CN112099488A - Narrow-passage passing method and device for mobile robot, mower and storage medium - Google Patents
Narrow-passage passing method and device for mobile robot, mower and storage medium Download PDFInfo
- Publication number
- CN112099488A CN112099488A CN202010817514.1A CN202010817514A CN112099488A CN 112099488 A CN112099488 A CN 112099488A CN 202010817514 A CN202010817514 A CN 202010817514A CN 112099488 A CN112099488 A CN 112099488A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- narrow
- point
- narrow road
- preset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000004590 computer program Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 241001417527 Pempheridae Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a narrow-passage passing method of a mobile robot, a device of a mower and a storage medium, wherein the method comprises the following steps: when the mobile robot is detected to collide with the boundary line, judging whether the boundary line is the boundary of the narrow road; if so, controlling the mobile robot to travel a preset distance according to a preset direction; correcting the theoretical position of the mobile robot to an actual position; searching grids which are respectively closest to an entry point and an exit point of the narrow channel in a preset number of grids in front of and behind the boundary line at the actual position; determining the moving direction and the moving distance of the mobile robot according to the grids which are respectively closest to the entry point and the exit point of the narrow channel and the length of the narrow channel; and controlling the mobile robot to travel the moving distance according to the moving direction. Compared with the existing position correction method, the invention effectively shortens the driving distance of the mobile robot outside the planned path, does not need to re-plan the path reaching the end position, saves the path planning time and further improves the driving efficiency.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a narrow-passage passing method and device of a mobile robot, a mower and a storage medium.
Background
Before the mower is used for mowing, the power-on conducting wire is used as a boundary line of a working area of the mower so as to control the mower to work in the boundary line. While the mowing area of the user is usually irregular, the working area framed by the border wire often forms a channel with a narrow width (narrow lane for short).
When the mower is required to reach the designated position, the mower identifies the starting point and the end point and plans the driving path according to the position information of the starting point and the end point. When the traveling path of the lawnmower from the start point to the end point includes a narrow lane, the lawnmower collides with the boundary line due to the deviation of the navigation position, and after the lawnmower collides with the boundary line, the position needs to be corrected again, and the path needs to be planned again.
In the conventional position correction method, the mower travels forward in the wire-strike direction, and after traveling to a position having an obvious environmental characteristic, the position of the mower is corrected according to the obvious environmental characteristic. When the position with obvious environmental characteristics is far away from the designated terminal and the mower is far away from the terminal in the position correction process, more time is needed for the mower to reach the designated position from the corrected position again, and the efficiency of the mower reaching the designated terminal is reduced.
Disclosure of Invention
The embodiment of the invention provides a narrow-passage passing method and device for a mobile robot, a mower and a storage medium, and aims to solve the problem that the efficiency of reaching a specified terminal point of the mower is low in the prior art.
The embodiment of the invention is realized in such a way that a narrow passage passing method of a mobile robot is provided, which is characterized by comprising the following steps:
when the mobile robot is detected to collide with a boundary line, judging whether the boundary line is a boundary of a narrow road or not;
if so, acquiring an entry point and an exit point of the narrow road and the length of the narrow road, and controlling the mobile robot to travel a preset distance in a preset direction;
correcting the theoretical position of the mobile robot to an actual position, wherein the actual position is on the boundary line;
searching grids which are respectively closest to the entry point and the exit point of the narrow channel in a preset number of grids in front of and behind the actual position along the boundary line;
determining a moving direction and a moving distance of the mobile robot according to grids respectively closest to an entry point and an exit point of the narrow road and the length of the narrow road;
and controlling the mobile robot to travel the moving distance according to the moving direction.
Further, the step of determining whether the boundary line is a boundary of a narrow road includes:
judging whether the planned path of the mobile robot passes through a narrow road or not;
when the planned path passes through a narrow road, acquiring an entry point and an exit point of the narrow road;
judging whether the distance between the line collision point and the entry point or the exit point of the narrow road is less than a preset length or not;
if so, judging that the collided boundary line is the boundary of the narrow road;
if not, the boundary line which is collided is judged not to be the boundary of the narrow road.
Further, the step of determining whether the planned path of the mobile robot passes through a narrow road comprises:
sequentially expanding all grids in the planned path towards four quadrants layer by layer;
in the expansion process, judging whether a boundary mark exists in each layer of expansion area, if so, stopping expansion, and recording the maximum expansion frequency as the current expansion frequency minus one;
judging whether the expansion times of four quadrants of the same grid meet a preset condition or not;
if so, judging that the planned path of the mobile robot passes through a narrow channel;
if not, the planned path of the mobile robot does not pass through the narrow channel;
the preset condition comprises that the sum of the maximum expansion times and the minimum expansion times is smaller than a first preset threshold, the difference between the maximum expansion times and the minimum expansion times is smaller than a second preset threshold, and the second preset threshold is smaller than the first preset threshold.
Furthermore, in the grids continuously meeting the preset condition, the position of the first grid is an entry point of the narrow channel, the position of the last grid is an exit point of the narrow channel, and the distance between the entry point and the exit point is the length of the narrow channel.
Furthermore, the step of sequentially marking the index numbers according to the outbound direction on the grids where the boundary lines in the map where the mobile robot is located, and determining the moving direction and the moving distance of the mobile robot according to the grids closest to the entry point and the exit point of the narrow road and the length of the narrow road comprises the following steps:
determining the moving direction of the mobile robot according to the index numbers of grids with the nearest distance between the entry point and the exit point of the narrow road;
and determining the moving distance of the mobile robot according to the moving direction of the mobile robot and the length of the narrow channel.
In addition, an embodiment of the present invention further provides a narrow passage passing device for a mobile robot, where the device includes:
the judging unit is used for judging whether the boundary line is the boundary of the narrow road or not when the mobile robot is detected to collide with the boundary line;
the first running unit is used for acquiring an entry point, an exit point and the length of a narrow road and controlling the mobile robot to run for a preset distance in a preset direction if the boundary line is the boundary of the narrow road;
a position correction unit configured to correct a theoretical position of the mobile robot to an actual position, the actual position being on the boundary line;
the grid searching unit is used for searching grids which are respectively closest to the entry point and the exit point of the narrow channel in a preset number of grids in front of and behind the actual position along the boundary line;
a determination unit for determining a moving direction and a moving distance of the mobile robot according to a grid respectively closest to an entry point and an exit point of the narrow road and a length of the narrow road;
and the second running unit is used for controlling the mobile robot to run the moving distance according to the moving direction.
Further, the judging unit includes:
the first judgment module is used for judging whether the planned path of the mobile robot passes through a narrow road or not;
the acquisition module is used for acquiring an entry point and an exit point of a narrow road when the planned path passes through the narrow road;
the second judgment module is used for judging whether the distance between the line collision point and the entry point or the exit point of the narrow road is less than the preset length or not;
the first judging module is used for judging that the collided boundary line is the boundary of the narrow road if the distance between the collided boundary line and the entry point or the exit point of the narrow road is less than the preset length;
and the second judging module is used for judging that the collided boundary line is not the boundary of the narrow road if the distances between the collided boundary line and the entry point or the exit point of the narrow road are both larger than the preset length.
Further, the first determining module includes:
the expansion sub-module is used for sequentially expanding all grids in the planned path towards four quadrants layer by layer;
the expansion frequency recording submodule is used for judging whether a boundary mark exists in each layer of expansion area in the expansion process, if so, stopping expansion, and recording the maximum expansion frequency as the current expansion frequency minus one;
the judgment submodule is used for judging whether the expansion times of four quadrants of the same grid meet a preset condition or not;
the first judgment sub-module is used for judging that the planned path of the mobile robot passes through a narrow road if the expansion times of four quadrants of the same grid meet a preset condition;
the second judgment sub-module is used for judging whether the planned path of the mobile robot passes through a narrow channel or not if the expansion times of the four quadrants of the same grid do not meet the preset condition;
the preset condition comprises that the sum of the maximum expansion times and the minimum expansion times is smaller than a first preset threshold, the difference between the maximum expansion times and the minimum expansion times is smaller than a second preset threshold, and the second preset threshold is smaller than the first preset threshold.
Furthermore, in the grids continuously meeting the preset condition, the position of the first grid is an entry point of the narrow channel, the position of the last grid is an exit point of the narrow channel, and the distance between the entry point and the exit point is the length of the narrow channel.
Furthermore, the grid where the boundary line in the map where the mobile robot is located is sequentially marked with the index numbers according to the outbound direction, and the determining unit includes:
the direction determining module is used for determining the moving direction of the mobile robot according to the index number of the grid with the nearest distance between the entry point and the exit point of the narrow road;
and the distance determining module is used for determining the moving distance of the mobile robot according to the moving direction of the mobile robot and the length of the narrow channel.
In addition, an embodiment of the present invention further provides a lawn mower, including: a processor, a memory, and a computer program stored on and executable on the memory, the processor, when executing the computer program, performing the lane crossing of the mobile robot of any of claims 1-5.
Furthermore, an embodiment of the present invention further provides a storage medium, wherein the computer readable storage medium stores thereon a lane crossing program of a mobile robot, and the lane crossing program of the mobile robot is executed by a processor to implement the steps of the lane crossing method of the mobile robot according to any one of claims 1 to 5
Compared with the prior art, the method has the advantages that when the mobile robot is detected to collide with the boundary line, whether the collided boundary line is a narrow boundary is judged, if yes, information such as an entry point, an exit point and the length of the narrow road is obtained, and the mobile robot is controlled to travel for a preset distance in a preset direction. After the mobile robot travels a preset distance in a preset direction, the theoretical position calculated by navigation in the mobile robot is corrected to the real position (actual position) of the mobile robot, and compared with the existing position correction for searching for obvious environmental characteristics, the travel distance of the mobile robot outside a planned path is effectively shortened, and the working efficiency of the mobile robot is improved. After the position of the mobile robot is corrected, grids closest to the entry point and the exit point of the narrow road are searched in a preset number of grids along the front and back of the boundary line at the actual position of the mobile robot, the moving direction of the mobile robot passing through the narrow road is determined according to the grid information of the two searched grids, the moving distance of the mobile robot passing through the narrow road is determined according to the moving direction and the length of the narrow road, the mobile robot is controlled to travel the moving distance according to the moving direction, the path reaching the end position does not need to be planned again through the narrow road, the path planning time is saved, and the traveling efficiency is improved.
Drawings
Fig. 1 is a schematic flow chart of a narrow passage passing method of a mobile robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a grid map to which embodiments of the present invention relate;
fig. 3 is a detailed schematic diagram of step S10 in the lane crossing method of the mobile robot according to the embodiment of the present invention;
fig. 4 is a block diagram of a lane crossing apparatus of a mobile robot according to an embodiment of the present invention;
fig. 5 is another block diagram of the narrow passage device of the mobile robot according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
Referring to fig. 1, a flow chart of a narrow passage method of a mobile robot according to an embodiment of the present invention is shown, where the method includes the following steps:
and step S10, when the mobile robot is detected to collide with the boundary line, judging whether the boundary line is the boundary of the narrow road.
The mobile robot includes, but is not limited to, a mobile device such as a mower, a sweeper, and a scrubber, and the mower is exemplified in the present embodiment, and is not limited to the applicable main body of the method for the mobile robot to pass through.
As shown in fig. 2, the grid map of the mobile robot includes a work area 001, a boundary line 002, and a base station 003. The mobile robot moves and operates in the work area 001, and the boundary line 002 is an electric conduction line. When the mobile robot needs to move from the starting point A to the end point B, the controller of the mobile robot plans a planned path for the mobile robot to reach the end point B according to the position information of the starting point A and the end point B and the grid map. The planned path is composed of a planned path grid (small black dots in fig. 2).
In the grid map, when the distance between two parallel boundary lines is within a certain preset width range, a channel formed between the two boundary lines is called a narrow channel, the first grid entering the narrow channel is used as an entry point (such as a point Z in fig. 2) of the narrow channel, and the last grid passing through the narrow channel is used as an exit point (such as a point Z' in fig. 2) of the narrow channel. The preset width range can be specifically set according to the width of the mobile robot, the value of the preset width range is generally slightly larger than the width of the robot and serves as the upper limit of the preset width range, the width of the robot serves as the lower limit of the preset width range, for example, the width of the robot is 0.3 meter, and the width of a channel is 0.3-0.75 meter and serves as a narrow channel.
After the planned path of the mobile robot is planned, narrow lane information of all narrow lanes passing through the planned path is acquired, and when the mobile robot is detected to collide with a boundary line in the moving process of the mobile robot, whether the collided boundary line is the boundary of the narrow lane or not is judged according to the position of a line collision point and the narrow lane information. The information of the narrow channel comprises information of an entry point, an exit point, a length of the narrow channel, a width of the narrow channel and the like of the narrow channel.
And step S20, if yes, acquiring an entry point and an exit point of the narrow road and the length of the narrow road, and controlling the mobile robot to travel a preset distance in a preset direction.
Step S30, the theoretical position of the mobile robot is corrected to an actual position, and the actual position is on the boundary line.
The preset direction comprises a station return direction, a station exit direction and other set directions; the theoretical position is a position calculated by navigation in the mobile robot, and the actual position is the real position of the mobile robot.
Because the mobile robot has positioning deviation, the deviation exists between the theoretical position calculated by navigation in the mobile robot and the real position of the mobile robot, so that the mobile robot collides with the boundary line when running along the planned path, at the moment, the position of the mobile robot needs to be corrected again, the theoretical position and the real position are overlapped, and the probability of colliding with the boundary line in the subsequent running process is reduced.
For example, as shown in fig. 2, when the mobile robot collides with the point O on the boundary line, the mobile robot is controlled to travel a preset distance along the boundary line in a preset direction (return direction) to reach the point C, and the theoretical position calculated by navigation in the mobile robot is the point C', so that the navigation position in the mobile robot is corrected to be the point C.
Therefore, if it is determined that the boundary line where the mobile robot collides is the boundary of the lane, the mobile robot is controlled to travel a predetermined distance in a predetermined direction along the boundary line so that the mobile robot is away from the lane. And further, a touch line correction algorithm is adopted to pull the theoretical position calculated by navigation in the mobile robot to a boundary line, so that the position correction of the mobile robot is realized.
Wherein, in order to guarantee that the mobile robot can ride on the boundary line completely after traveling the preset distance according to the preset direction, the value of the preset distance is slightly greater than the length of the mobile robot. Compared with the existing position correction method for searching for obvious environmental characteristics, the position correction method has the advantages that the driving distance of the mobile robot outside the planned path is effectively shortened, and the working efficiency of the mobile robot is improved.
When a map is created, a return direction and an outbound direction are determined, and usually, a base station is used as a reference point, a counterclockwise direction along the boundary line is used as the outbound direction, and conversely, a clockwise direction along the boundary line is used as the return direction with the base station as the reference point.
Step S40, searching for the grids closest to the entry point and the exit point of the narrow lane, respectively, among a preset number of grids before and after the actual position along the boundary line.
And step S50, determining the moving direction and the moving distance of the mobile robot according to the grids respectively closest to the entrance point and the exit point of the narrow road and the length of the narrow road.
And step S60, controlling the mobile robot to travel the travel distance in the travel direction.
In order for the mobile robot to smoothly pass through the lane which has collided with the boundary previously, the positional relationship between the mobile robot and the lane is determined, and the mobile robot is controlled to pass through the lane along the boundary line.
Specifically, grids closest to the entry point and the exit point of the narrow road are searched in a preset number of grids along the front and back of the boundary line at the actual position of the mobile robot, the moving direction of the mobile robot is determined according to the position relation of the two grids closest to the entry point and the exit point, and the moving distance of the mobile robot required to move through the narrow road is determined according to the moving direction and the length of the narrow road. And then, the mobile robot is controlled to move the moving distance according to the moving direction, and the mobile robot smoothly passes through the narrow road. The path reaching the end point position does not need to be planned again, the path planning time is saved, and the driving efficiency is improved.
The grids on which the boundary lines are positioned are sequentially marked with index numbers according to the outbound direction when the map is established, so that the moving direction of the mobile robot passing through the narrow road can be determined according to the index numbers of the grids respectively closest to the entry point and the exit point of the narrow road. When the grid closest to the entry point in the index number is smaller than the grid away from the exit point, the moving direction of the narrow passage is the outbound direction; when the grid closest to the entry point in the index number is larger than the grid from the exit point, the direction of movement through the slot is the direction of return to the station. Because the current driving direction of the robot is the station returning direction, in order to ensure that the mobile robot can pass through the narrow passage, when the determined moving direction is the station exiting direction, the moving distance is slightly larger than the length of the narrow passage plus the preset distance when the mobile robot returns to the station; and when the determined moving direction is the station returning direction, the moving distance is slightly larger than the length of the narrow road minus the preset distance when the mobile robot returns to the station.
For example, as shown in fig. 2, when the mobile robot collides with the boundary line O point, the mobile robot is controlled to travel a preset distance along the boundary line in a preset direction (station return direction) to reach the point C, and then grids closest to the point Z ' of the narrow-lane entry point and the point Z ' of the narrow-lane exit point are searched along the upper and lower 20 grids of the boundary line with the grid of the point C as the center, and the results are the grids of the point D and the point D ', respectively. Further, if the index number of the grid of the point D is smaller than the index number of the grid of the point D', the moving direction passing through the narrow road is the outbound direction, and the moving distance is the sum of the length of the narrow road and the preset distance of the vehicle running in the preset direction.
Further, after the mobile robot moves the moving distance through the narrow road according to the determined moving direction, the mobile robot is off-line and continues to travel along the planned path, and if the mobile robot collides with the boundary of the narrow road in the traveling process, the mobile robot still passes through the narrow road according to the method until the mobile robot reaches the designated end position.
In this embodiment, when it is detected that the mobile robot collides with the boundary line, it is determined whether the collided boundary line is a narrow boundary, and if so, information such as an entry point, an exit point, a narrow road length, and the like of the narrow road is acquired, and the mobile robot is controlled to travel a preset distance in a preset direction. After the mobile robot travels a preset distance in a preset direction, the theoretical position calculated by navigation in the mobile robot is corrected to the real position (actual position) of the mobile robot, and compared with the existing position correction for searching for obvious environmental characteristics, the travel distance of the mobile robot outside a planned path is effectively shortened, and the working efficiency of the mobile robot is improved. After the position of the mobile robot is corrected, grids closest to the entry point and the exit point of the narrow road are searched in a preset number of grids along the front and back of the boundary line at the actual position of the mobile robot, the moving direction of the mobile robot passing through the narrow road is determined according to the grid information of the two searched grids, the moving distance of the mobile robot passing through the narrow road is determined according to the moving direction and the length of the narrow road, the mobile robot is controlled to travel the moving distance according to the moving direction, the path reaching the end position does not need to be planned again through the narrow road, the path planning time is saved, and the traveling efficiency is improved.
Example two
Referring to fig. 3, a detailed schematic diagram of the step S10 in the second embodiment of the lane crossing method of the mobile robot of the present invention is shown, where the difference between the second embodiment and the first embodiment is that the step S10 in the first embodiment includes:
and step S11, judging whether the planned path of the mobile robot passes through a narrow road.
Sequentially expanding all grids in the planned path towards four quadrants layer by layer;
in the expansion process, judging whether a boundary mark exists in each layer of expansion area, if so, stopping expansion, and recording the maximum expansion frequency as the current expansion frequency minus one; if not, the expansion is continued.
Judging whether the expansion times of the same grid in four quadrants meet preset conditions, if so, judging that the planned path of the mobile robot passes through a narrow channel; if not, the planned path of the mobile robot does not pass through the narrow channel; the preset condition comprises that the sum of the maximum expansion times and the minimum expansion times is smaller than a first preset threshold, the difference between the maximum expansion times and the minimum expansion times is smaller than a second preset threshold, and the second preset threshold is smaller than the first preset threshold.
For example, the first preset threshold is 6 times, and the second preset threshold is 4. The expansion times of the grid X expanding towards the four quadrants in the planned path are respectively 1 time, 3 times, 4 times and 3 times, then the maximum expansion time is 4 times, the minimum expansion time is 1 time, the sum of the maximum expansion time and the minimum expansion time is 5, and the difference between the maximum expansion time and the minimum expansion time is 3, so that the grid X is in the narrow road, and the planned path of the mobile robot passes through the narrow road.
Step S12, when the planned path passes through a narrow road, acquiring an entry point and an exit point of the narrow road.
In the grids continuously meeting the preset conditions, the position of the first grid is an entry point of the narrow channel, the position of the last grid is an exit point of the narrow channel, and the distance between the entry point and the exit point is the length of the narrow channel.
Step S13, determine whether the distance between the line collision point and the entrance point or the exit point of the narrow road is less than a preset length.
In step S14, if yes, it is determined that the collided boundary line is a narrow lane boundary.
In step S15, if not, it is determined that the boundary line that has collided with is not a boundary of the narrow lane.
When the planned path of the mobile robot passes through the narrow road and the entry point and the exit point of the narrow road are obtained, calculating the distance from a line collision point to the entry point and the exit point of the narrow road, and when the distance from the line collision point to the entry point or the exit point of the narrow road is smaller than a preset length, judging that a boundary line collided by the mobile robot is the boundary of the narrow road; and when the distance between the line collision point and the entrance point or the exit point of the narrow road is greater than the preset length, judging that the boundary line collided by the mobile robot is the boundary of the narrow road.
In the embodiment, whether the planned path of the mobile robot passes through a narrow road is judged, after the planned path of the mobile robot passes through the narrow road is determined, an entry point and an exit point of the narrow road are obtained, the distance from a line collision point to the entry point and the exit point of the narrow road is calculated, and when the distance from the line collision point to the entry point or the exit point of the narrow road is smaller than a preset length, a boundary line collided by the mobile robot is judged to be the boundary of the narrow road; when the distance between the line collision point and the entrance point or the exit point of the narrow road is larger than the preset length, the boundary line collided by the mobile robot is judged to be the boundary of the narrow road, and whether the boundary collided by the mobile robot is the boundary of the narrow road is effectively judged.
EXAMPLE III
Referring to fig. 4, it is a module intention of a narrow passage device of a mobile robot according to a third embodiment of the present invention, in which the narrow passage device of the mobile robot includes:
and the judging unit 10 is used for judging whether the boundary line is the boundary of the narrow road or not when the mobile robot is detected to collide with the boundary line.
The mobile robot includes, but is not limited to, a mobile device such as a mower, a sweeper, and a scrubber, and the mower is exemplified in the present embodiment, and is not limited to the applicable main body of the method for the mobile robot to pass through.
As shown in fig. 2, the grid map of the mobile robot includes a work area 001, a boundary line 002, and a base station 003. The mobile robot moves and operates in the work area 001, and the boundary line 002 is an electric conduction line. When the mobile robot needs to move from the starting point A to the end point B, the controller of the mobile robot plans a planned path for the mobile robot to reach the end point B according to the position information of the starting point A and the end point B and the grid map. The planned path is composed of a planned path grid (small black dots in fig. 2).
In the grid map, when the distance between two parallel boundary lines is within a certain preset width range, a channel formed between the two boundary lines is called a narrow channel, the first grid entering the narrow channel is used as an entry point (such as a point Z in fig. 2) of the narrow channel, and the last grid passing through the narrow channel is used as an exit point (such as a point Z' in fig. 2) of the narrow channel. The preset width range can be specifically set according to the width of the mobile robot, the value of the preset width range is generally slightly larger than the width of the robot and serves as the upper limit of the preset width range, the width of the robot serves as the lower limit of the preset width range, for example, the width of the robot is 0.3 meter, and the width of a channel is 0.3-0.75 meter and serves as a narrow channel.
After the planned path of the mobile robot is planned, narrow lane information of all narrow lanes passing through the planned path is acquired, and when the mobile robot is detected to collide with a boundary line in the moving process of the mobile robot, whether the collided boundary line is the boundary of the narrow lane or not is judged according to the position of a line collision point and the narrow lane information. The information of the narrow channel comprises information of an entry point, an exit point, a length of the narrow channel, a width of the narrow channel and the like of the narrow channel.
The first traveling unit 20 is configured to, if the boundary line is a boundary of a narrow road, obtain an entry point, an exit point, and a length of the narrow road, and control the mobile robot to travel a preset distance in a preset direction;
a position correcting unit 30 for correcting a theoretical position of the mobile robot to an actual position, the actual position being on the boundary line;
the theoretical position is a position calculated by navigation in the mobile robot, and the actual position is a real position of the mobile robot.
Because the mobile robot has positioning deviation, the deviation exists between the theoretical position calculated by navigation in the mobile robot and the real position of the mobile robot, so that the mobile robot collides with the boundary line when running along the planned path, at the moment, the position of the mobile robot needs to be corrected again, the theoretical position and the real position are overlapped, and the probability of colliding with the boundary line in the subsequent running process is reduced.
For example, as shown in fig. 2, when the mobile robot collides with the point O on the boundary line, the mobile robot is controlled to travel a preset distance along the boundary line in a preset direction (return direction) to reach the point C, and the theoretical position calculated by navigation in the mobile robot is the point C', so that the navigation position in the mobile robot is corrected to be the point C.
Therefore, if it is determined that the boundary line where the mobile robot collides is the boundary of the lane, the mobile robot is controlled to travel a predetermined distance in a predetermined direction along the boundary line so that the mobile robot is away from the lane. And further, a touch line correction algorithm is adopted to pull the theoretical position calculated by navigation in the mobile robot to a boundary line, so that the position correction of the mobile robot is realized.
Wherein, in order to guarantee that the mobile robot can ride on the boundary line completely after traveling the preset distance according to the preset direction, the value of the preset distance is slightly greater than the length of the mobile robot. Compared with the existing position correction method for searching for obvious environmental characteristics, the position correction method has the advantages that the driving distance of the mobile robot outside the planned path is effectively shortened, and the working efficiency of the mobile robot is improved.
When a map is created, a return direction and an outbound direction are determined, and usually, a base station is used as a reference point, a counterclockwise direction along the boundary line is used as the outbound direction, and conversely, a clockwise direction along the boundary line is used as the return direction with the base station as the reference point.
A grid searching unit 40, configured to search for grids closest to an entry point and an exit point of the narrow road, respectively, among a preset number of grids before and after the actual position along the boundary line;
a determination unit 50 for determining a moving direction and a moving distance of the mobile robot according to the grids respectively closest to the entry point and the exit point of the narrow road and the length of the narrow road;
the determination unit includes:
the direction determining module is used for determining the moving direction of the mobile robot according to the index number of the grid with the nearest distance between the entry point and the exit point of the narrow road, and the moving direction comprises a preset direction and an exit direction;
and the distance determining module is used for determining the moving distance of the mobile robot according to the moving direction of the mobile robot and the length of the narrow channel.
And a second traveling unit 60 configured to control the mobile robot to travel the travel distance in the travel direction.
In order for the mobile robot to smoothly pass through the lane which has collided with the boundary previously, the positional relationship between the mobile robot and the lane is determined, and the mobile robot is controlled to pass through the lane along the boundary line.
Specifically, grids closest to the entry point and the exit point of the narrow road are searched in a preset number of grids along the front and back of the boundary line at the actual position of the mobile robot, the moving direction of the mobile robot is determined according to the position relation of the two grids closest to the entry point and the exit point, and the moving distance of the mobile robot required to move through the narrow road is determined according to the moving direction and the length of the narrow road. And then, the mobile robot is controlled to move the moving distance according to the moving direction, and the mobile robot smoothly passes through the narrow road. The path reaching the end point position does not need to be planned again, the path planning time is saved, and the driving efficiency is improved.
The grids on which the boundary lines are positioned are sequentially marked with index numbers according to the outbound direction when the map is established, so that the moving direction of the mobile robot passing through the narrow road can be determined according to the index numbers of the grids respectively closest to the entry point and the exit point of the narrow road. When the grid closest to the entry point in the index number is smaller than the grid away from the exit point, the moving direction of the narrow passage is the outbound direction; when the grid closest to the entry point in the index number is larger than the grid from the exit point, the direction of movement through the slot is the direction of return to the station. Because the current driving direction of the robot is the station returning direction, in order to ensure that the mobile robot can pass through the narrow passage, when the determined moving direction is the station exiting direction, the moving distance is slightly larger than the length of the narrow passage plus the preset distance when the mobile robot returns to the station; and when the determined moving direction is the station returning direction, the moving distance is slightly larger than the length of the narrow road minus the preset distance when the mobile robot returns to the station.
For example, as shown in fig. 2, when the mobile robot collides with the boundary line O point, the mobile robot is controlled to travel a preset distance along the boundary line in a preset direction (station return direction) to reach the point C, and then grids closest to the point Z ' of the narrow-lane entry point and the point Z ' of the narrow-lane exit point are searched along the upper and lower 20 grids of the boundary line with the grid of the point C as the center, and the results are the grids of the point D and the point D ', respectively. Further, if the index number of the grid of the point D is smaller than the index number of the grid of the point D', the moving direction passing through the narrow road is the outbound direction, and the moving distance is the sum of the length of the narrow road and the preset distance of the vehicle running in the preset direction.
Further, after the mobile robot moves the moving distance through the narrow road according to the determined moving direction, the mobile robot is off-line and continues to travel along the planned path, and if the mobile robot collides with the boundary of the narrow road in the traveling process, the mobile robot still passes through the narrow road according to the method until the mobile robot reaches the designated end position.
In this embodiment, when it is detected that the mobile robot collides with the boundary line, it is determined whether the collided boundary line is a narrow boundary, and if so, information such as an entry point, an exit point, a narrow road length, and the like of the narrow road is acquired, and the mobile robot is controlled to travel a preset distance in a preset direction. After the mobile robot travels a preset distance in a preset direction, the theoretical position calculated by navigation in the mobile robot is corrected to the real position (actual position) of the mobile robot, and compared with the existing position correction for searching for obvious environmental characteristics, the travel distance of the mobile robot outside a planned path is effectively shortened, and the working efficiency of the mobile robot is improved. After the position of the mobile robot is corrected, grids closest to the entry point and the exit point of the narrow road are searched in a preset number of grids along the front and back of the boundary line at the actual position of the mobile robot, the moving direction of the mobile robot passing through the narrow road is determined according to the grid information of the two searched grids, the moving distance of the mobile robot passing through the narrow road is determined according to the moving direction and the length of the narrow road, the mobile robot is controlled to travel the moving distance according to the moving direction, the path reaching the end position does not need to be planned again through the narrow road, the path planning time is saved, and the traveling efficiency is improved.
Example four
Referring to fig. 5, it is a module intention of a narrow passage device of a mobile robot according to a fourth embodiment of the present invention, and a determining unit 10 in the fourth embodiment includes:
the judgment unit 10 includes:
the first judging module 11 is configured to judge whether the planned path of the mobile robot passes through a narrow road;
sequentially expanding all grids in the planned path towards four quadrants layer by layer;
in the expansion process, judging whether a boundary mark exists in each layer of expansion area, if so, stopping expansion, and recording the maximum expansion frequency as the current expansion frequency minus one; if not, the expansion is continued.
Judging whether the expansion times of the same grid in four quadrants meet preset conditions, if so, judging that the planned path of the mobile robot passes through a narrow channel; if not, the planned path of the mobile robot does not pass through the narrow channel; the preset condition comprises that the sum of the maximum expansion times and the minimum expansion times is smaller than a first preset threshold, the difference between the maximum expansion times and the minimum expansion times is smaller than a second preset threshold, and the second preset threshold is smaller than the first preset threshold.
For example, the first preset threshold is 6 times, and the second preset threshold is 4. The expansion times of the grid X expanding towards the four quadrants in the planned path are respectively 1 time, 3 times, 4 times and 3 times, then the maximum expansion time is 4 times, the minimum expansion time is 1 time, the sum of the maximum expansion time and the minimum expansion time is 5, and the difference between the maximum expansion time and the minimum expansion time is 3, so that the grid X is in the narrow road, and the planned path of the mobile robot passes through the narrow road. The acquisition module is used for acquiring an entry point and an exit point of a narrow road when the planned path passes through the narrow road;
an obtaining module 12, configured to obtain an entry point and an exit point of a narrow road when the planned path passes through the narrow road;
in the grids continuously meeting the preset conditions, the position of the first grid is an entry point of the narrow channel, the position of the last grid is an exit point of the narrow channel, and the distance between the entry point and the exit point is the length of the narrow channel.
The second judging module 13 is configured to judge whether a distance between the line collision point and an entry point or an exit point of the narrow road is smaller than a preset length;
the first judging module 14 is used for judging that the collided boundary line is the boundary of the narrow road if the distance between the collided line point and the entry point or the exit point of the narrow road is less than the preset length;
and the second judging module 15 is used for judging that the collided boundary line is not the boundary of the narrow road if the distances between the collided boundary line and the entry point or the exit point of the narrow road are both larger than the preset length.
When the planned path of the mobile robot passes through the narrow road and the entry point and the exit point of the narrow road are obtained, calculating the distance from a line collision point to the entry point and the exit point of the narrow road, and when the distance from the line collision point to the entry point or the exit point of the narrow road is smaller than a preset length, judging that a boundary line collided by the mobile robot is the boundary of the narrow road; and when the distance between the line collision point and the entrance point or the exit point of the narrow road is greater than the preset length, judging that the boundary line collided by the mobile robot is the boundary of the narrow road.
In the embodiment, whether the planned path of the mobile robot passes through a narrow road is judged, after the planned path of the mobile robot passes through the narrow road is determined, an entry point and an exit point of the narrow road are obtained, the distance from a line collision point to the entry point and the exit point of the narrow road is calculated, and when the distance from the line collision point to the entry point or the exit point of the narrow road is smaller than a preset length, a boundary line collided by the mobile robot is judged to be the boundary of the narrow road; when the distance between the line collision point and the entrance point or the exit point of the narrow road is larger than the preset length, the boundary line collided by the mobile robot is judged to be the boundary of the narrow road, and whether the boundary collided by the mobile robot is the boundary of the narrow road is effectively judged.
The realization principle and the generated technical effect of the narrow passage device of the mobile robot provided by the invention are the same as those of the narrow passage method of the mobile robot, and for the sake of brief description, corresponding contents in the narrow passage method of the mobile robot can be referred to where the narrow passage device of the mobile robot is not mentioned.
In addition, the embodiment of the invention also provides a mower which comprises the narrow passage device of the mobile robot in the three to four embodiments.
Furthermore, an embodiment of the present invention further provides a storage medium, where a narrow passage program for a mobile robot is stored, and the narrow passage program for the mobile robot is executed by a processor to implement the steps of the narrow passage method for the mobile robot described in the above first to second embodiments.
For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (12)
1. A method for narrow passage of a mobile robot, characterized in that the method comprises the steps of:
when the mobile robot is detected to collide with a boundary line, judging whether the boundary line is a boundary of a narrow road or not;
if so, acquiring an entry point and an exit point of the narrow road and the length of the narrow road, and controlling the mobile robot to travel a preset distance in a preset direction;
correcting the theoretical position of the mobile robot to an actual position, wherein the actual position is on the boundary line;
searching grids which are respectively closest to the entry point and the exit point of the narrow channel in a preset number of grids in front of and behind the actual position along the boundary line;
determining a moving direction and a moving distance of the mobile robot according to grids respectively closest to an entry point and an exit point of the narrow road and the length of the narrow road;
and controlling the mobile robot to travel the moving distance according to the moving direction.
2. The lane crossing method of a mobile robot according to claim 1, wherein the step of determining whether the boundary line is a boundary of a lane comprises:
judging whether the planned path of the mobile robot passes through a narrow road or not;
when the planned path passes through a narrow road, acquiring an entry point and an exit point of the narrow road;
judging whether the distance between the line collision point and the entry point or the exit point of the narrow road is less than a preset length or not;
if so, judging that the collided boundary line is the boundary of the narrow road;
if not, the boundary line which is collided is judged not to be the boundary of the narrow road.
3. The method for narrow passage of a mobile robot according to claim 2, wherein the step of judging whether the planned path of the mobile robot passes through the narrow passage comprises:
sequentially expanding all grids in the planned path towards four quadrants layer by layer;
in the expansion process, judging whether a boundary mark exists in each layer of expansion area, if so, stopping expansion, and recording the maximum expansion frequency as the current expansion frequency minus one;
judging whether the expansion times of four quadrants of the same grid meet a preset condition or not;
if so, judging that the planned path of the mobile robot passes through a narrow channel;
if not, the planned path of the mobile robot does not pass through the narrow channel;
the preset condition comprises that the sum of the maximum expansion times and the minimum expansion times is smaller than a first preset threshold, the difference between the maximum expansion times and the minimum expansion times is smaller than a second preset threshold, and the second preset threshold is smaller than the first preset threshold.
4. The lane crossing method of a mobile robot according to claim 3, wherein, of the grids that continuously satisfy the predetermined condition, a first grid is located at an entrance point of the lane, a last grid is located at an exit point of the lane, and a distance between the entrance point and the exit point is a length of the lane.
5. The narrow lane passage method of a mobile robot according to claim 1, wherein a grid on which a boundary line in a map on which the mobile robot is located is sequentially marked with index numbers in an outbound direction, and the step of determining the moving direction and the moving distance of the mobile robot based on the closest grid to an entry point and an exit point of the narrow lane and the length of the narrow lane comprises:
determining the moving direction of the mobile robot according to the index numbers of grids with the nearest distance between the entry point and the exit point of the narrow road;
and determining the moving distance of the mobile robot according to the moving direction of the mobile robot and the length of the narrow channel.
6. A lane crossing apparatus of a mobile robot, characterized in that the apparatus comprises:
the judging unit is used for judging whether the boundary line is the boundary of the narrow road or not when the mobile robot is detected to collide with the boundary line;
the first running unit is used for acquiring an entry point, an exit point and the length of a narrow road and controlling the mobile robot to run for a preset distance in a preset direction if the boundary line is the boundary of the narrow road;
a position correction unit configured to correct a theoretical position of the mobile robot to an actual position, the actual position being on the boundary line;
the grid searching unit is used for searching grids which are respectively closest to the entry point and the exit point of the narrow channel in a preset number of grids in front of and behind the actual position along the boundary line;
a determination unit for determining a moving direction and a moving distance of the mobile robot according to a grid respectively closest to an entry point and an exit point of the narrow road and a length of the narrow road;
and the second running unit is used for controlling the mobile robot to run the moving distance according to the moving direction.
7. The narrow passage device of a mobile robot according to claim 6, wherein said judging unit comprises:
the first judgment module is used for judging whether the planned path of the mobile robot passes through a narrow road or not;
the acquisition module is used for acquiring an entry point and an exit point of a narrow road when the planned path passes through the narrow road;
the second judgment module is used for judging whether the distance between the line collision point and the entry point or the exit point of the narrow road is less than the preset length or not;
the first judging module is used for judging that the collided boundary line is the boundary of the narrow road if the distance between the collided boundary line and the entry point or the exit point of the narrow road is less than the preset length;
and the second judging module is used for judging that the collided boundary line is not the boundary of the narrow road if the distances between the collided boundary line and the entry point or the exit point of the narrow road are both larger than the preset length.
8. The narrow-passage transit device of a mobile robot according to claim 7, wherein the first judging module includes:
the expansion sub-module is used for sequentially expanding all grids in the planned path towards four quadrants layer by layer;
the expansion frequency recording submodule is used for judging whether a boundary mark exists in each layer of expansion area in the expansion process, if so, stopping expansion, and recording the maximum expansion frequency as the current expansion frequency minus one;
the judgment submodule is used for judging whether the expansion times of four quadrants of the same grid meet a preset condition or not;
the first judgment sub-module is used for judging that the planned path of the mobile robot passes through a narrow road if the expansion times of four quadrants of the same grid meet a preset condition;
the second judgment sub-module is used for judging whether the planned path of the mobile robot passes through a narrow channel or not if the expansion times of the four quadrants of the same grid do not meet the preset condition;
the preset condition comprises that the sum of the maximum expansion times and the minimum expansion times is smaller than a first preset threshold, the difference between the maximum expansion times and the minimum expansion times is smaller than a second preset threshold, and the second preset threshold is smaller than the first preset threshold.
9. The device for passing a narrow lane of a mobile robot according to claim 8, wherein, among the grids which continuously satisfy the predetermined condition, the first grid is located at an entrance point of the narrow lane, the last grid is located at an exit point of the narrow lane, and the distance between the entrance point and the exit point is the length of the narrow lane.
10. The apparatus for narrow passage of mobile robot according to claim 8, wherein the grid on which the boundary line on the map on which the mobile robot is located is sequentially marked with index numbers in the outbound direction, and the determining unit comprises:
the direction determining module is used for determining the moving direction of the mobile robot according to the index number of the grid with the nearest distance between the entry point and the exit point of the narrow road;
and the distance determining module is used for determining the moving distance of the mobile robot according to the moving direction of the mobile robot and the length of the narrow channel.
11. A lawnmower, characterized in that it comprises: a processor, a memory, and a computer program stored on and executable on the memory, the processor, when executing the computer program, performing the lane crossing of the mobile robot of any of claims 1-5.
12. A storage medium, characterized in that the computer-readable storage medium has stored thereon a lane crossing program of a mobile robot, which when executed by a processor implements the steps of the lane crossing method of a mobile robot according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010817514.1A CN112099488B (en) | 2020-08-14 | 2020-08-14 | Narrow-channel passing method and device for mobile robot, mower and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010817514.1A CN112099488B (en) | 2020-08-14 | 2020-08-14 | Narrow-channel passing method and device for mobile robot, mower and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112099488A true CN112099488A (en) | 2020-12-18 |
| CN112099488B CN112099488B (en) | 2024-06-14 |
Family
ID=73753742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010817514.1A Active CN112099488B (en) | 2020-08-14 | 2020-08-14 | Narrow-channel passing method and device for mobile robot, mower and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112099488B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112857374A (en) * | 2021-01-07 | 2021-05-28 | 华南理工大学 | Mobile robot feasibility method based on equivalent expansion in narrow environment space |
| CN113219967A (en) * | 2021-04-15 | 2021-08-06 | 上海岚豹智能科技有限公司 | Method and equipment for mobile robot to pass through narrow road |
| WO2022134336A1 (en) * | 2020-12-22 | 2022-06-30 | 莱克电气绿能科技(苏州)有限公司 | Mobile robot control method, apparatus, device, and storage medium |
| CN116399330A (en) * | 2023-05-29 | 2023-07-07 | 未岚大陆(北京)科技有限公司 | Map modification method, map modification device, electronic device, storage medium, and program product |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105320140A (en) * | 2015-12-01 | 2016-02-10 | 浙江宇视科技有限公司 | Robot cleaner and cleaning path planning method thereof |
| CN107544507A (en) * | 2017-09-28 | 2018-01-05 | 速感科技（北京）有限公司 | Mobile robot control method for movement and device |
| CN109557919A (en) * | 2018-12-17 | 2019-04-02 | 盐城工学院 | A kind of grating map construction method that broadens merging artificial landmark information |
| CN111103886A (en) * | 2020-01-02 | 2020-05-05 | 深圳拓邦股份有限公司 | Method, device and equipment for identifying narrow traffic lane and computer readable storage medium |
| CN111208817A (en) * | 2020-01-02 | 2020-05-29 | 惠州拓邦电气技术有限公司 | Narrow passage method, device, mobile device and computer readable storage medium |
| CN111380532A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Path planning method, device, terminal and computer storage medium |
-
2020
- 2020-08-14 CN CN202010817514.1A patent/CN112099488B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105320140A (en) * | 2015-12-01 | 2016-02-10 | 浙江宇视科技有限公司 | Robot cleaner and cleaning path planning method thereof |
| CN107544507A (en) * | 2017-09-28 | 2018-01-05 | 速感科技（北京）有限公司 | Mobile robot control method for movement and device |
| CN109557919A (en) * | 2018-12-17 | 2019-04-02 | 盐城工学院 | A kind of grating map construction method that broadens merging artificial landmark information |
| CN111380532A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Path planning method, device, terminal and computer storage medium |
| CN111103886A (en) * | 2020-01-02 | 2020-05-05 | 深圳拓邦股份有限公司 | Method, device and equipment for identifying narrow traffic lane and computer readable storage medium |
| CN111208817A (en) * | 2020-01-02 | 2020-05-29 | 惠州拓邦电气技术有限公司 | Narrow passage method, device, mobile device and computer readable storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 柳长安;王兴博;程文刚;魏振华;: "基于HEDT的移动机器人路径规划算法", ***工程与电子技术, no. 10 * |
| 闫鹏杰;张亚;: "一种移动机器人路径规划新方法", 河北农机, no. 02 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134336A1 (en) * | 2020-12-22 | 2022-06-30 | 莱克电气绿能科技(苏州)有限公司 | Mobile robot control method, apparatus, device, and storage medium |
| CN112857374A (en) * | 2021-01-07 | 2021-05-28 | 华南理工大学 | Mobile robot feasibility method based on equivalent expansion in narrow environment space |
| CN113219967A (en) * | 2021-04-15 | 2021-08-06 | 上海岚豹智能科技有限公司 | Method and equipment for mobile robot to pass through narrow road |
| CN116399330A (en) * | 2023-05-29 | 2023-07-07 | 未岚大陆(北京)科技有限公司 | Map modification method, map modification device, electronic device, storage medium, and program product |
| CN116399330B (en) * | 2023-05-29 | 2023-08-15 | 未岚大陆(北京)科技有限公司 | Map modification method, map modification device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112099488B (en) | 2024-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112099488A (en) | Narrow-passage passing method and device for mobile robot, mower and storage medium | |
| CN111332285B (en) | Method and device for vehicle to avoid obstacle, electronic equipment and storage medium | |
| CN111497828B (en) | Automatic parking method, device, medium and equipment | |
| EP3805701A1 (en) | Route planning method for mobile vehicle | |
| CN111830979B (en) | Track optimization method and device | |
| CN109588101B (en) | Control method for improving operation coverage rate of intelligent mower | |
| CN113296118B (en) | Unmanned obstacle detouring method and terminal based on laser radar and GPS | |
| EP4068037B1 (en) | Obstacle-crossing termination determination method, obstacle-crossing control method, chip, and robot | |
| CN113296119B (en) | Unmanned obstacle avoidance driving method and terminal based on laser radar and UWB array | |
| CN111949017B (en) | Robot obstacle crossing edge path planning method, chip and robot | |
| CN109814575B (en) | Lane changing route planning method and device for automatic driving vehicle and terminal | |
| CN111880550A (en) | Smooth path planning method for AGV | |
| CN111103886B (en) | Method, device, equipment and computer readable storage medium for identifying narrow passage | |
| CN115237121A (en) | Scene reconstruction-based remote calling method and system and readable storage medium | |
| CN113475978A (en) | Robot recognition control method and device, robot and storage medium | |
| CN112445221B (en) | Automatic working system and regression method | |
| CN113932825B (en) | Robot navigation path width acquisition system, method, robot and storage medium | |
| CN113670323B (en) | Method, device, equipment and medium for determining target area | |
| CN112612289B (en) | Trajectory tracking control method, mobile robot, control device, and storage medium | |
| JP2010086031A (en) | Guidance system and guidance method | |
| CN115056765A (en) | Path planning method and device for autonomous parking in vertical and inclined parking spaces | |
| CN116430838A (en) | Self-mobile device and control method thereof | |
| CN117250965B (en) | Robot obstacle avoidance rapid path reconstruction method and system | |
| CN111938512B (en) | Inflection point selection method of robot navigation path, chip and robot | |
| CN117064281A (en) | Obstacle detection method, path planning method, cleaning robot, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |