CN109753074A - A kind of robot cruise control method, device, control equipment and storage medium - Google Patents
A kind of robot cruise control method, device, control equipment and storage medium Download PDFInfo
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- CN109753074A CN109753074A CN201910079982.0A CN201910079982A CN109753074A CN 109753074 A CN109753074 A CN 109753074A CN 201910079982 A CN201910079982 A CN 201910079982A CN 109753074 A CN109753074 A CN 109753074A
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Abstract
The invention discloses a kind of robot cruise control method, device, control equipment and storage mediums, for improving the reliability of robot cruise efficiency and task execution of cruising.A kind of robot cruise control method, comprising: control robot goes on patrol point movement to target according to the path of planning；During the control robot goes on patrol point movement to the target, judge whether the target patrol is reachable；If it is judged that target patrol point is unreachable, then controls the robot and skip the target patrol point.
Description
Technical field
The present invention relates to field of artificial intelligence more particularly to a kind of robot cruise control method, device, controls to set
Standby and storage medium.
Background technique
With the rise of artificial intelligence technology, robot is developed into one of research hotspot.Robot be carry it is various
Necessary sensor and controller etc. are capable of the smart machine of complete independently certain task.Cruise is the critical function of robot
One of, it will include multiple patrol points in cruise route, the movement process during existing robot cruise is generally as follows: first certainly
Leading navigation sails to specified patrol point, and then planning reaches the path of next specified patrol point, goes to next patrol point.
But when robot reaches a certain specified patrol point, it is likely encountered the occupied situation of patrol point, for example,
Patrol point is by other robot or user occupancy etc., and according to the prior art, if patrol point is occupied, robot is needed always
Next patrol point can be just gone to execute cruise task Deng until patrol point is released after the cruise task for completing the patrol point.In this way
Processing mode not only reduce the efficiency of robot cruise, but also will affect the execution of subsequent cruise task, for example, if
There are timed tasks in subsequent cruise task, and robot falls into a long wait in occupied patrol point will cause subsequent timed task
Due to the failure more than the regulation execution time, the reliability of robot cruise task execution is reduced.
Summary of the invention
The embodiment of the present invention provides a kind of robot cruise control method, device, control equipment and storage medium, for mentioning
The reliability of high robot cruise efficiency and cruise task execution.
In a first aspect, providing a kind of robot cruise control method, comprising:
It controls robot and goes on patrol point movement to target according to the path of planning；
During the control robot goes on patrol point movement to the target, judge that the target patrol whether may be used
It reaches；
If it is judged that target patrol point is unreachable, then controls the robot and skip the target patrol point.
Optionally, during the control robot goes on patrol point movement to the target, judge the target patrol
Whether point is reachable, specifically includes:
During the control robot goes on patrol point movement to the target, when the robot and the target patrol
When patrolling the distance between a little within a preset range, whether occupied the target patrol point is detected；
If it is and occupied duration duration be greater than the first preset duration, it is determined that target patrol point can not
It reaches.
Optionally, when detecting that the target patrol point is occupied, further includes:
Control the robot pause motion.
Optionally, during the control robot goes on patrol point movement to the target, judge the target patrol
Whether point is reachable, specifically includes:
During the control robot goes on patrol point movement to the target, when detecting barrier, described in control
Robot carries out avoidance, pause motion duration when detecting avoidance；
If pause motion duration is greater than the first preset duration, it is determined that the target patrol point is unreachable.
Optionally, it controls the robot and carries out avoidance, comprising:
Determine the obstacle identity；
From the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, the obstacle species determined are searched
The corresponding Robot dodge strategy of type, and control robot and execute the Robot dodge strategy.
Optionally, the obstacle identity includes non-rapid moving obstacle and quick moving obstacle；And preparatory
In corresponding relationship between the obstacle identity and Robot dodge strategy of storage, the corresponding Robot dodge strategy of non-rapid moving obstacle be by
The barrier is bypassed according to the path planned again；The quick corresponding Robot dodge strategy of moving obstacle is pause motion.
Alternatively, if it is determined that the barrier is quick moving obstacle, further includes:
If robot detects that the barrier is not present in pause motion N seconds, robot is controlled according to the planning
Continue to move in path；
If robot detects that there are still control robot according to planning again for the barrier after pause motion N seconds
Path bypass the barrier, N is less than the first preset duration.
Optionally, it controls the robot and skips the target patrol point, specifically include:
Control the cruise task that the robot abandons the target patrol point；And
The path that next patrol point is reached for the robot planning, it is downward according to the path of planning to control the robot
One patrol point movement.
Optionally, robot cruise control method provided in an embodiment of the present invention, further includes:
In controlling the robot kinematics, when detecting wake operation, the robot pause motion is controlled,
The wake operation includes at least one of following；Vision wake operation, voice wake operation and touch screen wake operation.
Optionally, after controlling the robot pause motion, further includes:
It controls the robot and plays preset voice messaging；And/or the control robot is to the wake operation pair
The user answered carries out focus and follows.
Optionally, after controlling the robot pause motion, further includes:
If interactive information is not detected in the second preset duration, controls the robot and restore movement, the interaction
Information includes touch screen interactive information and/or interactive voice information.
Second aspect provides a kind of robot cruise control apparatus, comprising:
Control unit goes on patrol point movement to target according to the path of planning for controlling robot；And in judging unit
When judging that target patrol point is unreachable, controls the robot and skip the target patrol point；
Judging unit goes on patrol the process that point moves to the target for controlling the robot in described control unit
In, judge whether the target patrol point is reachable.
Optionally, robot cruise control apparatus provided in an embodiment of the present invention, further includes detection unit, in which:
The detection unit goes on patrol the mistake that point moves to the target for controlling the robot in described control unit
Cheng Zhong detects the target patrol point when the robot goes on patrol the distance between point within a preset range with the target
It is whether occupied；
The judging unit, if detecting that the target patrol point is occupied and occupied specifically for the detection unit
It is greater than the first preset duration with duration duration, it is determined that the target patrol point is unreachable.
Optionally, described control unit is also used to when the detection unit detects that the target patrol point is occupied,
Control the robot pause motion.
Optionally, robot cruise control apparatus provided in an embodiment of the present invention further includes avoidance unit, in which:
The avoidance unit, for detecting during the control robot goes on patrol point movement to the target
When barrier, controls the robot and carry out avoidance, pause motion duration when detecting avoidance；
The judging unit, if it is pre- to detect that the pause motion duration is greater than first specifically for the avoidance unit
If duration, it is determined that the target patrol point is unreachable.
Optionally, the avoidance unit is specifically used for determining the obstacle identity；From pre-stored obstacle identity
In corresponding relationship between Robot dodge strategy, the corresponding Robot dodge strategy of the obstacle identity determined is searched, and control robot
Execute the Robot dodge strategy.
Optionally, the obstacle identity includes non-rapid moving obstacle and quick moving obstacle；And preparatory
In corresponding relationship between the obstacle identity and Robot dodge strategy of storage, the corresponding Robot dodge strategy of non-rapid moving obstacle be by
The barrier is bypassed according to the path planned again；The quick corresponding Robot dodge strategy of moving obstacle is pause motion.
Optionally, the avoidance unit is also used to if it is determined that the barrier is quick moving obstacle, and if machine
Device people's pause motion detected that the barrier is not present in N seconds, and control robot continues to move according to the planning path；With
And if robot detects that there are still control robot according to the path planned again to the barrier after pause motion N seconds
Around the barrier, N is less than the first preset duration.
Optionally, described control unit, the cruise that the target patrol point is abandoned specifically for controlling the robot are appointed
Business；And the path of next patrol point is reached for the robot planning, it is downward according to the path of planning to control the robot
One patrol point movement.
Optionally, described control unit is also used in controlling the robot kinematics, is detecting wake operation
When, the robot pause motion is controlled, the wake operation includes at least one of following；Vision wake operation, voice wake up
Operation and touch screen wake operation.
Optionally, described control unit is also used to after controlling the robot pause motion, controls the robot and broadcast
Put preset voice messaging；And/or the control robot carries out focus to the corresponding user of the wake operation and follows.
Optionally, described control unit is also used to after controlling the robot pause motion, if default second
Interactive information is not detected in duration, controls the robot and restores movement, the interactive information include touch screen interactive information and/
Or interactive voice information.
The third aspect provides a kind of control equipment, including at least one processor and at least one processor, wherein
The memory is stored with computer program, when described program is executed by the processor, so that the processor executes
State either step described in robot cruise control method.
Fourth aspect, a kind of robot, including above-mentioned control equipment.
5th aspect, provides a kind of computer-readable medium, is stored with the computer program that can be executed by control equipment,
When described program is run on the control device, so that the control equipment executes described in above-mentioned robot cruise control method
Either step.
In robot cruise control method provided in an embodiment of the present invention, device, control equipment and storage medium, controlling
During robot goes on patrol point movement to target, whether real-time judge target patrol point is reachable, if it is judged that target is gone on patrol
Point is unreachable, then skips target patrol point, in the above process, inaccessible target patrol point is skipped in time, is no longer waiting for,
To improve robot cruise efficiency, moreover, reducing the influence to subsequent patrol point cruise task execution, cruise is improved
The reliability of task execution.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes a part of the invention, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 a is the implementation process diagram of robot cruise control method in the embodiment of the present invention；
Fig. 1 b be the embodiment of the present invention in, judge target patrol point whether reachable implementation process diagram；
Fig. 1 c is in the embodiment of the present invention, and control robot carries out the implementation process diagram of avoidance；
Fig. 2 is robot cruise schematic diagram of a scenario in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of robot cruise control apparatus in the embodiment of the present invention；
Fig. 4 is to control the structural schematic diagram of equipment in the embodiment of the present invention.
Specific embodiment
In order to improve the reliability of robot cruise efficiency and task execution of cruising, the embodiment of the invention provides a kind of machines
Device people cruise control method, device, control equipment and storage medium.
Specification and claims in the embodiment of the present invention and the term " first " in above-mentioned attached drawing, " second " etc. are
It is used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that the data used in this way
It is interchangeable under appropriate circumstances, so that the embodiments described herein can be other than the content for illustrating or describing herein
Sequence implement.
Referenced herein " multiple or several " refer to two or more."and/or" describes affiliated partner
Incidence relation, indicate may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B,
These three situations of individualism B.Character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Below in conjunction with Figure of description, preferred embodiment of the present invention will be described, it should be understood that described herein
Preferred embodiment only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention, and in the absence of conflict, this hair
The feature in embodiment and embodiment in bright can be combined with each other.
It as shown in Figure 1a, is the implementation process diagram of robot cruise control method provided in an embodiment of the present invention,
The executing subject of this method is the control equipment of robot, which specifically can be the control equipment of robot interior,
Being also likely to be can be with the external control devices of robot communication.Specifically, robot cruise control provided in an embodiment of the present invention
Method, comprising the following steps:
S101, control robot go on patrol point movement to target according to the path of planning.
Path planning is an important branch of robot research field.The optimum path planning problem of so-called robot,
It is exactly according to some or certain Optimality Criterias (such as work cost is minimum, track route is most short, travel time is most short), in its work
Make the optimal path that the energy avoiding obstacles from initial position to target position are found in space.According to environmental information
Grasping level, path planning can be divided into two classes: one kind is the known Global motion planning of environmental information, it is another kind of be environmental information not
The sector planning known.Global Planning goes out a paths according to the environmental information obtained, to robot planning.Planning path
Levels of precision depend on obtain environmental information order of accuarcy.Global approach can usually find optimal solution, but need pre-
First know the accurate information of environment, and calculation amount is very big.Sector planning method lays particular emphasis on the local ring for considering that robot is current
Border information allows robot to have good obstacle avoidance ability.
Each patrol point is presented as position coordinates on robot working map, according to the current position coordinates of robot and
The position coordinates of target patrol point can reach the path of target patrol point, path planning for robot planning from current location
After the completion, control robot goes on patrol point movement to target according to the path of planning.
S102, control robot to target go on patrol point movement during, judge target patrol point it is whether reachable, if
It is to then follow the steps S103, if not, thening follow the steps S104.
In one particular embodiment of the present invention, it is gone on patrol in point motion process in control robot to target, detects mesh
Whether mark patrol point is occupied.When it is implemented, can use laser according to the scan frequency detection target patrol point of setting is
It is no occupied.Specifically, robot is according to planning path during moving, and can control robot using laser according to setting
The fixed scan period is scanned, if target patrol point is occupied, can be presented as that target is patrolled in laser scanning data
Patrol on a position coordinate that there are barriers.In this way, the position coordinates by judging target patrol point in laser scanning data
Whether there are obstacles can determine whether target patrol point is occupied.
When it is implemented, going on patrol point movement to target in control robot to reduce the expense of robot process resource
During, it is determined between robot and target patrol point according to itself current position coordinates and target patrol point position coordinates
Distance, if robot and target patrol point the distance between within a preset range, detected according to laser scanning data
Whether target patrol point is occupied.Wherein, robot and target patrol point between pre-determined distance range can according to need into
Row setting, the embodiment of the present invention to this without limit, for example, can be set to 0.5 meter.Point is gone on patrol in robot and target
The distance between be not more than 0.5 meter when, start detect target patrol point it is whether occupied.
If it is determined that target patrol point is occupied, starting timer carries out timing, if to timer expired, target patrol
Point is occupied always, it is determined that target patrol point is unreachable.When it is implemented, the timing duration of timer can according to need into
Row setting, the embodiment of the present invention to this without limit, for example, can be set to 10 seconds or 5 seconds etc..I.e. if target is gone on patrol
The occupied duration of point is more than the first preset duration, it is determined that target patrol point is unreachable.
In one embodiment, when detecting that target patrol point is occupied, it can control robot pause motion, in machine
During device people's pause motion, whether occupied target patrol point is persistently detected.
S103, control robot reach target patrol point and execute corresponding patrol mission, and process terminates.
When it is implemented, if it is judged that target patrol point it is reachable, then control robot reach target patrol point execute a phase
The patrol mission answered is the path that robot planning reaches next patrol point, control according to robot current location after task
Robot processed goes to next patrol point to execute cruise task.
Target patrol point is skipped by S104, control robot.
In step S104, it can control robot and forgo one's aim the cruise task of patrol point, and according to robot present bit
It is set to the path that robot planning reaches next patrol point, control robot is moved according to the path of planning to next patrol point.
It in another embodiment, can also be according to Fig. 1 b's during control robot goes on patrol point movement to target
Process judges whether target patrol point is reachable:
S111, control robot to target go on patrol point movement during, when detecting barrier, control robot into
Row avoidance, pause motion duration when detecting avoidance.
When it is implemented, can control controlling robot according to planning path to during target patrol point movement
Robot is scanned using laser according to the scan period of setting, and to detect working space, whether there are obstacles.If inspection
Measure barrier, then include in laser scanning data between barrier at a distance from, the data such as the location information of barrier,
The location information of barrier can be presented as position coordinates of the barrier on laser figure.When it is implemented, the week of laser scanning
Phase can be configured according to actual needs, for example, can be set to 200ms, i.e., every 200ms run-down.
In the presence of detecting barrier, control robot carries out avoidance, and detects because of pause motion caused by avoidance
Duration.
S112, judge whether pause motion duration is greater than the first preset duration, if so, step S113 is executed, if not,
Execute step S114.
S113, determine that target patrol point is unreachable, process terminates.
When it is implemented, the first preset duration can be set according to actual needs, the embodiment of the present invention to this not into
Row limits, for example, the first preset duration can be set as 5s, i.e., when pause motion duration is more than 5s, determines target patrol point not
It is reachable.
S114, control robot continue to go on patrol point movement to target according to the path of planning.
In one embodiment of the invention, in the presence of detecting barrier, control robot carries out avoidance, specifically may be used
It detects that barrier exists if thinking, controls robot pause motion, until barrier is not present, then control robot recovery
Movement.
In another embodiment of the invention, barrier can also be divided according to the difference of the movement velocity of barrier
Different Robot dodge strategies is executed for different types of barrier for non-rapid moving obstacle and quick moving obstacle.Base
In this, in the embodiment of the present invention, robot can be controlled according to mode shown in Fig. 1 c and carries out avoidance:
S121, obstacle identity is determined.
Wherein, movement velocity is non-rapid moving obstacle no more than the barrier of certain speed threshold value, and movement velocity
It is quick moving obstacle greater than the barrier of the threshold speed.
When it is implemented, the movement velocity threshold value for distinguishing non-rapid moving obstacle and quick moving obstacle can basis
The working environment of robot is set, and the embodiment of the present invention is to this without limiting.For example, the working space of robot is low
Fast region, i.e., if the movement velocity of object is lower in its working environment, which be can be set lower, for example,
It can be set to 0.6m/s.
Location information based on barrier in laser scanning data twice may determine that whether Obstacle Position has occurred
Variation.If it is judged that Obstacle Position changes, then it can be according further to the position in laser scanning data twice
Information and time interval determine the movement velocity of barrier.It specifically, can be according to the position of barrier in twice sweep laser figure
Coordinate is set, determines the move distance of barrier, determines barrier movement speed in conjunction with the time interval between laser scanning twice
Degree.Wherein, the data that laser scanning data can obtain twice for adjacent laser scanning twice, or separated in time
Laser scanning data twice, to this without limiting in the embodiment of the present invention, for example, between the time of adjacent laser scanning twice
It is divided into 200ms.
After determining the movement velocity of barrier, compare barrier movement velocity and preset threshold speed, if
The movement velocity of barrier is greater than threshold speed, it is determined that obstacle identity is quick moving obstacle, if the fortune of barrier
Dynamic speed is not more than threshold speed, it is determined that obstacle identity is non-rapid moving obstacle.
S122, from the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, search the barrier determined
Hinder the corresponding Robot dodge strategy of species type, and controls robot and execute the Robot dodge strategy found.
The present invention, for different types of barrier, takes different Robot dodge strategies in implementing.Specifically, for identification
Non-rapid moving obstacle out, presetting its corresponding Robot dodge strategy is according to the path cut-through object planned again；
For the quick moving obstacle identified, presetting its corresponding Robot dodge strategy is pause motion, for example, can be set to
Pause motion N seconds, wherein N is the numerical value greater than 0, and specific value can be preset according to actual needs, can also basis
The movement velocity of barrier determines, the embodiment of the present invention to this without limiting, for example, can be set as N=2.5s.
Due to the movement properties of quick moving obstacle, even if Robot Scanning may meet it in the two to barrier
Preceding quick moving obstacle has moved away from the planning path of robot.Therefore, in order to save robot process resource, the present invention is real
It applies in example, can judge whether to need to execute Robot dodge strategy to the barrier detected by set distance threshold value.Specifically,
If determine that the distance between barrier is less than pre-determined distance threshold value according to the range information in laser scanning data, then obtain
Take location information of the barrier in laser scanning data twice.If according in laser scanning data range information determine with
When the distance between barrier is not less than pre-determined distance threshold value, can control robot reduces movement velocity, in this way, can be fast
Fast moving obstacle evacuation robot sets aside some time, if during this, detecting that barrier is not present, then can control machine
Device people continues to move according to programme path.
According to the difference of obstacle identity, different Robot dodge strategies can be taken in the embodiment of the present invention.It ties individually below
The implementation procedure of quick moving obstacle and the corresponding Robot dodge strategy of non-rapid moving obstacle is closed to implementation process of the invention
It is illustrated.
One, the Robot dodge strategy executed for quick moving obstacle.
According to the movement velocity of barrier, if it is determined that the movement velocity of the barrier detected is greater than pre-set velocity threshold
Value, it is determined that the barrier detected is quick moving obstacle.It, can in the embodiment of the present invention for quick moving obstacle
With the pause motion when retarded motion is to apart from position of the quick moving obstacle less than pre-determined distance threshold value, for example, pause
Movement N seconds, N are the numerical value greater than 0.When it is implemented, N value can preset or be determined according to the movement velocity of barrier
Out, for example, N can be set to 2.5 seconds.
In one embodiment, during pause motion, preset speech prompt information can also be broadcasted, for example, voice
Prompt information can be set to " I is hurrying on a journey, and please allow ".
Within the N second of pause motion, control robot, which persistently detects barrier according to the scan period of setting, whether there is,
If robot detects that the barrier is not present in pause motion N seconds, control robot continues to move according to planning path.
When it is implemented, within the N second of pause motion, if detecting that barrier is not present, can control robot immediately according to
Planning path continues to move, or in pause motion N seconds, even if detecting that barrier is not present, control robot waits N
Second, after N seconds, control robot continues to move according to planning path.
If robot detects barrier after pause motion N seconds, there are still for robot again planning path, control
Robot bypasses the barrier according to the path planned again.If the number of planning path reaches preset times or works as again
Preplanning path is exclusive path, then can confirm again that planning path fails, robot is caused to continue pause motion.
Two, non-rapid moving obstacle.
According to the movement velocity of barrier, if it is determined that the movement velocity of the barrier detected is not more than pre-set velocity threshold
Value, it is determined that the barrier detected is non-rapid moving obstacle.For non-rapid moving obstacle, the embodiment of the present invention
In, the Robot dodge strategy of execution is the as robot planning path again according to the path cut-through object planned again.Specifically
Ground, the application scenarios in robot motion path are stopped for non-rapid moving obstacle, and control robot rotates in place searching 360
Again it plans in path in degree range.When it is implemented, can control robot deceleration after for robot again planning path
Cut-through object.
It equally, can if the number of planning path reaches preset times again or current planning path is exclusive path
Again planning path fails for confirmation, leads to robot pause motion.
When it is implemented, if barrier is located at target patrol point, as occupied, the above-mentioned control machine of target patrol point
Device people deceleration cut-through object namely skip patrol point；And if barrier is located at the motion path in addition to target patrol point
On, then after cut-through object, it can control robot and continue to move to target patrol point according to the path planned again.
As shown in Fig. 2, it cruises schematic diagram of a scenario for robot, robot need the patrol point that cruises include A point, B point,
C point and D point, it is assumed that current goal patrol point is B point, is gone in the motion process of B point from A point, in real time or according to setting
Period determine the distance between robot and B point, when detecting the distance between robot and B point within a preset range,
Judge whether B point is occupied according to laser scanning data, if it is judged that B point is occupied, then pause motion, in the pause motion phase
Between whether persistently detect B point occupied, if occupied duration is more than the first preset duration, skip B point, be robot planning
The path of C point is gone to, control robot goes to C point to execute cruise task.
In the embodiment of the present invention, in order to improve the interactivity of robot, in the embodiment of the present invention, in control robot to mesh
During mark patrol point movement, robot pause motion can also be controlled, is carried out with user according to the wake operation detected
Interaction.
Wherein, wake operation includes at least one of the following: that vision wake operation, voice wake operation and touch screen wake up behaviour
Make.Wherein, vision wake operation refers to the real-time collecting work spatial image of camera carried using robot, and judges to acquire
Image in whether detect organism image, for example, facial image, human body image etc.；Voice wake operation, which refers to, to be detected
Voice input；Touch screen wake operation refers to detection human body touch operation.
When it is implemented, controlling robot pause motion when detecting any of the above-described wake operation, being handed over user
Interoperability.For example, can control robot when detecting any of the above-described wake operation and play preset voice messaging, the language
Message breath can be greeting voice messaging, further, carry out interactive voice with user.In another example can control machine
People carries out focus to the corresponding user of wake operation and follows, specifically, the organism image of available user, according to user's
Organism image determine user relative to immediately ahead of robot direction and angle machine controlled according to determining direction and angle
Device people carries out focus and follows, and plays preset voice messaging.I.e. control robot turns to user direction and interacts with user, mentions
The interaction effect of high robot and user.
When it is implemented, control robot restores movement if interactive information is not detected in the second preset duration, hand over
Mutual information includes touch screen interactive information and/or interactive voice information.When it is implemented, the second preset duration can be according to practical need
It is set, for example, can be set as 5 seconds, i.e., if it exceeds 5 seconds do not detect any interactive information, then controls machine
People continues to go on patrol point movement to target according to the path of planning.
In robot cruise control method provided in an embodiment of the present invention, judging that target patrol point is occupied and occupies
It when duration is more than the first preset duration, is no longer waiting for, but controls robot and skip the patrol point, next patrol point is gone to continue
Cruise improves the flexibility and efficiency of robot cruise, on the other hand, can reduce to the cruise task of subsequent patrol point
It influences, improves the reliability of cruise task execution；During control robot is gone on patrol to target, if detecting face
Image then controls robot pause motion and carries out interactive voice with user, so that robot is more intelligent and flexible.
Based on the same inventive concept, a kind of robot cruise control apparatus is additionally provided in the embodiment of the present invention, due to upper
State that the principle that device solves the problems, such as is similar to robot cruise control method, therefore the implementation of above-mentioned apparatus may refer to method
Implement, overlaps will not be repeated.
As shown in figure 3, it is the structural schematic diagram of robot cruise control apparatus provided in an embodiment of the present invention, comprising:
Control unit 31 goes on patrol point movement to target according to the path of planning for controlling robot；And it is single in judgement
When member judges that target patrol point is unreachable, controls the robot and skip the target patrol point；
Judging unit 32 goes on patrol the process that point moves to the target for controlling the robot in described control unit
In, judge whether the target patrol point is reachable.
Optionally, robot cruise control apparatus provided in an embodiment of the present invention, further includes detection unit, in which:
The detection unit is specifically used for controlling the robot to target patrol point movement in described control unit
During, when the robot goes on patrol the distance between point within a preset range with the target, detects the target and patrol
It patrols a little whether occupied；
The judging unit, if detecting that the target patrol point is occupied and occupied specifically for the detection unit
It is greater than the first preset duration with duration duration, it is determined that target patrol point is unreachable.
Optionally, described control unit is also used to when the detection unit detects that the target patrol point is occupied,
Control the robot pause motion.
Optionally, robot cruise control apparatus provided in an embodiment of the present invention further includes avoidance unit, in which:
The avoidance unit, for detecting during the control robot goes on patrol point movement to the target
When barrier, controls the robot and carry out avoidance, pause motion duration when detecting avoidance；
The judging unit, if it is pre- to detect that the pause motion duration is greater than first specifically for the avoidance unit
If duration, it is determined that the target patrol point is unreachable.
Optionally, the avoidance unit is specifically used for determining the obstacle identity；From pre-stored obstacle identity
In corresponding relationship between Robot dodge strategy, the corresponding Robot dodge strategy of the obstacle identity determined is searched, and control robot
Execute the Robot dodge strategy.
Optionally, the obstacle identity includes non-rapid moving obstacle and quick moving obstacle；And preparatory
In corresponding relationship between the obstacle identity and Robot dodge strategy of storage, the corresponding Robot dodge strategy of non-rapid moving obstacle be by
The barrier is bypassed according to the path planned again；The quick corresponding Robot dodge strategy of moving obstacle is pause motion.
Optionally, the avoidance unit is also used to if it is determined that the barrier is quick moving obstacle, and if machine
Device people's pause motion detected that the barrier is not present in N seconds, and control robot continues to move according to the planning path；With
And if robot detects that there are still control robot according to the path planned again to the barrier after pause motion N seconds
Around the barrier, N is less than the first preset duration.
Optionally, described control unit, the cruise that the target patrol point is abandoned specifically for controlling the robot are appointed
Business；And the path of next patrol point is reached for the robot planning, it is downward according to the path of planning to control the robot
One patrol point movement.
Optionally, described control unit is also used in controlling the robot kinematics, is detecting wake operation
When, the robot pause motion is controlled, the wake operation includes at least one of following；Vision wake operation, voice wake up
Operation and touch screen wake operation.
Optionally, described control unit is also used to after controlling the robot pause motion, controls the robot and broadcast
Put preset voice messaging；And/or the control robot carries out focus to the corresponding user of the wake operation and follows.
Optionally, described control unit is also used to after controlling the robot pause motion, if default second
Interactive information is not detected in duration, controls the robot and restores movement, the interactive information include touch screen interactive information and/
Or interactive voice information.
For convenience of description, above each section is divided by function describes respectively for each module (or unit).Certainly, exist
Implement to realize the function of each module (or unit) in same or multiple softwares or hardware when the present invention.
After the robot cruise control method and device for describing exemplary embodiment of the invention, next, being situated between
The control equipment for the another exemplary embodiment according to the present invention that continues.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
In some possible embodiments, control equipment according to the present invention can include at least at least one processing
Device and at least one processor.Wherein, the memory is stored with program code, when said program code is by the processing
When device executes, so that the processor executes the machine of the illustrative embodiments various according to the present invention of this specification foregoing description
Step in device people's cruise control method.For example, the processor can execute step S11, control machine as shown in fig. 1A
Device people goes on patrol point movement and step S12, the mistake in control robot to target patrol point movement to target according to the path of planning
Cheng Zhong judges whether target patrol point is reachable, if so, S13 is thened follow the steps, if not, thening follow the steps S14；And step
Rapid S13, control robot reach target patrol point and execute corresponding patrol mission, and process terminates；Step S14, robot is controlled
Skip target patrol point.
The control equipment 40 of this embodiment according to the present invention is described referring to Fig. 4.The control that Fig. 4 is shown is set
Standby 40 be only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 4, control equipment 40 is showed in the form of universal computing device.Control equipment 40 component may include
But it is not limited to: at least one above-mentioned processor 41, above-mentioned at least one processor 42, (including the storage of the different system components of connection
Device 42 and processor 41) bus 43.
Bus 43 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, processor or the local bus using any bus structures in a variety of bus structures.
Memory 42 may include the readable medium of form of volatile memory, such as random access memory (RAM) 421
And/or cache memory 422, it can further include read-only memory (ROM) 423.
Memory 42 can also include program/utility 425 with one group of (at least one) program module 424, this
The program module 424 of sample includes but is not limited to: operating system, one or more application program, other program modules and journey
It may include the realization of network environment in ordinal number evidence, each of these examples or certain combination.
Control equipment 40 can also be communicated with one or more external equipments 44 (such as keyboard, sensing equipment etc.), may be used also
Enable a user to equipment communication interact with control equipment 40 with one or more, and/or with enable the control equipment 40
Any equipment (such as router, modem etc.) communicated with one or more of the other calculating equipment communicates.This
Kind communication can be carried out by input/output (I/O) interface 45.Also, control equipment 40 can also pass through network adapter 46
With one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.
As shown, network adapter 46 is communicated by bus 43 with other modules for controlling equipment 40.It will be appreciated that though figure
In be not shown, can in conjunction with control equipment 40 use other hardware and/or software module, including but not limited to: microcode, equipment
Driver, redundant processor, external disk drive array, RAID system, tape drive and data backup storage system etc..
Control equipment provided in an embodiment of the present invention can be set in robot, it should be understood that by the embodiment of the present invention
The control equipment of offer is set in robot a kind of only preferable embodiment of the present invention, when it is implemented, can also incite somebody to action
Control equipment is set in other smart machines.
In some possible embodiments, the various aspects of robot cruise control method provided by the invention can be with
It is embodied as a kind of form of program product comprising program code, when described program product is run on a computing device, institute
State according to the present invention various exemplary implementations of the program code for making the computer equipment execute this specification foregoing description
Step in the robot cruise control method of mode, for example, the computer equipment can execute step as shown in fig. 1A
Rapid S11, control robot go on patrol point movement and step S12 to target according to the path of planning, patrol in control robot to target
During patrolling a movement, judge whether target patrol point is reachable, if so, S13 is thened follow the steps, if it is not, then executing step
Rapid S14；And step S13, control robot reach target patrol point and execute corresponding patrol mission, process terminates；Step
Target patrol point is skipped by S14, control robot.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example may be-but not limited to-electricity, magnetic, optical, electromagnetic, red
The system of outside line or semiconductor, device or device, or any above combination.The more specific example of readable storage medium storing program for executing
(non exhaustive list) includes: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory
(RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The program product for robot cruise of embodiments of the present invention can be deposited using portable compact disc is read-only
Reservoir (CD-ROM) and including program code, and can run on the computing device.However, program product of the invention is not limited to
This, in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, which can be commanded
Execution system, device or device use or in connection.
Readable signal medium may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying
Readable program code.The data-signal of this propagation can take various forms, including --- but being not limited to --- electromagnetism letter
Number, optical signal or above-mentioned any appropriate combination.Readable signal medium can also be other than readable storage medium storing program for executing it is any can
Read medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Program in connection.
The program code for including on readable medium can transmit with any suitable medium, including --- but being not limited to ---
Wirelessly, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind --- including local area network (LAN) or extensively
Domain net (WAN)-be connected to user calculating equipment, or, it may be connected to external computing device (such as utilize Internet service
Provider is connected by internet).
It should be noted that although being referred to several unit or sub-units of device in the above detailed description, this stroke
It point is only exemplary not enforceable.In fact, embodiment according to the present invention, it is above-described two or more
The feature and function of unit can embody in a unit.Conversely, the feature and function of an above-described unit can
It is to be embodied by multiple units with further division.
In addition, although describing the operation of the method for the present invention in the accompanying drawings with particular order, this do not require that or
Hint must execute these operations in this particular order, or have to carry out shown in whole operation be just able to achieve it is desired
As a result.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or by one
Step is decomposed into execution of multiple steps.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of robot cruise control method characterized by comprising
It controls robot and goes on patrol point movement to target according to the path of planning；
During the control robot goes on patrol point movement to the target, judge whether the target patrol is reachable；
If it is judged that target patrol point is unreachable, then controls the robot and skip the target patrol point.
2. the method as described in claim 1, which is characterized in that go on patrol point movement to the target controlling the robot
In the process, judge whether the target patrol point is reachable, specifically includes:
During the control robot goes on patrol point movement to the target, when the robot and target patrol point
The distance between within a preset range when, whether occupied detect target patrol point；
If it is and occupied duration duration be greater than the first preset duration, it is determined that target patrol point is unreachable.
3. method according to claim 2, which is characterized in that when detecting that the target patrol point is occupied, further includes:
Control the robot pause motion.
4. the method as described in claim 1, which is characterized in that go on patrol point movement to the target controlling the robot
In the process, judge whether the target patrol point is reachable, specifically includes:
During the control robot goes on patrol point movement to the target, when detecting barrier, the machine is controlled
People carries out avoidance, pause motion duration when detecting avoidance；
If pause motion duration is greater than the first preset duration, it is determined that the target patrol point is unreachable.
5. method as claimed in claim 4, which is characterized in that control the robot and carry out avoidance, comprising:
Determine the obstacle identity；
From the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, the obstacle identity pair determined is searched
The Robot dodge strategy answered, and control robot and execute the Robot dodge strategy.
6. method as claimed in claim 5, which is characterized in that the obstacle identity includes non-rapid moving obstacle and fast
Fast moving obstacle；And in the corresponding relationship between pre-stored obstacle identity and Robot dodge strategy, non-rapid movement
The corresponding Robot dodge strategy of barrier is to bypass the barrier according to the path planned again；Quickly moving obstacle is corresponding keeps away
Barrier strategy is pause motion.
7. a kind of robot cruise control apparatus characterized by comprising
Control unit goes on patrol point movement to target according to the path of planning for controlling robot；And judge in judging unit
When target patrol point is unreachable out, controls the robot and skip the target patrol point；
Judging unit, for sentencing during described control unit controls the robot and goes on patrol point movement to the target
Whether the target patrol point that breaks is reachable.
8. a kind of control equipment, which is characterized in that including at least one processor and at least one processor, wherein described
Memory is stored with computer program, when described program is executed by the processor, so that the processor perform claim is wanted
The step of seeking 1~6 any claim the method.
9. a kind of robot, which is characterized in that including control equipment according to any one of claims 8.
10. a kind of computer-readable medium, which is characterized in that it is stored with the computer program that can be executed by control equipment, when
When described program is run on the control device, so that the control equipment perform claim requires the step of 1~6 any the method
Suddenly.
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| CN113359761A (en) * | 2021-07-02 | 2021-09-07 | 广东电网有限责任公司 | Routing planning method and device for inspection path of robot for transformer substation and storage medium |
| CN114061590A (en) * | 2021-11-18 | 2022-02-18 | 北京仙宇科技有限公司 | Method for dynamically creating robot cruise coordinate and robot navigation method |
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| CN116934308A (en) * | 2023-09-15 | 2023-10-24 | 浙江恒逸石化有限公司 | Control method, device and equipment of road inspection equipment and storage medium |
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