CN109062215A - Robot and barrier-avoiding method, system, equipment and medium are followed based on its target - Google Patents
Robot and barrier-avoiding method, system, equipment and medium are followed based on its target Download PDFInfo
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
Barrier-avoiding method, system, equipment and medium are followed the invention discloses a kind of robot and based on its target.Wherein, it includes: to control robot to obtain the target position for following target that target, which follows barrier-avoiding method,；Determine that whether there are obstacles in the preset level width range of the current location of robot and the first line two sides of target position, preset level width is not less than the radius of turn of robot；If so, determining transfer position, barrier is not present in the preset level width range of the second line two sides of the current location and transfer position of robot；It is mobile to transfer position to control robot, and continues to execute the step of acquisition of control robot follows the target position of target；If it is not, it is mobile to target position then to control robot.Robot in the present invention is moved to transfer position when there are barrier and carrys out avoiding obstacles, until when barrier is not present in the current location of robot and the linear distance for following target, it is mobile to target position, to follow target.
Description
Technical field
Avoidance side is followed the present invention relates to robotic technology field more particularly to a kind of robot and based on its target
Method, system, equipment and medium.
Background technique
With the continuous development of robot technology, requirement of the today's society to robot is also higher and higher, such as, it is desirable that match
Send the robots such as robot, Indoor Robot, supermarket shopping robot that can independently follow target pedestrian.It is currently typically based on and takes the photograph
Realize that robot follows target pedestrian as head vision, infrared-ray etc..
In the target follower method based on camera vision, come usually using KCF (kernel function correlation filtering method) real
Existing target follows, but this follower method needs to follow target always in the visual angle of robot camera, then working as machine
When people avoids barrier, then camera, which is easily lost, follows target, thus, target is followed in order not to lose, executes the side of following
The robot of method cannot achieve avoidance, and collision obstacle is easy during following.
In the target follower method based on infrared-ray, usually in robot be arranged two infrared remote receivers and with
With in target be arranged an infrared transmitter, receive the time difference of light by two infrared remote receivers of setting realize to
With the positioning of target, but this follower method be only applicable to follow can be received in above-mentioned two infrared remote receiver it is infrared
Emit in the range of light and follow target, to follow range smaller, robot also just cannot achieve avoidance, during following
It is easy collision obstacle.
Summary of the invention
The technical problem to be solved by the present invention is to follow robot that can not carry out lacking for avoidance in the prior art to overcome
It falls into, a kind of robot is provided and barrier-avoiding method, system, equipment and medium is followed based on its target.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of target based on robot follows barrier-avoiding method, it is characterized in that, the target follows the barrier-avoiding method to include:
Control robot obtains the target position for following target；
Determine the preset level width model of the current location of the robot and the first line two sides of the target position
Whether there are obstacles in enclosing, wherein the preset level width is not less than the radius of turn of the robot；
If so, determining transfer position, wherein the second line of the current location of the robot and the transfer position
Barrier is not present in the preset level width range of two sides；
It is mobile to the transfer position to control the robot, and continues to execute the control robot acquisition and follows target
Target position the step of；
If it is not, it is mobile to the target position then to control the robot.
Preferably, the step of determining transfer position, includes:
Determine two boundary points of the barrier on horizontal width direction；
Determine that the shortest boundary point of distance to first line is intermediate transit point；
Transfer position is determined according to the intermediate transit point.
Preferably, in described the step of determining transfer position according to the intermediate transit point, the intermediate transit point to described second
The distance of line is not less than the radius of turn.
Preferably, the control robot acquisition includes: the step of following the target position of target
Control robot obtains the target position for following target via UWB communication mode.
Preferably, the control robot via UWB communication mode acquisition follow the target position of target the step of it
Before, the target follows barrier-avoiding method further include:
At least three base stations UWB are set in the robot, follow setting UWB label, Yi Ji in target described
Communication connection is established between the base station UWB and the UWB label.
Preferably, the control robot includes: to the mobile step in the transfer position
It determines the second length of second line, and determines the direction and the second of second line of the robot
Angle；
The second linear velocity is determined according to second length, and the second angular speed is determined according to second angle；
It is mobile to the transfer position according to second linear velocity and second angular speed to control the robot.
Preferably, the control robot is according to second linear velocity and second angular speed to the transfer
The mobile step in position includes:
Judge whether second angle is less than threshold angle；
If so, controlling the robot simultaneously according to second linear velocity and second angular speed to the transfer
Position is mobile；
It is first gone to according to second angular speed towards the transfer position if it is not, then controlling the robot, further according to
Second linear velocity is mobile to the transfer position.
Preferably, in described the step of determining the second linear velocity according to second length, second linear velocity with
Second length is positively correlated, and when second length is 0, the second linear velocity value is 0；
And/or in described the step of determining the second angular speed according to second angle, second angular speed and institute
It states the second angle to be positively correlated, and when second angle is 0, the second angular speed value is 0.
Preferably, the control robot includes: to the mobile step in the target position
It determines the first length of first line, and determines the direction and the first of first line of the robot
Angle；
The first linear velocity is determined according to first length, and the first angular speed is determined according to first angle；
It is mobile to the target position according to first linear velocity and first angular speed to control the robot.
Preferably, the control robot is according to first linear velocity and first angular speed to the target
The mobile step in position includes:
Judge whether first angle is less than threshold angle；
If so, controlling the robot simultaneously according to first linear velocity and first angular speed to the target
Position is mobile；
It is first gone to according to first angular speed towards the target position if it is not, then controlling the robot, further according to
First linear velocity is mobile to the target position.
Preferably, in described the step of determining the first linear velocity according to first length, first linear velocity with
First length is positively correlated, and when first length is not more than threshold distance, the first linear velocity value is
0；
And/or in described the step of determining the first angular speed according to first angle, first angular speed and institute
It states the first angle to be positively correlated, and when first angle is 0, the first angular speed value is 0.
A kind of electronic equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, it is characterized in that, the processor realized when executing the computer program any of the above-described kind based on robot
Target follows barrier-avoiding method.
A kind of computer readable storage medium, is stored thereon with computer program, it is characterized in that, the computer program
The step of any of the above-described kind of target based on robot follows barrier-avoiding method is realized when being executed by processor.
A kind of target follows obstacle avoidance system, it is characterized in that, the target follows the obstacle avoidance system to include:
Target position obtains module, in robot and for obtaining the target position for following target；
Barrier judgment module, for judging the current location of the robot and the first line two of the target position
Whether there are obstacles in the preset level width range of side, wherein the preset level width is not less than the robot
Radius of turn；
If so, calling transfer position determination module；If it is not, then calling mobile module；
The transfer position determination module, for determining transfer position, wherein the current location of the robot with it is described
Barrier is not present in the preset level width range of second line two sides of transfer position；
The mobile module, it is mobile to the transfer position for controlling the robot, and continue to call the target
It is mobile to the target position to be also used to control the robot for position acquisition module.
Preferably, the transfer position determination module includes:
Boundary point determination unit, for determining two boundary points of the barrier on horizontal width direction；
Intermediate transit point determination unit, the shortest boundary point of distance for determining to first line are intermediate transit point；
Transfer position determination unit, for determining transfer position according to the intermediate transit point.
Preferably, the distance of the intermediate transit point to second line that the intermediate transit point determination unit determines is not less than institute
State radius of turn.
Preferably, the target position, which obtains module, obtains the target position for following target via UWB communication mode.
Preferably, it further includes at least three base stations UWB being set in the robot that the target, which follows obstacle avoidance system, if
In the UWB label followed in target, wherein the base station UWB is connect with the UWB label communication.
Preferably, the mobile module includes:
Length determination unit, for determining the second length of second line；
Angle determination unit, for determining the direction and the second angle of second line of the robot；
Linear velocity determination unit, for determining the second linear velocity according to second length；
Angular speed determination unit, for determining the second angular speed according to second angle；
Mobile unit, for controlling the robot in described according to second linear velocity and second angular speed
Movement is set in indexing.
Preferably, the mobile module further include:
Angle judging unit, for judging whether second angle is less than threshold angle；
If so, calling the mobile unit simultaneously according to second linear velocity and second angular speed control
Robot is mobile to the transfer position；
It is gone to described in if it is not, the mobile unit is then called first to control the robot according to second angular speed
Transfer position, it is mobile to the transfer position further according to robot described in second wire velocity control.
Preferably, second linear velocity that the linear velocity determination unit determines is positively correlated with second length,
And when second length is 0, the second linear velocity value is 0；
And/or second angular speed that the angular speed determination unit determines is positively correlated with second angle, and
And when second angle is 0, the second angular speed value is 0.
Preferably, the mobile module includes:
Length determination unit, for determining the first length of first line；
Angle determination unit, for determining the direction and the first angle of first line of the robot；
Linear velocity determination unit, for determining the first linear velocity according to first length；
Angular speed determination unit, for determining the first angular speed according to first angle；
Mobile unit, for controlling the robot to the mesh according to first linear velocity and first angular speed
Cursor position is mobile.
Preferably, the mobile module further include:
Angle judging unit, for judging whether first angle is less than threshold angle；
If so, calling the mobile unit simultaneously according to first linear velocity and first angular speed control
Robot is mobile to the target position；
It is gone to described in if it is not, the mobile unit is then called first to control the robot according to first angular speed
Target position, it is mobile to the target position further according to robot described in first wire velocity control.
Preferably, first linear velocity that the linear velocity determination unit determines is positively correlated with first length,
And when first length is not more than threshold distance, the first linear velocity value is 0；
And/or first angular speed that the angular speed determination unit determines is positively correlated with first angle, and
And when first angle is 0, the first angular speed value is 0.
A kind of robot following barrier avoiding function with target, it is characterized in that, the robot includes any of the above-described kind
Target follows obstacle avoidance system.
The positive effect of the present invention is that: in the present invention, robot obtain follow target target position it
Afterwards, judge robot and whether there are obstacles in the linear distance for following target, and determining and machine when there are barrier
The transfer position of barrier is not present in the linear distance of people, and then controls robot and is moved to transfer position to avoid obstacle
Object, in this way, until the current location of robot with follow in the linear distance of target there is no when barrier, control robot to
Target position is mobile, realizes robot to following target to follow.
Detailed description of the invention
Fig. 1 is the flow chart that barrier-avoiding method is followed according to the target based on robot of the embodiment of the present invention 1.
Fig. 2 is the flow chart that step S3 in barrier-avoiding method is followed according to the target based on robot of the embodiment of the present invention 1.
Fig. 3 is to follow step S3 in barrier-avoiding method to determine transfer according to the target based on robot of the embodiment of the present invention 1
The schematic diagram of position.
Fig. 4 is to follow step S3 in barrier-avoiding method to determine transfer according to the target based on robot of the embodiment of the present invention 1
Another schematic diagram of position.
Fig. 5 is the flow chart that step S4 in barrier-avoiding method is followed according to the target based on robot of the embodiment of the present invention 1.
Fig. 6 is the process that step S43 in barrier-avoiding method is followed according to the target based on robot of the embodiment of the present invention 1
Figure.
Fig. 7 is the flow chart that step S5 in barrier-avoiding method is followed according to the target based on robot of the embodiment of the present invention 1.
Fig. 8 is the process that step S53 in barrier-avoiding method is followed according to the target based on robot of the embodiment of the present invention 1
Figure.
Fig. 9 is the hardware structural diagram according to the electronic equipment of the embodiment of the present invention 2.
Figure 10 is to follow obstacle avoidance system module diagram according to the target of the embodiment of the present invention 4.
Figure 11 is to follow the module of transfer position determination module 13 in obstacle avoidance system to show according to the target of the embodiment of the present invention 4
It is intended to.
Figure 12 is that transfer position determination module 13 in obstacle avoidance system is followed to determine transfer according to the target of the embodiment of the present invention 4
The schematic diagram of position.
Figure 13 is that transfer position determination module 13 in obstacle avoidance system is followed to determine transfer according to the target of the embodiment of the present invention 4
Another schematic diagram of position.
Figure 14 is the module diagram that mobile module 14 in obstacle avoidance system is followed according to the target of the embodiment of the present invention 4.
Figure 15 is the module diagram according to the robot for following barrier avoiding function with target of the embodiment of the present invention 5.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
The present embodiment provides a kind of targets based on robot to follow barrier-avoiding method, and Fig. 1 shows the process of the present embodiment
Figure.Referring to Fig. 1, the target of the present embodiment follows the barrier-avoiding method to include:
S1, control robot obtain the target position for following target；
In this step, robot can obtain the target position for following target via UWB communication mode.Specifically,
Before this step, at least three base stations UWB can be set in robot, the setting UWB label on following target, and
Communication connection is established between the base station UWB and UWB label, in this way, robot can follow mesh via the transmitting-receiving of UWB signal to resolve
Mark the target position relative to robot.Wherein, UWB label can be the bracelet based on UWB etc. for following target to wear and can wear
Wear equipment.
It is in the preset level width range of S2, the current location for determining robot and the first line two sides of target position
It is no that there are barriers；
If so, going to step S3；If it is not, then going to step S5；
In this step, the current of robot can be detected by sensors such as radar, infrared sensor, binocular cameras
Whether there are obstacles in the preset level width range of first line two sides of position and target position.It should be appreciated that machine
The direction that direction namely the robot front of people is faced, not necessarily on the first line, it is contemplated that the rotation of robot, then
Preset level width is not less than the radius of turn of robot, to ensure that robot can be mobile unimpededly to target position.
S3, transfer position is determined；
S4, control robot are mobile to transfer position, and continue to execute step S1；
In step S3 and S4, control robot is firstly moved to transfer position and reacquires the target position for following target again
Set, that is, robot is by being moved to transfer position come avoiding obstacles, in other words, in step s3 determined by transfer
Also other barriers are not present in the preset level width range of second line two sides of position and the current location of robot, with
It allows the robot to unobstructed ground diameter and is directly moved to transfer position.
Referring to fig. 2, step S3 is specifically included:
S31, two boundary points of the barrier on horizontal width direction are determined；
S32, determine that the shortest boundary point of distance to the first line is intermediate transit point；
S33, transfer position is determined according to intermediate transit point.
Wherein, in order to ensure robot is moved to during transfer position not collision obstacle, then intermediate transit point to second
The distance of line is not less than the radius of turn of robot.
Referring to Fig. 3, barrier O3 is across in robot O1 and following the first two sides line L1 between target O2 horizontal wide
Degree be robot O1 radius R range, barrier O3 have on the horizontal width direction there are two boundary point B1 and B2, wherein
The distance of boundary point B1 to the first line L1 is D1, and the distance of boundary point B2 to the first line L1 is D2.Referring to Fig. 3, distance D1
Less than distance D2, so that boundary point B1 is determined as intermediate transit point.In turn, transfer position is determined according to intermediate transit point (boundary point) B1
T1, referring to Fig. 3, intermediate transit point B1 to the current location robot O1 is machine at a distance from the second line L2 between the T1 of transfer position
The radius R of people O1.
Referring to fig. 4, the part barrier O4 is located at robot O1 and follows the first side line L1 between target O2 horizontal
In the range of width is robot O1 radius R, barrier O4 has on the horizontal width direction there are two boundary point B3 and B4,
In, the distance of boundary point B3 to the first line L1 is D3, and the distance of boundary point B4 to the first line L1 is D4.Referring to fig. 4, distance
D3 is less than distance D4, so that boundary point B3 is determined as intermediate transit point.In turn, transfer position is determined according to intermediate transit point (boundary point) B3
T2, referring to fig. 4, intermediate transit point B3 to the current location robot O1 are machine at a distance from the second line L2 between the T2 of transfer position
The radius R of people O1.
Referring to Fig. 5, step S4 is specifically included:
S41, the second length for determining the second line, and determine the direction and the second angle of the second line of robot；
S42, the second linear velocity is determined according to the second length, and the second angular speed is determined according to the second angle；
Specifically, in this step, the second linear velocity is the function of the second length.For example, the second linear velocity is long with second
Degree is positively correlated, and when the second length is 0, the second linear velocity value is 0, and in other words, the second linear velocity is with second
The shortening of length and reduce, until the second length when foreshortening to 0, is decreased to 0, that is, until robot is moved to transfer position
When, it is decreased to 0.
Second angular speed is the function of second angle.For example, the second angular speed is positively correlated with the second angle, and when the
When two angles are 0, the second angular speed value is 0, that is, the second angular speed reduces with the reduction of second angle, until machine
Device people is decreased to 0 towards when to follow target namely second angle be 0.
S43, control robot are mobile to transfer position according to the second linear velocity and the second angular speed.
Referring to Fig. 6, step S43 is specifically included:
S431, judge whether the second angle is less than threshold angle；
If so, going to step S432；If it is not, then going to step S433；
S432, control robot are mobile to transfer position according to the second linear velocity and the second angular speed simultaneously；
S433, control robot are first gone to according to the second angular speed towards transfer position, further according to the second linear velocity in
Movement is set in indexing.
In above-mentioned steps, customized setting threshold angle can be carried out according to concrete application, for example, threshold angle can
With value for 45 °, then when second angle is less than 45 °, robot is also turned during moving linearly to transfer position
To；When second angle is not less than 45 °, robot then first completes to turn to, then moves linearly to transfer position, to ensure robot
Stationarity in moving process.
S5, control robot are mobile to target position.
Referring to Fig. 7, step S5 is specifically included:
S51, the first length for determining the first line, and determine the direction and the first angle of the first line of robot；
S52, the first linear velocity is determined according to the first length, and the first angular speed is determined according to the first angle；
Specifically, in this step, the first linear velocity is the function of the first length.For example, the first linear velocity is long with first
Degree is positively correlated, and when the first length is not more than threshold distance, the first linear velocity value is 0, in other words, the first linear speed
Degree reduces with the shortening of the first length, when the first length foreshortens to the minimum range that preset robot distance follows target
When, the first linear velocity is 0.
First angular speed is the function of first angle.For example, the first angular speed is positively correlated with the first angle, and when the
When one angle is 0, the first angular speed value is 0, that is, the first angular speed reduces with the reduction of first angle, until machine
Device people is decreased to 0 towards when to follow target namely first angle be 0.
S53, control robot are mobile to target position according to the first linear velocity and the first angular speed.
Referring to Fig. 8, step S53 is specifically included:
S531, judge whether the first angle is less than threshold angle；
If so, going to step S532；If it is not, then going to step S533；
S532, control robot are mobile to target position according to the first linear velocity and the first angular speed simultaneously；
S533, control robot are first gone to according to the first angular speed towards target position, further according to the first linear velocity to mesh
Cursor position is mobile.
In above-mentioned steps, customized setting threshold angle can be carried out according to concrete application, for example, threshold angle can
With value for 45 °, then when first angle is less than 45 °, robot is also turned during moving linearly to transfer position
To；When first angle is not less than 45 °, robot then first completes to turn to, then moves linearly to transfer position, to ensure robot
Stationarity in moving process.
It should be appreciated that in the present embodiment, the first linear velocity, the first angular speed, the second linear velocity and the second angular speed
Value is also related with the performance of robot itself, such as, with itself property such as linear velocity, angular speed and the acceleration of robot
It can be related.
It should be appreciated that in the present embodiment, control robot robot and is followed between target to when following target mobile
Distance should be greater than a threshold distance, to avoid robot, distance follows target too close during following, or knock with
With target, and influence to follow the activity of target.
In the present embodiment, after robot acquisition follows the target position of target, judge and follow the straight line of target
Whether there are obstacles apart from upper, and there is no in barrier in the determining linear distance with robot when there are barrier
Indexing is set, and then is controlled robot and be moved to transfer position and carry out avoiding obstacles, in this way, until the current location of robot with
When with barrier being not present in the linear distance of target, control robot is mobile to target position, realizes robot to following mesh
Target follows.
Embodiment 2
The present embodiment provides a kind of electronic equipment, electronic equipment can be showed by way of calculating equipment (such as can be with
For server apparatus), including memory, processor and store the computer journey that can be run on a memory and on a processor
Sequence, the target based on robot that the offer of embodiment 1 may be implemented when wherein processor executes computer program follow avoidance side
Method.
Fig. 9 shows the hardware structural diagram of the present embodiment, as shown in figure 9, electronic equipment 9 specifically includes:
At least one processor 91, at least one processor 92 and for connecting different system components (including processor
91 and memory 92) bus 93, in which:
Bus 93 includes data/address bus, address bus and control bus.
Memory 92 includes volatile memory, such as random access memory (RAM) 921 and/or cache storage
Device 922 can further include read-only memory (ROM) 923.
Memory 92 further includes program/utility 925 with one group of (at least one) program module 924, such
Program module 924 includes but is not limited to: operating system, one or more application program, other program modules and program number
According to the realization that may include network environment in, each of these examples or certain combination.
Processor 91 by the computer program that is stored in memory 92 of operation, thereby executing various function application and
Data processing, such as the target based on robot provided by the embodiment of the present invention 1 follow barrier-avoiding method.
Electronic equipment 9 may further be communicated with one or more external equipments 94 (such as keyboard, sensing equipment etc.).This
Kind communication can be carried out by input/output (I/O) interface 95.Also, electronic equipment 9 can also by network adapter 96 with
One or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.Net
Network adapter 96 is communicated by bus 93 with other modules of electronic equipment 9.It should be understood that although not shown in the drawings, can tie
It closes electronic equipment 9 and uses other hardware and/or software module, including but not limited to: microcode, device driver, redundancy processing
Device, external disk drive array, RAID (disk array) system, tape drive and data backup storage system etc..
It should be noted that although being referred to several units/modules or subelement/mould of electronic equipment in the above detailed description
Block, but it is this division be only exemplary it is not enforceable.In fact, being retouched above according to presently filed embodiment
The feature and function for two or more units/modules stated can embody in a units/modules.Conversely, above description
A units/modules feature and function can with further division be embodied by multiple units/modules.
Embodiment 3
A kind of computer readable storage medium is present embodiments provided, computer program, described program quilt are stored thereon with
The target based on robot for realizing that embodiment 1 provides when processor executes follows barrier-avoiding method.
Wherein, what readable storage medium storing program for executing can use more specifically can include but is not limited to: portable disc, hard disk, random
Access memory, read-only memory, erasable programmable read only memory, light storage device, magnetic memory device or above-mentioned times
The suitable combination of meaning.
In possible embodiment, the present invention is also implemented as a kind of form of program product comprising program generation
Code, when described program product is run on the terminal device, said program code is realized in fact for executing the terminal device
The target based on robot applied in example 1 follows barrier-avoiding method.
Wherein it is possible to be write with any combination of one or more programming languages for executing program of the invention
Code, said program code can be executed fully on a user device, partly execute on a user device, is only as one
Vertical software package executes, part executes on a remote device or executes on a remote device completely on a user device for part.
Embodiment 4
The present embodiment provides a kind of targets to follow obstacle avoidance system, and the target that Figure 10 shows the present embodiment follows obstacle avoidance system
Module diagram.Referring to Figure 10, it includes: that target position obtains module 11, obstacle that the target of the present embodiment, which follows obstacle avoidance system,
Object judgment module 12, transfer position determination module 13, mobile module 14.
Target position obtains module 11 and is set in robot and for obtaining the target position for following target, in the present embodiment
In, target position obtains module 11 can obtain the target position for following target via UWB communication mode.Specifically, at this
In embodiment, it further includes at least three base stations UWB being set in robot that target, which follows obstacle avoidance system, set on following in target
UWB label, wherein the base station UWB is connect with UWB label communication, in this way, target position acquisition module 11 can be via UWB signal
Transmitting-receiving to resolve the target position for following target relative to robot.Wherein, UWB label can be the base for following target to wear
In wearable devices such as the bracelets of UWB.
Barrier judgment module 12 be used for judge robot current location and target position the first line two sides it is pre-
If whether there are obstacles within the scope of horizontal width, and call transfer position determination module 13 when there are barrier, it is not present
Mobile module 14 is called when barrier.Specifically, in the present embodiment, barrier judgment module 12 can be by radar, infrared
The sensors such as sensor, binocular camera detect the default water of the current location of robot and the first line two sides of target position
Whether there are obstacles in flat width range.It should be appreciated that the direction that direction namely the robot front of robot are faced,
Not necessarily on the first line, it is contemplated that the rotation of robot, then preset level width is not less than the radius of turn of robot, with
Ensure that robot can be unimpededly mobile to target position.
Transfer position determination module 13 is for determining transfer position.After robot is moved to transfer position, then reacquire
The target position of target is followed, that is, robot is by being moved to transfer position come avoiding obstacles, in other words, middle indexing
Set the preset level width model of the second line two sides of transfer position and the current location of robot determined by determining module 13
Also there is no other barriers in enclosing so that robot can unobstructed ground diameter be directly moved to transfer position.
Referring to Figure 11, transfer position determination module 13 is specifically included: boundary point determination unit 131, intermediate transit point determination unit
132, transfer position determination unit 133.Wherein, boundary point determination unit 131 is for determining barrier in horizontal width direction
Two boundary points, intermediate transit point determination unit 132 for determine to the first line the shortest boundary point of distance be intermediate transit point, in
Turn position determination unit 133 for determining transfer position according to intermediate transit point, also, in order to ensure robot is moved to transfer position
During not collision obstacle, then the distance of intermediate transit point to the second line is not less than the radius of turn of robot.
Referring to Figure 12, barrier O3 is across in robot O1 and following the first two sides line L1 between target O2 horizontal wide
Degree is the range of robot O1 radius R, and boundary point determination unit 131 determines two of barrier O3 on the horizontal width direction
Boundary point B1 and B2, wherein the distance of boundary point B1 to the first line L1 is D1, and the distance of boundary point B2 to the first line L1 are
D2.Referring to Figure 12, distance D1 is less than distance D2, so that boundary point B1 is determined as intermediate transit point by intermediate transit point determination unit 132.Into
And transfer position determination unit 133 determines transfer position T1 according to intermediate transit point (boundary point) B1, referring to Figure 12, intermediate transit point B1 is arrived
The current location robot O1 is the radius R of robot O1 at a distance from the second line L2 between the T1 of transfer position.
Referring to Figure 13, the part barrier O4 is located at robot O1 and follows the first side line L1 between target O2 horizontal
In the range of width is robot O1 radius R, boundary point determination unit 131 determines barrier O4 on the horizontal width direction
Two boundary points B3 and B4, wherein the distance of boundary point B3 to the first line L1 be D3, boundary point B4 to the first line L1 away from
From for D4.Referring to Figure 13, distance D3 is less than distance D4, so that boundary point B3 is determined as intermediate transit point by intermediate transit point determination unit 132.
In turn, transfer position determination unit 133 determines transfer position T2 according to intermediate transit point (boundary point) B3, referring to Figure 13, intermediate transit point B3
It is the radius R of robot O1 at a distance from the second line L2 between the T2 of transfer position to the current location robot O1.
Mobile module 14 is mobile to transfer position for controlling robot, and continues invocation target position acquisition module 11.
Referring to Figure 14, mobile module 14 is specifically included: length determination unit 141, angle determination unit 142, linear velocity determination unit
143, angular speed determination unit 144, mobile unit 145.
Wherein, length determination unit 141 is used to determine the second length of the second line, and angle determination unit 142 is for true
Determine the direction and the second angle of the second line of robot, linear velocity determination unit 143 is used to determine second according to the second length
Linear velocity, angular speed determination unit 144 be used to determine the second angular speed according to the second angle, and mobile unit 145 is used for according to the
It is mobile to transfer position that two linear velocities and the second angular speed control robot.
Specifically, in the present embodiment, the second linear velocity is the function of the second length.For example, the second linear velocity and second
Length is positively correlated, and when the second length is 0, the second linear velocity value is 0, and in other words, the second linear velocity is with the
The shortening of two length and reduce, until the second length when foreshortening to 0, is decreased to 0, that is, until robot is moved to middle indexing
When setting, it is decreased to 0.
Second angular speed is the function of second angle.For example, the second angular speed is positively correlated with the second angle, and when the
When two angles are 0, the second angular speed value is 0, that is, the second angular speed reduces with the reduction of second angle, until machine
Device people is decreased to 0 towards when to follow target namely second angle be 0.
Referring to Figure 14, mobile module 14 further includes angle judging unit 146, and angle judging unit 146 is for judging second
Whether angle is less than threshold angle, and calls when being less than threshold angle mobile unit 145 simultaneously according to the second linear velocity and the
Two angular speed control robot to the movement of transfer position, and when being not less than threshold angle, mobile unit 145 is first according to second jiao of speed
Degree control robot is gone to towards transfer position, mobile to transfer position further according to the second wire velocity control robot.
In the present embodiment, customized setting threshold angle can be carried out according to concrete application, for example, threshold angle can
With value for 45 °, then when second angle is less than 45 °, robot is also turned during moving linearly to transfer position
To；When second angle is not less than 45 °, robot then first completes to turn to, then moves linearly to transfer position, to ensure robot
Stationarity in moving process.
Mobile module 14 is also used to control robot to target position movement, then length determination unit 141 is also used to determine
First length of the first line, angle determination unit 142 are also used to determine the direction and the first angle of the first line of robot,
Linear velocity determination unit 143 is also used to determine that the first linear velocity, angular speed determination unit 144 are also used to basis according to the first length
First angle determines the first angular speed, and mobile unit 145 is also used to according to the first linear velocity and the first angular speed control robot
It is mobile to target position.
Specifically, in the present embodiment, the first linear velocity is the function of the first length.For example, the first linear velocity and first
Length is positively correlated, and when the first length is not more than threshold distance, the first linear velocity value is 0, in other words, First Line
Speed reduces with the shortening of the first length, when the first length foreshortens to the most narrow spacing that preset robot distance follows target
From when, the first linear velocity be 0.
First angular speed is the function of first angle.For example, the first angular speed is positively correlated with the first angle, and when the
When one angle is 0, the first angular speed value is 0, that is, the first angular speed reduces with the reduction of first angle, until machine
Device people is decreased to 0 towards when to follow target namely first angle be 0.
Angle judging unit 146 is also used to judge whether the first angle is less than threshold angle, and when being less than threshold angle
Mobile unit 145 is called to control robot to target position movement, not small according to the first linear velocity and the first angular speed simultaneously
Mobile unit 145 first controls robot according to the first angular speed and goes to towards target position when threshold angle, further according to first
Wire velocity control robot is mobile to target position.
In the present embodiment, customized setting threshold angle can be carried out according to concrete application, for example, threshold angle can
With value for 45 °, then when first angle is less than 45 °, robot is also turned during moving linearly to target position
To；When first angle is not less than 45 °, robot then first completes to turn to, then moves linearly to target position, to ensure robot
Stationarity in moving process.
It should be appreciated that in the present embodiment, the first linear velocity, the first angular speed, the second linear velocity and the second angular speed
Value is also related with the performance of robot itself, such as, with itself property such as linear velocity, angular speed and the acceleration of robot
It can be related.
It should be appreciated that in the present embodiment, control robot robot and is followed between target to when following target mobile
Distance should be greater than a threshold distance, to avoid robot, distance follows target too close during following, or knock with
With target, and influence to follow the activity of target.
In the present embodiment, after robot acquisition follows the target position of target, judge and follow the straight line of target
Whether there are obstacles apart from upper, and there is no in barrier in the determining linear distance with robot when there are barrier
Indexing is set, and then is controlled robot and be moved to transfer position and carry out avoiding obstacles, in this way, until the current location of robot with
When with barrier being not present in the linear distance of target, control robot is mobile to target position, realizes robot to following mesh
Target follows.
Embodiment 5
The present embodiment provides a kind of robot for following barrier avoiding function with target, Figure 15 shows the module of the present embodiment
Schematic diagram.Referring to Figure 15, the robot of the present embodiment includes that the target in embodiment 4 follows obstacle avoidance system.
In the present embodiment, robot be equipped at least three base stations UWB, and the base station UWB be set to follow target
On UWB label communication connection.Wherein, UWB label can be that the bracelet based on UWB etc. for following target to wear is wearable to be set
It is standby.
In the present embodiment, the mode of the base station UWB is set in robot, without building in advance in the scene for following avoidance
Vertical global map, so that the robot of the present embodiment can be realized whenever and wherever possible to following target to follow, that is, without with
Be maintained in the visual angle of robot with object time, follow target that can arbitrarily walk about in UWB communication range, robot with
With while can also carry out avoidance, ensure that the safety that robot follows.Further, since UWB label has uniquely
Property, to also ensure the accuracy that the present embodiment robot follows, avoid with mistake, with losing.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (25)
1. a kind of target based on robot follows barrier-avoiding method, which is characterized in that the target follows the barrier-avoiding method to include:
Control robot obtains the target position for following target；
In the preset level width range for determining the current location of the robot and the first line two sides of the target position
Whether there are obstacles, wherein the preset level width is not less than the radius of turn of the robot；
If so, determining transfer position, wherein the second line two sides of the current location of the robot and the transfer position
The preset level width range in be not present barrier；
The robot is controlled to transfer position movement, and continues to execute the control robot and obtains the mesh for following target
The step of cursor position；
If it is not, it is mobile to the target position then to control the robot.
2. the target based on robot follows barrier-avoiding method as described in claim 1, which is characterized in that indexable in the determination
The step of setting include:
Determine two boundary points of the barrier on horizontal width direction；
Determine that the shortest boundary point of distance to first line is intermediate transit point；
Transfer position is determined according to the intermediate transit point.
3. the target based on robot follows barrier-avoiding method as claimed in claim 2, which is characterized in that described according to
Intermediate transit point determines in the step of transfer position that the distance of the intermediate transit point to second line is not less than the radius of turn.
4. the target based on robot follows barrier-avoiding method as described in claim 1, which is characterized in that the control robot
Obtaining the step of following the target position of target includes:
Control robot obtains the target position for following target via UWB communication mode.
5. the target based on robot follows barrier-avoiding method as claimed in claim 4, which is characterized in that in the control machine
Before the step of people follows the target position of target via the acquisition of UWB communication mode, the target follows barrier-avoiding method further include:
At least three base stations UWB are set in the robot, follow setting UWB label in target described, and described
Communication connection is established between the base station UWB and the UWB label.
6. the target based on robot follows barrier-avoiding method as described in claim 1, which is characterized in that the control machine
Device people includes: to the mobile step in the transfer position
It determines the second length of second line, and determines the direction of the robot and the second folder of second line
Angle；
The second linear velocity is determined according to second length, and the second angular speed is determined according to second angle；
It is mobile to the transfer position according to second linear velocity and second angular speed to control the robot.
7. the target based on robot follows barrier-avoiding method as claimed in claim 6, which is characterized in that the control machine
Device people includes: to the mobile step in the transfer position according to second linear velocity and second angular speed
Judge whether second angle is less than threshold angle；
If so, controlling the robot simultaneously according to second linear velocity and second angular speed to the transfer position
It is mobile；
It is first gone to according to second angular speed towards the transfer position, further according to described if it is not, then controlling the robot
Second linear velocity is mobile to the transfer position.
8. the target based on robot follows barrier-avoiding method as claimed in claim 6, which is characterized in that described according to
In the step of second length determines the second linear velocity, second linear velocity is positively correlated with second length, and works as institute
State the second length be 0 when, the second linear velocity value be 0；
And/or in described the step of determining the second angular speed according to second angle, second angular speed and described the
Two angles are positively correlated, and when second angle is 0, and the second angular speed value is 0.
9. the target based on robot follows barrier-avoiding method as described in claim 1, which is characterized in that the control machine
Device people includes: to the mobile step in the target position
It determines the first length of first line, and determines the direction of the robot and the first folder of first line
Angle；
The first linear velocity is determined according to first length, and the first angular speed is determined according to first angle；
It is mobile to the target position according to first linear velocity and first angular speed to control the robot.
10. the target based on robot follows barrier-avoiding method as claimed in claim 9, which is characterized in that described in the control
Robot includes: to the mobile step in the target position according to first linear velocity and first angular speed
Judge whether first angle is less than threshold angle；
If so, controlling the robot simultaneously according to first linear velocity and first angular speed to the target position
It is mobile；
It is first gone to according to first angular speed towards the target position, further according to described if it is not, then controlling the robot
First linear velocity is mobile to the target position.
11. the target based on robot follows barrier-avoiding method as claimed in claim 10, which is characterized in that described according to institute
It states in the step of the first length determines the first linear velocity, first linear velocity is positively correlated with first length, and works as
When first length is not more than threshold distance, the first linear velocity value is 0；
And/or in described the step of determining the first angular speed according to first angle, first angular speed and described the
One angle is positively correlated, and when first angle is 0, and the first angular speed value is 0.
12. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized when executing the computer program such as any one of claim 1-11 institute
The target based on robot stated follows barrier-avoiding method.
13. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
It realizes when being executed by processor as the target of any of claims 1-11 based on robot follows barrier-avoiding method
Step.
14. a kind of target follows obstacle avoidance system, which is characterized in that the target follows the obstacle avoidance system to include:
Target position obtains module, in robot and for obtaining the target position for following target；
Barrier judgment module, for judging the current location of the robot and the first line two sides of the target position
Whether there are obstacles in preset level width range, wherein the preset level width is not less than the rotation of the robot
Radius；
If so, calling transfer position determination module；If it is not, then calling mobile module；
The transfer position determination module, for determining transfer position, wherein the current location of the robot and the transfer
Barrier is not present in the preset level width range of second line two sides of position；
The mobile module, it is mobile to the transfer position for controlling the robot, and continue to call the target position
Module is obtained, it is mobile to the target position to be also used to control the robot.
15. target as claimed in claim 14 follows obstacle avoidance system, which is characterized in that the transfer position determination module packet
It includes:
Boundary point determination unit, for determining two boundary points of the barrier on horizontal width direction；
Intermediate transit point determination unit, the shortest boundary point of distance for determining to first line are intermediate transit point；
Transfer position determination unit, for determining transfer position according to the intermediate transit point.
16. target as claimed in claim 15 follows obstacle avoidance system, which is characterized in that the intermediate transit point determination unit determined
The distance of the intermediate transit point to second line is not less than the radius of turn.
17. target as claimed in claim 14 follows obstacle avoidance system, which is characterized in that the target position obtain module via
UWB communication mode obtains the target position for following target.
18. target as claimed in claim 17 follows obstacle avoidance system, which is characterized in that the target follows obstacle avoidance system also to wrap
At least three base stations UWB being set in the robot are included, set on the UWB label followed in target, wherein the UWB
Base station is connect with the UWB label communication.
19. target as claimed in claim 14 follows obstacle avoidance system, which is characterized in that the mobile module includes:
Length determination unit, for determining the second length of second line；
Angle determination unit, for determining the direction and the second angle of second line of the robot；
Linear velocity determination unit, for determining the second linear velocity according to second length；
Angular speed determination unit, for determining the second angular speed according to second angle；
Mobile unit, for controlling the robot to the middle indexing according to second linear velocity and second angular speed
Set movement.
20. target as claimed in claim 19 follows obstacle avoidance system, which is characterized in that the mobile module further include:
Angle judging unit, for judging whether second angle is less than threshold angle；
If so, the mobile unit is called to control the machine according to second linear velocity and second angular speed simultaneously
People is mobile to the transfer position；
It goes to if it is not, the mobile unit is then called first to control the robot according to second angular speed towards the transfer
Position, it is mobile to the transfer position further according to robot described in second wire velocity control.
21. target as claimed in claim 20 follows obstacle avoidance system, which is characterized in that the linear velocity determination unit determined
Second linear velocity is positively correlated with second length, and when second length is 0, second linear velocity is taken
Value is 0；
And/or second angular speed that the angular speed determination unit determines is positively correlated with second angle, and works as
When second angle is 0, the second angular speed value is 0.
22. target as claimed in claim 14 follows obstacle avoidance system, which is characterized in that the mobile module includes:
Length determination unit, for determining the first length of first line；
Angle determination unit, for determining the direction and the first angle of first line of the robot；
Linear velocity determination unit, for determining the first linear velocity according to first length；
Angular speed determination unit, for determining the first angular speed according to first angle；
Mobile unit, for controlling the robot to the target position according to first linear velocity and first angular speed
Set movement.
23. target as claimed in claim 22 follows obstacle avoidance system, which is characterized in that the mobile module further include:
Angle judging unit, for judging whether first angle is less than threshold angle；
If so, the mobile unit is called to control the machine according to first linear velocity and first angular speed simultaneously
People is mobile to the target position；
It goes to if it is not, the mobile unit is then called first to control the robot according to first angular speed towards the target
Position, it is mobile to the target position further according to robot described in first wire velocity control.
24. target as claimed in claim 23 follows obstacle avoidance system, which is characterized in that the linear velocity determination unit determined
First linear velocity is positively correlated with first length, and when first length is not more than threshold distance, described
First linear velocity value is 0；
And/or first angular speed that the angular speed determination unit determines is positively correlated with first angle, and works as
When first angle is 0, the first angular speed value is 0.
25. a kind of robot for following barrier avoiding function with target, which is characterized in that the robot includes such as claim
Target described in any one of 14-24 follows obstacle avoidance system.
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| CN201810973536.XA CN109062215A (en) | 2018-08-24 | 2018-08-24 | Robot and barrier-avoiding method, system, equipment and medium are followed based on its target |
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| CN112757294A (en) * | 2020-12-28 | 2021-05-07 | 华南理工大学 | Robot path transit point searching method based on reachability ball |
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