CN112445209A - Robot control method, robot, storage medium, and electronic apparatus - Google Patents
Robot control method, robot, storage medium, and electronic apparatus Download PDFInfo
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- 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
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Abstract
The invention provides a robot control method, a robot, a storage medium and an electronic device, wherein the method comprises the following steps: in the process that the robot moves according to a target path, the robot detects a target obstacle in a detection range of the robot, wherein the target obstacle prevents the robot from moving on the target path; the robot determines parameter information of the target obstacle, and adjusts a movement parameter of the robot according to the parameter information, so that the robot avoids collision with the target obstacle on the target path, wherein the movement parameter comprises at least one of the following: a moving speed or a moving path of the robot. The invention solves the problem that the robot is easy to block or collide when performing data communication in an area with poor signals in the related art.
Description
Technical Field
The present invention relates to the field of communications, and in particular, to a robot control method, a robot, a storage medium, and an electronic apparatus.
Background
Compared with the non-scheduling multi-robot operation scene, the centralized scheduling mode can improve the operation efficiency to a certain extent and reduce the collision risk of multiple robots caused by dead zones of the sensors. Therefore, a centralized scheduling mode is generally adopted for multi-robot scheduling at present.
However, the centralized scheduling method has a strong dependence on the stability and real-time performance of data transmission. For example, when data interaction is performed between the 4G module and the network center, the packet loss rate of communication data is high, communication delay is large, scheduling instructions are not issued in time, and the risk of robot blocking or collision still exists.
Therefore, the related art has a problem that when the robot performs data communication in an area with poor signals, the robot is easy to block or collide.
Disclosure of Invention
The embodiment of the invention provides a control method of a robot, the robot, a storage medium and an electronic device, which are used for at least solving the problem that the robot is easy to block or collide when data communication is carried out in an area with poor signals in the related art.
According to an embodiment of the present invention, there is provided a control method of a robot including: in the process that the robot moves according to the target path, the robot detects a target obstacle in the detection range of the robot, wherein the target obstacle prevents the robot from moving on the target path; the robot determines parameter information of a target obstacle, and adjusts a moving parameter of the robot according to the parameter information, so that the robot avoids collision with the target obstacle on a target path, wherein the moving parameter comprises at least one of the following parameters: the moving speed or moving path of the robot.
Optionally, in the process that the robot moves along the target path, the detecting, by the robot, the target obstacle in the detection range of the robot includes: acquiring a first obstacle set existing in a first obstacle map detected by a robot at a moment before a current moment; acquiring a second obstacle set existing in a second obstacle map detected by the robot at the current moment; identifying the same obstacles in the first set of obstacles and the second set of obstacles; and determining the target barrier from the same barrier according to the positions of the same barrier in the first barrier map and the second barrier map respectively.
Optionally, determining the target obstacle from the same obstacle according to the positions of the same obstacle in the first obstacle map and the second obstacle map respectively includes: determining a first position of the same barrier in a first barrier map, determining a second position of the same barrier in a second barrier map, and determining a third position corresponding to the first position in the second barrier map according to the movement parameter information of the robot from the previous moment to the current moment; determining the same obstacle as the moving obstacle if the second position does not match the third position; determining a first path of the robot moving in the target path and a second path of the moving obstacle; and determining the moving obstacle as the target obstacle when the second path and the first path have an intersection in the target path and the time interval between the robot and the moving obstacle reaching the intersection is less than or equal to a preset threshold value.
Optionally, the adjusting, by the robot, the movement parameter of the robot according to the parameter information includes: determining the direction deviation of the robot according to the parameter information, wherein the parameter information at least comprises the path information of the movement of the target obstacle; determining a third path to be changed by the robot according to the direction deviation and the first path of the robot moving in the target path; the first path of the robot is changed to a third path.
Optionally, the adjusting, by the robot, the movement parameter of the robot according to the parameter information includes: determining a target speed of the robot according to the parameter information, wherein the parameter information at least comprises the moving speed of the target obstacle; and adjusting the current speed of the robot to be the target speed.
According to another embodiment of the present invention, there is provided a robot including: the detection module is used for detecting a target obstacle in a detection range of the robot in the process that the robot moves according to a target path, wherein the target obstacle prevents the robot from moving on the target path; the adjusting module is used for determining parameter information of the target obstacle by the robot and adjusting the moving parameter of the robot according to the parameter information so that the robot avoids collision with the target obstacle on a target path, wherein the moving parameter comprises at least one of the following parameters: the moving speed or moving path of the robot.
Optionally, the detection module comprises: the robot comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a first obstacle set existing in a first obstacle map detected by the robot at the moment before the current moment; the first acquisition unit is used for acquiring a second obstacle set existing in a second obstacle map detected by the robot at the current moment; the identification unit is used for identifying the same obstacles in the first obstacle set and the second obstacle set; and the first determining unit is used for determining the target barrier from the same barrier according to the positions of the same barrier in the first barrier map and the second barrier map respectively.
Optionally, the first determination unit includes: the first determining subunit is used for determining a first position of the same barrier in the first barrier map, determining a second position of the same barrier in the second barrier map, and determining a third position corresponding to the first position in the second barrier map according to the movement parameter information of the robot from the previous moment to the current moment; a second determining subunit, configured to determine, in a case where the second position does not match the third position, the same obstacle as the moving obstacle; the third determining subunit is used for determining a first path of the robot moving in the target path and a second path of the moving obstacle; and a fourth determining subunit, configured to determine the moving obstacle as the target obstacle if the second path and the first path have an intersection in the target path, and a time interval between the robot and the moving obstacle reaching the intersection is less than or equal to a predetermined threshold value.
Optionally, the adjusting module comprises: the second determining unit is used for determining the direction deviation of the robot according to parameter information, wherein the parameter information at least comprises the path information of the movement of the target obstacle; the third determining unit is used for determining a third path to be changed by the robot according to the direction deviation and the first path of the robot moving in the target path; and a changing unit for changing the first path of the robot to the third path.
Optionally, the adjusting module comprises: the fourth determining unit is used for determining the target speed of the robot according to the parameter information, wherein the parameter information at least comprises the moving speed of the target obstacle; and the adjusting unit is used for adjusting the current speed of the robot to be the target speed.
According to yet another embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is configured to execute the control method of any one of the above robots when executed.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the method described above through the computer program.
According to the invention, in the process that the robot moves according to the target path, the robot detects the target obstacle in the detection range of the robot, wherein the target obstacle prevents the robot from moving on the target path; the robot determines parameter information of a target obstacle, and adjusts a moving parameter of the robot according to the parameter information, so that the robot avoids collision with the target obstacle on a target path, wherein the moving parameter comprises at least one of the following parameters: the moving speed or the moving path of the robot is characterized in that in the process that the robot moves according to the target path, the robot automatically detects the target obstacle which is in the detection range and prevents the robot from moving on the target path, and the moving parameters of the robot are adjusted when the target obstacle is detected, so that the robot avoids the collision with the target obstacle on the target path, the blockage or the collision of the robot caused by the fact that a dispatching center does not dispatch timely due to poor signals can be avoided, the problem that the blockage or the collision is easy to occur when the robot carries out data communication in an area with poor signals in the related technology can be solved, and the technical effect of improving the operating efficiency of the robot is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a server of a control method of a robot according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative method of controlling a robot in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an alternative method of controlling a robot in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of yet another alternative method of controlling a robot in accordance with an embodiment of the present invention;
fig. 5 is a block diagram of an alternative robot in accordance with an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a robot or similar computing device. Taking a robot as an example, fig. 1 is a hardware block diagram of a robot according to a control method of the robot in an embodiment of the present invention. As shown in fig. 1, the robot 10 may include one or more (only one shown in fig. 1) processors 102 (the processors 102 may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally may also include a transmission device 106 for communication functions and an input/output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and is not intended to limit the structure of the robot. For example, the robot 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the control method of the robot in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located from the processor 102, which may be connected to the robot 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the robot 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Optionally, in this embodiment, as an optional implementation manner, as shown in fig. 2, a flow of the control method for the robot may include the steps of:
step S202, in the process that the robot moves according to a target path, the robot detects a target obstacle in the detection range of the robot, wherein the target obstacle prevents the robot from moving on the target path;
step S204, the robot determines parameter information of the target obstacle, and adjusts the moving parameter of the robot according to the parameter information, so that the robot avoids collision with the target obstacle on the target path, wherein the moving parameter comprises at least one of the following parameters: the moving speed or moving path of the robot.
Alternatively, the control method of the robot may be, but not limited to, the process of using the robot to distribute articles in a building, or other scenes in which the robot is controlled to move in a specific place along a target path.
Through the embodiment, in the process that the robot moves according to the target path, the robot automatically detects the target obstacle which is in the detection range and prevents the robot from moving on the target path, and the moving parameters of the robot are adjusted when the target obstacle is detected, so that the robot avoids the collision with the target obstacle on the target path, the robot can be prevented from being blocked or collided due to poor signals and untimely scheduling of a scheduling center, the problem that the robot is easy to block or collide when data communication is carried out in a poor signal area in the related art is solved, and the running efficiency of the robot is improved.
The control method of the robot will be described with reference to fig. 2.
In step S202, while the robot moves along the target path, the robot detects a target obstacle in the detection range of the robot, where the target obstacle obstructs the movement of the robot on the target path.
The robot may be a distribution robot that distributes articles in a building or other indoor or outdoor locations. The delivery robot may move along a movement path configured by a server (e.g., a cloud server). The cloud can configure the movement paths of all connected robots. The movement path is path information for realizing navigation during movement of the robot, that is, the robot moves based on the movement path in the movement process. The target path refers to a general term of a path for moving to complete a navigation task, for example, a robot arrives at an elevator from a container and then allocates to the 2 nd floor, then the path navigation of the container to the elevator may be referred to as a moving path, and the target path may refer to an arrival at the elevator from the container and then allocate to the 2 nd floor, or an allocation from the container to the 2 nd floor.
According to the central dispatching instruction of the dispatching center, the robot can move from the initial position to the end position according to the target path carried by the central dispatching instruction.
In the process that the robot moves along the target path, when the target event is detected, the operation of detecting whether the target obstacle exists in the detection range of the robot through the robot can be triggered and executed once or multiple times (for example, periodically executed). The target event may include, but is not limited to, at least one of: detecting that the current signal quality of the robot is lower than a target quality threshold; and receiving a starting detection instruction sent by the dispatching center.
In an alternative embodiment, the detecting, by the robot, the target obstacle within the detection range of the robot during the movement of the robot along the target path includes: acquiring a first obstacle set existing in a first obstacle map detected by a robot at a moment before a current moment; acquiring a second obstacle set existing in a second obstacle map detected by the robot at the current moment; identifying the same obstacles in the first set of obstacles and the second set of obstacles; and determining the target barrier from the same barrier according to the positions of the same barrier in the first barrier map and the second barrier map respectively.
The target obstacle may be: a moving object at the current moment, or an object with a volume greater than a target volume threshold (affecting the movement of the robot). The obstacle map may be periodically detected by the robot (the detection cycle is a target detection cycle), and the time before the current time may be: the last time the robot detected the obstacle map.
The perception data perceived by the perception device can be periodically acquired by the perception device arranged on the robot; using the perception data, an obstacle map (e.g., a grid obstacle map, costmap) corresponding to the current position of the robot may be created. The obstacle map may use the position of the robot as a coordinate origin, and the coordinates of the obstacle on the map may be coordinates relative to the coordinate origin.
A first set of obstacles existing in a first obstacle map detected by the robot at a time immediately before the current time and a second set of obstacles existing in a second obstacle map detected at the current time may be acquired, and the same obstacles included in the first set of obstacles and the second set of obstacles may be identified.
And determining the target barrier from the same barrier according to the positions of the same barrier in the first barrier map and the second barrier map respectively. The same obstacle is a stationary obstacle if its position does not change. If the position of the same obstacle changes, the same obstacle is a moving obstacle at the current moment.
For different obstacles contained in the first obstacle set and the second obstacle set, because the motion parameters of the different obstacles cannot be estimated, the influence of the motion on the robot can be not considered, and only the different obstacles belonging to the second obstacle set are taken as the static objects at the current moment.
By the embodiment, the obstacle set at the previous moment and the obstacle set at the current moment are compared, the obstacle with the changed position is used as the target obstacle, the movement of the robot can be controlled according to the moving object, and the stability of the robot in motion can be ensured.
In an alternative embodiment, determining the target obstacle from the same obstacles according to the positions of the same obstacles in the first obstacle map and the second obstacle map, respectively, may include: determining a first position of the same barrier in a first barrier map, determining a second position of the same barrier in a second barrier map, and determining a third position corresponding to the first position in the second barrier map according to the movement parameter information of the robot from the previous moment to the current moment; determining the same obstacle as the moving obstacle if the second position does not match the third position; determining a first path of the robot moving in the target path and a second path of the moving obstacle; and determining the moving obstacle as the target obstacle when the second path and the first path have an intersection in the target path and the time interval between the robot and the moving obstacle reaching the intersection is less than or equal to a preset threshold value.
Due to the difference of the movement and the shooting angle or the observation angle of the robot, the positions of the stationary object on the obstacle map at different times can be the same or different, and the positions of the operating object on the obstacle map at different times can be the same or different. Different obstacle maps can be rotated and/or translated (according to parameter information of the robot from the previous moment to the current moment, such as moving speed, moving direction and the like), so that the obstacle positions under the same coordinate are obtained.
For the same obstacle, a first position of the same obstacle in the first obstacle map and a second position of the same obstacle in the second obstacle map can be respectively determined; according to the movement parameter information (such as the movement direction and speed, etc.) of the robot, the first position is mapped (for example, rotated and/or translated) on the second obstacle map, and a third position corresponding to the first position is obtained.
When determining whether the positions of the same obstacles change, matching a second position with a third position, and determining that the positions of the same obstacles do not change under the condition that the second position is matched with the third position; and determining that the position of the same obstacle changes under the condition that the second position is not matched with the third position.
Due to the limitations of the accuracy of the image capture and the accuracy of the calculation, even a stationary obstacle does not necessarily have to be exactly the same as the second position and the third position after the mapping. Therefore, when the second position and the third position are matched, an error range may be set, for example, when the third position is within a first region range including the second position (for example, a region range centered on the second position and having a radius of a predetermined length), or when the second position is within a second region range including the third position, the second position is determined to be matched with the third position, otherwise, the second position is determined not to be matched with the third position. In the case where the second position does not match the third position, the same obstacle is determined as a moving obstacle.
The moving obstacle is generally a sudden obstacle, which is probably not considered when the driving path of the robot is determined, and the robot can autonomously avoid the obstacle aiming at the obstacle which is probably randomly generated (the obstacle does not pass through the cloud, so the obstacle can be well avoided under the condition of poor communication, and the obstacle can be avoided in real time without the requirement on the real-time performance of communication).
For example, as shown in fig. 3, a local obstacle map costmap (obstacle detection), a moving direction and a moving speed (v) generated by the robot at the previous time from the current timef、wf) Assuming that the robot moves linearly at a constant speed in a short time from the previous time to the current time, the local obstacle map of the stationary object at the current time is generated after rotating and translating the local obstacle map at the previous time (obstacle calculation). The manner of generating the stationary object local obstacle map may be: and rotating and translating the same obstacle with the position overlapped in the local obstacle map at the previous moment and the local obstacle map at the current moment.
And subtracting the generated local obstacle map of the static object from the local obstacle map obtained at the current moment to obtain a moving object contour obstacle map (moving obstacle contour) at the current moment.
Through the embodiment, the positions of the same obstacles are mapped according to the movement parameters of the robot, and the positions are matched, so that the moving obstacles in the same obstacles can be quickly positioned, and the efficiency of positioning the moving obstacles is improved.
For a moving obstacle, determining a first path of the robot moving in a target path and a second path of the moving obstacle; and determining the moving obstacle as the target obstacle when the second path and the first path have an intersection in the target path and the time interval between the robot and the moving obstacle reaching the intersection is less than or equal to a preset threshold value.
After detecting that a moving obstacle exists in the detection range of the robot, it can be determined that the robot collides with the moving obstacle in the process that the robot moves forward from the current position according to the first path on the target path.
The determination may be by: the method includes simulating a moving trajectory (first path) of the robot within a target time period (corresponding to a target detection period) after a current time, and a moving trajectory (second path) of the moving obstacle within the target time period. The first path and the second path may have a moving width (moving area, related to the shape of the robot and the moving obstacle), and based on the first path and the second path, it may be determined whether the first path is passable.
When the second path is determined, the movement parameter information of the moving obstacle and the fourth position of the moving obstacle in the second obstacle map can be obtained according to the position change information of the moving obstacle; and determining a second path for the moving obstacle to move forward from the fourth position according to the moving parameter information of the moving obstacle.
And under the condition that the intersection point exists between the first path and the second path and the time interval between the robot and the moving obstacle reaching the intersection point is less than or equal to a preset threshold value, determining that the robot collides with the moving obstacle in the process that the robot moves forwards from the current position according to the first path, and then the moving obstacle is the target obstacle.
And under the condition that no intersection point exists between the first path and the second path or the intersection point exists between the first path and the second path and the time interval between the robot and the moving obstacle reaching the intersection point is greater than a preset threshold value, determining that the robot does not collide with the moving obstacle in the process that the robot moves forwards from the current position according to the first path, and determining that the moving obstacle is not the target obstacle.
Through this embodiment, carry out collision detection according to the first route of robot and the second route of removing the barrier, can carry out collision detection fast, determine the target barrier, improve collision detection's efficiency.
Step S204, the robot determines parameter information of the target obstacle, and adjusts the moving parameter of the robot according to the parameter information, so that the robot avoids collision with the target obstacle on the target path, wherein the moving parameter comprises at least one of the following parameters: the moving speed or moving path of the robot.
After detecting the target obstacle, the robot may determine parameter information of the target obstacle, which may include, but is not limited to, at least one of: the moving parameter information of the target obstacle, the shape parameter information and the position information may include, but is not limited to, at least one of the following: moving speed, moving direction; the above morphological parameter information may include, but is not limited to, at least one of: shape, volume; the location information may include, but is not limited to: relative position of the target obstacle to the robot.
According to the determined parameter information, the robot can adjust the moving parameters of the robot so that the robot avoids collision with the target obstacle on the target path, wherein the moving parameters comprise at least one of the following: the moving speed or moving path of the robot.
As an alternative embodiment, the movement parameter may comprise a movement path of the robot. In the case where it is determined that the target obstacle obstructs the movement of the robot on the target path, the movement path of the robot may be adjusted from the first path to the third path.
In an optional embodiment, the robot adjusting the movement parameters of the robot according to the parameter information includes: determining the direction deviation of the robot according to the parameter information, wherein the parameter information at least comprises the path information of the movement of the target obstacle; determining a third path to be changed by the robot according to the direction deviation and the first path of the robot moving in the target path; the first path of the robot is changed to a third path.
According to the operation rule of the robot, the preset direction of the movement deviation of the robot can be determined. By changing the moving direction of the robot, the moving path of the robot is shifted from the first path toward a predetermined direction (rightward direction, leftward direction). The moving path of the robot may be shifted from the first path toward a predetermined direction to obtain a third path, or the robot may be shifted (direction-shifted) in a direction away from the path information of the movement of the target obstacle according to the path information of the movement of the target obstacle.
For example, as shown in fig. 4, a detection robot performs collision detection on a moving object contour obstacle map by detecting a track point (reference track) ahead of the moving object, and verifies whether the tracks are feasible. If the traffic can pass, keeping the path to move forwards; if it is not feasible, right offset route calculation is performed.
Through the embodiment, the direction deviation of the robot is determined according to the parameter information of the target obstacle, the target obstacle can be avoided quickly, and the running stability of the robot is improved.
As another alternative, the movement parameter may include a movement speed of the robot. In the case where it is determined that the target obstacle obstructs the movement of the robot on the target path, the moving speed of the robot may be adjusted to avoid collision with the target obstacle.
In an optional embodiment, the robot adjusting the movement parameters of the robot according to the parameter information includes: determining a target speed of the robot according to the parameter information, wherein the parameter information at least comprises the moving speed of the target obstacle; and adjusting the current speed of the robot to be the target speed.
According to the moving speed of the target obstacle, the moving speed of the robot to be adjusted can be determined. For example, if the target obstacle travels in the same direction in front of the robot, the moving speed of the robot may be adjusted to be slower than the moving speed of the target obstacle. For another example, if the target obstacle travels in the same direction behind the robot, the moving speed of the robot may be adjusted to be faster than the moving speed of the target obstacle. For another example, if the target obstacle is located in the opposite direction of the robot, the moving speed of the robot may be adjusted to be slower than the moving speed of the target obstacle.
Optionally, after the moving path of the robot is shifted from the first path to the predetermined direction to obtain a third path, the robot may determine the trafficability of the shifted path on the moving object contour obstacle map. If the robot is still not available, the speed of the robot can be limited, and the maximum running speed of the robot is limited.
For example, as shown in fig. 4, the trafficability of the right-hand path point set on the moving object contour obstacle map can be determined, and if the right-hand path is still not trafficable, a speed-limiting strategy is performed to limit the maximum speed of the robot. By the control method of the robot, a central scheduling instruction is not needed for control, a distributed scheduling mode is adopted, so that the robot adopts a right-hand regular rightward offset path when meeting moving objects (including other robots under the condition of multiple robots), certain limitation is carried out on the speed, and the stable running and the high efficiency of the multiple robots in running are ensured.
Through the embodiment, the direction deviation of the robot is determined according to the parameter information of the target obstacle, the target obstacle can be avoided quickly, and the running stability of the robot is improved.
Through the embodiment, the moving speed of the robot is determined according to the parameter information of the target obstacle, so that the risk of collision between the robot and the target obstacle can be avoided, the loss during collision is reduced, and the running stability of the robot is ensured.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a robot is further provided, and the robot is used to implement the above embodiments and preferred embodiments, and the description of the robot is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram of an alternative robot according to an embodiment of the present invention, as shown in fig. 5, the robot includes:
(1) the detection module 52 is configured to detect a target obstacle within a detection range of the robot in a process that the robot moves along a target path, where the target obstacle obstructs movement of the robot on the target path;
(2) an adjusting module 54, connected to the detecting module 52, for determining parameter information of the target obstacle and adjusting a moving parameter of the robot according to the parameter information, so that the robot avoids a collision with the target obstacle on the target path, wherein the moving parameter includes at least one of: the moving speed or moving path of the robot.
Alternatively, the detection module 52 may be used to perform step S202, and the adjustment module 54 may be used to perform step S204.
Through the embodiment, in the process that the robot moves according to the target path, the robot automatically detects the target obstacle which is in the detection range and prevents the robot from moving on the target path, and the moving parameters of the robot are adjusted when the target obstacle is detected, so that the robot avoids the collision with the target obstacle on the target path, the robot can be prevented from being blocked or collided due to poor signals and untimely scheduling of a scheduling center, the problem that the robot is easy to block or collide when data communication is carried out in a poor signal area in the related art is solved, and the running efficiency of the robot is improved.
As an optional technical solution, the detection module 52 includes:
(1) the robot comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a first obstacle set existing in a first obstacle map detected by the robot at the moment before the current moment;
(2) the second acquisition unit is connected with the first acquisition unit and used for acquiring a second obstacle set existing in a second obstacle map detected by the robot at the current moment;
(3) the identification unit is connected with the second acquisition unit and used for identifying the same obstacles in the first obstacle set and the second obstacle set;
(4) and the first determining unit is connected with the identifying unit and used for determining the target barrier from the same barrier according to the positions of the same barrier in the first barrier map and the second barrier map respectively.
As an optional technical solution, the first determining unit includes:
(1) the first determining subunit is used for determining first positions of the same obstacles in the first obstacle map respectively, determining second positions of the same obstacles in the second obstacle map, and determining a third position, corresponding to the first position, in the second obstacle map according to the movement parameter information of the robot from the previous moment to the current moment;
(2) the second determining subunit is connected with the first determining subunit and used for determining the same obstacle as the moving obstacle under the condition that the second position is not matched with the third position;
(3) the third determining subunit is connected with the second determining subunit and used for determining a first path of the robot moving in the target path and a second path of the moving obstacle;
(4) and the fourth determining subunit is connected with the third determining subunit and is used for determining the moving obstacle as the target obstacle under the condition that the second path and the first path have an intersection point in the target path and the time interval between the robot and the moving obstacle reaching the intersection point is less than or equal to a preset threshold value.
As an optional technical solution, the adjusting module includes:
(1) the second determining unit is used for determining the direction deviation of the robot according to parameter information, wherein the parameter information at least comprises the path information of the movement of the target obstacle;
(2) the third determining unit is connected with the second determining unit and used for determining a third path to be changed by the robot according to the direction deviation and the first path of the robot moving in the target path currently;
(3) and a changing unit connected to the third determining unit for changing the first path of the robot to the third path.
As an optional technical solution, the adjusting module includes:
(1) the fourth determining unit is used for determining the target speed of the robot according to the parameter information, wherein the parameter information at least comprises the moving speed of the target obstacle;
(2) and the adjusting unit is connected with the fourth determining unit and is used for adjusting the current speed of the robot to be the target speed.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, in the process that the robot moves according to the target path, the robot detects a target obstacle in the detection range of the robot, wherein the target obstacle prevents the robot from moving on the target path;
s2, the robot determines parameter information of the target obstacle, and adjusts the moving parameter of the robot according to the parameter information, so that the robot avoids collision with the target obstacle on the target path, wherein the moving parameter comprises at least one of the following parameters: the moving speed or moving path of the robot.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, in the process that the robot moves according to the target path, the robot detects a target obstacle in the detection range of the robot, wherein the target obstacle prevents the robot from moving on the target path;
s2, the robot determines parameter information of the target obstacle, and adjusts the moving parameter of the robot according to the parameter information, so that the robot avoids collision with the target obstacle on the target path, wherein the moving parameter comprises at least one of the following parameters: the moving speed or moving path of the robot.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method for controlling a robot, comprising:
in the process that the robot moves according to a target path, the robot detects a target obstacle in a detection range of the robot, wherein the target obstacle prevents the robot from moving on the target path;
the robot determines parameter information of the target obstacle, and adjusts a movement parameter of the robot according to the parameter information, so that the robot avoids collision with the target obstacle on the target path, wherein the movement parameter comprises at least one of the following: a moving speed or a moving path of the robot.
2. The method of claim 1, wherein detecting, by the robot, the target obstacle within the detection range of the robot while the robot is moving along the target path comprises:
acquiring a first obstacle set existing in a first obstacle map detected by the robot at a moment before a current moment;
acquiring a second obstacle set existing in a second obstacle map detected by the robot at the current moment;
identifying the same obstacles in the first set of obstacles and the second set of obstacles;
and determining a target obstacle from the same obstacles according to the positions of the same obstacles in the first obstacle map and the second obstacle map respectively.
3. The method of claim 2, wherein determining a target obstacle from the same obstacles based on the position of the same obstacle within the first obstacle map and the second obstacle map, respectively, comprises:
determining a first position of the same obstacle in the first obstacle map, determining a second position of the same obstacle in the second obstacle map, and determining a third position corresponding to the first position in the second obstacle map according to the movement parameter information of the robot from the previous moment to the current moment;
determining the same obstacle as a moving obstacle if the second position does not match the third position;
determining a first path along which the robot is currently moving in the target path and a second path along which the moving obstacle is moving;
and determining the moving obstacle as the target obstacle when the second path and the first path have an intersection in the target path and the time interval between the robot and the moving obstacle reaching the intersection is less than or equal to a preset threshold value.
4. The method of any of claims 1-3, wherein the robot adjusting the movement parameters of the robot according to the parameter information comprises:
determining the direction deviation of the robot according to the parameter information, wherein the parameter information at least comprises the path information of the movement of the target obstacle;
determining a third path to be changed by the robot according to the direction deviation and the first path of the robot moving in the target path;
changing the first path of the robot to the third path.
5. The method of any of claims 1-3, wherein the robot adjusting the movement parameters of the robot according to the parameter information comprises:
determining a target speed of the robot according to the parameter information, wherein the parameter information at least comprises the moving speed of the target obstacle;
and adjusting the current speed of the robot to the target speed.
6. A robot, comprising:
the detection module is used for detecting a target obstacle in a detection range of the robot in the process that the robot moves according to a target path, wherein the target obstacle prevents the robot from moving on the target path;
an adjusting module, configured to determine parameter information of the target obstacle by the robot, and adjust a moving parameter of the robot according to the parameter information, so that the robot avoids a collision with the target obstacle on the target path, where the moving parameter includes at least one of: a moving speed or a moving path of the robot.
7. The robot of claim 6, wherein the detection module comprises:
a first acquisition unit, configured to acquire a first obstacle set existing in a first obstacle map detected by the robot at a time immediately before a current time;
a first acquisition unit, configured to acquire a second obstacle set existing in a second obstacle map detected by the robot at the current time;
an identification unit configured to identify the same obstacle in the first set of obstacles and the second set of obstacles;
and the first determining unit is used for determining the target obstacle from the same obstacles according to the positions of the same obstacles in the first obstacle map and the second obstacle map respectively.
8. The robot according to claim 7, wherein the first determination unit includes:
the first determining subunit is configured to determine a first position of the same obstacle in the first obstacle map, determine a second position of the same obstacle in the second obstacle map, and determine a third position, corresponding to the first position, in the second obstacle map according to the movement parameter information of the robot from the previous time to the current time;
a second determining subunit, configured to determine the same obstacle as a moving obstacle if the second position does not match the third position;
a third determining subunit, configured to determine a first path along which the robot currently moves in the target path and a second path along which the moving obstacle moves;
and a fourth determining subunit, configured to determine the moving obstacle as the target obstacle if the second path and the first path have an intersection in the target path, and a time interval between the robot and the moving obstacle reaching the intersection is less than or equal to a predetermined threshold.
9. A robot as claimed in any of claims 6 to 8, wherein the adjustment module comprises:
a second determining unit, configured to determine a directional offset of the robot according to the parameter information, where the parameter information at least includes path information of the movement of the target obstacle;
a third determining unit, configured to determine, according to the direction deviation and a first path along which the robot currently moves in the target path, a third path to be changed by the robot;
a changing unit configured to change the first path of the robot to the third path.
10. A robot as claimed in any of claims 6 to 8, wherein the adjustment module comprises:
a fourth determining unit, configured to determine a target speed of the robot according to the parameter information, where the parameter information at least includes a moving speed of the target obstacle;
and the adjusting unit is used for adjusting the current speed of the robot to the target speed.
11. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 5 when executed.
12. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 5 by means of the computer program.
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