WO2022127370A1

WO2022127370A1 - Track control method and device, robot and storage medium

Info

Publication number: WO2022127370A1
Application number: PCT/CN2021/125593
Authority: WO
Inventors: 唐文庆; 张传发; 成鹏
Original assignee: 灵动科技（北京）有限公司
Priority date: 2020-12-15
Filing date: 2021-10-22
Publication date: 2022-06-23
Also published as: CN112549033A; CN112549033B

Abstract

A track control method and device, a robot and a storage medium. The track control method comprises: a forward moving track of a robot is recorded according to the current driving task; and when a forward planning track includes a turning-around driving track and there is not a turning-around driving space in the current position of the robot, a desired reversing track is obtained according to the forward moving track, and according to the desired reversing track and the forward planning track, the robot is controlled to drive to the end of a task to be driven. For a robot that only has a forward monitoring device, accurate reversing track control is realized and the flexibility of the robot is greatly improved. In addition, the desired reversing track is a safe area where the robot has driven, and thus safety in the driving track of the robot is ensured if a backward monitoring device is not provided.

Description

一种轨迹控制方法、装置、机器人及存储介质A trajectory control method, device, robot and storage medium

技术领域technical field

本发明实施例涉及机器人技术领域，尤其涉及一种轨迹控制方法、装置、机器人及存储介质。Embodiments of the present invention relate to the field of robotics, and in particular, to a trajectory control method, device, robot, and storage medium.

背景技术Background technique

随着科技的不断进步，机器人技术得到了迅速发展，成为了工业技术领域的重要组成部分，而这其中，对于机器人的轨迹控制也变得尤为重要。With the continuous advancement of science and technology, robot technology has developed rapidly and has become an important part of the industrial technology field. Among them, the trajectory control of robots has become particularly important.

传统的技术方案中，通常是在机器人的前端安装摄像头等监测设备，因此，机器人仅能执行前向行进，如果为机器人增加后端监测设备，不但会改变机器人的硬件结构，增加结构的复杂度，而且也会增加机器人的操控难度。In the traditional technical solution, monitoring devices such as cameras are usually installed at the front end of the robot. Therefore, the robot can only perform forward travel. If a back-end monitoring device is added to the robot, it will not only change the hardware structure of the robot, but also increase the complexity of the structure. , and it will also increase the difficulty of robot manipulation.

因此，对于仅具备前向监测装置的机器人来说，无法对其进行有效的轨迹控制，尤其是机器人进入狭窄的单向通道后，在通道尽头常常被困住，机器人的灵活性极差。Therefore, for a robot with only a forward monitoring device, it is impossible to effectively control its trajectory, especially after the robot enters a narrow one-way channel, it is often trapped at the end of the channel, and the robot's flexibility is extremely poor.

发明内容SUMMARY OF THE INVENTION

本发明实施例提供了一种轨迹控制方法、装置、机器人及存储介质，以控制机器人的行驶轨迹。Embodiments of the present invention provide a trajectory control method, device, robot, and storage medium, so as to control the driving trajectory of the robot.

第一方面，本发明实施例提供了一种轨迹控制方法，包括：In a first aspect, an embodiment of the present invention provides a trajectory control method, including:

根据当前行驶任务，记录机器人的前向移动轨迹；According to the current driving task, record the forward movement trajectory of the robot;

当确定所述当前行驶任务已处理完成，且获取到待行驶任务时，根据所述待行驶任务的终点生成前向规划轨迹，并判断所述前向规划轨迹是否包括掉头行驶轨迹；When it is determined that the current driving task has been processed and the to-be-driving task is acquired, generating a forward planning trajectory according to the end point of the to-be-driving task, and determining whether the forward planning trajectory includes a U-turn driving trajectory;

若确定所述前向规划轨迹包括掉头行驶轨迹，则判断所述机器人的当前位置是否具备掉头行驶空间；If it is determined that the forward planned trajectory includes a U-turn driving trajectory, determining whether the current position of the robot has space for U-turn driving;

若确定所述机器人的当前位置不具备掉头行驶空间，则根据所述前向移动轨迹获取期望倒车轨迹，并根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。If it is determined that the current position of the robot does not have space for turning around, obtain a desired reversing trajectory according to the forward movement trajectory, and control the robot to drive to the The end point of the task to be driven.

第二方面，本发明实施例提供了一种轨迹控制装置，包括：In a second aspect, an embodiment of the present invention provides a trajectory control device, including:

前向移动轨迹记录模块，用于根据当前行驶任务，记录机器人的前向移动轨迹；The forward movement trajectory recording module is used to record the forward movement trajectory of the robot according to the current driving task;

前向规划轨迹生成模块，用于当确定所述当前行驶任务已处理完成，且获取到待行驶任务时，根据所述待行驶任务的终点生成前向规划轨迹，并判断所述前向规划轨迹是否包括掉头行驶轨迹；The forward planning trajectory generation module is used to generate a forward planning trajectory according to the end point of the to-be-driving task when it is determined that the current driving task has been processed and the to-be-driving task is obtained, and determine the forward planning trajectory Whether the U-turn driving track is included;

掉头行驶空间判断模块，用于若确定所述前向规划轨迹包括掉头行驶轨迹，则判断所述机器人的当前位置是否具备掉头行驶空间；a U-turn travel space judgment module, configured to determine whether the current position of the robot has a U-turn travel space if it is determined that the forward planned trajectory includes a U-turn travel path;

第一控制执行模块，用于若确定所述机器人的当前位置不具备掉头行驶空间，则根据所述前向移动轨迹获取期望倒车轨迹，并根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。a first control execution module, configured to obtain a desired reversing trajectory according to the forward movement trajectory if it is determined that the current position of the robot does not have a U-turn driving space, and according to the expected reversing trajectory and the forward planning trajectory, The robot is controlled to travel to the end point of the task to be traveled.

第三方面，本发明实施例提供了一种机器人，包括：In a third aspect, an embodiment of the present invention provides a robot, including:

一个或多个处理器；one or more processors;

存储装置，用于存储一个或多个程序，storage means for storing one or more programs,

当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现本发明任意实施例所述的轨迹控制方法。When the one or more programs are executed by the one or more processors, the one or more processors implement the trajectory control method described in any embodiment of the present invention.

第四方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本发明任意实施例所述的轨迹控制方法。In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the trajectory control method described in any embodiment of the present invention.

本发明实施例公开的技术方案，当前向规划轨迹中包括掉头行驶估计，且机器人所处的当前位置不具备掉头行驶空间时，根据上一个行驶任务获取的前向移动轨迹生成期望倒车轨迹，并根据期望倒车轨迹和前向规划轨迹，控制机器人行驶至目标位置，对于仅具备前向监测装置的机器人，实现了准确的倒车轨迹控制，极大地提高了机器人的灵活性，同时，期望倒车轨迹均为机器人已行驶过的安全区域，确保了在不具备后向监测装置的前提下，机器人行驶轨迹的安全。According to the technical solution disclosed in the embodiment of the present invention, when the forward planning trajectory includes a U-turn driving estimation, and the current position of the robot does not have a U-turn driving space, the expected reversing trajectory is generated according to the forward movement trajectory obtained from the previous driving task, and According to the expected reversing trajectory and forward planning trajectory, the robot is controlled to drive to the target position. For the robot with only forward monitoring device, accurate reversing trajectory control is realized, which greatly improves the flexibility of the robot. At the same time, the expected reversing trajectory is both It is a safe area where the robot has traveled to ensure the safety of the robot's driving trajectory without the backward monitoring device.

附图说明Description of drawings

图1A是本发明实施例一提供的一种轨迹控制方法的流程图；1A is a flowchart of a trajectory control method provided in Embodiment 1 of the present invention;

图1B是本发明实施例一提供的一种机器人的轨迹示意图；1B is a schematic diagram of a trajectory of a robot according to Embodiment 1 of the present invention;

图2A是本发明实施例二提供的一种轨迹控制方法的流程图；2A is a flowchart of a trajectory control method provided in Embodiment 2 of the present invention;

图2B是本发明实施例二提供的一种机器人的轨迹示意图；2B is a schematic diagram of a trajectory of a robot according to Embodiment 2 of the present invention;

图3是本发明实施例三提供的一种轨迹控制装置的结构框图；3 is a structural block diagram of a trajectory control device provided in Embodiment 3 of the present invention;

图4是本发明实施例四提供的一种机器人的结构框图。FIG. 4 is a structural block diagram of a robot according to Embodiment 4 of the present invention.

具体实施方式Detailed ways

下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all structures related to the present invention.

实施例一Example 1

图1A为本发明实施例一提供的一种轨迹控制方法的流程图，本实施例可适用于控制机器人的行驶轨迹，该方法可以由本发明实施例中的轨迹控制装置来执行，该装置可以通过软件和/或硬件实现，并集成在机器人中，该方法具体包括如下步骤：1A is a flowchart of a trajectory control method provided in Embodiment 1 of the present invention. This embodiment can be applied to control the driving trajectory of a robot, and the method can be executed by the trajectory control device in the embodiment of the present invention. Software and/or hardware implementation, and integrated in the robot, the method specifically includes the following steps:

S110、根据当前行驶任务，记录机器人的前向移动轨迹。S110. Record the forward movement trajectory of the robot according to the current driving task.

机器人的车体前端安装有监测设备，例如，前置摄像组件和距离传感器，因此，对于每个行驶任务，规划出的移动轨迹，均为前向的移动轨迹，即机器人行驶时，以车头在前、车尾在后的前向姿态行驶，以确保机器人的行驶安全，前向移动轨迹具体可以包括前向直行轨迹、前向右拐轨迹和前向左拐轨迹等类型；在当前行驶任务结束后，可以将预设时长或预设距离的末段轨迹，作为本次行驶任务记录的前向移动轨迹，例如，本次行驶任务用时为3分钟，而预设时长为1分钟，即仅将本次行驶任务结束前时长为1分钟的临近移动轨迹作为本次行驶任务的前向移动轨迹。The front end of the robot body is equipped with monitoring equipment, such as a front camera assembly and a distance sensor. Therefore, for each driving task, the planned movement trajectory is the forward movement trajectory, that is, when the robot is driving, the front of the robot is located at the front of the robot. Drive in a forward posture with the front and rear behind to ensure the safe driving of the robot. The forward movement trajectory can specifically include the forward straight trajectory, the forward right turn trajectory, and the forward left turn trajectory; at the end of the current driving task After that, the last track of the preset duration or the preset distance can be used as the forward movement track recorded by this driving task. The approaching moving trajectory with a duration of 1 minute before the end of this driving task is used as the forward moving trajectory of this driving task.

特别的，机器人功能的多样性，决定了机器人不但需要完成行驶任务，在执行行驶任务的同时，或者在执行行驶任务后，还可能执行其他功能操作，例如，应用于仓储及物流领域的运输机器人，不但需要行驶至各个任务点，还需要在行驶的同时，或者到达任务点后，进行货物的分拣及搬运，在分拣及搬运完成后，继续获取下一个任务点的位置；可选的，在本发明实施例中，对机器人的类型、功能和适用领域均不作具体限定。In particular, the diversity of robot functions determines that the robot not only needs to complete the driving task, but may also perform other functional operations while performing the driving task, or after performing the driving task, for example, the transportation robot used in the field of warehousing and logistics , not only need to drive to each task point, but also need to sort and transport the goods while driving, or after reaching the task point, and continue to obtain the position of the next task point after sorting and transport is completed; optional , in the embodiment of the present invention, the type, function and applicable field of the robot are not specifically limited.

可选的，在本发明实施例中，所述记录机器人的前向移动轨迹，包括：根据预设采样条件，采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹；其中，所述预设采样条件包括采样间隔时间或采样间隔距离。机器人的运动轨迹是由离散的多个位置点构成，对于各位置点的信息采集，可以根据预设的采样条件，例如，预先设定的采样间隔时间或采样间隔距离，对机器人的各个位置点信息进行采集，以确保获取到的各位置点信息在时间或位置上的关联性，准确反应机器人的运动轨迹。Optionally, in the embodiment of the present invention, the recording of the forward movement trajectory of the robot includes: collecting position point information according to preset sampling conditions, and determining the forward movement trajectory of the robot according to the position point information; Wherein, the preset sampling condition includes sampling interval time or sampling interval distance. The motion trajectory of the robot is composed of multiple discrete position points. For the information collection of each position point, each position point of the robot can be collected according to preset sampling conditions, such as the preset sampling interval time or sampling interval distance. The information is collected to ensure the correlation of the acquired information of each position point in time or position, and accurately reflect the motion trajectory of the robot.

可选的，在本发明实施例中，所述根据预设采样条件，采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹，包括：根据预设采样条件，通过距离传感器和前置摄像组件采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹；或根据预设采样条件，通过预制地图信息采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹。预制地图信息，是预先绘制完成的场景地图，将机器人的工作环境，例如，仓库，预先绘制为地图信息，地图信息中的每个位置点都对应唯一的地图坐标，获取到的位置点信息即转化为预制地图信息中的坐标信息；还可以根据前置摄像组件和距离传感器，实时构建当前场景的地图信息，获取到的各位置点信息则描述了每次运动时的移动距离和移动方向，例如，位置点信息为右转前进10厘米，则表示当前位置点是在上一个位置点处，车体右转并前进10厘米到达的。Optionally, in this embodiment of the present invention, the collecting position point information according to preset sampling conditions, and determining the forward movement trajectory of the robot according to the position point information includes: according to preset sampling conditions, passing the distance The sensor and the front camera assembly collect position point information, and determine the forward movement trajectory of the robot according to the position point information; or according to preset sampling conditions, collect position point information through pre-made map information, and determine the position point information according to the position point information. The information determines the forward movement trajectory of the robot. Pre-made map information is a pre-drawn scene map. The working environment of the robot, such as a warehouse, is pre-drawn as map information. Each location point in the map information corresponds to a unique map coordinate. The obtained location point information is It is converted into the coordinate information in the pre-made map information; the map information of the current scene can also be constructed in real time according to the front camera component and the distance sensor, and the obtained position point information describes the moving distance and moving direction of each movement. For example, if the position point information is to turn right and move forward 10 cm, it means that the current position point is at the previous position point, and the vehicle body turns right and moves forward 10 cm to arrive.

S120、当确定所述当前行驶任务已处理完成，且获取到待行驶任务时，根据所述待行驶任务的终点生成前向规划轨迹，并判断所述前向规划轨迹是否包括掉头行驶轨迹。S120. When it is determined that the current driving task has been processed and the to-be-driving task is acquired, generate a forward planning trajectory according to the end point of the to-be-driving task, and determine whether the forward planning trajectory includes a U-turn driving trajectory.

前向规划轨迹，是根据机器人当前所处位置和待行驶任务的终点规划的行驶路线，即机器人当前所处位置作为待行驶任务的起点，也即机器人处理完成每个行驶任务后的停止点，即为下一个待行驶任务的起点，在该行驶路线下，机器人始终以车头在前、车尾在后的前向姿态行驶；特别的，机器人生成的前向规划轨迹中，已避开前向行驶中遇到的障碍物，如果遇到机器人无法前向行进的路线时，则会为其生成掉头行驶轨迹，例如，通过车体前端的前置摄像组件和距离传感器检测到前方存在墙壁等障碍物，且机器人车头的左右两侧也不存在前向行进路线时，那么前向规划轨迹中会包括掉头行驶轨迹，以调转机器人的车体姿态，确保机器人仍以前向姿态行驶。The forward planning trajectory is the driving route planned according to the current position of the robot and the end point of the task to be driven, that is, the current position of the robot is used as the starting point of the task to be driven, that is, the stopping point of the robot after completing each driving task. It is the starting point of the next task to be driven. Under this driving route, the robot always drives in a forward posture with the front of the vehicle and the rear of the vehicle; in particular, in the forward planning trajectory generated by the robot, the forward direction has been avoided. For obstacles encountered during driving, if the robot encounters a route that the robot cannot travel forward, it will generate a U-turn trajectory for it. For example, the front camera component and distance sensor at the front of the vehicle body detect obstacles such as walls ahead When there is no forward travel route on the left and right sides of the robot's head, the forward planning trajectory will include a U-turn trajectory to reverse the robot's body posture and ensure that the robot still travels in a forward posture.

可选的，在本发明实施例中，在判断所述前向规划轨迹是否包括掉头行驶轨迹后，还包括：若确定所述前向规划轨迹不包括掉头行驶轨迹，则根据所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。如果前向规划轨迹不包括掉头行驶轨迹，表明机器人无需掉头行驶，因此不需要考虑机器人当前所处位置是否具备掉头空间，直接按照前向规划轨迹控制机器人行驶即可。Optionally, in this embodiment of the present invention, after judging whether the forward planned trajectory includes a U-turn driving trajectory, the method further includes: if it is determined that the forward planned trajectory does not include a U-turn driving trajectory, according to the forward planning trajectory. track, and control the robot to travel to the end point of the task to be traveled. If the forward planning trajectory does not include the U-turn trajectory, it indicates that the robot does not need to turn around, so there is no need to consider whether the robot's current position has a U-turn space, and the robot can be controlled directly according to the forward-planned trajectory.

S130、若确定所述前向规划轨迹包括掉头行驶轨迹，则判断所述机器人的当前位置是否具备掉头行驶空间。S130. If it is determined that the forward planned trajectory includes a U-turn driving trajectory, determine whether the current position of the robot has a space for U-turn driving.

通过车体前端的前置摄像组件和距离传感器，可以获取车头前方的空间区域信息，通过车体两侧的距离传感器，可以获取车体与通道两侧的距离，同时结合车体宽度和通道宽度，可以确定机器人所处的当前位置，是否具备掉头行驶的空间。Through the front camera assembly and distance sensor at the front of the car body, the information of the space area in front of the car can be obtained. Through the distance sensors on both sides of the car body, the distance between the car body and both sides of the aisle can be obtained. At the same time, the width of the car body and the width of the aisle can be combined , you can determine the current position of the robot and whether there is room to turn around.

S140、若确定所述机器人的当前位置不具备掉头行驶空间，则根据所述前向移动轨迹获取期望倒车轨迹，并根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。S140. If it is determined that the current position of the robot does not have a U-turn driving space, obtain a desired reversing trajectory according to the forward movement trajectory, and control the robot to drive to the The end point of the task to be driven.

如果确定机器人的当前位置不具备掉头行驶空间，则需要控制机器人倒车行驶，此时根据机器人已行驶完成的上一个行驶任务的前向移动轨迹，反向生成期望的倒车轨迹，并控制机器人沿该期望倒车轨迹倒车行驶；当机器人行驶到期望倒车轨迹的某个定位点时，确定前向规划轨迹中剩余的未行进轨迹位于车头前方时，则控制机器人以前向行驶的方式，沿上述未行进轨迹继续行驶，最终达到待行驶任务的终点。If it is determined that the current position of the robot does not have space for U-turn driving, it is necessary to control the robot to drive in reverse. At this time, according to the forward movement trajectory of the previous driving task that the robot has completed, the desired reversing trajectory is reversely generated, and the robot is controlled to follow the Reversing on the desired reversing trajectory; when the robot travels to a certain positioning point of the desired reversing trajectory, and it is determined that the remaining untraveled trajectory in the forward planning trajectory is located in front of the vehicle, the robot is controlled to drive forward along the above-mentioned untraveled trajectory. Continue driving until you finally reach the end of the mission to be driven.

例如，如图1B所示，在已完成的上一个行驶任务中，机器人的前向移动轨迹为线路ABC，该行驶任务完成后，机器人位于C点；而待行驶任务的终点为E点，生成的前向规划轨迹为CDCBE，即由C点经过D点再回到C点，完成车体掉头，进而根据线路CBE行驶至E点位置；但由于机器人位于C点位置时，不具备掉头行驶空间，即掉头行驶轨迹CDC存在障碍物，因此，需要机器人沿着期望倒车轨迹CBA倒车行驶，当机器人移动至图1B中的车体所在位置时，即机器人的车头行驶至B点时，此时，上述前向规划路径CDCBE中剩余的未行进轨迹为线路BE，且线路BE位于机器人的车头前方，因此，控制机器人以前向行进的方式，沿线路BE行驶，最终达到待行驶任务的终点E点。For example, as shown in Figure 1B, in the completed last driving task, the forward movement trajectory of the robot is line ABC. After the driving task is completed, the robot is located at point C; and the end point of the task to be driven is point E, generating The forward planning trajectory of the robot is CDCBE, that is, from point C, through point D and then back to point C, the vehicle body turns around, and then travels to point E according to the route CBE; however, since the robot is at point C, there is no space for turning around. , that is, there is an obstacle in the U-turn driving trajectory CDC. Therefore, the robot needs to reversing along the desired reversing trajectory CBA. When the robot moves to the position of the car body in Figure 1B, that is, when the front of the robot travels to point B, at this time, The remaining untraveled trajectory in the above forward planning path CDCBE is the line BE, and the line BE is located in front of the front of the robot. Therefore, the robot is controlled to travel along the line BE in a forward-moving manner, and finally reaches the destination point E of the task to be driven.

可选的，在本发明实施例中，在所述期望倒车轨迹上确定倒车行驶终点，并控制所述机器人沿所述期望倒车轨迹移动至所述倒车行驶终点；在所述倒车行驶终点处，更新所述前向规划轨迹，并根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。在获取到期望倒车轨迹后，先确定倒车行驶终点，例如，根据预设倒车距离，在期望倒车轨迹上确定倒车行驶终点；也可以将前向移动轨迹的起点，即上一个行驶任务的起点作为倒车行驶终点(例如图1B中的A点)；还可以将前向移动轨迹中的转弯点作为倒车行驶终点(例如图1B中的B点)；特别的，每个行驶任务，可以仅将最后一个转弯点到完成该行驶任务的停止点之间的轨迹作为前向移动轨迹，例如，仅将图1B中的轨迹BC作为前向移动轨迹，此时前向移动轨迹的起点与转弯点为同一位置点，即图1B中的B点；在机器人到达倒车行驶终点后，更新前向规划轨迹，并控制机器人沿更新后的前向规划轨迹，移动至待行驶任务的终点。Optionally, in this embodiment of the present invention, a reverse driving end point is determined on the desired reversing trajectory, and the robot is controlled to move along the desired reversing trajectory to the reverse driving end point; at the reversing driving end point, The forward planning trajectory is updated, and according to the updated forward planning trajectory, the robot is controlled to travel to the end point of the task to be traveled. After the desired reversing trajectory is obtained, first determine the end point of the reversing driving. For example, according to the preset reversing distance, determine the reversing driving end point on the expected reversing trajectory; the starting point of the forward moving trajectory, that is, the starting point of the previous driving task, can also be used as the starting point. The end point of reversing driving (such as point A in Figure 1B); the turning point in the forward movement trajectory can also be used as the end point of reversing driving (such as point B in Figure 1B); in particular, for each driving task, only the last The trajectory between a turning point and the stopping point for completing the driving task is used as the forward movement trajectory. For example, only the trajectory BC in Figure 1B is used as the forward movement trajectory. At this time, the starting point of the forward movement trajectory is the same as the turning point. The position point, namely point B in Figure 1B; after the robot reaches the end point of reverse driving, the forward planning trajectory is updated, and the robot is controlled to move along the updated forward planning trajectory to the end point of the task to be driven.

可选的，在本发明实施例中，所述根据所述前向移动轨迹获取期望倒车轨迹，包括：对所述前向移动轨迹进行拟合处理，以获取平滑轨迹，并根据所述平滑轨迹获取期望倒车轨迹。获取到的上一个行驶任务的前向移动轨迹中，各位置点的采样信息可能存在偏差，因此，需要对前向移动轨迹进行拟合处理，去除其中的奇异点，纠正轨迹采集时可能存在的偏差，以获取平滑的前向移动轨迹，该前向移动轨迹的反向运动线路，即为期望倒车轨迹。Optionally, in this embodiment of the present invention, the obtaining a desired reversing trajectory according to the forward movement trajectory includes: performing a fitting process on the forward movement trajectory to obtain a smooth trajectory, and obtaining a smooth trajectory according to the smooth trajectory. Obtain the desired reversing trajectory. In the obtained forward movement trajectory of the previous driving task, there may be deviations in the sampling information of each position point. Therefore, it is necessary to fit the forward movement trajectory, remove the singular points, and correct the possible existence of the trajectory acquisition. To obtain a smooth forward movement trajectory, the reverse movement line of the forward movement trajectory is the expected reversing trajectory.

可选的，在本发明实施例中，所述根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点，包括：根据前置摄像组件和距离传感器，对所述机器人的实际倒车轨迹进行校正，以使所述机器人的实际倒车轨迹与所述期望倒车轨迹一致。在机器人沿期望倒车轨迹进行倒车时，可以根据前置摄像组件和位于车体两侧的侧置距离传感器，获取机器人的实际倒车轨迹，并对获取到的实际倒车轨迹进行校正，使机器人的实际倒车轨迹与期望倒车轨迹一直，避免在倒车行驶过程中驶入未知区域，发生碰撞；同时，在倒车行驶时，还可以通过灯光和音效发出倒车提醒，以防止碰撞事故的发生。Optionally, in this embodiment of the present invention, the controlling the robot to travel to the end point of the task to be traveled according to the expected reversing trajectory and the forward planning trajectory includes: according to the front camera component and the distance A sensor is used to correct the actual reversing trajectory of the robot, so that the actual reversing trajectory of the robot is consistent with the expected reversing trajectory. When the robot is reversing along the desired reversing trajectory, the actual reversing trajectory of the robot can be obtained according to the front camera assembly and the side distance sensors located on both sides of the vehicle body, and the obtained actual reversing trajectory can be corrected, so that the actual reversing trajectory of the robot can be corrected. The reversing trajectory is the same as the expected reversing trajectory to avoid driving into an unknown area and causing a collision during reversing.

可选的，在本发明实施例中，在判断所述机器人的当前位置是否具备掉头行驶空间后，还包括：若确定所述机器人的当前位置具备掉头行驶空间，则根据所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。如果机器人所处的当前位置具备掉头行驶空间，那么先控制机器人沿上述前向规划轨迹中的掉头行驶轨迹完成车体掉头，再沿前向规划轨迹中的剩余轨迹控制机器人以前向姿态行进，确保机器人在整个行驶任务中始终以前向姿态行进。Optionally, in this embodiment of the present invention, after judging whether the current position of the robot has space for turning around, the method further includes: if it is determined that the current position of the robot has space for turning around, planning the trajectory according to the forward direction. , control the robot to travel to the end point of the task to be traveled. If the current position of the robot has space for U-turn driving, first control the robot to complete the U-turn along the U-turn driving trajectory in the above-mentioned forward planning trajectory, and then control the robot to travel in the forward posture along the remaining trajectory in the forward-planning trajectory to ensure that The robot always travels in a forward posture throughout the driving task.

实施例二Embodiment 2

图2为本发明实施例二提供的一种轨迹控制方法的流程图，本实施例在上述实施例的基础上进行具体化，在本发明实施例中，控制机器人沿期望倒车轨迹倒车行驶，并实时更新前向规划轨迹，该方法具体包括如下步骤：2 is a flowchart of a trajectory control method provided in Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiment. Updating the forward planning trajectory in real time, the method specifically includes the following steps:

S210、根据当前行驶任务，记录机器人的前向移动轨迹。S210: Record the forward movement trajectory of the robot according to the current driving task.

S220、当确定所述当前行驶任务已处理完成，且获取到待行驶任务时，根据所述待行驶任务的终点生成前向规划轨迹，并判断所述前向规划轨迹是否包括掉头行驶轨迹。S220. When it is determined that the current driving task has been processed and the to-be-driving task is acquired, generate a forward planning trajectory according to the end point of the to-be-driving task, and determine whether the forward planning trajectory includes a U-turn driving trajectory.

S230、若确定所述前向规划轨迹包括掉头行驶轨迹，则判断所述机器人的当前位置是否具备掉头行驶空间。S230. If it is determined that the forward planned trajectory includes a U-turn driving trajectory, determine whether the current position of the robot has a space for U-turn driving.

S240、若确定所述机器人的当前位置不具备掉头行驶空间，控制所述机器人沿所述期望倒车轨迹倒车行驶，并实时更新所述前向规划轨迹。S240. If it is determined that the current position of the robot does not have space for turning around, control the robot to drive in reverse along the desired reversing trajectory, and update the forward planning trajectory in real time.

S250、当确定更新后的所述前向规划轨迹包括掉头行驶轨迹，且所述机器人的当前位置具备掉头行驶空间时，根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点；或当确定更新后的所述前向规划轨迹不包括掉头行驶轨迹时，根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。S250. When it is determined that the updated forward planning trajectory includes a U-turn driving trajectory, and the current position of the robot has a space for U-turn driving, control the robot to drive to the or when it is determined that the updated forward planning trajectory does not include a U-turn driving trajectory, control the robot to travel to the end point of the to-be-driving task according to the updated forward planning trajectory.

以上述技术方案为例，如图2B所示，在已完成的上一个行驶任务中，机器人的前向移动轨迹为线路ABC，该行驶任务完成后，机器人位于C点；而待行驶任务的终点为E点，生成的前向规划轨迹为CDCBE，即由C点经过D点再回到C点，完成车体掉头，进而根据线路CBE行驶至E点位置；但机器人位于C点位置时，不具备掉头行驶空间，即掉头行驶轨迹CDC存在障碍物，因此，需要机器人沿着期望倒车轨迹CBA倒车行驶，并在倒车行驶的同时，实时更新前向规划轨迹；在机器人车头行驶至M点时，实时更新的前向规划轨迹为MNMBE，即由M点经过N点再回到M点，完成车体掉头，进而根据线路MBE行驶至E点位置，此时车体在M点处的位置空间满足机器人的掉头行驶需求，前向规划轨迹MNMBE中不存在障碍物，因此，控制机器人沿线路MNM完成掉头行驶，再继续沿线路MBE行驶，最终到达待行驶任务的终点E点。Taking the above technical solution as an example, as shown in Figure 2B, in the completed last driving task, the forward movement trajectory of the robot is line ABC. After the driving task is completed, the robot is located at point C; and the end point of the driving task is to be completed. For point E, the generated forward planning trajectory is CDCBE, that is, from point C to point D and then back to point C, the vehicle body turns around, and then travels to point E according to the line CBE; but when the robot is at point C, it does not It has space for U-turn driving, that is, there are obstacles in the U-turn trajectory CDC. Therefore, the robot needs to reversing along the desired reversing trajectory CBA, and update the forward planning trajectory in real time while reversing; The forward planning trajectory updated in real time is MNMBE, that is, from point M, through point N and then back to point M, the car body turns around, and then travels to the position of point E according to the line MBE. At this time, the position space of the car body at point M is satisfied. There is no obstacle in the forward planning trajectory MNMBE for the robot's U-turn driving requirement. Therefore, the robot is controlled to complete the U-turn driving along the line MNM, and then continue to drive along the line MBE, and finally reach the end point E of the task to be driven.

本发明实施例公开的技术方案，控制机器人沿期望倒车轨迹倒车行驶时，实时更新前向规划轨迹，并在确定更新后的前向规划轨迹不存在障碍物时，立即根据更新后的前向规划轨迹，控制所述机器人以前向行驶的方式行驶至目标位置，在实现准确的倒车轨迹控制的同时，缩短了机器人的倒车行驶距离，确保了及时将机器人调整为前向姿态，提高了行驶轨迹的安全性。The technical solution disclosed in the embodiment of the present invention is to control the robot to update the forward planning trajectory in real time when reversing along the desired reversing trajectory, and when it is determined that there is no obstacle in the updated forward planning trajectory, immediately follow the updated forward planning trajectory according to the updated forward planning trajectory. track, control the robot to drive to the target position in a forward driving manner, while realizing accurate reversing trajectory control, the reversing driving distance of the robot is shortened, the robot is adjusted to the forward posture in time, and the driving trajectory is improved. safety.

实施例三Embodiment 3

图3是本发明实施例三所提供的一种轨迹控制装置的结构框图，该装置具体包括：前向移动轨迹记录模块310、前向规划轨迹生成模块320、掉头行驶空间判断模块330和第一控制执行模块340；3 is a structural block diagram of a trajectory control device provided by Embodiment 3 of the present invention, the device specifically includes: a forward movement trajectory recording module 310, a forward planning trajectory generation module 320, a U-turn driving space judgment module 330, and a first control execution module 340;

前向移动轨迹记录模块310，用于根据当前行驶任务，记录机器人的前向移动轨迹；The forward movement trajectory recording module 310 is used to record the forward movement trajectory of the robot according to the current driving task;

前向规划轨迹生成模块320，用于当确定所述当前行驶任务已处理完成，且获取到待行驶任务时，根据所述待行驶任务的终点生成前向规划轨迹，并判断所述前向规划轨迹是否包括掉头行驶轨迹；The forward planning trajectory generation module 320 is configured to generate a forward planning trajectory according to the end point of the to-be-driving task when it is determined that the current driving task has been processed and the to-be-driving task is obtained, and judge the forward planning Whether the trajectory includes a U-turn trajectory;

掉头行驶空间判断模块330，用于若确定所述前向规划轨迹包括掉头行驶轨迹，则判断所述机器人的当前位置是否具备掉头行驶空间；A U-turn driving space judgment module 330, configured to determine whether the current position of the robot has a U-turn driving space if it is determined that the forward planned trajectory includes a U-turn driving trajectory;

第一控制执行模块340，用于若确定所述机器人的当前位置不具备掉头行驶空间，则根据所述前向移动轨迹获取期望倒车轨迹，并根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。The first control execution module 340 is configured to obtain a desired reversing trajectory according to the forward movement trajectory if it is determined that the current position of the robot does not have a U-turn driving space, and according to the expected reversing trajectory and the forward planning trajectory , control the robot to travel to the end point of the task to be traveled.

可选的，在上述技术方案的基础上，第一控制执行模块340，还包括：Optionally, on the basis of the above technical solution, the first control execution module 340 further includes:

倒车行驶终点获取单元，用于在所述期望倒车轨迹上确定倒车行驶终点，并控制所述机器人沿所述期望倒车轨迹移动至所述倒车行驶终点；a reversing driving end point acquiring unit, configured to determine the reversing driving end point on the desired reversing trajectory, and control the robot to move to the reversing driving end point along the desired reversing trajectory;

移动控制执行单元，用于在所述倒车行驶终点处，更新所述前向规划轨迹，并根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。The movement control execution unit is configured to update the forward planning trajectory at the end point of the reversing driving, and control the robot to travel to the end point of the task to be traveled according to the updated forward planning trajectory.

可选的，在上述技术方案的基础上，所述倒车行驶终点包括所述前向移动轨迹的起点或转弯点。Optionally, on the basis of the above technical solution, the end point of the reverse driving includes a starting point or a turning point of the forward moving trajectory.

倒车行驶执行单元，用于控制所述机器人沿所述期望倒车轨迹倒车行驶，并实时更新所述前向规划轨迹；a reversing driving execution unit, configured to control the robot to reversing along the desired reversing trajectory, and update the forward planning trajectory in real time;

移动控制执行单元，用于当确定更新后的所述前向规划轨迹包括掉头行驶轨迹，且所述机器人的当前位置具备掉头行驶空间时，根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点；或当确定更新后的所述前向规划轨迹不包括掉头行驶轨迹时，根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。The movement control execution unit is configured to control the updated forward planning trajectory according to the updated forward planning trajectory when it is determined that the updated forward planning trajectory includes a U-turn driving trajectory and the current position of the robot has a U-turn driving space The robot travels to the end point of the task to be traveled; or when it is determined that the updated forward planning trajectory does not include a U-turn travel trajectory, control the robot to travel to the to-be-to-be-planned trajectory according to the updated forward planning trajectory The destination of the driving mission.

可选的，在上述技术方案的基础上，前向移动轨迹记录模块310，具体用于根据预设采样条件，采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹；其中，所述预设采样条件包括采样间隔时间或采样间隔距离。Optionally, on the basis of the above technical solution, the forward movement trajectory recording module 310 is specifically configured to collect position point information according to preset sampling conditions, and determine the forward movement trajectory of the robot according to the position point information; Wherein, the preset sampling condition includes sampling interval time or sampling interval distance.

可选的，在上述技术方案的基础上，前向移动轨迹记录模块310，具体还用于根据预设采样条件，通过距离传感器和前置摄像组件采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹；或根据预设采样条件，通过预制地图信息采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹。Optionally, on the basis of the above technical solution, the forward movement track recording module 310 is further configured to collect the position point information through the distance sensor and the front camera assembly according to the preset sampling conditions, and collect the position point information according to each of the position points. information to determine the forward movement trajectory of the robot; or according to preset sampling conditions, collect position point information through pre-made map information, and determine the forward movement trajectory of the robot according to the position point information.

可选的，在上述技术方案的基础上，第一控制执行模块340，具体用于对所述前向移动轨迹进行拟合处理，以获取平滑轨迹，并根据所述平滑轨迹获取期望倒车轨迹。Optionally, based on the above technical solution, the first control execution module 340 is specifically configured to perform fitting processing on the forward moving trajectory to obtain a smooth trajectory, and obtain a desired reverse trajectory according to the smooth trajectory.

可选的，在上述技术方案的基础上，第一控制执行模块340，具体用于根据前置摄像组件和距离传感器，对所述机器人的实际倒车轨迹进行校正，以使所述机器人的实际倒车轨迹与所述期望倒车轨迹一致。Optionally, on the basis of the above technical solution, the first control execution module 340 is specifically configured to correct the actual reversing trajectory of the robot according to the front camera assembly and the distance sensor, so as to make the actual reversing trajectory of the robot. The trajectory is consistent with the desired reverse trajectory.

可选的，在上述技术方案的基础上，第一控制执行模块340，具体用于控制所述机器人沿所述期望倒车轨迹倒车行驶，并发出倒车提醒。Optionally, based on the above technical solution, the first control execution module 340 is specifically configured to control the robot to drive in reverse along the desired reversing trajectory, and issue a reversing reminder.

可选的，在上述技术方案的基础上，轨迹控制装置，还包括：Optionally, on the basis of the above technical solution, the trajectory control device further includes:

第二控制执行模块，用于若确定所述前向规划轨迹不包括掉头行驶轨迹，则根据所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点；a second control execution module, configured to control the robot to travel to the end point of the task to be traveled according to the forward planned trajectory if it is determined that the forward planned trajectory does not include a U-turn travel trajectory;

第三控制执行模块，用于若确定所述机器人的当前位置具备掉头行驶空间，则根据所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。The third control execution module is configured to control the robot to travel to the end point of the task to be traveled according to the forward planning trajectory if it is determined that the current position of the robot has a space for turning around.

上述装置可执行本发明任意实施例所提供的轨迹控制方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本发明任意实施例提供的方法。The above apparatus can execute the trajectory control method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, reference may be made to the method provided by any embodiment of the present invention.

实施例四Embodiment 4

图4为本发明实施例四提供的一种机器人的结构示意图。图4示出了适于用来实现本发明实施方式的示例性机器人12的框图。图4显示的机器人12仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。FIG. 4 is a schematic structural diagram of a robot according to Embodiment 4 of the present invention. Figure 4 shows a block diagram of an exemplary robot 12 suitable for use in implementing embodiments of the present invention. The robot 12 shown in FIG. 4 is only an example, and should not impose any limitation on the function and scope of use of the embodiment of the present invention.

如图4所示，机器人12以通用计算设备的形式表现。机器人12的组件可以包括但不限于：一个或者多个处理器或者处理单元16，存储器28，连接不同***组件(包括存储器28和处理单元16)的总线18。As shown in FIG. 4, the robot 12 takes the form of a general-purpose computing device. Components of the robot 12 may include, but are not limited to, one or more processors or processing units 16 , a memory 28 , and a bus 18 that connects the various system components including the memory 28 and the processing unit 16 .

总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，***总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(ISA)总线，微通道体系结构(MAC)总线，增强型ISA总线、视频电子标准协会(VESA)局域总线以及***组件互连(PCI)总线。 Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect ( PCI) bus.

机器人12典型地包括多种计算机***可读介质。这些介质可以是任何能够被机器人12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。 Robot 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the robot 12, including volatile and non-volatile media, removable and non-removable media.

存储器28可以包括易失性存储器形式的计算机***可读介质，例如随机存取存储器(RAM)30和/或高速缓存存储器32。机器人12可以进一步包括其它可移动/不可移动的、易失性/非易失性计算机***存储介质。仅作为举例，存储***34可以用于读写不可移动的、非易失性磁介质(图4未显示，通常称为“硬盘驱动器”)。尽管图4中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如CD-ROM，DVD-ROM或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线18相连。存储器28可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本发明各实施例的功能。 Memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32 . Robot 12 may further include other removable/non-removable, volatile/non-volatile computer system storage media. For example only, storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard drive"). Although not shown in Figure 4, a disk drive may be provided for reading and writing to removable non-volatile magnetic disks (eg "floppy disks"), and removable non-volatile optical disks (eg CD-ROM, DVD-ROM) or other optical media) to read and write optical drives. In these cases, each drive may be connected to bus 18 through one or more data media interfaces. Memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present invention.

具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如存储器28中，这样的程序模块42包括但不限于操作***、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块42通常执行本发明所描述的实施例中的功能和/或方法。A program/utility 40 having a set (at least one) of program modules 42, which may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data , each or some combination of these examples may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the described embodiments of the present invention.

机器人12也可以与一个或多个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与一个或者多个使得用户能与该机器人12交互的设备通信，和/或与使得该机器人12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口22进行。并且，机器人12还可以通过网络适配器20与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器20通过总线18与机器人12的其它模块通信。应当明白，尽管图中未示出，可以结合机器人12使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID***、磁带驱动器以及数据备份存储***等。The robot 12 may also communicate with one or more external devices 14 (eg, a keyboard, pointing device, display 24, etc.), may also communicate with one or more devices that enable a user to interact with the robot 12, and/or communicate with the robot 12. Robot 12 can communicate with any device (eg, network card, modem, etc.) that communicates with one or more other computing devices. Such communication may take place through input/output (I/O) interface 22 . Also, the robot 12 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 20 . As shown, the network adapter 20 communicates with other modules of the robot 12 via the bus 18 . It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with the robot 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and Data backup storage system, etc.

处理单元16通过运行存储在存储器28中的程序，从而执行各种功能应用以及数据处理，例如实现本发明任意实施例提供的轨迹控制方法。也即：根据当前行驶任务，记录机器人的前向移动轨迹；当确定所述当前行驶任务已处理完成，且获取到待行驶任务时，根据所述待行驶任务的终点生成前向规划轨迹，并判断所述前向规划轨迹是否包括掉头行驶轨迹；若确定所述前向规划轨迹包括掉头行驶轨迹，则判断所述机器人的当前位置是否具备掉头行驶空间；若确定所述机器人的当前位置不具备掉头行驶空间，则根据所述前向移动轨迹获取期望倒车轨迹，并根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。The processing unit 16 executes various functional applications and data processing by running the programs stored in the memory 28, for example, implements the trajectory control method provided by any embodiment of the present invention. That is: record the forward movement trajectory of the robot according to the current driving task; when it is determined that the current driving task has been processed and the to-be-driving task is obtained, the forward planning trajectory is generated according to the end point of the to-be-driving task, and Determine whether the forward planning trajectory includes a U-turn driving trajectory; if it is determined that the forward planning trajectory includes a U-turn driving trajectory, then determine whether the current position of the robot has space for U-turn driving; if it is determined that the current position of the robot does not have If turning around in the driving space, the desired reversing trajectory is obtained according to the forward moving trajectory, and the robot is controlled to travel to the end point of the task to be traveled according to the expected reversing trajectory and the forward planning trajectory.

实施例五Embodiment 5

本发明实施例五还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本发明任意实施例所述的轨迹控制方法；该方法包括：Embodiment 5 of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, implements the trajectory control method described in any embodiment of the present invention; the method includes:

本发明实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行***、装置或者器件使用或者与其结合使用。The computer storage medium in the embodiments of the present invention may adopt any combination of one or more computer-readable mediums. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (a non-exhaustive list) of computer readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于无线、电线、光缆、RF等等，或者上述的任意合适的组合。Program code embodied on a computer readable medium may be transmitted using any suitable medium, including - but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made to those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope is determined by the scope of the appended claims.

Claims

一种轨迹控制方法，其特征在于，包括：A trajectory control method, comprising:

根据当前行驶任务，记录机器人的前向移动轨迹；According to the current driving task, record the forward movement trajectory of the robot;

当确定所述当前行驶任务已处理完成，且获取到待行驶任务时，根据所述待行驶任务的终点生成前向规划轨迹，并判断所述前向规划轨迹是否包括掉头行驶轨迹；When it is determined that the current driving task has been processed and the to-be-driving task is acquired, generating a forward planning trajectory according to the end point of the to-be-driving task, and determining whether the forward planning trajectory includes a U-turn driving trajectory;

若确定所述前向规划轨迹包括掉头行驶轨迹，则判断所述机器人的当前位置是否具备掉头行驶空间；If it is determined that the forward planned trajectory includes a U-turn driving trajectory, determining whether the current position of the robot has space for U-turn driving;

若确定所述机器人的当前位置不具备掉头行驶空间，则根据所述前向移动轨迹获取期望倒车轨迹，并根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。If it is determined that the current position of the robot does not have space for turning around, obtain a desired reversing trajectory according to the forward movement trajectory, and control the robot to drive to the The end point of the task to be driven.
根据权利要求1所述的方法，其特征在于，所述根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点：The method according to claim 1, wherein, according to the expected reversing trajectory and the forward planning trajectory, the robot is controlled to travel to the end point of the task to be traveled:

在所述期望倒车轨迹上确定倒车行驶终点，并控制所述机器人沿所述期望倒车轨迹移动至所述倒车行驶终点；Determine the backing travel end point on the desired backing trajectory, and control the robot to move to the backing travel end point along the desired backing trajectory;

在所述倒车行驶终点处，更新所述前向规划轨迹，并根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。At the end point of the reversing driving, the forward planning trajectory is updated, and according to the updated forward planning trajectory, the robot is controlled to travel to the end point of the task to be traveled.
根据权利要求2所述的方法，其特征在于，所述倒车行驶终点包括所述前向移动轨迹的起点或转弯点。The method according to claim 2, wherein the end point of the reverse driving includes a starting point or a turning point of the forward moving trajectory.
根据权利要求1所述的方法，其特征在于，所述根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点，包括：The method according to claim 1, wherein the controlling the robot to travel to the end point of the task to be traveled according to the expected reversing trajectory and the forward planning trajectory comprises:

控制所述机器人沿所述期望倒车轨迹倒车行驶，并实时更新所述前向规划轨迹；controlling the robot to drive in reverse along the desired reversing trajectory, and updating the forward planning trajectory in real time;

当确定更新后的所述前向规划轨迹包括掉头行驶轨迹，且所述机器人的当前位置具备掉头行驶空间时，根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点；When it is determined that the updated forward planning trajectory includes a U-turn driving trajectory, and the current position of the robot has space for U-turn driving, the robot is controlled to travel to the to-be-driving according to the updated forward planning trajectory the end of the task;

或当确定更新后的所述前向规划轨迹不包括掉头行驶轨迹时，根据更新后的所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。Or when it is determined that the updated forward planning trajectory does not include a U-turn driving trajectory, the robot is controlled to travel to the end point of the to-be-traveled task according to the updated forward planning trajectory.
根据权利要求1所述的方法，其特征在于，所述记录机器人的前向移动轨迹，包括：The method according to claim 1, wherein the recording of the forward movement trajectory of the robot comprises:

根据预设采样条件，采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹；其中，所述预设采样条件包括采样间隔时间或采样间隔距离。According to preset sampling conditions, the position point information is collected, and the forward movement trajectory of the robot is determined according to each of the position point information; wherein, the preset sampling conditions include sampling interval time or sampling interval distance.
根据权利要求5所述的方法，其特征在于，所述根据预设采样条件，采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹，包括：The method according to claim 5, wherein the collecting position point information according to preset sampling conditions, and determining the forward movement trajectory of the robot according to the position point information, comprises:

根据预设采样条件，通过距离传感器和前置摄像组件采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹；According to the preset sampling conditions, the position point information is collected through the distance sensor and the front camera assembly, and the forward movement trajectory of the robot is determined according to the position point information;

或根据预设采样条件，通过预制地图信息采集位置点信息，并根据各所述位置点信息确定机器人的前向移动轨迹。Or according to the preset sampling conditions, the position point information is collected through the prefabricated map information, and the forward movement trajectory of the robot is determined according to the position point information.
根据权利要求1所述的方法，其特征在于，所述根据所述前向移动轨迹获取期望倒车轨迹，包括：The method according to claim 1, wherein the obtaining a desired reversing trajectory according to the forward movement trajectory comprises:

对所述前向移动轨迹进行拟合处理，以获取平滑轨迹，并根据所述平滑轨迹获取期望倒车轨迹。Fitting processing is performed on the forward moving trajectory to obtain a smooth trajectory, and a desired reversing trajectory is obtained according to the smooth trajectory.
根据权利要求1所述的方法，其特征在于，所述根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点，包括：The method according to claim 1, wherein the controlling the robot to travel to the end point of the task to be traveled according to the expected reversing trajectory and the forward planning trajectory comprises:

根据前置摄像组件和距离传感器，对所述机器人的实际倒车轨迹进行校正，以使所述机器人的实际倒车轨迹与所述期望倒车轨迹一致。The actual reversing trajectory of the robot is corrected according to the front camera assembly and the distance sensor, so that the actual reversing trajectory of the robot is consistent with the expected reversing trajectory.
根据权利要求1所述的方法，其特征在于，所述根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点，包括：The method according to claim 1, wherein the controlling the robot to travel to the end point of the task to be traveled according to the expected reversing trajectory and the forward planning trajectory comprises:

控制所述机器人沿所述期望倒车轨迹倒车行驶，并发出倒车提醒。The robot is controlled to drive in reverse along the desired reversing trajectory, and a reversing reminder is issued.
根据权利要求1所述的方法，其特征在于，在判断所述前向规划轨迹是否包括掉头行驶轨迹后，还包括：The method according to claim 1, wherein after judging whether the forward planned trajectory includes a U-turn driving trajectory, the method further comprises:

若确定所述前向规划轨迹不包括掉头行驶轨迹，则根据所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点；If it is determined that the forward planned trajectory does not include a U-turn travel trajectory, controlling the robot to travel to the end point of the task to be traveled according to the forward planned trajectory;

在判断所述机器人的当前位置是否具备掉头行驶空间后，还包括：After judging whether the current position of the robot has space for turning around, the method further includes:

若确定所述机器人的当前位置具备掉头行驶空间，则根据所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。If it is determined that the current position of the robot has space for turning around, the robot is controlled to travel to the end point of the task to be traveled according to the forward planning trajectory.
一种轨迹控制装置，其特征在于，包括：A trajectory control device, characterized in that it includes:

前向移动轨迹记录模块，用于根据当前行驶任务，记录机器人的前向移动轨迹；The forward movement trajectory recording module is used to record the forward movement trajectory of the robot according to the current driving task;

前向规划轨迹生成模块，用于当确定所述当前行驶任务已处理完成，且获取到待行驶任务时，根据所述待行驶任务的终点生成前向规划轨迹，并判断所述前向规划轨迹是否包括掉头行驶轨迹；The forward planning trajectory generation module is used to generate a forward planning trajectory according to the end point of the to-be-driving task when it is determined that the current driving task has been processed and the to-be-driving task is obtained, and determine the forward planning trajectory Whether the U-turn driving track is included;

掉头行驶空间判断模块，用于若确定所述前向规划轨迹包括掉头行驶轨迹，则判断所述机器人的当前位置是否具备掉头行驶空间；a U-turn travel space judgment module, configured to determine whether the current position of the robot has a U-turn travel space if it is determined that the forward planned trajectory includes a U-turn travel path;

第一控制执行模块，用于若确定所述机器人的当前位置不具备掉头行驶空间，则根据所述前向移动轨迹获取期望倒车轨迹，并根据所述期望倒车轨迹和所述前向规划轨迹，控制所述机器人行驶至所述待行驶任务的终点。a first control execution module, configured to obtain a desired reversing trajectory according to the forward movement trajectory if it is determined that the current position of the robot does not have a U-turn driving space, and according to the expected reversing trajectory and the forward planning trajectory, The robot is controlled to travel to the end point of the task to be traveled.
一种机器人，其特征在于，所述机器人包括：A robot, characterized in that the robot comprises:

一个或多个处理器；one or more processors;

存储装置，用于存储一个或多个程序，storage means for storing one or more programs,

当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-10中任一所述的轨迹控制方法。When the one or more programs are executed by the one or more processors, the one or more processors implement the trajectory control method according to any one of claims 1-10.
一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-10中任一所述的轨迹控制方法。A computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the trajectory control method according to any one of claims 1-10 is implemented.