CN116880496A - Mobile robot obstacle stopping method and device, electronic equipment and storage medium - Google Patents

Mobile robot obstacle stopping method and device, electronic equipment and storage medium Download PDF

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Publication number
CN116880496A
CN116880496A CN202310954091.1A CN202310954091A CN116880496A CN 116880496 A CN116880496 A CN 116880496A CN 202310954091 A CN202310954091 A CN 202310954091A CN 116880496 A CN116880496 A CN 116880496A
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China
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mobile robot
track
obstacle
running
distance
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请求不公布姓名
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Guangdong Shunchu Intelligent Equipment Co ltd
Guangdong Lyric Robot Automation Co Ltd
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Guangdong Shunchu Intelligent Equipment Co ltd
Guangdong Lyric Robot Intelligent Automation Co Ltd
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Priority to CN202310954091.1A priority Critical patent/CN116880496A/en
Publication of CN116880496A publication Critical patent/CN116880496A/en
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Abstract

The application provides a mobile robot obstacle stopping method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: predicting a running track of the mobile robot on a preset running path in a prediction time; expanding the running track to obtain a barrier stopping detection area of the mobile robot, and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position is mapped to a blocking position on the driving track; according to the track distance between the blocking position and the mobile robot, regulating and controlling the moving speed of the robot, and avoiding collision between the mobile robot and an obstacle; according to the application, the running track of the mobile robot is predicted, the obstacle stopping detection area is determined based on the running track instead of setting the fixed obstacle stopping detection area, the obstacle stopping detection area is not influenced by the obstacle in the non-moving direction of the robot, the distance between the obstacle and the robot is calculated more accurately, the speed regulation is performed more accurately, and the running stability of the robot is improved.

Description

Mobile robot obstacle stopping method and device, electronic equipment and storage medium
Technical Field
The application relates to the technical field of obstacle avoidance, in particular to a mobile robot obstacle stopping method, a mobile robot obstacle stopping device, electronic equipment and a storage medium.
Background
With the rapid development of technology, the living standard of people is continuously improved, and more devices tend to be intelligent, wherein mobile robots are particularly prominent. Mobile robots are intelligent machines with mobility, such as autonomous vehicles, sweeping robots, construction robots, and the like.
Mobile robots generally have an obstacle sensing function, and when encountering an obstacle, can automatically avoid or stop to avoid collision with the obstacle. In the prior art, the accuracy of a control mode of a mobile robot is not enough.
Disclosure of Invention
Accordingly, an objective of the present application is to provide a mobile robot stopping method, a mobile robot stopping device, an electronic device and a storage medium, so as to overcome the problems in the prior art.
In a first aspect, an embodiment of the present application provides a mobile robot stopping method, where the method includes:
predicting a running track of the mobile robot on a preset running path in a prediction time;
expanding the running track to obtain a barrier stopping detection area of the mobile robot, and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position is mapped to a blocking position on the driving track;
According to the track distance between the blocking position and the mobile robot, the moving speed of the robot is regulated and controlled, and the mobile robot is prevented from colliding with an obstacle.
In some embodiments of the present application, the predicted time includes a plurality of predicted sub-times having a predetermined time interval; the predicting the running track of the mobile robot on the preset running path in the prediction time comprises the following steps:
determining a pre-aiming point on the preset running path or an extension path of the preset running path according to the pre-aiming distance in the running process of the mobile robot;
determining the angular speed of the mobile robot relative to the pre-aiming point based on the current speed of the mobile robot, the pre-aiming distance and the position relation between the mobile robot and the pre-aiming point;
predicting a sub-track of the mobile robot traveling in the predicted sub-time based on the current position of the mobile robot, the current speed of the mobile robot and the angular speed relative to the pre-aiming point;
and obtaining the running track of the mobile robot in the prediction time according to the running sub-tracks in the prediction time.
In some embodiments of the present application, the method determines the pre-aiming point by:
Determining a forward looking distance of the mobile robot in response to a forward looking distance setting operation;
determining a pretightening distance corresponding to the position of the mobile robot based on the forward looking distance or the forward looking distance and the current speed of the mobile robot;
and taking the point which is on the preset running path or the extension path and is away from the pretightening distance of the mobile robot as the pretightening point.
In some embodiments of the present application, the determining the angular velocity of the mobile robot relative to the pre-aiming point based on the current velocity of the mobile robot, the pre-aiming distance, and the positional relationship between the mobile robot and the pre-aiming point includes:
and determining the angular speed of the mobile robot relative to the pre-aiming point according to the current speed of the mobile robot, the pre-aiming distance and the relative angle between the mobile robot and the pre-aiming point.
In some embodiments of the present application, the method further includes:
constructing a position reference coordinate system;
the predicting the travel sub-track of the mobile robot in the predicted sub-time based on the current position of the mobile robot, the current speed of the mobile robot and the angular speed relative to the pre-aiming point comprises:
Predicting a moving coordinate of the mobile robot after moving in the prediction time based on a current coordinate of the current position of the mobile robot in the position reference coordinate system and a current speed of the mobile robot and an angular speed relative to the pre-aiming point;
and determining a running sub-track of the mobile robot in the prediction time according to the moving coordinate of the mobile robot after moving in the prediction time and the position reference coordinate system.
In some embodiments of the present application, the mobile robot includes different types, and the expanding the driving track to obtain the obstacle stopping detection area of the mobile robot includes:
and aiming at different types of mobile robots, obtaining the obstacle stopping detection area by using an expansion mode corresponding to the type of mobile robots.
In some embodiments of the present application, the obtaining the obstacle stop detection area by using an expansion method corresponding to the type of the mobile robot for different types of the mobile robots includes:
aiming at the mobile robot with the differential wheel type, performing expansion on the running track according to the attribute information of the mobile robot to obtain the obstacle stopping detection area;
And aiming at the mobile robot with the omni-wheel type, performing expansion on the running track according to the speed direction of each time point of the mobile robot and the attribute information of the mobile robot to obtain the obstacle stopping detection area.
In some embodiments of the present application, the method determines the blocking position mapped by the target position on the driving track by:
taking the target position as a starting point to make a vertical line to the running track, and determining the drop foot of the target position and the running track or the running track extension line;
and taking the foot drop closest to the mobile robot as a blocking position mapped on the running track by the target position.
In some embodiments of the present application, the controlling the moving speed of the robot according to the track distance between the blocking position and the moving robot includes:
determining a safety coefficient according to the relation between the track distance and the length of a preset speed control area;
and adjusting the moving speed of the mobile robot based on the safety coefficient to avoid collision between the mobile robot and an obstacle.
In a second aspect, an embodiment of the present application provides a mobile robot barrier device, the device including:
The prediction module is used for predicting the running track of the mobile robot on a preset running path in the prediction time;
the expansion module is used for expanding the running track to obtain a barrier stopping detection area of the mobile robot and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position is mapped to a blocking position on the driving track;
and the regulation and control module is used for regulating and controlling the moving speed of the robot according to the track distance between the blocking position and the mobile robot, so as to avoid the collision between the mobile robot and the obstacle.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the steps of the mobile robot barrier stopping method described above are implemented when the processor executes the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the mobile robot barrier stopping method described above.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
predicting a running track of the mobile robot on a preset running path in a prediction time; expanding the running track to obtain a barrier stopping detection area of the mobile robot, and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position is mapped to a blocking position on the driving track; according to the track distance between the blocking position and the mobile robot, the moving speed of the robot is regulated and controlled, and the mobile robot is prevented from colliding with an obstacle.
According to the application, the running track of the mobile robot is predicted, the obstacle stopping detection area is determined based on the running track instead of setting the fixed obstacle stopping detection area, the obstacle stopping detection area is not influenced by the obstacle in the non-moving direction of the robot, the distance between the obstacle and the robot is calculated more accurately, the speed regulation is performed more accurately, and the running stability of the robot is improved.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a prior art barrier stopping method provided by an embodiment of the present application;
fig. 2 is a schematic flow chart of a mobile robot obstacle stopping method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a mobile robot of the present application illustrating relative points according to an embodiment of the present application;
FIG. 4 shows a schematic diagram of a pretightening point according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a barrier detection area according to an embodiment of the present application;
FIG. 6 is a schematic view of a mobile robot barrier according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.
As shown in fig. 1, the barrier stopping method in the prior art is as follows: fixed deceleration areas, stop areas and the like are respectively arranged around the mobile robot. When an obstacle appears in the deceleration zone, the mobile robot reduces the traveling speed. When an obstacle appears in the stop zone, the mobile robot stops running. In such a stopping mode, the control accuracy for the mobile robot is low.
Based on the above, the embodiment of the application provides a mobile robot obstacle stopping method, a mobile robot obstacle stopping device, electronic equipment and a storage medium, and the method, the device and the storage medium are described in the following embodiments.
Fig. 2 shows a schematic flow chart of a mobile robot obstacle stopping method according to an embodiment of the present application, wherein the method includes steps S101-S103; specific:
s101, predicting a running track of the mobile robot on a preset running path in a prediction time;
s102, expanding the running track to obtain a barrier stopping detection area of the mobile robot, and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position is mapped to a blocking position on the driving track;
S103, regulating and controlling the moving speed of the robot according to the track distance between the blocking position and the mobile robot, and avoiding the collision between the mobile robot and the obstacle.
According to the application, the running track of the mobile robot is predicted, the obstacle stopping detection area is determined based on the running track instead of setting the fixed obstacle stopping detection area, the obstacle stopping detection area is not influenced by the obstacle in the non-moving direction of the robot, the distance between the obstacle and the robot is calculated more accurately, the speed regulation is performed more accurately, and the running stability of the robot is improved.
Some embodiments of the application are described in detail below. The following embodiments and features of the embodiments may be combined with each other without conflict.
The embodiment of the application provides a mobile robot obstacle stopping method, wherein the mobile robot is characterized by a movable intelligent device, and generally comprises a body and a movable wheel, wherein the body has a certain length and a certain width, for example, the body can be in a cuboid shape, a cube shape or a cylinder shape and the like. The body is generally arranged on the moving wheel. The body is internally provided with a processing module, an energy storage module, a sensor module, a driving module and the like, and the movement principle of the mobile robot can be realized in the prior art and is not repeated here. It should be noted that, in the present application, the description of the mobile robot is with respect to the center point of the bottom tangential plane or the center point perpendicular to the projection of the mobile robot on the path of the preset form. I.e. the predicted travel path is also relative to the center point. As shown in fig. 3, the rectangular frame in the drawing is a mobile robot, and the relative position, angle, etc. in the present application are relative to the center point (circle in the drawing) of the rectangular frame, not other positions. Further, the travel locus predicted in the present application is a single line (straight line or curved line).
S101, predicting the running track of the mobile robot on a preset running path in the prediction time.
In S101, the preset travel path and the predicted time are manually preset. The travel path may be selected for the mobile robot in advance and then input into the processing module of the mobile robot. The route may be selected by the mobile robot after the mobile robot inputs the destination in the processing module of the mobile robot and the mobile robot comprehensively processes the route, the road condition, and the like. After the path is determined, the mobile robot travels along the path. When the travel track of the mobile robot is predicted, a prediction time is also required to be set, and the travel track of the mobile robot on the preset travel path is predicted in the prediction time. If the predicted time is not set, the mobile robot can always run on the preset running path, and the mobile robot cannot know when the mobile robot can finish. And the predicted time is less than or equal to the time required for the mobile robot to finish the preset travel path.
In the specific implementation, the mobile robot sets the travel path from the A ground to the B ground for the automatic driving vehicle. The required time for the automatic driving vehicle from the ground A to the ground B is thirty minutes, and the predicted time can be set to be twenty minutes in the embodiment of the application. That is, the travel locus of the autonomous vehicle at twenty minutes is predicted at the time of the autonomous vehicle going from the a ground to the B ground.
In order to ensure the accuracy of prediction when predicting the running track of the mobile robot, the embodiment of the application divides the prediction time into a plurality of prediction sub-times, and a fixed time interval is arranged between two adjacent predictions (the time interval is also artificially set). That is, in the embodiment of the present application, the prediction time is formed by a plurality of prediction sub-times, so that the prediction of the travel track in the prediction time is converted into the prediction of the travel sub-tracks in each prediction sub-time, and then the travel tracks in the prediction time can be obtained by sequentially connecting each prediction travel sub-track.
In order to predict the travel sub-track of the mobile robot on the travel path within each prediction sub-time, the embodiment of the application needs to set a forward looking distance. The forward looking distance is set manually, and after the forward looking distance of the mobile robot is determined, the embodiment of the application needs to determine the pre-aiming distance of the mobile robot in the driving process based on the forward looking. The present embodiment of the application also requires consideration of the current speed of the mobile robot when determining the pre-sighting distance. If the current speed of the mobile robot is greater than or equal to the preset speed threshold, the pre-aiming distance of the mobile robot is determined according to the forward looking distance and the current speed of the mobile robot. If the current speed of the mobile robot is less than the preset threshold, the pre-sighting distance of the mobile robot is determined according to the forward-looking distance.
In practice, the speed threshold here is generally chosen to be 0.2m/s, in particular, v_ flw =0.5×v+flw when v > 0.2; v_ flw =0.5×flw when v is less than or equal to 0.2. Where v_ flw is the pretightening distance, flw is the forward looking distance, and v is the current speed of the mobile robot.
After the front view distance of the mobile robot is determined, the embodiment of the application also needs to preset a preset aiming point on the running path for determining the current position of the mobile robot. The pre-aiming point is used for restraining the running direction of the mobile robot on a preset running path. After the pretightening distance is determined, a point distant from the pretightening distance of the mobile robot is taken as a pretightening point.
It should be noted that there are many points that are far from the pre-aiming distance of the mobile robot, and the following exclusions are needed in the embodiment of the present application. The pre-aiming point is a point in front of the travel path as the name implies, so the point in the opposite direction of travel of the mobile robot is excluded. Furthermore, the application has been described above with respect to the center point of the bottom section or the center point of the projection of the mobile robot onto the path of the predetermined form, so that there is only one point of the pre-aiming point. And the pre-aiming point may be located in the pre-set travel path or may be located on an extended path of the pre-set travel path (when the mobile robot is at the end of the pre-set travel path). The extended path is an extended line of the preset travel path, and is mainly used for restraining the advancing direction of the trolley when approaching to the end point, the generation mode is that the direction angle of the end point of the preset travel path is determined, and the extended path with the length of 1m is generated in the direction of the extended direction angle (relative to a coordinate system constructed by taking the center point of the mobile robot as the origin and the moved direction as the positive direction).
After the pre-aiming point is determined, the embodiment of the application also needs to calculate the angular speed of the mobile robot relative to the pre-aiming point. When determining the angular velocity of the mobile robot relative to the pre-aiming point, the embodiment of the application is based on the current velocity of the mobile robot and the position relationship between the mobile robot and the pre-aiming point. Here, the positional relationship between the mobile robot and the pretightening point is the relative angle between the mobile robot and the pretightening point. The relative angle here is the current speed direction of the mobile robot, and the included angle between the mobile robot and the line connecting the pre-aiming point, as shown in fig. 4.
Specifically, the angular velocity is w= (v)/(0.5×v_lfw/sin (eta)); wherein v_ flw represents the pretightening distance in the motion process, v represents the current speed of the mobile robot, w represents the angular speed, eta represents the position relationship between the mobile robot and the pretightening point as the relative angle between the mobile robot and the pretightening point. If eta= 0; then w=0. The pressing relation of the angular velocity to the running velocity is v=v [ (1.57- |w|)/1.57 ]. Times.4, and the larger the angular velocity is, the smaller the velocity is. There is typically a limit to the minimum speed, when v < vmin, v=vmin.
After obtaining the angular velocity of the mobile robot relative to the pre-aiming point, the embodiment of the application predicts the running sub-track of the mobile robot in the prediction time based on the current position of the mobile robot, the current velocity of the mobile robot and the angular velocity relative to the pre-aiming point; and obtaining the running track of the mobile robot in the prediction time according to the running sub-tracks in the prediction time.
To facilitate position prediction, embodiments of the present application require construction of a position reference coordinate system. For the convenience of calculation, a position reference coordinate system is constructed by taking the center point of the mobile robot as an origin. The position reference coordinate system is a two-dimensional coordinate system, and the moving direction of the mobile robot is the positive direction of the X axis. The current position of the mobile robot can thus be represented in a position reference coordinate system with specific coordinates. This prediction of the next movement position is converted into a coordinate prediction of the next movement position. After the moving coordinate of the next moving position is determined in the position reference coordinate system, the next moving position is determined based on the association relation between the moving coordinate and the current coordinate of the current position of the mobile robot in the position reference coordinate system and the current position of the mobile robot. And based on the current position and the moving position, the running sub-track of the mobile robot in the predicted sub-time can be obtained.
The calculation process for the movement coordinates is as follows:
wherein x and y are the abscissa and the ordinate of the current position of the mobile robot in the position reference coordinate system, θ is the direction angle of the current position, w represents the angular velocity, and v is the current velocity of the mobile robot.And->The abscissa, ordinate and direction angle of the predicted position. Δt is the predictor time.
S102, expanding the running track to obtain a barrier stopping detection area of the mobile robot, and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position maps to a blocking position on the travel track.
After the travel track of the mobile robot is predicted, the obstacle stop detection area of the mobile robot needs to be determined. In order to improve the detection accuracy, the predicted running track is not directly used as the obstacle stopping detection area, but the running track is expanded to obtain the obstacle stopping detection area. That is, compared with the predicted driving track, the obstacle stop detection area in the embodiment of the application is larger, and a more comprehensive area can be detected.
When expanding the running track, considering that the mobile robots are of different types, the embodiment of the application adopts different expansion modes aiming at the mobile robots of different types. The different types of mobile robots are distinguished here mainly in terms of the way in which the mobile wheels of the mobile robots move. Specifically, the differential wheel type mobile robot and the omni wheel type mobile robot can be classified.
In the case of the differential-wheel type mobile robot, the differential-wheel type mobile robot has only the speed in the x direction (the x direction is in the above-described position reference coordinate system), so that only the attribute information of the mobile robot needs to be considered when performing expansion for the differential-wheel type mobile robot. The attribute information here is mainly the width of the mobile robot. For a differential-wheel type mobile robot, the specific expansion length is 0.5 x the width of the mobile robot.
For an omni-wheel type mobile robot, the instantaneous speed direction of the mobile robot, namely the speed direction of the mobile robot at each time point, needs to be considered when the mobile robot is expanded. And expanding the running track according to the speed direction of each time point of the mobile robot and the attribute information of the mobile robot. The attribute information of the mobile robot here is the width and length of the mobile robot. When considering the speed direction of the mobile robot, the yaw angle between the speed direction per hour and the positive direction of the mobile robot body (i.e., the x-axis direction in the above-mentioned coordinate system) is mainly used. Specific expansion length: eppend= (car_width ] cos (omni_angle) +car_length × (sin (omni_angle))/2; here, expansion represents an expansion length, car_width represents a width of the mobile robot, car_length represents a length of the mobile robot, and omni_angle represents a yaw angle between a speed direction and a positive direction (x-axis) of the mobile robot.
After the expansion length of each time point is determined, the travel track is expanded according to the expansion length. Because the embodiments of the present application are all relative to the center point, rather than the real structure of the mobile robot itself, when the obstacle detection area is determined, it is necessary to consider that the center point is at the end of the travel track, and the front half of the mobile robot itself has exceeded the travel track. That is, after expanding the travel path, it is necessary to add a half of the volume of the mobile robot. As shown in fig. 5, where curve a is the predicted travel trajectory, and curves b and c are lines expanded according to the expansion length. The starting points of curve b and curve c are connected together and the dashed line portion (half of the mobile robot volume) in the figure is added as a stop-obstacle detection area.
After the obstacle stopping detection area is determined, in order to improve the detection efficiency, the area where the mobile robot in the obstacle stopping detection area is located needs to be eliminated, namely, obstacle detection is performed on the effective area in the obstacle stopping detection area. When detecting an obstacle, the embodiment of the application adopts a mode of acquiring point cloud information. The specific point cloud transmitting mode can be realized in the prior art and is not described herein. After the point cloud information in the obstacle stopping detection area is acquired, the point cloud of the mobile robot is eliminated, and then the position of the obstacle is determined.
After the position of the obstacle is obtained, the obstacle stopping prediction is not directly performed by using the distance between the obstacle and the mobile robot. Because the mobile robot is traveling along the predicted travel path, the distance traveled by the mobile robot along the predicted travel path may differ from the distance of the obstacle to the mobile robot. When the obstacle is on the predicted travel locus and the travel locus is a straight line, the distance traveled by the mobile robot on the predicted travel locus is the same as the distance from the obstacle to the mobile robot, and is different from the other cases. Therefore, in order to improve the accuracy of obstacle stopping, the embodiment of the application uses the blocking position mapped on the driving track by the target position of the obstacle.
In order to obtain a blocking position mapped on a running track by a target position of an obstacle, the embodiment of the application takes the target position as a starting point to make a vertical line to the running track, and determines the drop foot of the target position and the running track or an extension line of the running track; and taking the foot drop closest to the mobile robot as a blocking position mapped on the running track by the target position.
Because the predicted running track in the embodiment of the application is determined by a plurality of pretightening points, the embodiment of the application sequentially makes the track to the connecting line between two adjacent pretightening points when the vertical line is made from the target position to the running track. The connecting line between two adjacent pre-aiming points is not vertical to the target position, and the connecting line is eliminated in the embodiment of the application, and then the foot capable of making a vertical line is found. In the case that there may be a plurality of drop feet, according to the passing sequence of the mobile robot, the embodiment of the application takes the drop foot nearest to the mobile robot as the blocking position mapped on the running track by the target position.
Because the obstacle stop detection area in the embodiment of the application comprises the volume of the half mobile robot outside the predicted running track. When the obstacle is in the area, the target position of the obstacle is the condition that no perpendicular line exists with the running track. In this case, when the blocking position of the obstacle is mapped, it is necessary to extend the travel track from the end point to the track direction angle, and obtain an extension line of the travel track. And (3) taking the target position as a starting point to make a vertical line on the extension line, and further finding a blocking position of the target position mapped on the running track.
S103, regulating and controlling the moving speed of the robot according to the track distance between the blocking position and the mobile robot, and avoiding the collision between the mobile robot and the obstacle.
After determining the blocking position, the distance between the blocking position and the mobile robot is calculated. I.e. the distance to be travelled from the current position of the mobile robot to the obstacle position according to the travel trajectory. Since the embodiments of the present application are all relative to the center point of the robot, the volume of the mobile robot itself needs to be considered after the distance between the blocking position and the mobile robot is calculated. I.e. the distance between the blocking position and the mobile robot plus half the length of the mobile robot, the trajectory distance between the blocking position and the mobile robot is obtained. Specifically, the Euclidean distance may be calculated from the coordinates of both in the positional reference coordinate system.
After obtaining the track distance between the blocking position and the mobile robot, determining a safety coefficient based on the relation between the track distance and the length of a preset speed control area; and adjusting the moving speed of the mobile robot based on the safety coefficient to avoid collision between the mobile robot and an obstacle.
The length of the speed control zone comprises the length of the stopping zone and the length of the decelerating zone, and if the track distance is smaller than or equal to the length of the stopping zone, the safety coefficient is 0, and the speed of the mobile robot is regulated and controlled to be 0. And if the track distance is greater than or equal to the length of the deceleration zone, the safety coefficient is 1, and the current speed of the mobile robot is regulated and controlled. If the track distance is larger than the length of the stopping zone and smaller than the length of the speed control zone (the length of the stopping zone plus the length of the decelerating zone), the smaller the track distance is, the larger the safety coefficient is, the slower the speed of the mobile robot is regulated, otherwise, the opposite is.
Specifically, the safety factor is obtained by:
wherein y is a safety coefficient, dis is a track distance, and stop zone length slow deceleration zone length.
Fig. 6 shows a schematic structural diagram of a mobile robot barrier device according to an embodiment of the present application, where the device includes:
the prediction module is used for predicting the running track of the mobile robot on a preset running path in the prediction time;
the expansion module is used for expanding the running track to obtain a barrier stopping detection area of the mobile robot and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position is mapped to a blocking position on the driving track;
And the regulation and control module is used for regulating and controlling the moving speed of the robot according to the track distance between the blocking position and the mobile robot, so as to avoid the collision between the mobile robot and the obstacle.
The predicted time comprises a plurality of predicted sub-times with preset time intervals; the predicting the running track of the mobile robot on the preset running path in the prediction time comprises the following steps:
determining a pre-aiming point on the preset running path or an extension path of the preset running path according to the pre-aiming distance in the running process of the mobile robot;
determining the angular speed of the mobile robot relative to the pre-aiming point based on the current speed of the mobile robot, the pre-aiming distance and the position relation between the mobile robot and the pre-aiming point;
predicting a sub-track of the mobile robot traveling in the predicted sub-time based on the current position of the mobile robot, the current speed of the mobile robot and the angular speed relative to the pre-aiming point;
and obtaining the running track of the mobile robot in the prediction time according to the running sub-tracks in the prediction time.
The pre-aiming point is determined by:
Determining a forward looking distance of the mobile robot in response to a forward looking distance setting operation;
determining a pretightening distance corresponding to the position of the mobile robot based on the forward looking distance or the forward looking distance and the current speed of the mobile robot;
and taking the point which is on the preset running path or the extension path and is away from the pretightening distance of the mobile robot as the pretightening point.
Based on the current speed of the mobile robot, the pre-aiming distance and the position relation between the mobile robot and the pre-aiming point, determining the angular speed of the mobile robot relative to the pre-aiming point comprises the following steps:
and determining the angular speed of the mobile robot relative to the pre-aiming point according to the current speed of the mobile robot, the pre-aiming distance and the relative angle between the mobile robot and the pre-aiming point.
The device also comprises a construction module for constructing a position reference coordinate system;
the predicting the travel sub-track of the mobile robot in the predicted sub-time based on the current position of the mobile robot, the current speed of the mobile robot and the angular speed relative to the pre-aiming point comprises:
Predicting a moving coordinate of the mobile robot after moving in the prediction time based on a current coordinate of the current position of the mobile robot in the position reference coordinate system and a current speed of the mobile robot and an angular speed relative to the pre-aiming point;
and determining a running sub-track of the mobile robot in the prediction time according to the moving coordinate of the mobile robot after moving in the prediction time and the position reference coordinate system.
The mobile robot comprises different types, the driving track is expanded to obtain a stopping obstacle detection area of the mobile robot, and the method comprises the following steps:
and aiming at different types of mobile robots, obtaining the obstacle stopping detection area by using an expansion mode corresponding to the type of mobile robots.
The step of obtaining the obstacle stop detection area for the mobile robots of different types by using an expansion mode corresponding to the mobile robots of the type comprises the following steps:
aiming at the mobile robot with the differential wheel type, performing expansion on the running track according to the attribute information of the mobile robot to obtain the obstacle stopping detection area;
And aiming at the mobile robot with the omni-wheel type, performing expansion on the running track according to the speed direction of each time point of the mobile robot and the attribute information of the mobile robot to obtain the obstacle stopping detection area.
Determining a blocking position mapped by the target position on the travel track by:
taking the target position as a starting point to make a vertical line to the running track, and determining the drop foot of the target position and the running track or the running track extension line;
and taking the foot drop closest to the mobile robot as a blocking position mapped on the running track by the target position.
Regulating and controlling the moving speed of the robot according to the track distance between the blocking position and the moving robot, comprising:
determining a safety coefficient according to the relation between the track distance and the length of a preset speed control area;
and adjusting the moving speed of the mobile robot based on the safety coefficient to avoid collision between the mobile robot and an obstacle.
As shown in fig. 7, an embodiment of the present application provides an electronic device for executing the mobile robot stopping method according to the present application, where the device includes a memory, a processor, a bus, and a computer program stored in the memory and capable of running on the processor, where the steps of the mobile robot stopping method are implemented when the processor executes the computer program.
Specifically, the above-mentioned memory and processor may be general-purpose memory and processor, and are not particularly limited herein, and the above-mentioned mobile robot stopping method can be executed when the processor runs a computer program stored in the memory.
Corresponding to the mobile robot stopping method in the present application, the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, and the computer program when executed by a processor performs the steps of the mobile robot stopping method.
Specifically, the storage medium can be a general-purpose storage medium, such as a mobile magnetic disk, a hard disk, or the like, and the computer program on the storage medium can execute the mobile robot barrier stopping method described above when being executed.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other manners. The system embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions in actual implementation, and e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, system or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (12)

1. A method of stopping an obstacle in a mobile robot, the method comprising:
predicting a running track of the mobile robot on a preset running path in a prediction time;
expanding the running track to obtain a barrier stopping detection area of the mobile robot, and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position is mapped to a blocking position on the driving track;
according to the track distance between the blocking position and the mobile robot, the moving speed of the robot is regulated and controlled, and the mobile robot is prevented from colliding with an obstacle.
2. The method of claim 1, wherein the predicted time comprises a plurality of predicted sub-times having a preset time interval; the predicting the running track of the mobile robot on the preset running path in the prediction time comprises the following steps:
determining a pre-aiming point on the preset running path or an extension path of the preset running path according to the pre-aiming distance in the running process of the mobile robot;
determining the angular speed of the mobile robot relative to the pre-aiming point based on the current speed of the mobile robot, the pre-aiming distance and the position relation between the mobile robot and the pre-aiming point;
Predicting a sub-track of the mobile robot traveling in the predicted sub-time based on the current position of the mobile robot, the current speed of the mobile robot and the angular speed relative to the pre-aiming point;
and obtaining the running track of the mobile robot in the prediction time according to the running sub-tracks in the prediction time.
3. The method of claim 2, wherein the method determines the pre-aiming point by:
determining a forward looking distance of the mobile robot in response to a forward looking distance setting operation;
determining a pretightening distance corresponding to the position of the mobile robot based on the forward looking distance or the forward looking distance and the current speed of the mobile robot;
and taking the point which is on the preset running path or the extension path and is away from the pretightening distance of the mobile robot as the pretightening point.
4. The method of claim 2, wherein determining the angular velocity of the mobile robot relative to the pre-aiming point based on the current velocity of the mobile robot, the pre-aiming distance, and the positional relationship between the mobile robot and the pre-aiming point comprises:
And determining the angular speed of the mobile robot relative to the pre-aiming point according to the current speed of the mobile robot, the pre-aiming distance and the relative angle between the mobile robot and the pre-aiming point.
5. The method according to claim 2, wherein the method further comprises:
constructing a position reference coordinate system;
the predicting the travel sub-track of the mobile robot in the predicted sub-time based on the current position of the mobile robot, the current speed of the mobile robot and the angular speed relative to the pre-aiming point comprises:
predicting a moving coordinate of the mobile robot after moving in the prediction time based on a current coordinate of the current position of the mobile robot in the position reference coordinate system and a current speed of the mobile robot and an angular speed relative to the pre-aiming point;
and determining a running sub-track of the mobile robot in the prediction time according to the moving coordinate of the mobile robot after moving in the prediction time and the position reference coordinate system.
6. The method of claim 1, wherein the mobile robot includes different types, and the expanding the travel track to obtain the obstacle stop detection area of the mobile robot includes:
And aiming at different types of mobile robots, obtaining the obstacle stopping detection area by using an expansion mode corresponding to the type of mobile robots.
7. The method according to claim 6, wherein the obtaining the obstacle-stopping detection zone for the mobile robots of different types using an expansion pattern corresponding to the mobile robots of that type comprises:
aiming at the mobile robot with the differential wheel type, performing expansion on the running track according to the attribute information of the mobile robot to obtain the obstacle stopping detection area;
and aiming at the mobile robot with the omni-wheel type, performing expansion on the running track according to the speed direction of each time point of the mobile robot and the attribute information of the mobile robot to obtain the obstacle stopping detection area.
8. The method of claim 1, wherein the method determines the blocking position mapped by the target position on the travel track by:
taking the target position as a starting point to make a vertical line to the running track, and determining the drop foot of the target position and the running track or the running track extension line;
And taking the foot drop closest to the mobile robot as a blocking position mapped on the running track by the target position.
9. The method of claim 1, wherein adjusting the speed of movement of the robot based on the trajectory distance between the blocking position and the mobile robot comprises:
determining a safety coefficient according to the relation between the track distance and the length of a preset speed control area;
and adjusting the moving speed of the mobile robot based on the safety coefficient to avoid collision between the mobile robot and an obstacle.
10. A mobile robotic barrier, the device comprising:
the prediction module is used for predicting the running track of the mobile robot on a preset running path in the prediction time;
the expansion module is used for expanding the running track to obtain a barrier stopping detection area of the mobile robot and detecting the target position of an obstacle in the barrier stopping detection area; wherein the target position is mapped to a blocking position on the driving track;
and the regulation and control module is used for regulating and controlling the moving speed of the robot according to the track distance between the blocking position and the mobile robot, so as to avoid the collision between the mobile robot and the obstacle.
11. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating over the bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the mobile robot barrier method of any one of claims 1 to 9.
12. 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, performs the steps of the mobile robot barrier stopping method according to any of claims 1 to 9.
CN202310954091.1A 2023-07-31 2023-07-31 Mobile robot obstacle stopping method and device, electronic equipment and storage medium Pending CN116880496A (en)

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Application Number Priority Date Filing Date Title
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