CN114089775B - Mobile robot obstacle stopping control method and device - Google Patents
Mobile robot obstacle stopping control method and device Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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
Abstract
The invention discloses a mobile robot obstacle-stopping control method and device. Wherein, the method comprises the following steps: acquiring a predicted track of the mobile robot and an overhead model of the mobile robot, wherein the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state; establishing a local map of the mobile robot according to the predicted track and the overlooking model; acquiring the position of an obstacle in a local map; determining the accumulated distance, the accumulated angle and the collision time of the mobile robot from the current position to the position of the obstacle in the predicted track; and carrying out obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time. The invention solves the technical problem that the mobile robot cannot pass through a narrow path due to inaccurate collision prediction of the mobile robot in the prior art.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a method and a device for controlling an obstacle of a mobile robot.
Background
The mobile robot has the function of stopping obstacles, which is the basic guarantee that the mobile robot can be used for a man-machine mixed running scene. The mobile robot needs to solve the contradiction between the passing performance of the narrow path and the man-machine safety. An efficient, smooth, safe and reliable barrier stopping module is needed in motion control.
In the related art, for example, a sensor of a short distance such as a millimeter wave radar is used, and when the sensor detects that an obstacle exists near the vehicle body, the vehicle is immediately stopped. However, the detection distance of the millimeter wave radar is short, the parking acceleration is large when the vehicle speed is relatively high, and the vehicle body is easy to incline or goods are easy to tip over; in addition, misjudgment of the deceleration condition occurs to the side obstacle which does not need to be decelerated, so that the running efficiency is reduced, and the smoothness is reduced. For example, a laser radar is used to determine whether an obstacle is present in an area in front of the robot. If the braking area has an obstacle, emergency braking is carried out, and the deceleration braking is carried out if the deceleration area has an obstacle. The adaptability to the arc turning condition is poor, and safety risk exists; generally, the deceleration area is larger than the size of the robot, which easily causes poor narrow-path passing performance of the robot. For another example, a laser radar is used for carrying out obstacle stopping detection judgment on areas on two sides of a target track of the robot, and meanwhile, the nearest obstacle is calculated. Because the actual track and the target track of the robot always have deviation, edge collision or abnormal obstacle stopping is easy to generate; the stability dependence on the trajectory planning and positioning modules is high, and once the two modules are abnormal, the fault stopping function directly fails. Further, a parking assist line may also be similar based on a prediction of a current speed of the vehicle. The arc motion curvature of the robot is not fixed, and the deviation between the prediction result and the actual track is overlarge after the obstacle stopping prediction distance is slightly long; the method is sensitive to angle fine adjustment response in the straight line driving process, so that the robot cannot pass through a narrow path.
Further, the above prior arts all have the following disadvantages:
(1) the robot model is simplified into a rectangle, so that accurate obstacle stopping, loading and unloading of concave polygonal vehicles such as a forklift cannot be realized;
(2) the prediction of the collision distance is based on the nearest distance of a plane space, and the prediction of the nonlinear running working condition has larger deviation;
(3) the calculation of the collision time is based on the calculation of the current speed, and can not be more accurately predicted according to time control;
(4) and the collision distance, the collision angle and the collision time are calculated inaccurately, so that the fault stopping control with high efficiency, stability and smooth track can not be output.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a mobile robot obstacle-stopping control method and device, which at least solve the technical problem that in the prior art, the mobile robot cannot pass through a narrow path due to inaccurate collision prediction of the mobile robot.
According to an aspect of an embodiment of the present invention, there is provided a method of controlling an obstacle of a mobile robot, including: acquiring a predicted track of a mobile robot and an overhead model of the mobile robot, wherein the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state; establishing a local map of the mobile robot according to the predicted track and the overhead model, wherein the local map is a passing track of the mobile robot generated by taking each point in the predicted track as a central point of the overhead model; acquiring the position of an obstacle in the local map; determining a cumulative distance, a cumulative angle, and a collision time of the mobile robot from the current position to the obstacle position in the predicted trajectory; and carrying out obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
Optionally, obtaining a predicted trajectory of the mobile robot comprises: acquiring a plurality of new operation poses output by a robot kinematics simulation model; and determining the predicted track of the mobile robot according to the plurality of new operation poses.
Optionally, before obtaining a plurality of new operating poses output by the robot kinematics simulation model, the method further comprises: acquiring a target track of the mobile robot, wherein the target track is a running track of the mobile robot moving from the current position to the target position in a preset state; determining the target speed of the mobile robot on the target track according to the running speed and the running pose of the mobile robot; and inputting the target speed into a robot kinematics simulation model, and outputting the new running speed and the new running pose of the mobile robot.
Optionally, after inputting the target speed into a robot kinematic simulation model and outputting a new operation speed and a new operation pose of the mobile robot, the method further comprises: and re-determining the target speed of the mobile robot on the target track according to the new running speed and the new running pose, and inputting the target speed into a robot kinematic simulation model for processing until the total length of the predicted path is greater than a preset value or the target track is finished.
Optionally, determining a predicted trajectory of the mobile robot according to a plurality of the new operation poses includes: acquiring coordinate information corresponding to a plurality of new operation poses; performing coordinate conversion on the coordinate information to obtain coordinate information of the mobile robot in a coordinate system; determining a running path of the mobile robot according to the coordinate information of the mobile robot in the coordinate system; and segmenting the running path according to a preset step length to generate a predicted track of the mobile robot.
Optionally, building a local map of the mobile robot according to the predicted trajectory and the overhead model, including: determining coordinates of the maximum value and the minimum value corresponding to the x axis and the y axis of the predicted track in a coordinate system where the mobile robot is located to obtain four coordinate values; and generating a local map of the mobile robot according to the vertex coordinates and the four coordinate values in the overhead view model.
Optionally, acquiring an obstacle position of an obstacle in the local map includes: determining a plurality of coordinate information of the obstacle in the local map; mapping the coordinate positions to the local map to obtain a plurality of filling values; and determining preset coordinate information corresponding to the minimum filling value in the filling values as the position of the obstacle, wherein the preset coordinate information is coordinate information of a coordinate system where the mobile robot is located.
According to another aspect of the embodiments of the present invention, there is also provided a barrier control apparatus of a mobile robot, including: the mobile robot control system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a predicted track of a mobile robot and an overhead model of the mobile robot, and the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state; the building module is used for building a local map of the mobile robot according to the predicted track and the overlooking model, wherein the local map is a passing track of the mobile robot generated by taking each point in the predicted track as a central point of the overlooking model; the second acquisition module is used for acquiring the position of the obstacle in the local map; a first determination module for determining a cumulative distance, a cumulative angle, and a collision time of the mobile robot from the current position to the obstacle position in the predicted trajectory; and the control module is used for carrying out obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and when the program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the method for controlling an obstacle of a mobile robot as described in any one of the above.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, where the program executes the method for controlling the mobile robot in an obstacle-stopping manner.
In the embodiment of the invention, a predicted track of the mobile robot and an overlooking model of the mobile robot are obtained, wherein the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state; establishing a local map of the mobile robot according to the predicted track and the overlooking model, wherein the local map is a mobile robot passing track generated by taking each point in the predicted track as a central point of the overlooking model; acquiring the position of an obstacle in a local map; determining the accumulated distance, the accumulated angle and the collision time of the mobile robot from the current position to the position of the obstacle in the predicted track; the method comprises the steps of carrying out obstacle stopping control on a mobile robot according to an accumulated distance, an accumulated angle and collision time, expressing a vehicle body motion track through a predicted track of the mobile robot and a local map established by an overlooking model, calculating the accumulated distance, the accumulated angle and the collision time from an obstacle position by utilizing the obstacle position of an obstacle in the local map, and further carrying out obstacle stopping control on the mobile robot, so that more accurate obstacle stopping prediction is realized, and the obstacle stopping control on the mobile robot is realized, the technical effects of safety and reliability of the mobile robot passing in a narrow path are improved, and the technical problem that the mobile robot cannot pass through the narrow path due to inaccurate collision prediction in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of an obstacle control method of a mobile robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a top view model of a mobile robot in accordance with an embodiment of the present invention;
fig. 3 is a schematic view of an obstacle control device of a mobile robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for controlling a mobile robot for stopping an obstacle, it is noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different from that herein.
Fig. 1 is a flowchart of a method for controlling an obstacle of a mobile robot according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, obtaining a predicted track of the mobile robot and an overlook model of the mobile robot, wherein the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state;
step S104, establishing a local map of the mobile robot according to the predicted track and the overlook model, wherein the local map is a mobile robot passing track generated by taking each point in the predicted track as a central point of the overlook model;
step S106, acquiring the position of the obstacle in the local map;
step S108, determining the accumulated distance, the accumulated angle and the collision time from the current position to the position of the obstacle in the predicted track of the mobile robot;
in an alternative embodiment, the predicted track includes a plurality of track points with the same step size, for example, the track point at the current position is P0The track point of the position of the obstacle is PxSequentially calculating P0- P1，P1- P2Up to Px-1- PxThe distances and angles are accumulated to obtain accumulated distances and accumulated angles.
In an alternative embodiment, P isxAnd (4) the predicted trajectory is a trajectory point set with the same step length, namely, the predicted trajectory is a same time set, so that the collision time of the mobile robot can be calculated according to the interpolation result under the condition that the obstacle stopping function is not involved.
And step S110, performing obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
In an optional implementation mode, the accumulated distance, the accumulated angle and the collision time acquired by the collision prediction are input into the obstacle-stopping controller, the obstacle-stopping control of the mobile robot is carried out, and the obstacle-stopping control result is output.
Through the steps, the vehicle body motion track can be expressed through the predicted track of the mobile robot and the local map established by the overlooking model, the accumulated distance, the accumulated angle and the collision time from the position of the obstacle to the position of the obstacle are calculated by utilizing the position of the obstacle in the local map, and then the mobile robot is controlled to stop obstacles, so that more accurate obstacle prediction and obstacle stop control of the mobile robot are realized, the technical effects of the passing safety and reliability of the mobile robot in a narrow path are improved, and the technical problem that the mobile robot cannot pass the narrow path due to inaccurate collision prediction of the mobile robot in the prior art is solved.
Optionally, obtaining a predicted trajectory of the mobile robot comprises: acquiring a plurality of new operation poses output by a robot kinematics simulation model; and determining the predicted track of the mobile robot according to the plurality of new operation poses.
Optionally, before obtaining a plurality of new operating poses output by the robot kinematics simulation model, the method further includes: acquiring a target track of the mobile robot, wherein the target track is a running track of the mobile robot moving from a current position to a target position in a preset state; determining the target speed of the mobile robot on the target track according to the running speed and the running pose of the mobile robot; and inputting the target speed into the robot kinematics simulation model, and outputting the new running speed and the new running pose of the mobile robot.
In an alternative embodiment, the target trajectory may be a global trajectory based on a map coordinate system output by a path planning module of the mobile robot, wherein the target trajectory has a fixed spatial step and is a guide trajectory of an actual control trajectory of the mobile robot.
In an alternative embodiment, the running speed and the running pose of the mobile robot can be input to the controller as initial states, and the controller outputs the target speed as a control result, that is, the target speed of the mobile robot on the target track. It should be noted that the initial state of the mobile robot is obtained by calculating acquired data of a chassis through a state filter, where the initial state of the mobile robot includes a global coordinate, an operation speed, and the like of the mobile robot, for example, the global coordinate includes a global abscissa value, a global ordinate value, and a global orientation; the above-described running speeds include a lateral control speed, a longitudinal control speed, and a yaw rate. The controller is a control module of the mobile robot, inputs current state, target track and the like, and outputs target speed.
In an optional implementation mode, the control result is input into a robot kinematic simulation model, and new robot speed (unchanged) and pose are output; the robot kinematics simulation model is a simplification of the motion of the vehicle body, and has better representativeness for the mobile robot.
In an alternative embodiment, the robot kinematics simulation model may be represented as follows:
wherein the content of the first and second substances,
the motion pose before the robot kinematics simulation model is calculated,
is a global abscissa value of the mobile robot,
is a global ordinate value of the mobile robot,
is the global orientation of the mobile robot;
the new pose calculated for the robot kinematics simulation model,
a new global abscissa value for the mobile robot,
is a new global ordinate value for the mobile robot,
a new global orientation for the mobile robot;
is a robot kinematics simulation model matrix,
for the time step of the controller, e.g. the controller frame rate is 50Hz, then
= 0.02s；
The control speed, which is output by the controller, is also used as the current speed calculated by the next control,
in order to control the speed of the mobile robot in the longitudinal direction,
in order to control the speed of the mobile robot in the lateral direction,
is the yaw rate of the mobile robot.
By the implementation mode, the current operation pose and the operation speed can be input, the time step length is calculated, and the new operation speed and the new operation pose are output.
Optionally, after inputting the target speed into the robot kinematics simulation model and outputting the new operation speed and the new operation pose of the mobile robot, the method further comprises: and re-determining the target speed of the mobile robot on the target track according to the new running speed and the new running pose, and inputting the target speed into the robot kinematic simulation model for processing until the total length of the predicted path is greater than a preset value or the target track is finished.
In an alternative embodiment, the new robot state obtained by the robot kinematics simulation model may be input to the controller again, in which case the input state is not obtained from the state filter, but instead from the robot kinematics simulation model. The new robot state is a new running speed and a new running pose. And further, re-determining the target speed of the mobile robot on the target track according to the new running speed and the new running pose, and inputting the target speed into the robot kinematic simulation model for processing until the total length of the predicted path is greater than a preset value or the target track is finished.
In an alternative embodiment, the end condition of the loop is two, one is that the total predicted path length is greater than a preset value
And the other is that the entire path of the feeding control trajectory is completed. And satisfying one of the conditions to complete the current prediction control.
Note that, the total predicted path length is described above
Can be configured according to actual scenes as required, and if automatically calculated, the following formula can be adopted:
wherein the content of the first and second substances,
in order to brake the acceleration of the mobile robot,
the closest distance to the obstacle after braking of the mobile robot.
Optionally, determining a predicted trajectory of the mobile robot according to the plurality of new operation poses includes: acquiring coordinate information corresponding to a plurality of new operation poses; performing coordinate conversion on the coordinate information to obtain coordinate information of the mobile robot in a coordinate system; determining a running path of the mobile robot according to coordinate information of a coordinate system where the mobile robot is located; and segmenting the running path according to the preset step length to generate a predicted track of the mobile robot.
In an optional implementation manner, a plurality of new operation poses calculated by the robot kinematic simulation model are obtained, coordinate transformation is performed by taking the current mobile robot coordinate as a base point, and coordinate information corresponding to the plurality of new operation poses is transformed into coordinate information in a mobile robot coordinate system, so that an operation path of the mobile robot is generated.
In an alternative embodiment, the steps are fixed by a fixed step sizedAnd (configurable) segmenting the running path of the mobile robot to obtain the predicted track of the mobile robot with uniform step length. In the implementation process, the acquired travel path intervals of the mobile robot are not equal, such as | P1 P2 |≠|P2 P3If the moving path of the mobile robot is directly used, the problems of inaccurate obstacle-stopping prediction distance, overlong obstacle-stopping prediction calculation time and the like are easily caused. In order to realize decoupling of the running speed and the predictive control module and improve the efficiency and the accuracy of fault-stopping calculation, the fault-stopping calculation is carried out according to the configured step lengthdAnd =0.02m cuts the running path of the mobile robot, and the coordinates of the cutting points are obtained by an interpolation method. After the equal-step segmentation, the predicted track of the mobile robot with uniform step length can be obtained.
Optionally, building a local map of the mobile robot according to the predicted trajectory and the overhead model, including: determining coordinates of the predicted track in which the maximum value and the minimum value corresponding to the x axis and the y axis of the coordinate system in which the mobile robot is located are located to obtain four coordinate values; and generating a local map of the mobile robot according to the vertex coordinates and the four coordinate values in the overhead view model.
In an alternative embodiment, the top-view model of the mobile robot is simplified to a polygon and described using a set of vertices P. In the specific implementation process, a robot coordinate system is established by taking the motion center of the mobile robot as the origin of coordinates and the advancing direction as the direction of an x axis. The robot collision model is simplified into a two-dimensional model, robot vertexes are listed in sequence as shown in the figure, the robot vertexes are configured in sequence, and description is carried out by using a vertex set P.
Fig. 2 is a schematic diagram of a plan view model of a mobile robot according to an embodiment of the present invention, as shown in fig. 2, where the origin of the coordinate system is located at the midpoint of a connecting line of driven wheels of the mobile robot, black dots represent all corner points, wherein each black dot is represented by one letter of a-L, and the coordinates of each corner point are calculated according to the size of the mobile robot.
In an optional implementation manner, coordinates of the maximum value and the minimum value corresponding to the x axis and the y axis of the predicted trajectory are calculated according to the predicted trajectory and the top view model, four coordinate values may be obtained, and the top view model is substituted into the four coordinate values. And respectively converting the vertex coordinates in the overlooking model into four coordinate values to obtain x-max, x-min, y-max and y-min in all the vertices. And (4) generating a local map after adding a certain margin, wherein the resolution of the local map is 1cm, and the default value is 255. And (4) converting the current mobile robot coordinate into a coordinate value (x-min, y-min) on the local map, and converting the predicted track into the local map track.
Optionally, acquiring an obstacle position of the obstacle in the local map includes: determining a plurality of coordinate information of the obstacle in the local map; mapping the coordinate positions to a local map to obtain a plurality of filling values; and determining preset coordinate information corresponding to the minimum filling value in the filling values as the position of the obstacle, wherein the preset coordinate information is coordinate information of a coordinate system where the mobile robot is located.
In an alternative embodiment, the predicted track is converted to a local map, and becomes a local map track C2, where C2 includes a plurality of track points; filling is performed according to the set P by taking each point in the set C2 as the center of the mobile robot in the local map, and different points in the set C2 have different filling values, and the closer the distance is, the smaller the filling value is. Each fill value corresponds to each point of the set C2, while near-distance point fill values are to cover the far-distance point fill values.
Further, the sequence numbers of the dots in the set C2 are used as padding values, i.e., the first dot padding value is 1, the second dot padding value is 2, and so on. Taking the points in the set C2 as an origin, and performing coordinate transformation on the set P to obtain Px. Will PxThe points are mapped to the local map and are sequentially connected according to the sequence to obtain a closed polygon. Using PxAnd filling the closed polygon by the corresponding filling value. To achieve close-range point fill values to cover the fill values of far-range points, the set C2 is filled in reverse order, filling the farthest point first and filling the first point last.
In an alternative embodiment, the depth sensing data, i.e. the coordinate information of the obstacle in the local map, is input, all the data are input into the local map, each data point can obtain a filling value, the filling value with the minimum is obtained, and the corresponding point P in the set C1 is obtainedx。
In an alternative embodiment, the depth sensing data is sent by the sensor data processing module, and the origin of coordinates of the depth sensor data acquired by the obstacle stopping module is the origin of a coordinate system of the vehicle body. In the obstacle calculation, the depth coordinate point needs to be converted into the local map coordinate system, and all data beyond the local map range is discarded. And sequentially inputting all processed sensor data into the local map, returning a filling value after each data coordinate value is mapped to the local map, and obtaining the minimum filling value through comparison. The corresponding point P may be obtained in the set C1 according to the filling valuex，PxThe points are coordinate values in the vehicle body coordinate system.
Example 2
According to another aspect of the embodiments of the present invention, there is also provided a barrier control apparatus for a mobile robot, and fig. 3 is a schematic view of the barrier control apparatus for a mobile robot according to the embodiments of the present invention, as shown in fig. 3, the barrier control apparatus for a mobile robot includes: a first acquisition module 302, a setup module 304, a second acquisition module 306, a first determination module 308, and a control module 310. The obstacle stop control device for the mobile robot will be described in detail below.
A first obtaining module 302, configured to obtain a predicted trajectory of the mobile robot and an overhead model of the mobile robot, where the predicted trajectory is a moving trajectory of the mobile robot moving from a current position to a target position in a current running state; an establishing module 304, connected to the first obtaining module 302, configured to establish a local map of the mobile robot according to the predicted trajectory and the top view model, where the local map is a mobile robot passing trajectory generated according to each point in the predicted trajectory as a central point of the top view model; a second obtaining module 306, connected to the establishing module 304, for obtaining the position of the obstacle in the local map; a first determining module 308, connected to the second obtaining module 306, for determining an accumulated distance, an accumulated angle and a collision time of the mobile robot from the current position to the obstacle position in the predicted trajectory; and a control module 310, connected to the first determining module 308, for performing obstacle-stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
It should be noted that the above modules may be implemented by software or hardware, for example, for the latter, the following may be implemented: the modules can be located in the same processor; and/or the modules are located in different processors in any combination.
In the above embodiment, the obstacle-stopping control device of the mobile robot may express the vehicle body motion trajectory through a predicted trajectory of the mobile robot and a local map established by an overhead view model, and then calculate the accumulated distance, the accumulated angle and the collision time from the obstacle position by using the obstacle position of the obstacle in the local map, so as to perform obstacle-stopping control on the mobile robot, thereby realizing more accurate prediction of obstacle-stopping and performing obstacle-stopping control on the mobile robot, improving the technical effects of safety and reliability of the mobile robot passing through a narrow path, and further solving the technical problem that the mobile robot cannot pass through the narrow path due to inaccurate collision prediction of the mobile robot in the prior art.
It should be noted here that the first obtaining module 302, the establishing module 304, the second obtaining module 306, the first determining module 308 and the control module 310 correspond to steps S102 to S110 in embodiment 1, and the modules are the same as the corresponding steps in the implementation example and the application scenario, but are not limited to the disclosure in embodiment 1.
Optionally, the first obtaining module 302 includes: the acquisition unit is used for acquiring a plurality of new operation poses output by the robot kinematics simulation model; and the first determining unit is used for determining the predicted track of the mobile robot according to the plurality of new operation poses.
Optionally, the apparatus further comprises: the third acquisition module is used for acquiring a target track of the mobile robot before acquiring a plurality of new operation poses output by the robot kinematics simulation model, wherein the target track is an operation track of the mobile robot moving from the current position to the target position in a preset state; the second determining module is used for determining the target speed of the mobile robot on the target track according to the running speed and the running pose of the mobile robot; and the processing module is used for inputting the target speed into the robot kinematics simulation model and outputting the new running speed and the new running pose of the mobile robot.
Optionally, the apparatus further comprises: and the third determining module is used for re-determining the target speed of the mobile robot on the target track according to the new running speed and the new running pose after inputting the target speed into the robot kinematic simulation model and outputting the new running speed and the new running pose of the mobile robot, and inputting the target speed into the robot kinematic simulation model for processing until the total length of the predicted path is greater than the preset value or the target track is finished.
Optionally, the first determining unit includes: the acquisition subunit is used for acquiring coordinate information corresponding to a plurality of new operation poses; the conversion subunit is used for carrying out coordinate conversion on the coordinate information to obtain coordinate information of the mobile robot in a coordinate system; the determining subunit is used for determining the running path of the mobile robot according to the coordinate information of the mobile robot in the coordinate system; and the generation subunit is used for carrying out segmentation processing on the running path according to the preset step length to generate a predicted track of the mobile robot.
Optionally, the establishing module 304 includes: the second determining unit is used for determining coordinates of the predicted track in which the maximum value and the minimum value corresponding to the x axis and the y axis of the coordinate system in which the mobile robot is located are located to obtain four coordinate values; and a generation unit for generating a local map of the mobile robot based on the vertex coordinates and the four coordinate values in the overhead model.
Optionally, the second obtaining module 306 includes: a third determination unit for determining a plurality of coordinate information of the obstacle in the local map; the mapping unit is used for mapping the coordinate positions to a local map to obtain a plurality of filling values; and the fourth determining unit is used for determining preset coordinate information corresponding to the minimum filling value in the filling values as the position of the obstacle, wherein the preset coordinate information is coordinate information of the mobile robot in a coordinate system.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein when the program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the method for controlling the mobile robot in the above-mentioned manner.
Optionally, in this embodiment, the computer-readable storage medium may be located in any one of a group of computer terminals in a computer network and/or in any one of a group of mobile terminals, and the computer-readable storage medium includes a stored program.
Optionally, the program when executed controls an apparatus in which the computer-readable storage medium is located to perform the following functions: acquiring a predicted track of the mobile robot and an overhead model of the mobile robot, wherein the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state; establishing a local map of the mobile robot according to the predicted track and the overlooking model, wherein the local map is a mobile robot passing track generated by taking each point in the predicted track as a central point of the overlooking model; acquiring the position of an obstacle in a local map; determining the accumulated distance, the accumulated angle and the collision time of the mobile robot from the current position to the position of the obstacle in the predicted track; and carrying out obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
Optionally, obtaining a predicted trajectory of the mobile robot comprises: acquiring a plurality of new operation poses output by a robot kinematics simulation model; and determining the predicted track of the mobile robot according to the plurality of new operation poses.
Optionally, before obtaining a plurality of new operating poses output by the robot kinematics simulation model, the method further comprises: acquiring a target track of the mobile robot, wherein the target track is a running track of the mobile robot moving from a current position to a target position in a preset state; determining the target speed of the mobile robot on the target track according to the running speed and the running pose of the mobile robot; and inputting the target speed into the robot kinematics simulation model, and outputting the new running speed and the new running pose of the mobile robot.
Optionally, after inputting the target speed into the robot kinematics simulation model and outputting the new operation speed and the new operation pose of the mobile robot, the method further comprises: and re-determining the target speed of the mobile robot on the target track according to the new running speed and the new running pose, and inputting the target speed into the robot kinematic simulation model for processing until the total length of the predicted path is greater than a preset value or the target track is finished.
Optionally, determining a predicted trajectory of the mobile robot according to the plurality of new operation poses includes: acquiring coordinate information corresponding to a plurality of new operation poses; coordinate conversion is carried out on the coordinate information to obtain coordinate information of the mobile robot in a coordinate system; determining a running path of the mobile robot according to coordinate information of a coordinate system where the mobile robot is located; and segmenting the running path according to the preset step length to generate a predicted track of the mobile robot.
Optionally, establishing a local map of the mobile robot according to the predicted trajectory and the overlooking model, including: determining coordinates of the predicted track in which the maximum value and the minimum value corresponding to the x axis and the y axis of the coordinate system in which the mobile robot is located are located to obtain four coordinate values; and generating a local map of the mobile robot according to the vertex coordinates and the four coordinate values in the overlooking model.
Optionally, acquiring an obstacle position of the obstacle in the local map includes: determining a plurality of coordinate information of the obstacle in the local map; mapping the coordinate positions to a local map to obtain a plurality of filling values; and determining preset coordinate information corresponding to the minimum filling value in the filling values as the position of the obstacle, wherein the preset coordinate information is coordinate information of a coordinate system where the mobile robot is located.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the method for controlling the mobile robot in the obstacle-stopping mode.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: acquiring a predicted track of the mobile robot and an overhead model of the mobile robot, wherein the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state; establishing a local map of the mobile robot according to the predicted track and the overlooking model, wherein the local map is a mobile robot passing track generated by taking each point in the predicted track as a central point of the overlooking model; acquiring the position of an obstacle in a local map; determining the accumulated distance, the accumulated angle and the collision time of the mobile robot from the current position to the position of the obstacle in the predicted track; and carrying out obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
Optionally, obtaining a predicted trajectory of the mobile robot comprises: acquiring a plurality of new operation poses output by a robot kinematics simulation model; and determining the predicted track of the mobile robot according to the plurality of new operation poses.
Optionally, before obtaining a plurality of new operating poses output by the robot kinematics simulation model, the method further comprises: acquiring a target track of the mobile robot, wherein the target track is a running track of the mobile robot moving from a current position to a target position in a preset state; determining the target speed of the mobile robot on the target track according to the running speed and the running pose of the mobile robot; and inputting the target speed into the robot kinematics simulation model, and outputting the new running speed and the new running pose of the mobile robot.
Optionally, after inputting the target speed into the robot kinematics simulation model and outputting the new operation speed and the new operation pose of the mobile robot, the method further comprises: and re-determining the target speed of the mobile robot on the target track according to the new running speed and the new running pose, and inputting the target speed into the robot kinematic simulation model for processing until the total length of the predicted path is greater than a preset value or the target track is finished.
Optionally, determining a predicted trajectory of the mobile robot according to the plurality of new operation poses includes: acquiring coordinate information corresponding to a plurality of new operation poses; performing coordinate conversion on the coordinate information to obtain coordinate information of the mobile robot in a coordinate system; determining a running path of the mobile robot according to coordinate information of a coordinate system where the mobile robot is located; and segmenting the running path according to the preset step length to generate a predicted track of the mobile robot.
Optionally, building a local map of the mobile robot according to the predicted trajectory and the overhead model, including: determining coordinates of the predicted track in which the maximum value and the minimum value corresponding to the x axis and the y axis of the coordinate system in which the mobile robot is located are located to obtain four coordinate values; and generating a local map of the mobile robot according to the vertex coordinates and the four coordinate values in the overhead view model.
Optionally, acquiring an obstacle position of the obstacle in the local map includes: determining a plurality of coordinate information of the obstacle in the local map; mapping the coordinate positions to a local map to obtain a plurality of filling values; and determining preset coordinate information corresponding to the minimum filling value in the filling values as the position of the obstacle, wherein the preset coordinate information is coordinate information of a coordinate system where the mobile robot is located.
The invention also provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring a predicted track of the mobile robot and an overhead model of the mobile robot, wherein the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state; establishing a local map of the mobile robot according to the predicted track and the overlooking model, wherein the local map is a mobile robot passing track generated by taking each point in the predicted track as a central point of the overlooking model; acquiring the position of an obstacle in a local map; determining the accumulated distance, the accumulated angle and the collision time of the mobile robot from the current position to the position of the obstacle in the predicted track; and carrying out obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
Optionally, obtaining a predicted trajectory of the mobile robot comprises: acquiring a plurality of new operation poses output by a robot kinematics simulation model; and determining the predicted track of the mobile robot according to the plurality of new operation poses.
Optionally, before obtaining a plurality of new operating poses output by the robot kinematics simulation model, the method further comprises: acquiring a target track of the mobile robot, wherein the target track is a running track of the mobile robot moving from a current position to a target position in a preset state; determining the target speed of the mobile robot on the target track according to the running speed and the running pose of the mobile robot; and inputting the target speed into the robot kinematics simulation model, and outputting the new running speed and the new running pose of the mobile robot.
Optionally, after inputting the target speed into the robot kinematics simulation model and outputting the new operation speed and the new operation pose of the mobile robot, the method further comprises: and re-determining the target speed of the mobile robot on the target track according to the new running speed and the new running pose, and inputting the target speed into the robot kinematic simulation model for processing until the total length of the predicted path is greater than a preset value or the target track is finished.
Optionally, determining a predicted trajectory of the mobile robot according to the plurality of new operational poses includes: acquiring coordinate information corresponding to a plurality of new operation poses; performing coordinate conversion on the coordinate information to obtain coordinate information of the mobile robot in a coordinate system; determining a running path of the mobile robot according to coordinate information of a coordinate system where the mobile robot is located; and segmenting the running path according to the preset step length to generate a predicted track of the mobile robot.
Optionally, building a local map of the mobile robot according to the predicted trajectory and the overhead model, including: determining coordinates of the predicted track in which the maximum value and the minimum value corresponding to the x axis and the y axis of the coordinate system in which the mobile robot is located are located to obtain four coordinate values; and generating a local map of the mobile robot according to the vertex coordinates and the four coordinate values in the overhead view model.
Optionally, acquiring an obstacle position of the obstacle in the local map includes: determining a plurality of coordinate information of the obstacle in the local map; mapping the coordinate positions to a local map to obtain a plurality of filling values; and determining preset coordinate information corresponding to the minimum filling value in the filling values as the position of the obstacle, wherein the preset coordinate information is coordinate information of a coordinate system where the mobile robot is located.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be 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, units or modules, and may be in an electrical 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 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 invention 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 unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for controlling an obstacle of a mobile robot, comprising:
acquiring a predicted track of a mobile robot and an overhead model of the mobile robot, wherein the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state;
establishing a local map of the mobile robot according to the predicted track and the overhead model, wherein the local map is a passing track of the mobile robot generated by taking each point in the predicted track as a central point of the overhead model;
acquiring the position of an obstacle in the local map;
determining a cumulative distance, a cumulative angle, and a collision time of the mobile robot from the current position to the obstacle position in the predicted trajectory;
and carrying out obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
2. The method of claim 1, wherein obtaining a predicted trajectory of the mobile robot comprises:
acquiring a plurality of new operation poses output by a robot kinematics simulation model;
and determining the predicted track of the mobile robot according to the plurality of new operation poses.
3. The method of claim 2, wherein prior to obtaining the plurality of new operational poses of the robot kinematic simulation model output, the method further comprises:
acquiring a target track of the mobile robot, wherein the target track is a running track of the mobile robot moving from the current position to the target position in a preset state;
determining the target speed of the mobile robot on the target track according to the running speed and the running pose of the mobile robot;
and inputting the target speed into a robot kinematics simulation model, and outputting the new running speed and the new running pose of the mobile robot.
4. The method of claim 3, wherein after inputting the target velocity into a robot kinematic simulation model and outputting a new operating velocity and a new operating pose of the mobile robot, the method further comprises:
and re-determining the target speed of the mobile robot on the target track according to the new running speed and the new running pose, and inputting the target speed into a robot kinematic simulation model for processing until the total length of the predicted track is greater than a preset value or the target track is finished.
5. The method of claim 2, wherein determining the predicted trajectory of the mobile robot from a plurality of the new operational poses comprises:
acquiring coordinate information corresponding to a plurality of new operation poses;
performing coordinate conversion on the coordinate information to obtain coordinate information of the mobile robot in a coordinate system;
determining a running path of the mobile robot according to the coordinate information of the mobile robot in the coordinate system;
and segmenting the running path according to a preset step length to generate a predicted track of the mobile robot.
6. The method of claim 1, wherein building a local map of the mobile robot based on the predicted trajectory and the overhead model comprises:
determining coordinates of the maximum value and the minimum value corresponding to the x axis and the y axis of the predicted track in a coordinate system where the mobile robot is located to obtain four coordinate values;
and generating a local map of the mobile robot according to the vertex coordinates and the four coordinate values in the overhead view model.
7. The method of claim 1, wherein obtaining the obstacle location of the obstacle in the local map comprises:
determining a plurality of coordinate information of the obstacle in the local map;
mapping the coordinate positions to the local map to obtain a plurality of filling values;
and determining preset coordinate information corresponding to the minimum filling value in the filling values as the position of the obstacle, wherein the preset coordinate information is coordinate information of the mobile robot in a coordinate system.
8. An obstacle stop control device for a mobile robot, comprising:
the mobile robot control system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a predicted track of a mobile robot and an overhead model of the mobile robot, and the predicted track is a running track of the mobile robot moving from a current position to a target position in a current running state;
the building module is used for building a local map of the mobile robot according to the predicted track and the overlooking model, wherein the local map is a passing track of the mobile robot generated by taking each point in the predicted track as a central point of the overlooking model;
the second acquisition module is used for acquiring the position of the obstacle in the local map;
a first determination module for determining a cumulative distance, a cumulative angle, and a collision time of the mobile robot from the current position to the obstacle position in the predicted trajectory;
and the control module is used for carrying out obstacle stopping control on the mobile robot according to the accumulated distance, the accumulated angle and the collision time.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the apparatus in which the computer-readable storage medium is located is controlled to execute the mobile robot obstacle control method according to any one of claims 1 to 7 when the program is executed.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the mobile robot obstacle control method according to any one of claims 1 to 7 when running.
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| KR102243244B1 (en) * | 2019-08-26 | 2021-04-23 | 엘지전자 주식회사 | Method and apparatus for controlling by emergency step in autonomous driving system |
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| CN111090282B (en) * | 2019-12-19 | 2023-10-31 | 安克创新科技股份有限公司 | Obstacle avoidance method of robot, robot and device |
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