CN113064411A - Robot obstacle avoidance method and device, electronic equipment and storage medium - Google Patents
Robot obstacle avoidance method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a robot obstacle avoidance method, a robot obstacle avoidance device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring barrier information of a robot in a traveling direction in the traveling process of the robot; determining whether a target obstacle in a designated area in the traveling direction of the robot exists or not according to the obstacle information, wherein the designated area is a rectangular area which is not smaller than the maximum width of the body of the robot by taking the reference line of the robot as the center line in the traveling direction of the robot; and if so, controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot. Because the electronic equipment determines the target obstacle in the rectangular designated area in the direction of the robot and then avoids the obstacle according to the distance between the target obstacle and the robot, the robot is controlled to stop traveling instead of only when the obstacle exists in the sector-shaped obstacle area, and the problem that the robot stops traveling due to the fact that the obstacle does not have collision risk can be avoided.
Description
Technical Field
The present invention relates to the field of robot technologies, and in particular, to a robot obstacle avoidance method and apparatus, an electronic device, and a storage medium.
Background
The robot needs to avoid the barrier in the process of traveling, namely, the robot adopts a certain mode to avoid the barrier, so that the robot is prevented from colliding with the barrier.
The existing obstacle avoidance mode is to detect whether an obstacle exists in a preset obstacle area, and if so, the robot is controlled to stop moving. Specifically, as shown in fig. 1, a straight front side in the traveling direction of the robot is taken as a directrix 110, and both right and left sides of the directrix 110 form sector-shaped areas, which are obstacle areas, at a predetermined angle and a radius larger than the radius of the robot.
Since the robot stops traveling as long as an obstacle is present in the fan-shaped obstacle area, there arises a problem that the robot stops traveling due to an obstacle that does not actually risk collision.
Disclosure of Invention
The embodiment of the invention aims to provide a robot obstacle avoidance method, a robot obstacle avoidance device, electronic equipment and a storage medium, so as to avoid the problem that the robot stops moving due to the fact that an obstacle with no collision risk actually exists.
The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides an obstacle avoidance method for a robot, where the method includes:
acquiring barrier information of a robot traveling direction in the traveling process of the robot;
determining whether a target obstacle exists in a designated area in the traveling direction of the robot according to the obstacle information, wherein the designated area is a rectangular area which takes a reference line of the robot as a central line and has a width not less than the maximum width of the body of the robot in the traveling direction of the robot, and the reference line passes through the central point of the robot and points to the traveling direction of the robot;
and if so, controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot.
Optionally, the width of the designated area is equal to the maximum width of the body of the robot.
Optionally, the step of determining whether a target obstacle exists in a designated area in the traveling direction of the robot according to the obstacle information includes:
determining a horizontal distance between each obstacle and the robot according to the obstacle information, wherein the horizontal distance is the distance between the obstacle and a reference line of the robot;
and determining the corresponding obstacle with the horizontal distance not greater than the target distance as the target obstacle in the designated area in the traveling direction of the robot, wherein the target distance is one half of the maximum width of the body of the robot.
Optionally, the obstacle information includes a distance from a center point of the robot and a relative angle from the robot;
the step of determining the horizontal distance between each obstacle and the robot according to the obstacle information includes:
and calculating the horizontal distance of each obstacle from the robot according to the distance of each obstacle from the center point of the robot and the sine function value of the relative angle of each obstacle from the robot.
Optionally, the step of controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot includes:
determining the distance between the target obstacle and the robot according to the obstacle information;
and controlling the robot to avoid the obstacle based on the minimum distance in the distances between the target obstacle and the robot.
Optionally, the step of determining the distance between the target obstacle and the robot according to the obstacle information includes:
and determining the vertical distance between each target obstacle and the robot according to the obstacle information, wherein the vertical distance is the distance from a center line of the robot, and the center line is a straight line which passes through the center point of the robot and is vertical to the reference line of the robot.
Optionally, the obstacle information includes a distance from a center point of the robot and a relative angle from the robot;
the step of determining a vertical distance between each target obstacle and the robot according to the obstacle information includes:
and calculating the vertical distance between each target obstacle and the robot according to the distance between each target obstacle and the central point of the robot and the cosine function value of the relative angle between each target obstacle and the robot.
Optionally, the step of controlling the robot to avoid an obstacle based on a minimum distance between the target obstacle and the robot includes:
if the minimum distance between the target obstacle and the robot is larger than a first preset distance, controlling the robot to continue to travel according to the current speed; or
If the minimum distance between the target obstacle and the robot is not greater than the first preset distance and not less than a second preset distance, controlling the robot to move in a deceleration mode; or
And if the minimum distance between the target obstacle and the robot is smaller than the second preset distance, controlling the robot to stop moving.
In a second aspect, an embodiment of the present invention provides an obstacle avoidance device for a robot, where the obstacle avoidance device includes:
the obstacle information acquisition module is used for acquiring obstacle information of the robot in the traveling direction in the traveling process of the robot;
a target obstacle determining module, configured to determine, according to the obstacle information, whether a target obstacle located in a specified area in a robot traveling direction exists, where the specified area is a rectangular area in the robot traveling direction, where a width of the rectangular area is not less than a maximum width of a body of the robot, and a reference line of the robot passes through a center point of the robot and points in the robot traveling direction;
and the obstacle avoidance module is used for controlling the robot to avoid an obstacle according to the distance between the target obstacle and the robot if the target obstacle in the designated area in the traveling direction of the robot exists.
Optionally, the width of the designated area is equal to the maximum width of the body of the robot.
Optionally, the target obstacle determining module includes:
the horizontal distance determining unit is used for determining the horizontal distance between each obstacle and the robot according to the obstacle information, wherein the horizontal distance is the distance between the obstacle and a reference line of the robot;
and the obstacle determining unit is used for determining an obstacle of which the corresponding horizontal distance is not more than a target distance as a target obstacle in a specified area in the traveling direction of the robot, wherein the target distance is one half of the maximum width of the body of the robot.
Optionally, the obstacle information includes a distance from a center point of the robot and a relative angle from the robot;
the horizontal distance determination unit is specifically configured to:
and calculating the horizontal distance of each obstacle from the robot according to the distance of each obstacle from the center point of the robot and the sine function value of the relative angle of each obstacle from the robot.
Optionally, the obstacle avoidance module includes:
the distance determining unit is used for determining the distance between the target obstacle and the robot according to the obstacle information;
and the obstacle avoidance control unit is used for controlling the robot to avoid the obstacle based on the minimum distance in the distances between the target obstacle and the robot.
Optionally, the distance determining unit is specifically configured to:
and determining the vertical distance between each target obstacle and the robot according to the obstacle information, wherein the vertical distance is the distance from a center line of the robot, and the center line is a straight line which passes through the center point of the robot and is vertical to the reference line of the robot.
Optionally, the obstacle information includes a distance from a center point of the robot and a relative angle from the robot;
the distance determining unit is specifically configured to:
and calculating the vertical distance between each target obstacle and the robot according to the distance between each target obstacle and the central point of the robot and the cosine function value of the relative angle between each target obstacle and the robot.
Optionally, the obstacle avoidance control unit includes:
the first control subunit is used for controlling the robot to continue to move at the current speed if the minimum distance between the target obstacle and the robot is greater than a first preset distance;
the second control subunit is used for controlling the robot to decelerate if the minimum distance in the distances between the target obstacle and the robot is not greater than the first preset distance and not less than a second preset distance;
and the third control subunit is used for controlling the robot to stop moving if the minimum distance between the target obstacle and the robot is smaller than the second preset distance.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;
a memory for storing a computer program;
and a processor configured to implement the steps of the robot obstacle avoidance method according to any one of the first aspect described above when executing the program stored in the memory.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the robot obstacle avoidance method according to any one of the first aspect above are implemented.
In a fifth aspect, an embodiment of the present invention provides a computer program product, where the computer program product includes a computer program stored on a computer-readable storage medium, where the computer program includes program instructions, and the program instructions, when executed by a processor, implement the steps of the robot obstacle avoidance method according to any one of the first aspect above.
In the scheme provided by the embodiment of the invention, in the process of the robot traveling, the electronic equipment can acquire the obstacle information of the traveling direction of the robot, and determine whether a target obstacle located in a specified area in the traveling direction of the robot exists according to the obstacle information, wherein the specified area is a rectangular area which takes a datum line of the robot as a central line in the traveling direction of the robot and has a width not less than the maximum width of a machine body of the robot, the datum line passes through a central point of the robot and points to the traveling direction of the robot, and if the target obstacle exists, the robot is controlled to avoid the obstacle according to the distance between the target obstacle and the robot. Because the electronic equipment determines the target obstacle in the rectangular designated area in the traveling direction of the robot and then avoids the obstacle according to the distance between the target obstacle and the robot, the robot is controlled to stop traveling instead of only when the obstacle exists in the sector-shaped obstacle area, and the problem that the robot stops traveling due to the fact that the obstacle does not have collision risk can be avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of an obstacle area in a robot obstacle avoidance;
fig. 2 is a flowchart of a robot obstacle avoidance method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an obstacle avoidance scene of a robot according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a specific step S202 in the embodiment shown in FIG. 2;
fig. 5 is another schematic diagram of an obstacle avoidance scene of a robot according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a specific step S203 in the embodiment shown in FIG. 2;
fig. 7 is a schematic structural diagram of a robot obstacle avoidance device according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating a specific structure of the target obstacle determining module 720 in the embodiment shown in fig. 7;
fig. 9 is a schematic structural diagram of an embodiment of the obstacle avoidance module 730 shown in fig. 7;
fig. 10 is a schematic structural diagram of an embodiment of the obstacle avoidance control unit 732 in the embodiment shown in fig. 9;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to avoid the problem that the robot stops traveling due to the fact that an obstacle with no collision risk actually exists, the embodiment of the invention provides a robot obstacle avoidance method, a robot obstacle avoidance device, electronic equipment and a computer-readable storage medium.
The following describes an obstacle avoidance method for a robot according to an embodiment of the present invention.
The robot obstacle avoidance method provided by the embodiment of the invention can be applied to electronic equipment such as a robot, a processor for controlling the robot, a controller and the like, and is not particularly limited herein, and for clarity of description, the method is hereinafter referred to as electronic equipment.
As shown in fig. 2, a robot obstacle avoidance method includes:
s201, acquiring obstacle information of a robot in a traveling direction in the traveling process of the robot;
s202, determining whether a target obstacle in a designated area in the traveling direction of the robot exists or not according to the obstacle information;
the specified area is a rectangular area which takes a reference line of the robot as a central line and has a width not less than the maximum width of the body of the robot in the robot traveling direction, and the reference line passes through the center point of the robot and points to the robot traveling direction.
And S203, if the obstacle exists, controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot.
Further, if it is determined in S202 that the target obstacle does not exist in the designated area in the robot traveling direction, the robot is controlled to continue traveling.
In the scheme provided by the embodiment of the invention, in the process of the robot traveling, the electronic device can acquire the obstacle information of the traveling direction of the robot, and determine whether a target obstacle located in a specified area in the traveling direction of the robot exists according to the obstacle information, wherein the specified area is a rectangular area which is not smaller than the maximum width of the body of the robot in the traveling direction of the robot and takes the reference line of the robot as the center line, the reference line passes through the center point of the robot and points to the traveling direction of the robot, and if the target obstacle exists, the robot is controlled to avoid the obstacle according to the distance between the target obstacle and the robot. Because the electronic equipment determines the target obstacle in the rectangular designated area in the traveling direction of the robot and then avoids the obstacle according to the distance between the target obstacle and the robot, the robot is controlled to stop traveling instead of only when the obstacle exists in the sector-shaped obstacle area, and the problem that the robot stops traveling due to the fact that the obstacle does not have collision risk can be avoided.
In the above step S201, in order to determine whether there is an obstacle around the robot, the electronic device may acquire obstacle information of a traveling direction of the robot during the traveling of the robot. The obstacle information of the robot traveling direction may include obstacle information within a preset range of the robot traveling direction.
For example, as shown in the top view of the robot scene in fig. 3, a coordinate system is established by taking the robot traveling direction as the y-axis, taking a straight line passing through the center point of the robot and perpendicular to the y-axis as the x-axis, and the preset range may be a sector area with the origin of the coordinate system as the center and the preset value as the radius, or a rectangular area with the y-axis as the center and the preset size, and the like, and is not particularly limited herein as long as the preset range includes a designated area in the traveling direction of the robot.
In one embodiment, the obstacle information may be acquired by a radar device installed in the robot, and in this case, the preset range may be a range in front of the robot that can be detected by the radar device, which is reasonable.
The above-mentioned obstacle information may include information of a position, an angle, etc. of the obstacle, and since the obstacle right in front of the robot traveling direction may have an influence on the traveling of the robot, the electronic device may perform the above-mentioned step S202 of determining whether there is a target obstacle located within a specified area in the robot traveling direction based on the acquired obstacle information.
Since an obstacle in an area having a width equal to the maximum width of the robot body may obstruct the travel of the robot in the robot traveling direction, for example, when the cross section of the widest body (e.g., chassis) of the robot is circular, the maximum width of the body of the robot is the diameter of the chassis of the robot. Therefore, the designated area may be a rectangular area in the robot traveling direction, where the width of the reference line passing through the center point of the robot and pointing to the robot traveling direction is not less than the maximum width of the robot body, and in the scene shown in fig. 3, the reference line is the y-axis in fig. 3, the cross section of the widest robot body in fig. 3 is an ellipse, the maximum width of the robot body is the major axis of the ellipse, the radius of the robot is half of the major axis, i.e., half of the maximum width of the robot body, and the designated area is the area 310 in fig. 3.
The length of the designated area may be determined according to the traveling speed of the robot, the size of the actual scene, and other factors, and is not particularly limited herein, and may be, for example, 2 meters, 3 meters, 5 meters, and the like.
If there is a target obstacle located in the designated area of the robot, it indicates that the robot runs at the current speed and there is a risk of colliding with the target obstacle, so the electronic device may control the robot to avoid the obstacle according to the distance between the target obstacle and the robot, that is, execute step S203. If the target obstacle in the designated area of the robot does not exist, the robot travels at the current speed without the risk of colliding with the target obstacle, so that the electronic equipment can control the robot to continue traveling at the moment.
As an implementation manner of the embodiment of the present invention, the width of the designated area is equal to the maximum width of the body of the robot.
When the robot travels in a straight line, only the obstacle in front of the robot directly facing the robot may obstruct the travel of the robot, as shown in fig. 3, wherein the obstacle B, the obstacle C, and the obstacle D are located in a designated area of the robot, there is a possibility of collision with the robot, and the obstacle a and the obstacle E are not located in the designated area of the robot, and there is no possibility of collision with the robot.
Therefore, the width of the designated area can be equal to the maximum width of the robot body, so that the robot can travel close to the wall and cannot stop traveling due to the wall beside the robot, and the robot can be ensured to travel along with the person even if the person travels close to the wall or travels at a corner in the process of traveling along with the person.
As an implementation manner of the embodiment of the present invention, as shown in fig. 4, the step of determining whether there is a target obstacle located in the designated area of the robot according to the obstacle information may include:
s401, determining the horizontal distance between each obstacle and the robot according to the obstacle information;
if the horizontal distance between the obstacle and the robot is not more than the target distance of the robot, and the target distance is half of the maximum width of the body of the robot, the obstacle is positioned in front of the traveling direction of the robot, namely in the designated area of the robot, wherein the horizontal distance is the distance between the obstacle and the datum line of the robot.
The electronic device can determine the horizontal distance between each obstacle and the robot according to the obstacle information, and further determine the size relationship between the horizontal distance corresponding to each obstacle and the target distance. When the cross section of the robot is circular, the target distance is the radius of the robot. When the horizontal distance between each obstacle and the robot is calculated, in order to ensure accuracy, the horizontal distance between the edge of each obstacle close to the reference line of the robot and the robot, that is, the closest distance to the robot in the horizontal direction, may be calculated.
S402, determining the corresponding obstacle with the horizontal distance not greater than the target distance as the target obstacle in the designated area in the robot traveling direction.
If the corresponding obstacle with the horizontal distance not greater than the target distance exists, the target obstacle exists, and then the obstacle with the horizontal distance not greater than the target distance can be determined as the target obstacle located in the specified area in the traveling direction of the robot. And if the horizontal distance corresponding to each obstacle is larger than the radius of the robot, the target obstacle does not exist.
Therefore, in the embodiment, the electronic device can determine the horizontal distance between each obstacle and the robot according to the obstacle information, and only when an obstacle with a corresponding horizontal distance not greater than the target distance exists, the target obstacle located in the designated area of the robot is determined to exist, so that the robot can be guaranteed not to be influenced in traveling when no obstacle exists in the designated area in the traveling direction of the robot, the robot can travel close to the wall and turn at the corner, and when the robot travels along with the robot, the problem of follow-up stop caused by the fact that the robot travels close to the wall or turns at the corner cannot occur.
As an implementation manner of the embodiment of the present invention, the obstacle information may include a distance from a center point of the robot and a relative angle with the robot.
The relative angle between the barrier and the robot is the included angle between the reference line of the robot and the connecting line of the edge of the barrier close to one side of the reference line of the robot and the center point of the robot. As shown in fig. 5, the relative angle between the obstacle B and the robot is the angle α, and the relative angle between the obstacle E and the robot is the angle β.
In this case, the step of determining the horizontal distance between each obstacle and the robot based on the obstacle information may include:
and calculating the horizontal distance of each obstacle from the robot according to the distance of each obstacle from the center point of the robot and the sine function value of the relative angle of each obstacle from the robot.
After the distance between the obstacle and the central point of the robot and the relative angle between the obstacle and the robot are obtained, the distance between the obstacle and the central point of the robot and the horizontal distance between the obstacle and the robot meet a sine trigonometric function related to the relative angle between the obstacle and the robot, so that the electronic equipment can calculate the horizontal distance between the obstacle and the robot according to the distance between each obstacle and the central point of the robot and the sine function value of the relative angle.
For example, for the scenario shown in fig. 5, the horizontal distance between the obstacle B and the robot is the product of the length of the line segment OB and sin α, i.e., the length of the dashed line 510. The horizontal distance between the obstacle E and the robot is the product of the length of the line segment OE and sin β, i.e. the length of the dashed line 520.
Therefore, in this embodiment, the obstacle information may include a distance from the center point of the robot and a relative angle from the robot, so that the electronic device may calculate a horizontal distance from the robot to each obstacle according to a sine function value of the distance from the center point of the robot and the relative angle from the robot to each obstacle, and may accurately and quickly determine the horizontal distance from the robot to each obstacle.
As an implementation manner of the embodiment of the present invention, as shown in fig. 6, the step of controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot may include:
s601, determining the distance between the target obstacle and the robot according to the obstacle information;
s602, controlling the robot to avoid the obstacle based on the minimum distance in the distances between the target obstacle and the robot.
Since the target obstacle closest to the robot is most likely to collide with the robot, the electronic device may determine the distance between the target obstacle and the robot according to the obstacle information, and may control the robot to avoid the obstacle based on the minimum distance in the distances after determining the distance between the target obstacle and the robot.
Specifically, if the minimum distance between the target obstacle and the robot is relatively far, it indicates that there is no danger of collision when the robot travels at the current speed for a period of time; if the minimum distance between the target obstacle and the robot is relatively close, indicating that there is a risk that the robot may collide when traveling at the current speed for a period of time; if the minimum distance of the target obstacle to the robot is very close, it is indicated that the robot may collide with the obstacle if it travels fast at the current speed. The electronic device can adjust the traveling speed of the robot based on the three conditions to avoid the obstacle.
Therefore, in the embodiment, the electronic device can determine the distance between the target obstacle and the robot according to the obstacle information, and then control the robot to avoid the obstacle based on the minimum distance in the distances between the target obstacle and the robot, so that the robot can be controlled to avoid the obstacle according to the minimum distance, and the problem that the robot stops traveling due to the fact that the obstacle without collision risk exists is further avoided.
As an implementation manner of the embodiment of the present invention, the step of determining the distance between the target obstacle and the robot according to the obstacle information may include:
and determining the vertical distance between each target obstacle and the robot according to the obstacle information.
The vertical distance is a distance between the target obstacle and the robot in the traveling direction of the robot, that is, the vertical distance is a distance from a center line of the robot, which is a straight line passing through the center point of the robot and perpendicular to a reference line of the robot.
In calculating the vertical distance between the target obstacle and the robot, the vertical distance between the center point of the target obstacle and the robot may be calculated, for example, in a coordinate system as shown in fig. 3 and 5, the vertical distance between the target obstacle and the robot may be the ordinate thereof. It is also reasonable to have the edge of the target obstacle on the side close to the center line of the robot be at a vertical distance from the robot.
As can be seen, in this embodiment, the electronic device may determine the vertical distance between each target obstacle and the robot according to the obstacle information. Since the vertical distance is the actual distance between the robot and the obstacle in the traveling direction, the distance between the target obstacle and the robot can be determined more accurately.
As an implementation manner of the embodiment of the present invention, the obstacle information may include a distance from a center point of the robot and a relative angle with the robot.
In this case, the step of determining a vertical distance between each target obstacle and the robot based on the obstacle information may include:
and calculating the vertical distance between each target obstacle and the robot according to the distance between each target obstacle and the central point of the robot and the cosine function value of the relative angle between each target obstacle and the robot.
After the distance between the target obstacle and the central point of the robot and the relative angle between the target obstacle and the robot are obtained, the distance between the target obstacle and the central point of the robot and the horizontal distance between the target obstacle and the robot meet a cosine trigonometric function related to the relative angle between the target obstacle and the robot, so that the electronic equipment can calculate the vertical distance between the target obstacle and the robot according to the distance between each target obstacle and the central point of the robot and the cosine function value of the relative angle.
For example, for the scenario shown in fig. 5, the vertical distance of the target obstacle B from the robot may be the product of the length of the line segment OB and cos α, i.e., the length of the line segment 530.
Therefore, in this embodiment, the obstacle information may include a distance from the central point of the robot and a relative angle from the robot, so that the electronic device may calculate a vertical distance between each target obstacle and the robot according to the distance from the central point of the robot and the cosine function value of the relative angle from the robot, and may accurately and quickly determine the vertical distance between each target obstacle and the robot.
As an implementation manner of the embodiment of the present invention, the step of controlling the robot to avoid the obstacle based on the minimum distance between the target obstacle and the robot may include:
if the minimum distance between the target obstacle and the robot is larger than a first preset distance, controlling the robot to continue to travel according to the current speed; or
If the minimum distance between the target obstacle and the robot is not greater than the first preset distance and not less than a second preset distance, controlling the robot to move in a deceleration mode; or
And if the minimum distance between the target obstacle and the robot is smaller than the second preset distance, controlling the robot to stop moving.
In order to facilitate the control of the robot to avoid the obstacle, two thresholds, namely the first preset distance and the second preset distance, may be preset, where the first preset distance is greater than the second preset distance. The two thresholds divide the distance between the robot and the obstacle into three sections, and when the minimum distance between the target obstacle and the robot is located in the farthest section, that is, if the minimum distance is greater than the first preset distance, it is indicated that the target obstacle closest to the robot is actually a distance away from the robot, and at this time, the traveling of the robot is not affected, and then the electronic device can control the robot to continue traveling at the current speed.
When the minimum distance between the target obstacle and the robot is in the middle interval, that is, if the minimum distance is not greater than the first preset distance and not less than the second preset distance, it is indicated that the target obstacle closest to the robot is actually a little further away from the robot, but the distance is small, if the robot continues to travel at the current speed, the robot may collide with the target obstacle in a short time, and at this time, in order to avoid collision, the electronic device may control the robot to travel at a reduced speed.
When the minimum distance between the target obstacle and the robot is located in the nearest interval, that is, if the minimum distance is smaller than the second preset distance, it indicates that the target obstacle closest to the robot is actually very close to the robot, and if the robot continues to travel at the current speed, the robot may collide with the target obstacle immediately, and at this time, the electronic device may control the robot to stop traveling in order to avoid collision.
The first preset distance and the second preset distance may be determined according to the traveling speed of the robot, the speed reduction speed of the robot, and other factors, for example, the first preset distance may be 2 meters, 2.5 meters, 3 meters, and the like, and the first preset distance may be 1 meter, 0.8 meter, 1.6 meters, and the like, which is not limited herein.
As can be seen, in this embodiment, if the minimum distance is greater than the first preset distance, the electronic device may control the robot to continue to travel at the current speed; if the minimum distance is not greater than the first preset distance and not less than the second preset distance, the robot can be controlled to decelerate; if the minimum distance is smaller than the second preset distance, the robot can be controlled to stop moving, and therefore the robot can be flexibly controlled to avoid obstacles based on the minimum distance between the target obstacle and the robot.
Corresponding to the robot obstacle avoidance method, the embodiment of the invention also provides a robot obstacle avoidance device.
The following describes an obstacle avoidance apparatus for a robot according to an embodiment of the present invention.
As shown in fig. 7, an obstacle avoidance apparatus for a robot includes:
the obstacle information acquiring module 710 is configured to acquire obstacle information of a robot traveling direction in a robot traveling process;
a target obstacle determining module 720, configured to determine whether a target obstacle located in a specified area in the robot traveling direction exists according to the obstacle information;
the specified area is a rectangular area which takes a reference line of the robot as a central line and has a width not less than the maximum width of the body of the robot in the robot traveling direction, and the reference line passes through the center point of the robot and points to the robot traveling direction.
And the obstacle avoidance module 730 is configured to control the robot to avoid an obstacle according to a distance between the target obstacle and the robot if the target obstacle exists in the designated area in the traveling direction of the robot.
In the scheme provided by the embodiment of the invention, in the process of the robot traveling, the electronic device can acquire the obstacle information of the traveling direction of the robot, and determine whether a target obstacle located in a specified area in the traveling direction of the robot exists according to the obstacle information, wherein the specified area is a rectangular area which is not smaller than the maximum width of the body of the robot in the traveling direction of the robot and takes the reference line of the robot as the center line, the reference line passes through the center point of the robot and points to the traveling direction of the robot, and if the target obstacle exists, the robot is controlled to avoid the obstacle according to the distance between the target obstacle and the robot. Because the electronic equipment determines the target obstacle in the rectangular designated area in the traveling direction of the robot and then avoids the obstacle according to the distance between the target obstacle and the robot, the robot is controlled to stop traveling instead of only when the obstacle exists in the sector-shaped obstacle area, and the problem that the robot stops traveling due to the fact that the obstacle does not have collision risk can be avoided.
As an implementation manner of the embodiment of the present invention, the width of the designated area is equal to the maximum width of the body of the robot.
As an implementation manner of the embodiment of the present invention, as shown in fig. 8, the target obstacle determining module 720 may include:
a horizontal distance determining unit 721 for determining a horizontal distance between each obstacle and the robot according to the obstacle information;
wherein the horizontal distance is a distance between an obstacle and a reference line of the robot.
And an obstacle determining unit 722, configured to determine an obstacle whose corresponding horizontal distance is not greater than the target distance as a target obstacle located in a specified area in the robot traveling direction.
Wherein the target distance is one half of the maximum width of the body of the robot.
As an implementation manner of the embodiment of the present invention, the obstacle information may include a distance from a center point of the robot and a relative angle with the robot;
the horizontal distance determining unit 721 may be specifically configured to:
and calculating the horizontal distance of each obstacle from the robot according to the distance of each obstacle from the center point of the robot and the sine function value of the relative angle of each obstacle from the robot.
As an implementation manner of the embodiment of the present invention, as shown in fig. 9, the obstacle avoidance module 730 may include:
a distance determining unit 731 configured to determine a distance between the target obstacle and the robot according to the obstacle information;
an obstacle avoidance control unit 732, configured to control the robot to avoid an obstacle based on a minimum distance between the target obstacle and the robot.
As an implementation manner of the embodiment of the present invention, the distance determining unit may be specifically configured to:
determining the vertical distance between each target obstacle and the robot according to the obstacle information;
the vertical distance is a distance from a center line of the robot, and the center line is a straight line passing through a center point of the robot and perpendicular to a reference line of the robot.
As an implementation manner of the embodiment of the present invention, the obstacle information may include a distance from a center point of the robot and a relative angle with the robot;
the distance determining unit may be specifically configured to:
and calculating the vertical distance between each target obstacle and the robot according to the distance between each target obstacle and the central point of the robot and the cosine function value of the relative angle between each target obstacle and the robot.
As an implementation manner of the embodiment of the present invention, as shown in fig. 10, the obstacle avoidance control unit 732 may include:
a first control subunit 7321, configured to control the robot to continue to travel at the current speed if a minimum distance of the distances between the target obstacle and the robot is greater than a first preset distance;
a second control subunit 7322, configured to control the robot to slow down if a minimum distance between the target obstacle and the robot is not greater than the first preset distance and not less than a second preset distance;
a third control subunit 7323, configured to control the robot to stop traveling if a minimum distance of the distances between the target obstacle and the robot is smaller than the second preset distance.
An embodiment of the present invention further provides an electronic device, which may be an electronic device such as a processor and a controller for controlling a robot, as shown in fig. 11, the electronic device may include a processor 1101, a communication interface 1102, a memory 1103 and a communication bus 1104, where the processor 1101, the communication interface 1102 and the memory 1103 complete communication with each other through the communication bus 1104,
a memory 1103 for storing a computer program;
the processor 1101 is configured to implement the following steps when executing the program stored in the memory 1103:
acquiring barrier information of a robot traveling direction in the traveling process of the robot;
determining whether a target obstacle located in a designated area in the traveling direction of the robot exists or not according to the obstacle information;
the specified area is a rectangular area which takes a reference line of the robot as a central line and has a width not less than the maximum width of the body of the robot in the robot traveling direction, and the reference line passes through the center point of the robot and points to the robot traveling direction.
And if so, controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot.
In the scheme provided by the embodiment of the invention, in the process of the robot traveling, the electronic device can acquire the obstacle information of the traveling direction of the robot, and determine whether a target obstacle located in a specified area in the traveling direction of the robot exists according to the obstacle information, wherein the specified area is a rectangular area which is not smaller than the maximum width of the body of the robot in the traveling direction of the robot and takes the reference line of the robot as the center line, the reference line passes through the center point of the robot and points to the traveling direction of the robot, and if the target obstacle exists, the robot is controlled to avoid the obstacle according to the distance between the target obstacle and the robot. Because the electronic equipment determines the target obstacle in the rectangular designated area in the traveling direction of the robot and then avoids the obstacle according to the distance between the target obstacle and the robot, the robot is controlled to stop traveling instead of only when the obstacle exists in the sector-shaped obstacle area, and the problem that the robot stops traveling due to the fact that the obstacle does not have collision risk can be avoided.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
As an implementation manner of the embodiment of the present invention, the width of the designated area is equal to the maximum width of the body of the robot.
As an implementation manner of the embodiment of the present invention, the step of determining whether a target obstacle exists in a designated area in the traveling direction of the robot according to the obstacle information may include:
determining the horizontal distance between each obstacle and the robot according to the obstacle information;
wherein the horizontal distance is a distance between an obstacle and a reference line of the robot.
And determining the corresponding obstacle with the horizontal distance not greater than the target distance as the target obstacle in the designated area in the traveling direction of the robot.
Wherein the target distance is one half of the maximum width of the body of the robot.
As an implementation manner of the embodiment of the present invention, the obstacle information may include a distance from a center point of the robot and a relative angle with the robot;
the step of determining the horizontal distance between each obstacle and the robot according to the obstacle information may include:
and calculating the horizontal distance of each obstacle from the robot according to the distance of each obstacle from the center point of the robot and the sine function value of the relative angle of each obstacle from the robot.
As an implementation manner of the embodiment of the present invention, the step of controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot may include:
determining the distance between the target obstacle and the robot according to the obstacle information;
and controlling the robot to avoid the obstacle based on the minimum distance in the distances between the target obstacle and the robot.
As an implementation manner of the embodiment of the present invention, the step of determining the distance between the target obstacle and the robot according to the obstacle information may include:
determining the vertical distance between each target obstacle and the robot according to the obstacle information;
the vertical distance is a distance from a center line of the robot, and the center line is a straight line passing through a center point of the robot and perpendicular to a reference line of the robot.
As an implementation manner of the embodiment of the present invention, the obstacle information may include a distance from a center point of the robot and a relative angle with the robot;
the step of determining a vertical distance between each target obstacle and the robot according to the obstacle information may include:
and calculating the vertical distance between each target obstacle and the robot according to the distance between each target obstacle and the central point of the robot and the cosine function value of the relative angle between each target obstacle and the robot.
As an implementation manner of the embodiment of the present invention, the step of controlling the robot to avoid the obstacle based on the minimum distance between the target obstacle and the robot may include:
if the minimum distance between the target obstacle and the robot is larger than a first preset distance, controlling the robot to continue to travel according to the current speed;
if the minimum distance between the target obstacle and the robot is not greater than the first preset distance and not less than a second preset distance, controlling the robot to move in a deceleration mode;
and if the minimum distance between the target obstacle and the robot is smaller than the second preset distance, controlling the robot to stop moving.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when executed by a processor, the computer program implements the following steps:
acquiring barrier information of a robot traveling direction in the traveling process of the robot;
determining whether a target obstacle located in a designated area in the traveling direction of the robot exists or not according to the obstacle information;
the specified area is a rectangular area which takes a reference line of the robot as a central line and has a width not less than the maximum width of the body of the robot in the robot traveling direction, and the reference line passes through the center point of the robot and points to the robot traveling direction.
And if so, controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot.
It can be seen that, in the solution provided in the embodiment of the present invention, when the computer program is executed by the processor, the obstacle information of the robot traveling direction may be obtained, and whether there is a target obstacle located in a specified area in the robot traveling direction is determined according to the obstacle information, where the specified area is a rectangular area in the robot traveling direction, where the width of the rectangular area is not less than the maximum width of the robot body, and a reference line of the robot is taken as a center line, and the reference line passes through a center point of the robot and points in the robot traveling direction, and if there is a target obstacle, the robot is controlled to avoid the obstacle according to a distance between the target obstacle and the robot. Because the electronic equipment determines the target obstacle in the rectangular designated area in the traveling direction of the robot and then avoids the obstacle according to the distance between the target obstacle and the robot, the robot is controlled to stop traveling instead of only when the obstacle exists in the sector-shaped obstacle area, and the problem that the robot stops traveling due to the fact that the obstacle does not have collision risk can be avoided.
As an implementation manner of the embodiment of the present invention, the width of the designated area is equal to the maximum width of the body of the robot.
As an implementation manner of the embodiment of the present invention, the step of determining whether a target obstacle exists in a designated area in the traveling direction of the robot according to the obstacle information may include:
determining the horizontal distance between each obstacle and the robot according to the obstacle information;
wherein the horizontal distance is a distance between an obstacle and a reference line of the robot.
And determining the corresponding obstacle with the horizontal distance not greater than the target distance as the target obstacle in the designated area in the traveling direction of the robot.
Wherein the target distance is one half of the maximum width of the body of the robot.
As an implementation manner of the embodiment of the present invention, the obstacle information may include a distance from a center point of the robot and a relative angle with the robot;
the step of determining the horizontal distance between each obstacle and the robot according to the obstacle information may include:
and calculating the horizontal distance of each obstacle from the robot according to the distance of each obstacle from the center point of the robot and the sine function value of the relative angle of each obstacle from the robot.
As an implementation manner of the embodiment of the present invention, the step of controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot may include:
determining the distance between the target obstacle and the robot according to the obstacle information;
and controlling the robot to avoid the obstacle based on the minimum distance in the distances between the target obstacle and the robot.
As an implementation manner of the embodiment of the present invention, the step of determining the distance between the target obstacle and the robot according to the obstacle information may include:
determining the vertical distance between each target obstacle and the robot according to the obstacle information;
the vertical distance is a distance from a center line of the robot, and the center line is a straight line passing through a center point of the robot and perpendicular to a reference line of the robot.
As an implementation manner of the embodiment of the present invention, the obstacle information may include a distance from a center point of the robot and a relative angle with the robot;
the step of determining a vertical distance between each target obstacle and the robot according to the obstacle information may include:
and calculating the vertical distance between each target obstacle and the robot according to the distance between each target obstacle and the central point of the robot and the cosine function value of the relative angle between each target obstacle and the robot.
As an implementation manner of the embodiment of the present invention, the step of controlling the robot to avoid the obstacle based on the minimum distance between the target obstacle and the robot may include:
if the minimum distance between the target obstacle and the robot is larger than a first preset distance, controlling the robot to continue to travel according to the current speed;
if the minimum distance between the target obstacle and the robot is not greater than the first preset distance and not less than a second preset distance, controlling the robot to move in a deceleration mode;
and if the minimum distance between the target obstacle and the robot is smaller than the second preset distance, controlling the robot to stop moving.
An embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a processor, the robot obstacle avoidance method according to any of the above embodiments is implemented.
It can be seen that in the solution provided in the embodiment of the present invention, when the computer program runs, the obstacle information of the robot in the traveling direction may be obtained, and whether there is a target obstacle located in a specified area in the traveling direction of the robot is determined according to the obstacle information, where the specified area is a rectangular area in the traveling direction of the robot, where the width of the rectangular area is not less than the maximum width of the body of the robot, and a reference line of the robot passes through a center point of the robot and points in the traveling direction of the robot, and if there is a target obstacle, the robot is controlled to avoid the obstacle according to the distance between the target obstacle and the robot. Because the electronic equipment determines the target obstacle in the rectangular designated area in the traveling direction of the robot and then avoids the obstacle according to the distance between the target obstacle and the robot, the robot is controlled to stop traveling instead of only when the obstacle exists in the sector-shaped obstacle area, and the problem that the robot stops traveling due to the fact that the obstacle does not have collision risk can be avoided.
It should be noted that, for the above-mentioned apparatus, electronic device, computer-readable storage medium and computer program embodiment, since they are basically similar to the corresponding method embodiments, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiments.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A robot obstacle avoidance method is characterized by comprising the following steps:
acquiring barrier information of a robot traveling direction in the traveling process of the robot;
determining whether a target obstacle exists in a designated area in the traveling direction of the robot according to the obstacle information, wherein the designated area is a rectangular area which takes a reference line of the robot as a central line and has a width not less than the maximum width of the body of the robot in the traveling direction of the robot, and the reference line passes through the central point of the robot and points to the traveling direction of the robot;
and if so, controlling the robot to avoid the obstacle according to the distance between the target obstacle and the robot.
2. The method of claim 1, wherein the designated area has a width equal to a maximum width of a fuselage of the robot.
3. The method of claim 1, wherein the step of determining whether a target obstacle exists in a designated area in the direction of travel of the robot based on the obstacle information comprises:
determining a horizontal distance between each obstacle and the robot according to the obstacle information, wherein the horizontal distance is the distance between the obstacle and a reference line of the robot;
and determining the corresponding obstacle with the horizontal distance not greater than the target distance as the target obstacle in the designated area in the traveling direction of the robot, wherein the target distance is one half of the maximum width of the body of the robot.
4. The method of claim 3, wherein the obstacle information includes a distance from a center point of the robot and a relative angle from the robot;
the step of determining the horizontal distance between each obstacle and the robot according to the obstacle information includes:
and calculating the horizontal distance of each obstacle from the robot according to the distance of each obstacle from the center point of the robot and the sine function value of the relative angle of each obstacle from the robot.
5. The method of any one of claims 1-4, wherein the step of controlling the robot to avoid an obstacle based on the distance of the target obstacle from the robot comprises:
determining the distance between the target obstacle and the robot according to the obstacle information;
and controlling the robot to avoid the obstacle based on the minimum distance in the distances between the target obstacle and the robot.
6. The method of claim 5, wherein the step of determining the distance of the target obstacle from the robot based on the obstacle information comprises:
and determining the vertical distance between each target obstacle and the robot according to the obstacle information, wherein the vertical distance is the distance from a center line of the robot, and the center line is a straight line which passes through the center point of the robot and is vertical to the reference line of the robot.
7. The method of claim 6, wherein the obstacle information includes a distance from a center point of the robot and a relative angle from the robot;
the step of determining a vertical distance between each target obstacle and the robot according to the obstacle information includes:
and calculating the vertical distance between each target obstacle and the robot according to the distance between each target obstacle and the central point of the robot and the cosine function value of the relative angle between each target obstacle and the robot.
8. A robot obstacle avoidance device, characterized in that the device comprises:
the obstacle information acquisition module is used for acquiring obstacle information of the robot in the traveling direction in the traveling process of the robot;
a target obstacle determining module, configured to determine, according to the obstacle information, whether a target obstacle located in a specified area in a robot traveling direction exists, where the specified area is a rectangular area in the robot traveling direction, where a width of the rectangular area is not less than a maximum width of a body of the robot, and a reference line of the robot passes through a center point of the robot and points in the robot traveling direction;
and the obstacle avoidance module is used for controlling the robot to avoid an obstacle according to the distance between the target obstacle and the robot if the target obstacle in the designated area in the traveling direction of the robot exists.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 7 when executing a program stored in the memory.
10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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