Mobile robot control method and device, mobile robot and storage medium

A mobile robot and control method technology, applied in the field of robotics, can solve problems such as the inability to obtain road surface information, and achieve the effect of broadening application scenarios and improving performance

Active Publication Date: 2021-04-20
KEENON ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, obstacles in the surrounding space are identified through the 360° rotating scanning of the laser radar installed in the lower area of ​​the mobile robot. Si

Method used

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  • Mobile robot control method and device, mobile robot and storage medium
  • Mobile robot control method and device, mobile robot and storage medium
  • Mobile robot control method and device, mobile robot and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0058]Example one

[0059]figure 2 A flow chart of the control method of the mobile robot supplied from the embodiment of the present application, the method of the present embodiment can be performed by the control device of the mobile robot according to the embodiment of the present application, which can be implemented by software and / or hardware. And can be integrated into the mobile robot. Such asfigure 2 As shown, the control method of the mobile robot of the present embodiment, including:

[0060]S101, when the distance information obtained by the laser radar changes, predict the inclination angle of the previous section relative to the mobile robot.

[0061]Exemplarily, it is assumed that the mobile robot moves at a horizontal road (current pavement), the distance measured by the laser radard0Said, when it encounters uphill, the measured distanced1d0When you encounter downhill, measured distancesd2>d0In contrast, if the mobile robot continues to move a distance, the measured distan...

Example Embodiment

[0133]Example 2

[0134]Figure 7 A structural diagram of the control device of the mobile robot provided by the second embodiment of the present application, such asFigure 7 As shown, the control device 10 of the mobile robot in this embodiment includes:

[0135]Slope prediction module 11 and motion control module 12.

[0136]Slope predictive module 11, for the time when the distance information obtained by the laser radar, predict the inclination angle of the current road surface of the front section relative to the mobile robot; based on the tilt angle and inertial measurement unit measured pitch Angle, determine the slope of the front section;

[0137]The motion control module 12 is configured to control the moving robot movement according to the slope threshold of the slope threshold of the moving robot; labeled the front segment to a slope area on a slope map, said The slope map is used to control the moving robot to issue a climbing warning information when the mobile robot passes through...

Example Embodiment

[0172]Example three

[0173]Figure 8 A structural diagram of a mobile robot provided by the third embodiment of the present application, such asFigure 8 As shown, the mobile robot 20 includes:

[0174]Laser radar 21, inertial measuring unit 22 and data processing center 23. Laser radar 21, the inertial measuring unit 22 communicates with the data processing center 23, respectively, to transmit the acquired data to the data processing center 23.

[0175]Among them, the laser radar 21 can be a single laser radar, or a multi-wire laser radar. The laser radar is parallel to the chassis of the mobile robot, and the light beam emitted by the laser radar is fixed at a fixed angle to measure the distance of the laser radar distance.

[0176]The inertial measuring unit 22 is an apparatus for measuring the orientation and attitude of the motion carrier by accelerometer and gyroscope, in this embodiment, the inertial measuring unit is used to measure the current pitch angle of the mobile robot, i.e., the ...

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Abstract

The embodiment of the invention provides a mobile robot control method and device, a mobile robot and a storage medium, and the method comprises the steps: predicting the inclination angle of a front road section relative to a current road surface where the mobile robot is located when the distance information obtained by a laser radar changes an effective distance; determining the gradient of the front road section based on the inclination angle and the pitching angle; according to the gradient and a comparison result of the gradient and a gradient threshold value set by the mobile robot, controlling the mobile robot to move; marking the front road section as a slope area on a slope map, wherein the slope map is used for controlling the mobile robot to send out climbing warning information according to the slope area when the mobile robot passes through the slope area, so that the mobile robot can run in the road section with uphill and downhill slopes, the performance of the mobile robot is improved, and the application scene of the mobile robot is broadened.

Description

technical field [0001] The embodiments of the present application relate to the technical field of robots, and in particular, to a control method and device for a mobile robot, a mobile robot, and a storage medium. Background technique [0002] With the rapid development of robot technology, the application fields of mobile robots are becoming more and more extensive. In order to realize the motion control and navigation of mobile robots in unknown environments, robot obstacle recognition based on vision has attracted much attention. It has become a mobile robot in recent years. One of the research hotspots of robotics. [0003] In the prior art, obstacles in the surrounding space are identified through the 360° rotating scanning of the laser radar installed in the lower area of ​​the mobile robot. Since the laser radar is usually at a certain height from the ground, the mobile robot in the prior art cannot obtain the road surface. information and thus only operate on level...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276G01S17/931G01S7/4808G05D1/027G05D2201/0213G01C9/06B60Q5/005G01S17/08G01S17/89
Inventor 徐玮吕登辉金超唐京扬
Owner KEENON ROBOTICS CO LTD
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