WO2019042018A1 - Travel control method and apparatus for robot, and storage medium and robot - Google Patents
Travel control method and apparatus for robot, and storage medium and robot Download PDFInfo
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- WO2019042018A1 WO2019042018A1 PCT/CN2018/095029 CN2018095029W WO2019042018A1 WO 2019042018 A1 WO2019042018 A1 WO 2019042018A1 CN 2018095029 W CN2018095029 W CN 2018095029W WO 2019042018 A1 WO2019042018 A1 WO 2019042018A1
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- steering wheel
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000003860 storage Methods 0.000 title claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Definitions
- the embodiments of the present invention relate to the field of robot technologies, and in particular, to a driving control method, device, storage medium, and robot of a robot.
- Robots can adapt to high-strength working environment more than labor, and gradually replace artificial, playing an increasingly important role in production and life, for example, robots. Can be used to transport goods, etc.
- some robots used to transport goods are mostly driven by tracing.
- the staff can pre-set corresponding guiding lines on the ground of the factory building, and the robot can continuously detect the guiding lines during driving, and travel along the detected guiding lines until the end of the journey to carry out the goods. Uninstall processing.
- the robot can easily get out of the guide line during the transportation of the material. For example, when there is oil on the ground, the robot will slide out of the guide line in inertia. After the robot is disengaged from the guide line, the guide line cannot be detected, and further, it is impossible to travel along the guide line, resulting in failure of cargo transportation.
- the embodiment of the present application provides a driving control method, device, storage medium, and robot for a robot, which can solve the problem that the guiding line cannot be detected after the robot is separated from the guiding line, resulting in failure of cargo transportation.
- the technical solution is as follows:
- a driving control method for a robot comprising:
- the control robot continues to travel according to the guide line.
- control robot continues to drive according to the arc, including:
- the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
- the method further includes:
- the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius, including:
- the method further includes:
- the travel route acquisition request is transmitted to the server, wherein the travel route acquisition request carries the position information, so that The server determines the driving route based on the location information;
- the control robot When receiving the travel route sent by the server, the control robot travels on the guide line according to the travel route.
- control robot continues to follow the guide line, including:
- the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;
- the steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.
- a travel control device for a robot comprising:
- control module configured to control the robot to continue driving according to an arc when the guiding line pre-arranged on the ground is not detected during driving
- the control module is further configured to continue to detect the guide line during the arc running; when the guide line is detected, the control robot continues to travel according to the guide line.
- control module is used to:
- the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
- control module is further configured to:
- the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- control module is used to:
- the robot further includes:
- a determining module configured to send a travel route acquisition request to the server when the position information is detected by the detecting component of the robot for the first time in the process of continuing to travel according to the guide line, wherein the travel route acquisition request carries the location information So that the server determines the driving route based on the location information;
- the control module is configured to control the robot to travel on the guide line according to the driving route when receiving the driving route sent by the server.
- control module is used to:
- the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;
- the steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.
- a storage medium in a third aspect, storing a computer program that, when executed by the processor, implements the method steps of the first aspect.
- a robot in a fourth aspect, includes a processor, a memory, a detecting component, and a running wheel, wherein the memory is configured to store a computer program, and the processor is configured to execute a program stored on the memory to implement the first The method steps of any of the aspects described.
- the control robot when the guide line pre-arranged on the ground is not detected during the running, the control robot continues to travel according to the arc, and during the arc running, the guide line is continuously detected, and when the guide is detected When the line is on, the control robot continues to follow the guide line. In this way, the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.
- FIG. 1 is a flowchart of a driving control method of a robot according to an embodiment of the present application
- FIG. 2 is a schematic diagram of a control robot traveling in an arc according to an embodiment of the present application
- FIG. 3 is a schematic diagram of a control robot traveling in an arc according to an embodiment of the present application.
- FIG. 4 is a schematic diagram of a control robot being operated according to an arc according to an embodiment of the present application
- FIG. 5 is a block diagram of a travel control apparatus for a robot according to an embodiment of the present application.
- FIG. 6 is a block diagram of a travel control device for a robot according to an embodiment of the present application.
- FIG. 7 is a schematic structural diagram of a travel control device for a robot according to an embodiment of the present application.
- the guide wire may be pre-set on the floor of the plant such that the robot can transport the cargo by detecting the guide wire during travel.
- the embodiment of the present application provides a driving control method for a robot, which can cause the robot to find the guiding line after derailing, thereby ensuring that the robot can continue to travel along the guiding line to complete the cargo transportation.
- the travel control method of the robot provided by the embodiment of the present application can be implemented by a robot.
- the robot may be an AGV (Automated Guided Vehicle) including a vehicle body and a detecting component disposed on the bottom of the vehicle body, and the detecting component may be used for detecting a guide wire disposed on the ground and Identify location marker information on the guide line.
- the body can be provided with a processor, a memory and the like, and the bottom of the vehicle body can also be provided with a steering wheel and a plurality of wheels, and a motor for driving the steering wheel and the wheel.
- the processor may be a CPU (Central Processing Unit) or the like for receiving instructions and controlling related processes of driving the robot.
- CPU Central Processing Unit
- the memory may be a RAM (Random Access Memory), a Flash (flash memory), etc., and is used for storing the read data, data required for the processing, data generated during the processing, and the like, for storage detection.
- the above steering wheel can be used to adjust the traveling direction of the robot, and the wheel and the motor can cause the robot to travel or stop.
- the robot can be an AGV.
- the robot can also be other smart devices, which is not limited in this embodiment of the present application.
- FIG. 1 is a traveling control method of a robot according to an exemplary embodiment of the present application.
- the processing flow of the method may include the following steps:
- step 101 when the guide line pre-arranged on the ground is not detected during running, the control robot continues to travel in an arc.
- the staff in order to enable the robot with the tracing function to transport the goods, can pre-arrange the guiding line on the floor of the factory building.
- the guiding line is the line for guiding the robot to travel, the color of the guiding line and the floor of the factory building.
- the robot can detect it.
- the robot can continuously detect the guide wire pre-arranged on the ground through the detecting component of the robot, and further, can travel along the detected guide wire.
- the robot can continue to travel according to the preset arc travel mode, that is, it can continue to travel according to the arc, as shown in FIG. 2 .
- the detecting component may be a component such as a camera capable of detecting a guide wire.
- the position where the robot is currently parked may not be provided with a guide line.
- the robot when the robot receives the start command, it can also travel in the mode of the arc travel.
- the arc travel can be realized by adjusting the steering angle of the steering wheel.
- the process of step 101 can be as follows: when the guide is not pre-arranged on the ground during the running process When the lead is turned, the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
- the first predetermined angle may be pre-stored in the robot.
- the robot may travel in a preset driving mode. Specifically, when the robot does not detect the guide line pre-arranged on the ground during the running, the robot may acquire a pre-stored first preset angle, and then control the steering wheel of the robot to rotate the first preset angle, even if The angle between the steering wheel and the direction of the vehicle body is a first preset angle, and then the robot can drive while maintaining the steering angle at the first preset angle.
- the trajectory of the robot is an arc.
- the first preset angle may be customized by the user according to actual needs, or may be set by default by the robot, which is not limited in the embodiment of the present application.
- the radius of the arc travel of the robot can be adjusted in the arc driving mode.
- the processing can be as follows: during the arc running, when the preset adjustment condition is reached, the steering of the steering wheel of the robot is controlled. The angle is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- a preset adjustment condition may be preset.
- the preset adjustment condition may be a length of time, a number of revolutions of the motor, and the like.
- the robot can reduce the angle between the steering wheel and the vehicle body by a second preset angle value based on the first preset angle, that is, the increase is The radius of the arc travels, and then the robot continues to drive at a new angle, that is, to continue driving in an arc of increasing radius.
- an adjustment period may be set, and the steering angle is adjusted after the period of the adjustment period is reached.
- the processing may be as follows: during the arc running, the steering of the robot is controlled every time the preset adjustment period is reached. The steering angle of the wheel is reduced by the second predetermined angle, and the driving is continued according to the arc with the increased radius.
- an adjustment period may be preset, and in the arc driving mode, during the arc running, when the preset adjustment period is reached, the robot may acquire the second preset angle stored in advance, and then control the steering.
- the wheel reduces the second preset angle based on the first preset angle, that is, the angle between the steering wheel and the vehicle body direction is decreased by the second preset angle, so that the driving radius of the robot is increased, that is, the driving arc Increase, then the robot travels in the arc after the radius increases.
- the robot can control the steering angle of the steering wheel to decrease the second preset angle based on the first preset angle, when reaching the second
- the robot can control the steering angle of the steering wheel to decrease the second preset angle after the first adjustment.
- the robot controls the steering wheel to decrease the steering angle every 10 seconds after the start of the arc exercise.
- Degree that is, the steering angle is 38 degrees after 10 seconds
- the steering angle is 36 degrees after 20 seconds, and so on.
- an obstacle detecting component may be further disposed at the designated position of the robot.
- the obstacle detecting component may include an infrared sensor, an ultrasonic sensor, a camera, or the like for detecting an obstacle.
- the designated position may refer to the front and rear ends of the robot, or the designated position may also refer to the left and right ends of the robot.
- an adjustment angle may be set in advance so that the robot can adjust the steering wheel to rotate the adjustment angle when the obstacle detecting member detects the obstacle.
- the robot can adjust the steering angle of the steering wheel according to a preset adjustment angle to bypass the obstacle.
- the robot may also preset the number of times of obstacle detection.
- the number of adjustments of the steering angle of the steering wheel is adjusted to a preset number of times, if the detected obstacle is still not bypassed, the driving may be stopped and a prompt may be issued.
- the signal for example, the robot can flash a signal light, play a ringtone, and the like.
- the robot can also send fault information to the server, so that after receiving the fault information, the server sends a fault signal, for example, playing the faulty robot code, displaying the faulty robot code on the screen, and the like.
- the server is usually used to provide services for the robot.
- step 102 the guide line is continuously detected during the arc running.
- the control robot continues to travel according to the guide line.
- the camera periodically detects the guiding line on the ground, and when the camera detects the guiding line, it will travel along the guiding line detected by the detecting component, for example, The robot can travel in a direction of a guide line having a smaller angle with the current traveling direction.
- the driving direction when the guiding line is detected, the driving direction may be adjusted to be parallel to the guiding line, and the corresponding processing may be as follows: during the driving of the arc, when the guiding line is detected Determining the target angle between the current driving direction and the guiding line, and determining the current steering angle of the steering wheel of the robot; determining the target angular velocity by the calculation formula of the angular velocity according to the target angle and the current steering angle of the steering wheel, The calculation formula of the angular velocity is based on the angle between the direction of travel and the guide line, the steering angle of the steering wheel, and the angular velocity of the steering wheel.
- the steering wheel adjusts the steering angle of the steering wheel at the target angular velocity and continues to travel according to the guide line.
- the angle between the current driving direction and the guiding line can be obtained according to the current driving direction and the detected guiding line, that is, determining The angle of the target.
- the detecting component is a camera
- the current rotation angle of the camera may be acquired, and the obtained rotation angle is determined as the target angle.
- the corresponding steering angle of the target angle is obtained.
- the robot is currently exercising to the position P0, the next moment will be exercised to the position P1, and the above-mentioned determined target angle is recorded as ⁇ 0 , and the robot is placed in the next moment and guided.
- the angle between the lines is ⁇ 1
- the corresponding steering angle of the target angle can be determined.
- the above ⁇ L and ⁇ x can be determined by a device test such as infrared rays, and in addition, the above point A can be preset by the user according to actual needs.
- the robot may pre-store a calculation formula of the rotational angular velocity in which the angle between the traveling direction and the guiding line, the steering angle of the steering wheel, and the angular velocity of the steering wheel are variables.
- the above-mentioned angular velocity calculation formula can be used to obtain the corresponding rotational angular velocity, that is, the target rotational angular velocity is determined, and then the robot can control the steering wheel to adjust the steering wheel angle according to the calculated steering angular velocity.
- the robot is adjusted to the guide line and travels according to the guide line detected by the detecting unit.
- the above formula for calculating the angular velocity of rotation may be as shown in formula (3):
- ⁇ 1 is the target angular velocity
- ⁇ 0 is the current angular velocity of the robot
- K p can be selected as a function related to the steering angle ⁇ corresponding to the target angle, the current linear velocity v 0 of the robot, and the current angular velocity ⁇ 0 of the robot.
- a new driving route may also be acquired, and the corresponding processing may be as follows: in the process of continuing to follow the guiding line, when the position is detected by the detecting component of the robot for the first time
- the travel route acquisition request is sent to the server; when the travel route sent by the server is received, the control robot travels on the guide line according to the travel route.
- the driving route acquisition request carries the position information of the robot.
- a mark that can be identified by the detecting component for determining the position information may be provided on the above-mentioned guide wire.
- the mark may be a two-dimensional code, a barcode or the like.
- the robot can obtain the position information corresponding to the mark by detecting and identifying these marks.
- the robot may send a request for obtaining a travel route to the server, and the acquisition request carries the position information corresponding to the mark.
- the server may acquire the location information carried in the travel route acquisition request and the location information of the end position corresponding to the robot, and then acquire the location information carried in the request and the robot according to the acquired travel route.
- the position information of the corresponding end position is used to plan the driving route for the robot, and then the server sends the planned driving route to the robot.
- the robot receives the travel route sent by the server, it can travel to the end position on the guide line according to the received travel route to complete the cargo transportation.
- the driving is continued according to the arc, and during the arc running, the guiding line is continuously detected, when the guiding line is detected.
- the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.
- the robot includes:
- the control module 410 is configured to control the robot to continue driving according to an arc when the guiding line pre-arranged on the ground is not detected during running;
- the control module 410 is further configured to continue to detect the guide line during the arc running, and when the guide line is detected, the control robot continues to travel according to the guide line.
- control module 410 is configured to:
- the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
- control module 410 is further configured to:
- the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- control module 410 is configured to:
- the robot further includes:
- a determining module 420 configured to send a driving route acquisition request to the server when the location information is detected by the detecting component of the robot for the first time in the process of continuing to travel according to the guiding line, wherein the driving route acquisition request carries the location information So that the server determines the driving route based on the location information;
- the control module 410 is configured to control the robot to travel on the guide line according to the driving route when receiving the driving route sent by the server.
- control module 410 is configured to:
- the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;
- the target angular velocity is determined by the calculation formula of the angular velocity.
- the calculation formula of the angular velocity is the angle between the driving direction and the guiding line, the steering angle of the steering wheel, and the angular velocity of the steering wheel. variable;
- the steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.
- the driving is continued according to the arc, and during the arc running, the guiding line is continuously detected, when the guiding line is detected.
- the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.
- Yet another exemplary embodiment of the present application provides a robot, which may be an AGV as shown in FIG.
- FIG. 7 is a schematic structural diagram of a robot provided by an embodiment of the present application.
- the robot 1900 can vary considerably depending on configuration or performance, and can include one or more central processing units (CPU) 1922 (eg, one or more processors) and memory 1932, one or one The above storage medium 1942 or storage medium 1930 of data 1944 (eg, one or one storage device in Shanghai).
- the memory 1932 and the storage medium 1930 may be short-term storage or persistent storage.
- the program stored on storage medium 1930 may include one or more modules (not shown), each of which may include a series of instruction operations in the robot.
- the central processor 1922 can be configured to communicate with the storage medium 1930 on which a series of instruction operations in the storage medium 1930 are performed.
- the robot 1900 may also include one or more power sources 1926, one or more wired or wireless network interfaces 1950, one or more input and output interfaces 1958, one or more keyboards 1956, and/or one or more operating systems 1941.
- power sources 1926 For example, Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
- the bot 1900 can include a memory, and one or more programs, wherein one or more programs are stored in the memory, and configured to be executed by one or more processors, the one or more programs comprising the instruction:
- the control robot continues to travel according to the guide line.
- control robot continues to drive according to the arc, including:
- the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
- the method further includes:
- the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius, including:
- the method further includes:
- the travel route acquisition request is transmitted to the server, wherein the travel route acquisition request carries the location information to enable the server Determining the driving route based on the location information;
- the control robot When receiving the travel route sent by the server, the control robot travels on the guide line according to the travel route.
- control robot continues to follow the guide line, including:
- the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;
- the target angular velocity is determined by the calculation formula of the angular velocity.
- the calculation formula of the angular velocity is the angle between the traveling direction and the guiding line, the steering angle of the steering wheel, and the turning of the steering wheel.
- Angular velocity is a variable;
- the steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.
- the driving is continued according to the arc, and during the arc running, the guiding line is continuously detected, when the guiding line is detected.
- the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.
- non-transitory computer readable storage medium comprising instructions, for example, a memory including instructions executable by a processor of a robot to perform a travel control method of the robot described above.
- the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
- a chip comprising programmable logic circuitry and/or program instructions for implementing a travel control method of a robot as provided by the above embodiments when the chip is in operation.
- a person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium.
- the storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.
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Abstract
Disclosed are a travel control method and apparatus for a robot, and a storage medium and a robot, belonging to the technical field of robots. The method comprises: when a guide line pre-arranged on the ground is not detected in a travel process, controlling a robot such that same continues to travel according to an arc; and in the process of travelling according to the arc, when the guide line is detected, controlling the robot such that same continues to travel according to the guide line. By means of the present application, when a robot is not located on a guide line, the robot itself can find the guide line, and the robot can then continuously travel along the guide line, so that goods are successfully transported.
Description
本申请要求于2017年08月29日提交中国国家知识产权局、申请号为201710757056.5、发明名称为“一种机器人的行驶控制方法和装置”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。This application claims priority to Chinese Patent Application No. 201710757056.5, entitled "A Robot's Driving Control Method and Apparatus", filed on August 29, 2017, the entire contents of which are incorporated by reference. In this application.
本申请实施例涉及机器人技术领域,特别涉及一种机器人的行驶控制方法、装置、存储介质及机器人。The embodiments of the present invention relate to the field of robot technologies, and in particular, to a driving control method, device, storage medium, and robot of a robot.
随着技术的进步,工业生产的智能化程度越来越高,机器人相比人工更能适应高强的工作环境,进而逐渐取代人工,在生产生活中发挥着越来越重要的作用,比如,机器人可以用于运输货物等。With the advancement of technology, the degree of intelligence of industrial production is getting higher and higher. Robots can adapt to high-strength working environment more than labor, and gradually replace artificial, playing an increasingly important role in production and life, for example, robots. Can be used to transport goods, etc.
目前,一些用于运输货物的机器人多采用寻迹的方式进行行驶。具体的,工作人员可以预先在厂房的地面上设置相应的导引线,机器人可以在行驶过程中不断检测导引线,并沿着检测到的导引线进行行驶,直到行驶到终点,进行货物卸载处理。At present, some robots used to transport goods are mostly driven by tracing. Specifically, the staff can pre-set corresponding guiding lines on the ground of the factory building, and the robot can continuously detect the guiding lines during driving, and travel along the detected guiding lines until the end of the journey to carry out the goods. Uninstall processing.
然而,某些情况下,机器人容易在运输物料过程中脱离导引线,例如,地面有油渍时,机器人会在惯性作用下滑出导引线。机器人脱离了导引线之后,无法检测到导引线,进而,无法沿着导引线行驶,从而导致货物运输失败。However, in some cases, the robot can easily get out of the guide line during the transportation of the material. For example, when there is oil on the ground, the robot will slide out of the guide line in inertia. After the robot is disengaged from the guide line, the guide line cannot be detected, and further, it is impossible to travel along the guide line, resulting in failure of cargo transportation.
发明内容Summary of the invention
本申请实施例提供了一种机器人的行驶控制方法、装置、存储介质及机器人,能够解决机器人脱离导引线后无法检测到导引线,导致货物运输失败的问题。所述技术方案如下:The embodiment of the present application provides a driving control method, device, storage medium, and robot for a robot, which can solve the problem that the guiding line cannot be detected after the robot is separated from the guiding line, resulting in failure of cargo transportation. The technical solution is as follows:
第一方面,提供了一种机器人的行驶控制方法,所述方法包括:In a first aspect, a driving control method for a robot is provided, the method comprising:
当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人按照弧线继续行驶;When the guide line pre-arranged on the ground is not detected during running, the control robot continues to travel according to the arc;
在弧线行驶过程中,继续检测导引线;Continue to detect the guide line during the arc travel;
当检测到导引线时,控制机器人按照导引线继续行驶。When the guide line is detected, the control robot continues to travel according to the guide line.
可选的,当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人按照弧线继续行驶,包括:Optionally, when the guide line pre-arranged on the ground is not detected during the driving, the control robot continues to drive according to the arc, including:
当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人的转向轮的转向角度调整为第一预设角度,保持第一预设角度继续行驶。When the guide line pre-arranged on the ground is not detected during running, the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
可选的,所述方法还包括:Optionally, the method further includes:
在弧线行驶过程中,当达到预设调整条件时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
可选的,在弧线行驶过程中,当达到预设调整条件时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶,包括:Optionally, during the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius, including:
在弧线行驶过程中,每达到预设的调整周期时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
可选的,所述方法还包括:Optionally, the method further includes:
在按照导引线继续行驶的过程中,当首次通过所述机器人的检测部件扫描到位置信息时,向服务器发送携带有行驶路线获取请求,其中,行驶路线获取请求中携带有位置信息,以使服务器根据位置信息确定行驶路线;In the process of continuing to travel according to the guide line, when the position information is scanned by the detecting means of the robot for the first time, the travel route acquisition request is transmitted to the server, wherein the travel route acquisition request carries the position information, so that The server determines the driving route based on the location information;
当接收到服务器发送的行驶路线时,控制机器人按照行驶路线在导引线上行驶。When receiving the travel route sent by the server, the control robot travels on the guide line according to the travel route.
可选的,在弧线行驶过程中,当检测到导引线时,控制机器人按照导引线继续行驶,包括:Optionally, during the arc running, when the guide line is detected, the control robot continues to follow the guide line, including:
在弧线行驶过程中,当检测到导引线时,确定当前行驶方向与导引线的目标夹角,并确定机器人的转向轮当前的转向角度;During the arc running, when the guiding line is detected, the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;
根据所述目标夹角和所述转向轮当前的转向角度,通过回转角速度计算公式,确定目标回转角速度,所述回转角速度计算公式以行驶方向与导引线的夹角、转向轮的转向角度、所述转向轮的回转角速度为变量;Determining, according to the target angle and the current steering angle of the steering wheel, a target angular velocity by a calculation formula of the rotational angular velocity, wherein the calculation formula of the rotational angular velocity is an angle between the traveling direction and the guiding line, a steering angle of the steering wheel, The angular velocity of the steering wheel is a variable;
控制转向轮以目标回转角速度调整转向轮的转向角度,按照导引线继续行驶。The steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.
第二方面,提供了一种机器人的行驶控制装置,所述装置包括:In a second aspect, a travel control device for a robot is provided, the device comprising:
控制模块,用于当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人按照弧线继续行驶;a control module, configured to control the robot to continue driving according to an arc when the guiding line pre-arranged on the ground is not detected during driving;
控制模块,还用于在弧线行驶过程中,继续检测导引线;当检测到导引线时,控制机器人按照导引线继续行驶。The control module is further configured to continue to detect the guide line during the arc running; when the guide line is detected, the control robot continues to travel according to the guide line.
可选的,控制模块用于:Optionally, the control module is used to:
当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人的转向轮的转向角度调整为第一预设角度,保持第一预设角度继续行驶。When the guide line pre-arranged on the ground is not detected during running, the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
可选的,控制模块还用于:Optionally, the control module is further configured to:
在弧线行驶过程中,当达到预设调整条件时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
可选的,控制模块用于:Optionally, the control module is used to:
在弧线行驶过程中,每达到预设的调整周期时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
可选的,机器人还包括:Optionally, the robot further includes:
确定模块,用于在按照导引线继续行驶的过程中,当首次通过所述机器人的检测部件检测到位置信息时,向服务器发送行驶路线获取请求,其中,行驶路线获取请求中携带有位置信息,以使服务器根据位置信息确定行驶路线;a determining module, configured to send a travel route acquisition request to the server when the position information is detected by the detecting component of the robot for the first time in the process of continuing to travel according to the guide line, wherein the travel route acquisition request carries the location information So that the server determines the driving route based on the location information;
控制模块,用于当接收到服务器发送的行驶路线时,控制机器人按照行驶路线在导引线上行驶。The control module is configured to control the robot to travel on the guide line according to the driving route when receiving the driving route sent by the server.
可选的,控制模块用于:Optionally, the control module is used to:
在弧线行驶过程中,当检测到导引线时,确定当前行驶方向与导引线的目标夹角,并确定机器人的转向轮当前的转向角度;During the arc running, when the guiding line is detected, the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;
根据所述目标夹角和所述转向轮当前的转向角度,通过回转角速度计算公式,确定目标回转角速度,所述回转角速度计算公式以行驶方向与导引线的夹角、转向轮的转向角度、所述转向轮的回转角速度为变量;Determining, according to the target angle and the current steering angle of the steering wheel, a target angular velocity by a calculation formula of the rotational angular velocity, wherein the calculation formula of the rotational angular velocity is an angle between the traveling direction and the guiding line, a steering angle of the steering wheel, The angular velocity of the steering wheel is a variable;
控制转向轮以目标回转角速度调整转向轮的转向角度,按照导引线继续行驶。The steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.
第三方面,提供了一种存储介质,存储介质存储有计算机程序,计算机程序被处理器执行时实现第一方面所述的方法步骤。In a third aspect, a storage medium is provided, the storage medium storing a computer program that, when executed by the processor, implements the method steps of the first aspect.
第四方面,提供了一种机器人,机器人包括处理器、存储器、检测部件和行驶轮,其中,存储器,用于存放计算机程序;处理器,用于执行所述存储器上所存放的程序,实现第一方面任一所述的方法步骤。In a fourth aspect, a robot is provided. The robot includes a processor, a memory, a detecting component, and a running wheel, wherein the memory is configured to store a computer program, and the processor is configured to execute a program stored on the memory to implement the first The method steps of any of the aspects described.
本申请实施例提供的技术方案带来的有益效果是:The beneficial effects brought by the technical solutions provided by the embodiments of the present application are:
本申请实施例中,当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人按照弧线继续行驶,在弧线行驶过程中,继续检测导引线,当检测到导引线时,控制机器人按照导引线继续行驶。这样,机器人自身寻找导引线,进而,机器人可以继续沿着导引线行驶,使得货物运输成功。In the embodiment of the present application, when the guide line pre-arranged on the ground is not detected during the running, the control robot continues to travel according to the arc, and during the arc running, the guide line is continuously detected, and when the guide is detected When the line is on, the control robot continues to follow the guide line. In this way, the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.
图1是本申请实施例提供的一种机器人的行驶控制方法流程图;1 is a flowchart of a driving control method of a robot according to an embodiment of the present application;
图2是本申请实施例提供的一种控制机器人按照弧线行驶的示意图;2 is a schematic diagram of a control robot traveling in an arc according to an embodiment of the present application;
图3是本申请实施例提供的一种控制机器人按照弧线行驶的示意图;3 is a schematic diagram of a control robot traveling in an arc according to an embodiment of the present application;
图4是本申请实施例提供的一种控制机器人按照弧线行使的示意图;4 is a schematic diagram of a control robot being operated according to an arc according to an embodiment of the present application;
图5是本申请实施例提供的一种机器人的行驶控制装置的框图;FIG. 5 is a block diagram of a travel control apparatus for a robot according to an embodiment of the present application; FIG.
图6是本申请实施例提供的一种机器人的行驶控制装置的框图;6 is a block diagram of a travel control device for a robot according to an embodiment of the present application;
图7是本申请实施例提供的一种机器人的行驶控制装置的结构示意图。FIG. 7 is a schematic structural diagram of a travel control device for a robot according to an embodiment of the present application.
为使本申请的目的、技术方案和优点更加清楚,下面将结合附图对本申请实施方式作进一步地详细描述。In order to make the objects, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.
在对本申请实施例提供的机器人的行驶控制方法进行详细描述之前,先对本申请实施例所涉及的应用场景和实施环境进行简单介绍。Before the detailed description of the driving control method of the robot provided by the embodiment of the present application, the application scenario and the implementation environment involved in the embodiments of the present application are briefly introduced.
首先,对本申请实施例涉及的应用场景进行简单介绍。First, the application scenario involved in the embodiment of the present application is briefly introduced.
随着电子技术的快速进步,机器人越来越智能化,机器人在一些应用场景中得到广泛应用,譬如,可以应用于货物运输。在一些实施例中,可以预先在厂房的地面上设置导引线,如此,机器人在行驶过程中可以通过检测该导引线来实现货物运输。然而,由于地面湿滑等原因,难免会出现机器人脱轨的现象,机器人脱轨后无法检测到导引线,从而导致货物运输失败。为此,本申请实施例提供了一种机器人的行驶控制方法,该方法可以使得机器人脱轨后,自身寻 找导引线,从而保证机器人可以继续沿着导引线行驶,完成货物运输。其具体实现过程请参见如下所示实施例。With the rapid advancement of electronic technology, robots are becoming more and more intelligent, and robots are widely used in some application scenarios, for example, can be applied to cargo transportation. In some embodiments, the guide wire may be pre-set on the floor of the plant such that the robot can transport the cargo by detecting the guide wire during travel. However, due to the slippery ground, etc., it is inevitable that the robot will derail the phenomenon. After the robot derails, the guide wire cannot be detected, resulting in the failure of cargo transportation. To this end, the embodiment of the present application provides a driving control method for a robot, which can cause the robot to find the guiding line after derailing, thereby ensuring that the robot can continue to travel along the guiding line to complete the cargo transportation. For the specific implementation process, please refer to the embodiment shown below.
其次,对本申请实施例涉及的应用场景进行简单介绍。Next, the application scenario involved in the embodiment of the present application is briefly introduced.
本申请实施例提供的机器人的行驶控制方法可以由机器人实现。在一些实施例中,该机器人可以是AGV(Automated Guided Vehicle,自动导引运输车),包括有车身和设置于车身底部的检测部件,该检测部件可以用于检测地面上设置的导引线和识别导引线上的位置标记信息。其中,车身中可以设置有处理器、存储器等部件,车身底部还可以设置有转向轮和若干车轮,以及驱动转向轮和车轮的电机。在一些实施例中,该处理器可以为CPU(Central Processing Unit,中央处理单元)等,用于接收指令、控制机器人行驶的相关处理。存储器可以为RAM(Random Access Memory,随机存取存储器)、Flash(闪存)等,用于存储读取到的数据、处理过程所需的数据、处理过程中生成的数据等,如用于存储检测到的导引线信息的数据、转向角度等。另外,上述转向轮可以用于调整机器人的行驶方向,车轮和电机可以使机器人行驶或停止。The travel control method of the robot provided by the embodiment of the present application can be implemented by a robot. In some embodiments, the robot may be an AGV (Automated Guided Vehicle) including a vehicle body and a detecting component disposed on the bottom of the vehicle body, and the detecting component may be used for detecting a guide wire disposed on the ground and Identify location marker information on the guide line. Among them, the body can be provided with a processor, a memory and the like, and the bottom of the vehicle body can also be provided with a steering wheel and a plurality of wheels, and a motor for driving the steering wheel and the wheel. In some embodiments, the processor may be a CPU (Central Processing Unit) or the like for receiving instructions and controlling related processes of driving the robot. The memory may be a RAM (Random Access Memory), a Flash (flash memory), etc., and is used for storing the read data, data required for the processing, data generated during the processing, and the like, for storage detection. The data of the guide line information, the steering angle, and the like. In addition, the above steering wheel can be used to adjust the traveling direction of the robot, and the wheel and the motor can cause the robot to travel or stop.
需要说明的是,上述仅是以该机器人可以是AGV为例进行说明,在另一些实施例中,该机器人还可以为其它智能设备,本申请实施例对此不做限定。It should be noted that the above description is only for the case where the robot can be an AGV. In other embodiments, the robot can also be other smart devices, which is not limited in this embodiment of the present application.
在介绍完本申请实施例涉及的应用场景和实施环境后,接下来将结合附图对本申请实施例提供的机器人的行驶控制方法进行详细介绍。After the application scenario and the implementation environment of the embodiment of the present application are introduced, the driving control method of the robot provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.
请参考图1,该图1是本申请根据一示例性实施例提供的一种机器人的行驶控制方法,该方法的处理流程可以包括如下的步骤:Please refer to FIG. 1 , which is a traveling control method of a robot according to an exemplary embodiment of the present application. The processing flow of the method may include the following steps:
步骤101,当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人按照弧线继续行驶。In step 101, when the guide line pre-arranged on the ground is not detected during running, the control robot continues to travel in an arc.
在实施中,为了使得具有寻迹功能的机器人可以运输货物,工作人员可以预先在厂房的地面上布置导引线,导引线是用来引导机器人行驶的线,导引线颜色与厂房的地面存在差异以使机器人可以检测到。在运输货物时,机器人可以通过该机器人的检测部件不断检测预先布置在地面上的导引线,进而,可以沿着检测到的导引线行驶。在行驶过程中,当机器人偏离了导引线,检测不到导引线时,机器人可以按照预设的弧线行驶的模式继续行驶,即可以按照弧线继续行驶,如图2所示。其中,检测部件可以为诸如摄像头之类能够检测导引线的部件。In the implementation, in order to enable the robot with the tracing function to transport the goods, the staff can pre-arrange the guiding line on the floor of the factory building. The guiding line is the line for guiding the robot to travel, the color of the guiding line and the floor of the factory building. There are differences so that the robot can detect it. When transporting the cargo, the robot can continuously detect the guide wire pre-arranged on the ground through the detecting component of the robot, and further, can travel along the detected guide wire. During the driving process, when the robot deviates from the guide line and the guide line is not detected, the robot can continue to travel according to the preset arc travel mode, that is, it can continue to travel according to the arc, as shown in FIG. 2 . The detecting component may be a component such as a camera capable of detecting a guide wire.
另外,机器人当前停放的位置可能未设置有导引线,此种情况下,当机器人接收到启动指令时,也可以按照弧线行驶的模式行驶。In addition, the position where the robot is currently parked may not be provided with a guide line. In this case, when the robot receives the start command, it can also travel in the mode of the arc travel.
可选的,在机器人脱离导引线后,可以通过调整转向轮的转向角度实现弧线行驶,相应的,步骤101的处理过程可以如下:当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人的转向轮的转向角度调整为第一预设角度,保持第一预设角度继续行驶。Optionally, after the robot is disengaged from the guide line, the arc travel can be realized by adjusting the steering angle of the steering wheel. Accordingly, the process of step 101 can be as follows: when the guide is not pre-arranged on the ground during the running process When the lead is turned, the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
在实施中,机器人中可以预先存储有第一预设角度,当机器人在行驶过程中摄像头检测不到预先布置在地面的导引线时,可以按照预设的弧线行驶的模式行驶。具体的,当机器人在行驶过程中摄像头检测不到预先布置在地面的导引线时,机器人可以获取预先存储的第一预设角度,然后控制机器人的转向轮转动该第一预设角度,即使得转向轮与车身方向的夹角为第一预设角度,之后,机器人可以保持转向角度为第一预设角度的状态进行行驶。此种情况下,机器人的行驶轨迹即为弧线。In the implementation, the first predetermined angle may be pre-stored in the robot. When the robot does not detect the guide line pre-arranged on the ground during the running, the robot may travel in a preset driving mode. Specifically, when the robot does not detect the guide line pre-arranged on the ground during the running, the robot may acquire a pre-stored first preset angle, and then control the steering wheel of the robot to rotate the first preset angle, even if The angle between the steering wheel and the direction of the vehicle body is a first preset angle, and then the robot can drive while maintaining the steering angle at the first preset angle. In this case, the trajectory of the robot is an arc.
其中,该第一预设角度可以由用户根据实际需求自定义设置,也可以由该机器人默认设置,本申请实施例不作限定。The first preset angle may be customized by the user according to actual needs, or may be set by default by the robot, which is not limited in the embodiment of the present application.
可选的,在弧线行驶的模式下可以调整机器人弧线行驶的半径,相应的,处理过程可以如下:在弧线行驶过程中,当达到预设调整条件时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。Optionally, the radius of the arc travel of the robot can be adjusted in the arc driving mode. Correspondingly, the processing can be as follows: during the arc running, when the preset adjustment condition is reached, the steering of the steering wheel of the robot is controlled. The angle is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
在实施中,可以预先设置一个预设调整条件,例如,预设调整条件可以是时间长度,电机的转数等。机器人按照弧线行驶过程中,当达到上述预设调整条件后,机器人可以在第一预设角度的基础上将转向轮与车身方向的夹角减小第二预设角度值,即增大了弧线行驶的半径,然后,机器人保持新的角度继续行驶,即按照半径增大的弧线继续行驶。In the implementation, a preset adjustment condition may be preset. For example, the preset adjustment condition may be a length of time, a number of revolutions of the motor, and the like. When the robot is driving in an arc, after the preset adjustment condition is reached, the robot can reduce the angle between the steering wheel and the vehicle body by a second preset angle value based on the first preset angle, that is, the increase is The radius of the arc travels, and then the robot continues to drive at a new angle, that is, to continue driving in an arc of increasing radius.
可选的,可以设置一个调整周期,在达到调整周期的周期时长后调整转向角度,相应的,处理过程可以如下:在弧线行驶过程中,每达到预设的调整周期时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。Optionally, an adjustment period may be set, and the steering angle is adjusted after the period of the adjustment period is reached. Accordingly, the processing may be as follows: during the arc running, the steering of the robot is controlled every time the preset adjustment period is reached. The steering angle of the wheel is reduced by the second predetermined angle, and the driving is continued according to the arc with the increased radius.
在实施中,可以预先设置一个调整周期,机器人在弧线行驶的模式下,弧线行驶过程中,当达到预设的调整周期时,机器人可以获取预先存储的第二预设角度,然后控制转向轮在第一预设角度的基础上减小第二预设角度,即转向轮与车身方向的夹角减小第二预设角度,这样,机器人的行驶半径则会增大, 即行驶弧线增大,之后机器人按照半径增大后的弧线行驶。也就是说,在机器人开始弧线行驶之后,到达第一个调整周期时,机器人可以控制转向轮的转向角度在第一预设角度的基础上减小第二预设角度,当到达第二个调整周期时,机器人可以控制转向轮的转向角度在第一次调整之后的基础上再减小第二预设角度。In the implementation, an adjustment period may be preset, and in the arc driving mode, during the arc running, when the preset adjustment period is reached, the robot may acquire the second preset angle stored in advance, and then control the steering. The wheel reduces the second preset angle based on the first preset angle, that is, the angle between the steering wheel and the vehicle body direction is decreased by the second preset angle, so that the driving radius of the robot is increased, that is, the driving arc Increase, then the robot travels in the arc after the radius increases. That is to say, after the robot starts the arc running, when the first adjustment period is reached, the robot can control the steering angle of the steering wheel to decrease the second preset angle based on the first preset angle, when reaching the second When adjusting the cycle, the robot can control the steering angle of the steering wheel to decrease the second preset angle after the first adjustment.
例如,如果机器人的第一预设角度为40度,第二预设角度为2度,调整周期为10秒,则机器人在开始弧线行使之后,每隔10秒控制转向轮转向角度减小2度,即10秒后转向角度为38度,20秒后转向角度为36度,依此类推。For example, if the first preset angle of the robot is 40 degrees, the second preset angle is 2 degrees, and the adjustment period is 10 seconds, the robot controls the steering wheel to decrease the steering angle every 10 seconds after the start of the arc exercise. Degree, that is, the steering angle is 38 degrees after 10 seconds, the steering angle is 36 degrees after 20 seconds, and so on.
进一步地,该机器人的指定位置上还可以设置有障碍检测部件,例如,该障碍检测部件可以包括红外传感器、超声波传感器、摄像头等,用于检测障碍物。譬如,该指定位置可以是指该机器人的前后两端,或者,该指定位置还可以是指该机器人的左右两端。Further, an obstacle detecting component may be further disposed at the designated position of the robot. For example, the obstacle detecting component may include an infrared sensor, an ultrasonic sensor, a camera, or the like for detecting an obstacle. For example, the designated position may refer to the front and rear ends of the robot, or the designated position may also refer to the left and right ends of the robot.
另外,还可以预先设置有一个调整角度,以便当障碍检测部件检测到障碍物时,机器人可以调节转向轮转动上述调整角度。如图3所示,在机器人进行弧线行驶过程中,当障碍检测部件检测到前方有障碍物时,机器人可以按照预先设置的调整角度调整转向轮的转向角度,以绕过障碍物。In addition, an adjustment angle may be set in advance so that the robot can adjust the steering wheel to rotate the adjustment angle when the obstacle detecting member detects the obstacle. As shown in FIG. 3, during the arc running of the robot, when the obstacle detecting component detects an obstacle in front, the robot can adjust the steering angle of the steering wheel according to a preset adjustment angle to bypass the obstacle.
进一步地,机器人还可以预先设置有障碍检测的次数,当调整转向轮的转向角度的调整次数达到预设的次数时,如果仍然不能绕过检测到的障碍物,则可以停止行驶,并发出提示信号,例如,该机器人可以闪信号灯,播放铃声等。另外,机器人还可以向服务器发送故障信息,以使服务器接收到该故障信息后,发出故障信号,例如,播放故障机器人代号,在屏幕上显示故障机器人代号等。其中,该服务器通常用于为机器人提供服务。Further, the robot may also preset the number of times of obstacle detection. When the number of adjustments of the steering angle of the steering wheel is adjusted to a preset number of times, if the detected obstacle is still not bypassed, the driving may be stopped and a prompt may be issued. The signal, for example, the robot can flash a signal light, play a ringtone, and the like. In addition, the robot can also send fault information to the server, so that after receiving the fault information, the server sends a fault signal, for example, playing the faulty robot code, displaying the faulty robot code on the screen, and the like. Among them, the server is usually used to provide services for the robot.
步骤102,在弧线行驶过程中,继续检测导引线。当检测到导引线时,控制机器人按照导引线继续行驶。In step 102, the guide line is continuously detected during the arc running. When the guide line is detected, the control robot continues to travel according to the guide line.
在实施中,机器人在弧线行驶过程中,摄像头会周期性的检测地面上的导引线,当摄像头检测到导引线时,则会沿着检测部件检测到的导引线行驶,例如,机器人可以沿着与当前行驶方向的夹角较小的导引线方向行驶。In the implementation, during the arc driving, the camera periodically detects the guiding line on the ground, and when the camera detects the guiding line, it will travel along the guiding line detected by the detecting component, for example, The robot can travel in a direction of a guide line having a smaller angle with the current traveling direction.
可选的,在弧线行驶过程中,当检测到导引线时,可以调整行驶方向与导引线平行,相应的处理过程可以如下:在弧线行驶过程中,当检测到导引线时,确定当前行驶方向与导引线的目标夹角,并确定机器人的转向轮当前的转向角度;根据该目标夹角和转向轮当前的转向角度,通过回转角速度计算公式,确 定目标回转角速度,该回转角速度计算公式以行驶方向与导引线的夹角、转向轮的转向角度、转向轮的回转角速度为变量;控制转向轮以目标回转角速度调整转向轮的转向角度,按照导引线继续行驶。Optionally, during the arc running, when the guiding line is detected, the driving direction may be adjusted to be parallel to the guiding line, and the corresponding processing may be as follows: during the driving of the arc, when the guiding line is detected Determining the target angle between the current driving direction and the guiding line, and determining the current steering angle of the steering wheel of the robot; determining the target angular velocity by the calculation formula of the angular velocity according to the target angle and the current steering angle of the steering wheel, The calculation formula of the angular velocity is based on the angle between the direction of travel and the guide line, the steering angle of the steering wheel, and the angular velocity of the steering wheel. The steering wheel adjusts the steering angle of the steering wheel at the target angular velocity and continues to travel according to the guide line.
在实施中,机器人在弧线行驶过程中,当检测部件检测到导引线时,可以根据当前行驶方向和检测到的导引线,得出当前行驶方向和导引线的夹角,即确定目标夹角。在一些实施例中,当该检测部件为摄像头时,在检测到导引线后,可以获取摄像头当前的转动角度,并将所获取的该转动角度确定为该目标夹角。In the implementation, during the arc running, when the detecting component detects the guiding line, the angle between the current driving direction and the guiding line can be obtained according to the current driving direction and the detected guiding line, that is, determining The angle of the target. In some embodiments, when the detecting component is a camera, after detecting the guiding line, the current rotation angle of the camera may be acquired, and the obtained rotation angle is determined as the target angle.
然后,获取目标夹角相应的转向角度。请参考图4,在一种可能的实现方式中,假设机器人当前行使至位置P0,下一刻将行使至位置P1,将上述所确定的目标夹角记为θ
0,设机器人在下一刻与导引线之间的夹角为θ
1,则该目标夹角对应的转向角度应为Δθ=θ
1-θ
0。由于该机器人是沿着弧线的切线行使,因此,直线P0A与直线P0B之间的夹角为90度,所以可以确定θ
0与角a相等,因此,根据三角定理可以得到如下公式(1):
Then, the corresponding steering angle of the target angle is obtained. Referring to FIG. 4, in a possible implementation manner, assuming that the robot is currently exercising to the position P0, the next moment will be exercised to the position P1, and the above-mentioned determined target angle is recorded as θ 0 , and the robot is placed in the next moment and guided. The angle between the lines is θ 1 , and the steering angle corresponding to the target angle should be Δθ = θ 1 - θ 0 . Since the robot is operated along the tangent of the arc, the angle between the straight line P0A and the straight line P0B is 90 degrees, so it can be determined that θ 0 is equal to the angle a. Therefore, according to the triangle theorem, the following formula (1) can be obtained. :
同理,直线P1A与直线P1C之间的夹角也为90度,所以可以确定θ
1与角b也相等,因此,结合公式(1)可以得到如下公式(2):
Similarly, the angle between the straight line P1A and the straight line P1C is also 90 degrees, so it can be determined that θ 1 and the angle b are also equal. Therefore, the following formula (2) can be obtained by combining the formula (1):
将上述公式(2)和公式(1)带入Δθ=θ
1-θ
0中,即可确定目标夹角相应的转向角度。其中,上述ΔL和Δx可以通过诸如红外线之类器件测试确定,另外,上述A点可以由用户根据实际需求预先设置。
By introducing the above formula (2) and formula (1) into Δθ=θ 1 -θ 0 , the corresponding steering angle of the target angle can be determined. Wherein, the above ΔL and Δx can be determined by a device test such as infrared rays, and in addition, the above point A can be preset by the user according to actual needs.
在一种可能的实现方式中,机器人可以预先存储有以行驶方向与导引线的夹角、转向轮的转向角度、转向轮的回转角速度为变量的回转角速度计算公式。在机器人计算出上述目标夹角之后,可以通过上述回转角速度计算公式,得出对应的回转角速度,即确定目标回转角速度,然后,机器人可以控制转向轮按照上述计算的转向角速度调整转向轮的角度,将机器人调整到导引线上,按照检测部件检测到的导引线行驶。In a possible implementation manner, the robot may pre-store a calculation formula of the rotational angular velocity in which the angle between the traveling direction and the guiding line, the steering angle of the steering wheel, and the angular velocity of the steering wheel are variables. After the robot calculates the above-mentioned target angle, the above-mentioned angular velocity calculation formula can be used to obtain the corresponding rotational angular velocity, that is, the target rotational angular velocity is determined, and then the robot can control the steering wheel to adjust the steering wheel angle according to the calculated steering angular velocity. The robot is adjusted to the guide line and travels according to the guide line detected by the detecting unit.
在一些实施例中,上述回转角速度计算公式可以如公式(3)所示:In some embodiments, the above formula for calculating the angular velocity of rotation may be as shown in formula (3):
ω
1=K
p·Δθ+ω
0=K
p·(θ
1-θ
0)+ω
0 (3)
ω 1 =K p ·Δθ+ω 0 =K p ·(θ 1 -θ 0 )+ω 0 (3)
其中,上述ω
1为目标回转角速度,ω
0为机器人当前的角速度,K
p可以选取为与目标夹角对应的转向角度Δθ、机器人当前的线速度v
0以及机器人当前的角速度ω
0相关的函数,譬如,可以为线性函数或指数函数等,即K
p=f(Δθ,v
0,ω
o)。也即是,通过上述公式(3)即可确定目标回转角速度。
Where ω 1 is the target angular velocity, ω 0 is the current angular velocity of the robot, and K p can be selected as a function related to the steering angle Δθ corresponding to the target angle, the current linear velocity v 0 of the robot, and the current angular velocity ω 0 of the robot. For example, it may be a linear function or an exponential function or the like, that is, K p =f(Δθ, v 0 , ω o ). That is, the target angular velocity can be determined by the above formula (3).
可选的,在机器人检测到导引线后,还可以获取新的行驶路线,相应的处理过程可以如下:在按照导引线继续行驶的过程中,当首次通过该机器人的检测部件检测到位置信息时,向服务器发送行驶路线获取请求;当接收到服务器发送的行驶路线时,控制机器人按照行驶路线在导引线上行驶。其中,行驶路线获取请求中携带有机器人的位置信息。Optionally, after the robot detects the guiding line, a new driving route may also be acquired, and the corresponding processing may be as follows: in the process of continuing to follow the guiding line, when the position is detected by the detecting component of the robot for the first time When the information is received, the travel route acquisition request is sent to the server; when the travel route sent by the server is received, the control robot travels on the guide line according to the travel route. The driving route acquisition request carries the position information of the robot.
在实施中,可以在上述导引线上设置检测部件可以识别的用来确定位置信息的标记,例如,该标记可以是二维码,条形码等标记。机器人可以通过检测并识别这些标记获得该标记对应的位置信息。机器人在按照导引线继续行驶的过程中,当首次通过检测部件检测到上述标记时,机器人可以向服务器发送行驶路线的获取请求,该获取请求中携带有上述标记对应的位置信息。服务器接收到上述行驶路线获取请求后,可以获取该行驶路线获取请求中携带的位置信息和该机器人对应的终点位置的位置信息,然后根据获取到的行驶路线获取请求中携带的位置信息和该机器人对应的终点位置的位置信息,为该机器人规划行驶路线,之后,服务器将规划好的行驶路线发送给机器人。当机器人接收到服务器发送的行驶路线时,可以按照接收到的行驶路线在导引线上行驶至终点位置,完成货物运输。In an implementation, a mark that can be identified by the detecting component for determining the position information may be provided on the above-mentioned guide wire. For example, the mark may be a two-dimensional code, a barcode or the like. The robot can obtain the position information corresponding to the mark by detecting and identifying these marks. When the robot continues to travel according to the guide line, when the above-mentioned mark is detected by the detecting component for the first time, the robot may send a request for obtaining a travel route to the server, and the acquisition request carries the position information corresponding to the mark. After receiving the travel route acquisition request, the server may acquire the location information carried in the travel route acquisition request and the location information of the end position corresponding to the robot, and then acquire the location information carried in the request and the robot according to the acquired travel route. The position information of the corresponding end position is used to plan the driving route for the robot, and then the server sends the planned driving route to the robot. When the robot receives the travel route sent by the server, it can travel to the end position on the guide line according to the received travel route to complete the cargo transportation.
本申请实施例中,当在行驶过程中检测不到预先布置在地面的导引线时,按照弧线继续行驶,在弧线行驶过程中,继续检测导引线,当检测到导引线时,按照导引线继续行驶。这样,机器人自身寻找导引线,进而,机器人可以继续沿着导引线行驶,使得货物运输成功。In the embodiment of the present application, when the guide line pre-arranged on the ground is not detected during the running, the driving is continued according to the arc, and during the arc running, the guiding line is continuously detected, when the guiding line is detected. Follow the guide line to continue driving. In this way, the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.
本申请又一示例性实施例提供了一种机器人,如图5所示,该机器人包括:Yet another exemplary embodiment of the present application provides a robot, as shown in FIG. 5, the robot includes:
控制模块410,用于当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人按照弧线继续行驶;The control module 410 is configured to control the robot to continue driving according to an arc when the guiding line pre-arranged on the ground is not detected during running;
控制模块410,还用于在弧线行驶过程中,继续检测导引线,当检测到导引线时,控制机器人按照导引线继续行驶。The control module 410 is further configured to continue to detect the guide line during the arc running, and when the guide line is detected, the control robot continues to travel according to the guide line.
可选的,控制模块410用于:Optionally, the control module 410 is configured to:
当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人的转向轮的转向角度调整为第一预设角度,保持第一预设角度继续行驶。When the guide line pre-arranged on the ground is not detected during running, the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
可选的,控制模块410还用于:Optionally, the control module 410 is further configured to:
在弧线行驶过程中,当达到预设调整条件时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
可选的,控制模块410用于:Optionally, the control module 410 is configured to:
在弧线行驶过程中,每达到预设的调整周期时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
可选的,如图6所示,机器人还包括:Optionally, as shown in FIG. 6, the robot further includes:
确定模块420,用于在按照导引线继续行驶的过程中,当首次通过该机器人的检测部件检测到位置信息时,向服务器发送行驶路线获取请求,其中,行驶路线获取请求中携带有位置信息,以使服务器根据位置信息确定行驶路线;a determining module 420, configured to send a driving route acquisition request to the server when the location information is detected by the detecting component of the robot for the first time in the process of continuing to travel according to the guiding line, wherein the driving route acquisition request carries the location information So that the server determines the driving route based on the location information;
控制模块410,用于当接收到服务器发送的行驶路线时,控制机器人按照行驶路线在导引线上行驶。The control module 410 is configured to control the robot to travel on the guide line according to the driving route when receiving the driving route sent by the server.
可选的,控制模块410用于:Optionally, the control module 410 is configured to:
在弧线行驶过程中,当检测到导引线时,确定当前行驶方向与导引线的目标夹角,并确定机器人的转向轮当前的转向角度;During the arc running, when the guiding line is detected, the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;
根据目标夹角和转向轮当前的转向角度,通过回转角速度计算公式,确定目标回转角速度,回转角速度计算公式以行驶方向与导引线的夹角、转向轮的转向角度、转向轮的回转角速度为变量;According to the target angle and the current steering angle of the steering wheel, the target angular velocity is determined by the calculation formula of the angular velocity. The calculation formula of the angular velocity is the angle between the driving direction and the guiding line, the steering angle of the steering wheel, and the angular velocity of the steering wheel. variable;
控制转向轮以目标回转角速度调整转向轮的转向角度,按照导引线继续行驶。The steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.
本申请实施例中,当在行驶过程中检测不到预先布置在地面的导引线时,按照弧线继续行驶,在弧线行驶过程中,继续检测导引线,当检测到导引线时,按照导引线继续行驶。这样,机器人自身寻找导引线,进而,机器人可以继续沿着导引线行驶,使得货物运输成功。In the embodiment of the present application, when the guide line pre-arranged on the ground is not detected during the running, the driving is continued according to the arc, and during the arc running, the guiding line is continuously detected, when the guiding line is detected. Follow the guide line to continue driving. In this way, the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.
需要说明的是:上述实施例提供的机器人在行驶时,仅以上述各功能模块的划分进行举例说明,实际应用中,可以根据需要而将上述功能分配由不同的功能模块完成,即将设备的内部结构划分成不同的功能模块,以完成以上描述的全部或者部分功能。另外,上述实施例提供的机器人与机器人的行驶控制方法实施例属于同一构思,其具体实现过程详见方法实施例,这里不再赘述。It should be noted that, when the robot provided by the above embodiment is running, only the division of each functional module described above is illustrated. In actual applications, the function distribution may be completed by different functional modules as needed, that is, the internal of the device. The structure is divided into different functional modules to perform all or part of the functions described above. In addition, the embodiment of the driving control method of the robot and the robot provided by the above embodiments are the same concept, and the specific implementation process is described in detail in the method embodiment, and details are not described herein again.
本申请再一示例性实施例提供了一种机器人,如图7所示,该机器人可以是AGV。Yet another exemplary embodiment of the present application provides a robot, which may be an AGV as shown in FIG.
图7是本申请实施例提供的机器人的结构示意图。该机器人1900可因配置或性能不同而产生比较大的差异,可以包括一个或一个以***处理器(central processing units,CPU)1922(例如,一个或一个以上处理器)和存储器1932,一个或一个以上存储应用程序1942或数据1944的存储介质1930(例如一个或一个以上海量存储设备)。其中,存储器1932和存储介质1930可以是短暂存储或持久存储。存储在存储介质1930的程序可以包括一个或一个以上模块(图示没标出),每个模块可以包括对机器人中的一系列指令操作。更进一步地,中央处理器1922可以设置为与存储介质1930通信,在机器人1900上执行存储介质1930中的一系列指令操作。FIG. 7 is a schematic structural diagram of a robot provided by an embodiment of the present application. The robot 1900 can vary considerably depending on configuration or performance, and can include one or more central processing units (CPU) 1922 (eg, one or more processors) and memory 1932, one or one The above storage medium 1942 or storage medium 1930 of data 1944 (eg, one or one storage device in Shanghai). Among them, the memory 1932 and the storage medium 1930 may be short-term storage or persistent storage. The program stored on storage medium 1930 may include one or more modules (not shown), each of which may include a series of instruction operations in the robot. Still further, the central processor 1922 can be configured to communicate with the storage medium 1930 on which a series of instruction operations in the storage medium 1930 are performed.
机器人1900还可以包括一个或一个以上电源1926,一个或一个以上有线或无线网络接口1950,一个或一个以上输入输出接口1958,一个或一个以上键盘1956,和/或,一个或一个以上操作***1941,例如Windows ServerTM,Mac OS XTM,UnixTM,LinuxTM,FreeBSDTM等等。The robot 1900 may also include one or more power sources 1926, one or more wired or wireless network interfaces 1950, one or more input and output interfaces 1958, one or more keyboards 1956, and/or one or more operating systems 1941. For example, Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
机器人1900可以包括有存储器,以及一个或者一个以上的程序,其中一个或者一个以上程序存储于存储器中,且经配置以由一个或者一个以上处理器执行一个或者一个以上程序包含用于进行以下操作的指令:The bot 1900 can include a memory, and one or more programs, wherein one or more programs are stored in the memory, and configured to be executed by one or more processors, the one or more programs comprising the instruction:
当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人按照弧线继续行驶;When the guide line pre-arranged on the ground is not detected during running, the control robot continues to travel according to the arc;
在弧线行驶过程中,继续检测导引线;Continue to detect the guide line during the arc travel;
当检测到导引线时,控制机器人按照导引线继续行驶。When the guide line is detected, the control robot continues to travel according to the guide line.
可选的,当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人按照弧线继续行驶,包括:Optionally, when the guide line pre-arranged on the ground is not detected during the driving, the control robot continues to drive according to the arc, including:
当在行驶过程中检测不到预先布置在地面的导引线时,控制机器人的转向轮的转向角度调整为第一预设角度,保持第一预设角度继续行驶。When the guide line pre-arranged on the ground is not detected during running, the steering angle of the steering wheel of the control robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
可选的,所述方法还包括:Optionally, the method further includes:
在弧线行驶过程中,当达到预设调整条件时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
可选的,在弧线行驶过程中,当达到预设调整条件时,控制机器人的转向 轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶,包括:Optionally, during the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius, including:
在弧线行驶过程中,每达到预设的调整周期时,控制机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the control robot is reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
可选的,所述方法还包括:Optionally, the method further includes:
在按照导引线继续行驶的过程中,当首次通过该机器人的检测部件扫描到位置信息时,向服务器发送携带有行驶路线获取请求,其中,行驶路线获取请求中携带有位置信息,以使服务器根据位置信息确定行驶路线;In the process of continuing to travel according to the guide line, when the position information is scanned by the detecting component of the robot for the first time, the travel route acquisition request is transmitted to the server, wherein the travel route acquisition request carries the location information to enable the server Determining the driving route based on the location information;
当接收到服务器发送的行驶路线时,控制机器人按照行驶路线在导引线上行驶。When receiving the travel route sent by the server, the control robot travels on the guide line according to the travel route.
可选的,在弧线行驶过程中,当检测到导引线时,控制机器人按照导引线继续行驶,包括:Optionally, during the arc running, when the guide line is detected, the control robot continues to follow the guide line, including:
在弧线行驶过程中,当检测到导引线时,确定当前行驶方向与导引线的目标夹角,并确定机器人的转向轮当前的转向角度;During the arc running, when the guiding line is detected, the target angle between the current driving direction and the guiding line is determined, and the current steering angle of the steering wheel of the robot is determined;
根据目标夹角和所述转向轮当前的转向角度,通过回转角速度计算公式,确定目标回转角速度,回转角速度计算公式以行驶方向与导引线的夹角、转向轮的转向角度、转向轮的回转角速度为变量;According to the target angle and the current steering angle of the steering wheel, the target angular velocity is determined by the calculation formula of the angular velocity. The calculation formula of the angular velocity is the angle between the traveling direction and the guiding line, the steering angle of the steering wheel, and the turning of the steering wheel. Angular velocity is a variable;
控制转向轮以目标回转角速度调整转向轮的转向角度,按照导引线继续行驶。The steering wheel is controlled to adjust the steering angle of the steering wheel at the target angular velocity, and continues to travel according to the guide line.
本申请实施例中,当在行驶过程中检测不到预先布置在地面的导引线时,按照弧线继续行驶,在弧线行驶过程中,继续检测导引线,当检测到导引线时,按照导引线继续行驶。这样,机器人自身寻找导引线,进而,机器人可以继续沿着导引线行驶,使得货物运输成功。In the embodiment of the present application, when the guide line pre-arranged on the ground is not detected during the running, the driving is continued according to the arc, and during the arc running, the guiding line is continuously detected, when the guiding line is detected. Follow the guide line to continue driving. In this way, the robot itself searches for the guide line, and in turn, the robot can continue to travel along the guide line, making the shipment successful.
在示例性实施例中,还提供了一种包括指令的非临时性计算机可读存储介质,例如,包括指令的存储器,上述指令可由机器人的处理器执行以完成上述机器人的行驶控制方法。例如,所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。In an exemplary embodiment, there is also provided a non-transitory computer readable storage medium comprising instructions, for example, a memory including instructions executable by a processor of a robot to perform a travel control method of the robot described above. For example, the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
在示例性实施例中,还提供了一种芯片,所述芯片包括可编程逻辑电路和/或程序指令,当所述芯片运行时用于实现如上述实施例提供的机器人的行驶控制方法。In an exemplary embodiment, there is also provided a chip comprising programmable logic circuitry and/or program instructions for implementing a travel control method of a robot as provided by the above embodiments when the chip is in operation.
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通 过硬件来完成,也可以通过程序来指令相关的硬件完成,所述的程序可以存储于一种计算机可读存储介质中,上述提到的存储介质可以是只读存储器,磁盘或光盘等。A person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium. The storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.
以上所述仅为本申请的较佳实施例,并不用以限制本申请,凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. Within the scope.
Claims (14)
- 一种机器人的行驶控制方法,所述方法应用于机器人,其特征在于,所述方法包括:A driving control method for a robot, the method being applied to a robot, wherein the method comprises:当在行驶过程中检测不到预先布置在地面的导引线时,控制所述机器人按照弧线继续行驶;When the guide line pre-arranged on the ground is not detected during running, the robot is controlled to continue to travel according to the arc;在弧线行驶过程中,继续检测导引线;Continue to detect the guide line during the arc travel;当检测到所述导引线时,控制所述机器人按照所述导引线继续行驶。When the guide line is detected, the robot is controlled to continue traveling according to the guide line.
- 根据权利要求1所述的方法,其特征在于,所述当在行驶过程中检测不到预先布置在地面的导引线时,控制所述机器人按照弧线继续行驶,包括:The method according to claim 1, wherein when the guide line pre-arranged on the ground is not detected during running, the robot is controlled to continue to travel in an arc, including:当在行驶过程中检测不到预先布置在地面的导引线时,控制所述机器人的转向轮的转向角度调整为第一预设角度,保持所述第一预设角度继续行驶。When the guide wire pre-arranged on the ground is not detected during running, the steering angle of the steering wheel that controls the robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
- 根据权利要求2所述的方法,其特征在于,所述方法还包括:The method of claim 2, wherein the method further comprises:在弧线行驶过程中,当达到预设调整条件时,控制所述机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- 根据权利要求3所述的方法,其特征在于,所述在弧线行驶过程中,当达到预设调整条件时,控制所述机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶,包括:The method according to claim 3, wherein during the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by a second predetermined angle, which is increased according to the radius. The big arc continues to drive, including:在弧线行驶过程中,每达到预设的调整周期时,控制所述机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:The method of claim 1 further comprising:在按照所述导引线继续行驶的过程中,当首次通过所述机器人的检测部件检测到位置信息时,向服务器发送行驶路线获取请求,其中,所述行驶路线获取请求中携带有所述位置信息,以使所述服务器根据所述位置信息确定行驶路线;In the process of continuing to travel according to the guide line, when the position information is detected by the detecting means of the robot for the first time, a travel route acquisition request is transmitted to the server, wherein the travel route acquisition request carries the position Information for causing the server to determine a travel route based on the location information;当接收到所述服务器发送的行驶路线时,控制所述机器人按照所述行驶路线在所述导引线上行驶。When receiving the travel route sent by the server, the robot is controlled to travel on the guide line according to the travel route.
- 根据权利要求1所述的方法,其特征在于,所述在弧线行驶过程中,当检测到所述导引线时,控制所述机器人按照所述导引线继续行驶,包括:The method according to claim 1, wherein during the driving of the arc, when the guiding line is detected, controlling the robot to continue driving according to the guiding line comprises:在弧线行驶过程中,当检测到所述导引线时,确定当前行驶方向与所述导引线的目标夹角,并确定所述机器人的转向轮当前的转向角度;During the arc running, when the guiding line is detected, determining a target angle between the current driving direction and the guiding line, and determining a current steering angle of the steering wheel of the robot;根据所述目标夹角和所述转向轮当前的转向角度,通过回转角速度计算公式,确定目标回转角速度,所述回转角速度计算公式以行驶方向与所述导引线的夹角、所述转向轮的转向角度、所述转向轮的回转角速度为变量;Determining, according to the target angle and the current steering angle of the steering wheel, a target angular velocity by using a rotational angular velocity calculation formula, wherein the rotational angular velocity is calculated by an angle between the traveling direction and the guiding line, and the steering wheel Steering angle, the angular velocity of the steering wheel is a variable;控制所述转向轮以所述目标回转角速度调整所述转向轮的转向角度,按照所述导引线继续行驶。The steering wheel is controlled to adjust a steering angle of the steering wheel at the target angular velocity, and the driving is continued according to the guiding line.
- 一种机器人的行驶控制装置,其特征在于,所述装置包括:A driving control device for a robot, characterized in that the device comprises:控制模块,用于当在行驶过程中检测不到预先布置在地面的导引线时,控制所述机器人按照弧线继续行驶;a control module, configured to control the robot to continue driving according to an arc when a guide line pre-arranged on the ground is not detected during running;所述控制模块,还用于在弧线行驶过程中,继续检测导引线;当检测到所述导引线时,控制所述机器人按照所述导引线继续行驶。The control module is further configured to continue to detect the guide line during the arc running; and when the guide line is detected, the robot is controlled to continue to travel according to the guide line.
- 根据权利要求7所述的装置,其特征在于,所述控制模块用于:The device according to claim 7, wherein the control module is configured to:当在行驶过程中检测不到预先布置在地面的导引线时,控制所述机器人的转向轮的转向角度调整为第一预设角度,保持所述第一预设角度继续行驶。When the guide wire pre-arranged on the ground is not detected during running, the steering angle of the steering wheel that controls the robot is adjusted to a first preset angle, and the first preset angle is maintained to continue driving.
- 根据权利要求8所述的装置,其特征在于,所述控制模块还用于:The device according to claim 8, wherein the control module is further configured to:在弧线行驶过程中,当达到预设调整条件时,控制所述机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, when the preset adjustment condition is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- 根据权利要求9所述的装置,其特征在于,所述控制模块用于:The device according to claim 9, wherein the control module is configured to:在弧线行驶过程中,每达到预设的调整周期时,控制所述机器人的转向轮的转向角度缩小第二预设角度,按照半径增大的弧线继续行驶。During the arc running, each time the preset adjustment period is reached, the steering angle of the steering wheel of the robot is controlled to be reduced by the second preset angle, and the driving is continued according to the arc with the increased radius.
- 根据权利要求7所述的装置,其特征在于,所述装置还包括:The device according to claim 7, wherein the device further comprises:确定模块,用于在按照所述导引线继续行驶的过程中,当首次通过所述机器人的检测部件检测到位置信息时,向服务器发送行驶路线获取请求,其中,所述行驶路线获取请求中携带有所述位置信息,以使所述服务器根据所述位置信息确定行驶路线;a determining module, configured to send a travel route acquisition request to the server when the position information is detected by the detecting component of the robot for the first time in the process of continuing to travel according to the guide line, wherein the travel route acquisition request is Carrying the location information to enable the server to determine a travel route according to the location information;所述控制模块,用于当接收到所述服务器发送的行驶路线时,控制所述机器人按照所述行驶路线在所述导引线上行驶。The control module is configured to control the robot to travel on the guiding line according to the driving route when receiving the driving route sent by the server.
- 根据权利要求7所述的装置,其特征在于,所述控制模块用于:The device according to claim 7, wherein the control module is configured to:在弧线行驶过程中,当检测到所述导引线时,确定当前行驶方向与所述导引线的目标夹角,并确定所述机器人的转向轮当前的转向角度;During the arc running, when the guiding line is detected, determining a target angle between the current driving direction and the guiding line, and determining a current steering angle of the steering wheel of the robot;根据所述目标夹角和所述转向轮当前的转向角度,通过回转角速度计算公 式,确定目标回转角速度,所述回转角速度计算公式以行驶方向与所述导引线的夹角、所述转向轮的转向角度、所述转向轮的回转角速度为变量;Determining, according to the target angle and the current steering angle of the steering wheel, a target angular velocity by using a rotational angular velocity calculation formula, wherein the rotational angular velocity is calculated by an angle between the traveling direction and the guiding line, and the steering wheel Steering angle, the angular velocity of the steering wheel is a variable;控制所述转向轮以所述目标回转角速度调整所述转向轮的转向角度,按照所述导引线继续行驶。The steering wheel is controlled to adjust a steering angle of the steering wheel at the target angular velocity, and the driving is continued according to the guiding line.
- 一种计算机可读存储介质,其特征在于,所述存储介质内存储有计算机程序,所述计算机程序被处理器执行时实现权利要求1-6任一所述的方法步骤。A computer readable storage medium, wherein the storage medium stores therein a computer program, the computer program being executed by a processor to implement the method steps of any of claims 1-6.
- 一种机器人,其特征在于,包括处理器、存储器、检测部件和行驶轮,其中,所述存储器,用于存放计算机程序;所述处理器,用于执行所述存储器上所存放的程序,实现权利要求1-6任一所述的方法步骤。A robot, comprising: a processor, a memory, a detecting component and a driving wheel, wherein the memory is configured to store a computer program; the processor is configured to execute a program stored on the memory, to implement The method steps of any of claims 1-6.
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