CN113386140B - Robot control method, robot and computer readable storage medium - Google Patents
Robot control method, robot and computer readable storage medium Download PDFInfo
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- CN113386140B CN113386140B CN202110758468.7A CN202110758468A CN113386140B CN 113386140 B CN113386140 B CN 113386140B CN 202110758468 A CN202110758468 A CN 202110758468A CN 113386140 B CN113386140 B CN 113386140B
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- 238000004590 computer program Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The application provides a robot control method, a robot and a computer readable storage medium, the method comprising: acquiring concave-convex information of a road surface; and if the concave-convex obstacle is detected, controlling the movable wheels to lift, and controlling the robot to move forward so that the robot passes through the obstacle. This application is through the in-process of marcing at the robot, acquires the unsmooth information in road surface, if detect unsmooth obstacle, then the lifting of control activity wheel, through the height of direct adjustment activity wheel itself, makes it accessible obstacle of contactless, then control robot marchs and passes through the obstacle. The method can minimize the jolt of the robot when the robot passes through the obstacle, ensure that the robot passes through the obstacle stably and further avoid influencing the work of the robot.
Description
Technical Field
The present application relates to the field of control technologies, and in particular, to a robot control method, a robot, and a computer-readable storage medium.
Background
At present, when a traditional robot passes through an obstacle, wheels are in contact with the obstacle, so that the traditional robot jolts greatly, and even if a buffer structure is added, the jolt degree cannot be reduced, so that the work of the robot is influenced. For example: this can cause the robot to spill or fall the carried items while they are being transported, or can affect the accuracy of the robot's operation while performing an action.
Therefore, the traditional technical scheme has the problem that the robot has large jolt when passing through obstacles.
Disclosure of Invention
The application aims to provide a robot control method, a robot and a computer readable storage medium, and aims to solve the problem that the traditional robot has large jolt when passing obstacles.
A first aspect of an embodiment of the present application provides a robot control method, which is applied to a robot, where the robot includes a driving wheel and a movable wheel;
the method comprises the following steps:
acquiring concave-convex information of a road surface;
and if the concave-convex obstacle is detected, controlling the movable wheels to lift, and then controlling the robot to move so that the robot passes through the obstacle.
Further, still include:
acquiring environmental information;
establishing a map according to the environment information, wherein the map predefines an obstacle area corresponding to the movable wheel lifting;
and in the process of the robot advancing, if the robot is detected to reach the obstacle area, the step of controlling the movable wheels to lift is carried out.
Further, the robot further comprises a non-movable wheel;
accordingly, detecting the irregularity includes:
acquiring the height of the obstacle;
identifying a next target wheel needing to pass through the obstacle during the traveling of the robot;
if the target wheel is an inactive wheel, the height of the active wheel corresponding to the target wheel is adjusted to enable the height above the ground of the target wheel to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle;
if the target wheel is a movable wheel, the height from the ground of the target wheel is adjusted to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle;
and if the target wheel is the driving wheel, controlling the robot to move so as to enable the target wheel to pass through the obstacle.
Further, by adjusting the height of the movable wheel corresponding to the target wheel, the method also comprises the following steps:
and if the height of the target wheel from the ground is greater than or equal to the height of the bulge, controlling the robot to move so that the target wheel passes through the obstacle.
Further, after obtaining the height of the obstacle, the method further comprises:
determining whether the protrusion height is within a preset threshold range;
and if the height of the bulge is within the range of the preset threshold value, starting a preset mode.
Further, the method further comprises: and if the height of the bulge is not within the preset threshold range, sending error reporting information to external equipment.
Further, before entering the control of the lifting of the movable wheel, the method further comprises the following steps:
if the obstacle area is an elevator taking area, judging whether an elevator door is opened or not;
if the elevator door is opened, the step of controlling the movable wheel to lift is carried out;
after controlling the robot to travel, the method further comprises the following steps:
and if the robot passes through the threshold, controlling the robot to move to a stop position in the elevator.
A second aspect of an embodiment of the present application provides a robot, including a detection unit, a control unit, a driving wheel, and a movable wheel;
the detection unit is used for acquiring and acquiring concave-convex information of the road surface;
the control unit is electrically connected with the detection unit and is used for acquiring concave-convex road surface information; and if the concave-convex obstacle is detected, controlling the movable wheels to lift, and then controlling the robot to move so that the robot passes through the obstacle.
Further, the robot further comprises a non-movable wheel;
the detection unit is also used for acquiring the height of the obstacle;
the control unit is also used for acquiring the height of the bulge; identifying a next target wheel that needs to pass the obstacle; if the target wheel is an inactive wheel, the height of the active wheel corresponding to the target wheel is adjusted to enable the height of the target wheel from the ground to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle; if the target wheel is a movable wheel, the height from the ground of the target wheel is adjusted to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle; and if the target wheel is the driving wheel, controlling the robot to move so that the target wheel passes through the obstacle.
Further, the control unit is further configured to acquire environment information; establishing a map according to the environment information, wherein the map predefines an obstacle area corresponding to the movable wheel lifting; and in the process of the robot advancing, if the robot is detected to reach the obstacle area, the step of controlling the movable wheels to lift is carried out.
Further, the control unit is further configured to determine whether the elevator door is opened or not if the obstacle area is an elevator riding area; if the elevator door is opened, entering a step of controlling the movable wheel to lift; and if the robot passes through the threshold, controlling the robot to move to a stop position in the elevator.
Further, a damping device is arranged on the driving wheel.
Further, the detection unit may be selected from a multibeam radar, a depth vision system, a ranging sensor, or an infrared sensor.
A third aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method according to the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the invention, the concave-convex information of the road surface is obtained in the advancing process of the robot, if concave-convex obstacles are detected, the movable wheels are controlled to lift, the self ground clearance of the movable wheels is directly adjusted, so that the movable wheels can pass through the obstacles without contact, and then the robot is controlled to advance and pass through the obstacles. The method can minimize the jolt of the robot when the robot passes through the obstacle, ensure that the robot passes through the obstacle stably and further avoid influencing the work of the robot.
Drawings
Fig. 1 is a schematic flow chart illustrating an implementation of a robot control method according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating an implementation of a robot control method according to a second embodiment of the present application;
fig. 3 is a schematic flow chart illustrating an implementation of a robot control method according to a third embodiment of the present application;
fig. 4 is a schematic flow chart illustrating an implementation of a robot control method according to a fourth embodiment of the present application;
FIG. 5 is an exemplary diagram of a map provided by an embodiment of the present application;
fig. 6 is a schematic flow chart illustrating an implementation of a robot control method according to a fifth embodiment of the present application;
fig. 7 is a schematic view of an implementation flow of a robot control method according to a sixth embodiment of the present application
Fig. 8 is a schematic structural diagram of a robot that passes through an obstacle according to a seventh embodiment of the present application;
fig. 9 is a schematic structural diagram of a robot passing through an obstacle according to a seventh embodiment of the present application;
fig. 10 is a schematic structural diagram of a robot that passes through an obstacle according to a seventh embodiment of the present application.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, 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.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, a schematic flow chart of a robot control method provided in an embodiment of the present application is shown, where the robot control method is applied to a robot, and the robot includes a driving wheel and a movable wheel;
as shown, the robot control method may include the steps of:
step 101: and acquiring road surface concave-convex information.
Wherein the road surface irregularity information includes irregularity information of an obstacle.
Step 102: and if the concave-convex obstacle is detected, controlling the movable wheels to lift, and then controlling the robot to move forward so that the robot passes through the obstacle.
Specifically, the concave-convex obstacle is obtained from the concave-convex information, namely the concave-convex obstacle is detected, and when the movable wheel passes through the obstacle, the movable wheel is lifted to be higher than the obstacle, so that the movable wheel passes through the obstacle in a non-contact manner, and the bumping degree of the movable wheel passing through the obstacle is reduced. When the driving wheel passes through the obstacle, the driving wheel is directly controlled to pass through the obstacle.
The embodiment of the application acquires the concave-convex information of the road surface in the advancing process of the robot, controls the movable wheels to lift if the concave-convex obstacle is detected, enables the movable wheels to pass through the obstacle in a non-contact manner by directly adjusting the ground clearance of the movable wheels, and then controls the robot to advance and pass through the obstacle. The method can minimize the jolt of the robot when the robot passes through the obstacle, ensure that the robot passes through the obstacle stably and further avoid influencing the work of the robot.
Referring to fig. 2, it is a schematic diagram of an implementation flow of a robot control method provided in the second embodiment of the present application, where the robot control method is applied to a robot, and the robot further includes an inactive wheel;
as shown, the following steps may be included after detecting the obstacle to relief:
step 201: the protrusion height of the obstacle is obtained.
The obstacle can be a ridge, a pit or a groove, correspondingly, the protruding height of the ridge is the ground clearance of the ridge surface, and the protruding height of the pit or the groove is set to be 0 mm.
Step 202: during the travel of the robot, the next target wheel that needs to pass the obstacle is identified.
Step 203: if the target wheel is an inactive wheel, the height of the active wheel corresponding to the target wheel is adjusted to enable the ground clearance of the target wheel to be larger than or equal to the height of the protrusion, and then the robot is controlled to move to enable the target wheel to pass through the obstacle;
in this embodiment, the non-movable wheels are wheels fixed to the chassis, and the height of the target wheel from the ground before passing through the obstacle is smaller than the height of the projection or the target wheel travels in contact with the ground, in which case the height of the movable wheel adjacent to the target wheel and not passing through the obstacle needs to be adjusted so that the height of the target wheel from the ground is greater than or equal to the height of the projection, and the target wheel can pass through the obstacle without contact or with a small amount of contact, thereby reducing the degree of jerk when passing through the obstacle.
In another embodiment, adjusting the height of the active wheel corresponding to the target wheel previously further comprises: and if the height of the target wheel from the ground is greater than or equal to the height of the bulge, controlling the robot to travel so that the target wheel passes through the obstacle. Under the condition, the target wheel can directly pass through obstacles without contact or with a small amount of contact, the control flow can be optimized, and the robot is conveniently controlled.
Step 204: if the target wheel is a movable wheel, the height from the ground of the target wheel is adjusted to be larger than or equal to the height of the bulge, and then the robot is controlled to move so that the target wheel passes through the obstacle;
in the process of running of the robot, the movable wheels always run in a close-to-ground mode and serve as supporting points of the robot, so that the ground clearance of the movable wheels is always required to be adjusted when the movable wheels pass through the obstacle, the ground clearance is larger than or equal to the height of the protrusions, the movable wheels can pass through the obstacle in a non-contact or small-contact mode, and the bumping degree when the movable wheels pass through the obstacle is reduced.
When the wheels adjacent to the movable wheels and passing through the obstacles are the non-movable wheels, and the movable wheels do not support the robot any more in the lifting process, the gravity center of the robot can tilt forwards, so that the non-movable wheels are in contact with the obstacles and further serve as supporting points of the robot, the bumping degree generated by the contact of the non-movable wheels and the obstacles is smaller than that when the non-movable wheels pass through the obstacles, and the bumping degree when the non-movable wheels pass through the obstacles can be reduced;
after the movable wheel passes through the obstacle, the movable wheel descends to be in contact with the obstacle and serves as a supporting point of the robot.
Step 205: and if the target wheel is a driving wheel, controlling the robot to move so that the target wheel passes through the obstacle. The driving wheel is not used as a supporting point of the robot, the bumping degree generated when the driving wheel passes through obstacles is small, and the influence on the robot is small.
For example, in a scenario where cross-floor transport is performed by elevators or stairways, there inevitably will be a sill 6-8mm high or a pit or trench 30mm wide.
Before passing through the barriers, acquiring the raised height of the ridge of 6-8mm or the raised height of the pit or the groove of 0 mm;
identifying the next target wheel needing to pass through the obstacle in the process of the robot travelling;
if the target wheel is an inactive wheel, adjusting the height of the active wheel corresponding to the target wheel, enabling the ground clearance of the target wheel to be larger than or equal to 6-8mm when the obstacle is a ridge, enabling the ground clearance of the target wheel to be larger than or equal to 0mm when the obstacle is a pit or a ditch, and then controlling the robot to move so that the target wheel passes through the obstacle without contact or with little contact;
if the target wheel is a movable wheel, the ground clearance of the target wheel is adjusted to be larger than or equal to 6-8mm when the obstacle is a ridge, and the ground clearance of the target wheel is larger than or equal to 0mm when the obstacle is a pit or a ditch, and then the robot is controlled to move so that the target wheel passes through the obstacle without contact or with little contact;
if the target wheel is a driving wheel, the robot is controlled to travel so that the target wheel passes through the obstacle, i.e., the driving wheel contacts the obstacle and passes through the obstacle.
The method comprises the steps that in the process of advancing of the robot, the next target wheel needing to pass through obstacles is identified; if the target wheel is an inactive wheel, the height of the active wheel corresponding to the target wheel is adjusted to enable the height of the target wheel from the ground to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle. When the wheels cannot move, the wheels can pass through obstacles without contact by adjusting the height of the corresponding movable wheels. If the target wheel is a movable wheel, the height from the ground of the target wheel is adjusted to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle. The height of the movable wheel can be directly adjusted, so that the movable wheel can pass through obstacles without contact. The method can minimize the jolt of the robot when the robot passes through the obstacle, ensure that the robot passes through the obstacle stably and further avoid influencing the work of the robot.
Referring to fig. 3, it is a schematic view of an implementation flow of a robot control method provided in the third embodiment of the present application, where the robot control method is applied to a robot, and as shown in the figure, the robot control method may further include the following steps:
step 301: acquiring environmental information;
wherein, the environmental information is the environmental information of the working area of the robot.
Step 302: establishing a map according to the environmental information, wherein the map predefines an obstacle area corresponding to the lifting of the movable wheels;
specifically, the robot establishes a global map according to the environmental information, the obstacle area in the global map can be defined manually or by the robot itself, and the pre-defined obstacle area can facilitate the robot to know that an obstacle exists in front in advance, so that the robot can have sufficient time to execute slow motion.
Step 303: and in the process of the robot advancing, if the robot is detected to reach the obstacle area, the step of controlling the movable wheels to lift is carried out.
Optionally, whether the robot reaches the obstacle area or not may be determined according to the positioning information, and if the positioning information shows that the robot reaches the obstacle area, the height of the obstacle is obtained in order to detect that the robot reaches the obstacle area, so that the robot can prepare in advance.
The embodiment of the application establishes a map and defines a barrier area, and then predicts whether the barrier area is reached in advance, so that the time for controlling the robot can be prolonged, sufficient time for slowly operating the robot is ensured, and the wheel is better controlled so as to pass through the barrier in a non-contact or less-contact manner, and the bumping degree when the robot passes through the barrier is further reduced.
Referring to fig. 4, it is a schematic flow chart of an implementation of a robot control method provided in the fourth embodiment of the present application, where the robot control method is applied to a robot and applied to a scenario where a cross-floor transportation is performed by an elevator.
As shown, the method comprises the following steps:
step 401: and acquiring the environmental information of the current working area.
Step 402: and establishing a positioning map according to the environment information, wherein the positioning map predefines an obstacle area corresponding to the lifting of the movable wheels, namely a boarding area. Referring to fig. 5, the elevator riding area is an area within the frame of fig. 5.
The positioning map can provide a positioning navigation map for the robot.
Step 403: and planning a path according to the positioning map.
Specifically, the current position and the target position of the robot are determined according to the positioning map, and then a route is planned according to the position of the obstacle area in the positioning map, the current position of the robot and the target position. The target position is the position of the next movement in the movement process of the robot or the final destination, and the target position can be set manually or determined by the robot through self analysis. The position of the obstacle area is determined through the positioning map, so that the robot can plan a path on the premise of not changing navigation precision.
Step 404: and controlling the robot to travel according to the path.
Step 405: and in the process of the robot advancing, if the robot is detected to reach the obstacle area, the step of controlling the movable wheels to lift is carried out.
Correspondingly, the robot arrives at the elevator taking area and acquires concave-convex information in the elevator taking area, if concave-convex obstacles are detected, the movable wheels are controlled to be lifted, and then the robot is controlled to move forward, so that the robot can pass through the obstacles without contact.
According to the method and the device for planning the route, the route is planned according to the position of the obstacle area in the positioning map, the current position of the robot and the target position, the route can be planned on the premise that the robot does not change navigation precision, the robot can advance according to the route and can be accurately predicted whether the obstacle area is reached or not, the time for controlling the robot is further prolonged, sufficient time is guaranteed for slowly operating the robot, the wheel is controlled better so that the robot can pass through the obstacle in a non-contact or less-contact mode, and the bumping degree when the robot passes through the obstacle is further reduced.
Referring to fig. 6, which is a schematic flow chart illustrating an implementation process of a robot control method provided in the fifth embodiment of the present application, where the robot control method is applied to a robot, and as shown in the figure, the robot control method may include the following steps before entering control of lifting of the movable wheels:
step 601: and if the obstacle area is an elevator taking area, judging whether the elevator door is opened or not.
Whether the elevator door starts or not is judged first, so that the robot is prevented from bumping against the elevator door.
Step 602: if the elevator door is opened, the step of controlling the movable wheel to lift is carried out.
Correspondingly, after controlling the robot to travel, the method further comprises the following steps:
step 603: and if the robot passes through the threshold, controlling the robot to travel to a stop position in the elevator.
Wherein the threshold is a threshold in the elevator door and the parking position is a preferred position for passing the threshold.
By searching and reaching the parking position, the robot can better realize passing through obstacles without contact or with less contact when passing through the threshold again subsequently, and the bumping degree is further reduced.
Optionally, if the positioning information shows that the robot reaches the parking position, the robot is detected to reach the parking position.
According to the embodiment of the application, after the robot is found and arrives at the parking position, the robot is located at the optimal position for passing through the obstacle, so that the robot can better pass through the obstacle without contact or with less contact when passing through the doorsill subsequently, and the bumping degree during passing through the obstacle is further reduced.
Referring to fig. 7, it is a schematic diagram of an implementation flow of a robot control method provided in a sixth embodiment of the present application, where the robot control method is applied to a robot, and as shown in the figure, the robot control method further includes, after acquiring a protrusion height of an obstacle:
step 701: determining whether the height of the protrusion is within a preset threshold range;
the preset threshold range can be set according to actual conditions. In the present embodiment, the preset threshold is set to 60 mm. The preset threshold is used to define the maximum obstacle height for autonomous passage of the robot.
Step 702: and if the height of the bulge is within the range of the preset threshold value, starting a preset mode.
Preferably, the ground clearance of the non-movable wheel of the robot is set to be greater than or equal to a preset threshold value, that is, greater than or equal to 60mm, so that the number of times of adjusting the movable wheel corresponding to the non-movable wheel can be reduced, and the control steps are simplified.
In another embodiment, the method further comprises: and if the height of the bulge is not within the preset threshold range, sending error reporting information to external equipment.
When the height of the bulge is larger than the preset threshold value, the bumping degree cannot be reduced by adjusting the height of the wheel from the ground, so that error information needs to be sent to external equipment to inform the adjustment of the passing scheme.
In this embodiment, the external device is selected as a mobile terminal or a server.
For example, in a scenario of a cross-floor transportation by an elevator or a staircase, there is a possibility that the height of the obstacle projection is greater than 60mm due to a deviation when the elevator car stops at a floor, or the difference between steps is greater than 60mm, or a foreign object is blocked in front and the height of the foreign object is greater than 60 mm. In this case, the obstacle cannot be passed by adjusting the height of the wheel from the ground, and it is necessary to transmit error information to an external device.
According to the embodiment of the application, invalid adjustment is avoided by judging whether the height of the protrusion is within the range of the preset threshold value, and the efficiency of the robot for passing obstacles is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
The robot provided by the seventh embodiment of the application comprises a detection unit, a control unit, a driving wheel and a movable wheel;
the detection unit is used for acquiring and acquiring concave-convex information of the road surface;
the control unit is electrically connected with the detection unit and used for acquiring the concave-convex information of the road surface; and if the concave-convex obstacle is detected, controlling the movable wheels to lift, and then controlling the robot to move forward so that the robot passes through the obstacle.
The embodiment of the application acquires the concave-convex information of the road surface through the process of advancing at the robot, if the concave-convex obstacle is detected, the movable wheel is controlled to lift, the ground clearance of the movable wheel is directly adjusted to enable the movable wheel to pass through the obstacle in a non-contact manner, then the robot is controlled to advance and pass through the obstacle, so that the bumping of the robot when passing through the obstacle is reduced to the minimum, the robot is ensured to stably pass through the obstacle, and the influence on the work of the robot is avoided.
Referring to fig. 8 to 10, they are schematic structural diagrams of the robot passing obstacle according to the eighth embodiment of the present application, and for convenience of description, only the parts related to the embodiment of the present application are shown.
The robot in this embodiment further comprises a non-moving wheel;
specifically, the robot includes a driving wheel 20 disposed on the chassis 10, two non-movable wheels, and two movable wheels that are liftable with respect to the chassis 10 and disposed on both sides of the center of gravity.
In the present embodiment, the four wheels of the robot are respectively set as a first wheel 30, a second wheel 40, a third wheel 50, and a fourth wheel 60 in the forward direction, and it is preferable to set the first wheel 30 as an inactive wheel, the second wheel 40 as an active wheel, the third wheel 50 as an inactive wheel, and the fourth wheel 60 as an active wheel. And because the center of gravity of the robot is located between the second wheel 40 and the third wheel 50, it is preferable to provide the driving wheel 20 between the second wheel 40 and the third wheel 50, so that the robot can better keep running horizontally when the driving wheel 20 passes through an obstacle.
In this embodiment, the fourth wheel 60 is a movable wheel, so that the robot can be controlled more conveniently to pass through obstacles, and the structure is more optimized.
The detection unit is also used for acquiring the height of the obstacle;
in this embodiment, the detection unit may be selected from a multibeam radar, a depth vision system, a ranging sensor, or an infrared sensor.
The control unit is also used for acquiring the height of the bulge; identifying a next target wheel that needs to pass the obstacle; if the target wheel is an inactive wheel, the height of the active wheel corresponding to the target wheel is adjusted to enable the ground clearance of the target wheel to be larger than or equal to the height of the protrusion, and then the robot is controlled to move to enable the target wheel to pass through the obstacle; if the target wheel is a movable wheel, the height from the ground of the target wheel is adjusted to be larger than or equal to the height of the bulge, and then the robot is controlled to move so that the target wheel passes through the obstacle; if the target wheel is the driving wheel 20, the robot is controlled to travel so that the target wheel passes through the obstacle.
Specifically, if the first wheel 30 is identified as a target wheel needing to pass through the obstacle and is an inactive wheel, the height of the second wheel 40 (the second wheel 40 is an active wheel corresponding to the first wheel 30) is adjusted so that the height of the first wheel 30 from the ground is greater than or equal to the height of the protrusion, and then the robot is controlled to travel so that the first wheel 30 passes through the obstacle;
after the first wheel 30 passes through the obstacle, recognizing that the second wheel 40 is a target wheel needing to pass through the obstacle and is a movable wheel, adjusting the ground clearance of the second wheel 40 to enable the ground clearance of the second wheel 40 to be larger than or equal to the height of the bulge, and controlling the robot to move to enable the second wheel 40 to pass through the obstacle;
when the second wheel 40 passes through the obstacle, the driving wheel 20 is identified as a target wheel needing to pass through the obstacle, and the robot is controlled to travel so that the driving wheel 20 passes through the obstacle;
wherein the driving wheel 20 is constantly running against the ground.
When the driving wheel 20 passes through the obstacle, recognizing that the third wheel 50 is a target wheel which needs to pass through the obstacle and is an inactive wheel, adjusting the height of the fourth wheel 60 (the fourth wheel 60 is an active wheel corresponding to the third wheel 50) to enable the height of the third wheel 50 from the ground to be larger than or equal to the height of the bulge, and controlling the robot to move to enable the third wheel 50 to pass through the obstacle;
when the third wheel 50 passes through the obstacle and the fourth wheel 60 is recognized as a target wheel which needs to pass through the obstacle and is a movable wheel, the height of the fourth wheel 60 from the ground is adjusted so that the height of the fourth wheel 60 from the ground is greater than or equal to the height of the bulge, and the robot is controlled to travel so that the fourth wheel 60 passes through the obstacle.
In other embodiments, the number of wheels of the robot except the driving wheels 20 can be set according to actual conditions, and the number and the positions of the movable wheels can be set according to actual conditions.
In another embodiment, the control unit is further configured to obtain environmental information; establishing a map according to the environmental information, wherein the map predefines an obstacle area corresponding to the lifting of the movable wheels; and in the process of the robot advancing, if the robot is detected to reach the obstacle area, the step of controlling the movable wheels to lift is carried out.
In another embodiment, the control unit is further configured to determine whether the elevator door is opened if the obstacle area is an elevator riding area; if the elevator door is opened, entering a step of controlling the movable wheel to lift; and if the robot passes through the threshold, controlling the robot to travel to a stop position in the elevator.
In another embodiment, a shock absorbing device is provided on the drive wheel 20. The damping means may be selected from a spring or a suspension system.
The information provided by the embodiment of the present application can be applied to the foregoing method embodiments, and details refer to the description of the foregoing method embodiments, which are not repeated herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A robot control method is characterized by being applied to a robot, wherein the robot comprises driving wheels, movable wheels and non-movable wheels;
the method comprises the following steps:
acquiring concave-convex information of a road surface;
if the concave-convex obstacle is detected, acquiring the convex height of the obstacle;
identifying a next target wheel needing to pass through the obstacle during the traveling of the robot;
if the target wheel is an inactive wheel, the height of the active wheel corresponding to the target wheel is adjusted to enable the height of the target wheel from the ground to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle;
if the target wheel is a movable wheel, the height from the ground of the target wheel is adjusted to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle;
and if the target wheel is the driving wheel, controlling the robot to move so as to enable the target wheel to pass through the obstacle.
2. The method of claim 1, further comprising:
acquiring environmental information;
establishing a map according to the environment information, wherein the map predefines an obstacle area corresponding to the movable wheel lifting;
and in the process of the robot advancing, if the robot is detected to reach the obstacle area, the step of controlling the movable wheels to lift is carried out.
3. The control method according to claim 1, wherein by adjusting the height of the movable wheel corresponding to the target wheel, it further comprises:
and if the height of the target wheel from the ground is greater than or equal to the height of the protrusion, controlling the robot to move so that the target wheel passes through the obstacle.
4. The control method according to any one of claims 1 to 3, further comprising, after acquiring the protrusion height of the obstacle:
determining whether the protrusion height is within a preset threshold range;
and if the height of the bulge is within the range of the preset threshold value, starting a preset mode.
5. The control method of claim 4, wherein the method further comprises: and if the height of the bulge is not within the preset threshold range, sending error information to external equipment.
6. The control method according to claim 2, characterized in that: before entering the control of the lifting of the movable wheel, the method also comprises the following steps:
if the obstacle area is an elevator taking area, judging whether an elevator door is opened or not;
if the elevator door is opened, entering a step of controlling the movable wheel to lift;
after controlling the robot to travel, the method further comprises the following steps:
and if the robot passes through the threshold, controlling the robot to move to a stop position in the elevator.
7. A robot is characterized by comprising a detection unit, a control unit, a driving wheel, a movable wheel and a non-movable wheel;
the detection unit is used for acquiring and acquiring road surface concave-convex information and the convex height of obstacles;
the control unit is electrically connected with the detection unit and is used for acquiring the concave-convex information of the road surface; if the concave-convex obstacle is detected, acquiring the height of the protrusion; identifying a next target wheel that needs to pass the obstacle; if the target wheel is an inactive wheel, the height of the active wheel corresponding to the target wheel is adjusted to enable the height of the target wheel from the ground to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle; if the target wheel is a movable wheel, the height from the ground of the target wheel is adjusted to be larger than or equal to the height of the protrusion, and then the robot is controlled to move so that the target wheel passes through the obstacle; and if the target wheel is the driving wheel, controlling the robot to move so as to enable the target wheel to pass through the obstacle.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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| CN113386140A (en) | 2021-09-14 |
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