CN115617035B - Control method, control device and computer readable medium of mobile robot - Google Patents
Control method, control device and computer readable medium of mobile robot Download PDFInfo
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- CN115617035B CN115617035B CN202211099093.9A CN202211099093A CN115617035B CN 115617035 B CN115617035 B CN 115617035B CN 202211099093 A CN202211099093 A CN 202211099093A CN 115617035 B CN115617035 B CN 115617035B
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- 230000001133 acceleration Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 27
- 241001465754 Metazoa Species 0.000 claims description 11
- 230000000007 visual effect Effects 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
本发明提供了一种移动机器人的控制方法、控制装置及计算机可读介质。控制方法包括获取移动机器人所处环境的环境信息；根据所述环境信息切换或维持所述移动机器人的运动模式；其中，所述移动机器人的运动模式至少包括第一模式和第二模式；所述移动机器人在第二模式下的最高运行速度低于在第一模式下的最高运行速度；和/或，所述移动机器人在第二模式下的最大加速度低于在第一模式下的最大加速度；和/或，所述移动机器人在第二模式下的自转速度低于在第一模式下的自转速度。通过根据移动机器人所处环境的环境信息，对移动机器人的运动模式进行切换，可以使移动机器人适用于多种运行场景，提升用户的使用体验。
The present invention provides a control method, a control device and a computer-readable medium for a mobile robot. The control method includes obtaining environmental information of the environment in which the mobile robot is located; switching or maintaining the motion mode of the mobile robot according to the environmental information; wherein the motion mode of the mobile robot includes at least a first mode and a second mode; the maximum operating speed of the mobile robot in the second mode is lower than the maximum operating speed in the first mode; and/or the maximum acceleration of the mobile robot in the second mode is lower than the maximum acceleration in the first mode; and/or the rotation speed of the mobile robot in the second mode is lower than the rotation speed in the first mode. By switching the motion mode of the mobile robot according to the environmental information of the environment in which the mobile robot is located, the mobile robot can be adapted to a variety of operating scenarios, thereby improving the user experience.
Description
Technical Field
The present invention relates generally to the field of robots, and more particularly, to a control method and apparatus for a mobile robot, and a computer readable medium.
Background
The mobile robot is an autonomous system with certain perception capability, which can autonomously move in an environment with obstacles and can complete certain tasks. The current mobile robot generally has only one motion mode, and the maximum running speed of the mobile robot is fixed, so that the mobile robot is difficult to adapt to complex and changeable running scenes.
The matters in the background section are only those known to the inventors and do not, of course, represent prior art in the field.
Disclosure of Invention
The invention provides a control method, a control device and a computer readable medium of a mobile robot, which are used for solving the problems that the motion mode of the mobile robot is single and is difficult to adapt to various operation scenes at present.
The invention provides a control method of a mobile robot, which comprises the following steps:
Acquiring environment information of an environment where the mobile robot is located;
switching or maintaining a motion mode of the mobile robot according to the environmental information;
wherein the motion mode of the mobile robot at least comprises a first mode and a second mode;
The highest running speed of the mobile robot in the second mode is lower than the highest running speed in the first mode; and/or the number of the groups of groups,
The maximum acceleration of the mobile robot in the second mode is lower than the maximum acceleration in the first mode; and/or the number of the groups of groups,
The mobile robot has a lower rotation speed in the second mode than in the first mode.
According to one aspect of the invention, the environmental information includes one or more of a number of people, a number of children, a number of animals, a number of dynamic obstacles, whether a floating obstacle is present, a number of floating obstacles, a width of a channel in a target path, a number of robots, a current time.
According to an aspect of the present invention, the step of switching or maintaining a movement mode of the mobile robot according to environmental information includes:
matching the environment information with a first preset condition corresponding to the first mode and a second preset condition corresponding to the second mode respectively;
And maintaining or switching the motion mode of the mobile robot according to the matching result and the current motion mode of the mobile robot.
According to one aspect of the present invention, the step of maintaining or switching the motion mode of the mobile robot according to the matching result and the current motion mode of the mobile robot comprises:
if the mobile robot is currently in the first mode and the environmental information is matched with the first preset condition, maintaining the mobile robot in the first mode;
if the mobile robot is currently in the first mode and the environmental information is matched with the second preset condition, switching the mobile robot to the second mode;
if the mobile robot is in the second mode currently and the environmental information is matched with the first preset condition, switching the mobile robot to the first mode;
And if the mobile robot is currently in the second mode and the environmental information is matched with the second preset condition, maintaining the mobile robot in the second mode.
According to an aspect of the present invention, the step of switching the movement mode of the mobile robot includes:
Acquiring the current moving speed of the mobile robot;
Judging whether the current moving speed of the mobile robot is greater than a preset speed threshold value or not;
If the current moving speed of the mobile robot is greater than a preset speed threshold, controlling the mobile robot to stop moving;
controlling the mobile robot to switch the motion mode;
And if the current moving speed of the mobile robot is smaller than or equal to the preset speed threshold, controlling the mobile robot to directly switch the motion mode.
According to one aspect of the invention, the mobile robot establishes a corresponding grid map according to the acquired environmental point cloud information in a first mode;
And the mobile robot establishes a corresponding grid map according to the acquired environmental point cloud information in a second mode, judges whether a suspended obstacle exists in the grid map, and additionally expands the suspended obstacle in the grid map according to a preset expansion coefficient if the suspended obstacle exists.
According to one aspect of the invention, the mobile robot is provided with an atmosphere lamp; the control method further comprises the step of switching the lamplight color of the atmosphere lamp according to the movement mode of the mobile robot.
The invention also provides a control device of the mobile robot, comprising:
An environment detection unit configured to detect environment information of an environment in which the mobile robot is located;
a controller in communication with the environment detection unit, the controller being configured to perform the method of controlling a mobile robot according to any one of claims 1-7.
According to one aspect of the invention, the environment detection unit comprises a visual detection module and/or a time module;
The vision detection module is configured to detect one or more of the number of people, the number of children, the number of animals, the number of dynamic obstacles, the number of suspended obstacles, the width of a channel in a target path and the number of robots in an environment where the mobile robot is located; the time module is configured to obtain a current time.
The invention also provides a computer readable medium having instructions stored thereon, which when executed by a processor, implement a method of controlling a mobile robot according to any of claims 1-7.
Compared with the prior art, the embodiment of the invention provides a control method, a control device and a computer readable medium for a mobile robot, which can enable the mobile robot to be suitable for various operation scenes by switching the motion mode of the mobile robot according to the environment information of the environment where the mobile robot is located, and improve the use experience of a user.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 shows a schematic view of a mobile robot according to one embodiment of the invention;
fig. 2 shows a flowchart of a control method of a mobile robot according to an embodiment of the present invention;
Fig. 3 shows a flowchart of a control method of a mobile robot according to a preferred embodiment of the present invention;
FIG. 4 shows a flow chart of a path planning method of a mobile robot according to one embodiment of the invention;
Fig. 5 shows a control device of a mobile robot according to an embodiment of the present invention.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, and may be mechanically connected, electrically connected, or may communicate with each other, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.
The embodiments of the present invention will be described below with reference to the accompanying drawings, and it should be understood that the embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Fig. 1 shows a mobile robot 100 in an embodiment according to the invention. Fig. 2 shows a control method 200 of a mobile robot in an embodiment according to the invention. Details are described below in connection with fig. 1 and 2.
As shown in fig. 1, the mobile robot 100 may include a housing 110, which may be used to carry an article, a chassis 120, which may be disposed at the bottom of the housing 110, and a moving unit 130, which is used to drive the chassis 120 to move. The mobile robot 100 may further include an environment detection unit for detecting environment information around the mobile robot 100, a function controller for a user to operate the mobile robot 100, an underlying controller for map generation and path planning, and an element controller for controlling the mobile unit 130 and the environment detection unit.
As shown in fig. 1, the control method 200 includes the following steps, which are described in detail below, respectively.
In step S210: and acquiring environment information of the environment where the mobile robot is located.
The environmental information may include one or more of a number of people, a number of children, a number of animals, a number of dynamic obstacles, whether a floating obstacle is present, a number of floating obstacles, a width of a channel in a target path, a number of robots, a current time. For example, the environmental information in this embodiment includes the number of people, the number of children, and the number of dangling obstacles.
The acquisition of the environmental information can be realized through an environmental detection unit of the mobile robot, and the environmental detection unit can comprise a visual detection module and a time module, wherein the time module is used for acquiring the current time, and the visual detection module comprises one or more of a laser radar system, an ultrasonic sensor and an infrared sensor. The vision detection module can collect one or more of the number of people, the number of children, the number of animals, the number of dynamic obstacles, whether suspended obstacles exist, the number of suspended obstacles, the width of channels in a target path and the number of robots in a working area where the mobile robot is located, the bottom layer processor can model by utilizing environment information collected by the vision detection module to construct an environment map, and different map layers, such as a static map layer, a dynamic obstacle map layer, an ultrasonic map layer map, a visual map layer and the like, are generated in the process of constructing the environment map, and are fused to obtain a positioning map for positioning and navigation of the mobile robot.
The lidar system may be provided at a slit of a housing of the mobile robot so as to easily emit a laser signal to detect surrounding objects. The laser radar system can comprise a photoelectric receiving unit array and a laser transmitting unit array, and the laser radar system can rotate along a set plane, so that the photoelectric receiving unit array of the laser radar system can form a scanning cylindrical surface, the scanning area is increased, the details of the object form are conveniently obtained, and the situation that a mobile robot collides with an obstacle is avoided. If the laser radar system only comprises a single photoelectric receiving unit and a single laser transmitting unit, the laser radar system can only measure the shape of an object on one circumference after rotating along a set plane, but cannot acquire the shape of a complex object in time, so that collision is easy to occur, and personal and property safety is endangered. Optionally, the setting plane may be a horizontal plane, so that the mobile robot can conveniently detect an object in the running process, and in addition, other setting planes, such as a vertical plane, an inclined plane, and the like, may be selected according to the user requirement.
In step S220: and switching or maintaining the motion mode of the mobile robot according to the acquired environmental information.
As shown in fig. 1, the moving unit 130 of the mobile robot 100 may include at least two sets of driving wheels 131, each set of driving wheels 131 being located at one side of the chassis 120, respectively, and a traveling speed of the driving wheels 131 being controlled by an element controller. Specifically, at least one set of the driving wheels 131 of the moving unit 130 serves as a left driving wheel and at least one set serves as a right driving wheel.
The mobile robot may have two or more motion patterns. In this embodiment, the movement modes of the mobile robot include a first mode and a second mode, the highest operation speed of the mobile robot in the second mode is lower than the highest operation speed in the first mode, and/or the maximum acceleration of the mobile robot in the second mode is lower than the maximum acceleration in the first mode, and/or the rotation speed of the mobile robot in the second mode is lower than the rotation speed in the first mode. Wherein the maximum operating speed of the mobile robot in the second mode may be 75% of the maximum operating speed in the first mode, the time taken for the mobile robot to accelerate to a predetermined speed in the second mode may be 1.5 times the time taken for the mobile robot to accelerate to the predetermined speed in the first mode, i.e., the maximum acceleration of the mobile robot 100 in the second mode may be 66.75% of the maximum acceleration in the first mode; the rotation speed of the mobile robot 100 in the second mode may be 80% of the rotation speed in the first mode. For example, in the present embodiment, the maximum operation speed of the mobile robot 100 in the first mode is 1.2m/s, the maximum acceleration is 0.4m/s, the rotation speed is 0.125r/s, the maximum operation speed of the mobile robot 100 in the second mode is 0.9m/s, the maximum acceleration is about 0.267m/s, and the rotation speed is 0.1r/s.
According to one embodiment of the invention, the mobile robot may acquire ambient point cloud information of the surrounding environment through the lidar system (in other embodiments ambient point cloud information may also be acquired through the camera). In the first mode, the mobile robot may establish a corresponding grid map according to the acquired environmental point cloud information, where the grid map may be the positioning map or may form a part of the positioning map. In the second mode, the mobile robot can establish a corresponding grid map according to the acquired environmental point cloud information and judge whether a suspended obstacle exists in the grid map. If the suspended obstacle exists, the suspended obstacle in the grid map is additionally expanded according to a preset expansion coefficient, so that the mobile machine has a larger safety distance from the suspended obstacle when passing through the suspended obstacle, and the safety of the mobile robot is improved. The suspended obstacle is an obstacle suspended in the air, such as a table corner, and in a plurality of vertically adjacent grid units of the grid map, an obstacle point cloud exists above a preset height, and no point cloud exists below the preset height, so that the obstacle point cloud is the suspended obstacle.
In a specific embodiment, a plurality of preset conditions may be set. For example, in the present embodiment, a first preset condition and a second preset condition are provided. The first preset condition may be, for example, that the number of people in the environment where the mobile robot is located is less than 11, the number of children is less than 1, and the number of suspended obstacles is less than 6, and the second preset condition may be, for example, that the number of people in the environment where the mobile robot is located is greater than 10, the number of children is greater than 0, or the number of suspended obstacles is greater than 5.
The acquired environment information of the environment where the mobile robot is located can be respectively matched with a first preset condition and a second preset condition, and the motion mode of the mobile robot is maintained or switched according to the matching result and the current motion mode of the mobile robot, so that the mobile robot is suitable for an operation scene. The user can also switch the motion mode of the mobile robot through manually operating the function controller of the mobile robot, so that the use experience of the user is improved.
Specifically, if the mobile robot is currently in the first mode and the environmental information is matched with the first preset condition, the mobile robot is maintained in the first mode; if the mobile robot is currently in the first mode and the environmental information is matched with the second preset condition, switching the mobile robot to the second mode; if the mobile robot is in the second mode currently and the environmental information is matched with the first preset condition, switching the mobile robot to the first mode; and if the mobile robot is currently in the second mode and the environmental information is matched with the second preset condition, maintaining the mobile robot in the second mode.
When the motion mode of the mobile robot is switched, the current moving speed of the mobile robot can be obtained, whether the current moving speed of the mobile robot is larger than a preset speed threshold value is judged, if the current moving speed of the mobile robot is larger than the preset speed threshold value, the mobile robot is controlled to stop moving, and after the mobile robot stops moving, the mobile robot is controlled to switch the motion mode; and if the current moving speed of the mobile robot is smaller than or equal to the preset speed threshold, controlling the mobile robot to directly switch the motion mode.
Optionally, the moving unit 130 of the mobile robot 100 may further include at least two sets of driven wheels (not shown in the drawings), wherein at least one set of driven wheels is used as a left driven wheel, at least one set of driven wheels is used as a right driven wheel, and the left driven wheel and the right driven wheel are used to assist the left driving wheel and the right driving wheel to move the housing 110 of the mobile robot 100, so as to reduce the load pressure of the driving wheel 131.
According to an embodiment of the present invention, the control method 200 may further include: and switching the lamplight color of the atmosphere lamp according to the motion mode of the mobile robot.
Specifically, as shown in fig. 1, an atmosphere lamp 140 may be disposed on the mobile robot 100, where the atmosphere lamp 140 has a plurality of light colors, and the light colors of the atmosphere lamp 140 correspond to the movement mode of the mobile robot 100. For example, in the present embodiment, when the mobile robot 100 is in the first mode, the light color of the atmosphere lamp 140 is green, and when the mobile robot 100 is in the second mode, the light color of the atmosphere lamp 140 is red.
According to an embodiment of the present invention, as shown in fig. 1, the chassis 120 is provided with turn signal lamp units 150, each turn signal lamp unit 150 includes at least one turn signal lamp, and the element controller may control the turn signal lamp in the turn signal lamp unit 150 to be lighted in a preset manner to alert pedestrians when the mobile robot 100 turns. Alternatively, the element controller is configured to control the turn lamps in the turn lamp unit 150 to be turned on in a preset manner when a speed difference of the driving wheels 131 (e.g., left and right driving wheels) at both sides of the chassis 120 is greater than a preset value. Optionally, the mobile robot 100 further includes a voice module, and the voice module is electrically connected to the component controller. The element controller is configured to control the voice module to send out voice prompt information to remind pedestrians to pay attention to ensure the safety of the pedestrians and the mobile robot 100 when the mobile robot 100 turns.
Fig. 3 illustrates a control method 300 of the mobile robot according to a preferred embodiment of the present invention, which is described in detail below in conjunction with fig. 3.
The mobile robot has an intermediate mode in addition to the first mode and the second mode as described above. The highest running speed of the mobile robot in the intermediate mode is between the highest running speed in the first mode and the running speed in the second mode, and/or the highest acceleration of the mobile robot in the intermediate mode is between the highest acceleration in the first mode and the highest acceleration in the second mode, and/or the autorotation speed of the mobile robot in the intermediate mode is between the autorotation speed in the first mode and the autorotation speed in the second mode. For example, in the present embodiment, the highest running speed of the mobile robot in the first mode is 1.2m/s, the maximum acceleration is 0.4m/s, and the rotation speed is 0.125r/s. The highest running speed of the mobile robot in the middle mode is 1.05m/s, the maximum acceleration is about 0.33m/s, and the autorotation speed is 0.113r/s. The maximum running speed of the mobile robot in the second mode is 0.9m/s, the maximum acceleration is about 0.267m/s, and the autorotation speed is 0.1r/s.
Alternatively, the mobile robot may acquire environmental point cloud information of the surrounding environment through the lidar system. In a first mode, the mobile robot can establish a corresponding grid map according to the acquired environmental point cloud information; in the middle mode and the second mode, the mobile robot can establish a corresponding grid map according to the acquired environmental point cloud information, judge whether a suspended obstacle exists in the grid map, and expand the suspended obstacle in the grid map according to a preset expansion coefficient if the suspended obstacle exists, wherein the expansion coefficient of the mobile robot in the middle mode is lower than that in the second mode.
As shown in fig. 3, the control method 300 includes the following steps, which are described in detail below, respectively.
In step S310: and acquiring environment information of the environment where the mobile robot is located. The environment information comprises the number of people, the number of children, the number of animals, whether suspended obstacles exist, the number of suspended obstacles and the current time.
In step S320: and switching or maintaining the motion mode of the mobile robot according to the acquired environmental information. The acquired environmental information can be scored, and the motion mode of the mobile robot can be switched or maintained according to the scoring result of the environmental information.
Specifically, each element in the environmental information may be scored and the scores accumulated to obtain a score for the environmental information. For example, each person may score 10 minutes, each child may score 100 minutes, each animal may score 20 minutes, each overhead obstacle may score 10 minutes if an overhead obstacle is present in the environment, each overhead obstacle may score 20 minutes, 100 minutes if the current time is within a preset time period, and no score if the current time is outside of a preset time period, where the preset time period may be a traffic peak time period, such as 7 to 9 hours. If the acquired environmental information contains 3 persons and 1 suspended obstacle, no children or animals exist, and the current time is not within the preset time period, the environmental information is scored as 60 points.
In the present embodiment, a first preset condition, a second preset condition, and a third preset condition are provided. The first preset condition may be, for example, that the score of the environmental information is lower than 60, the second preset condition may be, for example, that the score of the environmental information is higher than 100, and the third preset condition may be, for example, that the score of the environmental information is between 60 and 100 (including 60 and 100).
After scoring the environmental information of the environment where the mobile robot is located, the scoring of the environmental information can be respectively matched with a first preset condition, a second preset condition and a third preset condition, and the motion mode of the mobile robot is maintained or switched according to the matching result and the current motion mode of the mobile robot, so that the mobile robot is suitable for various operation scenes, and the use experience of a user is improved. For example, when the mobile robot is in the first mode, if the environmental information of the environment in which the mobile robot is located is scored as 30 points, the mobile robot is maintained in the first mode, if the environmental information of the environment in which the mobile robot is located is scored as 80 points, the movement mode of the mobile robot is switched to the intermediate mode, and if the environmental information of the environment in which the mobile robot is located is scored as 120 points, the movement mode of the mobile robot is switched to the second mode.
Fig. 4 shows a flowchart of a path planning method 400 of a mobile robot according to an embodiment of the present invention, where each step may be performed sequentially in the order shown in fig. 4, or may be performed simultaneously according to actual situations, and the steps of the path planning method are not limited herein, and are described in detail below.
In step S410: a location map of the current work area is determined. The positioning map is a map formed by mapping the environment where the mobile robot is located.
Specifically, the bottom layer controller of the mobile robot can perform modeling through the environment information collected by the environment detection unit to construct an environment map. In this embodiment, the laser radar system, the ultrasonic sensor and the infrared sensor are used to collect environmental information of the working area where the mobile robot is located, the bottom processor creates a map by using the environmental information, and generates different map layers, for example, a static layer, a dynamic obstacle layer, an ultrasonic layer, a visual layer, and the like, in the process of creating the map, and the map layers are fused to obtain a positioning map for positioning and navigation of the mobile robot.
In step S420: and planning a path according to the positioning map. Step S420 includes:
Step S421: determining the current position and the target position of the robot according to the positioning map;
step S422: determining the position of an obstacle according to the positioning map;
step S423: and planning a path according to the current position, the target position and the obstacle position.
Specifically, in step S421, the target position is a position set by the user, or a position to be moved determined by the processing system of the mobile robot, where the target position may be a position to be moved next determined during the movement, or a position to be finally reached by the mobile robot. The current position is real-time position information of the mobile robot determined by the robot through the position sensor.
In step S422, the determination is made by the positioning map to determine the position of the obstacle on the positioning map. By the implementation mode, the mobile robot can determine the position of the obstacle and plan the route without changing the navigation precision.
Step S430: and moving according to the path.
Fig. 5 shows a control device 500 of a mobile robot according to an embodiment of the invention. As shown in fig. 5, the control device 500 includes an environment detection unit 510 and a controller 520, wherein the environment detection unit 510 is configured to detect environment information of an environment in which the mobile robot is located, the controller 520 is communicatively connected to the environment detection unit 510, and the controller 520 is configured to perform the control method of the mobile robot as described above.
Specifically, the environment detection unit 510 includes a vision detection module 511 and/or a time module 512, where the time module 512 is configured to obtain a current time, the vision detection module 511 includes one or more of a laser radar system, an ultrasonic sensor, and an infrared sensor, and the vision detection module 511 may collect one or more of the number of people, the number of children, the number of animals, the number of dynamic obstacles, whether there are any suspended obstacles, the number of suspended obstacles, the width of a channel in a target path, and the number of robots in a working area where the mobile robot is located.
The invention also provides a computer readable medium. The computer readable medium has stored thereon instructions which, when executed by a processor, implement the control method of the mobile robot as described above.
Finally, it should be noted that: the foregoing description is only illustrative of the present invention and is not intended to be limiting, and although the present invention has been described in detail with reference to the foregoing illustrative embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control method of a mobile robot, comprising:
acquiring environment information of an environment in which a mobile robot is located, wherein an environment detection unit of the mobile robot detects the surrounding environment to acquire the environment information, and the environment information comprises one or more of the number of people, the number of children, the number of animals, the number of dynamic obstacles, whether suspended obstacles exist, the number of suspended obstacles, the number of robots and the current time;
switching or maintaining a motion mode of the mobile robot according to the environmental information;
wherein the motion mode of the mobile robot at least comprises a first mode and a second mode;
The highest running speed of the mobile robot in the second mode is lower than the highest running speed in the first mode; and/or the number of the groups of groups,
The maximum acceleration of the mobile robot in the second mode is lower than the maximum acceleration in the first mode; and/or the number of the groups of groups,
The rotation speed of the mobile robot in the second mode is lower than that in the first mode;
The mobile robot establishes a corresponding grid map according to the acquired environmental point cloud information in a first mode;
And the mobile robot establishes a corresponding grid map according to the acquired environmental point cloud information in a second mode, judges whether a suspended obstacle exists in the grid map, and additionally expands the suspended obstacle in the grid map according to a preset expansion coefficient if the suspended obstacle exists.
2. The control method of a mobile robot according to claim 1, wherein the environmental information further includes a channel width in a target path;
wherein, in a plurality of vertically adjacent grid units of the grid map, obstacle point clouds exist above a preset height, and no point clouds exist below the preset height, so that the obstacle point clouds are suspended obstacles.
3. The control method of a mobile robot according to claim 1, wherein the step of switching or maintaining a movement mode of the mobile robot according to environmental information comprises:
matching the environment information with a first preset condition corresponding to the first mode and a second preset condition corresponding to the second mode respectively;
And maintaining or switching the motion mode of the mobile robot according to the matching result and the current motion mode of the mobile robot.
4. The method for controlling a mobile robot according to claim 3, wherein the step of maintaining or switching the motion mode of the mobile robot according to the matching result and the motion mode in which the mobile robot is currently located comprises:
if the mobile robot is currently in the first mode and the environmental information is matched with the first preset condition, maintaining the mobile robot in the first mode;
if the mobile robot is currently in the first mode and the environmental information is matched with the second preset condition, switching the mobile robot to the second mode;
if the mobile robot is in the second mode currently and the environmental information is matched with the first preset condition, switching the mobile robot to the first mode;
And if the mobile robot is currently in the second mode and the environmental information is matched with the second preset condition, maintaining the mobile robot in the second mode.
5. The control method of a mobile robot according to claim 1, wherein the step of switching the motion mode of the mobile robot includes:
Acquiring the current moving speed of the mobile robot;
Judging whether the current moving speed of the mobile robot is greater than a preset speed threshold value or not;
If the current moving speed of the mobile robot is greater than a preset speed threshold, controlling the mobile robot to stop moving;
controlling the mobile robot to switch the motion mode;
And if the current moving speed of the mobile robot is smaller than or equal to the preset speed threshold, controlling the mobile robot to directly switch the motion mode.
6. The control method of a mobile robot according to claim 1, wherein an atmosphere lamp is provided on the mobile robot; the control method further comprises the step of switching the lamplight color of the atmosphere lamp according to the movement mode of the mobile robot.
7. The control method of a mobile robot according to claim 1, wherein the motion mode of the mobile robot further includes an intermediate mode;
Wherein the highest running speed of the mobile robot in the middle mode is between the highest running speed in the first mode and the running speed in the second mode; and/or
The maximum acceleration of the mobile robot in the middle mode is between the maximum acceleration in the first mode and the maximum acceleration in the second mode; and/or
The self-rotation speed of the mobile robot in the middle mode is between the self-rotation speed in the first mode and the self-rotation speed in the second mode;
The mobile robot establishes a corresponding grid map according to the acquired environmental point cloud information in an intermediate mode, judges whether a suspended obstacle exists in the grid map, and additionally expands the suspended obstacle in the grid map according to a preset expansion coefficient if the suspended obstacle exists, wherein the expansion coefficient of the mobile robot in the intermediate mode is lower than that in a second mode;
Wherein the highest operating speed of the mobile robot in the second mode is 75% of the highest operating speed in the first mode;
the maximum acceleration of the mobile robot in the second mode is 66.75% of the maximum acceleration in the first mode;
the rotation speed of the mobile robot in the second mode is 80% of the rotation speed in the first mode.
8. A control device of a mobile robot, comprising:
An environment detection unit configured to detect environment information of an environment in which the mobile robot is located, the environment information including one or more of the number of people, the number of children, the number of animals, the number of dynamic obstacles, whether there are dangling obstacles, the number of robots, and a current time;
a controller in communication with the environment detection unit, the controller being configured to perform the method of controlling a mobile robot according to any one of claims 1-7.
9. The control device of a mobile robot according to claim 8, wherein the environment detection unit comprises a visual detection module and/or a time module;
The vision detection module is configured to detect one or more of the number of people, the number of children, the number of animals, the number of dynamic obstacles, the number of suspended obstacles, the width of a channel in a target path and the number of robots in an environment where the mobile robot is located; the time module is configured to obtain a current time.
10. A computer readable medium having stored thereon instructions which, when executed by a processor, implement a method of controlling a mobile robot according to any of claims 1-7.
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| EP3460406B1 (en) * | 2017-08-28 | 2024-04-03 | Panasonic Intellectual Property Corporation of America | Information processing apparatus, vehicle, information processing method, running control method, and map updating method |
| FR3077382B1 (en) * | 2018-01-30 | 2020-02-21 | Transdev Group | ELECTRONIC METHOD AND DEVICE FOR CONTROLLING THE SPEED OF AN AUTONOMOUS VEHICLE, COMPUTER PROGRAM, AUTONOMOUS VEHICLE AND ASSOCIATED MONITORING PLATFORM |
| EP3850936A4 (en) * | 2018-09-12 | 2022-08-03 | Positec Power Tools (Suzhou) Co., Ltd | Self-moving device and automatic working system thereof |
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