CN113031581A - Robot, method for controlling travel of robot, electronic device, and storage medium - Google Patents
Robot, method for controlling travel of robot, electronic device, and storage medium Download PDFInfo
- Publication number
- CN113031581A CN113031581A CN201911355250.6A CN201911355250A CN113031581A CN 113031581 A CN113031581 A CN 113031581A CN 201911355250 A CN201911355250 A CN 201911355250A CN 113031581 A CN113031581 A CN 113031581A
- Authority
- CN
- China
- Prior art keywords
- robot
- obstacle
- determining
- information
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 72
- 230000008569 process Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000004888 barrier function Effects 0.000 claims description 42
- 238000004590 computer program Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a robot, a robot driving control method, electronic equipment and a storage medium, wherein the robot comprises an obstacle detection device, a control device and a movement device, and the control device comprises a track determination module, an area determination module and an obstacle avoidance control module; the track determining module is used for determining the running track information of the robot in the future; the area determination module is configured to determine a position range of a forbidden area for forbidding an obstacle to enter in the driving process of the robot based on the driving track information; the obstacle avoidance control module is arranged to control the movement device to decelerate and avoid an obstacle based on the position information of the obstacle and the position range of the forbidden area when the obstacle detection component detects the position information of the obstacle. The embodiment of the application improves the running flexibility of the robot.
Description
Technical Field
The application relates to the technical field of logistics transportation, in particular to a robot, a robot running control method, electronic equipment and a storage medium.
Background
With the rapid development of electronic commerce and online shopping, a rapid opportunity is brought to the logistics storage industry, and the robot is produced by the aid of the rapid opportunity to improve the transportation efficiency of the logistics industry.
In the smart storage environment, by separating respective traveling routes of a person and a robot or by enclosing the traveling route of the robot with a fence, the person can be prevented from contacting the robot, thereby achieving fundamental safety.
However, the above-described manner limits the use of the robot, so that the flexibility of the robot is reduced.
Disclosure of Invention
In view of the above, the present application at least provides a robot to improve the flexibility of the robot.
In a first aspect, an embodiment of the present application provides a robot, where the robot includes an obstacle detection device, a control device, and a movement device, where the control device includes a trajectory determination module, an area determination module, and an obstacle avoidance control module;
the track determining module is used for determining the running track information of the robot in the future;
the area determination module is configured to determine a position range of a forbidden area for forbidding an obstacle to enter in the driving process of the robot based on the driving track information;
the obstacle avoidance control module is arranged to control the movement device to decelerate and avoid an obstacle based on the position information of the obstacle and the position range of the forbidden area when the obstacle detection component detects the position information of the obstacle.
In one embodiment, the trajectory determination module is further configured to:
acquiring running speed information of the robot;
and determining the running track information of the robot in a set time length in the future based on the running speed information.
In one embodiment, the movement device comprises one steering wheel at the front end of the bottom of the robot and two support wheels at the rear end of the bottom of the robot, the robot further comprising a steering wheel sensor; the trajectory determination module is further configured to:
acquiring the linear speed and the rotation angle of the steering wheel, which are acquired by the steering wheel sensor;
determining the linear velocity of the central points of the two supporting wheels based on the linear velocity and the corner, and determining the angular velocity of the central points of the two supporting wheels based on the prestored fork truck wheel base, the corner and the linear velocity;
determining that the travel speed information of the robot includes a linear speed of the center point and an angular speed of the center point.
In one embodiment, the trajectory determination module is further configured to:
determining the radian corresponding to the running track of the robot within the future preset time length according to the angular speed of the central point; and the number of the first and second groups,
and determining the arc length corresponding to the running track of the robot in the future preset time length based on the linear speed of the central point.
In one embodiment, the region determination module is further configured to:
determining a position range of a driving area through which the robot passes when driving according to the driving track information based on the driving track information and the size information of the robot;
and based on the position range of the driving area, cutting a lateral area of the robot in the driving area, and taking the position range of the lateral area as the position range of the forbidden area.
In one embodiment, the obstacle avoidance control module is further configured to:
determining whether the obstacle enters the position range of the forbidden zone based on the position information of the obstacle and the position range of the forbidden zone;
if the barrier enters the position range of the forbidden area, controlling the movement device to stop;
if the obstacle does not enter the position range of the forbidden zone, determining the dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information based on the position information of the obstacle and the running track information of the robot, and controlling the movement device to decelerate and avoid the obstacle based on the dynamic distance.
In one embodiment, the obstacle detecting component includes a lidar sensor; the obstacle avoidance control module is further arranged as follows:
acquiring a first position coordinate of the obstacle detected by the laser radar sensor under a laser radar coordinate system corresponding to the laser radar sensor;
determining a second position coordinate of the obstacle under a vehicle body coordinate system where the robot is located based on the first position coordinate;
and if the second position coordinate is detected to be located in the coordinate range of the forbidden zone under the vehicle body coordinate system, determining that the barrier enters the position range of the forbidden zone.
In one embodiment, the obstacle avoidance control module is further configured to:
establishing a track coordinate system by taking the current position of the robot as a coordinate origin, taking a coordinate axis in the running track line direction of the robot as a first coordinate axis and taking a coordinate axis in the perpendicular line direction from the coordinate origin to the first coordinate axis as a second coordinate axis;
determining a corresponding target position coordinate of the obstacle in the track coordinate system based on the position information of the obstacle;
determining a dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information based on the target position coordinate, a preset first safety distance and a preset second safety distance, wherein the preset first safety distance is used for representing a safety distance from the front of the robot; the preset second safety distance is used for representing a safety distance from the side edge of the robot.
In one embodiment, the obstacle avoidance control module is further configured to:
determining a first relative distance between the obstacle and the robot based on a first coordinate value in the target position coordinates and the preset first safety distance;
determining a second relative distance between the obstacle and the robot based on a second coordinate value in the target position coordinates and the preset second safety distance;
and determining the dynamic distance between the obstacle and the robot in the process that the robot drives according to the driving track information based on the first relative distance and the second relative distance.
In a second aspect, an embodiment of the present application provides a method for controlling robot driving, including:
determining the running track information of the robot in the future;
determining a position range of a forbidden area for forbidding an obstacle to enter in the driving process of the robot based on the driving track information;
and when the obstacle detection part detects the position information of the obstacle, controlling a movement device of the robot to decelerate and avoid the obstacle based on the position information of the obstacle and the position range of the forbidden area.
In one possible embodiment, the determining the future travel track information of the robot includes:
acquiring running speed information of the robot;
and determining the running track information of the robot in a set time length in the future based on the running speed information.
In one possible embodiment, the acquiring the travel speed information of the robot includes:
acquiring the linear speed and the rotation angle of a steering wheel acquired by a steering wheel sensor of the robot;
determining linear speeds of central points of two supporting wheels of the robot based on the linear speeds and the corners, and determining angular speeds of the central points of the two supporting wheels based on prestored forklift wheel bases, the corners and the linear speeds;
determining that the travel speed information of the robot includes a linear speed of the center point and an angular speed of the center point.
In one possible embodiment, the determining the travel track information of the robot within the set time period in the future based on the travel speed information includes:
determining the radian corresponding to the running track of the robot within the future preset time length according to the angular speed of the central point; and the number of the first and second groups,
and determining the arc length corresponding to the running track of the robot in the future preset time length based on the linear speed of the central point.
In one possible embodiment, the determining, based on the travel track information, a position range of a no-entry area where an obstacle is prohibited from entering during travel of the robot includes:
determining a position range of a driving area through which the robot passes when driving according to the driving track information based on the driving track information and the size information of the robot;
and based on the position range of the driving area, cutting a lateral area of the robot in the driving area, and taking the position range of the lateral area as the position range of the forbidden area.
In a possible implementation manner, the controlling a motion device of the robot to slow down and avoid an obstacle based on the position information of the obstacle and the position range of the forbidden zone includes:
determining whether the obstacle enters the position range of the forbidden zone based on the position information of the obstacle and the position range of the forbidden zone;
if the barrier enters the position range of the forbidden area, controlling the robot to stop;
if the obstacle does not enter the position range of the forbidden zone, determining the dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information based on the position information of the obstacle and the running track information of the robot, and controlling the movement device to decelerate and avoid the obstacle based on the dynamic distance.
In a possible implementation manner, the determining whether the obstacle enters the position range of the forbidden zone based on the position information of the obstacle and the position range of the forbidden zone includes:
acquiring a first position coordinate of the obstacle detected by a laser radar sensor under a laser radar coordinate system corresponding to the laser radar sensor;
determining a second position coordinate of the obstacle under a vehicle body coordinate system where the robot is located based on the first position coordinate;
and if the second position coordinate is detected to be located in the coordinate range of the forbidden zone under the vehicle body coordinate system, determining that the barrier enters the position range of the forbidden zone.
In one possible embodiment, the determining a dynamic distance between the obstacle and the robot while the robot travels according to the travel track information based on the position information of the obstacle and the travel track information of the robot includes:
establishing a track coordinate system by taking the current position of the robot as a coordinate origin, taking a coordinate axis in the running track line direction of the robot as a first coordinate axis and taking a coordinate axis in the perpendicular line direction from the coordinate origin to the first coordinate axis as a second coordinate axis;
determining a corresponding target position coordinate of the obstacle in the track coordinate system based on the position information of the obstacle;
determining a dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information based on the target position coordinate, a preset first safety distance and a preset second safety distance, wherein the preset first safety distance is used for representing a safety distance from the front of the robot; the preset second safety distance is used for representing a safety distance from the side edge of the robot.
In a possible embodiment, the determining a dynamic distance between the obstacle and the robot during the robot traveling according to the traveling track information based on the target position coordinates, a preset first safe distance, and a preset second safe distance includes:
determining a first relative distance between the obstacle and the robot based on a first coordinate value in the target position coordinates and the preset first safety distance;
determining a second relative distance between the obstacle and the robot based on a second coordinate value in the target position coordinates and the preset second safety distance;
and determining the dynamic distance between the obstacle and the robot in the process that the robot drives according to the driving track information based on the first relative distance and the second relative distance.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the control method according to the second aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to execute the steps of the control method according to the second aspect.
The application provides a robot, including barrier detection device, telecontrol equipment and controlling means, controlling means includes track determination module, regional determination module and keeps away barrier control module, wherein the track determination module can confirm the track information of robot traveling in the future, then regional determination module determines the forbidden area of forbidding barrier entering promptly in advance based on this track information of traveling to keep away barrier control module when barrier detection device detects the positional information of barrier, can be according to the positional information of barrier and the positional range in this forbidden area, control telecontrol equipment slows down and keeps away the barrier. In the running process of the robot, the forbidden area can be adjusted in real time according to the running track information of the robot, and the robot is controlled to slow down and avoid the obstacle according to the forbidden area and the position information of the obstacle. According to the mode, the running path of the robot is not required to be isolated in advance, the robot can be controlled to decelerate and avoid obstacles in the running process of the robot, the running flexibility of the robot is improved on one hand, and the running efficiency of the robot is improved on the other hand under the condition that the robot is guaranteed to run safely.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a schematic structural diagram of a robot provided in an embodiment of the present application;
fig. 2a is a schematic top view of a forklift truck according to an embodiment of the present application;
fig. 2b shows a simplified structural schematic diagram of a forklift truck provided in an embodiment of the present application
Fig. 3 is a schematic diagram illustrating a travel track of a robot according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating a position range that a robot passes when traveling on a travel track according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a forbidden area provided in an embodiment of the present application;
FIG. 6 illustrates an environment diagram for determining polar coordinates of an obstacle according to an embodiment of the present application;
fig. 7 is a schematic diagram illustrating a relationship between coordinates of an obstacle in a trajectory coordinate system and a travel trajectory of a robot according to an embodiment of the present application;
fig. 8 is a schematic diagram illustrating a positional relationship between an obstacle and a robot in a standard coordinate system according to an embodiment of the present disclosure;
fig. 9 is a flowchart illustrating a control method for robot driving according to an embodiment of the present disclosure;
fig. 10 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The robot can automatically run according to the running route issued by the server, and the robot may collide with an obstacle in the running process. If various possible driving paths of the robot are planned in advance and isolated to prevent obstacles from entering, on one hand, the use of the robot is limited (for example, the driving path issued to the robot can only be the path in the planned driving path), and on the other hand, the logistics transportation space such as a warehouse and the like is greatly wasted; in summary, this results in an inflexible transport of the robot.
The application provides a robot, including barrier detection device, telecontrol equipment and controlling means, controlling means includes track determination module, regional determination module and keeps away barrier control module, wherein the track determination module can confirm the track information of robot traveling in the future, then regional determination module determines the forbidden area of forbidding barrier entering promptly in advance based on this track information of traveling to keep away barrier control module when barrier detection device detects the positional information of barrier, can be according to the positional information of barrier and the positional range in this forbidden area, control telecontrol equipment slows down and keeps away the barrier. In the running process of the robot, the forbidden area can be adjusted in real time according to the running track information of the robot, and the robot is controlled to slow down and avoid the obstacle according to the forbidden area and the position information of the obstacle. According to the mode, the running path of the robot is not required to be isolated in advance, the robot can be controlled to decelerate and avoid obstacles in the running process of the robot, the running flexibility of the robot is improved on one hand, and the running efficiency of the robot is improved on the other hand under the condition that the robot is guaranteed to run safely.
The technical solutions in the present application will be described clearly and completely with reference to the drawings in the present application, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the present application, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
For the understanding of the present embodiment, a robot disclosed in the embodiments of the present application will be described in detail first.
Referring to fig. 1, a robot provided in an embodiment of the present application includes an obstacle detection device 101, a control device 102, and a motion device 103, where the control device 102 includes a track determination module 1021, an area determination module 1022, and an obstacle avoidance control module 1023.
Wherein the trajectory determination module 1021 is configured to determine the travel trajectory information of the robot in the future.
The travel track information of the robot in the future may be travel track information of the robot in a set time period in the future, for example, travel track information in 5 minutes in the future, where the travel track information may be travel track information of the robot when the robot travels according to a pre-planned route, or travel track information of the robot when the robot travels according to an autonomously planned route in an actual scene.
The area determination module 1022 is configured to determine a position range of a forbidden area where an obstacle is forbidden to enter during the driving of the robot based on the driving track information.
The forbidden area refers to an area where collision is likely to occur with respect to the robot, and after an obstacle enters the forbidden area, the robot may collide if the robot continues to travel.
The obstacle avoidance control module 1023 is configured to control the movement device to decelerate and avoid an obstacle based on the position information of the obstacle and the position range of the forbidden area when the obstacle detection component detects the position information of the obstacle.
Here, the obstacle detection component mounted on the robot may detect an obstacle, for example, the robot is mounted with a sensor for detecting an obstacle based on the laser radar technology, when the obstacle enters a detection range of the sensor, the obstacle detection component may acquire position information of the obstacle, and then the obstacle avoidance control module 1023 in the control device 102 further controls the moving device to prohibit deceleration and obstacle avoidance according to the position information of the obstacle and the aforementioned position range of the prohibited area.
The robot includes an obstacle detection device, a movement device, and a control device, where the control device includes a track determination module, an area determination module, and an obstacle avoidance control module, where the track determination module is capable of determining travel track information of the robot in the future, and then the area determination module determines an forbidden area where an obstacle is forbidden to enter in advance based on the travel track information, so that the obstacle avoidance control module may control the movement device to slow down and avoid an obstacle according to the position information of the obstacle and a position range of the forbidden area when the obstacle detection device detects the position information of the obstacle. In the running process of the robot, the forbidden area can be adjusted in real time according to the running track information of the robot, and the robot is controlled to slow down and avoid the obstacle according to the forbidden area and the position information of the obstacle. According to the mode, the running path of the robot is not required to be isolated in advance, the robot can be controlled to decelerate and avoid obstacles in the running process of the robot, the running flexibility of the robot is improved on one hand, and the running efficiency of the robot is improved on the other hand under the condition that the robot is guaranteed to run safely.
The robot will be further explained with reference to specific embodiments.
In one embodiment, the trajectory determination module, when determining the travel trajectory information of the robot in the future, is further configured to:
acquiring running speed information of the robot;
and determining the running track information of the robot in the set time length in the future based on the running speed information.
The travel speed information may include a speed magnitude and a speed direction, and particularly, the travel track information of the robot in a set time period in the future may be determined based on the travel speed information, for example, if the travel speed of the robot is known to travel to the east at a speed of 30m/s, the travel track information of the robot may be a track 150m to the east from the current position after 5 s.
The manner of acquiring the travel speed information of the robot may include various manners, such as measuring the travel speed information of the robot by installing a speed sensor on the robot, where the speed sensor includes a sensor for measuring the speed and a sensor for measuring the speed direction, and the manner of acquiring the travel speed information of the robot is described below with a specific embodiment.
In a specific embodiment, the description is made in the form of a robot being a forklift, as shown in fig. 2a and 2b, where fig. 2a is a schematic top view of the forklift, fig. 2b is a simplified schematic structure of the forklift, the moving device on the forklift includes a steering wheel at a front end of a bottom of the forklift and two support wheels at a rear end of the bottom of the forklift, where the steering wheel serves as a driving wheel, the forklift is further provided with a steering wheel sensor, the steering wheel sensor may include a linear velocity sensor for detecting a linear velocity of the steering wheel and an angle sensor for detecting a rotation angle of the steering wheel, and the trajectory determination module is further configured to:
acquiring the linear speed and the rotation angle of a steering wheel acquired by a steering wheel sensor;
determining the linear velocity of the central points of the two supporting wheels based on the linear velocity and the corner, and determining the angular velocity of the central points of the two supporting wheels based on the prestored wheelbase, corner and linear velocity of the forklift;
determining the travel speed information of the robot includes a linear speed of the center point and an angular speed of the center point.
As shown in fig. 3, a schematic diagram of a kinematic model established for the motion trajectory of the forklift is shown, when the angular velocity sensor detects that the rotation angle of the steering wheel is θ, if the center line point O of the support wheel is takenLIs the origin, the origin is OLAround OGMaking circular motion, knowing that the wheelbase of the forklift is L, the origin is OLAround OGThe radius of rotation for circular motion is R, which can be determined by the following equation (1):
R＝L/tanθ (1)；
if the linear velocity of the steering wheel is determined to be v according to the linear velocity sensor, the track determining module can respectively determine the central points O of the two support wheels according to the following formula (2) and formula (3)LLinear velocity v of0And a center point OLAngular velocity w of0：
v0＝v/cosθ (2)；
w0＝vL/sinθ (3)；
Then determining the running speed information of the robot, i.e. the linear velocity v including the center point0And angular velocity w of the center point0。
Further, after obtaining the travel speed information of the robot, the trajectory determination module may determine the travel trajectory information of the robot within a set time period in the future according to the travel speed information, and therefore the trajectory determination module is further configured to:
determining the radian corresponding to the running track of the robot within a preset time length in the future according to the angular speed of the central point; and determining the arc length corresponding to the running track of the robot within the future preset time length based on the linear speed of the central point.
The angular velocity of the center point here may indicate that the robot winds around O in a unit time lengthGThe arc degree of the robot, the linear speed of the central point can represent the arc length of the robot in the unit time length, and the driving track information of the robot in the set time length in the future can be determined through the arc degree and the arc length.
Of course, if the steering angle of the steering wheel is 0, the robot travels along a straight line, and the corresponding travel track is a straight line.
After the track determining module determines the traveling track information of the robot within the set time length in the future, the area determining module may further determine the aforementioned forbidden area, and therefore, the area determining module is further configured to:
determining a position range of a driving area through which the robot passes when driving according to the driving track information based on the driving track information and the size information of the robot;
and based on the position range of the driving area, cutting out a lateral area of the robot in the driving area, and taking the position range of the lateral area as the position range of the forbidden area.
Because the robot has a certain volume, the position range of the driving area passed by the robot when the robot drives according to the driving track information can be shown in fig. 4, and it can be seen that the driving area includes two parts, one part is the front area of the robot, namely the front area of the straight line L which represents the side length a of the robot in fig. 4, and the other part is the lateral area of the robot, namely the left area which is below the straight line L and has the side length B of the robot.
Of course, the position range of the forbidden zone is not always constant, and the position range of the forbidden zone changes along with the change of the travel track information, so that in order to obtain an accurate forbidden zone, the travel track information of the robot in the future can be determined every time with a short interval, and the forbidden zone can be adjusted at any time.
It should be noted that, for later convenience in determining the relationship between the position information of the obstacle and the position range of the proceeding area, the travel track information of the robot may be set as the travel track information in a body coordinate system corresponding to the robot, the position range of the corresponding forbidden area may also be the travel track information in the body coordinate system corresponding to the robot, the body coordinate system mentioned here may use the direction in which the robot advances as an X axis, the direction perpendicular to the advancing direction of the vehicle as a Y axis, and the direction pointing to the sky as a Z axis, and when the robot is a forklift, the center point O of the supporting wheel shown in fig. 3 may be usedLAs the origin in the vehicle body coordinate system.
In one embodiment, the obstacle avoidance control module is further configured to:
determining whether the barrier enters the position range of the forbidden area or not based on the position information of the barrier and the position range of the forbidden area;
if the barrier enters the position range of the forbidden area, controlling the movement device to stop;
and if the obstacle does not enter the position range of the forbidden area, determining the dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information based on the position information of the obstacle and the running track information of the robot, and controlling the movement device to reduce the speed and avoid the obstacle based on the dynamic distance.
When the obstacle avoidance control module determines whether the obstacle enters the position range of the forbidden area based on the position information of the obstacle and the position range of the forbidden area, the following description is made:
the position information of barrier can acquire through multiple mode, for example can acquire through camera device, also can acquire through laser radar sensor, and this application embodiment explains with detecting the barrier through laser radar sensor as the example, when detecting the barrier through laser radar sensor, the barrier detection part that this application embodiment provided can be laser radar sensor, like this, keeps away barrier control module and further sets up to:
acquiring a first position coordinate of an obstacle detected by a laser radar sensor under a laser radar coordinate system corresponding to the laser radar sensor;
determining a second position coordinate of the obstacle under a vehicle body coordinate system where the robot is located based on the first position coordinate;
and if the second position coordinate is detected to be located in the coordinate range of the forbidden area under the vehicle body coordinate system, determining that the barrier enters the position range of the forbidden area.
The laser radar sensor can transmit a laser radar signal, after an echo signal of the laser radar signal is received, the obstacle can be determined to be detected, then a first position coordinate of the obstacle under a laser radar coordinate system corresponding to the laser radar sensor is obtained, in order to facilitate calculation, the obstacle avoidance control module converts the first position coordinate into a second position coordinate under a vehicle coordinate system where the robot is located, so that the position relation between the second position coordinate where the robot is located and a coordinate range occupied by a forbidden area can be determined under the vehicle coordinate system, and whether the obstacle enters the position range of the forbidden area or not is determined.
The second position coordinate here includes an X value and a Y value, and if both the X value and the Y value are located in a coordinate range of the forbidden area under the body coordinate system, it indicates that the obstacle enters the position range of the forbidden area, otherwise, it indicates that the obstacle does not enter the position range of the forbidden area.
If the obstacle is determined to enter the position range of the forbidden zone, in order to ensure the safety of the robot and the obstacle, the moving device in the robot can be controlled to directly stop, namely the running speed of the moving device in the robot is controlled to be 0.
If the obstacle avoidance control module determines that the obstacle does not enter the position range of the forbidden area, the dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information can be determined based on the position information of the obstacle and the running track information of the robot, and the moving device in the robot is controlled to decelerate and avoid the obstacle based on the dynamic distance.
The obstacle avoidance control module can be further set to be in the process of determining that the robot runs according to the running track information and when the dynamic distance between the obstacle and the robot is determined to be as follows:
establishing a track coordinate system by taking the current position of the robot as a coordinate origin, taking a coordinate axis in the running track line direction of the robot as a first coordinate axis and taking a coordinate axis in the perpendicular line direction from the coordinate origin to the first coordinate axis as a second coordinate axis;
determining a target position coordinate corresponding to the obstacle in a track coordinate system based on the position information of the obstacle;
determining a dynamic distance between an obstacle and the robot in the process that the robot runs according to the running track information based on the target position coordinate, a preset first safety distance and a preset second safety distance, wherein the preset first safety distance is used for representing the safety distance from the front of the robot; the preset second safety distance is used for representing the safety distance from the side edge of the robot.
When the robot is a forklift, the current position of the robot here may be the centre line point O of the supporting wheels of the forklift as in fig. 3LAt the position of, i.e. with the OLThe track coordinate system can be used for determining the dynamic distance between the obstacle and the robot in the running process of the robot, and then the obstacle is avoided by decelerating according to the dynamic distance.
Here, the position information of the obstacle may be the second position coordinate of the obstacle in the vehicle body coordinate system obtained as described above, and taking fig. 6 as an example, the coordinate of the obstacle in the vehicle body coordinate system may be (x)0,y0) Then, the obstacle avoidance control module may determine the corresponding target position coordinates of the obstacle in the trajectory coordinate system according to the following manner:
(1) calculating the position coordinate of the obstacle in the body coordinate system by using the value O shown in FIG. 6GAs a pole, take the line segment OGOLThe radial is the polar axis in the polar coordinate system, and the polar diameter R of the obstacle in the polar coordinate system can be determined according to the following formula (4)0Determining the polar angle theta of the obstacle in the polar coordinate system according to the following formula (5)0：
Then, according to the polar coordinates of the obstacle in the polar coordinate system, the coordinates (x) of the obstacle in the track coordinate system can be obtainedt,yt) Wherein the abscissa x of the obstacle in the trajectory coordinate system is determined according to the following formula (6)tDetermining the ordinate y of the obstacle in the trajectory coordinate system according to the following formula (7)t：
xt＝R·θ0 (6)；
yt＝R-R0 (7)；
Wherein the obstacle A sits on the trackPosition coordinates (x) under the coordinate systemt,yt) The relationship with the travel track of the robot can be expressed as shown in fig. 7:
wherein, the projection point of the obstacle on the driving track of the robot is B, xtEqual to BOLArc length of (y)tEqual to the length of the segment AB.
The mentioned preset first safety distance is used for representing a safety distance from the front of the robot; the preset second safety distance is used for representing the safety distance from the side edge of the robot.
For convenience of description, a standard coordinate system is introduced, which is a rectangular coordinate system and can be used to connect the center line point O of the supporting wheel of the robot when the robot is a forkliftLAs an origin, a direction in which the robot moves is taken as an X-axis direction, and a direction perpendicular to the robot moves is taken as a Y-axis direction, and then a dynamic distance between the obstacle and the robot is determined by a schematic diagram of a positional relationship between the obstacle and the robot in a standard coordinate system shown in fig. 8 and the following procedure.
When determining the dynamic distance between the obstacle and the robot, the obstacle avoidance control module may further set to:
determining a first relative distance between the obstacle and the robot based on a first coordinate value in the target position coordinates and a preset first safety distance;
determining a second relative distance between the obstacle and the robot based on a second coordinate value in the target position coordinates and a preset second safety distance;
and determining the dynamic distance between the obstacle and the robot in the process that the robot drives according to the driving track information based on the first relative distance and the second relative distance.
As shown in fig. 8, the first coordinate value in the target position coordinates may be x as mentioned abovetPresetting a first safety distance to pass dxExpressed, the first relative distance Δ x of the obstacle from the robot can be expressed by the following equation (8):
Δx＝xt-dx (8)；
here, the second coordinate value in the target position coordinate may be y mentioned abovetPresetting a first safety distance to pass dyExpressed, the second relative distance Δ y of the obstacle from the robot can be expressed by the following equation (9):
Δy＝yt-dy (9)；
after obtaining the first relative distance and the second relative distance, the obstacle avoidance control module may determine a dynamic distance between the obstacle and the robot according to the following formula (10):
wherein d represents the dynamic distance between the obstacle and the robot; alpha represents a preset parameter, the preset parameter can be a correction parameter obtained by counting for a plurality of times in advance, and the dynamic distance is more accurate through the correction parameter.
The following describes how, after obtaining the dynamic distance between the obstacle and the robot, the obstacle avoidance control module controls the robot to slow down and avoid the obstacle according to the dynamic distance, and further includes:
if the dynamic distance is smaller than or equal to the first distance threshold value, controlling the robot to stop;
if the dynamic distance is larger than the first distance threshold value and smaller than or equal to the second distance threshold value, controlling the robot to perform deceleration driving according to a first set acceleration;
at the time of deceleration, the direction of the first set acceleration here is opposite to the traveling direction of the robot.
And if the dynamic distance is greater than the second distance threshold value, controlling the robot to perform deceleration driving according to a second set acceleration, wherein the absolute value of the second set acceleration is smaller than that of the second set acceleration.
Also, at the time of deceleration, the direction of the second set acceleration here is opposite to the traveling direction of the robot.
For example, if the first distance threshold is 3m and the second distance threshold is 5m, the moving device in the robot is controlled to stop when the dynamic distance between the obstacle and the robot is determined to be less than or equal to 3m, the moving device is controlled to decelerate at an acceleration of 1m/s2 when the dynamic distance is determined to be greater than 3m and less than or equal to 5m, and the moving device is controlled to decelerate at an acceleration of 0.5m/s2 when the dynamic distance is determined to be greater than 5 m.
To sum up, when the robot meets the barrier, the running speed can be adjusted according to the dynamic distance with the barrier, the running track does not need to be changed, and the robot does not need to stop under all conditions when meeting the barrier.
Based on the same technical concept, the embodiment of the present application further provides a control method for robot driving corresponding to the robot, and as a principle of solving the problem by the control method in the embodiment of the present application is the same as the principle of solving the problem by the robot provided in the embodiment of the present application, reference may be made to the embodiment of the robot for implementing the control method for robot driving, and repeated details are omitted.
The execution main body of the control method provided by the embodiment of the application is generally a processor with certain computing capacity, and the processor can be integrated in a control device of the robot or applied to a control device other than the robot. In some possible implementations, the control method may be implemented by a processor calling computer readable instructions stored in a memory.
Referring to fig. 9, a flowchart of a method for controlling robot driving according to an embodiment of the present application includes the following specific steps S901 to S903:
s901, determining the future driving track information of the robot;
s902, determining the position range of a forbidden area for forbidding an obstacle to enter in the driving process of the robot based on the driving track information;
and S903, when the obstacle detection component detects the position information of the obstacle, controlling a moving device of the robot to decelerate and avoid the obstacle based on the position information of the obstacle and the position range of the forbidden area.
In one possible embodiment, when determining the travel track information of the robot in the future, the method may include:
(1) acquiring running speed information of the robot;
(2) and determining the running track information of the robot in the set time length in the future based on the running speed information.
In one possible embodiment, when acquiring the travel speed information of the robot, the method may include:
(1) acquiring the linear speed and the rotation angle of a steering wheel acquired by a steering wheel sensor of the robot;
(2) determining linear speeds of central points of two supporting wheels of the robot based on the linear speeds and the corners, and determining angular speeds of the central points of the two supporting wheels based on prestored forklift wheel base, corners and linear speeds;
(3) determining the travel speed information of the robot includes a linear speed of the center point and an angular speed of the center point.
In one possible embodiment, when determining the travel track information of the robot within the set time period in the future based on the travel speed information, the method includes:
(1) determining the radian corresponding to the running track of the robot within a preset time length in the future according to the angular speed of the central point; and the number of the first and second groups,
(2) and determining the arc length corresponding to the running track of the robot in the future preset time length based on the linear speed of the central point.
In one possible embodiment, when determining a position range of a no-entry area where an obstacle is prohibited from entering during travel of the robot based on the travel track information, the method may include:
(1) determining a position range of a driving area through which the robot passes when driving according to the driving track information based on the driving track information and the size information of the robot;
(2) and based on the position range of the driving area, cutting out a lateral area of the robot in the driving area, and taking the position range of the lateral area as the position range of the forbidden area.
In one possible embodiment, when controlling the moving device of the robot to slow down and avoid the obstacle based on the position information of the obstacle and the position range of the forbidden zone, the method may include:
(1) determining whether the barrier enters the position range of the forbidden area or not based on the position information of the barrier and the position range of the forbidden area;
(2) if the barrier enters the position range of the forbidden area, controlling the robot to stop;
(3) and if the obstacle does not enter the position range of the forbidden area, determining the dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information based on the position information of the obstacle and the running track information of the robot, and controlling the movement device to reduce the speed and avoid the obstacle based on the dynamic distance.
In one possible embodiment, when determining whether the obstacle enters the position range of the no-entry area based on the position information of the obstacle and the position range of the no-entry area, the method may include:
(1) acquiring a first position coordinate of an obstacle detected by a laser radar sensor under a laser radar coordinate system corresponding to the laser radar sensor;
(2) determining a second position coordinate of the obstacle under a vehicle body coordinate system where the robot is located based on the first position coordinate;
(3) and if the second position coordinate is detected to be located in the coordinate range of the forbidden area under the vehicle body coordinate system, determining that the barrier enters the position range of the forbidden area.
In one possible embodiment, when determining a dynamic distance between the obstacle and the robot while the robot travels according to the travel track information based on the position information of the obstacle and the travel track information of the robot, the method may include:
(1) establishing a track coordinate system by taking the current position of the robot as a coordinate origin, taking a coordinate axis in the running track line direction of the robot as a first coordinate axis and taking a coordinate axis in the perpendicular line direction from the coordinate origin to the first coordinate axis as a second coordinate axis;
(2) determining a target position coordinate corresponding to the obstacle in a track coordinate system based on the position information of the obstacle;
(3) determining a dynamic distance between an obstacle and the robot in the process that the robot runs according to the running track information based on the target position coordinate, a preset first safety distance and a preset second safety distance, wherein the preset first safety distance is used for representing the safety distance from the front of the robot; the preset second safety distance is used for representing the safety distance from the side edge of the robot.
In one possible embodiment, when determining the dynamic distance between the obstacle and the robot during the robot traveling according to the traveling track information based on the target position coordinates, the preset first safe distance, and the preset second safe distance, the method may include:
(1) determining a first relative distance between the obstacle and the robot based on a first coordinate value in the target position coordinates and a preset first safety distance;
(2) determining a second relative distance between the obstacle and the robot based on a second coordinate value in the target position coordinates and a preset second safety distance;
(3) and determining the dynamic distance between the obstacle and the robot in the process that the robot drives according to the driving track information based on the first relative distance and the second relative distance.
Corresponding to the control method for robot driving in fig. 9, an embodiment of the present application further provides an electronic device 1000, and as shown in fig. 10, a schematic structural diagram of the electronic device 1000 provided in the embodiment of the present application includes:
a processor 1001, a memory 1002, and a bus 1003; the memory 1002 is used for storing execution instructions, and includes a memory 10021 and an external memory 10022; the memory 10021 is also referred to as a memory, and is used for temporarily storing operation data in the processor 1001 and data exchanged with the external memory 10022 such as a hard disk, the processor 1001 exchanges data with the external memory 10022 through the memory 10021, and when the electronic device 1000 operates, the processor 1001 and the memory 1002 communicate with each other through the bus 1003, so that the processor 1001 executes the following instructions:
determining the running track information of the robot in the future;
determining a position range of a forbidden area for forbidding an obstacle to enter in the driving process of the robot based on the driving track information;
when the obstacle detection component detects the position information of the obstacle, the moving device of the robot is controlled to decelerate and avoid the obstacle based on the position information of the obstacle and the position range of the forbidden area.
In one possible implementation, the instructions executed by the processor 1001 include:
acquiring running speed information of the robot;
and determining the running track information of the robot in the set time length in the future based on the running speed information.
In one possible implementation, the instructions executed by the processor 1001 include:
acquiring the linear speed and the rotation angle of a steering wheel acquired by a steering wheel sensor of the robot;
determining linear speeds of central points of two supporting wheels of the robot based on the linear speeds and the corners, and determining angular speeds of the central points of the two supporting wheels based on prestored forklift wheel base, corners and linear speeds;
determining the travel speed information of the robot includes a linear speed of the center point and an angular speed of the center point.
In one possible implementation, the instructions executed by the processor 1001 include:
determining the radian corresponding to the running track of the robot within a preset time length in the future according to the angular speed of the central point; and the number of the first and second groups,
and determining the arc length corresponding to the running track of the robot in the future preset time length based on the linear speed of the central point.
In one possible implementation, the instructions executed by the processor 1001 include:
determining a position range of a driving area through which the robot passes when driving according to the driving track information based on the driving track information and the size information of the robot;
and based on the position range of the driving area, cutting out a lateral area of the robot in the driving area, and taking the position range of the lateral area as the position range of the forbidden area.
In one possible implementation, the instructions executed by the processor 1001 include:
determining whether the barrier enters the position range of the forbidden area or not based on the position information of the barrier and the position range of the forbidden area;
if the barrier enters the position range of the forbidden area, controlling the robot to stop;
and if the obstacle does not enter the position range of the forbidden area, determining the dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information based on the position information of the obstacle and the running track information of the robot, and controlling the movement device to reduce the speed and avoid the obstacle based on the dynamic distance.
In one possible implementation, the instructions executed by the processor 1001 include:
acquiring a first position coordinate of an obstacle detected by a laser radar sensor under a laser radar coordinate system corresponding to the laser radar sensor;
determining a second position coordinate of the obstacle under a vehicle body coordinate system where the robot is located based on the first position coordinate;
and if the second position coordinate is detected to be located in the coordinate range of the forbidden area under the vehicle body coordinate system, determining that the barrier enters the position range of the forbidden area.
In one possible implementation, the instructions executed by the processor 1001 include:
establishing a track coordinate system by taking the current position of the robot as a coordinate origin, taking a coordinate axis in the running track line direction of the robot as a first coordinate axis and taking a coordinate axis in the perpendicular line direction from the coordinate origin to the first coordinate axis as a second coordinate axis;
determining a target position coordinate corresponding to the obstacle in a track coordinate system based on the position information of the obstacle;
determining a dynamic distance between an obstacle and the robot in the process that the robot runs according to the running track information based on the target position coordinate, a preset first safety distance and a preset second safety distance, wherein the preset first safety distance is used for representing the safety distance from the front of the robot; the preset second safety distance is used for representing the safety distance from the side edge of the robot.
In one possible implementation, the instructions executed by the processor 1001 include:
determining a first relative distance between the obstacle and the robot based on a first coordinate value in the target position coordinates and a preset first safety distance;
determining a second relative distance between the obstacle and the robot based on a second coordinate value in the target position coordinates and a preset second safety distance;
and determining the dynamic distance between the obstacle and the robot in the process that the robot drives according to the driving track information based on the first relative distance and the second relative distance.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program executes the steps of the control method in the above-mentioned control method embodiment. The storage medium may be a volatile or non-volatile computer-readable storage medium.
The computer program product of the control method for robot traveling provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute steps of the control method for robot traveling in the above-mentioned control method embodiment, which may be referred to specifically for the above-mentioned control method embodiment, and details are not described here again.
The embodiments of the present application also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and 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 devices or units through some communication interfaces, 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A robot is characterized by comprising an obstacle detection device, a control device and a movement device, wherein the control device comprises a track determination module, an area determination module and an obstacle avoidance control module;
the track determining module is used for determining the running track information of the robot in the future;
the area determination module is configured to determine a position range of a forbidden area for forbidding an obstacle to enter in the driving process of the robot based on the driving track information;
the obstacle avoidance control module is arranged to control the movement device to decelerate and avoid an obstacle based on the position information of the obstacle and the position range of the forbidden area when the obstacle detection component detects the position information of the obstacle.
2. A robot as claimed in claim 1, wherein the trajectory determination module is further arranged to:
acquiring running speed information of the robot;
and determining the running track information of the robot in a set time length in the future based on the running speed information.
3. A robot according to claim 2, characterized in that the moving means comprise one steering wheel at the front end of the bottom of the robot and two support wheels at the rear end of the bottom of the robot, the robot further comprising a steering wheel sensor; the trajectory determination module is further configured to:
acquiring the linear speed and the rotation angle of the steering wheel, which are acquired by the steering wheel sensor;
determining the linear velocity of the central points of the two supporting wheels based on the linear velocity and the corner, and determining the angular velocity of the central points of the two supporting wheels based on the prestored fork truck wheel base, the corner and the linear velocity;
determining that the travel speed information of the robot includes a linear speed of the center point and an angular speed of the center point.
4. A robot as claimed in claim 3, wherein the trajectory determination module is further arranged to:
determining the radian corresponding to the running track of the robot within the future preset time length according to the angular speed of the central point; and the number of the first and second groups,
and determining the arc length corresponding to the running track of the robot in the future preset time length based on the linear speed of the central point.
5. A robot as claimed in any of claims 1 to 4, wherein the zone determination module is further arranged to:
determining a position range of a driving area through which the robot passes when driving according to the driving track information based on the driving track information and the size information of the robot;
and based on the position range of the driving area, cutting a lateral area of the robot in the driving area, and taking the position range of the lateral area as the position range of the forbidden area.
6. A robot as claimed in claim 1, wherein the obstacle avoidance control module is further configured to:
determining whether the obstacle enters the position range of the forbidden zone based on the position information of the obstacle and the position range of the forbidden zone;
if the barrier enters the position range of the forbidden area, controlling the movement device to stop;
if the obstacle does not enter the position range of the forbidden zone, determining the dynamic distance between the obstacle and the robot in the process that the robot runs according to the running track information based on the position information of the obstacle and the running track information of the robot, and controlling the movement device to decelerate and avoid the obstacle based on the dynamic distance.
7. A robot as claimed in claim 6, wherein the obstacle detecting means comprises a lidar sensor; the obstacle avoidance control module is further arranged as follows:
acquiring a first position coordinate of the obstacle detected by the laser radar sensor under a laser radar coordinate system corresponding to the laser radar sensor;
determining a second position coordinate of the obstacle under a vehicle body coordinate system where the robot is located based on the first position coordinate;
and if the second position coordinate is detected to be located in the coordinate range of the forbidden zone under the vehicle body coordinate system, determining that the barrier enters the position range of the forbidden zone.
8. A method for controlling travel of a robot, comprising:
determining the running track information of the robot in the future;
determining a position range of a forbidden area for forbidding an obstacle to enter in the driving process of the robot based on the driving track information;
and when the obstacle detection part detects the position information of the obstacle, controlling a movement device of the robot to decelerate and avoid the obstacle based on the position information of the obstacle and the position range of the forbidden area.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the control method of claim 8.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the control method as claimed in claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911355250.6A CN113031581A (en) | 2019-12-25 | 2019-12-25 | Robot, method for controlling travel of robot, electronic device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911355250.6A CN113031581A (en) | 2019-12-25 | 2019-12-25 | Robot, method for controlling travel of robot, electronic device, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113031581A true CN113031581A (en) | 2021-06-25 |
Family
ID=76458274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911355250.6A Pending CN113031581A (en) | 2019-12-25 | 2019-12-25 | Robot, method for controlling travel of robot, electronic device, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113031581A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113924861A (en) * | 2021-11-05 | 2022-01-14 | 广东省农业科学院蔬菜研究所 | Automatic harvesting system for greenhouse vegetable cultivation |
| CN114310893A (en) * | 2021-12-30 | 2022-04-12 | 浙江国自机器人技术股份有限公司 | Robot running control method, device, equipment and storage medium |
| CN114415689A (en) * | 2022-01-25 | 2022-04-29 | 无锡市金沙田科技有限公司 | Following vehicle decision method and system |
| CN115373406A (en) * | 2022-10-24 | 2022-11-22 | 深圳市捷牛智能装备有限公司 | Obstacle crossing method and system for crawling robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040239490A1 (en) * | 2003-05-30 | 2004-12-02 | Suzuki Motor Corporation | Alarming system for vehicle and alarm generating method for vehicle |
| CN103529450A (en) * | 2013-10-21 | 2014-01-22 | 深圳市米克力美科技有限公司 | Barrier detection method and device thereof for automatic guided vehicle |
| CN107885213A (en) * | 2017-11-22 | 2018-04-06 | 广东艾可里宁机器人智能装备有限公司 | A kind of sweeping robot indoor navigation system and method |
| CN109279543A (en) * | 2018-11-07 | 2019-01-29 | 上海大学 | A kind of fork-lift type AGV magnetic conductance rail tracking control system and method |
| CN109613919A (en) * | 2018-12-26 | 2019-04-12 | 芜湖哈特机器人产业技术研究院有限公司 | Path guide method based on the modified single steering wheel postposition driving mobile platform of tangent line |
| CN109683616A (en) * | 2018-12-26 | 2019-04-26 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of straight line path bootstrap technique of list steering wheel postposition driving mobile platform |
| CN109828574A (en) * | 2019-02-22 | 2019-05-31 | 深兰科技（上海）有限公司 | A kind of barrier-avoiding method and electronic equipment |
| CN110293968A (en) * | 2019-06-18 | 2019-10-01 | 百度在线网络技术（北京）有限公司 | Control method, device, equipment and the readable storage medium storing program for executing of automatic driving vehicle |
| CN110588648A (en) * | 2019-10-25 | 2019-12-20 | 北京行易道科技有限公司 | Method and device for identifying collision danger during vehicle running, vehicle and storage medium |
-
2019
- 2019-12-25 CN CN201911355250.6A patent/CN113031581A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040239490A1 (en) * | 2003-05-30 | 2004-12-02 | Suzuki Motor Corporation | Alarming system for vehicle and alarm generating method for vehicle |
| CN103529450A (en) * | 2013-10-21 | 2014-01-22 | 深圳市米克力美科技有限公司 | Barrier detection method and device thereof for automatic guided vehicle |
| CN107885213A (en) * | 2017-11-22 | 2018-04-06 | 广东艾可里宁机器人智能装备有限公司 | A kind of sweeping robot indoor navigation system and method |
| CN109279543A (en) * | 2018-11-07 | 2019-01-29 | 上海大学 | A kind of fork-lift type AGV magnetic conductance rail tracking control system and method |
| CN109613919A (en) * | 2018-12-26 | 2019-04-12 | 芜湖哈特机器人产业技术研究院有限公司 | Path guide method based on the modified single steering wheel postposition driving mobile platform of tangent line |
| CN109683616A (en) * | 2018-12-26 | 2019-04-26 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of straight line path bootstrap technique of list steering wheel postposition driving mobile platform |
| CN109828574A (en) * | 2019-02-22 | 2019-05-31 | 深兰科技（上海）有限公司 | A kind of barrier-avoiding method and electronic equipment |
| CN110293968A (en) * | 2019-06-18 | 2019-10-01 | 百度在线网络技术（北京）有限公司 | Control method, device, equipment and the readable storage medium storing program for executing of automatic driving vehicle |
| CN110588648A (en) * | 2019-10-25 | 2019-12-20 | 北京行易道科技有限公司 | Method and device for identifying collision danger during vehicle running, vehicle and storage medium |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113924861A (en) * | 2021-11-05 | 2022-01-14 | 广东省农业科学院蔬菜研究所 | Automatic harvesting system for greenhouse vegetable cultivation |
| CN114310893A (en) * | 2021-12-30 | 2022-04-12 | 浙江国自机器人技术股份有限公司 | Robot running control method, device, equipment and storage medium |
| CN114310893B (en) * | 2021-12-30 | 2024-03-01 | 浙江国自机器人技术股份有限公司 | Robot travel control method, device, equipment and storage medium |
| CN114415689A (en) * | 2022-01-25 | 2022-04-29 | 无锡市金沙田科技有限公司 | Following vehicle decision method and system |
| CN114415689B (en) * | 2022-01-25 | 2024-05-28 | 无锡市金沙田科技有限公司 | Decision method and system for following vehicle |
| CN115373406A (en) * | 2022-10-24 | 2022-11-22 | 深圳市捷牛智能装备有限公司 | Obstacle crossing method and system for crawling robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113031581A (en) | Robot, method for controlling travel of robot, electronic device, and storage medium | |
| CN106022274B (en) | Obstacle avoidance method, obstacle avoidance device and unmanned machine | |
| US9182762B2 (en) | Autonomous moving body, its control method, and control system | |
| CN104554272A (en) | Path planning for evasive steering maneuver in presence of target vehicle and surrounding objects | |
| CN104554258A (en) | Path planning for evasive steering manuever employing virtual potential field technique | |
| JP2014197294A (en) | Position identification device and mobile robot having the same | |
| EP3620885A1 (en) | Autonomous mobile apparatus | |
| JPH07306718A (en) | Collision avoidance method of autonomous locomotion device | |
| CN110920608A (en) | Vehicle collision avoidance | |
| CN109947089B (en) | Automatic guided vehicle attitude control method and device and automatic guided vehicle | |
| CN111942378A (en) | Vehicle control device, vehicle control method, and storage medium | |
| RU2749529C1 (en) | Vehicle control system | |
| WO2019026761A1 (en) | Moving body and computer program | |
| CN114523963B (en) | System and method for predicting road collisions with host vehicles | |
| KR20200084938A (en) | Method and Apparatus for Planning Car Motion | |
| CN112731929A (en) | Ackerman model-based mobile robot obstacle avoidance path planning method | |
| CN114012732B (en) | Robot control method, device, equipment and medium | |
| CN114859914A (en) | Obstacle detection method, apparatus, device and storage medium | |
| JP2011063190A (en) | Group running controller and group running control method | |
| WO2024051024A1 (en) | Obstacle avoidance method, apparatus and device for vehicle, and storage medium | |
| CN114735024A (en) | Vehicle control method, device, equipment and storage medium | |
| CN114489050A (en) | Obstacle avoidance route control method, device, equipment and storage medium for straight line driving | |
| CN114310893B (en) | Robot travel control method, device, equipment and storage medium | |
| WO2024058156A1 (en) | Route-setting method, program, and moving body | |
| US20240059277A1 (en) | System and method for vehicle navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |