CN112947493A - Fixed-point navigation implementation method and robot - Google Patents
Fixed-point navigation implementation method and robot Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- 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
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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Abstract
The invention provides a fixed point navigation implementation method and a robot, wherein the method comprises the following steps: the application layer adds a detection task at a corresponding fixed point position on the global laser map according to the input information of a user, and adds the detection task to a task list; the task list comprises a plurality of fixed point positions; the processor carries out path planning according to the fixed point position in the task list to generate a navigation route; the processor inquires whether a task to be detected exists at the current fixed point position or not when the robot determines to reach the current fixed point position in the process of driving according to the navigation route; and the processor switches the working state of the robot according to the query result, and controls the robot to be switched to the parking state after the task list is completed. The robot scheduling method based on the multi-point positioning improves the scheduling efficiency of the robot while positioning accurately at fixed points.
Description
Technical Field
The invention relates to the field of robot navigation, in particular to a fixed point navigation implementation method and a robot.
Background
With the development of the new experience of science and technology, China has made a rapid development in the aspect of industrial automation science and technology, lays a solid foundation for realizing automation and intellectualization in the aspect of industrial and agricultural production, and robots are also in line with each industry.
Currently, navigation technology is a key part of mobile robot technology, and positioning technology is a prerequisite for realization of robot navigation. The robot needs to rely on the stored map information in the moving process and calculate according to the actual information scanned by the real-time position, a route capable of avoiding obstacles and navigating in real time is planned finally, the robot is controlled to drive the robot to walk according to the planned route, and the functions of automatic navigation, real-time positioning and real-time obstacle avoidance are achieved finally.
However, how to perform fixed-point accurate positioning and improve the scheduling efficiency of the robot is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a fixed-point navigation implementation method and a robot, which can improve the dispatching efficiency of the robot while realizing fixed-point accurate positioning.
The technical scheme provided by the invention is as follows:
the invention provides a method for realizing fixed point navigation, which comprises the following steps:
the application layer adds a detection task at a corresponding fixed point position on the global laser map according to the input information of a user, and adds the detection task to a task list; the task list comprises a plurality of fixed point positions;
the processor carries out path planning according to the fixed point position in the task list to generate a navigation route;
the processor inquires whether a task to be detected exists at the current fixed point position or not when the robot determines to reach the current fixed point position in the process of driving according to the navigation route;
and the processor switches the working state of the robot according to the query result, and controls the robot to be switched to the parking state after the task list is completed.
Further, the step of adding, by the application layer, a detection task at a corresponding fixed point position on the global laser map according to the input information of the user, and adding the detection task to the task list includes:
the application layer acquires the global laser map and input information;
the application layer marks a fixed point position corresponding to the input information on the global laser map, marks a required detection task on the fixed point position, and sets corresponding detection duration for each detection task;
and the application layer adds the fixed point position and the detection task related to the fixed point position to a task queue according to a preset sequence so as to update a task list.
Further, the processor comprises a first industrial personal computer and a second industrial personal computer; the processor carries out path planning according to the fixed point position in the task list to generate a navigation route, and the method comprises the following steps:
the first industrial personal computer receives a task list sent by the application layer;
the first industrial personal computer carries out task decomposition on the task list to obtain the fixed point positions, and the fixed point positions obtained by decomposition are sequentially issued to the second industrial personal computer according to the preset sequence;
and the second industrial personal computer receives the fixed point position and carries out path planning according to the fixed point position to generate the navigation route.
Further, the processor, when the robot travels according to the navigation route and once it is determined that the current fixed point position is reached, querying whether a task to be detected exists at the current fixed point position includes the steps of:
the second industrial personal computer is used for positioning to obtain a space coordinate, and whether the current fixed point position is reached is judged according to the space coordinate;
if the current fixed point position is matched with the space coordinate, the second industrial personal computer determines that the current fixed point position is reached and reports the current fixed point position to the first industrial personal computer;
after receiving the report information which is sent by the second industrial personal computer and reaches the current fixed point position, the first industrial personal computer judges whether the detection time length corresponding to the current fixed point position of the application layer is zero or not;
if the detection time length corresponding to the current fixed point position is zero, the first industrial personal computer determines that no to-be-processed detection task exists in the current fixed point position;
and if the detection time corresponding to the current fixed point position is not zero, the first industrial personal computer determines that the current fixed point position has a task to be detected.
Further, the processor switches the working state of the robot according to the query result, and controls the robot to be switched to the parking state after the task list is completed comprises the following steps:
when the fixed point position has a task to be detected, the first industrial personal computer executes the detection task of the current fixed point position, simultaneously informs the application layer to turn on a corresponding detection switch to obtain a detection report, informs the application layer to turn off the corresponding detection switch after the detection task is finished, and judges whether the task list is finished;
when the fixed point position does not have a task to be processed, the first industrial personal computer judges whether the task list is finished or not;
when the task list is determined to be unfinished, continuously issuing a next fixed point position to the second industrial personal computer according to the preset sequence;
and when the task list is determined to be completed, the second industrial personal computer and the application layer are informed to change the to-do state corresponding to the to-do detection task into a completed state, and the robot is controlled to be in a parking state.
The present invention also provides a robot comprising: an application layer and a processor;
the application layer is used for adding a detection task at a corresponding fixed point position on the global laser map according to the input information of the user and adding the detection task into a task list; the task list comprises a plurality of fixed point positions;
the processor is used for planning a path according to the fixed point position in the task list to generate a navigation route, then inquiring whether a task to be handled exists at the current fixed point position or not once the current fixed point position is reached in the process that the robot runs according to the navigation route, and switching the working state of the robot according to the inquiry result until the robot is controlled to be switched to the parking state after the task list is completed.
Further, the application layer includes:
the acquisition module is used for acquiring the global laser map and input information;
the adding module is used for marking a fixed point position corresponding to the input information on the global laser map, marking a required detection task at the fixed point position, and setting corresponding detection duration for each detection task;
and the generating module is used for adding the fixed point position and the detection task related to the fixed point position into the task queue according to a preset sequence so as to update the task list.
Further, the processor comprises a first industrial personal computer and a second industrial personal computer; the first industrial personal computer comprises a first communication module and a first processing module, the second industrial personal computer comprises a second communication module and a second processing module, and the application layer further comprises a third communication module;
the first communication module is used for receiving the task list sent by the third communication module of the application layer and sending the decomposed fixed point positions to the second industrial personal computer in sequence according to the preset sequence;
the first processing module is used for performing task decomposition on the task list to obtain the fixed point position;
the second communication module is used for receiving the fixed point position;
and the second processing module is used for planning a path according to the fixed point position to generate the navigation route.
The second processing module is further configured to obtain a spatial coordinate through positioning, judge whether the current fixed point position is reached according to the spatial coordinate, and determine that the current fixed point position is reached by the second industrial personal computer if the current fixed point position is matched with the spatial coordinate;
the second communication module is also used for sending the reported information reaching the current fixed point position to the first industrial personal computer;
the first communication module is also used for receiving the reporting information sent by the second industrial personal computer;
the first processing module is further configured to determine whether a detection duration corresponding to the current fixed point position of the application layer is zero after the first communication module receives the report information;
the first processing module is further configured to determine that no to-be-handled detection task exists in the current fixed point position if the detection duration corresponding to the current fixed point position is zero; and if the detection duration corresponding to the current fixed point position is not zero, determining that the current fixed point position has a task to be detected.
Further, the first communication module is further configured to notify the application layer to turn on a corresponding detection switch to obtain a detection report when the to-be-handled detection task exists at the fixed point position, and notify the application layer to turn off the corresponding detection switch after the detection task is completed;
the first communication module is further used for continuing to issue a next fixed point position to the second industrial personal computer according to the preset sequence when the task list is determined to be unfinished;
the first processing module is further configured to execute the detection task at the current fixed point position and determine whether the task list is completed or not when the to-be-handled detection task exists at the fixed point position; when the fixed point position does not have a task to be processed, judging whether the task list is finished or not;
the first processing module is further used for informing the second industrial personal computer and the application layer to change the task state to be handled corresponding to the task to be handled into the completion state and controlling the robot to be in the parking state when the task list is determined to be completed.
The fixed-point navigation implementation method and the robot provided by the invention can accurately position a fixed point and improve the dispatching efficiency of the robot.
Drawings
The above features, technical features, advantages and implementations of a method for fixed-point navigation and a robot will be further described in the following detailed description of preferred embodiments in a clearly understandable manner, with reference to the accompanying drawings.
FIG. 1 is a flow chart of one embodiment of a method for implementing fixed point navigation of the present invention;
FIG. 2 is a flow chart of another embodiment of a method for implementing fixed point navigation according to the present invention;
fig. 3 is a schematic diagram of a communication structure of an embodiment of a robot according to the present invention.
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. However, it will be apparent 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.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
One embodiment of the present invention, as shown in fig. 1, is a method for implementing fixed point navigation, including:
s100, adding a detection task at a corresponding fixed point position on a global laser map by an application layer according to input information of a user, and adding the detection task into a task list; the task list comprises a plurality of fixed point positions;
s200, the processor carries out path planning according to the fixed point position in the task list to generate a navigation route;
s300, in the process that the robot runs according to the navigation route, once the current fixed point position is determined to be reached, the processor inquires whether a to-be-processed detection task exists at the current fixed point position or not;
s400, the processor switches the working state of the robot according to the query result until the robot is controlled to be switched to the parking state after the task list is completed.
Specifically, the method for realizing fixed-point navigation based on the laser map can effectively solve the problem that accurate fixed-point navigation cannot be realized due to a series of internal and external factors such as difficult positioning, uncontrollable navigation route and the like.
One embodiment of the present invention provides a method for implementing fixed point navigation, including:
s110, the application layer acquires the global laser map and input information;
s120, the application layer marks a fixed point position corresponding to the input information on the global laser map, adds a required detection task to the fixed point position mark, and sets corresponding detection duration for each detection task;
s130, the application layer adds the fixed point position and the detection task related to the fixed point position to a task queue according to a preset sequence so as to update a task list;
s210, the first industrial personal computer receives a task list sent by the application layer;
s220, the first industrial personal computer carries out task decomposition on the task list to obtain the fixed point positions, and the fixed point positions obtained through decomposition are sequentially issued to the second industrial personal computer according to the preset sequence;
s230, the second industrial personal computer receives the fixed point position and carries out path planning according to the fixed point position to generate the navigation route;
s310, the second industrial personal computer is used for positioning to obtain a space coordinate, and whether the current fixed point position is reached is judged according to the space coordinate;
s320, if the current fixed point position is matched with the space coordinate, the second industrial personal computer determines that the current fixed point position is reached and reports the current fixed point position to the first industrial personal computer;
s330, after receiving the report information which is sent by the second industrial personal computer and reaches the current fixed point position, the first industrial personal computer judges whether the detection time length corresponding to the current fixed point position of the application layer is zero or not;
s340, if the detection time length corresponding to the current fixed point position is zero, the first industrial personal computer determines that no to-be-processed detection task exists in the current fixed point position;
s350, if the detection time corresponding to the current fixed point position is not zero, the first industrial personal computer determines that the detection task to be handled exists in the current fixed point position.
S410, when the fixed point position has a task to be handled, the first industrial personal computer executes the detection task of the current fixed point position, simultaneously informs the application layer to start a corresponding detection switch to obtain a detection report, informs the application layer to close the corresponding detection switch after the detection task is finished, and judges whether the task list is finished;
s420, when the fixed point position does not have a task to be processed, the first industrial personal computer judges whether the task list is finished or not;
s430, when the task list is determined to be unfinished, continuously issuing a next fixed point position to the second industrial personal computer according to the preset sequence;
s450, when the task list is determined to be completed, the second industrial personal computer and the application layer are informed to change the to-do state corresponding to the to-do detection task into the completed state, and the robot is controlled to be in the parking state.
Specifically, the robot completes accurate description of obstacles, feasible areas and position areas in the surrounding environment of the robot through a carried laser radar sensor, namely a three-dimensional laser map is established, and one or more fixed-point positions are set on the basis of the laser map, so that an autonomous fixed-point navigation task of an optimal path is formed. In the autonomous fixed-point navigation process, an accurate positioning function is completed by means of a sensor carried by the robot and a related positioning algorithm, an optimal navigation line is drawn by means of a navigation algorithm according to the current position and surrounding environment information of the robot, so that a task of reaching a specified position is autonomously completed, and meanwhile, detection of tasks with corresponding time duration, such as stranger detection, license plate recognition, regional intrusion detection and other related detection functions, can be performed on the set fixed-point position.
The invention provides a more intelligent and accurate fixed-point navigation method for an outdoor robot, which can not only rapidly plan an optimal navigation route for the robot and enable the robot to have an autonomous obstacle avoidance function in the driving process, but also perform task detection processing at a set fixed-point position, thereby achieving a rapid and accurate positioning navigation task function. The following describes in detail the implementation of the system solution of the present invention from the system flowchart shown in fig. 2 and the system structure diagram shown in fig. 3.
The System process is that a laser radar sensor carried by a robot is used as a main factor, an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS) are used as assistance, a three-dimensional laser map is established, and a subsequent fixed point navigation task is carried out on the basis of the formed laser map.
The specific flow of the fixed point navigation method of the invention is shown in fig. 2:
(1) a three-dimensional laser map is created by a laser radar sensor carried by the robot.
(2) One or more fixed point positions and detection tasks are set on a map, the detection tasks comprise stranger detection, license plate recognition and regional intrusion detection, zero or more detection tasks can be set at each fixed point position, detection time duration needs to be set for each detection task, the unit is minute, and when the fixed point position is provided with a plurality of detection tasks, the detection tasks can be executed concurrently.
(3) And (4) adding the set fixed point position and the detection task into a task list according to the set sequence, firstly judging whether the list is empty, if the task list is empty, prompting a user to add the fixed point position and the detection task, and otherwise, executing the step (4).
(4) After receiving the task list, the master control industrial personal computer (namely, a first industrial personal computer of the invention) decomposes the current task list and sends fixed point positions in the current task list to the Xavier industrial personal computer (namely, a second industrial personal computer of the invention) one by one according to the set sequence; the main control industrial personal computer firstly issues a first fixed point position set in the task list to the Xavier industrial personal computer, and so on, and then issues a second fixed point position set in the task list to the Xavier industrial personal computer until all the fixed point positions are issued in sequence.
(5) The Xavier industrial personal computer realizes accurate positioning on the set fixed point position through a related positioning algorithm, and then an optimal navigation line is drawn out by utilizing a navigation algorithm according to the current position and the surrounding environment information of the robot.
(6) Judging whether the current robot reaches a set fixed point position or not according to a related fixed point algorithm in the navigation driving process, if not, continuing to walk according to a planned route, and if an obstacle is encountered in the driving process, carrying out autonomous obstacle avoidance processing; and if the current position arrives, the Xavier industrial personal computer reports state information of the arrived fixed point position to the main control industrial personal computer and executes the step (7).
(7) After reaching the fixed point position, the master industrial personal computer judges whether the detection task time length set at the current fixed point position is zero, if not, the detection task of the fixed point position is carried out, meanwhile, the master industrial personal computer informs an application layer to start a corresponding detection switch to obtain an alarm log generated in the task detection process, and then step (8) is executed; if the set detection task time lengths are all zero, namely, the fixed point position is set, and the robot passes through the fixed point position, the step (9) is executed.
(8) And (5) judging whether the current detection task is finished, if the detection task is finished, informing the application layer to close the corresponding detection switch, and executing the step (9).
(9) Judging whether the tasks in the current task list are all executed, if the task list has subsequent fixed-point positions to be executed, issuing the next fixed-point position to the Xavier industrial personal computer, and then executing the step (5) to perform positioning, planning and detecting in the next stage; otherwise, executing step (10).
(10) And informing the Xavier industrial personal computer to change the corresponding state and enabling the robot to be in a parking state, and simultaneously informing the application layer to change the corresponding identifier to show that the fixed point navigation task is completed.
The first dashed box part 1 in the flowchart shown in fig. 2 is an application layer module, which involves adding a fixed point position and a detection task, and adding a precedence score. A second dashed frame part 2 shown in fig. 2 is an Xavier industrial personal computer module, and relates to the functions of positioning a fixed point position, autonomously avoiding obstacles, planning an optimal path and the like for controlling the relevant fixed point navigation of the robot. The third dashed box part 3 shown in fig. 2, except the second dashed box part 2 inside, is a master control industrial personal computer module, and relates to a series of logic processing of task lists.
The system structure of the present invention can be divided into three modules as shown in fig. 3 as a whole:
an application module: the application layer sets one or more fixed point positions and detection task information on the basis of a three-dimensional laser map, the fixed point positions and the detection tasks are added into a task list in order, when a user clicks to execute a start task, the task is issued to a cloud deck server according to a protocol format preset by a master industrial personal computer through an MQTT protocol, and the cloud deck server issues task commands to the master industrial personal computer subscribed with the protocol through the MQTT protocol.
The main control industrial personal computer module: after receiving a task list issued by an application layer, the master control industrial personal computer disassembles the task list, issues position information in the task list to the Xavier industrial personal computer one by one through an MQTT protocol according to a protocol format preset by the Xavier industrial personal computer, and waits for the Xavier industrial personal computer to report state information of the arrival of a fixed point position; and after the position is reached, executing the corresponding detection task according to the set detection duration.
Xavier industrial personal computer module: after receiving the fixed point position issued by the master control industrial personal computer, the position is accurately positioned through a positioning algorithm, an optimal navigation route is planned through the navigation algorithm according to the current position and the surrounding environment information of the robot, the robot is controlled to autonomously complete the task of reaching the specified position through a CAN protocol, and the arrival state is reported to the master control industrial personal computer after the robot reaches the specified target position.
The invention adopts MQTT protocol to fuse three independent modules of an application layer, a master control industrial personal computer and an Xavier industrial personal computer together, thereby effectively controlling the robot to complete a sequence of fixed-point navigation tasks. According to the invention, the map acquired by the laser radar sensor of the robot is adopted, so that the robot can be accurately positioned in a fixed-point navigation mode, a controllable optimal navigation line is planned, and a series of detection tasks are completed.
The invention realizes the fixed point navigation method based on the laser map, can effectively solve the problem that the precise fixed point navigation cannot be realized due to a series of internal and external factors such as difficult positioning, uncontrollable navigation route and the like, and compared with the traditional fixed point navigation method, the invention not only can precisely position and plan a controllable optimal navigation route, but also can carry out a series of detection tasks at the fixed point position, and can ensure that the navigation task is more intelligent and diversified.
In one embodiment of the present invention, a robot includes: an application layer and a processor;
the application layer is used for adding a detection task at a corresponding fixed point position on the global laser map according to the input information of the user and adding the detection task into a task list; the task list comprises a plurality of fixed point positions;
the processor is used for planning a path according to the fixed point position in the task list to generate a navigation route, then inquiring whether a task to be handled exists at the current fixed point position or not once the current fixed point position is reached in the process that the robot runs according to the navigation route, and switching the working state of the robot according to the inquiry result until the robot is controlled to be switched to the parking state after the task list is completed.
Specifically, this embodiment is a device embodiment corresponding to the method embodiment, and specific effects refer to the method embodiment, which is not described in detail herein.
Based on the foregoing embodiments, the application layer includes:
the acquisition module is used for acquiring the global laser map and input information;
the adding module is used for marking a fixed point position corresponding to the input information on the global laser map, marking a required detection task at the fixed point position, and setting corresponding detection duration for each detection task;
and the generating module is used for adding the fixed point position and the detection task related to the fixed point position into the task queue according to a preset sequence so as to update the task list.
Specifically, this embodiment is a device embodiment corresponding to the method embodiment, and specific effects refer to the method embodiment, which is not described in detail herein.
Based on the foregoing embodiment, the processor includes a first industrial personal computer and a second industrial personal computer; the first industrial personal computer comprises a first communication module and a first processing module, the second industrial personal computer comprises a second communication module and a second processing module, and the application layer further comprises a third communication module;
the first communication module is used for receiving the task list sent by the third communication module of the application layer and sending the decomposed fixed point positions to the second industrial personal computer in sequence according to the preset sequence;
the first processing module is used for performing task decomposition on the task list to obtain the fixed point position;
the second communication module is used for receiving the fixed point position;
and the second processing module is used for planning a path according to the fixed point position to generate the navigation route.
Specifically, this embodiment is a device embodiment corresponding to the method embodiment, and specific effects refer to the method embodiment, which is not described in detail herein.
Based on the foregoing embodiment, the second processing module is further configured to obtain a spatial coordinate by positioning, determine whether the current fixed point position is reached according to the spatial coordinate, and determine that the current fixed point position is reached by the second industrial personal computer if the current fixed point position is matched with the spatial coordinate;
the second communication module is also used for sending the reported information reaching the current fixed point position to the first industrial personal computer;
the first communication module is also used for receiving the reporting information sent by the second industrial personal computer;
the first processing module is further configured to determine whether a detection duration corresponding to the current fixed point position of the application layer is zero after the first communication module receives the report information;
the first processing module is further configured to determine that no to-be-handled detection task exists in the current fixed point position if the detection duration corresponding to the current fixed point position is zero; and if the detection duration corresponding to the current fixed point position is not zero, determining that the current fixed point position has a task to be detected.
Specifically, this embodiment is a device embodiment corresponding to the method embodiment, and specific effects refer to the method embodiment, which is not described in detail herein.
Based on the foregoing embodiment, the first communication module is further configured to notify the application layer to turn on a corresponding detection switch to obtain a detection report when the to-do detection task exists at the fixed point location, and notify the application layer to turn off the corresponding detection switch after the detection task is completed;
the first communication module is further used for continuing to issue a next fixed point position to the second industrial personal computer according to the preset sequence when the task list is determined to be unfinished;
the first processing module is further configured to execute the detection task at the current fixed point position and determine whether the task list is completed or not when the to-be-handled detection task exists at the fixed point position; when the fixed point position does not have a task to be processed, judging whether the task list is finished or not;
the first processing module is further used for informing the second industrial personal computer and the application layer to change the task state to be handled corresponding to the task to be handled into the completion state and controlling the robot to be in the parking state when the task list is determined to be completed.
Specifically, this embodiment is a device embodiment corresponding to the method embodiment, and specific effects refer to the method embodiment, which is not described in detail herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of program modules is illustrated, and in practical applications, the above-described distribution of functions may be performed by different program modules, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program 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 processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only used for distinguishing the program modules from one another, and are not used for limiting the protection scope of the application.
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 recited in detail 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 of 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.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for realizing fixed point navigation is characterized by comprising the following steps:
the application layer adds a detection task at a corresponding fixed point position on the global laser map according to the input information of a user, and adds the detection task to a task list; the task list comprises a plurality of fixed point positions;
the processor carries out path planning according to the fixed point position in the task list to generate a navigation route;
the processor inquires whether a task to be detected exists at the current fixed point position or not when the robot determines to reach the current fixed point position in the process of driving according to the navigation route;
and the processor switches the working state of the robot according to the query result, and controls the robot to be switched to the parking state after the task list is completed.
2. The method for implementing pointing navigation according to claim 1, wherein the step of adding the detection task to the task list by the application layer at the corresponding pointing position on the global laser map according to the input information of the user includes:
the application layer acquires the global laser map and input information;
the application layer marks a fixed point position corresponding to the input information on the global laser map, marks a required detection task on the fixed point position, and sets corresponding detection duration for each detection task;
and the application layer adds the fixed point position and the detection task related to the fixed point position to a task queue according to a preset sequence so as to update a task list.
3. The method for implementing fixed point navigation according to claim 2, wherein the processor comprises a first industrial personal computer and a second industrial personal computer; the processor carries out path planning according to the fixed point position in the task list to generate a navigation route, and the method comprises the following steps:
the first industrial personal computer receives a task list sent by the application layer;
the first industrial personal computer carries out task decomposition on the task list to obtain the fixed point positions, and the fixed point positions obtained by decomposition are sequentially issued to the second industrial personal computer according to the preset sequence;
and the second industrial personal computer receives the fixed point position and carries out path planning according to the fixed point position to generate the navigation route.
4. The method for implementing pointing navigation according to claim 3, wherein the processor, upon determining that the current pointing location is reached while the robot is traveling according to the navigation route, queries whether there is a task to be detected at the current pointing location, including the steps of:
the second industrial personal computer is used for positioning to obtain a space coordinate, and whether the current fixed point position is reached is judged according to the space coordinate;
if the current fixed point position is matched with the space coordinate, the second industrial personal computer determines that the current fixed point position is reached and reports the current fixed point position to the first industrial personal computer;
after receiving the report information which is sent by the second industrial personal computer and reaches the current fixed point position, the first industrial personal computer judges whether the detection time length corresponding to the current fixed point position of the application layer is zero or not;
if the detection time length corresponding to the current fixed point position is zero, the first industrial personal computer determines that no to-be-processed detection task exists in the current fixed point position;
and if the detection time corresponding to the current fixed point position is not zero, the first industrial personal computer determines that the current fixed point position has a task to be detected.
5. The method for implementing fixed point navigation according to claim 4, wherein the processor switches the working state of the robot according to the query result, and the step of controlling the robot to switch to the parking state after the task list is completed comprises the steps of:
when the fixed point position has a task to be detected, the first industrial personal computer executes the detection task of the current fixed point position, simultaneously informs the application layer to turn on a corresponding detection switch to obtain a detection report, informs the application layer to turn off the corresponding detection switch after the detection task is finished, and judges whether the task list is finished;
when the fixed point position does not have a task to be processed, the first industrial personal computer judges whether the task list is finished or not;
when the task list is determined to be unfinished, continuously issuing a next fixed point position to the second industrial personal computer according to the preset sequence;
and when the task list is determined to be completed, the second industrial personal computer and the application layer are informed to change the to-do state corresponding to the to-do detection task into a completed state, and the robot is controlled to be in a parking state.
6. A robot, comprising: an application layer and a processor;
the application layer is used for adding a detection task at a corresponding fixed point position on the global laser map according to the input information of the user and adding the detection task into a task list; the task list comprises a plurality of fixed point positions;
the processor is used for planning a path according to the fixed point position in the task list to generate a navigation route, then inquiring whether a task to be handled exists at the current fixed point position or not once the current fixed point position is reached in the process that the robot runs according to the navigation route, and switching the working state of the robot according to the inquiry result until the robot is controlled to be switched to the parking state after the task list is completed.
7. The robot of claim 6, wherein the application layer comprises:
the acquisition module is used for acquiring the global laser map and input information;
the adding module is used for marking a fixed point position corresponding to the input information on the global laser map, marking a required detection task at the fixed point position, and setting corresponding detection duration for each detection task;
and the generating module is used for adding the fixed point position and the detection task related to the fixed point position into the task queue according to a preset sequence so as to update the task list.
8. A robot as claimed in claim 7, wherein the processor comprises a first industrial computer and a second industrial computer; the first industrial personal computer comprises a first communication module and a first processing module, the second industrial personal computer comprises a second communication module and a second processing module, and the application layer further comprises a third communication module;
the first communication module is used for receiving the task list sent by the third communication module of the application layer and sending the decomposed fixed point positions to the second industrial personal computer in sequence according to the preset sequence;
the first processing module is used for performing task decomposition on the task list to obtain the fixed point position;
the second communication module is used for receiving the fixed point position;
and the second processing module is used for planning a path according to the fixed point position to generate the navigation route.
9. The robot of claim 8, wherein:
the second processing module is further used for positioning to obtain a space coordinate, judging whether the current fixed point position is reached according to the space coordinate, and if the current fixed point position is matched with the space coordinate, the second industrial personal computer determines that the current fixed point position is reached;
the second communication module is also used for sending the reported information reaching the current fixed point position to the first industrial personal computer;
the first communication module is also used for receiving the reporting information sent by the second industrial personal computer;
the first processing module is further configured to determine whether a detection duration corresponding to the current fixed point position of the application layer is zero after the first communication module receives the report information;
the first processing module is further configured to determine that no to-be-handled detection task exists in the current fixed point position if the detection duration corresponding to the current fixed point position is zero; and if the detection duration corresponding to the current fixed point position is not zero, determining that the current fixed point position has a task to be detected.
10. The robot of claim 9, wherein:
the first communication module is further configured to notify the application layer to turn on a corresponding detection switch to obtain a detection report when the to-be-handled detection task exists at the fixed point position, and notify the application layer to turn off the corresponding detection switch after the detection task is completed;
the first communication module is further used for continuing to issue a next fixed point position to the second industrial personal computer according to the preset sequence when the task list is determined to be unfinished;
the first processing module is further configured to execute the detection task at the current fixed point position and determine whether the task list is completed or not when the to-be-handled detection task exists at the fixed point position; when the fixed point position does not have a task to be processed, judging whether the task list is finished or not;
the first processing module is further used for informing the second industrial personal computer and the application layer to change the task state to be handled corresponding to the task to be handled into the completion state and controlling the robot to be in the parking state when the task list is determined to be completed.
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Application publication date: 20210611 |