CN113110475A - Method and system for robot to navigate up and down stably - Google Patents
Method and system for robot to navigate up and down stably Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The invention provides a method and a system for stable up-down slope navigation of a robot, which relate to the technical field of mobile robots, and the method comprises the following steps: acquiring current map data of the robot in real time through an upper computer; selecting a coordinate with an up-down slope position in a map, acquiring the accurate position of the coordinate, marking and storing; the robot initiates a task in the charging pile, and the robot enters a navigation mode; reading the position information of the stored coordinate points, acquiring the floor where the robot is located at present, judging whether the floor has a slope point, comparing the current position of the robot with the marked slope point position in real time, acquiring the distance between the current position of the robot and the marked slope point position, and performing pre-deceleration; continuously detecting the pitching data of the imu, and further decelerating; and (5) detecting that the robot is separated from the position close to the slope point, and recovering the normal running speed of the robot. The invention can solve the problem of positioning failure caused by high speed of the robot, wheel slipping and the like in ascending and descending, and simultaneously, the robot can stably pass through a slope point.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a method and a system for smooth up-down slope navigation of a robot.
Background
With the rapid development of the intelligent robot, the intelligent robot has gradually deepened into the aspects of human life. In the field of business robots, intelligent robots need to move in hotels, office buildings and other scenes to provide corresponding services. For example, in a hotel setting, an intelligent robot needs to enter and exit an elevator, cross an aisle, and cross a hall by itself.
The invention patent with publication number CN108983783A discloses a method and a system for controlling the moving speed of a robot, a storage medium and a terminal, comprising the following steps: acquiring a map sent by a scanning device on a robot; performing image processing on the map to acquire a path map; marking a deceleration driving area on the path map; when the robot moves to the deceleration driving area, controlling the robot to decelerate and move on the basis of normal speed; and when the robot moves out of the deceleration driving area, controlling the robot to move according to the normal speed. According to the robot moving speed control method and system, the storage medium and the terminal, the driving scene of the robot is identified, and the robot is decelerated and driven in the preset deceleration driving area, so that the robot is ensured to move more intelligently and accord with the actual scene.
In the actual hotel environment, the scene of going up a slope and going down a slope often still exists, the above patent only considers the problem of speed reduction and obstacle avoidance, but can not guarantee that the robot can run stably when going up a slope and going down a slope, and when going up a slope or going down a slope, because the speed is relatively fast, the wheels are easy to slip, and the positioning is easy to generate errors. Therefore, some methods are needed to ensure that the robot can walk smoothly over the uphill and downhill slopes.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for stably navigating up and down slopes of a robot.
According to the method and the system for the robot to navigate up and down stably, the scheme is as follows:
in a first aspect, a method for a robot to navigate smoothly up and down slopes is provided, the method comprising:
step S1: acquiring current map data of the robot in real time through an upper computer;
step S2: selecting a coordinate with an up-down slope position in a map through an upper computer, acquiring the accurate physical position of the coordinate, checking an occupation grid value of the position, marking and storing;
step S3: the robot initiates a task in the charging pile, and the robot enters a navigation mode;
step S4: reading the position information of the stored coordinate point, acquiring the floor where the robot is located at present, judging whether the floor has a slope point or not, acquiring the position of the robot in real time, continuously comparing the current position of the robot with the marked slope point position, acquiring the distance between the current position of the robot and the marked slope point position, and performing pre-deceleration; continuously detecting the pitching data of the imu, and further decelerating;
step S5: and if the robot is detected to be separated from the position close to the slope point, the normal running speed of the robot is recovered.
Preferably, the step S2 specifically includes:
acquiring coordinates of the position of the slope point, inquiring whether the coordinates are non-occupied coordinates, if the coordinates are the non-occupied coordinates, carrying out the next step, and otherwise, prompting that the mark is wrong;
after the coordinates of the positions of the slope points are acquired as non-occupied coordinates, the coordinates are marked, and a distance threshold value d and a floor number id where the coordinates are located are set;
and storing the coordinates of the slope point position, the distance threshold value d and the floor number id where the coordinates are located in a file.
Preferably, the step S3 includes: after the robot starts a task, global path planning is carried out on the existing map, a complete planned path is found, local path planning is carried out according to the global path, and the speed is issued to drive the robot to advance.
Preferably, the step S4 includes:
the robot reads the stored information, obtains the current floor number id of the robot, and judges whether the floor number id has a slope point;
if the slope exists, the current position of the robot is obtained in real time, the current position of the robot and the marked slope position are continuously compared, and the distance between the current position of the robot and the marked slope position is obtained;
comparing the acquired distance between the current position of the robot and the position of the marked slope point with a distance threshold value d stored in a configuration file;
when the distance between the position of the robot and the position of the marked slope point is smaller than a distance threshold value d, the robot is indicated to be close to the marked slope point coordinates, pre-deceleration is carried out, the pitching data of the imu are continuously detected, an angle threshold value theta is set, and when the pitching data of the imu are suddenly changed and are larger than the angle threshold value theta degrees, the robot can be further decelerated.
Preferably, the step S5 includes: when the distance between the position of the robot and the position of the marked slope point is larger than a distance threshold value d, the robot is far away from the marked slope point coordinate, and the speed is gradually increased to restore the normal running speed.
In a second aspect, there is provided a system for a robot to navigate smoothly up and down a slope, the system comprising:
module M1: acquiring current map data of the robot in real time through an upper computer;
module M2: selecting a coordinate with an up-down slope position in a map through an upper computer, acquiring the accurate physical position of the coordinate, checking an occupation grid value of the position, marking and storing;
module M3: the robot initiates a task in the charging pile, and the robot enters a navigation mode;
module M4: reading the position information of the stored coordinate point, acquiring the floor where the robot is located at present, judging whether the floor has a slope point or not, acquiring the position of the robot in real time, continuously comparing the current position of the robot with the marked slope point position, acquiring the distance between the current position of the robot and the marked slope point position, and performing pre-deceleration; continuously detecting the pitching data of the imu, setting an angle threshold theta, comparing the angle threshold theta with the angle threshold theta, and further decelerating;
module M5: and if the robot is detected to be separated from the position close to the slope point, the normal running speed of the robot is recovered.
Preferably, the module M2 includes:
module M2.1: acquiring coordinates of the position of the slope point, inquiring whether the coordinates are non-occupied coordinates, if the coordinates are the non-occupied coordinates, carrying out the next step, and otherwise, prompting that the mark is wrong;
module M2.2: after the coordinates of the positions of the slope points are acquired as non-occupied coordinates, the coordinates are marked, and a distance threshold value d and a floor number id where the coordinates are located are set;
module M2.3: and storing the coordinates of the slope point position, the distance threshold value d and the floor number id where the coordinates are located in a file.
Preferably, the module M3 includes: after the robot starts a task, global path planning is carried out on the existing map, a complete planned path is found, local path planning is carried out according to the global path, and the speed is issued to drive the robot to advance.
Preferably, the module M4 includes:
module M4.1: the robot reads the stored information, obtains the current floor number id of the robot, and judges whether the floor number id has a slope point;
module M4.2: if the slope exists, the current position of the robot is obtained in real time, the current position of the robot and the marked slope position are continuously compared, and the distance between the current position of the robot and the marked slope position is obtained;
module M4.3: comparing the acquired distance between the current position of the robot and the position of the marked slope point with a distance threshold value d stored in a configuration file;
module M4.4: when the distance between the position of the robot and the position of the marked slope point is smaller than a distance threshold value d, the robot is indicated to be close to the marked slope point coordinates, pre-deceleration is carried out, the pitching data of the imu are continuously detected, an angle threshold value theta is set, and when the pitching data of the imu are suddenly changed and are larger than the angle threshold value theta degrees, the robot can be further decelerated.
Preferably, the module M5 includes: when the distance between the position of the robot and the position of the marked slope point is larger than a distance threshold value d, the robot is far away from the marked slope point coordinate, and the speed is gradually increased to restore the normal running speed.
Compared with the prior art, the invention has the following beneficial effects:
1. by the method of marking the up-down slope points, the problem of positioning failure caused by high speed, wheel slip and the like in the up-down slope is solved;
2. by setting different threshold values, the robot gradually decelerates within the range of the distance threshold value d, and the running stability is improved; the angle threshold theta is set by detecting the pitching data of the imu, so that the running speed of the robot is controlled in multiple aspects by the distance threshold d and the angle threshold theta, and stable passing through a slope point is ensured.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic overall flow diagram of the present invention;
FIG. 2 is a schematic view of the ramp of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The embodiment of the invention provides a method for stably navigating a robot up and down, which is shown by reference to fig. 1 and 2 and specifically comprises the following steps:
through the host computer, acquire the current map data of robot in real time, tools such as android flat board, long-range webpage client can be chooseed for use to the host computer in the middle of this embodiment.
After obtaining the integral map data, identifying the position of a slope point in the map, selecting the coordinate with the up-down slope position in the map by the upper computer, obtaining the accurate physical position of the coordinate, checking the occupied grid value of the position, judging whether the slope point coordinate is a non-occupied coordinate or not, and prompting to mark errors if the slope point coordinate is an occupied coordinate; if the coordinate is a non-occupied coordinate, marking the coordinate, and setting a distance threshold value d, wherein the floor number id and the slope type of the coordinate comprise an ascending point and a descending point; in the embodiment, the value d is generally obtained by empirically adding the top of the slope and the bottom of the slope to one half of the total slope length; and finally, storing the coordinates of the slope point position, the distance threshold value d, the floor number id where the coordinates are located and the slope point type into a file for the robot to use when navigating and executing tasks.
The robot initiates tasks such as patrol, delivery and the like on the charging pile, and enters a navigation mode; and carrying out global path planning on the existing map, finding out a complete planned path, carrying out local path planning according to the global path, and issuing a speed to drive the robot to advance.
Reading the stored coordinate point position information, acquiring the floor where the robot is located at present, judging whether the floor has a slope point or not, acquiring the position of the robot in real time, continuously comparing the current position of the robot with the marked slope point position, acquiring the distance between the current position of the robot and the marked slope point position in real time, comparing the acquired distance between the current position of the robot and the marked slope point position with a distance threshold value d stored in a configuration file, and when the distance is smaller than the distance d, indicating that the robot is close to the slope. And after the distance is within the range of the distance threshold value d, the robot starts to be pre-decelerated. And (3) gradually approaching the slope point while decelerating, continuously detecting the pitch data of imu by the robot in the process, observing the change of the ground inclination angle in real time, and presetting an angle threshold theta.
The coordinate point and the distance d form a circular area, when the distance between the robot and the mark point is closer and closer, the robot enters a slope point, pre-deceleration is performed, and different treatments are performed according to the type of the slope:
1. if the robot is of a downhill type, continuously detecting the pitching value of imu when the robot enters a marked area, when the robot descends from the top of a slope in a flat and flat manner, the imu value changes suddenly, when the inclination angle is larger than a set angle threshold value theta, the slope is larger, the robot is further decelerated at the moment, the robot is enabled to descend smoothly, when the robot drives away from a slope point stably and the distance between the robot and the marked point is larger and larger, the robot is indicated to be about to drive away from the area, small acceleration can be carried out at the current speed, and when the distance between the robot and the marked point is larger than d, and the inclination angle of imu is restored to the level at the same time, the robot restores to the;
2. if the robot is in an uphill type, continuously detecting the pitching value of the imu when the robot enters the marked area, when the robot runs uphill from the slope bottom, suddenly changing the pitching value, if the pitching value is larger than a set angle threshold value theta, considering that the uphill slope is larger, accelerating the uphill in a small amount at the current speed, when the robot runs away from a slope point stably and the distance between the robot and the marked point is larger and larger, indicating that the robot is about to run away from the area, and performing small acceleration again, and when the distance between the robot and the marked point is larger than d and the inclination angle of the imu is restored to the level, restoring the normal running speed of the robot.
The embodiment of the invention provides a method for stably navigating up and down slopes of a robot, which solves the problem of positioning failure caused by high speed, wheel slip and the like in the up and down slopes by marking up and down slope points; by setting different threshold values, the robot gradually decelerates within the range of the distance threshold value d, and the running stability is improved; the angle threshold theta is set by detecting the pitching data of the imu, so that the running speed of the robot is controlled in multiple aspects by the distance threshold d and the angle threshold theta, and stable passing through a slope point is ensured.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method for smoothly navigating up and down slopes of a robot, comprising:
step S1: acquiring current map data of the robot in real time through an upper computer;
step S2: selecting a coordinate with an up-down slope position in a map through an upper computer, acquiring the accurate physical position of the coordinate, checking an occupation grid value of the position, marking and storing;
step S3: the robot initiates a task in the charging pile, and the robot enters a navigation mode;
step S4: reading the position information of the stored coordinate point, acquiring the floor where the robot is located at present, judging whether the floor has a slope point or not, acquiring the position of the robot in real time, continuously comparing the current position of the robot with the marked slope point position, acquiring the distance between the current position of the robot and the marked slope point position, and performing pre-deceleration; continuously detecting the pitching data of the imu, and further decelerating;
step S5: and if the robot is detected to be separated from the position close to the slope point, the normal running speed of the robot is recovered.
2. The method for the robot to navigate smoothly up and down slope according to claim 1, wherein the step S2 specifically comprises:
step S2.1: acquiring coordinates of the position of the slope point, inquiring whether the coordinates are non-occupied coordinates, if the coordinates are the non-occupied coordinates, carrying out the next step, and otherwise, prompting that the mark is wrong;
step S2.2: after the coordinates of the positions of the slope points are acquired as non-occupied coordinates, the coordinates are marked, and a distance threshold value d and a floor number id where the coordinates are located are set;
step S2.3: and storing the coordinates of the slope point position, the distance threshold value d and the floor number id where the coordinates are located in a file.
3. The method for robot navigation on and off a slope according to claim 2, wherein the step S3 includes: after the robot starts a task, global path planning is carried out on the existing map, a complete planned path is found, local path planning is carried out according to the global path, and the speed is issued to drive the robot to advance.
4. The method for robot navigation on and off a slope according to claim 2, wherein the step S4 includes:
step S4.1: the robot reads the stored information, obtains the current floor number id of the robot, and judges whether the floor number id has a slope point;
step S4.2: if the slope exists, the current position of the robot is obtained in real time, the current position of the robot and the marked slope position are continuously compared, and the distance between the current position of the robot and the marked slope position is obtained;
step S4.3: comparing the acquired distance between the current position of the robot and the position of the marked slope point with a distance threshold value d stored in a configuration file;
step S4.4: when the distance between the position of the robot and the position of the marked slope point is smaller than a distance threshold value d, the robot is indicated to be close to the marked slope point coordinates, pre-deceleration is carried out, the pitching data of the imu are continuously detected, an angle threshold value theta is set, and when the pitching data of the imu are suddenly changed and are larger than the angle threshold value theta degrees, the robot can be further decelerated.
5. The method for robot navigation on and off a slope according to claim 2, wherein the step S5 includes: when the distance between the position of the robot and the position of the marked slope point is larger than a distance threshold value d, the robot is far away from the marked slope point coordinate, and the speed is gradually increased to restore the normal running speed.
6. A system for a robot to navigate smoothly up and down a slope, comprising:
module M1: acquiring current map data of the robot in real time through an upper computer;
module M2: selecting a coordinate with an up-down slope position in a map through an upper computer, acquiring the accurate physical position of the coordinate, checking an occupation grid value of the position, marking and storing;
module M3: the robot initiates a task in the charging pile, and the robot enters a navigation mode;
module M4: reading the position information of the stored coordinate point, acquiring the floor where the robot is located at present, judging whether the floor has a slope point or not, acquiring the position of the robot in real time, continuously comparing the current position of the robot with the marked slope point position, acquiring the distance between the current position of the robot and the marked slope point position, and performing pre-deceleration; continuously detecting the pitching data of the imu, setting an angle threshold theta, comparing the angle threshold theta with the angle threshold theta, and further decelerating;
module M5: and if the robot is detected to be separated from the position close to the slope point, the normal running speed of the robot is recovered.
7. The system for smooth uphill and downhill navigation of a robot according to claim 6, wherein the module M2 comprises:
module M2.1: acquiring coordinates of the position of the slope point, inquiring whether the coordinates are non-occupied coordinates, if the coordinates are the non-occupied coordinates, carrying out the next step, and otherwise, prompting that the mark is wrong;
module M2.2: after the coordinates of the positions of the slope points are acquired as non-occupied coordinates, the coordinates are marked, and a distance threshold value d and a floor number id where the coordinates are located are set;
module M2.3: and storing the coordinates of the slope point position, the distance threshold value d and the floor number id where the coordinates are located in a file.
8. The system for smooth uphill and downhill navigation of a robot according to claim 7, wherein the module M3 comprises: after the robot starts a task, global path planning is carried out on the existing map, a complete planned path is found, local path planning is carried out according to the global path, and the speed is issued to drive the robot to advance.
9. The system for smooth uphill and downhill navigation of a robot according to claim 7, wherein the module M4 comprises:
module M4.1: the robot reads the stored information, obtains the current floor number id of the robot, and judges whether the floor number id has a slope point;
module M4.2: if the slope exists, the current position of the robot is obtained in real time, the current position of the robot and the marked slope position are continuously compared, and the distance between the current position of the robot and the marked slope position is obtained;
module M4.3: comparing the acquired distance between the current position of the robot and the position of the marked slope point with a distance threshold value d stored in a configuration file;
module M4.4: when the distance between the position of the robot and the position of the marked slope point is smaller than a distance threshold value d, the robot is indicated to be close to the marked slope point coordinates, pre-deceleration is carried out, the pitching data of the imu are continuously detected, an angle threshold value theta is set, and when the pitching data of the imu are suddenly changed and are larger than the angle threshold value theta degrees, the robot can be further decelerated.
10. The system for smooth uphill and downhill navigation of a robot according to claim 7, wherein the module M5 comprises: when the distance between the position of the robot and the position of the marked slope point is larger than a distance threshold value d, the robot is far away from the marked slope point coordinate, and the speed is gradually increased to restore the normal running speed.
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