CN112207826A - Robot and path planning method and device thereof - Google Patents
Robot and path planning method and device thereof Download PDFInfo
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- CN112207826A CN112207826A CN202011043041.0A CN202011043041A CN112207826A CN 112207826 A CN112207826 A CN 112207826A CN 202011043041 A CN202011043041 A CN 202011043041A CN 112207826 A CN112207826 A CN 112207826A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
A method of path planning for a robot, comprising: detecting whether the robot can reach a preset target position or not according to a tentative radius, wherein the tentative radius is larger than the physical radius of the robot; if the robot can reach a preset target position according to the detection of the tentative radius, determining a first path between the robot and the target position according to the tentative radius; and if the robot cannot reach the preset target position according to the detection of the tentative radius, determining a second path between the robot and the target position according to the physical radius. Because the trial radius is larger than the physical radius of the robot, the probability that the robot moves slowly or fails in navigation due to positioning errors or ranging errors can be effectively reduced relative to the path determined by the physical radius, and the robot can quickly and effectively reach a target position.
Description
Technical Field
The application belongs to the field of robots, and particularly relates to a robot and a path planning method and device thereof.
Background
In order to determine the safety of the robot movement during the robot movement, the navigation system of the robot will typically set the narrowest passable width. For example, the robot has a physical radius of R, and the narrowest passable width set is 2(R +0.1) meters. Wherein 0.1 meter is the safety margin left, i.e. the distance to be maintained between the edge of the robot and the obstacle.
However, due to the distance measurement error or the positioning error, the measured distance between the robot and the obstacle may deviate from the actual distance, so that the robot moves slowly in the narrow road or fails in navigation, which is not favorable for quickly and effectively making the robot reach the preset target position.
Disclosure of Invention
In view of this, embodiments of the present application provide a robot and a method and an apparatus for planning a path thereof, so as to solve the problem in the prior art that the robot moves slowly in a narrow road or fails in navigation due to a distance measurement error or a positioning error, which is not favorable for quickly and effectively enabling the robot to reach a preset target position.
A first aspect of an embodiment of the present application provides a path planning method for a robot, where the path planning method for the robot includes:
detecting whether the robot can reach a preset target position or not according to a tentative radius, wherein the tentative radius is larger than the physical radius of the robot;
if the robot can reach a preset target position according to the detection of the tentative radius, determining a first path between the robot and the target position according to the tentative radius;
and if the robot cannot reach the preset target position according to the detection of the tentative radius, determining a second path between the robot and the target position according to the physical radius.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the tentative radius is a sum of a physical radius of the robot and an error margin, and the error margin is related to a robot ranging error or a positioning error.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the error margin is a sum of a radial offset of the ranging error and a radial offset of the positioning error in the channel.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the ranging error and the positioning error are determined according to historical statistical data.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the tentative radius is a sum of a physical radius of the robot and an error margin, and the error margin is a preset value.
With reference to the first aspect, in a fifth possible implementation manner of the first aspect, the detecting whether the robot can reach the preset target position according to the tentative radius includes:
determining the expected width of the robot passing through the barrier according to the tentative radius and a preset safety margin;
acquiring the detection width of a necessary channel reaching a target position;
when the expected width is larger than the detection width, the target position cannot be reached through the channel according to the tentative radius;
when the desired width is less than or equal to the probe width, a predetermined target position may be reached through the channel according to a probe radius.
With reference to the first aspect, in a sixth possible implementation manner of the first aspect, after determining a second path between the robot and the target location according to the physical radius if it is detected that the robot cannot reach the preset target location according to the tentative radius, the method further includes:
and controlling the robot to move on the determined path according to the physical radius and a preset safety margin.
A second aspect of an embodiment of the present application provides a path planning apparatus for a robot, including:
the detection unit is used for detecting whether the robot can reach a preset target position or not according to a tentative radius, wherein the tentative radius is larger than the physical radius of the robot;
the first path determining unit is used for determining a first path between the robot and the target position according to the tentative radius if the robot can reach the preset target position according to the tentative radius;
and the second path determining unit is used for determining a second path between the robot and the target position according to the physical radius if the robot cannot reach the preset target position according to the detection radius.
A third aspect of embodiments of the present application provides a robot, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, causes the robot to perform the steps of the method according to any one of the first aspect.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, performs the steps of the method according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: and detecting whether the robot can reach a preset target position or not through the trial radius, determining a first path between the robot and the target position according to the trial radius when the robot is detected to reach the preset target position according to the trial radius, and determining a second path between the robot and the target position according to the physical radius if the robot cannot reach the preset target position according to the trial radius. Because the trial radius is larger than the physical radius of the robot, the probability that the robot moves slowly or fails in navigation due to positioning errors or ranging errors can be effectively reduced relative to the path determined by the physical radius, and the robot can quickly and effectively reach a target position.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a robot moving slowly due to a range error in the prior art;
FIG. 2 is a schematic illustration of a prior art robot failing to navigate due to positioning errors;
fig. 3 is a schematic flow chart of an implementation of a path planning method for a robot according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart of an implementation of detecting whether a robot can reach a target position according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a path planning provided in an embodiment of the present application;
fig. 6 is a schematic diagram of another path planning provided in the embodiment of the present application;
fig. 7 is a schematic diagram of a path planning apparatus for a robot according to an embodiment of the present disclosure;
fig. 8 is a schematic view of a robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The robot itself has a physical radius R, depending on the shape of the robot. If the distance between the robot and the obstacle is smaller than the physical radius R in the navigation process, the collision between the robot and the obstacle is indicated. In general, the navigation system of the robot sets a narrowest passable width to hinder the safety of the robot. For example, the robot has a physical radius of R, and the narrowest passable width set may be 2 × R +0.1 meters. Wherein, 0.1 meter is a safety margin, namely the distance between the edge of the robot and the obstacle is kept to be more than 0.1 meter.
Due to errors in the robot's sensor measurements, as shown in fig. 1, in a tunnel with a width of just 2 x (R +0.1) meters, the robot moves to the target position a, and the dots on the edge of the tunnel represent the laser spot scanned by the robot. Due to the ranging error, the laser scanning point does not completely coincide with the channel edge. In the actual navigation process of the robot, the robot can mistakenly think that the channel width is not enough and stop moving. Or, due to the distance measurement error of the laser point, the robot can continue to move forward when the measured channel width is sufficient at the next moment, which causes the robot to stop and move very slowly.
Alternatively, due to the problem of the positioning accuracy of the robot, as shown in fig. 2, in a tunnel with a width of 2 × R +0.1 meters, the robot is positioned at a distance downward from the actual position. In this case, the laser spot at the edge of the tunnel detected by the robot range finding will also be shifted downwards. That is, as shown in fig. 2, the upper portion of the laser spots are distributed inside the channel, and the lower portion of the laser spots are distributed outside the channel, so that the effective width of the channel is significantly less than 2 × R +0.1 m. If the positioning deviation is not corrected in time, the robot may collide with the channel to cause navigation failure.
Based on the above problem, the present application provides a path planning method for a robot, as shown in fig. 3, the path planning method for the robot includes:
s301, detecting whether the robot can reach a preset target position or not according to a tentative radius, wherein the tentative radius is larger than the physical radius of the robot.
In the embodiment of the application, whether the robot can reach the preset target position is detected according to the tentative radius, which means that the robot passes through the detection width of the passage of the distance detection obstacle, and whether the detection width allows the robot with the tentative radius to pass through is judged. Namely, when the robot with the radius of the trial radius passes through, the safety margin still exists. The specific process may be as shown in fig. 4, and includes:
s401, determining the expected width of the robot passing through the obstacle according to the tentative radius and a preset safety margin.
The trial radius is the length of a channel which can stably and effectively pass through the narrowest passable width of the channel when the robot has a distance measurement error and a positioning error. In general, the trial radius may represent the tolerance of the robot to ranging errors and positioning errors. The trial radius is therefore larger than the physical radius R of the robot itself.
In one possible implementation, the trial radius of the robot may be set to a preset value. For example, the trial radius may be the sum of the physical radius and the error margin. The error margin is the magnitude of the deviation caused by the error.
In one possible implementation, the error margin may be set to a fixed value. For example, an error margin of 0.1 meter may be set. I.e. the probe radius is the physical radius R +0.1 meter of the robot.
Alternatively, in a possible implementation, the error margin may also be determined from the ranging error and the positioning error of the robot.
For example, the size of the distance measurement error occurring in the robot and the size of the positioning error can be determined according to historical statistical data. Because the distance measurement accuracy of the robot to the obstacles with different distances is different, the distance of the farthest obstacle to be detected can be determined according to the moving speed of the robot, and the distance measurement accuracy can be determined according to the distance of the farthest obstacle. In general, the faster the moving speed of the robot, the greater the distance of the farthest obstacle that needs to be detected.
Because the real-time error of the robot cannot be determined, the distance measurement error and the positioning error of the robot can be obtained by analyzing and counting the historical data of the robot. For example, the distance measurement error and the positioning error of the robot may be determined based on the error between the distance measurement value and the actual distance value of the robot in the history data and the error between the position and the real position of the robot in the history data.
In an implementation of determining the error margin according to the ranging error and the positioning error, the error margin of the robot may be determined by summing the ranging error and the positioning error. Namely, the maximum deviation of the robot caused by the distance measurement error and the positioning error is determined by the error margin.
When determining the expected width of the passage of the obstacle based on the tentative radius and the safety margin, the expected width may be determined as a value twice the sum of the tentative radius and the safety margin. For example, if the robot physical radius is R, the robot probe radius is R +0.1 m, and the safety margin is 0.1 m, then the desired width is 2[ (R +0.1) +0.1] m.
S402 acquires the detection width of the necessary channel to reach the target position.
The detection width of the obstacle can be determined by a detection sensor of the robot, such as a laser sensor, etc., to determine the spatial position of the obstacle. The width of the channel is determined based on the distance between the spatial locations. The laser spot in the detection width of the channel may be inside the channel or outside the channel.
And S403, when the expected width is larger than the detection width, the preset target position cannot be reached through the channel according to the tentative radius.
If the expected width is larger than the detection width, it indicates that the width of the channel detected by the necessary channel may not meet the requirement of the robot to pass through quickly and effectively due to the existence of the positioning error and the ranging error, and therefore, the robot is considered to be unable to reach the preset target position. In this case, a second path along which the robot moves to the target may be determined by S303.
S404, when the expected width is smaller than or equal to the detection width, the preset target position can be reached through the channel according to the tentative radius.
If the expected width is less than or equal to the detection width, the robot is ensured to quickly and effectively pass through the necessary channel to reach the preset target position under the condition that the positioning error and the distance measurement error can be tolerated.
In one case, when the width of the same channel is different and the target location is within the channel, the target location can be accessed from multiple directions of the channel. The calculation can be performed with the plurality of directions as necessary channels, respectively. When the desired width in either direction is greater than the probe width, it can be considered that a predetermined target position can be reached through the channel based on the probe radius.
In one case, when the target position is outside the corridor and there is no necessary corridor to reach the target position, it may be considered that the robot may reach the preset target position according to the tentative radius detection.
S302, if the robot can reach a preset target position according to the detection of the tentative radius, determining a first path between the robot and the target position according to the tentative radius.
Detecting that the robot can reach a preset target position according to the tentative radius may include two cases, namely a case where the target position is located outside the aisle and a case where the target position is located inside the aisle.
As shown in fig. 5, the target position is outside the tunnel, and the robot reaches the target position a, including paths inside and outside the tunnel. If the distance of the route determined by the corridor is less than the distance outside the corridor and the detected width of the corridor is greater than or equal to the desired width, a first path L1 determined through the corridor may be determined based on the tentative radius.
As shown in fig. 5, the target position is outside the tunnel, and the robot reaches the target position a, including paths inside and outside the tunnel. If the distance of the route determined by the corridor is less than the distance outside the corridor and the detected width of the corridor is less than the desired width, then the first path outside the corridor L2 is determined according to the tentative radius.
S303, if the robot cannot reach the preset target position according to the detection of the tentative radius, determining a second path between the robot and the target position according to the physical radius.
As shown in fig. 6, the target position is in the corridor, and the robot cannot determine the second path to the target position a by a tentative radius, and can directly determine the second path between the robot and the target position by a physical radius. That is, in this case, it is impossible to avoid the robot moving in a narrow passage by selecting another path, and the second path L3 where the robot reaches the target position can be directly determined by the physical radius.
In addition, in the present application, for any time when the robot moves to the target position, if two paths, i.e., a path moved by the tunnel and a path moved outside the tunnel, are included. If the path inside the tunnel is smaller than the path outside the tunnel, it can be determined by probing the radius whether it needs to be moved inside the tunnel. I.e., if the probe width within the tunnel is greater than or equal to the desired width determined by the probe radius, then the path of travel may be determined by the tunnel. If the probe width within the tunnel is less than the desired width as determined by the probe radius, the path of travel may be determined by a route outside the tunnel.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 7 is a schematic structural diagram of a path planning apparatus for a robot according to an embodiment of the present application, and as shown in fig. 7, the path planning apparatus includes:
a detecting unit 701, configured to detect whether the robot can reach a preset target position according to a tentative radius, where the tentative radius is greater than a physical radius of the robot;
a first path determining unit 702, configured to determine a first path between the robot and a target position according to a tentative radius if it is detected that the robot can reach a preset target position according to the tentative radius;
a second path determining unit 703, configured to determine a second path between the robot and the target location according to the physical radius if it is detected that the robot cannot reach the preset target location according to the tentative radius.
The path planning device for the robot shown in fig. 7 corresponds to the path planning method for the robot shown in fig. 3.
Fig. 8 is a schematic view of a robot provided in an embodiment of the present application. As shown in fig. 8, the robot 8 of this embodiment includes: a processor 80, a memory 81 and a computer program 82, such as a path planning program for a robot, stored in said memory 81 and executable on said processor 80. The processor 80, when executing the computer program 82, implements the steps in the embodiments of the path planning method for each robot described above. Alternatively, the processor 80 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 82.
Illustratively, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 82 in the robot 8.
The robot may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of a robot 8 and does not constitute a limitation of robot 8 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may be an internal storage unit of the robot 8, such as a hard disk or a memory of the robot 8. The memory 81 may also be an external storage device of the robot 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the robot 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the robot 8. The memory 81 is used for storing the computer program and other programs and data required by the robot. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A path planning method for a robot, the path planning method comprising:
detecting whether the robot can reach a preset target position or not according to a tentative radius, wherein the tentative radius is larger than the physical radius of the robot;
if the robot can reach a preset target position according to the detection of the tentative radius, determining a first path between the robot and the target position according to the tentative radius;
and if the robot cannot reach the preset target position according to the detection of the tentative radius, determining a second path between the robot and the target position according to the physical radius.
2. The method of claim 1, wherein the heuristic radius is a sum of a physical radius of the robot and an error margin, the error margin being related to a robot range error or a positioning error.
3. A method for path planning for a robot according to claim 2, characterized in that the error margin is the sum of the radial offset of the path of the ranging error and the positioning error.
4. A method for path planning for a robot according to claim 3, characterized in that the range errors and positioning errors are determined from historical statistical data.
5. The method for planning a path of a robot according to claim 1, wherein the tentative radius is a sum of a physical radius of the robot and an error margin, and the error margin is a preset value.
6. The path planning method according to claim 1, wherein detecting whether the robot can reach a preset target position according to a tentative radius comprises:
determining the expected width of the robot passing through the barrier according to the tentative radius and a preset safety margin;
acquiring the detection width of a necessary channel reaching a target position;
when the expected width is larger than the detection width, the target position cannot be reached through the channel according to the tentative radius;
when the desired width is less than or equal to the probe width, a predetermined target position may be reached through the channel according to a probe radius.
7. The path planning method according to claim 1, wherein after determining the second path between the robot and the target location based on the physical radius if it is detected based on the tentative radius that the robot cannot reach the preset target location, the method further comprises:
and controlling the robot to move on the determined path according to the physical radius and a preset safety margin.
8. A path planning apparatus for a robot, comprising:
the detection unit is used for detecting whether the robot can reach a preset target position or not according to a tentative radius, wherein the tentative radius is larger than the physical radius of the robot;
the first path determining unit is used for determining a first path between the robot and the target position according to the tentative radius if the robot can reach the preset target position according to the tentative radius;
and the second path determining unit is used for determining a second path between the robot and the target position according to the physical radius if the robot cannot reach the preset target position according to the detection radius.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, causes the robot to carry out the steps of the method according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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