WO2022127370A1 - Procédé et dispositif de commande de suivi, robot et support d'informations - Google Patents

Procédé et dispositif de commande de suivi, robot et support d'informations Download PDF

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Publication number
WO2022127370A1
WO2022127370A1 PCT/CN2021/125593 CN2021125593W WO2022127370A1 WO 2022127370 A1 WO2022127370 A1 WO 2022127370A1 CN 2021125593 W CN2021125593 W CN 2021125593W WO 2022127370 A1 WO2022127370 A1 WO 2022127370A1
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WIPO (PCT)
Prior art keywords
trajectory
robot
driving
task
reversing
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PCT/CN2021/125593
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English (en)
Chinese (zh)
Inventor
唐文庆
张传发
成鹏
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灵动科技（北京）有限公司
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Publication of WO2022127370A1 publication Critical patent/WO2022127370A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture

Definitions

  • Embodiments of the present invention relate to the field of robotics, and in particular, to a trajectory control method, device, robot, and storage medium.
  • 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.
  • 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.
  • an embodiment of the present invention provides a trajectory control method, including:
  • the forward planned trajectory includes a U-turn driving trajectory, determining whether the current position of the robot has space for U-turn driving;
  • an embodiment of the present invention provides a trajectory control device, including:
  • the forward movement trajectory recording module is used to record the forward movement trajectory of the robot according to the current driving task
  • 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;
  • 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;
  • 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.
  • an embodiment of the present invention provides a robot, including:
  • processors one or more processors
  • the one or more processors implement the trajectory control method described in any embodiment of the present invention.
  • 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.
  • 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.
  • 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.
  • FIG. 1A is a flowchart of a trajectory control method provided in Embodiment 1 of the present invention.
  • FIG. 1B is a schematic diagram of a trajectory of a robot according to Embodiment 1 of the present invention.
  • FIG. 2A is a flowchart of a trajectory control method provided in Embodiment 2 of the present invention.
  • FIG. 2B is a schematic diagram of a trajectory of a robot according to Embodiment 2 of the present invention.
  • FIG. 3 is a structural block diagram of a trajectory control device provided in Embodiment 3 of the present invention.
  • FIG. 4 is a structural block diagram of a robot according to Embodiment 4 of the present invention.
  • Embodiment 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:
  • 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the front camera component and distance sensor at the front of the vehicle body detect obstacles such as walls ahead
  • 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.
  • 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.
  • the information of the space area in front of the car can be obtained.
  • 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.
  • 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.
  • the robot 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.
  • the forward movement trajectory of the robot is line ABC.
  • 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.
  • 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.
  • 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.
  • the trajectory BC in Figure 1B is used as the forward movement trajectory.
  • the starting point of the forward movement trajectory is the same as the turning point.
  • 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.
  • the reverse movement line of the forward movement trajectory is the expected reversing trajectory.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Embodiment 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 Record the forward movement trajectory of the robot according to the current driving task.
  • the robot 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.
  • the forward movement trajectory of the robot is line ABC.
  • the robot is located at point C; and the end point of the driving task is to be completed.
  • 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.
  • 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.
  • MNMBE The forward planning trajectory updated in real time
  • 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.
  • 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.
  • FIG. 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;
  • the forward movement trajectory recording module 310 is used to record the forward movement trajectory of the robot according to the current driving task
  • 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;
  • 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;
  • 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.
  • 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.
  • 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.
  • the first control execution module 340 further includes:
  • 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;
  • 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.
  • the end point of the reverse driving includes a starting point or a turning point of the forward moving trajectory.
  • the first control execution module 340 further includes:
  • 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;
  • 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.
  • 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;
  • the preset sampling condition includes sampling interval time or sampling interval distance.
  • 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.
  • 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.
  • 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.
  • 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.
  • the trajectory control device further includes:
  • 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
  • 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.
  • 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.
  • the trajectory control method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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”).
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 .
  • the network adapter 20 communicates with other modules of the robot 12 via the bus 18 .
  • 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.
  • 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.
  • 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:
  • the forward planned trajectory includes a U-turn driving trajectory, determining whether the current position of the robot has space for U-turn driving;
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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).
  • LAN local area network
  • WAN wide area network

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  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
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Abstract

L'invention concerne un procédé et un dispositif de commande de suivi, un robot et un support d'informations. Le procédé de commande de suivi comprend les étapes suivantes : une voie de déplacement avant d'un robot est enregistrée en fonction de la tâche d'entraînement actuelle ; et lorsqu'une voie de planification avant comporte une voie d'entraînement de demi-tour et qu'il n'y a pas d'espace d'entraînement de demi-tour dans la position actuelle du robot, une voie d'inversion souhaitée est obtenue en fonction de la voie de déplacement avant, et en fonction de la voie d'inversion souhaitée et de la voie de planification avant, le robot est commandé pour un entraînement jusqu'à la fin d'une tâche devant être entraînée. Pour un robot qui présente uniquement un dispositif de surveillance avant, une commande de voie d'inversion précise est réalisée et la flexibilité du robot est considérablement améliorée. De plus, la voie d'inversion souhaitée est une zone sûre dans laquelle le robot est entraîné, et la sécurité dans la voie d'entraînement du robot est ainsi assurée si un dispositif de surveillance arrière n'est pas fourni.
PCT/CN2021/125593 2020-12-15 2021-10-22 Procédé et dispositif de commande de suivi, robot et support d'informations WO2022127370A1 (fr)

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