CN108664015A - A kind of planing method and equipment in robot ambulation path - Google Patents
A kind of planing method and equipment in robot ambulation path Download PDFInfo
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- CN108664015A CN108664015A CN201710199137.8A CN201710199137A CN108664015A CN 108664015 A CN108664015 A CN 108664015A CN 201710199137 A CN201710199137 A CN 201710199137A CN 108664015 A CN108664015 A CN 108664015A
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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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Abstract
The embodiment of the present application discloses a kind of planing method and equipment in robot ambulation path, the information exchange that this method passes through UWB labels and each base stations UWB entrained by robot, determine itself accurate current location, and the preliminary planning of walking path is carried out based on current location, and on the basis of preliminary planning, carry out task point selects and task definition setting, and specific walking curve is set between each task point, to complete the planning of final walking path, pass through the technical solution proposed using the embodiment of the present application, it may be implemented under the scene based on UWB positioning systems, realize robot ambulation path fast accurate planning process, in the case where meeting walking path accurately planning in robot chamber, solve the problems, such as that process flow complexity and system cost are excessively high.
Description
Technical field
This application involves Robot Design field, more particularly to a kind of the planing method and equipment in robot ambulation path.
Background technology
Application with robot in fields such as industry, service, securities is more and more extensive, the indoor positioning of robot and leads
Boat technology is also in urgent need to be improved.
Currently, the indoor navigation technology of robot includes mainly two major classes：
The first kind is commonly used for " the random cladding process " of low side sweeping robot, and also referred to as random collision formula is navigated.At random
Cladding process refers to robot according to certain moving algorithm, the tentative overwrite job area such as triangle, pentagon track, if
Obstacle is encountered, then executes corresponding steering function.This method is a kind of Low-Cost Strategy changing space with the time, such as not-time
Between can reach 100% coverage rate.Random cladding process does not have to positioning, without environmental map yet, can not plan path yet,
So its mobile route relies on substantially built-in algorithm, the quality of algorithm also determines that it cleans the height of quality and efficiency.
Second class is based on positioning system " path planning ", such as SLAM (simultaneous localization
And mapping, synchronous to position and build figure) system.Based on SLAM robot systems by camera, Laser Radar Observation around
Environment measures and at a distance from wall, barrier etc., realizes that the structure of map, the position of robot positions and path planning.
So-called robot path planning's technology is exactly perception of the robot according to self-sensor device to environment, voluntarily plans
Go out the running route of a safety, while the task that efficiently fulfils assignment.Many years have been continued to the research of path planning,
Propose number of types of method such as Artificial Potential Field Method, Grid Method, template model method, artificial intelligence method etc..The above method is total to
It is to need to establish map, and demarcate map with feature.
The method for building up of map, which is divided into, to be built figure offline and builds two kinds of figure online, and it is by manually being filled by measuring to build figure offline
It sets, range measurement is carried out in robot movable region, to form map datum, map datum imports robot by calibration
After storage system, robot can be with contexture by self task path.The foundation of Online Map is the biography that robot is installed by itself
Sensor scans ambient enviroment, establishes local map, and path planning is carried out in local map, during traveling, no
It is disconnected to carry out building figure and path planning, it is finally completed the foundation of global map.
Applicant has found that above-mentioned existing processing scheme at least has the following problems during realizing the application：
" random cladding process " is at low cost, realizes simply, but does not have robot localization function, to the standard that is also just far from being
True path planning cannot be satisfied walking demand in increasingly strict robot chamber.
" path planning " can realize robot localization and path planning, but SLAM system hardware costs are high, algorithm
Complexity requires the operational capability of computing platform very high, it is difficult to which cost of implementation controls.
Traditional path planning be unable to do without the foundation and calibration of map, and the foundation of building interior map itself is one
Compare consumption manpower or the process of time, increases the workload of system implementation.
Invention content
The embodiment of the present application provides a kind of planing method and equipment in robot ambulation path, is determined with the real UWB that is now based on
Under the scene of position system, realizes robot ambulation path fast accurate planning process, meeting walking path in robot chamber
In the case of accurate planning, solve the problems, such as that process flow complexity and system cost are excessively high.
In order to reach above-mentioned technical purpose, the embodiment of the present application proposes a kind of planing method in robot ambulation path,
Robot self-contained UWB labels are provided at least three base stations UWB in current application scene, the method includes：
By the information exchange of UWB labels and each base stations UWB entrained by the robot, working as the robot is determined
Front position；
According to the pending task definition in the current location and the robot, the preliminary walking of the robot is determined
Path；
On the preliminary walking path, the position of one or more task points is determined respectively；
On each task point, the task definition of the robot is respectively set；
The travel curve between each adjacent task point is determined respectively, generates the final walking path of the robot.
Preferably, the information exchange of the UWB labels by entrained by robot and each base stations UWB, determines the machine
The current location of device people, specifically includes：
Determine the UWB labels entrained by the robot to each base stations UWB real-time range；
According to the location information of preset each base stations UWB, the position coordinates of the UWB labels are determined, as the machine
The current location of people.
Preferably, the location information according to preset each base stations UWB determines the position coordinates of the UWB labels, tool
Body includes：
According to the location information of at least three base stations UWB the position coordinates of the UWB labels are determined according to following formula；
X=(r12-r22+d2)/2d………………….……..(1)
Y=(r12-r32-x2+(x-i)2+j2)/2j………….(2)
Wherein, (x, y) indicates the position coordinates of the UWB labels；
R1, r2, r3 indicate the UWB labels to each base stations UWB P1, the real-time range of P2, P3 respectively；
Using P1 as origin, the line between P1 and P2 is that x-axis establishes plane right-angle coordinate, and d indicates the abscissa of P2, i
Indicate that the abscissa of P3, j indicate the ordinate of P3.
Preferably, described on each task point, the task definition of the robot is respectively set, specifically includes：
When the robot is walked according to the final walking path, if the task set by a task point
Content is sky, then the robot directly starts to advance according to next section of walking curve when running to the task point.
Preferably, when the robot is walked according to the final walking path, the method further includes：
Barrier is detected by infrared sensor and/or sonac；
When detecting there are when barrier on the final walking path, the robot stops walking, judges the barrier
Hinder whether object existence time reaches predetermined threshold value；
If the barrier existence time is not up to predetermined threshold value, it is determined that the barrier is provisional barrier,
The robot is further continued for walking according to the final walking path after barrier disappearance；
If the barrier existence time reaches predetermined threshold value, it is determined that the barrier is fixed obstacle, described
It after robot bypasses the barrier, returns on the final walking path, continues to carry out according to the final walking path
Walking.
On the other hand, the embodiment of the present application also proposed a kind of planning apparatus in robot ambulation path, be applied to machine
In the application scenarios of the self-contained UWB labels of people, at least three base stations UWB, the equipment packet are provided in the application scenarios
It includes：
Position determination module is used for the information exchange by UWB labels and each base stations UWB entrained by the robot,
Determine the current location of the robot；
Preliminary path determination module, for according to current location determined by the position determination module and the robot
Pending task definition determines the preliminary walking path of the robot；
Task point determining module is used for the preliminary walking path determined by the preliminary path determination module, respectively
Determine the position of one or more task point；
Task setup module is used for each task point determined by the task point determining module, is respectively set
The task definition of the robot；
Generation module, for determining the traveling between each adjacent task point determined by the task point determining module respectively
Curve generates the final walking path of the robot.
Preferably, the position determination module, is specifically used for：
Determine the UWB labels entrained by the robot to each base stations UWB real-time range；
According to the location information of preset each base stations UWB, the position coordinates of the UWB labels are determined, as the machine
The current location of people.
Preferably, the position determination module, is specifically used for：
According to the location information of the base stations at least three UWB position of the UWB labels is determined according to following formula
Coordinate；
X=(r12-r22+d2)/2d………………….……..(1)
Y=(r12-r32-x2+(x-i)2+j2)/2j………….(2)
Wherein, (x, y) indicates the position coordinates of the UWB labels；
R1, r2, r3 indicate the UWB labels to each base stations UWB P1, the real-time range of P2, P3 respectively；
Using P1 as origin, the line between P1 and P2 is that x-axis establishes plane right-angle coordinate, and d indicates the abscissa of P2, i
Indicate that the abscissa of P3, j indicate the ordinate of P3.
Preferably, the planning apparatus further includes：
When the robot is walked according to the final walking path, if the task setup module is at one
Task definition set by task point is sky, then the robot directly starts according to next when running to the task point
Section walking curve is advanced.
Preferably, the planning apparatus further includes obstacle identification module, is used for：
When the robot is walked according to the final walking path, passed by infrared sensor and/or ultrasound
Sensor detects barrier；
When detecting there are when barrier on the final walking path, the robot stops walking, judges the barrier
Hinder whether object existence time reaches predetermined threshold value；
If the barrier existence time is not up to predetermined threshold value, it is determined that the barrier is provisional barrier,
The robot is further continued for walking according to the final walking path after barrier disappearance；
If the barrier existence time reaches predetermined threshold value, it is determined that the barrier is fixed obstacle, described
It after robot bypasses the barrier, returns on the final walking path, continues to carry out according to the final walking path
Walking.
Compared with prior art, the advantageous effects for the technical solution that the embodiment of the present application is proposed include：
The embodiment of the present application discloses a kind of planing method and equipment in robot ambulation path, and this method passes through robot
The information exchange of entrained UWB labels and each base stations UWB, determines itself accurate current location, and based on current location into
The preliminary planning of row walking path, and on the basis of preliminary planning, carry out the selection of task point and task definition setting, Yi Ji
Specific walking curve is set between each task point, and to complete the planning of final walking path, by application, the application is implemented
The technical solution that example is proposed, may be implemented under the scene based on UWB positioning systems, realize that robot ambulation path is fast accurate
True planning process solves process flow complexity and system in the case where meeting walking path accurately planning in robot chamber
The excessively high problem of cost.
Description of the drawings
It, below will be to attached drawing needed in embodiment description in order to illustrate more clearly of the technical solution of the application
It is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, general for this field
For logical technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
A kind of flow diagram of the planing method in robot ambulation path that Fig. 1 is proposed by the embodiment of the present application；
A kind of structural schematic diagram for indoor wireless locating system that Fig. 2 is proposed by the embodiment of the present application；
The planing method in the robot ambulation path under a kind of concrete application scene that Fig. 3 is proposed by the embodiment of the present application
Flow diagram；
A kind of schematic diagram for three side location algorithm that Fig. 4 is proposed by the embodiment of the present application；
The structural schematic diagram of robot system under a kind of concrete application scene that Fig. 5 is proposed by the embodiment of the present application；
A kind of preliminary exemplary schematic diagram of walking path that Fig. 6 is proposed by the embodiment of the present application；
Fig. 7 is a kind of walking curve synoptic diagram given by the embodiment of the present application；
A kind of structural schematic diagram of the planning apparatus in robot ambulation path that Fig. 8 is proposed by the embodiment of the present application.
Specific implementation mode
As the application background technology is stated, in existing planning walking path scheme or it is poorly suitable for
The determination of indoor accurate walking path or since algorithm is excessively complicated and to lead to calculate cost high, lacks a kind of standard
The programme of true efficiently Indoor Robot walking path.
Present inventor wishes, by method provided herein, to may be implemented based on UWB positioning systems
Under scene, realizes robot ambulation path fast accurate planning process, accurately planned meeting walking path in robot chamber
In the case of, solve the problems, such as that process flow complexity and system cost are excessively high.
As shown in Figure 1, a kind of flow of the planing method in the robot ambulation path proposed by the embodiment of the present application is shown
It is intended to, this method is applied in the application scenarios of the self-contained UWB of robot (Ultra-Wideband, ultra wide band) label, when
At least three base stations UWB are provided in preceding application scenarios, this method specifically includes：
Step S101, by the information exchange of UWB labels and each base stations UWB entrained by the robot, determine described in
The current location of robot.
In specific application scenarios, this step specifically includes：
Step A, determine the UWB labels entrained by the robot to each base stations UWB real-time range.
Step B, according to the location information of preset each base stations UWB, the position coordinates of the UWB labels are determined, as institute
State the current location of robot.
In practical applications, the determination process of step B can be realized by following scheme：
According to the location information of at least three base stations UWB the position coordinates of the UWB labels are determined according to following formula；
X=(r12-r22+d2)/2d；
Y=(r12-r32-x2+ (x-i) 2+j2)/2j；
Wherein, (x, y) indicates the position coordinates of the UWB labels；
R1, r2, r3 indicate the UWB labels to each base stations UWB P1, the real-time range of P2, P3 respectively；
Using P1 as origin, the line between P1 and P2 is that x-axis establishes plane right-angle coordinate, and d indicates the abscissa of P2, i
Indicate that the abscissa of P3, j indicate the ordinate of P3.
Step S102, according to the pending task definition in the current location and the robot, the robot is determined
Preliminary walking path.
Step S103, on the preliminary walking path, the position of one or more task points is determined respectively.
Step S104, on each task point, the task definition of the robot is respectively set.
When the robot is walked according to the final walking path, if the task set by a task point
Content is sky, then the robot directly starts to advance according to next section of walking curve when running to the task point.
Step S105, the travel curve between each adjacent task point is determined respectively, generates the final walking of the robot
Path.
Through the above steps, the determination process for completing final walking path, in the robot according to the final line
When walking path and being walked, the method further includes：
Barrier is detected by infrared sensor and/or sonac；
When detecting there are when barrier on the final walking path, the robot stops walking, judges the barrier
Hinder whether object existence time reaches predetermined threshold value；
If the barrier existence time is not up to predetermined threshold value, it is determined that the barrier is provisional barrier,
The robot is further continued for walking according to the final walking path after barrier disappearance；
If the barrier existence time reaches predetermined threshold value, it is determined that the barrier is fixed obstacle, described
It after robot bypasses the barrier, returns on the final walking path, continues to carry out according to the final walking path
Walking.
Wherein, the determination of predetermined threshold value can be selected according to actual needs, and such variation can't influence this Shen
Protection domain please.
Compared with prior art, the advantageous effects for the technical solution that the embodiment of the present application is proposed include：
The embodiment of the present application discloses a kind of planing method and equipment in robot ambulation path, and this method passes through robot
The information exchange of entrained UWB labels and each base stations UWB, determines itself accurate current location, and based on current location into
The preliminary planning of row walking path, and on the basis of preliminary planning, carry out the selection of task point and task definition setting, Yi Ji
Specific walking curve is set between each task point, and to complete the planning of final walking path, by application, the application is implemented
The technical solution that example is proposed, may be implemented under the scene based on UWB positioning systems, realize that robot ambulation path is fast accurate
True planning process solves process flow complexity and system in the case where meeting walking path accurately planning in robot chamber
The excessively high problem of cost.
Below in conjunction with the attached drawing in the application, clear, complete description is carried out to the technical solution in the application, is shown
So, described embodiment is a part of the embodiment of the application, instead of all the embodiments.Based on the implementation in the application
Example, the every other embodiment that those of ordinary skill in the art are obtained without making creative work all belong to
In the range of the application protection.
As previously shown, in existing planning walking path scheme or it is poorly suitable for indoor accurate walking path
It determines or causes calculating cost high since algorithm is excessively complicated, lack a kind of Indoor Robot of accurate quick
The programme of walking path.
The embodiment of the present application is in order to solve above-mentioned problem of the prior art, it is proposed that a kind of machine based on UWB positioning systems
Planning walking path method in device people room.This method has the advantage that：
1.UWB positioning systems can realize the high-precision indoor positioning of robot, and accumulated error is not present, and can be road
Diameter planning provides secure support.
2. under small-scale application system, UWB system hardwares cost is low compared with SLAM systems, is wanted to the performance of operation platform
Ask also not high.
3. the paths planning method that the embodiment of the present application proposes, need not establish map, the work of system implementation is reduced
Amount improves the efficiency of the practice of robot system application scenarios indoors, to further reduced system cost.
The planing method in the robot ambulation path under a kind of concrete application scene that the embodiment of the present application is proposed is applicable in
In following application scenarios：It is required that robot repeats walking according to route and executes corresponding task in task point, and avoid touching
Bump against indoor object and pedestrian etc..
Specifically, the UWB positioning systems that the technical solution that the embodiment of the present application is proposed is related to include positioning 3 and 3
The above base station, one or more labels.
For convenience of explanation, as shown in Fig. 2, a kind of knot of the indoor wireless locating system proposed by the embodiment of the present application
Structure schematic diagram, the embodiment of the present application illustrate the robot path under two dimensional surface positioning system by taking 3 labels of base station 1 as an example
Planning.
In the application scenarios of the embodiment of the present application, the base stations UWB are installed on indoor fixed position, need to lead to after installation is complete
It crosses measurement and obtains the position coordinates of base station.UWB labels are installed on robot interior, and the two dimensional surface position of label is equal to machine
The position of people.
As shown in figure 3, robot ambulation path under a kind of concrete application scene proposed by the embodiment of the present application
The flow diagram of planing method, this method specifically include：
Step S301, robot current location is determined.
When positioning system is run, label starts ranging flow to base station, acquires the real-time range of each base station, and pass through
The good base station information of configured in advance is calculated using location algorithm (in the embodiment of the present application by taking three side location algorithms as an example)
Label position coordinate.
As shown in figure 4, a kind of schematic diagram of the three side location algorithm proposed by the embodiment of the present application, corresponding three side is fixed
Position method calculation formula is as follows：
X=(r12-r22+d2)/2d………………….……..(1)
Y=(r12-r32-x2+(x-i)2+j2)/2j………….(2)
Wherein, (x, y) indicates the position coordinates of the UWB labels (i.e. robot)；
R1, r2, r3 indicate the UWB labels to each base stations UWB P1, the real-time range of P2, P3 respectively；
Using P1 as origin, the line between P1 and P2 is that x-axis establishes plane right-angle coordinate, and d indicates the abscissa of P2, i
Indicate that the abscissa of P3, j indicate the ordinate of P3.
In order to realize above-mentioned function setting, as shown in figure 5, a kind of concrete application field proposed by the embodiment of the present application
The structural schematic diagram of robot system under scape specifically includes following functions component：
(1) UWB positions label：By with the ranging of the base stations UWB, realize robot location position in real time, machine can be exported in real time
Device people's coordinate position.
(2) infrared sensor：Robot front and both sides are installed on, obstacle detection is used for.
(3) central processing system：Intelligent robot control system.
(4) sonac：Robot front and both sides are installed on, obstacle detection is used for.
(5) path configures system, is recorded for realizing robot path task point, the function module of path curve configuration.
It should be noted that for the method for determination of current location, above-mentioned processing scheme is a kind of preferred embodiment,
In specific application scenarios, it can be adjusted according to actual needs, under the premise of ensureing position accurate positioning, use is above-mentioned
Processing rule or other rules can't influence the protection domain of the application.
Step S302, executing for task is needed according to actual conditions in building and robot, determines the preliminary of robot
Walking path.
For convenience of explanation, it is illustrated with a kind of specific example given by Fig. 6, indoors certain region, robot needs
It to be lighted from A, the square for being d according to the length of side carries out counterclockwise repeating to walk, and when row is to B points, it is " joyous to execute speech play
Welcome visit " order of voice 1 time, backward C, D point advance successively.It after reaching D points, advances to A points, in cycle execution later
Process is stated, until receiving halt instruction.Route shown in Fig. 6 is preliminary walking path.
Step S303, in the key node in path, acquisition tasks point coordinates, and robot storage system is recorded.
Operating personnel select the closeness of task point according to demand, and closeness is higher, and route resolution ratio is higher.Such as according to
Demand in step S302, respectively in the coordinate information of 4 points of acquisition UWB positioning systems output of A, B, C, D.
Step S304, task definition is set in each task point.
After step S303 completes the acquisition of task point, the order executed is needed in task point setting robot according to mission requirements
(such as playing music, video).
For example " welcoming visiting " voice command is played in the C settings of task point, broadcasting time is set as 1 time.After setting, machine
People can execute corresponding task in C points.If task point is not provided with specific tasks content, after robot reaches the point, automatically
It advances to next task point.
Step S305, robot ambulation curve between two neighboring task point is set.
Walking curve type include：Straight line, circular arc, conic section, sine and cosine curve etc..
As shown in fig. 7, for a kind of walking curve synoptic diagram given by the embodiment of the present application.Assuming that need robot A,
Between 2 points of B according to sinusoidal track walk, then in the path planning item in robot manipulation's menu, select starting point for
A, the route segment curve type that terminal is B is sine curve, period A-B, amplitude H, initial phase 0.
Robot system obtains the walking path between A, B by calculating.Similarly, can be arranged between D, A in B, C, C, D
Arbitrary curved path.
Step S306, after setting up path curve, " walking " order is issued to robot, robot is according to being set in advance
Task point and path curve start to walk, and execute corresponding task in each task point.
It in this step implementation procedure, ceases and desist order if received, terminates current walking process.
Step S307, during traveling, robot is detected by infrared sensor and sonac, judges whether to deposit
In barrier.
If it does not, return to step S306, continuation is walked according to walking path.
If it does, executing step S308.
Step S308, robot pause walking, starts " obstacle identity judgement " flow.
If current barrier existence time is less than 2s, it is determined that barrier is provisional barrier (such as pedestrian), is executed
Step S309.
If current barrier existence time is more than 2s, it is determined that barrier is the fixed obstacle (chair such as moved
Son), execute step S310.
Step S309, robot continues pause walking, waits in situ.
After the completion of this step, continue return to step S307, judged, until barrier disappears or deposits on walking path
It is more than 2s in the time.
Step S310, cut-through object continues on.
After the completion of this step executes, return to step S306, continuation is walked according to walking path.
Compared with prior art, the advantageous effects for the technical solution that the embodiment of the present application is proposed include：
The embodiment of the present application discloses a kind of planing method and equipment in robot ambulation path, and this method passes through robot
The information exchange of entrained UWB labels and each base stations UWB, determines itself accurate current location, and based on current location into
The preliminary planning of row walking path, and on the basis of preliminary planning, carry out the selection of task point and task definition setting, Yi Ji
Specific walking curve is set between each task point, and to complete the planning of final walking path, by application, the application is implemented
The technical solution that example is proposed, may be implemented under the scene based on UWB positioning systems, realize that robot ambulation path is fast accurate
True planning process solves process flow complexity and system in the case where meeting walking path accurately planning in robot chamber
The excessively high problem of cost.
To be illustrated more clearly that scheme that the application previous embodiment provides, it is based on invention structure same as the above method
Think, the embodiment of the present application also proposed a kind of planning apparatus in robot ambulation path, and structural schematic diagram is as shown in figure 8, answer
In application scenarios for the self-contained UWB labels of robot, at least three base stations UWB, institute are provided in the application scenarios
Stating equipment includes：
Position determination module 81, for the information friendship by UWB labels and each base stations UWB entrained by the robot
Mutually, the current location of the robot is determined；
Preliminary path determination module 82, for according to current location determined by the position determination module 81 and the machine
The pending task definition of device people determines the preliminary walking path of the robot；
Task point determining module 83 is used for the preliminary walking path determined by the preliminary path determination module 82,
The position of one or more task points is determined respectively；
Task setup module 84 is used for each task point determined by the task point determining module 83, respectively
The task definition of the robot is set；
Generation module 85, for determining respectively between each adjacent task point determined by the task point determining module 83
Travel curve generates the final walking path of the robot.
Preferably, the position determination module 81, is specifically used for：
Determine the UWB labels entrained by the robot to each base stations UWB real-time range；
According to the location information of preset each base stations UWB, the position coordinates of the UWB labels are determined, as the machine
The current location of people.
Preferably, the position determination module 81, is specifically used for：
According to the location information of the base stations at least three UWB position of the UWB labels is determined according to following formula
Coordinate；
X=(r12-r22+d2)/2d；
Y=(r12-r32-x2+(x-i)2+j2)/2j；
Wherein, (x, y) indicates the position coordinates of the UWB labels；
R1, r2, r3 indicate the UWB labels to each base stations UWB P1, the real-time range of P2, P3 respectively；
Using P1 as origin, the line between P1 and P2 is that x-axis establishes plane right-angle coordinate, and d indicates the abscissa of P2, i
Indicate that the abscissa of P3, j indicate the ordinate of P3.
Preferably, which further includes：
When the robot is walked according to the final walking path, if the task setup module 84 is one
Task definition set by a task point is sky, then the robot directly starts under when running to the task point
One section of walking curve is advanced.
Preferably, the planning apparatus further includes obstacle identification module 86, is used for：
When the robot is walked according to the final walking path, passed by infrared sensor and/or ultrasound
Sensor detects barrier；
When detecting there are when barrier on the final walking path, the robot stops walking, judges the barrier
Hinder whether object existence time reaches predetermined threshold value；
If the barrier existence time is not up to predetermined threshold value, it is determined that the barrier is provisional barrier,
The robot is further continued for walking according to the final walking path after barrier disappearance；
If the barrier existence time reaches predetermined threshold value, it is determined that the barrier is fixed obstacle, described
It after robot bypasses the barrier, returns on the final walking path, continues to carry out according to the final walking path
Walking.
Compared with prior art, the advantageous effects for the technical solution that the embodiment of the present application is proposed include：
The embodiment of the present application discloses a kind of planing method and equipment in robot ambulation path, and this method passes through robot
The information exchange of entrained UWB labels and each base stations UWB, determines itself accurate current location, and based on current location into
The preliminary planning of row walking path, and on the basis of preliminary planning, carry out the selection of task point and task definition setting, Yi Ji
Specific walking curve is set between each task point, and to complete the planning of final walking path, by application, the application is implemented
The technical solution that example is proposed, may be implemented under the scene based on UWB positioning systems, realize that robot ambulation path is fast accurate
True planning process solves process flow complexity and system in the case where meeting walking path accurately planning in robot chamber
The excessively high problem of cost.
Through the above description of the embodiments, those skilled in the art can be understood that the embodiment of the present invention
The mode of necessary general hardware platform can also be added to realize by software by hardware realization.Based on such reason
Solution, the technical solution of the embodiment of the present invention can be expressed in the form of software products, which can be stored in one
In a non-volatile memory medium (can be CD-ROM, USB flash disk, mobile hard disk etc.), including some instructions are used so that a meter
It calculates machine equipment (can be personal computer, server or network side equipment etc.) and executes each implement scene of the embodiment of the present invention
The method.
It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or
Flow is not necessarily implemented necessary to the embodiment of the present invention.
It will be appreciated by those skilled in the art that the module in equipment in implement scene can be described according to implement scene into
Row is distributed in the equipment of implement scene, can also be carried out respective change and be set positioned at the one or more different from this implement scene
In standby.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
The embodiments of the present invention are for illustration only, do not represent the quality of implement scene.
Disclosed above is only several specific implementation scenes of the embodiment of the present invention, and still, the embodiment of the present invention is not office
It is limited to this, the changes that any person skilled in the art can think of should all fall into the business limitation range of the embodiment of the present invention.
Claims (10)
1. a kind of planing method in robot ambulation path, which is characterized in that the self-contained UWB labels of robot, current application
At least three base stations UWB are provided in scene, the method includes：
By the information exchange of UWB labels and each base stations UWB entrained by the robot, the present bit of the robot is determined
It sets；
According to the pending task definition in the current location and the robot, the preliminary walking road of the robot is determined
Diameter；
On the preliminary walking path, the position of one or more task points is determined respectively；
On each task point, the task definition of the robot is respectively set；
The travel curve between each adjacent task point is determined respectively, generates the final walking path of the robot.
2. planing method as described in claim 1, which is characterized in that the UWB labels by entrained by robot with it is each
The information exchange of the base stations UWB determines the current location of the robot, specifically includes：
Determine the UWB labels entrained by the robot to each base stations UWB real-time range；
According to the location information of preset each base stations UWB, the position coordinates of the UWB labels are determined, as the robot
Current location.
3. planing method as claimed in claim 2, which is characterized in that the location information according to preset each base stations UWB,
The position coordinates for determining the UWB labels, specifically include：
According to the location information of at least three base stations UWB the position coordinates of the UWB labels are determined according to following formula；
X=(r12-r22+d2)/2d；
Y=(r12-r32-x2+(x-i)2+j2)/2j；
Wherein, (x, y) indicates the position coordinates of the UWB labels；
R1, r2, r3 indicate the UWB labels to each base stations UWB P1, the real-time range of P2, P3 respectively；
Using P1 as origin, the line between P1 and P2 is that x-axis establishes plane right-angle coordinate, and d indicates that the abscissa of P2, i indicate
The abscissa of P3, j indicate the ordinate of P3.
4. planing method as described in claim 1, which is characterized in that it is described on each task point, it is respectively set described
The task definition of robot, specifically includes：
When the robot is walked according to the final walking path, if the task definition set by a task point
For sky, then when running to the task point, directly beginning is advanced according to next section of walking curve for the robot.
5. planing method as described in claim 1, which is characterized in that the robot is carried out according to the final walking path
When walking, the method further includes：
Barrier is detected by infrared sensor and/or sonac；
When detecting there are when barrier on the final walking path, the robot stops walking, judges the barrier
Whether existence time reaches predetermined threshold value；
If the barrier existence time is not up to predetermined threshold value, it is determined that the barrier is provisional barrier, described
Robot is further continued for walking according to the final walking path after barrier disappearance；
If the barrier existence time reaches predetermined threshold value, it is determined that the barrier is fixed obstacle, the machine
It after people bypasses the barrier, returns on the final walking path, continuation is walked according to the final walking path.
6. a kind of planning apparatus in robot ambulation path, which is characterized in that applied to answering for the self-contained UWB labels of robot
With in scene, at least three base stations UWB are provided in the application scenarios, the equipment includes：
Position determination module is determined for the information exchange by UWB labels and each base stations UWB entrained by the robot
The current location of the robot；
Preliminary path determination module, for waiting holding according to current location determined by the position determination module and the robot
Capable task definition determines the preliminary walking path of the robot；
Task point determining module is used for the preliminary walking path determined by the preliminary path determination module, determines respectively
The position of one or more task points；
Task setup module is used for each task point determined by the task point determining module, is respectively set described
The task definition of robot；
Generation module, for determining the song of the traveling between each adjacent task point determined by the task point determining module respectively
Line generates the final walking path of the robot.
7. planning apparatus as claimed in claim 6, which is characterized in that the position determination module is specifically used for：
Determine the UWB labels entrained by the robot to each base stations UWB real-time range；
According to the location information of preset each base stations UWB, the position coordinates of the UWB labels are determined, as the robot
Current location.
8. planning apparatus as claimed in claim 7, which is characterized in that the position determination module is specifically used for：
According to the location information of the base stations at least three UWB position coordinates of the UWB labels are determined according to following formula；
X=(r12-r22+d2)/2d；
Y=(r12-r32-x2+(x-i)2+j2)/2j；
Wherein, (x, y) indicates the position coordinates of the UWB labels；
R1, r2, r3 indicate the UWB labels to each base stations UWB P1, the real-time range of P2, P3 respectively；
Using P1 as origin, the line between P1 and P2 is that x-axis establishes plane right-angle coordinate, and d indicates that the abscissa of P2, i indicate
The abscissa of P3, j indicate the ordinate of P3.
9. planning apparatus as claimed in claim 6, which is characterized in that further include：
When the robot is walked according to the final walking path, if the task setup module is in a task
The set task definition of point is sky, then the robot directly starts according to next section of row when running to the task point
Curve is walked to advance.
10. planning apparatus as claimed in claim 6, which is characterized in that further include obstacle identification module, be used for：
When the robot is walked according to the final walking path, pass through infrared sensor and/or sonac
Detect barrier；
When detecting there are when barrier on the final walking path, the robot stops walking, judges the barrier
Whether existence time reaches predetermined threshold value；
If the barrier existence time is not up to predetermined threshold value, it is determined that the barrier is provisional barrier, described
Robot is further continued for walking according to the final walking path after barrier disappearance；
If the barrier existence time reaches predetermined threshold value, it is determined that the barrier is fixed obstacle, the machine
It after people bypasses the barrier, returns on the final walking path, continuation is walked according to the final walking path.
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| CN201710199137.8A CN108664015A (en) | 2017-03-29 | 2017-03-29 | A kind of planing method and equipment in robot ambulation path |
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| CN201710199137.8A CN108664015A (en) | 2017-03-29 | 2017-03-29 | A kind of planing method and equipment in robot ambulation path |
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| CN109276190A (en) * | 2018-10-23 | 2019-01-29 | 中国人民解放军陆军工程大学 | Sweeping robot monitoring method and its equipment based on UWB |
| CN109298714A (en) * | 2018-11-09 | 2019-02-01 | 浙江国自机器人技术有限公司 | Robot movement control method, system, equipment and computer readable storage medium |
| CN109375626A (en) * | 2018-11-20 | 2019-02-22 | 深圳市海柔创新科技有限公司 | Alignment code is sticked method, apparatus, computer equipment and storage medium |
| CN109445466A (en) * | 2018-11-09 | 2019-03-08 | 浙江国自机器人技术有限公司 | Robot follow-up control method, system, equipment and computer readable storage medium |
| CN110076778A (en) * | 2019-05-07 | 2019-08-02 | 杭州迦智科技有限公司 | Robot control method, device, storage medium and processor |
| TWI687191B (en) * | 2018-10-23 | 2020-03-11 | 廣達電腦股份有限公司 | Methods and systems of distributing task areas for a plurality of cleaning devices |
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| CN109276190A (en) * | 2018-10-23 | 2019-01-29 | 中国人民解放军陆军工程大学 | Sweeping robot monitoring method and its equipment based on UWB |
| TWI687191B (en) * | 2018-10-23 | 2020-03-11 | 廣達電腦股份有限公司 | Methods and systems of distributing task areas for a plurality of cleaning devices |
| CN109298714A (en) * | 2018-11-09 | 2019-02-01 | 浙江国自机器人技术有限公司 | Robot movement control method, system, equipment and computer readable storage medium |
| CN109445466A (en) * | 2018-11-09 | 2019-03-08 | 浙江国自机器人技术有限公司 | Robot follow-up control method, system, equipment and computer readable storage medium |
| CN109375626A (en) * | 2018-11-20 | 2019-02-22 | 深圳市海柔创新科技有限公司 | Alignment code is sticked method, apparatus, computer equipment and storage medium |
| CN110076778A (en) * | 2019-05-07 | 2019-08-02 | 杭州迦智科技有限公司 | Robot control method, device, storage medium and processor |
| CN112799389B (en) * | 2019-11-12 | 2022-05-13 | 苏州宝时得电动工具有限公司 | Automatic walking area path planning method and automatic walking equipment |
| CN112799389A (en) * | 2019-11-12 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Automatic walking area path planning method and automatic walking equipment |
| WO2021093469A1 (en) * | 2019-11-12 | 2021-05-20 | 苏州宝时得电动工具有限公司 | Automatic walking area route planning method and automatic walking device |
| CN113128735A (en) * | 2019-12-30 | 2021-07-16 | 广东博智林机器人有限公司 | Wireless charging method, server, robot and storage medium |
| CN112527010A (en) * | 2020-11-09 | 2021-03-19 | 福州大学 | Indoor substation unmanned aerial vehicle multi-machine cooperative inspection method based on artificial potential field and particle optimization |
| CN114791284A (en) * | 2021-01-26 | 2022-07-26 | 北京小米移动软件有限公司 | Calibration method and device for electronic compass in robot and robot |
| CN114791284B (en) * | 2021-01-26 | 2024-03-01 | 北京小米机器人技术有限公司 | Calibration method and device of electronic compass in robot and robot |
| CN113491480A (en) * | 2021-08-01 | 2021-10-12 | 丁杨 | Fixed-point cleaning control system and method for sweeping robot |
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