CN114310893B - Robot travel control method, device, equipment and storage medium - Google Patents
Robot travel control method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a robot running control method, a device, equipment and a computer readable storage medium, wherein the method comprises the following steps: determining a car body protection area according to the tool type of the current transportation tool of the robot; according to the preset front stopping distance and the preset side stopping distance, the vehicle body protecting area is respectively enlarged to form a vehicle body stopping area and a vehicle side warning area along the moving direction of the robot and along the vertical moving direction; determining an obstacle scanning area according to the vehicle body stopping area, the vehicle body warning area and the current movement speed of the robot; and if the scanning device scans and determines that the obstacle scanning area has an obstacle, determining the recommended speed of the robot. In the method, the influence of different tool types on the whole occupied space of the robot and the tool is considered, a more reasonable obstacle scanning area is formed, the effectiveness of obstacle scanning results is guaranteed, meaningless scanning is avoided, the safety of the whole robot is improved, and the rationality of the motion state control of the robot is improved.
Description
Technical Field
The present invention relates to the field of robot control, and in particular, to a method, apparatus, device, and computer-readable storage medium for controlling robot travel.
Background
With the development of intelligent control technology, intelligent robots are increasingly used in various industries. In the normal operation of the robot, the obstacle in the running path is accurately avoided, so that the safety of personnel in the running environment is not only related, but also the problem of the safety of the robot is also related. Therefore, how to detect the obstacle on the driving path of the robot and reasonably control the motion state of the robot based on the detection result is one of the important problems in the industry for achieving the destination on time and safety of the robot for the control navigation system of the robot.
Disclosure of Invention
The invention aims to provide a robot driving control method, a device, equipment and computer readable storage equipment, which can improve the rationality of obstacle avoidance control of a robot to a certain extent.
In order to solve the technical problems, the invention provides a robot running control method, which comprises the following steps:
determining an obstacle scanning area according to a pre-generated vehicle body stopping area and a vehicle body warning area of the robot and the current movement speed of the robot;
If the scanning equipment scans and determines that the obstacle scanning area has an obstacle, determining the recommended speed of the robot;
wherein the process of generating the vehicle body stop area and the vehicle body warning area in advance includes:
determining a car body protection area according to the tool type of the current transportation tool of the robot, wherein the car body protection area is an area occupied by the whole outer contour formed by the robot and the current transportation tool;
according to a preset front stopping distance and a preset side stopping distance, the front stopping distance of the vehicle body is enlarged along the movement direction of the robot, the side stopping distance of the vehicle body is enlarged along the direction perpendicular to the movement direction of the robot, and a vehicle body stopping area is formed;
and according to a preset vehicle-side warning distance, the vehicle body protection area is expanded by the front stopping distance along the movement direction of the robot, and the vehicle-side warning distance is expanded along the direction perpendicular to the movement direction of the robot, so that a vehicle-side warning area is formed.
Optionally, determining the obstacle scanning area according to the pre-generated vehicle body stopping area and vehicle body warning area of the robot and the current movement speed of the robot includes:
Determining braking displacement and compensation displacement of the robot according to the current movement speed, and summing the braking displacement and the compensation displacement to obtain scanning displacement, wherein the scanning displacement is displacement on a non-driving path of the robot;
and expanding the vehicle body stopping area and the vehicle side warning area according to the direction and the size of the compensation displacement, and taking an area formed by expanding and integrating the vehicle body stopping area and the vehicle side warning area as the obstacle scanning area.
Optionally, determining the braking displacement of the robot according to the current movement speed includes:
determining the current motion state of the robot according to a preset planned running path of the robot, wherein the motion state comprises spin, straight running and curve running;
when the motion state of the robot is spin, the motion state is according to a braking arc length formulaDetermining a brake arc length as the brake displacement; wherein l is the braking arc length, and the current movement speed of the robot is the current angular speed omega, a ω For angular acceleration reduction, r is the radius;
when the motion state of the robot is straight, the braking distance formula is used Determining a braking distance as the magnitude of the braking displacement; s is a braking distance, the current movement speed of the robot is a current straight movement speed v, and a is a straight movement acceleration reduction;
and when the motion state of the robot is curved running, decomposing the motion state of the robot into rotation and straight running, and determining the braking displacement according to the decomposed motion state.
Optionally, when the obstacle scanning area has an obstacle, determining the recommended speed of the robot includes:
when the obstacle is located in a first scanning area among the obstacle scanning areas, determining a maximum allowable speed of the robot as the recommended speed according to the reduced acceleration of the robot and the current distance between the robot and the obstacle;
when the obstacle is positioned in a second scanning area in the obstacle scanning areas, taking the preset creep speed as the suggested speed;
wherein the first scanning area is an area which belongs to the enlarged vehicle body stopping area; the second scanning area is an area which belongs to the vehicle-side warning area after the expansion and does not belong to the vehicle body stopping area after the expansion.
Optionally, the determining the obstacle in the obstacle scanning area includes:
acquiring a point cloud of the obstacle scanning area scanned by the scanning equipment, and converting coordinates of each point in the point cloud from coordinates in a coordinate system of the scanning equipment to coordinates in a coordinate system of the robot; the scanning equipment is any one of 2d laser radar, 3d laser radar and depth camera;
removing points in the point cloud, which fall in the shielding area, according to a preset shielding area and coordinates of each point in the point cloud; the shielding area is a scanning area which is shielded by the tool according to the scanning equipment determined by the current transportation tool in advance;
performing Euclidean distance operation by utilizing coordinates of any two points in the point cloud, and dividing two points corresponding to the operation result smaller than a distance threshold value into the same class of points belonging to the same object;
and identifying the obstacle in the obstacle scanning area according to the classification of each point in the point cloud.
A robot travel control device comprising:
the scanning area module is used for determining an obstacle scanning area according to a pre-generated vehicle body stopping area and a vehicle body warning area of the robot and the current movement speed of the robot;
A suggested speed module, configured to determine a suggested speed of the robot if the scanning device scans to determine that an obstacle exists in the obstacle scanning area;
the method further comprises a region generation module, which comprises the following steps:
the protection area unit is used for determining a car body protection area according to the tool type of the current transportation tool of the robot, wherein the car body protection area is an area occupied by the whole outer contour formed by the robot and the current transportation tool;
a stopping area unit for expanding the front stopping distance of the car body protection area along the movement direction of the robot and expanding the side stopping distance of the car body along the movement direction perpendicular to the robot according to the preset front stopping distance and side stopping distance of the car body to form a stopping area of the car body;
and the warning area unit is used for expanding the vehicle body protection area by the front stopping distance along the movement direction of the robot and expanding the vehicle side warning distance along the direction perpendicular to the movement direction of the robot according to the preset vehicle side warning distance to form a vehicle side warning area.
Optionally, the scan area module includes:
the displacement determining unit is used for determining braking displacement and compensation displacement of the robot according to the current movement speed, and obtaining scanning displacement according to summation of the braking displacement and the compensation displacement, wherein the scanning displacement is the displacement on a non-driving path of the robot;
And a forming area unit for expanding the vehicle body stop area and the vehicle side warning area according to the direction and the size of the compensation displacement, and taking an area formed by expanding and merging the vehicle body stop area and the vehicle side warning area as the obstacle scanning area.
Optionally, the suggested speed module includes:
a first speed unit configured to determine a maximum allowable speed of the robot as the recommended speed according to a deceleration and acceleration of the robot and a current distance between the robot and the obstacle when the obstacle is located in a first scanning area among the obstacle scanning areas;
a second speed unit configured to, when the obstacle is located in a second scanning area among the obstacle scanning areas, set a creep speed as the recommended speed according to a preset creep speed;
wherein the first scanning area is an area which belongs to the enlarged vehicle body stopping area; the second scanning area is an area which belongs to the vehicle-side warning area after the expansion and does not belong to the vehicle body stopping area after the expansion.
A robot travel control apparatus comprising:
a memory for storing a computer program;
A processor for implementing the steps of the robot travel control method according to any one of the above when executing the computer program.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the robot travel control method according to any one of the preceding claims.
The robot running control method provided by the invention comprises the following steps: determining an obstacle scanning area according to a pre-generated vehicle body stopping area and a vehicle body warning area of the robot and the current movement speed of the robot; if the scanning equipment scans and determines that the obstacle scanning area has an obstacle, determining the recommended speed of the robot; wherein, the process of generating the vehicle body stop area and the vehicle body warning area in advance includes: determining a car body protection area according to the tool type of the current transportation tool of the robot, wherein the car body protection area is an area occupied by the whole outer contour formed by the robot and the current transportation tool; according to the preset front stopping distance and the preset side stopping distance, the front stopping distance of the vehicle body is enlarged along the movement direction of the robot, and the side stopping distance of the vehicle body is enlarged along the direction perpendicular to the movement direction of the robot, so that a vehicle body stopping area is formed; according to the preset vehicle side warning distance, the vehicle body protection area is expanded by the front stopping distance along the movement direction of the robot, and the vehicle side warning distance is expanded along the direction perpendicular to the movement direction of the robot, so as to form the vehicle side warning area.
In the method, the influence of different tool types of the robot transportation on the whole occupied space formed by the robot and the tools is fully considered, so that a vehicle body stopping area and a vehicle body warning area which are determined according to the whole occupied space are formed, and the vehicle body stopping area and the vehicle body warning area of the robot are more reasonable to set; and form more reasonable obstacle scanning area based on further outwards extension of automobile body stop zone and automobile body warning zone, and once find the barrier in obstacle scanning area, then give reasonable travel speed, guarantee the validity of obstacle scanning result and avoid meaningless scanning, improved the holistic security of robot and transportation frock, and robot motion state control's rationality.
The application also discloses a robot running control device, equipment and a computer readable storage medium, which have the beneficial effects.
Drawings
For a clearer description of embodiments of the invention or of the prior art, the drawings that are used in the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a robot driving control method according to an embodiment of the present application;
fig. 2 is a schematic view of a region formation of a straight movement state according to an embodiment of the present application;
FIG. 3 is a schematic view of a region formation of spin states provided in an embodiment of the present application;
fig. 4 is a block diagram of a robot running control apparatus according to an embodiment of the present invention.
Detailed Description
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, fig. 1 is a schematic flow chart of a robot driving control method according to an embodiment of the present application, where the method may include:
s11: and determining a car body protection area in advance according to the tool type of the current transportation tool of the robot.
The car body protection area in the embodiment is an area occupied by the outer outline of the whole formed by the robot and the current transportation tool.
In the conventional vehicle body obstacle avoidance process, the outline of the vehicle body is taken as an area needing to be protected from collision, but in the practical application process, the object tool carried by the vehicle body may extend beyond the outline of the vehicle body, so that in the practical vehicle body obstacle avoidance process, the robot and the transported tool are taken into consideration as a whole for the occupied area.
For some specific application scenarios, with a robot for transporting a specific tool object, the space occupied by the transported tool and the whole robot is often fixed, so that the space occupied by the robot and the whole currently transported tool can be determined based on the current transported tool type of the robot.
S12: according to the preset front stopping distance and the preset side stopping distance, the front stopping distance of the car body is enlarged along the movement direction of the robot, and the side stopping distance of the car body is enlarged along the direction perpendicular to the movement direction of the robot, so that the car body stopping area is formed.
S13: according to the preset vehicle side warning distance, the vehicle body protection area is expanded by the front stopping distance along the movement direction of the robot, and the vehicle side warning distance is expanded along the direction perpendicular to the movement direction of the robot, so as to form the vehicle side warning area.
Referring to fig. 2, a region indicated by a rectangular frame ABCD in fig. 2 represents a vehicle body protection region formed based on a robot and a current conveyance tool together, a vehicle front stopping distance is indicated by L1, and a vehicle side stopping distance is indicated by L2; the direction indicated by the black arrow is the movement direction of the robot.
As can be understood with reference to fig. 2, the vehicle body protection area is enlarged forward by the front stop distance L1 in the direction of movement of the robot, that is, the boundary line of the vehicle body protection area in the direction of movement of the robot is advanced by the distance L1 in the direction of movement.
Similarly, for enlarging the vehicle-side stopping distance in the direction perpendicular to the moving direction of the robot, that is, for pushing the boundary line perpendicular to the moving direction of the robot by L2 in the moving direction.
In the embodiment shown in fig. 2, the vehicle body protection area integrally formed by the robot and the transported tool is a rectangular area, and the robot is illustrated as traveling in a straight line. However, in the practical application process, the car body protection area may have various irregular patterns, but the car body protection area is not affected to be expanded outwards to form a car front stop area, and the boundary line of the car body protection area is a curve, a straight line or other uneven contour lines and is expanded outwards integrally according to the original boundary line shape. In addition, after each boundary line of the vehicle body protection area is simply pushed in the moving direction and perpendicular to the moving direction, a situation that a break exists between the pushed boundary lines may exist, and at this time, the pushed boundary lines may be directly and respectively extended to intersect, which will not be described in detail.
In addition, in the practical application process, the robot can have spin and curve motion states besides the straight running motion state.
Obviously, for the movement state of the spin, the movement direction thereof, that is, the rotation direction thereof, and accordingly, the arc length distance thereof is extended in the movement direction based on the body protection region thereof, referring to fig. 3, the rotation direction of the robot, that is, the movement direction thereof is shown by an arrow-headed curve in fig. 3, the body protection region based on the co-formation of the robot and the current transportation tool is shown by a rectangular frame ABCD, and the position reached after the robot and the current transportation tool are integrally spun by a certain angle θ is shown by a rectangular dotted frame A1B1C1D 1. The front stopping distance of the vehicle body formed by the rectangular frame ABCD along the moving direction should be the arc length distance, and because the radius of each point on the boundary line of the rectangular frame ABCD (i.e., the boundary line of the vehicle body protecting area) and the radius of the rotation center are not completely the same, the arc length distances corresponding to the expansion of each point on the boundary line along the moving direction of the robot should also be different, and based on the fact that the arc length is equal to the product of the radius and the angle, it is obvious that the rotation angle of each point on the boundary line is the same, therefore, when the front stopping distance is preset, the stopping angle corresponding to the front stopping distance can be preset, and the corresponding stopping arc length can be determined. When the vehicle body stop area of the robot is actually determined, the area swept by the stop angle set by the rotation of each point on the boundary line on the rectangular frame ABCD in the moving direction may be directly used as the vehicle body stop area (most of which are sector areas within a circle with radius r1+r2) of the robot, and the area is covered by the vehicle side stop distance R2 outwards in the radial direction (i.e., perpendicular to the moving direction).
While the vehicle side warning area is determined by expanding the vehicle side warning distance along the direction perpendicular to the movement direction for each point on the boundary line of the rectangular frame ABCD, it is obvious that for spin movement, the vehicle side warning distance R2 is expanded along the direction perpendicular to the movement direction, that is, along the radial direction, so that each point on the boundary line of the ABCD is expanded along the radial direction, and at this time, the point a obviously corresponds to the point A2 after expansion, and it is understood that the expanded vehicle side warning area should be mostly located in the annular area with the outer diameter r1+r3 and the inner diameter R1.
For the track of the curve motion, the track should be regarded as the combination of two motion states of spin and straight, when the vehicle body stop area and the vehicle side warning area are actually determined, the motion states of the track can be decomposed into two motion states of spin and straight based on the motion track planned by the robot, and the corresponding vehicle body stop area and vehicle side warning area are finally and comprehensively determined, generally, the space motion simulation software based on a computer can be determined based on basic kinematics rules, and therefore, the detailed description is omitted in the embodiment.
The vehicle body stop area is an area where it is necessary to stop immediately when an obstacle is present, and the vehicle body warning area is an area where the robot is not involved in a collision but is relatively close, and generally, if an obstacle is present in the vehicle body warning area, the running speed of the robot should be reduced.
It will be understood that, for the above steps S11 to S13, after the tools to be transported are loaded on the robot, the steps of forming the obstacle scanning area and generating the suggested speed are repeated in real time during the actual transportation of the robot.
S14: and determining an obstacle scanning area according to the vehicle body stopping area, the vehicle body warning area and the current movement speed of the robot.
After the vehicle body stop area and the vehicle body warning area of the robot are set, the surrounding environment of the robot needs to be scanned to determine whether an obstacle exists in the vehicle body stop area and the vehicle body warning area.
The obstacle scanning area in this embodiment, that is, the area where the obstacle area exists is scanned, which is set based on the vehicle speed, and the faster the vehicle speed, the smaller the obstacle scanning area, so that the rationality of the size of the obstacle scanning area is ensured.
In an alternative embodiment of the present application, the process of obstacle scanning the area may include:
determining braking displacement and compensation displacement of the robot according to the current movement speed, and summing according to the braking displacement and the compensation displacement to obtain scanning displacement, wherein the scanning displacement is the displacement on the non-driving path of the robot;
The vehicle body stop area and the vehicle side warning area are both enlarged according to the direction and the size of the compensation displacement, and the area formed by the enlarged and combined vehicle body stop area and vehicle side warning area is taken as an obstacle scanning area.
Taking the robot as shown in fig. 2 as an example, the movement state is a straight movement. Braking displacement refers to the displacement of the robot from the current movement speed to the movement required for complete stopping.
For the straight running motion state, based on basic kinematics law, the brake displacement and the current motion speed can be satisfiedWherein S is a braking distance, that is, the magnitude of the braking displacement, and the direction of the braking displacement is consistent with the moving direction, and in the straight running state, that is, the direction of a black arrow as shown in fig. 2, the current moving speed of the robot is the current straight running speed v, and a is the reduced straight running acceleration.
After the braking displacement is determined, a further compensation displacement is required, which can be set to a fixed value or a change value positively correlated to the current movement speed. The mapping relation between the magnitude of the compensation displacement and the magnitude of the current movement speed can be preset, so that the step displacement can be determined based on the current movement speed; it will be appreciated that the direction of the compensation displacement should be the same as the direction of movement of the planned robot path, which will not be described in detail.
The scanning displacement obtained by superimposing the braking displacement S and the compensation displacement S1 can be shown with reference to fig. 2. Finally, the vehicle body stopping area EFGH is further expanded according to the scanning displacement, so that an obstacle scanning area GMNH can be obtained, and after the vehicle side warning area IJKQ is further expanded, an obstacle scanning area KQPT can be obtained, and obviously the area KQPT comprises the area GMNH, and the finally determined obstacle scanning area is the area KQPT.
The above description is given by taking the straight movement state as an example, it is obvious that for the spin movement state, the braking displacement should correspond to the braking arc length and satisfy the braking arc length formulaDetermining the braking arc length as the magnitude of braking displacement, wherein the direction of the braking displacement is the rotation direction; wherein l is the braking arc length, the current movement speed of the robot is the current angular speed omega and a ω For angular acceleration reduction, r is the radius.
The radii r of the points on the boundary line of the vehicle body stop area are different, if the brake displacement of each radius point is obviously too complex, the brake displacement can be converted into a rotation angle to determine the obstacle scanning area in practical application, and the principle is similar to that of the above embodiment, and the repeated description is omitted in this embodiment.
Similarly, when the robot is based on a curve motion state, the motion of the robot can be decomposed, brake displacement and compensation displacement corresponding to the decomposed spin motion and straight motion respectively are determined, and a final obstacle scanning area is determined, which is not described in detail.
S15: and if the scanning device scans and determines that the obstacle scanning area has an obstacle, determining the recommended speed of the robot.
In the actual obstacle scanning, the scanning device may be any one of a 2d laser radar, a 3d laser radar, and a depth camera.
In addition, considering that the scanning device is generally mounted on the vehicle body of the robot, in the process of scanning by the scanning device, an area which is blocked inevitably exists, in order to avoid that the scanning area blocked by the scanning device is mistakenly regarded as an obstacle, in an alternative embodiment of the present application, the method may further include:
s151: and acquiring a point cloud of the obstacle scanning area scanned by the scanning equipment, and converting coordinates of each point in the point cloud from coordinates in a coordinate system of the scanning equipment to coordinates in a coordinate system of the robot.
For the convenience of calculation, the coordinate system is unified, and in any of the above embodiments, the determination of the vehicle body stop area, the vehicle side warning area, the obstacle scanning area, and the like is performed by taking the coordinate system of the robot as a reference coordinate system, which is not described in detail.
When the scanning device itself is the scanning area, the scanning area should be all the areas that it can scan, but after the current scanning is completed, all the data outside the obstacle scanning area can be directly removed.
S152: removing points in the point cloud, which fall in the shielding area, according to a preset shielding area and coordinates of each point in the point cloud; the shielding area is a scanning area which is shielded by the tool according to the scanning equipment determined by the current transportation tool in advance.
One aspect of generally being able to mask the scanning of the scanning device is that the body of the robot itself is a transported tool on the one hand. For the robot itself, the position area that it shelters from is fixed, and to the frock of transportation, different grade type frock, shelter from the regional different one, for this reason, can predetermine each kind of frock that the robot can transport when corresponding respectively shelter from the region, combine the automobile body to shelter from the region, finally confirm the shielding region that all kinds of different frock correspond. In actual measurement, the position of the shielding region can be determined only by determining the type of the currently transported tool, and therefore point clouds falling into the shielding region can be proposed.
S153: and carrying out Euclidean distance operation by utilizing coordinates of any two points in the point cloud, and dividing the two points corresponding to the operation result smaller than the distance threshold value into the same class of points belonging to the same object.
S155: and identifying the obstacle in the obstacle scanning area according to the classification of each point in the point cloud.
The appropriate distance threshold is calculated by resolution to separate the corresponding points of each obstacle. The rough outline of the obstacle can be identified, and the identification of each obstacle is realized.
On the basis of completing the recognition of the obstacle, a reasonable recommended speed for the robot to travel needs to be given. If no obstacle is present in the obstacle scanning area, it is obvious that the robot can be controlled to take the form of a larger speed as much as possible, and the suggested speed given at this time can be set to the maximum travel speed of the robot. When there are obstacles in the obstacle scanning area, there are two general situations, one is that the robot continues to move forward and collides with the obstacle, that is, the obstacle is on the driving path of the vehicle body, the other is that the robot does not collide with the obstacle but passes the periphery of the obstacle at a relatively close distance from the obstacle, and for the two different situations, the corresponding suggested speeds can be given to the robot in different manners.
In an alternative embodiment of the present application, it may further include:
When the obstacle is located in a first scanning area in the obstacle scanning areas, determining the maximum allowable speed of the robot as a suggested speed according to the deceleration and acceleration of the robot and the current distance between the robot and the obstacle;
when the obstacle is positioned in a second scanning area in the obstacle scanning areas, the obstacle is taken as a suggested speed according to a preset creep speed;
wherein the first scanning area is an area which belongs to the enlarged vehicle body stopping area; the second scanning area is an area which belongs to the enlarged vehicle-side warning area and does not belong to the enlarged vehicle-body stopping area.
Referring to fig. 2, the first scanning area may be considered as the scanning area GMNH in fig. 2, and of course, in practical applications, the vehicle body stop area may be eliminated therefrom, while the second scanning area may be the area KGMT and the area HQPN, and the vehicle side warning area may be eliminated.
When there is an obstacle in the first scanning area, the current distance here may be referred to as the current distance between the point on the robot and closest to the obstacle and the point on the obstacle closest to the robot, as it is required to be described, based on the current distance between the robot and the obstacle. And subtracting a front stopping distance from the current distance to obtain a distance difference and subtracting the acceleration of the robot, so that the maximum speed of the robot under the condition that the braking distance of the robot is the distance difference can be determined, and the maximum speed is taken as the maximum allowable speed of the robot.
When there is an obstacle in the second scanning area, it is obvious that the obstacle does not collide with the robot person, but is located closer to the body of the robot, at which time the robot does not need to stop the vehicle, but the speed of the vehicle should be reduced, at which time a creep speed of a relatively small speed may be predetermined as the recommended speed.
Of course, in the practical application process, the situation that the first scanning area and the second scanning area have the obstacle at the same time is not excluded, at this time, a current maximum allowable speed can be determined based on the position of the obstacle in the first scanning area, the maximum allowable speed and the creep speed are compared, and the minimum speed of the two speeds is used as the current suggested speed.
In summary, in the driving process of the robot, the influence of the tool object carried by the robot on the whole outline size of the robot and the tool object is fully considered, the vehicle body stopping area and the vehicle body warning area are determined by dividing according to the influence, the vehicle body stopping area and the vehicle body warning area are further defined reasonably, meaningless scanning is avoided, the obstacle which possibly collides with the robot can be scanned more accurately, and compared with the conventional method of avoiding the obstacle simply based on the distance between the scanned obstacle and the scanning equipment, the obstacle scanning area is more reasonable and accurate, the driving of the robot is controlled more reasonably, meaningless speed reduction and even stopping caused by inaccurate obstacle scanning are avoided, and the robot can reach a destination more efficiently.
The following describes a robot travel control device provided in an embodiment of the present invention, and the robot travel control device described below and the robot travel control method described above may be referred to correspondingly.
Fig. 4 is a block diagram of a robot travel control device according to an embodiment of the present invention, and referring to fig. 4, the robot travel control device may include:
a scanning area module 100 for determining an obstacle scanning area according to a pre-generated vehicle body stop area and a vehicle body warning area of the robot and a current movement speed of the robot;
a suggested speed module 200, configured to determine a suggested speed of the robot if the scanning device scans to determine that the obstacle scanning area has an obstacle;
further included therein is a region generation module 300, comprising:
a protection area unit 301, configured to determine a vehicle body protection area according to a tool type of a current transportation tool of the robot, where the vehicle body protection area is an area occupied by an overall outer contour formed by the robot and the current transportation tool;
a stopping area unit 302, configured to enlarge the vehicle front stopping distance along a movement direction of the robot and the vehicle side stopping distance along a direction perpendicular to the movement direction of the robot according to a preset vehicle front stopping distance and vehicle side stopping distance, so as to form a vehicle body stopping area;
And a warning area unit 303 configured to enlarge the vehicle body protection area by the vehicle front stop distance in a movement direction of the robot and by the vehicle side warning distance in a direction perpendicular to the movement direction of the robot, according to a preset vehicle side warning distance, thereby forming a vehicle side warning area.
In an alternative embodiment of the present application, the scan area module 100 includes:
the displacement determining unit is used for determining braking displacement and compensation displacement of the robot according to the current movement speed, and summing the braking displacement and the compensation displacement to obtain scanning displacement, wherein the scanning displacement is displacement on a non-driving path of the robot;
and a forming area unit for expanding the vehicle body stop area and the vehicle side warning area according to the direction and the size of the compensation displacement, and taking an area formed by expanding and merging the vehicle body stop area and the vehicle side warning area as the obstacle scanning area.
In an optional embodiment of the present application, the determining displacement unit is specifically configured to determine, according to a preset planned travel path of the robot, a current motion state of the robot, where the motion state includes spin, straight travel, and curved travel; when the motion state of the robot is spin, the motion state is according to a braking arc length formula Determining a brake arc length as the brake displacement; wherein l is a brakeArc length, the current movement speed of the robot is the current angular speed omega, a ω For angular acceleration reduction, r is the radius; when the motion state of the robot is straight, the robot is in a +_ state according to the braking distance formula>Determining a braking distance as the magnitude of the braking displacement; s is a braking distance, the current movement speed of the robot is a current straight movement speed v, and a is a straight movement acceleration reduction; and when the motion state of the robot is curved running, decomposing the motion state of the robot into rotation and straight running, and determining the braking displacement according to the decomposed motion state.
In an alternative embodiment of the present application, the suggested speed module 200 includes:
a first speed unit configured to determine a maximum allowable speed of the robot as the recommended speed according to a deceleration and acceleration of the robot and a current distance between the robot and the obstacle when the obstacle is located in a first scanning area among the obstacle scanning areas;
a second speed unit configured to, when the obstacle is located in a second scanning area among the obstacle scanning areas, set a creep speed as the recommended speed according to a preset creep speed;
Wherein the first scanning area is an area which belongs to the enlarged vehicle body stopping area; the second scanning area is an area which belongs to the vehicle-side warning area after the expansion and does not belong to the vehicle body stopping area after the expansion.
In an optional embodiment of the present application, an obstacle scanning module is configured to obtain a point cloud of the obstacle scanning area scanned by the scanning device, and convert coordinates of each point in the point cloud from coordinates in a coordinate system of the scanning device to coordinates in a coordinate system of the robot; the scanning equipment is any one of 2d laser radar, 3d laser radar and depth camera; removing points in the point cloud, which fall in the shielding area, according to a preset shielding area and coordinates of each point in the point cloud; the shielding area is a scanning area which is shielded by the tool according to the scanning equipment determined by the current transportation tool in advance; performing Euclidean distance operation by utilizing coordinates of any two points in the point cloud, and dividing two points corresponding to the operation result smaller than a distance threshold value into the same class of points belonging to the same object; and identifying the obstacle in the obstacle scanning area according to the classification of each point in the point cloud.
The robot travel control device of the present embodiment is used to implement the foregoing robot travel control method, and therefore, the specific embodiment of the robot travel control device can be found in the foregoing example portion of the robot travel control method, and the description thereof will not be repeated here.
The application also provides an embodiment of a robot travel control device, which may include:
a memory for storing a computer program;
a processor for implementing the steps of the robot travel control method according to any one of the above when executing the computer program.
The steps of the robot running control method performed by the processor may include:
determining an obstacle scanning area according to a pre-generated vehicle body stopping area, a vehicle body warning area and a current movement speed of the robot in the vehicle body warning area of the robot;
if the scanning equipment scans and determines that the obstacle scanning area of the vehicle body warning area has an obstacle, determining the recommended speed of the robot in the vehicle body warning area;
the process of generating the vehicle body warning area, the vehicle body stopping area and the vehicle body warning area in advance comprises the following steps:
determining a car body protection area according to the tool type of the current transportation tool of the car body alarm area robot, wherein the car body protection area of the car body alarm area is an area occupied by the whole outline formed by the car body alarm area robot and the current transportation tool of the car body alarm area;
According to the preset front stopping distance and the preset side stopping distance, the front stopping distance of the vehicle body warning area is enlarged along the moving direction of the robot in the vehicle body warning area, and the side stopping distance of the vehicle body warning area is enlarged along the moving direction perpendicular to the robot in the vehicle body warning area, so that a vehicle body stopping area is formed;
according to the preset warning distance of the vehicle side, the vehicle body protection area of the vehicle body warning area enlarges the front stopping distance of the vehicle body warning area along the movement direction of the robot of the vehicle body warning area, and enlarges the warning distance of the vehicle side of the vehicle body warning area along the direction perpendicular to the movement direction of the robot of the vehicle body warning area, so as to form the warning area of the vehicle side.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the robot travel control method according to any one of the above.
The computer readable storage medium may include Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is inherent to. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. In addition, the parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of the corresponding technical solutions in the prior art, are not described in detail, so that redundant descriptions are avoided.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (10)
1. A robot travel control method, comprising:
determining an obstacle scanning area according to a pre-generated vehicle body stopping area and a vehicle body warning area of the robot and the current movement speed of the robot;
if the scanning equipment scans and determines that the obstacle scanning area has an obstacle, determining the recommended speed of the robot;
wherein the process of generating the vehicle body stop area and the vehicle body warning area in advance includes:
determining a car body protection area according to the tool type of the current transportation tool of the robot, wherein the car body protection area is an area occupied by the whole outer contour formed by the robot and the current transportation tool;
according to a preset front stopping distance and a preset side stopping distance, the front stopping distance of the vehicle body is enlarged along the movement direction of the robot, the side stopping distance of the vehicle body is enlarged along the direction perpendicular to the movement direction of the robot, and a vehicle body stopping area is formed;
and according to a preset vehicle-side warning distance, the vehicle body protection area is expanded by the front stopping distance along the movement direction of the robot, and the vehicle-side warning distance is expanded along the direction perpendicular to the movement direction of the robot, so that a vehicle-side warning area is formed.
2. The robot travel control method according to claim 1, wherein determining the obstacle scanning area based on a previously generated vehicle body stop area and vehicle body warning area of the robot, a current movement speed of the robot, comprises:
determining braking displacement and compensation displacement of the robot according to the current movement speed, and summing the braking displacement and the compensation displacement to obtain scanning displacement, wherein the scanning displacement is displacement on a non-driving path of the robot, the compensation displacement is set to a fixed value or a change value positively correlated with the current movement speed, and the direction of the compensation displacement is the same as the movement direction of the planned path of the robot;
and expanding the vehicle body stopping area and the vehicle side warning area according to the direction and the size of the compensation displacement, and taking an area formed by expanding and integrating the vehicle body stopping area and the vehicle side warning area as the obstacle scanning area.
3. The robot travel control method according to claim 2, wherein determining the braking displacement of the robot based on the current movement speed comprises:
Determining the current motion state of the robot according to a preset planned running path of the robot, wherein the motion state comprises spin, straight running and curve running;
when the motion state of the robot is spin, the motion state is according to a braking arc length formulaDetermining a brake arc length as the brake displacement; wherein (1)>For braking the arc length, the current movement speed of the robot is the current angular speed +.>，/>To reduce angular acceleration, < >>Is a radius;
when the motion state of the robot is straight, the braking distance formula is usedDetermining a braking distance as the magnitude of the braking displacement; wherein (1)>For braking distance, the current movement speed of the robot is the current straight speed +.>，/>To reduce the straight acceleration;
and when the motion state of the robot is curved running, decomposing the motion state of the robot into rotation and straight running, and determining the braking displacement according to the decomposed motion state.
4. The robot travel control method according to claim 2, wherein the process of determining the recommended speed of the robot when the obstacle scanning area has an obstacle comprises:
when the obstacle is located in a first scanning area among the obstacle scanning areas, determining a maximum allowable speed of the robot as the recommended speed according to the reduced acceleration of the robot and the current distance between the robot and the obstacle;
When the obstacle is positioned in a second scanning area in the obstacle scanning areas, taking the preset creep speed as the suggested speed;
wherein the first scanning area is an area which belongs to the enlarged vehicle body stopping area; the second scanning area is an area which belongs to the vehicle-side warning area after the expansion and does not belong to the vehicle body stopping area after the expansion.
5. The robot travel control method according to claim 1, wherein the process of determining an obstacle in the obstacle scanning area includes:
acquiring a point cloud of the obstacle scanning area scanned by the scanning equipment, and converting coordinates of each point in the point cloud from coordinates in a coordinate system of the scanning equipment to coordinates in a coordinate system of the robot; the scanning equipment is any one of 2d laser radar, 3d laser radar and depth camera;
removing points in the point cloud, which fall in the shielding area, according to a preset shielding area and coordinates of each point in the point cloud; the shielding area is a scanning area which is shielded by the tool according to the scanning equipment determined by the current transportation tool in advance;
Performing Euclidean distance operation by utilizing coordinates of any two points in the point cloud, and dividing two points corresponding to the operation result smaller than a distance threshold value into the same class of points belonging to the same object;
and identifying the obstacle in the obstacle scanning area according to the classification of each point in the point cloud.
6. A robot travel control device, comprising:
the scanning area module is used for determining an obstacle scanning area according to a pre-generated vehicle body stopping area and a vehicle body warning area of the robot and the current movement speed of the robot;
a suggested speed module, configured to determine a suggested speed of the robot if the scanning device scans to determine that an obstacle exists in the obstacle scanning area;
the method further comprises a region generation module, which comprises the following steps:
the protection area unit is used for determining a car body protection area according to the tool type of the current transportation tool of the robot, wherein the car body protection area is an area occupied by the whole outer contour formed by the robot and the current transportation tool;
a stopping area unit for expanding the front stopping distance of the car body protection area along the movement direction of the robot and expanding the side stopping distance of the car body along the movement direction perpendicular to the robot according to the preset front stopping distance and side stopping distance of the car body to form a stopping area of the car body;
And the warning area unit is used for expanding the vehicle body protection area by the front stopping distance along the movement direction of the robot and expanding the vehicle side warning distance along the direction perpendicular to the movement direction of the robot according to the preset vehicle side warning distance to form a vehicle side warning area.
7. The robot travel control device of claim 6, wherein the scan area module comprises:
the displacement determining unit is used for determining braking displacement and compensation displacement of the robot according to the current movement speed, and obtaining scanning displacement according to summation of the braking displacement and the compensation displacement, wherein the scanning displacement is displacement on a non-driving path of the robot, the compensation displacement is set to a fixed value or a change value positively correlated with the current movement speed, and the direction of the compensation displacement is the same as the planned movement direction of the path of the robot;
and a forming area unit for expanding the vehicle body stop area and the vehicle side warning area according to the direction and the size of the compensation displacement, and taking an area formed by expanding and merging the vehicle body stop area and the vehicle side warning area as the obstacle scanning area.
8. The robot travel control device of claim 7, wherein the suggested speed module comprises:
a first speed unit configured to determine a maximum allowable speed of the robot as the recommended speed according to a deceleration and acceleration of the robot and a current distance between the robot and the obstacle when the obstacle is located in a first scanning area among the obstacle scanning areas;
a second speed unit configured to, when the obstacle is located in a second scanning area among the obstacle scanning areas, set a creep speed as the recommended speed according to a preset creep speed;
wherein the first scanning area is an area which belongs to the enlarged vehicle body stopping area; the second scanning area is an area which belongs to the vehicle-side warning area after the expansion and does not belong to the vehicle body stopping area after the expansion.
9. A robot travel control apparatus characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the robot travel control method according to any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the robot running control method according to any one of claims 1 to 5.
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