CN109298714A - Robot movement control method, system, equipment and computer readable storage medium - Google Patents
Robot movement control method, system, equipment and computer readable storage medium Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a kind of robot movement control methods, comprising: obtains first coordinate of the user terminal in preset coordinate system；Corresponding anticollision region is determined according to the first coordinate；When the running route and anticollision region of judging target robot have intersection point, the running route of target robot is adjusted, so that running route adjusted and anticollision region are without intersection point.Using method provided by the present invention, staff is actively avoided by controlling target robot, significantly reduces the probability of happening that robot bumps against staff's event.The invention also discloses a kind of robot mobile control system, equipment and computer readable storage mediums, have relevant art effect.
Description
Technical field
The present invention relates to merchandising machine people's control technology fields, more particularly to a kind of robot movement control method, are
System, equipment and computer readable storage medium.
Background technique
In automatic stored logistics now, there are a large amount of robots running, while there are also relevant staff in storehouse
It works in library.In general, robot is the route automatic running of its planning according to server, and there is relatively-stationary work
Region is distinguished with the working region of staff.But in the occasion of part, staff needs to enter the work of robot
Complete related work in region.Although staff has subjective initiative, when robot nearby advances, staff can be actively
Evacuation, but the case where robot bumps against staff, still happens occasionally, and may also jeopardize the personal safety of staff.
In conclusion how to control the movement of robot, the generation that robot bumps against staff's event is reduced
Probability is current those skilled in the art technical problem urgently to be solved.
Summary of the invention
The object of the present invention is to provide a kind of robot movement control method, system, equipment and computer-readable storage mediums
Matter is controlled with the movement to robot, reduces the probability of happening that robot bumps against staff's event.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of robot movement control method, comprising:
Obtain first coordinate of the user terminal in preset coordinate system；
Corresponding anticollision region is determined according to first coordinate；
When the running route and the anticollision region of judging target robot have intersection point, the target robot is adjusted
Running route so that running route adjusted and the anticollision region are without intersection point.
Preferably, first coordinate for obtaining user terminal in preset coordinate system, comprising:
Receive N number of range data that user terminal is sent；
According to the coordinate in each comfortable preset coordinate system in N number of base station of N number of range data and storage, described in acquisition
First coordinate of the user terminal in the coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends letter to N number of base station
Number, and the N number of range data determined based on N number of respective feedback in base station.
Preferably, first coordinate for obtaining user terminal in preset coordinate system, comprising:
Obtain the target data sent by user terminal；
Wherein, first coordinate of the user terminal in preset coordinate system is carried in the target data.
Preferably, first coordinate for obtaining user terminal in preset coordinate system, comprising:
First coordinate of the user terminal in preset coordinate system is obtained in real time.
It is preferably, described that corresponding anticollision region is determined according to first coordinate, comprising:
Will be using first coordinate as the center of circle, preset threshold is determined as first coordinate pair for the border circular areas of radius and answers
Anticollision region.
A kind of robot mobile control system, comprising:
First coordinate obtains module, for obtaining first coordinate of the user terminal in preset coordinate system；
Anticollision area determination module, for determining corresponding anticollision region according to first coordinate；
Route control module, for when judge target robot running route and the anticollision region have intersection point when,
The running route of the target robot is adjusted, so that running route adjusted and the anticollision region are without intersection point.
Preferably, first coordinate obtains module, comprising:
Range data receiving submodule, for receiving N number of range data of user terminal transmission；
First coordinate obtains submodule, each comfortable default for N number of base station according to N number of range data and storage
Coordinate in coordinate system obtains first coordinate of the user terminal in the coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends letter to N number of base station
Number, and the N number of range data determined based on N number of respective feedback in base station.
Preferably, first coordinate obtains module, is specifically used for:
Obtain the target data sent by user terminal；
Wherein, first coordinate of the user terminal in preset coordinate system is carried in the target data.
A kind of robot mobile control device, comprising:
User terminal；
With the server of user terminal communication connection, the server includes:
Memory, for storing robot mobile control program；
Processor realizes that robot described in any of the above embodiments is mobile for executing the robot mobile control program
The step of control method.
A kind of computer readable storage medium is stored with computer program on the computer readable storage medium, described
The step of robot movement control method described in any of the above embodiments is realized when computer program is executed by processor.
Using technical solution provided by the embodiment of the present invention, comprising: obtain the of user terminal in preset coordinate system
One coordinate；Corresponding anticollision region is determined according to the first coordinate；When the running route and anticollision region for judging target robot
When having intersection point, the running route of target robot is adjusted, so that running route adjusted and anticollision region are without intersection point.
In the scheme of the application, control target machine actively avoids staff.Specifically, obtaining user terminal preset
The first coordinate in coordinate system, and anticollision region is determined according to first coordinate, therefore, if it is judged that target robot
When there is intersection point in running route and the anticollision region, illustrate that the travelling route of target robot can be related to the anticollision region, also
The danger of staff may be bumped against.Therefore, the running route of target robot is adjusted, so that running route adjusted
With anticollision region without intersection point, also avoids target robot and bump against the staff that carry user terminal.And due to being to mention
It is preceding that running route is planned, target robot can be effectively prevented from and enter the hysteresis quality adjusted again behind anticollision region.Cause
This, in the scheme of the application, actively avoids staff by controlling target robot, significantly reduces robot and bump against work
Make the probability of happening of personnel's event.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of implementation flow chart of robot movement control method in the present invention；
Fig. 2 is a kind of structural schematic diagram of robot mobile control system in the present invention；
Fig. 3 is a kind of structural schematic diagram of robot mobile control device in the present invention.
Specific embodiment
Core of the invention is to provide a kind of robot movement control method, actively avoids work by controlling target robot
Make personnel, significantly reduces the probability of happening that robot bumps against staff's event.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a kind of implementation flow chart of robot movement control method in the present invention, this method includes
Following steps:
Step S101: first coordinate of the user terminal in preset coordinate system is obtained.
User terminal can be a multi-functional terminal end, i.e., other function can also be integrated with other than positioning function, when
So, it is also possible to terminal only with relevant positioning function, has no effect on implementation of the invention.User terminal is carried by user,
Such as user terminal is a label, is worn on sorter.Therefore, server obtains the of user terminal in preset coordinate system
One coordinate also means that server has known the user for carrying the user terminal the location of in preset coordinate system.
What preset coordinate system usually chose is two-dimensional Cartesian system, and the origin of the coordinate system, X-axis and Y-axis are just
Direction can be preset according to actual needs.Certainly, the coordinate system of other forms can also be selected when specific implementation, as long as
It can be realized the positioning to user terminal, have no effect on implementation of the invention.
Server can obtain first coordinate of the user terminal in preset coordinate system, the first coordinate can by server into
Row determines, i.e., after user terminal sends related data to server, the determination of the first coordinate is carried out via server, can also be with
That user terminal directly determines out the first coordinate, then the first coordinate determined is sent to server, make server obtain this
One coordinate.
Step S102: corresponding anticollision region is determined according to the first coordinate.
The specific form and dimension in anticollision region can be set and be adjusted according to the actual situation, such as according to specific field
The quantity of robot in scape, model, the factors such as the arrangement in warehouse carry out the adjustment in anticollision region.Such as in the occasion of part,
The space of logistics warehouse is smaller, if anticollision region is configured larger, may be such that the running route critical constraints of robot,
A lesser anticollision region then can be set, correspondingly, when robot running space abundance or the artificial volume of machine is larger
Model robot when, in order to avoid injuring caused by staff, biggish anticollision region can be set.
In a kind of specific embodiment of the invention, it is contemplated that target robot may bump against work people from all directions
Member, therefore can be set a circular anticollision region, i.e. step S102 can be with specifically: will be using the first coordinate as the center of circle, in advance
If threshold value is that the border circular areas of radius is determined as the corresponding anticollision region of the first coordinate.Preset threshold can also be according to actual needs
It is set and is adjusted, have no effect on implementation of the invention, such as can be set to 2 meters.Anticollision area in this kind of embodiment
Domain can easily be determined, that is, be conducive to server and rapidly calculated anticollision region, while being also avoided that target robot
From all directions close to user terminal, also it is advantageous for carrying out Anti-bumping protection to the staff for carrying user terminal.
Step S103: when the running route and anticollision region of judging target robot have intersection point, target machine is adjusted
The running route of people, so that running route adjusted and anticollision region are without intersection point.
Server can obtain coordinate of the target robot in preset coordinate system in real time, and according to target robot
Its running route is arranged for target robot in task.Target robot can be any robot controlled by server.Service
Device can receive the coherent signal sent by target robot, and the coordinate of target robot, i.e. target can be carried in signal
The coordinate of robot can be determined by target robot itself and be sent to server.It is of course also possible to be that server connects
After the related data for receiving target robot, the coordinate for carrying out target robot is calculated, and has no effect on implementation of the invention.To mesh
The coordinate setting of scalar robot usually requires to be positioned to more accurately, to realize that carrying out accurate movement to target robot controls
System, therefore can be based on earth-magnetism navigation, two-dimension code navigation or the mode of laser navigation, determine the coordinate of target robot.
When server judges the running route of target robot and there is intersection point in anticollision region, just to target robot
Running route is adjusted, so that running route adjusted and anticollision region be without intersection point, after also avoiding target robot
It continues and proceeds to anticollision region, realize the Anti-bumping protection to staff.
And be emphasized that the application scheme be the running route of target robot is judged, rather than
Mobile control, i.e. the scheme tool of the application are carried out to target robot again after judging that target robot enters anticollision region
There is perspective rather than hysteresis quality, target robot in advance evades anticollision region, is conducive to safeguard work
The safety of personnel.
Using method provided by the embodiment of the present invention, comprising: obtain first seat of the user terminal in preset coordinate system
Mark；Corresponding anticollision region is determined according to the first coordinate；When the running route and anticollision region of judging target robot have friendship
When point, the running route of target robot is adjusted, so that running route adjusted and anticollision region are without intersection point.
In the scheme of the application, control target machine actively avoids staff.Specifically, obtaining user terminal preset
The first coordinate in coordinate system, and anticollision region is determined according to first coordinate, therefore, if it is judged that target robot
When there is intersection point in running route and the anticollision region, illustrate that the travelling route of target robot can be related to the anticollision region, also
The danger of staff may be bumped against.Therefore, the running route of target robot is adjusted, so that running route adjusted
With anticollision region without intersection point, also avoids target robot and bump against the staff that carry user terminal.And due to being to mention
It is preceding that running route is planned, target robot can be effectively prevented from and enter the hysteresis quality adjusted again behind anticollision region.Cause
This, in the scheme of the application, actively avoids staff by controlling target robot, significantly reduces robot and bump against work
Make the probability of happening of personnel's event.
In a kind of specific embodiment of the invention, step S101 may include:
Receive N number of range data that user terminal is sent；
According to the coordinate in each comfortable preset coordinate system in N number of base station of N number of range data and storage, obtains user terminal and exist
The first coordinate in coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends signal to N number of base station, and is based on N
A base station is respective to feed back the N number of range data determined.
In this kind of embodiment, user terminal sends signal to N number of base station, such as can be to UWB (Ultra Wide-
Band, ultra wide band) N number of base station of positioning system sends a signal Poll, after each base station receives signal, Bian Huili
Send a response signal to user terminal, user terminal can flight time according to signal and flying speed, really
N number of range data is made, this N number of range data namely indicates N number of base station respectively at a distance from user terminal.Certainly, it needs to refer to
Out, the information carried in the feedback signal of each base station will allow user terminal to determine which the signal comes from
One base station.
In this kind of embodiment, after server receives the N number of range data sent by user terminal, due to pre- in server
The coordinate being first stored in each preset coordinate system of leisure in each base station can determine of user terminal in a coordinate system
One coordinate.N at least needs to be 3, and when N is 3, just using 3 base stations as the center of circle, corresponding 3 range data, can be with as radius
3 circles are obtained, these three justify the first coordinate that common intersection point is user terminal.Certainly, it is contemplated that the error of data, N's takes
Value can be bigger, to more accurately determine out the first coordinate of user terminal.In this kind of embodiment, user terminal only need into
The determination of the N number of range data of row, subsequent calculating are completed by server, can be in order to more simple by the structure of user terminal design ground
It is single light, it is convenient for carrying, such as user terminal is a UWB label.
In a kind of specific embodiment of the invention, step S101 may include:
Obtain the target data sent by user terminal；
Wherein, first coordinate of the user terminal in preset coordinate system is carried in target data.
In this kind of embodiment, user terminal directly determines the first coordinate come from preset coordinate system, to service
It is portable with the first coordinate determined in the target data that device is sent.It, can since user terminal completes the calculating of the first coordinate
To reduce the burden of server, and to when the transmission of server progress target data, it is also possible to using except positioning system
Other communication systems, such as wifi communication, advantageously reduce the bandwidth consumption of positioning system.
In the specific implementation, it is contemplated that UWB have will not to the other equipment under same environment generate interference, penetrability compared with
By force, transmission power is very small, and electromagenetic wave radiation is small, a variety of advantages such as wide application, therefore is carrying out the timing really of the first coordinate,
UWB positioning system can usually be used.Certainly, in other embodiments, for the first coordinate, other types can also be used
Positioning method, have no effect on implementation of the invention.
In a kind of specific embodiment of the invention, step S101 can be with specifically:
First coordinate of the user terminal in preset coordinate system is obtained in real time.
Server can be obtains first coordinate of the user terminal in preset coordinate system in real time, can also take non real-time
Mode.In this embodiment, it is contemplated that the staff for carrying user terminal may constantly move, therefore take in real time
Obtain the scheme of first coordinate of the user terminal in preset coordinate system.Due to obtaining the first coordinate in real time, be conducive to subsequent
The running route of target robot is adjusted in time in step.Specifically, due to the continuous movement of user terminal, anticollision area
Domain may be tangent with running route, if obtaining the first coordinate not in time, so that running route adjustment is not in time, anticollision area
Domain may will further intersect with running route, and in small part, the position of target robot may be at phase
In this line segment handed over, i.e., target robot may have been introduced into anticollision region, so as to jeopardize staff
Personal safety.Therefore, the first coordinate is obtained in real time, can also determine anticollision region in real time, once anticollision region and fortune
Walking along the street line is tangent, and server can adjust the running route of target robot, the either subsequent row of target robot immediately
Route line and anticollision region be tangent or target robot is in the points of tangency of travelling route Yu anticollision region at this time, all may be used
To avoid running route further to further at a distance from anticollision region in time, target robot can not avoid in time staff's
Situation.
Corresponding to above method embodiment, the embodiment of the invention also provides a kind of robot mobile control systems, can
Referring to fig. 2, it is a kind of structural schematic diagram of robot mobile control system in the present invention, which may include with lower module:
First coordinate obtains module 201, for obtaining first coordinate of the user terminal in preset coordinate system；
Anticollision area determination module 202, for determining corresponding anticollision region according to the first coordinate；
Route control module 203, for adjusting when the running route and anticollision region of judging target robot have intersection point
The running route of whole target robot, so that running route adjusted and anticollision region are without intersection point.
In a kind of specific embodiment of the invention, the first coordinate obtains module 201, comprising:
Range data receiving submodule, for receiving N number of range data of user terminal transmission；
First coordinate obtains submodule, for each comfortable preset coordinate in N number of base station according to N number of range data and storage
Coordinate in system obtains the first coordinate of user terminal in a coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends signal to N number of base station, and is based on N
A base station is respective to feed back the N number of range data determined.
In a kind of specific embodiment of the invention, the first coordinate obtains module 201, is specifically used for: obtaining by user
Hold the target data sent；Wherein, first coordinate of the user terminal in preset coordinate system is carried in target data.
In a kind of specific embodiment of the invention, the first coordinate obtains module 201, is specifically used for: being used in real time
First coordinate of the family end in preset coordinate system.
In a kind of specific embodiment of the invention, anticollision area determination module 202 is specifically used for:
Will be using the first coordinate as the center of circle, preset threshold is that the border circular areas of radius is determined as the corresponding anticollision area of the first coordinate
Domain.
Corresponding to above method and system embodiment, the embodiment of the invention also provides a kind of mobile controls of robot to set
Standby and a kind of computer readable storage medium, due to corresponding to the methods disclosed in the examples, so be described relatively simple,
Reference may be made to the description of the method.
It is shown in Figure 3, for a kind of structural schematic diagram of robot mobile control device in the present invention, comprising:
User terminal 310；
With the server 320 of user terminal communication connection, server 320 includes:
Memory 321, for storing robot mobile control program；
Processor 322, for executing robot mobile control program to realize that the robot in any of the above-described embodiment moves
The step of flowing control method.
It is stored with computer program on computer readable storage medium, is realized when computer program is executed by processor above-mentioned
The step of robot movement control method in any embodiment.Computer readable storage medium mentioned here includes depositing at random
It is reservoir (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, removable
Any other form of storage medium well known in movable magnetic disc, CD-ROM or technical field.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.It is used herein that a specific example illustrates the principle and implementation of the invention,
Technical solution of the present invention that the above embodiments are only used to help understand and its core concept.It should be pointed out that for this
For the those of ordinary skill of technical field, without departing from the principle of the present invention, the present invention can also be carried out several
Improvement and modification, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Claims (10)
1. a kind of robot movement control method characterized by comprising
Obtain first coordinate of the user terminal in preset coordinate system；
Corresponding anticollision region is determined according to first coordinate；
When the running route and the anticollision region of judging target robot have intersection point, the fortune of the target robot is adjusted
Walking along the street line, so that running route adjusted and the anticollision region are without intersection point.
2. robot movement control method according to claim 1, which is characterized in that the acquisition user terminal is preset
The first coordinate in coordinate system, comprising:
Receive N number of range data that user terminal is sent；
According to the coordinate in each comfortable preset coordinate system in N number of base station of N number of range data and storage, the user is obtained
Hold the first coordinate in the coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends signal to N number of base station, and
The N number of range data determined based on N number of respective feedback in base station.
3. robot movement control method according to claim 1, which is characterized in that the acquisition user terminal is preset
The first coordinate in coordinate system, comprising:
Obtain the target data sent by user terminal；
Wherein, first coordinate of the user terminal in preset coordinate system is carried in the target data.
4. robot follower method according to claim 1, which is characterized in that the acquisition user terminal is in preset coordinate
The first coordinate in system, comprising:
First coordinate of the user terminal in preset coordinate system is obtained in real time.
5. robot movement control method according to any one of claims 1 to 4, which is characterized in that described according to
First coordinate determines corresponding anticollision region, comprising:
Will be using first coordinate as the center of circle, it is corresponding anti-that preset threshold is that the border circular areas of radius is determined as first coordinate
Hit region.
6. a kind of robot mobile control system characterized by comprising
First coordinate obtains module, for obtaining first coordinate of the user terminal in preset coordinate system；
Anticollision area determination module, for determining corresponding anticollision region according to first coordinate；
Route control module, for adjusting when the running route and the anticollision region of judging target robot have intersection point
The running route of the target robot, so that running route adjusted and the anticollision region are without intersection point.
7. robot mobile control system according to claim 6, which is characterized in that first coordinate obtains module,
Include:
Range data receiving submodule, for receiving N number of range data of user terminal transmission；
First coordinate obtains submodule, for each comfortable preset coordinate in N number of base station according to N number of range data and storage
Coordinate in system obtains first coordinate of the user terminal in the coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends signal to N number of base station, and
The N number of range data determined based on N number of respective feedback in base station.
8. robot mobile control system according to claim 6, which is characterized in that first coordinate obtains module,
It is specifically used for:
Obtain the target data sent by user terminal；
Wherein, first coordinate of the user terminal in preset coordinate system is carried in the target data.
9. a kind of robot mobile control device characterized by comprising
User terminal；
With the server of user terminal communication connection, the server includes:
Memory, for storing robot mobile control program；
Processor, for executing the robot mobile control program to realize such as machine described in any one of claim 1 to 5
The step of people's control method for movement.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program is realized when the computer program is executed by processor such as the mobile control of robot described in any one of claim 1 to 5
The step of method.
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| CN112123328A (en) * | 2019-06-24 | 2020-12-25 | 北京极智嘉科技有限公司 | Man-machine cooperation control method and system |
| CN112327820A (en) * | 2020-06-12 | 2021-02-05 | 北京京东乾石科技有限公司 | Automatic guided vehicle AGV control method, device and system and storage medium |
| CN114287830A (en) * | 2021-12-13 | 2022-04-08 | 珠海一微半导体股份有限公司 | Cleaning robot system for blind people and control method thereof |
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