CN109828574A - A kind of barrier-avoiding method and electronic equipment - Google Patents

Abstract

Embodiments of the invention relate to the field of artificial intelligence, and disclose an obstacle avoidance method and an obstacle avoidance device. In the present invention, the obstacle avoidance method includes: determining the type of the obstacle avoidance area entered according to the distance from the obstacle; determining the movement mode of the robot according to the current movement speed of the robot; according to the movement mode of the robot and the obstacle avoidance The type of the area determines the obstacle avoidance method of the robot; the obstacle avoidance method is performed according to the determined obstacle avoidance method. According to the type of obstacle avoidance area and the movement method of the robot, it is determined that the robot can adopt different obstacle avoidance methods in different obstacle avoidance areas, and use different obstacle avoidance methods to avoid obstacles, which makes the obstacle avoidance processing more flexible and ensures that the robot can avoid obstacles. Open obstacles, thereby improving the safety of the robot, reducing the number of emergency stops, thereby reducing the wear of the wheels of the heavy-duty robot and the damage to the motor of the heavy-duty robot caused by emergency stops.

Description

Obstacle avoidance method and electronic device

technical field

The embodiments of the present invention relate to the field of artificial intelligence, and in particular, to an obstacle avoidance method and an electronic device.

Background technique

At present, autonomous mobile robots usually encounter obstacles during driving, and obstacles can be divided into dynamic obstacles (such as pedestrians, other mobile robots) and static obstacles (objects in the robot's working area). If the safety obstacle avoidance strategy of the robot is improper, it may collide with these obstacles and cause safety accidents. Therefore, a safe and reasonable obstacle avoidance method is needed to improve the safety of the autonomous driving robot, and at the same time ensure that the robot decelerates and stops smoothly to protect the drive motor. The usual practice is to arrange and install multiple ultrasonic sensors around the robot. If it is within a certain range around the robot, the linear speed of the robot is controlled to drop to zero immediately after detecting the obstacle, and the braking device is turned on at the same time.

The inventor found that there are at least the following problems in the prior art: the above-mentioned braking method is only suitable for light-load robots. It is easy to cause damage to the drive motor and wear the wheels of the robot.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present invention is to provide an obstacle avoidance method and an electronic device. Through different obstacle avoidance methods, the obstacle avoidance process is more flexible and flexible, so as to ensure that the heavy-duty robot can avoid obstacles, thereby improving the safety of the robot. , reducing the number of emergency stops, thereby reducing the wear of the wheels of the heavy-duty robot and the damage to the motor of the heavy-duty robot caused by the emergency stop.

In order to solve the above technical problem, an embodiment of the present invention provides an obstacle avoidance method, which includes the following steps: determining the type of the obstacle avoidance area entered according to the distance from the obstacle; The movement mode of the robot; according to the movement mode of the robot and the type of obstacle avoidance area, determine the obstacle avoidance method of the robot; avoid obstacles according to the determined obstacle avoidance method.

Embodiments of the present invention also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by at least one processor. A processor executes to enable at least one processor to execute the obstacle avoidance method described above.

Compared with the prior art, the embodiment of the present invention determines that the robot can adopt different obstacle avoidance methods in different obstacle avoidance areas according to the type of obstacle avoidance area and the movement mode of the robot, and uses different obstacle avoidance methods to avoid obstacles. , making obstacle avoidance processing more flexible, ensuring that the heavy-duty robot can avoid obstacles, thereby improving the safety of the robot, reducing the number of emergency stops, thereby reducing the wear and tear of the wheels of the heavy-duty robot caused by emergency stops, and Damage to the motors of overloaded robots.

In addition, the type of obstacle avoidance area, including: deceleration area, emergency deceleration area and emergency braking area; according to the distance from the obstacle, determine the type of obstacle avoidance area entered, including: if it is determined to be between the obstacle and the obstacle If the distance is greater than the second preset threshold and less than the first preset threshold, the type of the obstacle avoidance area entered is determined to be a deceleration area; if it is determined that the distance is greater than the third preset threshold and less than the second If the preset threshold value is set, the type of the obstacle avoidance area entered is determined as the emergency deceleration area; if the determined distance is less than the third preset threshold value, the type of the entered obstacle avoidance area is determined as the emergency braking area; A preset threshold value is greater than the second preset threshold value, and the second preset threshold value is greater than the third preset threshold value.

In this method, the distance from the obstacle is compared with the preset threshold value of each area corresponding to the type of obstacle avoidance area, and according to the comparison result, it is specifically determined which obstacle avoidance area the robot has entered. In the obstacle avoidance area, different obstacle avoidance methods are used to avoid obstacles to ensure that the robot can avoid obstacles flexibly, so that the robot can smoothly decelerate to avoid obstacles, or, after smooth deceleration, stop and brake to avoid obstacles, Prevent the heavy-duty robot from wearing the wheels of the heavy-duty robot during emergency stop due to its large inertia.

In addition, the movement speed includes: linear speed, and/or angular speed; according to the current movement speed of the robot, determining the movement mode of the robot, including: if it is determined that the current linear speed of the robot is greater than the fourth preset threshold, and, determining the current robot current The angular velocity of the robot is less than the fifth preset threshold, then it is determined that the movement mode of the robot is linear movement according to the linear velocity; otherwise, the movement mode of the robot is determined to be curvilinear movement according to the linear velocity and angular velocity.

In addition, determining that the movement mode of the robot is to perform curvilinear motion according to the linear velocity and the angular velocity includes: if it is determined that the linear velocity is not greater than the fourth preset threshold, then determining that the movement mode of the robot is to perform the curvilinear motion without displacement according to the angular velocity and the linear velocity ; If it is determined that the linear velocity is greater than the fourth preset threshold, and the angular velocity is not less than the fifth preset threshold, then determine that the robot moves in a curved motion with displacement according to the linear velocity and the angular velocity.

In addition, determine the obstacle avoidance method of the robot according to the movement method of the robot and the type of obstacle avoidance area, including: if the movement method of the robot is determined to be linear motion, keep the angular velocity unchanged, and adjust the obstacle avoidance area type and linear velocity according to the type of obstacle avoidance area. The linear speed of the robot, use the adjusted linear speed for obstacle avoidance; if the movement mode of the robot is determined to be a curve motion without displacement, keep the linear speed unchanged, adjust the angular speed of the robot according to the type and angular speed of the obstacle avoidance area, use The adjusted angular velocity is used for obstacle avoidance; if the movement mode of the robot is determined to be a curved movement with displacement, adjust the linear velocity and angular velocity of the robot according to the type, linear velocity and angular velocity of the obstacle avoidance area, and use the adjusted linear velocity and adjustment The rear angular velocity is used to avoid obstacles.

In this method, different obstacle avoidance methods are obtained through different movement methods of the robot, types of obstacle avoidance areas and movement speeds, and different obstacle avoidance methods are adopted, so that the robot can smoothly avoid obstacles at the adjusted movement speed and avoid obstacles. Due to the large inertia of the heavy-duty robot, the wheels of the robot are worn during emergency deceleration.

In addition, adjust the linear speed of the robot according to the type and linear speed of the obstacle avoidance area, including: if it is determined that the type of the obstacle avoidance area entered is a deceleration area, then adjust the linear speed according to the first obstacle avoidance coefficient and the linear speed corresponding to the deceleration area. The linear speed of the robot; if it is determined that the type of obstacle avoidance area entered is an emergency deceleration area, the linear speed of the robot is adjusted according to the second obstacle avoidance coefficient and linear speed corresponding to the emergency deceleration area, where the second obstacle avoidance coefficient is greater than The first obstacle avoidance coefficient and the second obstacle avoidance coefficient are proportional to the motion acceleration of the robot; if it is determined that the type of obstacle avoidance area entered is an emergency braking area, emergency braking is performed to reduce the linear velocity to zero.

In this method, the adjusted linear speed is obtained through the linear speed of the robot and the type of obstacle avoidance area it enters, and the adjusted linear speed is used to avoid obstacles in time to ensure that the robot can smoothly reduce the linear speed, thereby avoiding obstacles. Open obstacles.

In addition, adjusting the angular velocity of the robot according to the type and angular velocity of the obstacle avoidance area includes: if it is determined that the type of the obstacle avoidance area entered is a deceleration area, then adjusting the angular velocity of the robot according to the first obstacle avoidance coefficient and the angular velocity; If the type of obstacle avoidance area entered is an emergency deceleration area, the angular velocity of the robot is adjusted according to the second obstacle avoidance coefficient and the angular velocity, where the second obstacle avoidance coefficient is greater than the first obstacle avoidance coefficient, and the second obstacle avoidance coefficient is related to the motion of the robot. Acceleration is proportional; if it is determined that the type of obstacle avoidance area entered is an emergency braking area, emergency braking will be performed to reduce the angular velocity to zero.

In this method, the adjusted angular velocity is obtained by determining the angular velocity of the robot and the type of obstacle avoidance area it enters, so as to ensure that the robot can stably avoid obstacles at the adjusted angular velocity, and avoid the large inertia of the overloaded robot. Causes wheel wear to the robot during sudden deceleration.

In addition, adjust the linear speed and angular speed of the robot according to the type, linear speed and angular speed of the obstacle avoidance area, including: if it is determined that the type of the obstacle avoidance area entered is a deceleration area, then according to the first obstacle avoidance coefficient, angular speed and linear speed , adjust the angular velocity and linear velocity of the robot; if it is determined that the type of obstacle avoidance area entered is an emergency deceleration area, then adjust the angular velocity and linear velocity of the robot according to the second obstacle avoidance coefficient, angular velocity and linear velocity. The obstacle coefficient is greater than the first obstacle avoidance coefficient, and the second obstacle avoidance coefficient is proportional to the motion acceleration of the robot; if it is determined that the type of the obstacle avoidance area entered is the emergency braking area, the down to zero.

In addition, the first obstacle avoidance coefficient corresponding to the deceleration zone is determined according to the distance and the first preset threshold, and the second obstacle avoidance coefficient corresponding to the emergency deceleration zone is determined according to the motion acceleration of the robot, or, the distance and the second preset threshold Sure.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute limitations of the embodiments, and elements with the same reference numerals in the drawings are denoted as similar elements, Unless otherwise stated, the figures in the accompanying drawings do not constitute a scale limitation.

FIG. 1 is a block diagram of a flow chart of an obstacle avoidance method according to a first embodiment of the present invention;

FIG. 2 is a block diagram showing a flow chart of an obstacle avoidance method according to a second embodiment of the present invention;

3 is a block diagram of an obstacle avoidance device according to a third embodiment of the present invention;

FIG. 4 is a block diagram of an electronic device in a fourth embodiment according to the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art can appreciate that, in the various embodiments of the present invention, many technical details are set forth in order for the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can be realized.

A first embodiment of the present invention relates to an obstacle avoidance method. It is used to make obstacle avoidance processing more flexible and ensure that the robot can avoid obstacles, thereby improving the safety of the robot, reducing the number of emergency stops, thereby reducing the wear of the wheels of the heavy-duty robot and the damage to the heavy-duty robot caused by emergency stops. damage to the motor.

The implementation details of the obstacle avoidance method in this embodiment will be specifically described below. The following content is only for the convenience of understanding the implementation details of this solution, and is not necessary for implementing this solution.

FIG. 1 shows a flowchart of an obstacle avoidance method in this embodiment, and the method can be applied to a robot. The method may include the following steps.

In step 101, the type of the entered obstacle avoidance area is determined according to the distance from the obstacle.

Among them, the types of obstacle avoidance areas include: deceleration area, emergency deceleration area and emergency braking area.

Specifically, if it is determined that the distance from the obstacle is greater than the second preset threshold and smaller than the first preset threshold, the type of the obstacle avoidance area entered is determined to be a deceleration area; if the determined distance is greater than the third preset threshold If the preset threshold value is smaller than the second preset threshold value, it is determined that the type of the entered obstacle avoidance area is the emergency deceleration area; if the determined distance is less than the third preset threshold value, the type of the entered obstacle avoidance area is determined to be The type is emergency braking area; wherein, the first preset threshold value is greater than the second preset threshold value, and the second preset threshold value is greater than the third preset threshold value.

It should be noted that the deceleration area, the emergency deceleration area and the emergency braking area are a geometric division of the plane area in front of the robot: the area with the farthest distance from the robot is the deceleration area, followed by the emergency deceleration area, The area closest to the robot is the emergency braking area. During the obstacle avoidance process of the robot, the distance threshold between the robot and the obstacle detected by the sensor is divided into a first preset threshold, a second preset threshold and a third preset threshold, wherein the third preset threshold The threshold is the shortest tolerable distance that an obstacle suddenly appears in the direction of the robot's travel.

In step 102, the movement mode of the robot is determined according to the current movement speed of the robot.

Wherein, the movement speed includes: linear speed, and/or angular speed.

Specifically, if it is determined that the current linear velocity of the robot is greater than the fourth preset threshold, and it is determined that the current angular velocity of the robot is less than the fifth preset threshold, it is determined that the movement mode of the robot is linear motion according to the linear velocity; otherwise, determine The movement mode of the robot is to perform curvilinear movement according to the linear velocity and the angular velocity.

It should be noted that the movement speed includes linear velocity and angular velocity, or, only includes linear velocity, or, only includes angular velocity. For example, the motion speed of the robot at time k is [V _k , W _k ], where V _k represents the linear speed of the robot at time k, and W _k represents the angular speed of the robot at time k. If it is determined that the linear speed of the robot V _k is greater than the th Four preset threshold values V _t , and the angular velocity W _k of the robot is smaller than the fifth preset threshold value W _t , where the fifth preset threshold value W _t is a number greater than zero, then it is determined that the robot moves according to the line The velocity V _k performs linear motion, or, according to the linear velocity V _k and the angular velocity W _k , the approximate linear motion is performed, so the angular velocity W _k is small but not zero, mainly by adjusting the linear velocity V _k to avoid obstacles; otherwise , it is determined that the motion mode of the robot is to perform curvilinear motion according to the linear velocity V _k and the angular velocity W _k .

Among them, the curvilinear motion is divided into the curvilinear motion with displacement and the curvilinear motion without displacement. The specific way of distinguishing is as follows: if it is determined that the linear speed is not greater than the fourth preset threshold, the motion mode of the robot is determined to be the motion mode of the robot without displacement according to the angular velocity. Curved motion; if it is determined that the linear velocity is greater than the fourth preset threshold, and the angular velocity is not less than the fifth preset threshold, then determine that the robot moves in a curved motion with displacement according to the linear velocity and the angular velocity.

For example: when the robot is moving at time k, when the fifth preset threshold W _t is a number greater than zero, if it is determined that the linear velocity V _k of the robot is not greater than the fourth preset threshold V _t , and the angular velocity W _k is greater than the fifth preset threshold W _t , it is determined that the movement mode of the robot is to perform a curve movement without displacement according to the angular velocity W _k , and the curve movement without displacement may be a curve movement of the robot with a large curvature, or it may be The robot is performing a rotating motion in place. When the fifth preset threshold W _t is an integer less than zero, if it is determined that the linear velocity V _k of the robot is not greater than the fourth preset threshold V _t , and the angular velocity W _t is less than the fifth preset threshold W _t , Then it is determined that the movement mode of the robot is a curve movement without displacement according to the angular velocity W _k , and the curve movement without displacement can be a curve movement with a large curvature of the robot, or a rotation movement of the robot in situ. If it is determined that the linear velocity V _k is greater than the fourth preset threshold V _t , and the angular velocity W _k is not less than the fifth preset threshold W _t , where the fifth preset threshold W _t is an integer not equal to zero, then determine The movement mode of the robot is to perform a curvilinear motion with displacement according to the linear velocity V _k and the angular velocity W _k , wherein the curvilinear motion with displacement means that the robot performs a curvilinear motion with a small curvature.

In step 103, an obstacle avoidance mode of the robot is determined according to the movement mode of the robot and the type of the obstacle avoidance area.

In a specific implementation, the motion modes of the robot include: linear motion, curvilinear motion without displacement, and curvilinear motion with displacement; the types of obstacle avoidance areas entered include deceleration area, emergency deceleration area and emergency braking area. The movement method and the type of obstacle avoidance area entered are used to specifically determine the adjusted movement speed of the robot, and then the obstacle avoidance method of the robot. For example, when the robot is moving at time k, according to the moving speed of the robot [V _k , W _k ], the adjusted moving speed that enables the robot to run safely can be obtained: [V _{safety_k} , W _{safety_k} ]. If it is determined that the motion mode of the robot is linear motion, keep the angular velocity unchanged, that is, W _{safety_k} =W _k , and use the adjusted linear velocity V _{safety_k} to avoid obstacles. If it is determined that the movement mode of the robot is a curve movement without displacement, keep the linear velocity unchanged, that is, V _{safety_k} =V _k , and use the adjusted angular velocity W _{safety_k} to avoid obstacles. If it is determined that the movement mode of the robot is a curved movement with displacement, the adjusted linear velocity V _{safety_k} and the adjusted angular velocity W _{safety_k} are used to avoid obstacles.

In step 104, obstacle avoidance is performed according to the determined obstacle avoidance method.

It should be noted that on the body of the robot, ultrasonic sensors are installed in three layers and eight directions, with a total of 24 ultrasonic sensors. During the driving process of the robot, according to the ultrasonic sensors of each layer, obstacles can be detected, and each ultrasonic sensor can detect obstacles. All sensors need to calculate the distance between the robot and the obstacle in the lower computer processor, and report the data to the upper computer processor through the serial port. The upper computer processor compresses the data processed by the three levels of ultrasonic sensors into one layer. Combining the data in the eight orientations, the distance between the robot and the obstacle in the eight orientations is obtained, wherein the data of each orientation represents the smallest value among the data obtained by the ultrasonic sensor in the orientation. In addition, a lidar sensor is installed in the front and middle position of the robot, and the installation height of the lidar sensor is reasonably selected according to the working environment of the robot; among them, the lidar sensor continuously traverses multiple laser beams to obtain the distance between each laser beam. The included angle is calculated to obtain the distance and azimuth from the obstacle. The control system of the robot obtains the smallest adjusted movement speed according to the data measured by the above ultrasonic sensors and laser sensors, and sends the adjusted movement speed to the lower computer processor to control the robot to avoid obstacles , for example, at time k, the adjusted motion speed is [V _{safety_k} , W _{safety_k} ].

In this embodiment, it is determined that the robot can adopt different obstacle avoidance methods in different obstacle avoidance areas according to the type of obstacle avoidance area and the movement mode of the robot, and uses different obstacle avoidance methods to avoid obstacles, so that the obstacle avoidance processing is more efficient. Flexibility to ensure that the robot can smoothly decelerate and stop when encountering an obstacle, or, smoothly decelerate to a lower safe speed and pass slowly, so that the heavy-duty robot can flexibly avoid obstacles, reduce the number of emergency stops, and thus reduce the number of accidents caused by The wear of the wheel of the heavy-duty robot and the damage to the motor of the heavy-duty robot caused by the emergency stop.

A second embodiment of the present invention relates to an obstacle avoidance method. The second embodiment is roughly the same as the first embodiment, the main difference is that the robot's obstacle avoidance method is determined according to different motion modes of the robot and different obstacle avoidance coefficients corresponding to the type of obstacle avoidance area entered.

The flowchart of the obstacle avoidance method in this embodiment is shown in FIG. 2 , and the method may include the following steps.

In step 201, if the movement mode of the robot is determined to be linear motion, the angular velocity is kept unchanged, the linear velocity of the robot is adjusted according to the type and linear velocity of the obstacle avoidance area, and the adjusted linear velocity is used to avoid obstacles.

Among them, if it is determined that the type of obstacle avoidance area entered is a deceleration area, the linear speed of the robot is adjusted according to the first obstacle avoidance coefficient and linear speed corresponding to the deceleration area; if it is determined that the type of obstacle avoidance area entered is emergency deceleration area, adjust the linear speed of the robot according to the second obstacle avoidance coefficient and the linear speed corresponding to the emergency deceleration area, wherein the second obstacle avoidance coefficient is greater than the first obstacle avoidance coefficient, and the second obstacle avoidance coefficient is proportional to the motion acceleration of the robot ; If it is determined that the type of obstacle avoidance area entered is an emergency braking area, emergency braking will be performed to reduce the linear speed to zero.

It should be noted that the first obstacle avoidance coefficient corresponding to the deceleration zone is determined according to the distance and the first preset threshold, and the second obstacle avoidance coefficient corresponding to the emergency deceleration zone is determined according to the motion acceleration of the robot, or the distance and the second preset threshold. Set the threshold value to be determined.

In a specific implementation, the first obstacle avoidance coefficient M ₁ =(dis_obs/dis_th_1) ² , the second obstacle avoidance coefficient M ₂ =(dis_obs/dis_th_2) ³ , where dis_obs is the distance between the robot and the obstacle in the driving direction distance, dis_th_1 is the first preset threshold, and dis_th_2 is the second preset threshold.

In a specific implementation, the movement speed of the robot at time k is [V _k , W _k ]. When the robot moves in a straight line, the angular velocity W _k remains unchanged during the process of deceleration to stop, that is, W _{safety_k} =W _k . If the type of the entered obstacle avoidance area is determined to be the deceleration area, the robot will use the adjusted linear velocity V _{safety_k} =M ₁ *V _k to decelerate and then avoid the obstacle; if the type of the entered obstacle avoidance area is determined If it is an emergency deceleration area, the robot uses the adjusted linear velocity V _{safety_k} =M ₂ *V _k to perform emergency deceleration to avoid obstacles; if it is determined that the type of obstacle avoidance area entered is an emergency braking area, the robot uses With the adjusted linear velocity V _{safety_k} =0, emergency braking is performed to avoid obstacles.

In step 202, if the movement mode of the robot is determined to be a curve movement without displacement, the linear velocity is kept constant, the angular velocity of the robot is adjusted according to the type and angular velocity of the obstacle avoidance area, and the adjusted angular velocity is used to avoid obstacles.

Among them, if it is determined that the type of the entered obstacle avoidance area is a deceleration area, the angular velocity of the robot is adjusted according to the first obstacle avoidance coefficient and angular velocity; if it is determined that the type of the entered obstacle avoidance area is an emergency deceleration area, the second Obstacle avoidance coefficient and angular velocity, adjust the angular velocity of the robot, where the second obstacle avoidance coefficient is greater than the first obstacle avoidance coefficient, and the second obstacle avoidance coefficient is proportional to the motion acceleration of the robot; if it is determined that the type of obstacle avoidance area entered is emergency In the braking zone, emergency braking will reduce the angular velocity to zero.

In a specific implementation, the motion speed of the robot at time k is [V _k , W _k ]. When the robot performs a curve motion without displacement, the linear speed V _k remains unchanged during the deceleration to stop process, that is, V _{safety_k} = V _k . If it is determined that the type of obstacle avoidance area entered is a deceleration area, the robot uses the adjusted angular velocity as W _{safety_k} =M ₁ *W _k to decelerate and then avoid obstacles; if the type of obstacle avoidance area entered is determined In the emergency deceleration area, the robot uses the adjusted angular velocity W _{safety_k} =M ₂ *W _k to perform emergency deceleration, and then avoids obstacles; if it is determined that the type of obstacle avoidance area entered is an emergency braking area, the robot uses the adjusted After the angular velocity W _{safety_k} =0, emergency braking is performed to avoid obstacles.

In step 203, if it is determined that the movement mode of the robot is a curved movement with displacement, adjust the linear velocity and angular velocity of the robot according to the type, linear velocity and angular velocity of the obstacle avoidance area, and use the adjusted linear velocity and adjusted angular velocity Do obstacle avoidance.

Among them, if it is determined that the type of obstacle avoidance area entered is a deceleration area, the angular velocity and linear velocity of the robot are adjusted according to the first obstacle avoidance coefficient, angular velocity and linear velocity; if it is determined that the type of obstacle avoidance area entered is emergency deceleration area, adjust the angular velocity and linear velocity of the robot according to the second obstacle avoidance coefficient, angular velocity and linear velocity, wherein the second obstacle avoidance coefficient is greater than the first obstacle avoidance coefficient, and the second obstacle avoidance coefficient is proportional to the motion acceleration of the robot; If it is determined that the type of obstacle avoidance area entered is an emergency braking area, emergency braking is performed to reduce the angular velocity and linear velocity of the robot to zero.

In a specific implementation, the motion speed of the robot at time k is [V _k , W _k ]. When the robot performs a curved motion with displacement, if it is determined that the type of obstacle avoidance area it enters is a deceleration area, the robot uses the adjustment The rear angular velocity is W _{safety_k} =M ₁ *W _k , and the adjusted linear velocity V _{safety_k} =M ₁ *V _k is used to decelerate to avoid obstacles; if it is determined that the type of obstacle avoidance area entered is emergency deceleration area, the robot uses the adjusted angular velocity W _{safety_k} =M ₂ *W _k and the adjusted linear velocity V _{safety_k} =M ₂ *V _k to perform emergency deceleration, and then avoid obstacles; if the entered obstacle avoidance area is determined The type of is an emergency braking area, then the robot uses the adjusted angular velocity W _{safety_k} =0, linear velocity V _{safety_k} =0 to perform emergency braking, and then avoid obstacles.

In this embodiment, different obstacle avoidance methods are obtained through different movement modes of the robot, types of obstacle avoidance areas and movement speeds, and different obstacle avoidance methods are adopted, so that the robot can stably avoid obstacles at the adjusted movement speed. , which increases the selectivity of the robot's obstacle avoidance method, and avoids the wheel wear of the robot during emergency deceleration due to the large inertia of the heavy-load robot.

The steps of the above various methods are divided only for the purpose of describing clearly. During implementation, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as the same logical relationship is included, they are all within the protection scope of this patent. ;Adding insignificant modifications to the algorithm or process or introducing insignificant designs, but not changing the core design of the algorithm and process are all within the scope of protection of this patent.

The third embodiment of the present invention relates to an obstacle avoidance device. For the specific implementation of the device, reference may be made to the relevant description of the first embodiment, and repeated descriptions will not be repeated. It is worth noting that the specific implementation of the device in this embodiment can also refer to the relevant description of the second embodiment, but is not limited to the above two embodiments, and other unexplained embodiments are also within the protection scope of the device .

As shown in FIG. 3 , the device mainly includes: a module 301 for determining the type of obstacle avoidance area, a module 302 for determining a movement mode, a module 303 for determining an obstacle avoidance mode, and a module 304 for avoiding obstacles; the module 301 for determining the type of obstacle avoidance area is used to The distance between them determines the type of obstacle avoidance area entered; the motion mode determination module 302 is used to determine the motion mode of the robot according to the current motion speed of the robot; the obstacle avoidance mode module 303 is used to determine the motion mode of the robot and avoid The type of the obstacle area is used to determine the obstacle avoidance method of the robot; the obstacle avoidance module 304 is used to avoid the obstacle according to the determined obstacle avoidance method.

It is not difficult to find that this embodiment is a device example corresponding to the first or second embodiment, and this embodiment can be implemented in cooperation with the first or second embodiment. The relevant technical details mentioned in the first or second embodiment are still valid in this embodiment, and are not repeated here in order to reduce repetition. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the first or second embodiment.

It is worth mentioning that each module involved in this embodiment is a logical module. In practical applications, a logical unit may be a physical unit, a part of a physical unit, or multiple physical units. A composite implementation of the unit. In addition, in order to highlight the innovative part of the present invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in this embodiment.

The fourth embodiment of the present application provides an electronic device, and the specific structure of the device is shown in FIG. 4 . Including at least one processor 401; and, a memory 402 in communication with the at least one processor 401. The memory 402 stores instructions executable by the at least one processor 401, and the instructions are executed by the at least one processor 401, so that the at least one processor 401 can execute the obstacle avoidance method described in the first embodiment.

In this embodiment, the processor 401 is a central processing unit (Central Processing Unit, CPU) as an example, and the memory 402 is a Random Access Memory (Random Access Memory, RAM) as an example. The processor 401 and the memory 402 may be connected through a bus or in other ways, and the connection through a bus is taken as an example in FIG. 4 . The memory 402, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as the program implementing the obstacle avoidance method in the embodiment of the present application. in memory 402. The processor 401 executes various functional applications and data processing of the device by running the non-volatile software programs, instructions and modules stored in the memory 402, that is, the above obstacle avoidance method is implemented.

The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function; the storage data area may store an option list and the like. Additionally, the memory may include high speed random access memory, and may also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, memory 402 may optionally include memory located remotely relative to processor 401, which may be connected to external devices via a network.

One or more program modules are stored in the memory 402, and when executed by the one or more processors 401, execute the obstacle avoidance method in any of the above method embodiments.

The above product can execute the methods provided by the embodiments of the present application, and have functional modules and beneficial effects corresponding to the execution methods. For technical details not described in detail in the present embodiments, reference may be made to the methods provided by the embodiments of the present application.

The fifth embodiment of the present application relates to a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the obstacle avoidance method involved in any method embodiment of the present application can be implemented .

Those skilled in the art can understand that all or part of the steps in the method of the above embodiments can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium and includes several instructions to make a device (which may be a A single-chip microcomputer, a chip, etc.) or a processor (processor) executes all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, removable hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

Those skilled in the art can understand that the above-mentioned embodiments are specific examples for realizing the present invention, and in practical applications, various changes in form and details can be made without departing from the spirit and the spirit of the present invention. scope.

Claims (10)

1. An obstacle avoidance method is applied to a robot, and comprises the following steps:

determining the type of the entered obstacle avoidance area according to the distance between the obstacle avoidance area and the obstacle;

determining the motion mode of the robot according to the current motion speed of the robot;

determining an obstacle avoidance mode of the robot according to the motion mode of the robot and the type of the obstacle avoidance area;

and avoiding the obstacle according to the determined obstacle avoiding mode.

2. An obstacle avoidance method according to claim 1, wherein the type of the obstacle avoidance area includes: a deceleration zone, an emergency deceleration zone and an emergency braking zone;

determining the type of the entered obstacle avoidance area according to the distance between the obstacle avoidance area and the obstacle, wherein the method comprises the following steps:

if the distance between the obstacle avoidance area and the obstacle is larger than a second preset threshold value and smaller than a first preset threshold value, determining the type of the entered obstacle avoidance area as the deceleration area;

if the distance is determined to be larger than a third preset threshold value and smaller than a second preset threshold value, determining the type of the entered obstacle avoidance area as the emergency deceleration area;

if the distance is smaller than a third preset threshold value, determining that the type of the entered obstacle avoidance area is the emergency braking area; the first preset threshold is larger than the second preset threshold, and the second preset threshold is larger than the third preset threshold.

3. An obstacle avoidance method according to claim 2, wherein the moving speed includes: linear velocity, and/or, angular velocity;

determining the motion mode of the robot according to the current motion speed of the robot, wherein the motion mode comprises the following steps:

if the current linear velocity of the robot is determined to be greater than a fourth preset threshold value and the current angular velocity of the robot is determined to be less than a fifth preset threshold value, determining that the robot moves linearly according to the linear velocity;

and otherwise, determining the motion mode of the robot to be curvilinear motion according to the linear velocity and the angular velocity.

4. An obstacle avoidance method according to claim 3, wherein determining the movement mode of the robot to be curvilinear movement according to the linear velocity and the angular velocity comprises:

if the linear velocity is not larger than a fourth preset threshold value, determining that the motion mode of the robot is the displacement-free curvilinear motion according to the angular velocity;

and if the linear velocity is determined to be greater than a fourth preset threshold value and the angular velocity is determined to be not less than a fifth preset threshold value, determining that the motion mode of the robot is a curve motion with displacement according to the linear velocity and the angular velocity.

5. The obstacle avoidance method according to claim 4, wherein determining the obstacle avoidance mode of the robot according to the motion mode of the robot and the type of the obstacle avoidance area comprises:

if the motion mode of the robot is determined to be linear motion, keeping the angular velocity unchanged, adjusting the linear velocity of the robot according to the type of the obstacle avoidance area and the linear velocity, and avoiding obstacles by using the adjusted linear velocity;

if the motion mode of the robot is determined to be the non-displacement curvilinear motion, keeping the linear velocity unchanged, adjusting the angular velocity of the robot according to the type of the obstacle avoidance area and the angular velocity, and avoiding the obstacle by using the adjusted angular velocity;

and if the movement mode of the robot is determined to be the curve movement with displacement, adjusting the linear velocity and the angular velocity of the robot according to the type of the obstacle avoidance area, the linear velocity and the angular velocity, and avoiding the obstacle by using the adjusted linear velocity and the adjusted angular velocity.

6. The obstacle avoidance method according to claim 5, wherein the adjusting the linear velocity of the robot according to the type of the obstacle avoidance area and the linear velocity comprises:

if the type of the entered obstacle avoidance area is determined to be the deceleration area, adjusting the linear speed of the robot according to a first obstacle avoidance coefficient corresponding to the deceleration area and the linear speed;

if the type of the entered obstacle avoidance area is determined to be the emergency deceleration area, adjusting the linear speed of the robot according to a second obstacle avoidance coefficient corresponding to the emergency deceleration area and the linear speed, wherein the second obstacle avoidance coefficient is larger than the first obstacle avoidance coefficient, and the second obstacle avoidance coefficient is in direct proportion to the motion acceleration of the robot;

and if the type of the entered obstacle avoidance area is determined to be the emergency braking area, emergency braking is carried out, and the linear speed is reduced to zero.

7. An obstacle avoidance method according to claim 5 or 6, wherein adjusting the angular velocity of the robot according to the type of the obstacle avoidance area and the angular velocity comprises:

if the type of the entered obstacle avoidance area is determined to be the deceleration area, adjusting the angular speed of the robot according to the first obstacle avoidance coefficient and the angular speed;

if the type of the entered obstacle avoidance area is determined to be the emergency deceleration area, adjusting the angular speed of the robot according to a second obstacle avoidance coefficient and the angular speed, wherein the second obstacle avoidance coefficient is larger than the first obstacle avoidance coefficient, and is in direct proportion to the motion acceleration of the robot;

and if the type of the entered obstacle avoidance area is determined to be the emergency braking area, emergency braking is carried out, and the angular speed is reduced to zero.

8. The obstacle avoidance method according to claim 7, wherein adjusting the linear velocity and the angular velocity of the robot according to the type of the obstacle avoidance area, the linear velocity, and the angular velocity comprises:

if the type of the entered obstacle avoidance area is determined to be the deceleration area, adjusting the angular speed and the linear speed of the robot according to the first obstacle avoidance coefficient, the angular speed and the linear speed;

if the type of the entered obstacle avoidance area is determined to be the emergency deceleration area, adjusting the angular speed and the linear speed of the robot according to a second obstacle avoidance coefficient, the angular speed and the linear speed, wherein the second obstacle avoidance coefficient is larger than the first obstacle avoidance coefficient, and is in direct proportion to the motion acceleration of the robot;

and if the type of the entered obstacle avoidance area is determined to be the emergency braking area, emergency braking is carried out, and the angular speed and the linear speed of the robot are reduced to zero.

9. An obstacle avoidance method according to claim 2, wherein a first obstacle avoidance coefficient corresponding to the deceleration zone is determined according to the distance and the first preset threshold, and a second obstacle avoidance coefficient corresponding to the emergency deceleration zone is determined according to the motion acceleration of the robot, or the distance and the second preset threshold.

10. An electronic device, comprising:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the obstacle avoidance method of any one of claims 1 to 9.