WO2022124938A1 - Procédé de planification de déplacement d'un robot et robot mobile - Google Patents

Procédé de planification de déplacement d'un robot et robot mobile Download PDF

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Publication number
WO2022124938A1
WO2022124938A1 PCT/RU2021/050336 RU2021050336W WO2022124938A1 WO 2022124938 A1 WO2022124938 A1 WO 2022124938A1 RU 2021050336 W RU2021050336 W RU 2021050336W WO 2022124938 A1 WO2022124938 A1 WO 2022124938A1
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robot
elementary
movement
trajectory
area
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PCT/RU2021/050336
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English (en)
Russian (ru)
Inventor
Михаил Вячеславович ЕГОРЧЕВ
Андрей Андреевич ЗАВОДСКОВ
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Общество с ограниченной ответственностью "РобоСиВи"
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Publication of WO2022124938A1 publication Critical patent/WO2022124938A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • 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

Definitions

  • the present invention relates to robotics, in particular, to a method for planning the movement of a robot in the area of permissible movement on a plane, as well as to a mobile robot with the possibility of implementing this method.
  • Planning the movement of a robot is one of the main tasks of mobile robotics.
  • the goal of planning is to select trajectories that simultaneously satisfy the criteria of optimality (for example, to achieve the minimum distance and / or time of movement) and safety, i.e. to avoid collisions of the robot with obstacles.
  • Many solutions have been created in this area, including various solutions for planning the trajectories of robots in a certain area of admissible movement on a plane, for example, in a warehouse.
  • the appearance and disappearance of static obstacles is a fairly rare event.
  • the space outside this region contains with a high probability static obstacles that are constant for the environment under consideration.
  • the robot has one driving wheel or its model can be reduced to a model with one driving wheel, the slipping of which can be neglected. It is also assumed that the robot is equipped with safety sensors that check for obstacles in real time in a certain area of the field of view, determined by the angle of rotation and the speed of the drive wheel, hereinafter referred to as the "safety zone". When an obstacle is detected in the safety zone, the sensor limits the speed of the robot accordingly. Due to the fact that the number of different safety zones is finite, each of them corresponds to a range of speeds and wheel angles, and the speed limits imposed when an obstacle is detected in it correspond to the worst case. The robot is additionally equipped with sensors for preventive detection of obstacles, also operating in real time, the field of view of which exceeds the field of view of the robot's safety sensors.
  • Classical methods for planning the movement of a mobile robot are based on constructing optimal trajectories in the area of acceptable movement, for example, with using algorithms such as A * and PRM (probalistic roadmap - probabilistic road maps), taking into account the dimensions of the robot to safely avoid obstacles.
  • a * and PRM probalistic roadmap - probabilistic road maps
  • the application of this approach leads to the fact that during the planned movement, the robot may be near the border of the area of admissible movement, having a high speed. At the same time, the zones checked by the safety sensors may go beyond the border of the area of admissible movement, where the robot's safety sensors are likely to detect obstacles and limit the speed of the robot.
  • a situation similar to the one described above occurs when driving around static obstacles located near the trajectory built based on the robot’s own dimensions in the allowable movement area: the robot, approaching the obstacle at high speed, abruptly dropped it due to the operation of safety sensors.
  • a known method for planning the movement of autonomous mobile robots based on safe space (Safe Space), described in the article Park J.-H., Huh U.-Y. Path Planning for Autonomous Mobile Robot Based on Safe Space // Journal of Electrical Engineering and Technology. 2016. Vol. 11, no. 5, pp. 1441-1448. URL: https://doi.org/10.5370/JEET.2016.l L5.1441 (accessed 11/16/2020).
  • the known method is based on the definition of the state space of the robot, which includes all the kinematic states of the robot, in which planning is carried out.
  • a safe space is defined in the state space of the robot, which is defined by a set of states of the robot, in which the distance from the robot to all obstacles surrounding it is safe, i.e.
  • the distance to stop the robot is calculated taking into account the distance traveled by the robot during the time it takes to recognize an obstacle and start braking, as well as the braking distance from the start of braking to the complete stop of the robot.
  • the method takes into account the risk of hidden obstacles in areas outside the visibility of the robot's safety sensors, in particular, in areas hidden from the safety sensors by stationary obstacles. For this purpose, a risk distance is calculated corresponding to the minimum safe distance from the robot to the risk point at which an obstacle may appear.
  • areas of risk are set around stationary obstacles, which impose restrictions on the planning of the robot's movement: it is required either to limit the speed of the robot's movement, or to build a safe trajectory of the robot's movement around the risk area.
  • a globally optimal trajectory of the robot is selected using the A* algorithm with a limitation on the speed of the robot according to the cost of risk.
  • the introduction of a safe space in the described method can significantly increase the smoothness of the robot's movement, compared with the classical approach, based solely on taking into account the dimensions of the robot.
  • the introduction of risk areas around all stationary obstacles leads to non-optimal results of planning the movement of the robot, especially in the conditions of a known area of admissible movement, where the appearance and disappearance of obstacles is a rare event, thus, the known method can lead to excessive restrictions on the speed of the robot.
  • the described method is the closest solution to the claimed invention.
  • the technical problem to be solved by the invention is to plan the movement of a nonholonomic robot for some initial and final configurations of the robot within a given area of admissible movement on the plane, with the choice of globally optimal trajectories, bypassing static obstacles, and also taking into account potential speed limits, input by security sensors.
  • a method for planning the movement of a robot in the area of permissible movement on a plane includes the following stages: discretization of the state space of the robot by introducing a grid with a fixed step into the area of permissible movement and choosing a finite set of rotation angles, specifying a finite set of elementary trajectories in local coordinate system of the robot, determined by the angle of rotation of the driving wheel, its speed and duration of movement, and connecting pairs of different discrete states of the robot in the specified space, for each elementary trajectory: a safety zone is set based on the visibility zone of the robot's safety sensors at a given angle of rotation and speed of the driving wheel, a basic contour is set by combining safety zones with the dimensions of the robot, and set the contour of the elementary trajectory by combining the basic contours placed in each intermediate state of the elementary trajectory, constructing an oriented weighted multigraph without loops, the vertices of which correspond to the discrete states of the robot, the arcs correspond to the elementary traject
  • the claimed method provides a smoother and time-optimized movement of the robot.
  • the robot maintains a large distance from the border of the area of permissible movement when it develops a high speed; when moving along a narrow section, the robot deliberately reduces speed; turns at "crossroads", at the boundaries of the zone of permissible movement, the robot performs more smoothly and at high speed.
  • the claimed method further comprises a step in which the basic contour of each elementary trajectory is expanded by the amount of the error in the movement of the robot along the trajectory.
  • the claimed method further comprises the steps of: moving the robot according to the selected sequence of elementary trajectories and their speeds, checking the area surrounding the robot for the presence of static obstacles in real time using preventive obstacle detection sensors, checking the contours of the selected sequence of elementary trajectories for the presence of intersection with the detected static obstacles, and in the presence of the specified intersection, a new sequence of elementary trajectories is determined for the movement of the robot to the target state by searching in the constructed multigraph for a new path with the smallest sum of weights, while all arcs, contours of elementary trajectories are excluded from the search which intersect with the detected static obstacles, and the search of multiple arcs is carried out in ascending order of weight, until the arc is detected, the contour of the elementary trajectory which does not intersect with the detected static obstacles.
  • the invention in the embodiment described above makes it possible to rebuild the trajectory of the robot in case of detection of obstacles by sensors of preventive obstacle detection. Rebuilding is performed on the basis of the same multigraph built earlier, which significantly reduces computational costs and increases the speed of rebuilding.
  • the field of view of the robot's preventive obstacle detection sensors exceeds the field of view of the robot's safety sensors, so that the definition of a new sequence of elementary trajectories for the robot to move to the target state due to the detection of a static obstacle by the preventive obstacle detection sensors is carried out without limiting the speed of the robot.
  • the difference between the visibility areas of the sensors for preventive detection of obstacles and the safety sensors can be selected based on the maximum speed of the robot, so that in all cases the trajectory is rebuilt before the safety sensors are triggered and, accordingly, the speed of the robot is limited.
  • the invention makes it possible to rebuild the trajectory of the robot in real time and without reducing the speed of the robot.
  • a mobile robot containing: a chassis with a drive wheel to ensure the movement of the robot with a given speed range, safety sensors to detect obstacles in the field of view of the safety sensors surrounding the robot, and a control system communicatively connected with the safety sensors, made with the ability to scheduling the movement of the robot in the area of allowed movement on the plane according to the method described above, and controlling the chassis to carry out the movement of the robot.
  • a smoother and time-optimized movement of the claimed mobile robot is provided.
  • the mobile robot comprises proactive obstacle detection sensors communicatively coupled to the control system to detect obstacles in a field of view of the proactive obstacle detection sensors surrounding the robot that exceeds the field of view of the safety sensors of the robot.
  • the control system of the robot can be configured to plan the movement of the robot in the area of allowable movement on the plane according to the embodiments of the claimed method, which provides for checking the area surrounding the robot for the presence of static obstacles using preventive obstacle detection sensors. Accordingly, the invention makes it possible to rebuild the trajectory of the mobile robot in real time and without reducing the speed of movement.
  • the mobile robot can be used to solve various kinds of problems, in particular, to solve warehouse logistics problems, and can be a robotic stacker, reach truck, tractor, warehouse cart, etc. and.
  • FIG. 1 shows a robotic electric stacker in which the present invention may be implemented.
  • FIG. 2 is a schematic representation of a stacker robot in which the present invention is implemented, global and local coordinate systems.
  • Fig.3 set of rotation angles of the robot stacker, given according to the invention.
  • Fig.4 is an example of an elementary trajectory traversed by the reference point of the local coordinate system at a fixed angle of rotation of the drive wheel of the stacker robot.
  • 5 is an exemplary selection of a plurality of elementary trajectories of a stacking robot according to the invention.
  • Fig.b is an example of a set of contours of elementary trajectories that connect the same initial and final states, but corresponding to different speeds of the stacker robot.
  • Fig.7 another example of a set of contours of elementary trajectories, linking the same initial and final states, but corresponding to different speeds of the stacker robot.
  • Fig.8 the result of planning the movement of the stacker robot in the area of admissible movement in the classical way, based on the dimensions of the robot, without taking into account the contours of the elementary trajectories.
  • Fig. 9 is a result of motion planning of the stacker robot in the allowable motion area of Fig. 8 according to an embodiment of the invention.
  • Fig.10 the result of planning the movement of the stacker robot in the area of admissible movement in the classical way, based on the dimensions of the robot, without taking into account the contours of elementary trajectories, in case of detection of static obstacles.
  • Fig. 11 is a result of motion planning of the stacking robot in the allowable motion area of Fig. 10 according to an embodiment of the invention.
  • the invention is aimed at optimizing the planning of the movement of a robot equipped with safety sensors and sensors for preventive obstacle detection in the area of permissible movement on a plane.
  • the appearance and disappearance of static obstacles is considered a rare event.
  • the concept of the area of permissible movement is applicable, for example, to a warehouse with a known geometry, as well as to many other spaces, subject to measurement and control.
  • the space outside the area of admissible movement contains with a high probability static obstacles that are constant for the considered environment.
  • robot has one drive wheel, the slip of which can be neglected.
  • An example of such a robot is the robotic electric stacker 1 shown in FIG. 1, in which the present invention has been implemented.
  • robot mobile robot
  • stacker robot stacker
  • the invention is not limited in this regard and can be successfully implemented on the basis of any mobile robot, the kinematic model of which is reducible to the kinematic model of a robot with one driving wheel, in particular, in various robotic warehouse vehicles, such as tractor, storage trolley, reach truck, etc. .
  • the safety sensors 2 of the robot check in real time the presence of obstacles in a certain area of visibility, determined by the angle of rotation and the speed of the drive wheel 3, called the safety zone. When an obstacle is detected in the safety zone, the safety sensor limits the speed of the robot accordingly.
  • Proactive obstacle detection sensors 4 robots also work in real time and have areas of view that exceed those of safety sensors.
  • the sensor part of the sensor system of preventive obstacle detection 4 can be at least partially combined with the sensor part of the safety sensor system 2, provided that each of the safety sensor systems and preventive detection of obstacles has its own data processing subsystems and executive mechanisms.
  • the position of the robot on the plane hereinafter referred to as the state of the robot can be represented by three values: displacement and rotation of the reference point of the local coordinate system relative to the global one.
  • the set of all possible states of the robot in the area of permissible movement forms the state space of the robot.
  • the robot has one drive wheel or can be represented by a kinematic model with one drive wheel, the range of possible rotation angles is known, as well as the range of possible speeds.
  • the discrete state of the robot is represented by the indices of the nearest grid vertex in the area of permissible movement and the index of the nearest rotation angle.
  • Corresponding trajectories traversed by the point of reference of the robot's local coordinate system consist of line segments, circular arcs and turning points in place.
  • Each separate section of such a trajectory is determined by three parameters: the angle of rotation of the drive wheel, its speed, and the duration of movement.
  • An example of an elementary trajectory 6, which is a path traversed by the reference point of the local coordinate system for a certain period of time at a fixed angle of rotation 7 and the speed V of the drive wheel 3 of the stacker robot 1 is shown in Fig.4.
  • a finite set of elementary trajectories are set with sufficient accuracy connecting pairs of different discrete states of the robot in the state space of the robot.
  • Fig.5 you can see an example of a selection from the set of elementary trajectories 8 of the robot stacker 1.
  • a safety zone is set based on the field of view of the robot's safety sensors. given the angle of rotation and the speed of the drive wheel.
  • a basic contour is set, which is a combination of safety zones with the dimensions of the robot.
  • the contour of the elementary trajectory is set, which is the union of the basic contours placed in each intermediate state of the elementary trajectory.
  • contour 9 marked with triangles, corresponds to the speed of the stacker robot in 0.3 m/s; contour 10, marked with square signs, corresponds to a speed of 0.7 m/s; contour 11, marked with a straight cross, corresponds to a speed of 1.0 m/s; contour 12, marked with diamond signs, corresponds to a speed of 1.38 m/s; and contour 13, marked with signs of an inclined cross, corresponds to a speed of 1.67 m/s.
  • the basic contour of each elementary trajectory is expanded by the amount of such an error.
  • the invention can be used, among other things, for planning the movement of the robot in open spaces where slippage of the driving wheel of the robot is possible.
  • the given area of allowed movement of the robot in the global coordinate system can be represented, for example, by a set of flat polygons. This area is fixed, and to take into account the possibility of short-term occurrence of obstacles in it, data from sensors of preventive obstacle detection is used.
  • an oriented weighted multigraph without loops is built once, hereinafter referred to simply as a multigraph for brevity, the vertices of which correspond to the discrete states of the robot, and the arcs correspond to elementary trajectories.
  • the multigraph includes only those arcs whose elementary trajectory contours lie completely in the region of admissible motion, as well as only those vertices from which at least one arc originates.
  • the weights of the arcs the time of movement along elementary trajectories is used.
  • the path in the multigraph with the smallest sum of weights on the arcs will allow reaching the target state in least time.
  • the robot motion planning method of the present invention comprises determining a sequence of elementary trajectories for the robot to move to a target state by searching the constructed multigraph for the path with the smallest sum of weights.
  • Pathfinding in a multigraph can be performed using various well-known algorithms such as A*, D*, RTAA*, LSS-LRTA*, etc.
  • the invention is not limited to an algorithm for finding a path in a multigraph, and any appropriate algorithm, including including algorithms that may be developed in the future, can be successfully applied in all embodiments of the present invention.
  • arcs in the multigraph correspond to elementary trajectories with the same angle of rotation of the drive wheel and the same length, but different speeds and different travel times, i.e. different weight. It is obvious that the arc with the highest speed (least weight) will be the most preferable among all multiple arcs, however, since it also corresponds to the largest contour, it can be excluded from consideration in the process of rebuilding the path during the movement of the robot, if it is found to intersect with such obstacle outline.
  • the method additionally comprises the steps of: moving the robot according to the selected sequence of elementary trajectories and their speeds, and in real time checking the area surrounding the robot for the presence of static obstacles using preventive obstacle detection sensors.
  • the contours of the selected sequence of elementary trajectories are checked for the presence of intersection with the detected static obstacles, and in the presence of the specified intersection, a new sequence of elementary trajectories is determined for the robot to move to the target state by searching in the constructed multigraph for a new path with the smallest sum of weights, while all arcs are excluded from the search, the contours of the elementary trajectories of which intersect with the detected static obstacles, and the enumeration of multiple arcs is carried out in order of increasing weight, until an arc is found, the contour of the elementary trajectory of which does not intersect with the detected static obstacles.
  • the field of view of the robot's preventive obstacle detection sensors which exceeds the field of view of the robot's safety sensors, based on the indications of which the robot's speed can be limited, is selected in such a way that the definition of a new sequence of elementary trajectories for the robot to move to the target state due to the detection of a static obstacle by sensors, preventive obstacle detection is carried out without limiting the speed of the robot.
  • the difference in the field of view of the preventive obstacle detection sensors and the safety sensors of the robot is selected so that after the preventive obstacle detection sensors are triggered, the robot has time to rebuild and change the movement trajectory before the safety sensors are triggered, even in the case of movement at maximum speed.
  • the invention was implemented in the hardware and software system of the robotic electric stacker 1 shown in Fig.1.
  • the specified stacker 1 is a mobile robot, which is a separate object of the present invention.
  • the implementation of the invention based on the stacker robot 1 is described below in detail to provide an understanding of the essence of the invention.
  • all technical details, meanings and values presented are merely examples of one or more embodiments of the invention, and in no way limit the scope of the legal protection provided by the claims.
  • the stacker robot 1 is equipped with two laser scanners located in its front part on the sides and combining the functions of the sensor part of the safety sensors 2 and sensors of preventive obstacle detection 4.
  • Combining the sensor part of safety sensors and preventive obstacle detection is preferable to increase the compactness and reduce the cost of the robot equipment, but is not the only possible solution.
  • safety sensors and sensors for preventive obstacle detection can be implemented as separate devices or modules.
  • the stacker robot 1 has one driving wheel 3, its rotation angle (p lies in the range of [-90, 90] degrees, and the linear speed V lies in the range of [-0.3, 1.67] m/s, for example, as shown in Fig. 4.
  • the wheelbase L is 1.386 m.
  • a grid was introduced with a step of 0.1 m along the axes OX and OY of the global coordinate system shown in Fig.2, and also fixed set 5 of 24 rotation angles of the driving wheel 3 of the robot, shown in Fig.Z.
  • a set of 918 elementary trajectories was recorded, a sample of 8 of which is shown in Fig.5 for example.
  • the invention is not limited in respect of all the specified parameters, the grid spacing, the number of discrete rotation angles and elementary trajectories of the robot can be specified differently, depending on the conditions of the problem being solved, the required accuracy, available computing power, etc.
  • Figures b and 7 show examples of the contours of elementary trajectories calculated for the stacker robot 1: in each case, a set of contours of the elementary trajectory 9, 10, 11, 12 and 13 is shown, linking the same initial and final states, but corresponding to different speeds of the robot, from 0.3 m/s to 1.67 m/s, as mentioned above.
  • the movement of the stacker 1 was planned in various areas of permissible movement by the method according to the embodiments of the invention, as well as by the classical method, without taking into account the safety zones and contours of the elementary trajectories described above, which allows comparing the planning results.
  • Figure 8 shows an example of planning the movement of the stacker robot 1 from point A to point B in a given area of permissible movement with boundaries 15 in the classical way, based on the dimensions of the stacker robot 1.
  • Figure 9 shows the result of applying an embodiment of the present invention for planning movement of the robot stacker 1 under conditions similar to those shown in Fig.8.
  • Another example of planning the movement of the robot stacker 1 in the classical way is shown in Fig.10, in this case, static obstacles 16 are detected during the movement of the robot in the area of permissible movement.
  • FIG. 11 shows the result of applying an embodiment of the present invention to planning the motion of a stacking robot 1 under conditions similar to those shown in FIG. 10.
  • FIG. 10 shows the result of applying an embodiment of the present invention to planning the motion of a stacking robot 1 under conditions similar to those shown in FIG. 10.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de planification de déplacement d'un robot dans une région de déplacement autorisé sur un plan, lequel consiste à effectuer une discrétisation de l'espace des états du robot et à définir une pluralité finale de trajectoires élémentaires reliant des paires d'états du robot. Pour chaque trajectoire élémentaire, on génère: une zone de sécurité sur la base de la visibilité de capteurs de sécurité, un contour de base en combinant la zone de sécurité avec les dimensions hors tout du robot, et un contour de trajectoire élémentaire en combinant les contours de base de chaque état intermédiaire de la trajectoire. On construit ensuite un multigraphe pondéré orienté sans boucles, dont les sommets correspondent aux états discrets du robot, les arcs correspondent aux trajectoires élémentaires se trouvant dans la région de déplacement autorisé, tandis que la pondération d'un arc correspond au temps de déplacement sur la trajectoire, après quoi on effectue une planification du déplacement du robot en effectuant une recherche dans un multigraphe du trajet présentant la moindre somme des pondérations. On augmente ainsi la fluidité du mouvement et on réduit le temps de déplacement dur robot le long de l'itinéraire.
PCT/RU2021/050336 2020-12-07 2021-10-10 Procédé de planification de déplacement d'un robot et robot mobile WO2022124938A1 (fr)

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CN114200945B (zh) * 2021-12-13 2024-04-02 长三角哈特机器人产业技术研究院 一种移动机器人的安全控制方法

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RU2680628C2 (ru) * 2014-04-17 2019-02-25 Софтбэнк Роботикс Юроп Всенаправленный колесный человекоподобный робот, основанный на контроллере положения и скорости с линейным прогнозированием
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