CN113867343A - Robot moving method, device, robot and storage medium - Google Patents
Robot moving method, device, robot and storage medium Download PDFInfo
- Publication number
- CN113867343A CN113867343A CN202111098533.4A CN202111098533A CN113867343A CN 113867343 A CN113867343 A CN 113867343A CN 202111098533 A CN202111098533 A CN 202111098533A CN 113867343 A CN113867343 A CN 113867343A
- Authority
- CN
- China
- Prior art keywords
- water level
- robot
- advancing
- level sensor
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 75
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 455
- 238000009825 accumulation Methods 0.000 claims abstract description 83
- 230000008569 process Effects 0.000 claims abstract description 34
- 238000004590 computer program Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The application is applicable to the technical field of robots and provides a robot moving method, a device, a robot and a storage medium, wherein the front end and the side end of the robot are provided with water level sensors, and the robot moving method applied to the robot comprises the following steps: detecting a front water level by a water level sensor of the front end while advancing; if the water accumulation area in front is determined according to the front water level, rotating and advancing along a preset direction; and adjusting the advancing direction of the robot in the advancing process so that the side water level detected by the water level sensor at the side end is positioned in the early warning water level interval. The embodiment of the application can ensure that the robot can safely and accurately move on the road surface with the water accumulation area.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method and an apparatus for moving a robot, and a storage medium.
Background
With the development of the robot technology, the robot is widely applied to various application scenes of life and work. Among other things, there are application scenarios that require a robot to move from one location to another to accomplish a transportation task or other task. On the road surface on which the robot moves, there may be water-collecting areas formed by heavy rain or artificial water pouring, which may hinder the advance of the robot and even cause the robot to malfunction.
Disclosure of Invention
In view of this, embodiments of the present application provide a robot moving method, an apparatus, a robot, and a storage medium, so as to solve the problem in the prior art how to enable the robot to safely and accurately move on a road surface in an area with water accumulation.
A first aspect of an embodiment of the present application provides a robot moving method, which is applied to a robot, wherein a front end and a side end of the robot are respectively provided with a water level sensor, and the robot moving method includes:
detecting a front water level by a water level sensor of the front end while advancing;
if the water accumulation area in front is determined according to the front water level, rotating and advancing along a preset direction;
and adjusting the advancing direction of the robot in the advancing process so that the side water level detected by the water level sensor at the side end is positioned in the early warning water level interval.
Optionally, if it is determined that there is a water accumulation region in front according to the front water level, the water accumulation region rotates and travels in a preset direction, including:
if the front water level is larger than the minimum value of the early warning water level interval, determining that a water accumulation area exists in front;
and rotating along a preset direction until the side water level detected by the water level sensor at the side end is in the early warning water level interval, and starting to advance.
Optionally, the water level sensors at the side ends include a water level sensor arranged at the left end of the robot and a water level sensor arranged at the right end of the robot;
the rotating and traveling in a preset direction includes:
rotating a first target angle along a first preset direction and advancing along a first time point direction;
correspondingly, the process of advancing is adjusted the advancing direction of robot for the side water level that the water level sensor of side detected is located early warning water level interval, includes:
in the process of advancing along the first time hand direction, adjusting the advancing direction of the robot to enable the side water level detected by the water level sensor at the first side end to be located in the early warning water level interval;
if the preset condition is detected, rotating a second target angle along a second preset direction and advancing along a second hour direction;
in the process of advancing along the second hour hand direction, adjusting the advancing direction of the robot to enable the side water level detected by the water level sensor at the second side end to be located in the early warning water level interval;
if the first clock direction is counterclockwise, the second clock direction is clockwise, the first side end is a left end, and the second side end is a right end; if the first clock direction is clockwise, the second clock direction is counterclockwise, the first side end is a right end, and the second side end is a left end.
Optionally, the detecting a front water level by a water level sensor of the front end while advancing includes:
advancing according to a global path planned in advance, and detecting the front water level through a water level sensor at the front end when advancing;
correspondingly, if it is determined that there is a water accumulation area in front according to the front water level, the water accumulation area rotates and moves along a preset direction, including:
if the water accumulation area in front is determined according to the front water level, taking the current position as the first position of the global path;
rotating in a preset direction at the first position and beginning to deviate from the global path;
correspondingly, the process of advancing is adjusted the advancing direction of robot for the side water level that the water level sensor of side detected is located early warning water level interval, includes:
adjusting the advancing direction of the robot in the advancing process to enable the side water level detected by the water level sensor at the side end to be positioned in the early warning water level interval;
when the robot is detected to travel to a second position on the global path, the robot is judged to bypass the water-collecting area, wherein the second position is located in front of the first position.
Optionally, the adjusting the traveling direction of the robot during traveling so that the lateral water level detected by the water level sensor at the side end is located in the early warning water level interval includes:
performing local path planning by taking the current position of the robot as an initial position to obtain a local sub-path, wherein the length of the local sub-path is less than or equal to a preset length;
travel along the local sub-path;
and if the robot does not bypass the water accumulation area currently, adjusting the advancing direction to keep the lateral water level detected by the water level sensor at the side end to be positioned in the early warning water level interval, and returning to execute the step of performing local path planning by taking the current position of the robot as an initial position to obtain a local sub-path and subsequent steps until the robot is detected to bypass the water accumulation area.
Optionally, the method further comprises:
and if the inclination angle of the body of the robot is detected to be larger than a preset angle when the robot travels, the traveling action of the robot is suspended and the traveling direction of the robot is adjusted.
Optionally, before the front water level is detected by the water level sensor at the front end during the forward movement, the method further comprises:
and acquiring a setting instruction, and setting the early warning water level interval according to the setting instruction.
A second aspect of the embodiments of the present application provides a robot moving device, which is applied to a robot, wherein a front end and a side end of the robot are respectively provided with a water level sensor, and the robot moving device includes:
a detection unit for detecting a front water level by the water level sensor of the front end while advancing;
the steering unit is used for rotating and advancing along a preset direction if the water accumulation area in front is determined according to the front water level;
and the bypassing unit is used for adjusting the advancing direction of the robot in the advancing process so that the side water level detected by the water level sensor at the side end is positioned in the early warning water level interval.
A third aspect of embodiments of the present application provides a robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program, when executed by the processor, causing the robot to carry out the steps of the robot moving method as described.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes a robot to carry out the steps of the robot moving method as described.
A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a robot, causes the robot to perform the robot moving method of any one of the first aspects.
Compared with the prior art, the embodiment of the application has the advantages that: in the embodiment of the application, the front end and the side end of the robot are both provided with water level sensors, and when the robot moves forwards, the front water level can be detected through the water level sensors at the front end; when the water accumulation area in front is determined according to the front water level, the water accumulation area rotates and moves along the preset direction; and then, adjusting the traveling direction of the robot in the traveling process, so that the side water level detected by the water level sensor at the side end is positioned in the early warning water level interval. Whether a water accumulation area exists in front can be judged according to the front water level measured by the front water level sensor when the vehicle moves forward, so that the water accumulation area can be accurately identified; in addition, after the front water accumulation area is judged, the side water level detected by the water level sensor at the side end can be kept in the early warning water level section during travelling, so that the robot can keep a moving state around the water accumulation area while not involving in a deeper water level, and the robot can safely and accurately bypass the water accumulation area during moving to avoid travelling faults.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.
Fig. 1 is a schematic flow chart of an implementation of a robot moving method according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a first robot provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a second robot provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a third robot provided in an embodiment of the present application;
fig. 5 is a schematic view of a first robot traveling direction provided by an embodiment of the present application;
FIG. 6 is a schematic view of a second robot travel direction provided by embodiments of the present application;
FIG. 7 is a schematic view of a third robot traveling direction provided by an embodiment of the present application;
fig. 8 is a schematic view of a robot moving device according to an embodiment of the present disclosure;
fig. 9 is a schematic view of a robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
At present, on the road surface where the robot moves, there may be water accumulation areas formed by heavy rain or artificial water pouring, and these water accumulation areas may obstruct the advance of the robot and even cause the robot to malfunction.
In order to solve the above problem, an embodiment of the present invention provides a robot moving method, a robot moving apparatus, a robot, and a storage medium, wherein a front end and a side end of the robot are respectively provided with a water level sensor, and the robot moving method includes: detecting a front water level by a water level sensor of the front end while advancing; if the water accumulation area in front is determined according to the front water level, rotating and advancing along a preset direction; and adjusting the advancing direction of the robot in the advancing process so that the side water level detected by the water level sensor at the side end is positioned in the early warning water level interval.
Whether a water accumulation area exists in front can be judged according to the front water level measured by the front water level sensor when the vehicle moves forward, so that the water accumulation area can be accurately identified; in addition, after the front water accumulation area is judged, the side water level detected by the water level sensor at the side end can be kept in the early warning water level section during travelling, so that the robot can keep a moving state around the water accumulation area while not involving in a deeper water level, and the robot can safely and accurately bypass the water accumulation area during moving to avoid travelling faults.
The first embodiment is as follows:
fig. 1 is a schematic flow chart of a first robot moving method provided in an embodiment of the present application, in which an execution main body of the robot moving method is a robot, and a front end and a side end of the robot are respectively provided with a water level sensor. Wherein the side end of the robot may include a left end and/or a right end of the robot.
Illustratively, the structure schematic diagram of the robot of the embodiment of the present application is any one of fig. 2, 3, and 4. In fig. 2, the robot is provided with a first water level sensor 21 at the front end and a second water level sensor 22 at the left end. In fig. 3, the robot is provided with a first water level sensor 31 at the front end and a third water level sensor 32 at the right end. In fig. 4, the robot is provided with a first water level sensor 41 at the front end, a second water level sensor 42 at the left end, and a third water level sensor 43 at the right end.
The robot moving method as described in fig. 1 is detailed as follows:
in S101, the front water level is detected by the water level sensor of the front end while advancing.
In the embodiment of the present application, the front water level is a water level located in the forward direction of the robot. When the robot moves forward, the water level sensor at the front end keeps an opening state, and the front water level is continuously detected.
In S102, if it is determined that there is a water accumulation region in front according to the front water level, the water storage device rotates and travels in a preset direction.
When the front water level is detected to be greater than or equal to a preset water level threshold value, for example, the preset water level threshold value is 5 cm, that is, when the ground accumulated water height is greater than or equal to 5 cm, it is indicated that the front water level reaches a certain water level height, accumulated water is formed, and it is determined that a water accumulation area exists in front. At this time, it is rotated in a preset direction to change the traveling direction, and starts traveling.
It can be understood that, since the robot in the present application walks on the ground, the water level is the height of the submerged robot.
Conversely, if the front water level detected by the front end sensor is smaller than the preset water level threshold, it indicates that the front water level is low enough to be ignored, no accumulated water is formed, and at this time, the robot can directly continue to move forward.
The preset direction in the embodiment of the application can be a direction rotating by a certain angle along the clockwise direction, and can also be a direction rotating by a certain angle along the counterclockwise direction.
In S103, the traveling direction of the robot is adjusted during traveling so that the lateral water level detected by the water level sensor at the side end is located within the early warning water level zone.
In the embodiment of the application, the preset early warning water level interval is the accumulated water level which is set in advance and allows the robot to pass through. The minimum value of the early warning water level interval is the minimum critical value of the accumulated water level (namely, the minimum critical value is smaller than the accumulated water level, the accumulated water level is not formed), and the maximum value of the early warning water level interval is the maximum limiting value of the water level which can be safely passed by the robot. For example, the pre-warning water level interval may be 5 cm to 20 cm. The side water level is the water level on the left or right of the robot detected by the robot during traveling.
In the process that the robot travels after rotating along the preset direction, the travel direction is adjusted at intervals of time or distance, so that the side water level detected by the water level sensor at the side end is located in the early warning water level interval. The side water level that the water level sensor who keeps the side detected is located early warning water level interval, can make the robot can not lead to deviating from original target location owing to too avoiding the ponding region promptly, also can not lead to getting into the excessive deep water area that is greater than the interval of early warning water level in the ponding region owing to too tending to target location, consequently can guarantee safely accurately that the robot is marchd around the ponding region.
In one embodiment, when the robot according to the embodiment of the present application is the robot shown in fig. 2, that is, the water level sensor at the side end is specifically disposed at the left end of the robot, and the robot can detect the lateral water level only by the water level sensor at the left end, the preset direction is a direction deflected to the right so that the water level sensor at the left end faces the water collecting area. As shown in fig. 5, after the robot 51 detects the water accumulation area 52 at the first position point of the original global path 50, the robot may travel in the counterclockwise direction 54 after being deflected in the preset direction, and the side water level detected by the left water level sensor is maintained within the pre-warning water level section until the robot reaches the second position point 53 on the global path, and it is determined that the robot 51 bypasses the front water accumulation area.
In another embodiment, when the robot according to the embodiment of the present invention is the robot shown in fig. 3, that is, the water level sensor at the side end is specifically provided at the right end of the robot, and the robot can detect the lateral water level only by the water level sensor at the right end, the preset direction is a direction deflected to the left so that the water level sensor at the right end faces the water collecting area. As shown in fig. 6, after the robot 51 detects the water accumulation area 52 at the first position point of the original global path 50, the robot may be moved in the clockwise direction 55 after being deflected in the preset direction, and the side water level detected by the right water level sensor is maintained within the early warning water level section until the robot reaches the second position point 53 on the global path, and it is determined that the robot 51 bypasses the front water accumulation area.
In the embodiment of the application, whether the water accumulation area exists in the front can be judged according to the front water level measured by the water level sensor at the front end when the vehicle moves forwards, so that the water accumulation area can be accurately identified; in addition, after the front water accumulation area is judged, the side water level detected by the water level sensor at the side end can be kept in the early warning water level section during travelling, so that the robot can keep a moving state around the water accumulation area while not involving in a deeper water level, and the robot can safely and accurately bypass the water accumulation area during moving to avoid travelling faults.
Optionally, if it is determined that there is a water accumulation region in front according to the front water level, the water accumulation region rotates and travels in a preset direction, including:
if the front water level is larger than the minimum value of the early warning water level interval, determining that a water accumulation area exists in front;
and rotating along a preset direction until the side water level detected by the water level sensor at the side end is in the early warning water level interval, and starting to advance.
In the embodiment of the application, whether the water accumulation area exists in the front at present is determined according to the comparison result of the minimum value of the front water level and the early warning water level interval. Specifically, when the front water level is greater than the minimum value of the early warning water level interval, it can be determined that a certain amount of water exists in front, accumulated water is formed, and a water accumulation area in front is determined.
After the water accumulation area in the front is determined, the water level sensor at the side end can rotate along the preset direction until the side water level is detected to be in the early warning water level area, the situation that the water level sensor at the side end rotates to the position where the bypassing direction can be adjusted according to the detection result of the side water level at present is indicated, the robot starts to move, and the side water level is continuously detected through the water level sensor at the side end, so that the moving direction of the robot is adjusted later.
In the embodiment of the application, through the comparison of the water level in the front and the minimum value of the early warning water level, whether the water accumulation area exists in the front can be accurately determined, when the water accumulation area exists in the front, the water level sensor which rotates to enable the side end can detect the position where the side water level is located in the early warning water level area, so that the moving square can be adjusted according to the side water level in the following process, the accuracy of walking around the water accumulation area can be improved, and the water accumulation area can be safely and accurately bypassed by the robot when the robot moves.
Optionally, the water level sensors at the side ends include a water level sensor at the left end of the robot and a water level sensor at the right end of the robot.
In this application embodiment, the left end and the right-hand member of robot all are equipped with level sensor to make the robot can select an hour hand direction as current preset hour hand direction in counter-clockwise and clockwise according to the actual road surface condition when marching, the level sensor of the corresponding selection left end or the level sensor of right-hand member be as the level sensor who is used for detecting side water level. Or, the robot can select a water level sensor with a better health state as a water level sensor for detecting the lateral water level according to the health states of the left and right water level sensors, and correspondingly determine the current preset hour hand direction (when the selected water level sensor is the left water level sensor, the corresponding preset hour hand direction is the counterclockwise direction, as shown in fig. 7; 50-54 in fig. 7 have the same meaning as fig. 5, except that the water level sensors are arranged at the left and right ends of the robot 51 in fig. 7; and when the selected water level sensor is the right water level sensor, the corresponding preset hour hand direction is the clockwise direction).
In the embodiment of the application, because the left end and the right end of the robot are both provided with the water level sensors, the robot can select one of the water level sensors to detect the lateral water level and advance along the corresponding preset hour hand direction according to the actual conditions (such as the road surface conditions and the health states of the water level sensors), and therefore the robot can flexibly and accurately bypass the water accumulation area.
Optionally, the water level sensor at the side end includes a water level sensor at a left end of the robot and a water level sensor at a right end of the robot, and the rotating and traveling along the preset direction includes:
rotating a first target angle along a first preset direction and advancing along a first time point direction;
correspondingly, the adjusting the traveling direction of the robot in the traveling process to enable the side water level detected by the water level sensor at the side end to be located in the early warning water level interval until the robot bypasses the water accumulation area comprises:
in the process of advancing along the first time hand direction, adjusting the advancing direction of the robot to enable the side water level detected by the water level sensor at the first side end to be located in the early warning water level interval;
if the preset condition is detected, rotating a second target angle along a second preset direction and advancing along a second hour direction;
in the process of advancing along the second hour hand direction, adjusting the advancing direction of the robot to enable the side water level detected by the water level sensor at the second side end to be located in the early warning water level interval until the robot bypasses the ponding area;
if the first clock direction is counterclockwise, the second clock direction is clockwise, the first side end is a left end, and the second side end is a right end; if the first clock direction is clockwise, the second clock direction is counterclockwise, the first side end is a right end, and the second side end is a left end.
In the embodiment of the application, the first hour hand direction is the hour hand direction which is preferentially selected when the robot which is set in advance winds the water accumulation area, and the second hour hand direction is the direction opposite to the first hour hand direction. If the first clock hand direction is the counterclockwise direction, then: the first side end is the left end, the second hour hand direction is clockwise, and the second side end is the right end. If the first clock hand direction is clockwise, then: the first side end is the right end, the second hour hand direction is the anticlockwise direction, and the second side end is the left end.
When the robot just judges that the water accumulation area exists in front, the robot firstly rotates along a first preset direction until a water level sensor at a first side end detects a water level which is larger than or equal to the minimum value of the early warning water level interval, and the rotating angle is a first target angle. Thereafter, travel around the waterlogged area in the first clock hand direction is initiated.
In the process of advancing along the first time point direction, the advancing direction of the robot is adjusted every a short time or a short distance according to the detection result of the water level sensor at the first side end so as to keep the side water level detected by the water level sensor at the first side end within the early warning water level interval.
And then, when the preset condition is detected, the current first time direction is not suitable to be used as a walking direction for bypassing the accumulated water area. At the moment, the direction is turned, and the water level sensor at the second side end rotates along the second preset direction again until the water level sensor detects the water level which is larger than or equal to the minimum value of the early warning water level interval, and the rotating angle is the second target angle. Thereafter, travel in the second clockwise direction is started.
And in the process of advancing along the second hour hand direction, adjusting the advancing direction so as to enable the robot to keep the side water level detected by the water level sensor at the second side end to be positioned in the early warning water level interval when advancing along the second hour hand direction until the robot passes through the current water accumulation area.
For example, the preset condition may include that the distance between the robot and the target position in front of the ponding area to be reached by the robot is greater than a preset distance after the robot walks in the first clock hand direction for a time period exceeding a preset time period; or the included angle between the advancing direction of the robot when the robot walks along the first time hand direction and the original advancing direction of the robot is larger than the preset angle. When the preset conditions are met, the fact that the robot bypasses the water accumulation area due to the fact that the consumed time or the required walking distance is too long when the water accumulation area is bypassed along the first hour hand direction is explained, and therefore the efficiency of the robot bypassing the water accumulation area is low, and the moving efficiency of the robot is affected is further solved.
In the embodiment of the application, because the left end and the right end of the robot are both provided with the water level sensors, the robot firstly advances along the first hour hand direction, and when a preset condition is detected, namely the condition that the first hour hand direction is not suitable as the walking direction for bypassing the ponding area is explained, the robot can flexibly turn to the second hour hand direction to advance, so that the ponding area can be flexibly and accurately bypassed, and the moving efficiency of the robot is improved.
Optionally, the detecting a front water level by a water level sensor of the front end while advancing includes:
advancing according to a global path planned in advance, and detecting the front water level through a water level sensor at the front end when advancing;
correspondingly, if it is determined that there is a water accumulation area in front according to the front water level, the water accumulation area rotates and moves along a preset direction, including:
if the water accumulation area in front is determined according to the front water level, taking the current position as the first position of the global path;
rotating in a preset direction at the first position and beginning to deviate from the global path;
correspondingly, the adjusting the traveling direction of the robot in the traveling process to enable the side water level detected by the water level sensor at the side end to be located in the early warning water level interval until the robot bypasses the water accumulation area comprises:
adjusting the advancing direction of the robot in the advancing process to enable the side water level detected by the water level sensor at the side end to be positioned in the early warning water level interval;
when the robot is detected to travel to a second position on the global path, the robot is judged to bypass the water-collecting area, wherein the second position is located in front of the first position.
In the embodiment of the application, the robot specifically travels according to a global path planned in advance before detecting the ponding area. The global path is a complete path obtained by performing global path planning when the robot starts and using the starting position as a path starting point and using a destination to be reached as a path end point. Illustratively, this global path is shown by the middle vertical dashed arrow 50 in FIGS. 5-7. When the robot travels along the global path, the front water level in the travel direction is continuously detected by the water level sensor at the front end which is turned on.
When the robot travels on the global path, if the detected front water level is larger than or equal to the minimum value of the preset early warning water level area, the front water-accumulating area is judged to exist at the moment, and the position where the front water-accumulating area is detected on the global path at present is called as a first position on the global path.
After detecting the ponding area, the robot rotates in a preset direction and begins to deviate from the global path and travel around the ponding area.
When the robot travels, the side water level detected by the water level sensor at the side end is kept within the early warning water level interval by adjusting the traveling direction, so that the robot can walk around the ponding area.
In the embodiment of the application, the robot is a mobile robot capable of realizing autonomous positioning and navigation based on a simultaneous localization and mapping (SLAM) technology. The robot can realize self positioning through a laser SLAM or a visual SLAM when traveling. When the robot rotates and advances along the preset hour hand direction, the self-positioning is automatically realized through the SLAM technology in real time or at intervals of a short time. When the robot is positioned to the second position on the global path, namely the robot is positioned on the global path and is positioned in front of the first position when the water accumulation area is originally detected, the robot is judged to bypass the water accumulation area currently, and the robot returns to the original global path again. It will be appreciated that the second location may be close to the global path, and need not be strictly on the global path, nor need it be strictly directly in front of the first location, but may be just in front of the first location on the global path within the tolerance of the error.
In one embodiment, after determining that the robot has currently bypassed the waterlogged area, the robot may continue to travel along the remaining segments of the originally planned preset global path, starting from the second location, to reach the destination. In another embodiment, after determining that the robot has currently bypassed the waterlogged area, the robot may perform path planning again at the second location, and obtain a path starting from the second location and ending at the destination as a path according to which to walk next. Illustratively, this second position is shown at 53 in FIGS. 5-7.
In the embodiment of the application, the robot can walk according to a global path in advance before detecting the ponding area, so that the moving accuracy of the robot can be improved; in addition, after the robot rotates along the preset direction and moves, the judgment of whether the robot bypasses the water accumulation area can be accurately realized according to whether the robot moves to the second position on the global path, so that the moving accuracy of the robot can be further improved.
Optionally, adjusting a traveling direction of the robot during traveling so that a lateral water level detected by a water level sensor at a lateral end is located in an early warning water level interval until the robot bypasses the water accumulation area, includes:
performing local path planning by taking the current position of the robot as an initial position to obtain a local sub-path, wherein the length of the local sub-path is less than or equal to a preset length;
travel along the local sub-path;
and if the robot does not bypass the water accumulation area currently, adjusting the advancing direction to keep the lateral water level detected by the water level sensor at the side end to be positioned in the early warning water level interval, and returning to execute the step of performing local path planning by taking the current position of the robot as an initial position to obtain a local sub-path and subsequent steps until the robot is detected to bypass the water accumulation area.
And after the robot rotates, local path planning is carried out by taking the current position as an initial position and the second position as a target position to obtain a local sub-path. The length of the local sub-path is specifically smaller than or equal to the preset length, so that the local sub-path obtained by planning each time is a short-distance line segment, the direction can be readjusted after the local sub-path travels a short distance each time, the next section of local sub-path planning is carried out again according to the detection condition, and the accuracy of the path planning around the ponding area is improved. In one embodiment, the robot may specifically acquire a grid map of a local position near the water accumulation area, and perform local path planning based on the grid map to obtain the aforementioned local sub-path.
After each local sub-path is obtained, the local sub-path is followed. When the vehicle travels along the local sub-path, if the lateral water level detected by the water level sensor at the side end is always kept in the early warning water level area, the vehicle travels to the end point of the local sub-path. And if the detected lateral water level is smaller than the minimum value of the early warning water level area or larger than the maximum value of the early warning water level area when the vehicle travels along the local sub-path, the vehicle stops traveling.
And then judging whether the current robot bypasses the ponding area or not. If the robot does not bypass the ponding area currently, the robot readjusts the advancing direction according to the lateral water level detected by the water level sensor at the side end at the terminal point or the pause position of the current local sub-path, so that the lateral water level is kept in the early warning water level interval. After adjusting the direction of travel, the planning of the local sub-path continues to proceed in order to continue to travel in the counterclockwise direction until the robot bypasses the ponding area (e.g. until the robot reaches the second position mentioned above).
In the embodiment of the application, when the robot travels around the ponding area, the robot particularly travels along the local sub-path with the length less than or equal to the preset length obtained through local planning, the local planning can more accurately perform path planning according to the current specific local position condition, and each section of local sub-path with shorter length can be better spliced to obtain the detouring loop around the ponding area, so that the accuracy of the travel around the ponding area can be improved through the method provided by the embodiment of the application.
Optionally, the method further comprises:
and if the inclination angle of the body of the robot is detected to be larger than a preset angle when the robot travels, the traveling action of the robot is suspended and the traveling direction of the robot is adjusted.
In the embodiment of the application, the water accumulation area is generally a hollow ground, so when the robot travels around the water accumulation area, the body of the robot can incline due to the large gradient around the water accumulation area. When the robot detects that the inclination angle of the robot body is larger than the preset angle when the robot travels, the situation that the position where the robot is located is large in gradient and the robot risks falling is shown, at the moment, the traveling action of the robot is suspended, and the traveling direction of the robot is adjusted to avoid the position with the large gradient and avoid the robot falling.
In the embodiment of the application, because when the inclination angle of the body of the robot is greater than the preset angle, the advancing action of the robot can be suspended and the advancing direction of the robot can be adjusted, so that the robot can be prevented from falling down, and the moving safety of the robot is improved.
Optionally, before the front water level is detected by the water level sensor at the front end during the forward movement, the method further comprises:
and acquiring a setting instruction, and setting the early warning water level interval according to the setting instruction.
In one embodiment, the robot may obtain a setting instruction in advance, and the setting instruction may directly include the input minimum value and maximum value, and the early warning water level interval is formed according to the minimum value and the maximum value. In another embodiment, the setting instruction may include a wheel height or a track height of the robot, and the early warning water level interval may be automatically calculated according to the height. For example, if the height of the wheels of the robot is 20 cm, the early warning water level area may be 5 cm to 20 cm. When the water level of the water is less than 5 cm, the robot can automatically walk straight by neglecting shallow water; when the water level is 5-20 cm, the robot can walk around the water area; when the water level is higher than 20 cm, it means that the water submerges the wheels of the robot and contacts some motor parts above the wheels of the robot, and the robot should be far away from the water.
In the embodiment of the application, the early warning water level area of the robot can be set in advance through the setting instruction, so that the accuracy of walking of the robot around accumulated water can be further improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Example two:
fig. 8 is a schematic structural diagram of a robot moving device according to an embodiment of the present disclosure, which is applied to a robot, and a front end and a side end of the robot are respectively provided with a water level sensor. For convenience of explanation, only the portions related to the embodiments of the present application are shown:
the robot moving device includes: a detection unit 81, a steering unit 82, and a detour unit 83. Wherein:
a detection unit 81 for detecting a front water level by the water level sensor of the front end while advancing.
And a steering unit 82 for rotating and moving in a preset direction if it is determined that there is a water accumulation region in front according to the front water level.
And the bypassing unit 83 is used for adjusting the traveling direction of the robot in the traveling process so that the side water level detected by the water level sensor at the side end is positioned in the early warning water level section.
Optionally, the steering unit 82 is specifically configured to determine that a water accumulation region exists in front of the water level sensor if the front water level is greater than the minimum value of the early warning water level interval; and rotating along a preset direction until the side water level detected by the water level sensor at the side end is in the early warning water level interval, and starting to advance.
Optionally, the water level sensors at the side ends include a water level sensor at the left end of the robot and a water level sensor at the right end of the robot, and in the steering unit 82, the rotating and traveling along the preset direction includes: rotating a first target angle along a first preset direction and advancing along a first time point direction;
correspondingly, the bypassing unit 83 is specifically configured to adjust the traveling direction of the robot during traveling along the first time hand direction, so that the side water level detected by the water level sensor at the first side end is located in the early warning water level interval; if the preset condition is detected, rotating a second target angle along a second preset direction and advancing along a second hour direction; in the process of advancing along the second hour hand direction, adjusting the advancing direction of the robot to enable the side water level detected by the water level sensor at the second side end to be located in the early warning water level interval; if the first clock direction is counterclockwise, the second clock direction is clockwise, the first side end is a left end, and the second side end is a right end; if the first clock direction is clockwise, the second clock direction is counterclockwise, the first side end is a right end, and the second side end is a left end.
Optionally, the detecting unit 81 is specifically configured to advance according to a global path planned in advance, and detect a front water level through the water level sensor at the front end when the front water level advances;
correspondingly, the steering unit 82 is specifically configured to, if it is determined that there is a water accumulation region in front according to the front water level, take the current position as the first position of the global path; rotating in a preset direction at the first position and beginning to deviate from the global path;
correspondingly, the bypassing unit 83 is specifically configured to adjust a traveling direction of the robot during traveling so that a lateral water level detected by the water level sensor at the side end is located in the early warning water level interval; when the robot is detected to travel to a second position on the global path, the robot is judged to bypass the water-collecting area, wherein the second position is located in front of the first position.
Optionally, the detour unit 83 is specifically configured to perform local path planning by using the current position of the robot as an initial position to obtain a local sub-path, where a length of the local sub-path is less than or equal to a preset length; the robot travels along the local sub-path, and the traveling direction of the robot is adjusted in the traveling process, so that the lateral water level detected by the water level sensor at the side end is positioned in the early warning water level interval; and if the robot does not bypass the ponding area currently, adjusting the advancing direction to keep the lateral water level detected by the water level sensor at the side end to be positioned in the early warning water level interval, and returning to execute the step of performing local path planning by taking the current position of the robot as an initial position to obtain a local sub-path and subsequent steps until the robot is detected to bypass the ponding area.
Optionally, the robot moving device further includes:
and the suspension unit is used for suspending the traveling action of the robot and adjusting the traveling direction of the robot if the inclination angle of the body of the robot is detected to be larger than a preset angle when the robot travels.
Optionally, the robot moving device further includes:
and the setting unit is used for acquiring a setting instruction and setting the early warning water level interval according to the setting instruction.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Example three:
fig. 9 is a schematic view of a robot provided in an embodiment of the present application. As shown in fig. 9, the robot 9 of this embodiment includes: a processor 90, a memory 91 and a computer program 92, such as a robot movement program, stored in said memory 91 and executable on said processor 90. And water level sensors are also arranged at the front end and the side end of the robot. The processor 90, when executing the computer program 92, implements the steps in the various robot movement method embodiments described above, such as steps S101 to S103 shown in fig. 1. Alternatively, the processor 90 executes the computer program 92 to realize the functions of the modules/units in the device embodiments, such as the functions of the detection unit 91 to the bypass unit 93 shown in fig. 9.
Illustratively, the computer program 92 may be partitioned into one or more modules/units that are stored in the memory 91 and executed by the processor 90 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 92 in the robot 9.
The robot may include, but is not limited to, a processor 90, a memory 91. Those skilled in the art will appreciate that fig. 9 is merely an example of a robot 9 and does not constitute a limitation of robot 9 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 90 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal storage unit of the robot 9, such as a hard disk or a memory of the robot 9. The memory 91 may also be an external storage device of the robot 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the robot 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the robot 9. The memory 91 is used for storing the computer program and other programs and data required by the robot. The memory 91 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A robot moving method is characterized by being applied to a robot, wherein water level sensors are respectively arranged at the front end and the side end of the robot, and the robot moving method comprises the following steps:
detecting a front water level by a water level sensor of the front end while advancing;
if the water accumulation area in front is determined according to the front water level, rotating and advancing along a preset direction;
and adjusting the advancing direction of the robot in the advancing process so that the side water level detected by the water level sensor at the side end is positioned in the early warning water level interval.
2. The robot moving method according to claim 1, wherein the rotating and traveling in a predetermined direction if it is determined that there is a water accumulation area in front according to the front water level comprises:
if the front water level is larger than the minimum value of the early warning water level interval, determining that a water accumulation area exists in front;
and rotating along a preset direction until the side water level detected by the water level sensor at the side end is in the early warning water level interval, and starting to advance.
3. The robot moving method according to claim 1, wherein the water level sensors at the side ends include a water level sensor provided at a left end of the robot and a water level sensor provided at a right end of the robot;
the rotating and traveling in a preset direction includes:
rotating a first target angle along a first preset direction and advancing along a first time point direction;
correspondingly, the process of advancing is adjusted the advancing direction of robot for the side water level that the water level sensor of side detected is located early warning water level interval, includes:
in the process of advancing along the first time hand direction, adjusting the advancing direction of the robot to enable the side water level detected by the water level sensor at the first side end to be located in the early warning water level interval;
if the preset condition is detected, rotating a second target angle along a second preset direction and advancing along a second hour direction;
in the process of advancing along the second hour hand direction, adjusting the advancing direction of the robot to enable the side water level detected by the water level sensor at the second side end to be located in the early warning water level interval;
if the first clock direction is counterclockwise, the second clock direction is clockwise, the first side end is a left end, and the second side end is a right end; if the first clock direction is clockwise, the second clock direction is counterclockwise, the first side end is a right end, and the second side end is a left end.
4. The robot moving method according to claim 1, wherein the detecting of the front water level by the water level sensor of the front end while advancing comprises:
advancing according to a global path planned in advance, and detecting the front water level through a water level sensor at the front end when advancing;
correspondingly, if it is determined that there is a water accumulation area in front according to the front water level, the water accumulation area rotates and moves along a preset direction, including:
if the water accumulation area in front is determined according to the front water level, taking the current position as the first position of the global path;
rotating in a preset direction at the first position and beginning to deviate from the global path;
correspondingly, the process of advancing is adjusted the advancing direction of robot for the side water level that the water level sensor of side detected is located early warning water level interval, includes:
adjusting the advancing direction of the robot in the advancing process to enable the side water level detected by the water level sensor at the side end to be positioned in the early warning water level interval;
when the robot is detected to travel to a second position on the global path, the robot is judged to bypass the water-collecting area, wherein the second position is located in front of the first position.
5. The robot moving method according to claim 1, wherein the adjusting of the traveling direction of the robot during traveling so that the side water level detected by the side water level sensor is within the pre-warning water level zone comprises:
performing local path planning by taking the current position of the robot as an initial position to obtain a local sub-path, wherein the length of the local sub-path is less than or equal to a preset length;
travel along the local sub-path;
and if the robot does not bypass the water accumulation area currently, adjusting the advancing direction to keep the lateral water level detected by the water level sensor at the side end to be positioned in the early warning water level interval, and returning to execute the step of performing local path planning by taking the current position of the robot as an initial position to obtain a local sub-path and subsequent steps until the robot is detected to bypass the water accumulation area.
6. The robot moving method according to claim 1, further comprising:
and if the inclination angle of the body of the robot is detected to be larger than a preset angle when the robot travels, the traveling action of the robot is suspended and the traveling direction of the robot is adjusted.
7. The robot moving method according to claim 1, further comprising, before the detecting of the front water level by the water level sensor of the front end while advancing,:
and acquiring a setting instruction, and setting the early warning water level interval according to the setting instruction.
8. A robot moving device, applied to a robot, wherein water level sensors are respectively provided at a front end and a side end of the robot, the robot moving device comprising:
a detection unit for detecting a front water level by the water level sensor of the front end while advancing;
the steering unit is used for rotating and advancing along a preset direction if the water accumulation area in front is determined according to the front water level;
and the bypassing unit is used for adjusting the advancing direction of the robot in the advancing process so that the side water level detected by the water level sensor at the side end is positioned in the early warning water level interval.
9. A robot comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that the front and side ends of the robot are further provided with water level sensors, which when executed by said processor cause the robot to carry out the steps of the method according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes a robot to carry out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111098533.4A CN113867343A (en) | 2021-09-18 | 2021-09-18 | Robot moving method, device, robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111098533.4A CN113867343A (en) | 2021-09-18 | 2021-09-18 | Robot moving method, device, robot and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113867343A true CN113867343A (en) | 2021-12-31 |
Family
ID=78992781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111098533.4A Pending CN113867343A (en) | 2021-09-18 | 2021-09-18 | Robot moving method, device, robot and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113867343A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114952867A (en) * | 2022-07-26 | 2022-08-30 | 中国工业互联网研究院 | Control method and device for industrial robot, electronic equipment and readable storage medium |
| CN115077556A (en) * | 2022-07-26 | 2022-09-20 | 中国电子科技集团公司第二十八研究所 | Unmanned vehicle field operation path planning method based on multi-dimensional map |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101350274B1 (en) * | 2012-10-31 | 2014-01-16 | 주식회사 에프나인 | Unmanned robot for waterway probes using sensor technology |
| CN211582930U (en) * | 2019-11-28 | 2020-09-29 | 深圳拓邦股份有限公司 | Floor sweeping robot |
| CN111958610A (en) * | 2020-07-24 | 2020-11-20 | 深圳乐动机器人有限公司 | Method and device for cleaning edge of robot, robot and storage medium |
| CN112097851A (en) * | 2019-06-17 | 2020-12-18 | 深圳市振瀚信息技术有限公司 | Detection method for waterlogging situation of waterlogging-prone point and waterlogging prediction method |
| CN112539749A (en) * | 2020-06-30 | 2021-03-23 | 深圳优地科技有限公司 | Robot navigation method, robot, terminal device and storage medium |
| CN112643719A (en) * | 2020-12-11 | 2021-04-13 | 国网智能科技股份有限公司 | Tunnel security detection method and system based on inspection robot |
| CN112942273A (en) * | 2021-01-28 | 2021-06-11 | 同济大学 | Multifunctional water surface intelligent robot |
-
2021
- 2021-09-18 CN CN202111098533.4A patent/CN113867343A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101350274B1 (en) * | 2012-10-31 | 2014-01-16 | 주식회사 에프나인 | Unmanned robot for waterway probes using sensor technology |
| CN112097851A (en) * | 2019-06-17 | 2020-12-18 | 深圳市振瀚信息技术有限公司 | Detection method for waterlogging situation of waterlogging-prone point and waterlogging prediction method |
| CN211582930U (en) * | 2019-11-28 | 2020-09-29 | 深圳拓邦股份有限公司 | Floor sweeping robot |
| CN112539749A (en) * | 2020-06-30 | 2021-03-23 | 深圳优地科技有限公司 | Robot navigation method, robot, terminal device and storage medium |
| CN111958610A (en) * | 2020-07-24 | 2020-11-20 | 深圳乐动机器人有限公司 | Method and device for cleaning edge of robot, robot and storage medium |
| CN112643719A (en) * | 2020-12-11 | 2021-04-13 | 国网智能科技股份有限公司 | Tunnel security detection method and system based on inspection robot |
| CN112942273A (en) * | 2021-01-28 | 2021-06-11 | 同济大学 | Multifunctional water surface intelligent robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114952867A (en) * | 2022-07-26 | 2022-08-30 | 中国工业互联网研究院 | Control method and device for industrial robot, electronic equipment and readable storage medium |
| CN115077556A (en) * | 2022-07-26 | 2022-09-20 | 中国电子科技集团公司第二十八研究所 | Unmanned vehicle field operation path planning method based on multi-dimensional map |
| CN115077556B (en) * | 2022-07-26 | 2022-11-18 | 中国电子科技集团公司第二十八研究所 | Unmanned vehicle field operation path planning method based on multi-dimensional map |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10852726B2 (en) | Systems and methods for transitioning a vehicle from an autonomous driving mode to a manual driving mode | |
| US9911330B2 (en) | Driving assistance device and driving assistance method | |
| JP7320008B2 (en) | Methods, apparatus, electronics and computer readable media for planning lane change paths | |
| US10386840B2 (en) | Cruise control system and method | |
| CN110234957B (en) | Method for storing travel record, method for generating travel track model, method for estimating self-position, and device for storing travel record | |
| CN106043302B (en) | The cruise active control system and its method of vehicle | |
| CN113009918B (en) | Path planning method, device, system and readable storage medium | |
| CN113867343A (en) | Robot moving method, device, robot and storage medium | |
| CN107798914B (en) | Automatic vehicle cross traffic flow detection system | |
| JP6747079B2 (en) | Driving support device | |
| CN112433531A (en) | Trajectory tracking method and device for automatic driving vehicle and computer equipment | |
| CN113009539A (en) | Automatic lane changing processing method for vehicle, vehicle and equipment | |
| US11834047B2 (en) | Traveling lane planning device, storage medium storing computer program for traveling lane planning, and traveling lane planning method | |
| CN113504782A (en) | Obstacle collision prevention method, device and system and moving tool | |
| CN112445221B (en) | Automatic working system and regression method | |
| KR20200052997A (en) | Apparatus of straight driving recognition for autonomous vehicle dead-reckoning performance improvement, and method thereof | |
| CN110879560B (en) | Method, apparatus, device and storage medium for controlling vehicle | |
| CN115214775B (en) | Steering wheel neutral position adjusting method, device, equipment and medium | |
| CN115195731A (en) | Vehicle control device, storage medium, and vehicle control method | |
| CN115214667A (en) | Vehicle control device, storage medium, and vehicle control method | |
| KR101400267B1 (en) | Unmanned Ground Vehicle and Field Velocity Planning Method thereof | |
| CN112660146A (en) | Method, apparatus, device and storage medium for controlling vehicle | |
| JP2018189462A (en) | Travel lane specifying device | |
| CN116481548B (en) | Positioning method and device for automatic driving vehicle and electronic equipment | |
| JP7175236B2 (en) | Control device and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |