CN115437374A - Robot movement control method and device, robot and controller - Google Patents
Robot movement control method and device, robot and controller Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a robot movement control method and device, a robot and a controller. The method comprises the following steps: controlling the robot to move according to the first planned path; in the process of controlling the robot to move according to the first planned path, obtaining obstacles in a scanning range; if an obstacle exists in the scanning range and is positioned on the first planned path, controlling the robot to stop moving; and if the obstacle on the first planned path in the scanning range disappears within the preset time after the robot stops moving, controlling the robot to continue moving according to the first planned path. By adopting the method, the movement of the robot can be reasonably controlled, and the intelligent obstacle avoidance can be further realized.
Description
Technical Field
The application relates to the technical field of automation, in particular to a robot movement control method and device, a robot and a controller.
Background
With the development of automation technology, a technology of replacing manual sterilization spraying with a robot gradually appears.
At present, the epidemic prevention and killing means of the robot mainly adopts a manual remote control robot or a full-automatic robot to spray, kill and kill. The manual remote control robot is adopted for epidemic prevention and killing, and certain limitation exists in mobile control; and the problem of unreasonable obstacle avoidance exists when the full-automatic robot is adopted for killing.
Disclosure of Invention
In view of the above, it is necessary to provide a robot movement control method, an apparatus, a robot, and a controller, which can implement intelligent obstacle avoidance.
In a first aspect, a robot movement control method is provided, the method including:
controlling the robot to move according to the first planned path;
in the process of controlling the robot to move according to the first planned path, obtaining obstacles in a scanning range;
if the obstacle existing in the scanning range is located on the first planned path, controlling the robot to stop moving;
and if the obstacles on the first planned path in the scanning range disappear within the preset time after the robot stops moving, controlling the robot to continue moving according to the first planned path.
In one embodiment, the robot movement control method further includes:
and if the obstacle still exists in the scanning range and is positioned on the first planned path after the robot stops moving for a preset time, generating a second planned path according to the position of the obstacle, and controlling the robot to move according to the second planned path.
In one embodiment, the robot movement control method further includes:
and controlling the robot to stop spraying the disinfectant under the condition that the robot stops moving.
In one embodiment, the robot movement control method further includes:
and in the moving process of the robot, controlling the robot to spray disinfectant.
In one embodiment, the robot movement control method further includes:
acquiring an epidemic prevention and killing picture and sending the epidemic prevention and killing picture to a remote terminal;
and responding to a secondary disinfection instruction sent by the remote terminal, controlling the robot to move to the area to be disinfected and sprayed with disinfectant.
In a second aspect, there is provided a robot comprising:
a robot body;
the obstacle detection device is arranged on the robot body and used for detecting obstacles in a scanning range;
the driving device is used for driving the robot body to move;
and a controller mounted on the robot body, connected to the obstacle detection device, and configured to execute the steps of the robot movement control method described above, so as to control the driving device to drive the robot body to move.
In one embodiment, the robot further comprises:
the liquid storage tank is used for storing disinfectant;
the spraying device is mechanically connected with the liquid storage tank and electrically connected with the controller;
the controller is used for controlling the spraying device to obtain and spray disinfectant from the liquid storage tank in the moving process of the robot body;
the controller is also used for controlling the spraying device to stop spraying the disinfectant when the robot body stops moving.
In one embodiment, the robot further comprises:
the image acquisition device is used for acquiring the epidemic prevention and killing picture, is connected with the controller and transmits the epidemic prevention and killing picture to the controller;
the controller is used for connecting the remote terminal and sending an epidemic prevention disinfection picture to the remote terminal, and is also used for responding to a secondary disinfection instruction sent by the remote terminal, controlling the robot to move to an area to be disinfected and spraying disinfectant to the area to be disinfected and disinfected;
and the secondary killing instruction is used for indicating the secondary killing of the area to be subjected to secondary killing.
In a third aspect, there is provided a robot movement control apparatus comprising:
the first control module is used for controlling the robot to move according to the first planned path;
the acquisition module is used for acquiring the obstacles in the scanning range in the process of controlling the robot to move according to the first planned path;
the second control module is used for controlling the robot to stop moving when an obstacle is located on the first planned path in the scanning range;
and the third control module is used for eliminating the obstacle on the first planned path in the scanning range within the preset time after the robot stops moving and controlling the robot to continue moving according to the first planned path.
In a fourth aspect, a controller is provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the robot movement control method of any one of the above when executing the computer program.
According to the robot movement control method, the robot movement control device, the robot and the controller, the robot is controlled to move according to the first planned path, and the obstacles in the scanning range are obtained in the moving process of the robot according to the first planned path; if an obstacle exists in the scanning range and is positioned on the first planned path, controlling the robot to stop moving; if the obstacle on the first planned path in the scanning range disappears within the preset time after the robot stops moving, the robot is controlled to continue to move according to the first planned path, so that the movement of the robot is reasonably controlled, and intelligent obstacle avoidance is realized; meanwhile, the frequency of secondary planning paths can be reduced, computing resources are saved, the performance requirement on the robot controller executing the control method is lowered, the cost is lowered, and the method is more favorable for large-scale popularization to the mobile control of robots of various models. Further, when the robot is an epidemic prevention robot with a spraying, disinfecting and killing function, based on the mobile control method, all-around accurate disinfection and killing can be achieved.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a method for controlling movement of a robot;
FIG. 2 is a schematic flow chart diagram of a method for controlling movement of a robot in accordance with one embodiment;
FIG. 3 is a schematic flow chart of a method for controlling movement of a robot in another embodiment;
FIG. 4 is an exemplary schematic diagram of robot movement control in one embodiment;
FIG. 5 is a schematic flow chart diagram of a method for controlling movement of a robot in accordance with yet another embodiment;
FIG. 6 is a flowchart illustrating a method for controlling the movement of a robot according to still another embodiment;
FIG. 7 is a schematic flow chart diagram illustrating portions of the steps of a robot movement control method in one embodiment;
FIG. 8 is a block diagram of a robot in one embodiment;
FIG. 9 is a flowchart illustrating a method for controlling the movement of a robot according to another embodiment;
FIG. 10 is a block diagram showing the construction of a robot movement control apparatus according to an embodiment;
fig. 11 is an internal structural diagram of a controller in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The robot movement control method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein, the robot 2 can obtain map information or shoot epidemic prevention and disinfection pictures; the remote terminal 4 can be used for sending a first planned path to the robot 2 and obtaining an epidemic prevention killing picture, and the remote terminal 4 can also be used for sending a secondary killing instruction based on the obtained epidemic prevention killing picture, wherein the secondary killing instruction is used for instructing the robot 2 to carry out secondary killing on a secondary killing area. The robot 2 moves according to the first planned path, and in the moving process, the obstacles in the scanning range are obtained; if an obstacle exists in the scanning range and is located on the first planned path, namely the robot 2 is prevented from continuing to move according to the first planned path, the robot 2 stops moving. In the preset time after the robot 2 stops moving, if the obstacle on the first planned path in the scanning range disappears, the robot 2 continues to move according to the first planned path without re-planning the path, so that the movement of the robot 2 is reasonably controlled, and the intelligent obstacle avoidance is realized. The remote terminal 4 can be a personal computer, a notebook computer, a smart phone, a tablet computer, an internet of things device and a portable wearable device, and the internet of things device can be an intelligent sound box, an intelligent television, an intelligent air conditioner, an intelligent vehicle-mounted device and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like.
In one embodiment, as shown in fig. 2, there is provided a robot movement control method, which is exemplified by the application of the method to the robot 2 in fig. 1, and includes the following steps:
and S202, controlling the robot to move according to the first planned path.
The first planned path may be a moving path generated by the robot by combining map information acquired by a ranging sensor such as a laser radar and a modeling technique, or the first planned path may be a preset moving path input from an external device. Specifically, the first planned path may be generated in real time during the movement of the robot, or may be pre-stored in the robot memory, for example, the first planned path may be a historical planned path, and specifically, the first planned path may be a last movement path of the robot. In one embodiment, the first planned path may be map information obtained in real time by a laser radar installed on the robot, and is a robot moving path generated in real time based on SLAM (simultaneous localization and mapping) technology.
Further, the first planned path may refer to all or part of a path that the robot passes when moving from the initial position to one target position, or may refer to all or part of a path that the robot passes when moving from the initial position to a plurality of target positions. The initial position and the target position may be at least two coordinate points set in the map information in the modeling process based on the acquired map information, and a person skilled in the art may adaptively set the movement control requirement of the robot according to the actually acquired map information and an application scene, which is not limited herein. For example, in an epidemic prevention disinfection scene, an area a needs to be completely disinfected and killed, the area a is a rectangular area, two diagonal points of the area a can be calibrated to be an initial position and a target position respectively based on the acquisition of map information, coordinates of the two diagonal points are respectively used as an initial position coordinate and a target position coordinate, and a first planned path is determined based on the coordinates and the map information.
In one embodiment, the first planned path may be all paths traversed by the robot from the initial position to the plurality of target positions.
And S204, acquiring the obstacles in the scanning range in the process of controlling the robot to move according to the first planned path.
The scanning range refers to an area determined by the scannable radius and the scannable angle of the ranging sensing device when the ranging sensing device mounted on the robot scans with the center position of the ranging sensing device or the robot as the origin. When the central position of the robot is taken as an original point, the area between the original point and the signal emission position of the ranging sensing device cannot be scanned due to the fact that the signal emission position of the ranging sensing device is a certain distance away from the central position; in this case, it should be understood that the above-mentioned scannable radius includes a first scanning radius (distance from the center position to the farthest sensing point) and a second scanning radius (distance from the center position to the signal emission position of the range-finding sensing device), and the scanning range is an area range of a first sector area determined by the first scanning radius and the scannable angle minus a second sector area determined by the second scanning radius and the scannable angle. The number of the distance measuring sensing devices can be at least two, so that the scanning range is enlarged, and the scanning blind area is reduced. The range sensor device may also be mounted on top of the robot for 360 circumferential scanning. For example, the scanning range may be an area formed with the center position of the robot as the origin, the scannable angle of 360 °, and the scanning radius of four times the radius of the robot. The obstacle may be a moving object (e.g., a person) or other stationary object (e.g., a stone).
Specifically, in the process that the robot moves according to the first planned path, the distance measurement sensing device arranged on the robot scans at a specific angle and a specific scanning radius to obtain the condition of the obstacle in the scanning range in the process that the robot moves so as to identify whether the obstacle exists on the first planned path in the scanning range.
In step S206, if there is an obstacle in the scanning range on the first planned path, the robot is controlled to stop moving.
And step S208, if the obstacles on the first planned path in the scanning range disappear within the preset time after the robot stops moving, controlling the robot to continue moving according to the first planned path.
The preset time is a waiting time, and is intended to be left for a moving time of the obstacle on the first planned path within the scanning range, for example, when the obstacle is an Automated Guided Vehicle (AGV) car, the AGV car may have left the first planned path after the preset time without affecting the continuous advance of the robot on the first planned path because the AGV car itself has a moving attribute. The setting of the preset time may be adaptively set based on an application scene. For example, in a scene in which the robot performs epidemic prevention and killing, most of the obstacles are people, and the preset time may be set to 4s in order to balance the efficiency of epidemic prevention and killing and the frequency of secondarily planning the path. Through the test, when setting up to 4s, leave for the abundant initiative dodge time of people to this frequency that reduces the secondary path planning greatly, and based on the probability that appears personnel and stop on the first planning route under the scene of epidemic prevention disinfection, through the test discovery, when the preset time sets up to 4s, whole disinfection efficiency can obtain higher guarantee.
The implementation process of determining that the obstacle on the first planned path in the scanning range disappears within the preset time after the robot stops moving may include at least the following two cases: one is that the distance measuring sensing device continuously scans the obstacle in the scanning range to monitor whether the obstacle on the first planned path in the scanning range is moved away, if the obstacle is moved away from the first planned path and disappears, the robot can continuously move according to the first planned path without waiting, and under the implementation mode, the immediate judgment and control of obstacle avoidance and movement can be realized, and the moving efficiency of the robot is higher. In another mode, the robot can fixedly wait for preset time, for example, 4s, and then acquire the map information acquired by the distance measuring sensor, and judge whether the obstacle originally on the first planned path in the scanning range is moved away, and in the waiting process, continuous scanning is not needed, and whether the obstacle disappears from the first planned path is also not needed, so that the energy consumption can be reduced.
In the robot movement control method, the robot is controlled to move according to the first planned path, and the obstacles in the scanning range are obtained in the moving process of the robot according to the first planned path; if an obstacle exists in the scanning range and is positioned on the first planned path, controlling the robot to stop moving; if no obstacle is located on the first planned path in the scanning range within the preset time after the robot stops moving, the robot is controlled to continue moving according to the first planned path, so that the movement of the robot is reasonably controlled, and intelligent obstacle avoidance is realized; meanwhile, the frequency of secondary planning paths is reduced, computing resources are saved, and the performance requirement on the robot controller executing the control method is lowered, so that the cost is lowered, and the method is more favorable for large-scale popularization to the mobile control of robots of various models.
In one embodiment, as shown in fig. 3, step S206 is followed by:
step S302, if the obstacle still exists in the scanning range and is positioned on the first planned path after the robot stops moving for a preset time, generating a second planned path according to the position of the obstacle, and controlling the robot to move according to the second planned path.
The second planned path is a moving path generated by combining a modeling technology based on the obstacle position information acquired by the ranging sensing device and the first planned path. Specifically, the second planned path may refer to a whole path or a part of a path that the robot passes when moving from the obstacle position to one target position, or may refer to a whole path or a part of a path that the robot passes when moving from the obstacle position to a plurality of target positions. The obstacle position and the target position may be at least two coordinate points set in the map information in the modeling process based on the first planned path and the obstacle position, and a person skilled in the art may perform adaptive setting according to actually acquired map information, which is not limited herein. For example, as shown in fig. 4, in an epidemic prevention killing scene, it is necessary to completely kill an area a, where the area a is a rectangular area, when the robot 2 moves to the illustrated position, an obstacle b is detected on the first planned path G1 within the scanning range SC (the remaining obstacles that do not temporarily affect the movement of the robot may be regarded as the illustrated obstacles a), that is, an obstacle b exists on the first planned path G1 in the area covered by the dotted line, at this time, the robot 2 is controlled to stop moving, and if after a preset time, an obstacle b still exists on the first planned path G1 within the scanning range, it is indicated that it is not feasible to continue to travel according to the first planned path G1, at this time, a second planned path G2 is generated according to the positions of the obstacles (which may include the obstacle a and the obstacle b to avoid intersection between the new planned path and other obstacles), for example, G2 and G1 may share a part of the path, and only the path in the area where the obstacle b is located is different, so as to achieve obstacle avoidance, and at the computation time required by planning the planned path may be reduced.
Specifically, after the robot stops moving for a preset time, a ranging sensing device mounted on the robot scans, and whether the obstacle is moved away or not is judged by whether the obstacle is detected to be located on a first planned path or not in a scanning range after the preset time. After the preset time, the obstacle is still detected to be located on the first planned path in the scanning range, and at the moment, the robot is judged to be still blocked by the obstacle, so that the robot generates a second planned path according to the acquired obstacle position information and based on the first planned path, and is controlled to move according to the second planned path, and the automatic obstacle avoidance of the robot is realized.
In one embodiment, as shown in fig. 5, the robot movement control method further includes:
and step S502, controlling the robot to stop spraying the disinfectant under the condition that the robot stops moving.
Specifically, in the preset time that the robot stops moving, the controller outputs a first control signal to the spraying device of the robot to control the robot to stop spraying, so that the disinfectant is prevented from being wasted while the spraying is uniform.
In one embodiment, as shown in fig. 6, the robot movement control method further includes:
and step S602, controlling the robot to spray disinfectant in the moving process of the robot.
Specifically, when the robot moves along the first planned path or the second planned path, the controller outputs a second control signal to the spraying device of the robot to control the robot to spray. Wherein the second control signal may be used to instruct the spraying device to control the spraying angle, the spraying frequency and the spraying amount of the robot.
In one embodiment, as shown in fig. 7, the robot movement control method further includes:
and step S702, acquiring the epidemic prevention and killing picture and sending the epidemic prevention and killing picture to the remote terminal.
And step S704, responding to the secondary disinfection instruction sent by the remote terminal, controlling the robot to move to the area to be disinfected and spraying disinfectant to the area to be disinfected.
Wherein, the epidemic prevention and disinfection pictures comprise pictures of people stream, disinfectant spraying amount and the like. The remote terminal can be a personal computer, a notebook computer, a smart phone, a tablet computer, an internet of things device and a portable wearable device, and the internet of things device can be an intelligent sound box, an intelligent television, an intelligent air conditioner, an intelligent vehicle-mounted device and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The area to be disinfected and killed for the second time can be an area where the epidemic prevention robot is disinfected and killed through the first planned path or the second planned path. The secondary disinfection and sterilization instruction can be used for judging a disinfection and sterilization picture through a remote terminal, and when a secondary disinfection and sterilization area needs to be disinfected and sterilized, the output regulation control signal is used for controlling the robot to move to the secondary disinfection and sterilization area and controlling the disinfection device to spray disinfectant. Wherein the secondary killing instruction is also used for indicating the spraying angle, the spraying frequency and the spraying amount of the spraying device control robot.
Specifically, when the epidemic prevention robot carries out killing according to the first planned path or the second planned path, an epidemic prevention killing picture is obtained through the image obtaining device and is transmitted to the controller, and the picture is transmitted to the remote terminal by the controller. And the remote terminal judges the received epidemic prevention disinfection picture, and when confirming that the secondary disinfection is needed in the area to be disinfected, the output adjusting control signal controls the robot to move to the area to be disinfected and controls the disinfection device to spray disinfectant.
According to the method, the real-time killing picture is obtained through the remote terminal, the uniform killing is further ensured under the cooperation of the remote terminal, and the omnibearing and accurate killing is further realized.
In order to further explain the present application, the following description is made with reference to a specific example, which exemplifies the structure of the robot shown in fig. 7, and specifically, the working process of the robot is described by taking an example of the robot applied in an epidemic prevention scene. As shown in fig. 1 to 9, after the epidemic prevention robot enters the workplace, the controller 806 sends out a detection control signal to control the obstacle detection device 802 (including a ranging sensor such as a laser radar) to acquire map information, and based on the acquired map information, modeling is performed by combining with the SLAM technology, a topographic map is constructed, and a first planned path (including a traveling direction command and the like) matched with the topographic map is formed and output to the controller 806. After the controller 806 (including the STM32F407 single chip microcomputer and the raspberry pi 4B and other devices) receives the traveling direction instruction included in the first planned path, the movement of the robot is accurately controlled.
During the movement of the robot along the first planned path, the controller 806 controls the robot to spray disinfectant through the spraying device 812. Specifically, the spraying device 812 is provided with a mechanical arm having an up-down swing angle of 0 ° and a left-right swing angle of 90 °, and the wide-range spraying is realized by controlling the frequency of left-right swing of the mechanical arm. In addition, sprinkler 812 still is connected with liquid reserve tank 810 through the water pump, through the antiseptic solution flow size of control water pump to the spraying volume of control robot, and then realize evenly spraying.
Meanwhile, in the process that the robot moves according to the first planned path, the laser radar scans in the scanning range and detects whether obstacles (including moving objects or other fixed objects and the like) are located on the first planned path. When it is detected that an obstacle is located in the first planned path within the scanning range, the robot stops moving and keeps the movement for a preset time (4 s), and the controller 806 controls the robot to stop spraying the disinfectant by controlling the spraying device 812.
If no obstacle is located on the first planned path within 4s, that is, it is determined that the obstacle disappears on the first planned path, the robot is controlled to move continuously according to the first planned path, and the robot is controlled to continuously spray the disinfectant through the control of the spraying device 812.
If the obstacle still exists in the scanning range and is positioned on the first planned path after 4s, the obstacle is judged not to disappear at the moment. At the moment, the robot generates a second planned path according to the position of the obstacle and the first planned path, and controls the robot to move according to the second planned path; specifically, differential control is performed on a robot driving device 804 (such as a motor) based on an open machine vision (opmv) technology through an obstacle avoidance algorithm embedded in the controller 806, and the robot is controlled to turn, so as to bypass an obstacle and reach a workable area without the obstacle. After the obstacle is bypassed, the spraying device 812 is controlled to start the mechanical arm and the water pump to continue spraying.
Furthermore, the default epidemic prevention disinfection environment is a semi-closed environment, and a working area has a certain people flow. In order to realize rapid large-area spraying in the coming people, the spraying environment is visually observed through an image acquisition device 808 (a First Person View) digital image transmission system, so as to realize remote control killing. The specific implementation mode is as follows: acquiring an epidemic prevention and killing picture and sending the epidemic prevention and killing picture to a remote terminal; responding to a secondary disinfection instruction sent by the remote terminal, controlling the robot to move to the area to be disinfected and sprayed with disinfectant; and the secondary killing instruction is used for indicating the secondary killing of the area to be subjected to secondary killing. Specifically, when the remote control sterilization is carried out, the remote control mobile sterilization is carried out according to the condition that the epidemic prevention sterilization picture is displayed by digital picture transmission. Meanwhile, the spraying angle, the spraying frequency and the spraying amount of the robot are correspondingly adjusted according to the killing environment reflected by the digital map.
The specific implementation flow can be shown in fig. 9, after the robot is started at the PC end, the GPS and the graph transmission function are started at the same time, and the ROS nodes are initialized, so that a robot coordinate system and a coordinate position are created, a starting program is run, then cmd _ vel format files are written in for starting, a callback function is output after all the ROS nodes are initialized, an instruction is sent to the STM32F407 single chip microcomputer, the actual mileage value of the robot is obtained from the STM32F407 single chip microcomputer, and the robot odometer is calculated. The odometer is mainly calculated by measuring the speed of each wheel of the robot through a coding motor, simulating in a short time and then accumulating increments to obtain the odometer. And then, issuing TF (transform frame) conversion to realize coordinate transformation, finally issuing the robot odometer based on the calculation, moving based on the odometer, starting spraying disinfectant, returning the odometer to an ROS (reactive oxygen species) node, and further realizing iterative calculation of the odometer.
In the embodiment of the application, based on the fact that the robot scans and acquires the obstacle in the moving process of the first planned path and detects that the obstacle is located on the first planned path, the robot is controlled to stop moving, and after the preset time, the path is re-planned according to the position of the obstacle (including continuing to move along the first planned path or generating the second planned path and moving according to the second planned path), so that the movement of the robot is reasonably controlled, and intelligent obstacle avoidance is achieved. Further, when the robot is an epidemic prevention robot with a spraying, disinfecting and killing function, based on the mobile control method, all-around accurate disinfection and killing can be achieved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the present application further provides a robot movement control device for implementing the robot movement control method. The solution to the problem provided by the device is similar to the solution described in the above method, so the specific limitations in one or more embodiments of the robot movement control device provided below can be referred to the limitations in the above robot movement control method, and are not described herein again.
In one embodiment, as shown in fig. 10, there is provided a robot movement control apparatus 10 comprising:
the first control module 1002 is used for controlling the robot to move according to the first planned path;
an obtaining module 1004, configured to obtain an obstacle within a scanning range in a process of controlling the robot to move according to the first planned path;
a second control module 1006, configured to control the robot to stop moving when an obstacle is located on the first planned path within the scanning range;
and the third control module 1008 is configured to, within a preset time after the robot stops moving, eliminate the obstacle on the first planned path within the scanning range, and control the robot to continue moving according to the first planned path.
In one embodiment, the third control module 1008 includes:
and the control unit is used for generating a second planned path according to the position of the obstacle if the obstacle still exists in the scanning range and is positioned on the first planned path after the preset time, and controlling the robot to move according to the second planned path.
In one embodiment, the second control module 1006 includes:
and the spraying stopping unit is used for controlling the robot to stop spraying the disinfectant in the process of controlling the robot to stop moving.
In one embodiment, the first control module 1002 includes:
and the spraying unit is used for controlling the robot to spray disinfectant in the moving process of the robot.
The various modules or devices in the robot movement control device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a controller is provided, which may be a single chip, an embedded controller, an FPGA, or a terminal, and its internal structure diagram may be as shown in fig. 11. The controller includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the controller is configured to provide computational and control capabilities. The memory of the controller comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The communication interface of the controller is used for wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a robot movement control method. The display screen of the controller can be a liquid crystal display screen or an electronic ink display screen, and the input device of the controller can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a shell of the controller, an external keyboard, a touch pad or a mouse and the like.
It will be understood by those skilled in the art that the configuration shown in fig. 11 is a block diagram of only a portion of the configuration associated with the present application, and does not constitute a limitation on the controller to which the present application is applied, and a particular controller may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
In one embodiment, as shown in fig. 8, there is provided a robot including a robot body 8, an obstacle detecting device 802, a driving device 804, and a controller 806. The obstacle detection device 802 is mounted on the robot body 8 for detecting obstacles in the scanning range, the driving device 804 is used for driving the robot body 8 to move, and the controller 806 is mounted on the robot body 8 and connected with the obstacle detection device 802 for executing the steps of the robot movement control method of any one of the above methods so as to control the driving device 804 to drive the robot body 8 to move.
In one embodiment, as shown in fig. 8, the robot further comprises a reservoir 808 and a spray device 810. The liquid storage tank 808 is used for storing disinfectant, the spraying device 810 is mechanically connected with the liquid storage tank 808, and the spraying device 810 is electrically connected with the controller 806; controller 806 is used for controlling sprinkler 810 to obtain and spray antiseptic solution from tank 808 during the robot body 8 removes, and controller 806 is also used for controlling sprinkler 810 to stop spraying antiseptic solution when robot body 8 stops removing.
In one embodiment, as shown in fig. 8, the robot further includes an image obtaining device 812, the image obtaining device 812 is configured to obtain an epidemic prevention and killing screen, and the image obtaining device 812 is connected to the controller 806 and transmits the epidemic prevention and killing screen to the controller 806; the controller 806 is configured to connect to the remote terminal, and configured to send an epidemic prevention disinfection picture to the remote terminal, and the controller 806 is further configured to respond to a secondary disinfection instruction sent by the remote terminal, control the robot to move to the area to be disinfected and killed secondarily, and spray a disinfectant to the area to be disinfected and killed secondarily; and the secondary killing instruction is used for indicating the secondary killing of the area to be subjected to secondary killing.
In one embodiment, a controller is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above method embodiments when executing the computer program.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases involved in the embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.
Any combination of the technical features of the above embodiments is not described in all possible combinations of the technical features of the above embodiments for the sake of brevity, however, the combination of the technical features should be considered as the scope of the present specification as long as there is no contradiction between the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.
Claims (10)
1. A robot movement control method, characterized in that the method comprises:
controlling the robot to move according to a first planned path;
acquiring an obstacle in a scanning range in the process of controlling the robot to move according to the first planned path;
if an obstacle exists in the scanning range and is positioned on the first planned path, controlling the robot to stop moving;
and if the obstacle on the first planned path in the scanning range disappears within the preset time after the robot stops moving, controlling the robot to continue moving according to the first planned path.
2. The method of claim 1, further comprising:
and if the obstacle still exists in the scanning range and is positioned on the first planned path after the robot stops moving for a preset time, generating a second planned path according to the position of the obstacle, and controlling the robot to move according to the second planned path.
3. The method of claim 1, further comprising:
and under the condition that the robot stops moving, controlling the robot to stop spraying the disinfectant.
4. The method of claim 1, further comprising:
and controlling the robot to spray disinfectant in the moving process of the robot.
5. The method of claim 3 or 4, further comprising:
acquiring an epidemic prevention and killing picture and sending the epidemic prevention and killing picture to a remote terminal;
and responding to a secondary disinfection instruction sent by the remote terminal, controlling the robot to move to a region to be disinfected and killed secondarily and spraying the disinfectant to the region to be disinfected and killed secondarily.
6. A robot, comprising:
a robot body;
the obstacle detection device is arranged on the robot body and used for detecting obstacles in a scanning range;
the driving device is used for driving the robot body to move;
a controller mounted on the robot body and connected to the obstacle detection device, for executing the steps of the robot movement control method according to any one of claims 1 to 5, so as to control the driving device to drive the robot body to move.
7. The robot of claim 6, further comprising:
the liquid storage tank is used for storing disinfectant;
the spraying device is mechanically connected with the liquid storage tank and electrically connected with the controller;
the controller is used for controlling the spraying device to obtain the disinfectant from the liquid storage tank and spray the disinfectant in the moving process of the robot body;
the controller is also used for controlling the spraying device to stop spraying the disinfectant when the robot body stops moving.
8. The robot of claim 6, further comprising:
the image acquisition device is used for acquiring an epidemic prevention and killing picture, is connected with the controller and transmits the epidemic prevention and killing picture to the controller;
the controller is used for connecting a remote terminal and sending the epidemic prevention and disinfection picture to the remote terminal, and is also used for responding to a secondary disinfection instruction sent by the remote terminal, controlling the robot to move to a to-be-secondarily-disinfected area and spraying the disinfectant to the to-be-secondarily-disinfected area;
and the secondary killing instruction is used for indicating the secondary killing of the area to be killed secondarily.
9. A robot movement control apparatus, characterized in that the apparatus comprises:
the first control module is used for controlling the robot to move according to a first planned path;
the acquisition module is used for acquiring obstacles in a scanning range in the process of controlling the robot to move according to the first planned path;
the second control module is used for controlling the robot to stop moving when an obstacle is positioned on the first planned path in a scanning range;
and the third control module is used for controlling the robot to continuously move according to the first planned path when the obstacles on the first planned path in the scanning range disappear within the preset time after the robot stops moving.
10. A controller comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 5.
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| CN202211022780.0A CN115437374A (en) | 2022-08-25 | 2022-08-25 | Robot movement control method and device, robot and controller |
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| CN202211022780.0A CN115437374A (en) | 2022-08-25 | 2022-08-25 | Robot movement control method and device, robot and controller |
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