. 3, during the arc running of the robot, when the obstacle detecting component detects an obstacle in front, the robot can adjust the steering angle of the steering wheel according to a preset adjustment angle to bypass the obstacle.

Further, the robot may also preset the number of times of obstacle detection. When the number of adjustments of the steering angle of the steering wheel is adjusted to a preset number of times, if the detected obstacle is still not bypassed, the driving may be stopped and a prompt may be issued. The signal, for example, the robot can flash a signal light, play a ringtone, and the like. In addition, the robot can also send fault information to the server, so that after receiving the fault information, the server sends a fault signal, for example, playing the faulty robot code, displaying the faulty robot code on the screen, and the like. Among them, the server is usually used to provide services for the robot.

In step 102, the guide line is continuously detected during the arc running. When the guide line is detected, the control robot continues to travel according to the guide line.

In the implementation, during the arc driving, the camera periodically detects the guiding line on the ground, and when the camera detects the guiding line, it will travel along the guiding line detected by the detecting component, for example, The robot can travel in a direction of a guide line having a smaller angle with the current traveling direction.

Optionally, during the arc running, when the guiding line is detected, the driving direction may be adjusted to be parallel to the guiding line, and the corresponding processing may be as follows: during the driving of the arc, when the guiding line is detected Determining the target angle between the current driving direction and the guiding line, and determining the current steering angle of the steering wheel of the robot; determining the target angular velocity by the calculation formula of the angular velocity according to the target angle and the current steering angle of the steering wheel, The calculation formula of the angular velocity is based on the angle between the direction of travel and the guide line, the steering angle of the steering wheel, and the angular velocity of the steering wheel. The steering wheel adjusts the steering angle of the steering wheel at the target angular velocity and continues to travel according to the guide line.

In the implementation, during the arc running, when the detecting component detects the guiding line, the angle between the current driving direction and the guiding line can be obtained according to the current driving direction and the detected guiding line, that is, determining The angle of the target. In some embodiments, when the detecting component is a camera, after detecting the guiding line, the current rotation angle of the camera may be acquired, and the obtained rotation angle is determined as the target angle.

Then, the corresponding steering angle of the target angle is obtained. Referring to FIG. 4, in a possible implementation manner, assuming that the robot is currently exercising to the position P0, the next moment will be exercised to the position P1, and the above-mentioned determined target angle is recorded as θ ₀ , and the robot is placed in the next moment and guided. The angle between the lines is θ ₁ , and the steering angle corresponding to the target angle should be Δθ = θ _{1 -} θ ₀ . Since the robot is operated along the tangent of the arc, the angle between the straight line P0A and the straight line P0B is 90 degrees, so it can be determined that θ ₀ is equal to the angle a. Therefore, according to the triangle theorem, the following formula (1) can be obtained. :

Similarly, the angle between the straight line P1A and the straight line P1C is also 90 degrees, so it can be determined that θ ₁ and the angle b are also equal. Therefore, the following formula (2) can be obtained by combining the formula (1):

By introducing the above formula (2) and formula (1) into Δθ=θ ₁ -θ ₀ , the corresponding steering angle of the target angle can be determined. Wherein, the above ΔL and Δx can be determined by a device test such as infrared rays, and in addition, the above point A can be preset by the user according to actual needs.

In a possible implementation manner, the robot may pre-store a calculation formula of the rotational angular velocity in which the angle between the traveling direction and the guiding line, the steering angle of the steering wheel, and the angular velocity of the steering wheel are variables. After the robot calculates the above-mentioned target angle, the above-mentioned angular velocity calculation formula can be used to obtain the corresponding rotational angular velocity, that is, the target rotational angular velocity is determined, and then the robot can control the steering wheel to adjust the steering wheel angle according to the calculated steering angular velocity. The robot is adjusted to the guide line and travels according to the guide line detected by the detecting unit.

In some embodiments, the above formula for calculating the angular velocity of rotation may be as shown in formula (3):

ω ₁ =K _p ·Δθ+ω ₀ =K _p ·(θ ₁ -θ ₀ )+ω ₀ (3)

Where ω ₁ is the target angular velocity, ω ₀ is the current angular velocity of the robot, and K _p can be selected as a function related to the steering angle Δθ corresponding to the target angle, the current linear velocity v ₀ of the robot, and the current angular velocity ω _{0 of the} robot. For example, it may be a linear function or an exponential function or the like, that is, K _p =f(Δθ, v ₀ , ω _o ). That is, the target angular velocity can be determined by the above formula (3).

Optionally, after the robot detects the guiding line, a new driving route may also be acquired, and the corresponding processing may be as follows: in the process of continuing to follow the guiding line, when the position is detected by the detecting component of the robot for the first time When the information is received, the travel route acquisition request is sent to the server; when the travel route sent by the server is received, the control robot travels on the guide line according to the travel route. The driving route acquisition request carries the position information of the robot.

In an implementation, a mark that can be identified by the detecting component for determining the position information may be provided on the above-mentioned guide wire. For example, the mark may be a two-dimensional code, a barcode or the like. The robot can obtain the position information corresponding to the mark by detecting and identifying these marks. When the robot continues to travel according to the guide line, when the above-mentioned mark is detected by the detecting component for the first time, the robot may send a request for obtaining a travel route to the server, and the acquisition request carries the position information corresponding to the mark. After receiving the travel route acquisition request, the server may acquire the location information carried in the travel route acquisition request and the location information of the end position corresponding to the robot, and then acquire the location information carried in the request and the robot according to the acquired travel route. The position information of the corresponding end position is used to plan the driving route for the robot, and then the server sends the planned driving route to the robot. When the robot receives the travel route sent by the server, it can travel to the end position on the guide line according to the received travel route to complete the cargo transportation.

In the embodiment of the present application, when the guide line pre-arranged on the ground is not detected during the running, the driving is continued according to the arc, and during the arc running, the guiding line is continuously detected, when the guiding line is detected. Follow the guide line to continue driving. In this way, the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.

Yet another exemplary embodiment of the present application provides a robot, as shown in FIG. 5, the robot includes:

The control module 410 is configured to control the robot to continue driving according to an arc when the guiding line pre-arranged on the ground is not detected during running;

The control module 410 is further configured to continue to detect the guide line during the arc running, and when the guide line is detected, the control robot continues to travel according to the guide line.

Optionally, the control module 410 is configured to:

Optionally, the control module 410 is further configured to:

Optionally, the control module 410 is configured to:

Optionally, as shown in FIG. 6, the robot further includes:

a determining module 420, configured to send a driving route acquisition request to the server when the location information is detected by the detecting component of the robot for the first time in the process of continuing to travel according to the guiding line, wherein the driving route acquisition request carries the location information So that the server determines the driving route based on the location information;

The control module 410 is configured to control the robot to travel on the guide line according to the driving route when receiving the driving route sent by the server.

Optionally, the control module 410 is configured to:

According to the target angle and the current steering angle of the steering wheel, the target angular velocity is determined by the calculation formula of the angular velocity. The calculation formula of the angular velocity is the angle between the driving direction and the guiding line, the steering angle of the steering wheel, and the angular velocity of the steering wheel. variable;

It should be noted that, when the robot provided by the above embodiment is running, only the division of each functional module described above is illustrated. In actual applications, the function distribution may be completed by different functional modules as needed, that is, the internal of the device. The structure is divided into different functional modules to perform all or part of the functions described above. In addition, the embodiment of the driving control method of the robot and the robot provided by the above embodiments are the same concept, and the specific implementation process is described in detail in the method embodiment, and details are not described herein again.

Yet another exemplary embodiment of the present application provides a robot, which may be an AGV as shown in FIG.

FIG. 7 is a schematic structural diagram of a robot provided by an embodiment of the present application. The robot 1900 can vary considerably depending on configuration or performance, and can include one or more central processing units (CPU) 1922 (eg, one or more processors) and memory 1932, one or one The above storage medium 1942 or storage medium 1930 of data 1944 (eg, one or one storage device in Shanghai). Among them, the memory 1932 and the storage medium 1930 may be short-term storage or persistent storage. The program stored on storage medium 1930 may include one or more modules (not shown), each of which may include a series of instruction operations in the robot. Still further, the central processor 1922 can be configured to communicate with the storage medium 1930 on which a series of instruction operations in the storage medium 1930 are performed.

The robot 1900 may also include one or more power sources 1926, one or more wired or wireless network interfaces 1950, one or more input and output interfaces 1958, one or more keyboards 1956, and/or one or more operating systems 1941. For example, Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

The bot 1900 can include a memory, and one or more programs, wherein one or more programs are stored in the memory, and configured to be executed by one or more processors, the one or more programs comprising the instruction:

Continue to detect the guide line during the arc travel;

Optionally, the method further includes:

In the process of continuing to travel according to the guide line, when the position information is scanned by the detecting component of the robot for the first time, the travel route acquisition request is transmitted to the server, wherein the travel route acquisition request carries the location information to enable the server Determining the driving route based on the location information;

According to the target angle and the current steering angle of the steering wheel, the target angular velocity is determined by the calculation formula of the angular velocity. The calculation formula of the angular velocity is the angle between the traveling direction and the guiding line, the steering angle of the steering wheel, and the turning of the steering wheel. Angular velocity is a variable;

In an exemplary embodiment, there is also provided a non-transitory computer readable storage medium comprising instructions, for example, a memory including instructions executable by a processor of a robot to perform a travel control method of the robot described above. For example, the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

In an exemplary embodiment, there is also provided a chip comprising programmable logic circuitry and/or program instructions for implementing a travel control method of a robot as provided by the above embodiments when the chip is in operation.

A person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium. The storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. Within the scope.

Claims

A driving control method for a robot, the method being applied to a robot, wherein the method comprises:

When the guide line pre-arranged on the ground is not detected during running, the robot is controlled to continue to travel according to the arc;

Continue to detect the guide line during the arc travel;

When the guide line is detected, the robot is controlled to continue traveling according to the guide line.
The method according to claim 1, wherein when the guide line pre-arranged on the ground is not detected during running, the robot is controlled to continue to travel in an arc, including:

When the guide wire pre-arranged on the ground is not detected during running, the steering angle of the steering wheel that controls the robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
The method of claim 2, wherein the method further comprises:

During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
The method according to claim 3, wherein during the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by a second predetermined angle, which is increased according to the radius. The big arc continues to drive, including:

During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
The method of claim 1 further comprising:

In the process of continuing to travel according to the guide line, when the position information is detected by the detecting means of the robot for the first time, a travel route acquisition request is transmitted to the server, wherein the travel route acquisition request carries the position Information for causing the server to determine a travel route based on the location information;

When receiving the travel route sent by the server, the robot is controlled to travel on the guide line according to the travel route.
The method according to claim 1, wherein during the driving of the arc, when the guiding line is detected, controlling the robot to continue driving according to the guiding line comprises:

During the arc running, when the guiding line is detected, determining a target angle between the current driving direction and the guiding line, and determining a current steering angle of the steering wheel of the robot;

Determining, according to the target angle and the current steering angle of the steering wheel, a target angular velocity by using a rotational angular velocity calculation formula, wherein the rotational angular velocity is calculated by an angle between the traveling direction and the guiding line, and the steering wheel Steering angle, the angular velocity of the steering wheel is a variable;

The steering wheel is controlled to adjust a steering angle of the steering wheel at the target angular velocity, and the driving is continued according to the guiding line.
A driving control device for a robot, characterized in that the device comprises:

a control module, configured to control the robot to continue driving according to an arc when a guide line pre-arranged on the ground is not detected during running;

The control module is further configured to continue to detect the guide line during the arc running; and when the guide line is detected, the robot is controlled to continue to travel according to the guide line.
The device according to claim 7, wherein the control module is configured to:

When the guide wire pre-arranged on the ground is not detected during running, the steering angle of the steering wheel that controls the robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
The device according to claim 8, wherein the control module is further configured to:

During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
The device according to claim 9, wherein the control module is configured to:

During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
The device according to claim 7, wherein the device further comprises:

a determining module, configured to send a travel route acquisition request to the server when the position information is detected by the detecting component of the robot for the first time in the process of continuing to travel according to the guide line, wherein the travel route acquisition request is Carrying the location information to enable the server to determine a travel route according to the location information;

The control module is configured to control the robot to travel on the guiding line according to the driving route when receiving the driving route sent by the server.
The device according to claim 7, wherein the control module is configured to:

During the arc running, when the guiding line is detected, determining a target angle between the current driving direction and the guiding line, and determining a current steering angle of the steering wheel of the robot;

Determining, according to the target angle and the current steering angle of the steering wheel, a target angular velocity by using a rotational angular velocity calculation formula, wherein the rotational angular velocity is calculated by an angle between the traveling direction and the guiding line, and the steering wheel Steering angle, the angular velocity of the steering wheel is a variable;

The steering wheel is controlled to adjust a steering angle of the steering wheel at the target angular velocity, and the driving is continued according to the guiding line.
A computer readable storage medium, wherein the storage medium stores therein a computer program, the computer program being executed by a processor to implement the method steps of any of claims 1-6.
A robot, comprising: a processor, a memory, a detecting component and a driving wheel, wherein the memory is configured to store a computer program; the processor is configured to execute a program stored on the memory, to implement The method steps of any of claims 1-6.