Obstacle-stopping control method, device, equipment and storage medium for mobile robot

Abstract

The present invention relates to the field of robot control technology, and discloses a mobile robot obstacle stopping control method, device, equipment and storage medium for realizing a soft obstacle stopping of the mobile robot. The mobile robot obstacle stopping control method comprises: obtaining motion parameters of the mobile robot, and determining a target detection area according to the motion parameters, the motion parameters including motion direction and motion speed; obtaining target detection data of the target detection area, and determining the nearest obstacle distance through the target detection data; calculating the variable acceleration of the mobile robot through the nearest obstacle distance and motion parameters, and controlling the obstacle stopping speed of the mobile robot through the variable acceleration.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to an obstacle prevention control method, device, equipment and storage medium for a mobile robot. Background Art

[0002] A mobile robot is an intelligent machine with mobility capabilities, such as self-driving vehicles, sweeping robots, and construction robots.

[0003] Mobile robots usually have obstacle sensing functions. When encountering obstacles, they can automatically avoid or stop to avoid collision. In the prior art, when controlling the robot to stop, the instantaneous speed is usually set to zero. Although this method can make the mobile robot stop before hitting the obstacle, it lacks effective planning of the obstacle stopping speed, and thus cannot achieve a smooth obstacle stopping of the mobile robot. Summary of the invention

[0004] The present invention provides a mobile robot obstacle prevention control method, device, equipment and storage medium, which are used to achieve a soft obstacle prevention of the mobile robot.

[0005] A first aspect of the present invention provides an obstacle prevention control method for a mobile robot, comprising:

[0006] Acquiring motion parameters of the mobile robot, and determining a target detection area according to the motion parameters;

[0007] Acquire target detection data of the target detection area, and determine the distance to the nearest obstacle through the target detection data;

[0008] The variable acceleration of the mobile robot is calculated by the nearest obstacle distance and the motion parameters, and the obstacle-stopping speed of the mobile robot is controlled by the variable acceleration.

[0009] Optionally, acquiring motion parameters of the mobile robot and determining the target detection area according to the motion parameters includes:

[0010] Acquiring motion parameters of the mobile robot, wherein the motion parameters include motion direction and motion speed;

[0011] Determine the target detection direction by the movement direction, and determine the target detection range by the movement speed;

[0012] An object detection area is determined based on the object detection direction and the object detection range.

[0013] Optionally, the mobile robot is equipped with a plurality of environment detection sensors, and the acquiring of target detection data of the target detection area and determining the distance to the nearest obstacle through the target detection data include:

[0014] Obtaining original detection data collected by each environmental detection sensor;

[0015] Performing sensor screening on the original detection data corresponding to each environment detection sensor according to the target detection direction corresponding to the target detection area to obtain target sensor detection data;

[0016] The target detection data is screened by the target detection range corresponding to the target detection area to obtain the target detection data;

[0017] The minimum area value of the target detection area is calculated using the target detection data, and the distance to the nearest obstacle is determined based on the minimum area value.

[0018] Optionally, the acquiring target detection data of the target detection area and determining the distance to the nearest obstacle by using the target detection data further includes:

[0019] Acquire target detection data and historical detection data of the target detection area, wherein the target detection data is used to indicate detection data of a current acquisition cycle, and the historical detection data is used to indicate detection data of a previous acquisition cycle;

[0020] Comparing the historical detection data with the target detection data to obtain a comparison result;

[0021] Determining whether the target detection data meets a preset error filtering condition through the comparison result;

[0022] If the target detection data meets the preset error filtering condition, the target detection data is filtered, and the distance to the nearest obstacle is determined through the filtered target detection data;

[0023] If the target detection data does not satisfy the preset error filtering condition, the distance to the nearest obstacle is determined using the target detection data.

[0024] Optionally, the calculating the variable acceleration of the mobile robot by using the nearest obstacle distance and the motion parameter, and controlling the obstacle-stopping speed of the mobile robot by using the variable acceleration includes:

[0025] According to the motion direction and the motion speed in the motion parameters, the target detection area is divided into regions to obtain a target deceleration area and a target obstacle stopping area;

[0026] Determine whether the distance to the nearest obstacle is within the target deceleration area;

[0027] If the distance to the nearest obstacle is within the target deceleration area, the variable acceleration of the mobile robot is calculated through a preset variable acceleration planning curve, and the obstacle-stopping speed of the mobile robot is controlled through the variable acceleration.

[0028] Optionally, the calculating the variable acceleration of the mobile robot by using a preset variable acceleration planning curve, and controlling the obstacle-stopping speed of the mobile robot by using the variable acceleration, comprises:

[0029] Calculating the variable acceleration of the mobile robot through a preset variable acceleration planning curve;

[0030] Calculating a planned speed of the mobile robot according to the variable acceleration and the nearest obstacle distance, wherein the planned speed is used to indicate a maximum speed allowed for the mobile robot in the target deceleration area;

[0031] The obstacle-stopping speed of the mobile robot is controlled according to the planned speed, so that the mobile robot stops within the target obstacle-stopping area.

[0032] Optionally, performing obstacle-stopping speed control on the mobile robot according to the planned speed so that the mobile robot stops within the target obstacle-stopping area includes:

[0033] Determining whether the movement speed is greater than the planned speed;

[0034] If the movement speed is greater than the planned speed, the obstacle stopping speed of the mobile robot is controlled to be less than or equal to the planned speed, so that the mobile robot stops in the target obstacle stopping area.

[0035] A second aspect of the present invention provides an obstacle prevention control device for a mobile robot, comprising:

[0036] An area determination module is used to obtain motion parameters of the mobile robot and determine a target detection area according to the motion parameters;

[0037] A distance determination module, used to obtain target detection data of the target detection area and determine the distance to the nearest obstacle through the target detection data;

[0038] The obstacle-stopping control module is used to calculate the variable acceleration of the mobile robot according to the nearest obstacle distance and the motion parameters, and to control the obstacle-stopping speed of the mobile robot according to the variable acceleration.

[0039] Optionally, the area determination module is specifically used to:

[0040] Acquiring motion parameters of the mobile robot, wherein the motion parameters include motion direction and motion speed;

[0041] Determine the target detection direction by the movement direction, and determine the target detection range by the movement speed;

[0042] An object detection area is determined based on the object detection direction and the object detection range.

[0043] Optionally, the distance determination module is used to:

[0044] Obtaining original detection data collected by each environmental detection sensor;

[0045] Performing sensor screening on the original detection data corresponding to each environment detection sensor according to the target detection direction corresponding to the target detection area to obtain target sensor detection data;

[0046] The target detection data is screened by the target detection range corresponding to the target detection area to obtain the target detection data;

[0047] The minimum area value of the target detection area is calculated using the target detection data, and the distance to the nearest obstacle is determined based on the minimum area value.

[0048] Optionally, the distance determination module is further used for:

[0049] Acquire target detection data and historical detection data of the target detection area, wherein the target detection data is used to indicate detection data of a current acquisition cycle, and the historical detection data is used to indicate detection data of a previous acquisition cycle;

[0050] Comparing the historical detection data with the target detection data to obtain a comparison result;

[0051] Determining whether the target detection data meets a preset error filtering condition through the comparison result;

[0052] If the target detection data meets the preset error filtering condition, the target detection data is filtered, and the distance to the nearest obstacle is determined through the filtered target detection data;

[0053] If the target detection data does not satisfy the preset error filtering condition, the distance to the nearest obstacle is determined using the target detection data.

[0054] Optionally, the obstacle prevention control module includes:

[0055] A division submodule, used for dividing the target detection area into regions according to the motion direction and the motion speed in the motion parameters, to obtain a target deceleration area and a target obstacle stopping area;

[0056] A judgment submodule, used to judge whether the distance to the nearest obstacle is within the target deceleration area;

[0057] The calculation submodule is used to calculate the variable acceleration of the mobile robot through a preset variable acceleration planning curve if the distance to the nearest obstacle is within the target deceleration area, and control the obstacle-stopping speed of the mobile robot through the variable acceleration.

[0058] Optionally, the calculation submodule includes:

[0059] A calculation unit, used to calculate the variable acceleration of the mobile robot through a preset variable acceleration planning curve;

[0060] a planning unit, configured to calculate a planning speed of the mobile robot according to the variable acceleration and the nearest obstacle distance, wherein the planning speed is used to indicate a maximum speed allowed for the mobile robot in the target deceleration area;

[0061] A control unit is used to control the obstacle stopping speed of the mobile robot according to the planned speed so that the mobile robot stops within the target obstacle stopping area.

[0062] Optionally, the control unit is specifically used for:

[0063] Determining whether the movement speed is greater than the planned speed;

[0064] If the movement speed is greater than the planned speed, the obstacle stopping speed of the mobile robot is controlled to be less than or equal to the planned speed, so that the mobile robot stops in the target obstacle stopping area.

[0065] The third aspect of the present invention provides an obstacle control device for a mobile robot, comprising: a memory and at least one processor, wherein a computer program is stored in the memory; the at least one processor calls the computer program in the memory so that the obstacle control device of the mobile robot executes the above-mentioned obstacle control method for the mobile robot.

[0066] A fourth aspect of the present invention provides a computer-readable storage medium, in which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer executes the above-mentioned obstacle control method for the mobile robot.

[0067] In the technical solution provided by the present invention, the motion parameters of the mobile robot are obtained, and the target detection area is determined according to the motion parameters; the target detection data of the target detection area is obtained, and the distance to the nearest obstacle is determined by the target detection data; the variable acceleration of the mobile robot is calculated by the nearest obstacle distance and the motion parameters, and the obstacle stopping speed of the mobile robot is controlled by the variable acceleration. In the embodiment of the present invention, the mobile robot determines the target detection area according to the current motion direction and motion speed, identifies the nearest obstacle distance by the target detection data, calculates the variable acceleration according to the nearest obstacle distance and the current motion parameters of the mobile robot, and controls the obstacle stopping speed based on the variable acceleration, which can efficiently detect real obstacles and effectively plan the obstacle stopping speed, thereby achieving a gentle obstacle stopping of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 Schematic diagram of an embodiment of an obstacle prevention control method for a mobile robot in an embodiment of the present invention;

[0069] Figure 2 is a schematic diagram of a detection area of ​​a mobile robot in an embodiment of the present invention;

[0070] Figure 3 is another schematic diagram of the detection area of ​​the mobile robot in an embodiment of the present invention;

[0071] Figure 4 A schematic diagram of the installation of an environment detection sensor for a mobile robot in an embodiment of the present invention;

[0072] Figure 5 Schematic diagram of another embodiment of the obstacle prevention control method for a mobile robot in an embodiment of the present invention;

[0073] Figure 6 is a variable acceleration planning curve for obstacle-stopping control of a mobile robot in an embodiment of the present invention;

[0074] Figure 7 A schematic diagram of an embodiment of a mobile robot obstacle prevention control device in an embodiment of the present invention;

[0075] Figure 8 A schematic diagram of another embodiment of the obstacle prevention control device for a mobile robot according to an embodiment of the present invention;

[0076] Fig. 9 Schematic diagram of an embodiment of an obstacle control device for a mobile robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0077] The embodiments of the present invention provide a mobile robot obstacle avoidance control method, device, equipment and storage medium for realizing a soft obstacle avoidance of the mobile robot.

[0078] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0079] It is understandable that the execution subject of the present invention may be an obstacle prevention control device of a mobile robot, or a terminal or a server, which is not limited here. The embodiment of the present invention is described by taking a server as the execution subject as an example.

[0080] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of the obstacle prevention control method of a mobile robot in an embodiment of the present invention includes:

[0081] 101. Obtain motion parameters of the mobile robot, and determine a target detection area according to the motion parameters;

[0082] In one embodiment, the mobile robot obtains the velocity component of the mobile robot by subscribing to the topic of the robot operating system, and calculates the movement direction and movement speed through the velocity component to obtain the motion parameters. The motion parameters are used to indicate the current motion state of the mobile robot and are real-time parameters for controlling the obstacle-avoiding speed of the mobile robot in real time.

[0083] It should be noted that the mobile robot can be a manually operated robot or an automatically moved robot. In one embodiment, in the manual operation scenario, the motion parameters of the mobile robot are obtained by subscribing to the command line sending topic published by the basic control node in the robot operating system (Robot Operating System), while in the automatic operation scenario, the motion parameters of the mobile robot are obtained by subscribing to the automatic operation planning path topic, thereby obtaining real-time motion parameters and improving the real-time performance of obstacle prevention control.

[0084] In one embodiment, after obtaining motion parameters of the mobile robot, the motion mode of the mobile robot is determined by the motion parameters, and the target detection area is determined according to the motion mode, wherein the motion parameters include motion direction and motion speed, and the motion modes include linear motion mode, curved motion mode, rotational motion mode and stationary mode. The velocity components in the x, y and z motion directions are represented by the right-hand coordinates of the mobile robot, wherein the linear motion mode and the curved motion mode can be decomposed into velocity components in the x and y directions, and the velocity component in the z direction is 0, the rotational motion mode can be decomposed into velocity components in the x and y directions being 0, and the velocity component in the z direction being non-0, and the velocity components in the x, y and z directions in the stationary mode are all 0. By obtaining the velocity components of the mobile robot in different motion directions, the motion direction and motion speed of the mobile robot are calculated, the motion parameters are obtained, and the motion mode is determined, and then the target detection area is determined according to the motion mode. For example, in the linear motion mode, the area in the forward direction is set as the target detection area, in the curved motion mode, the arc range is set as the target detection area, and in the rotational motion mode, all surroundings are set as the target detection area. The specific details are not limited. This embodiment can improve the efficiency of determining the detection area.

[0085] In one embodiment, the motion parameters of the mobile robot are obtained, and the motion parameters include the motion direction and the motion speed; the target detection direction and the target detection range are determined by the motion direction and the motion speed, and the target detection area is determined based on the target detection direction and the target detection range. Further, step 101 includes: obtaining the motion parameters of the mobile robot, and the motion parameters include the motion direction and the motion speed; determining the target detection direction by the motion direction, and determining the target detection range by the motion speed; determining the target detection area based on the target detection direction and the target detection range. In this embodiment, in order to achieve a soft obstacle stop of the mobile robot, the target detection direction is determined by the motion direction, and the target detection range is determined by the motion speed. As an example but not a limitation, assuming that the preset high speed value is 100, when the motion speed is greater than or equal to 100, the target detection range is set to the first target detection range, and when the motion speed is less than 100, the target detection range is set to the second target detection range, wherein the first target detection range is greater than the second target detection range, and then the forward direction of the mobile robot is set to the target detection direction. As a preferred embodiment, the moving direction of the mobile robot and both sides of the moving direction are set as the target detection direction, and the target detection range corresponding to the moving speed is determined according to the preset speed and detection range association table, and finally the target detection area is obtained based on the target detection direction and the target detection range. Figure 2As shown in the figure, the arrow indicates the forward direction of the mobile robot, the area filled with slashes indicates the target detection area of ​​the mobile robot, M indicates the first target detection range, N indicates the second target detection range, where M>N, the straight forward diagram and the straight left forward diagram indicate that a larger detection area is set in the forward direction of the mobile robot, smaller detection areas are set on both sides of the forward direction of the mobile robot, and no detection area is set behind the forward direction, and the rotating diagram indicates that smaller detection areas are set all around the mobile robot. In order to meet the process requirements of the mobile robot walking along the wall, passing through the doorway, and passing through the circular corridor, when the movement speed of the mobile robot is lower than the preset low speed value, separate detection areas are set on both sides of the fuselage in the movement direction, such as Figure 3 As shown in the L area, this implementation method dynamically switches the detection area so that the mobile robot can adapt to complex working scenarios and meet complex and changing process requirements, such as satisfying the working scenarios of the construction robot walking along walls, passing through doorways, passing through circular corridors, driving at high speed in open areas, and working close to materials.

[0086] 102. Obtain target detection data of the target detection area, and determine the distance to the nearest obstacle through the target detection data;

[0087] It should be noted that the mobile robot is equipped with a plurality of environment detection sensors, wherein the environment detection sensors may be environment perception devices such as cameras, lidars, millimeter wave radars and ultrasonic probes. In one embodiment, the mobile robot is equipped with a plurality of ultrasonic probes for collecting environment detection data in different directions. Each ultrasonic probe corresponds to a probe identifier, and the probe identifier is pre-associated with the probe installation position to obtain the sensor detection direction information. After determining the target detection area, the target detection data of the target detection area is obtained through the sensor detection direction information, thereby improving the target detection data to determine the distance to the nearest obstacle. As an installation example Figure 4 In the embodiment, a plurality of environment detection sensors are installed on the body of the mobile robot, and are installed on the body of the mobile robot counterclockwise in the order of the probe identifier ID. This embodiment accurately obtains detection data of different detection areas through the installation position of the environment detection sensor, ensures that the detection data can correspond to the specific body position of the mobile robot, thereby ensuring the safety and accuracy of the obstacle prevention process of the mobile robot.

[0088] Specifically, step 102 includes: obtaining the original detection data collected by each environmental detection sensor; performing sensor screening on the original detection data corresponding to each environmental detection sensor according to the target detection direction corresponding to the target detection area to obtain target sensor detection data; performing detection range screening on the target sensor detection data according to the target detection range corresponding to the target detection area to obtain target detection data; calculating the minimum area value of the target detection area according to the target detection data, and determining the nearest obstacle distance according to the minimum area value. It should be noted that the original detection data is used to indicate the initial data collected by the corresponding environmental detection sensor, based on the installation position information of each environmental detection sensor on the mobile robot body, the target sensor corresponding to the target detection direction among multiple environmental detection sensors is screened to obtain target sensor detection data, the target sensor detection data is used to indicate the original detection data corresponding to the target sensor, and then based on the target detection range, the target sensor detection data is screened to obtain target detection data, and finally the minimum area value of the target detection area is calculated according to the target detection data, and the nearest obstacle distance is determined according to the minimum area value. For example, if the target detection data includes 10cm, 80cm, and 200cm, then 10cm is the minimum area value, and the mobile robot can set 10cm as the nearest obstacle distance, which is not limited here. This embodiment can accurately filter the detection data within the detection range, so that the obstacle stopping accuracy of the mobile robot is improved.

[0089] In one embodiment, in order to ensure that the mobile robot stops smoothly when encountering obstacles, the collected detection data is filtered through a preset filtering mechanism. Specifically, step 102 also includes: acquiring target detection data and historical detection data of the target detection area, the target detection data is used to indicate the detection data of the current acquisition cycle, and the historical detection data is used to indicate the detection data of the previous acquisition cycle; comparing the historical detection data with the target detection data to obtain a comparison result; judging whether the target detection data meets a preset error filtering condition through the comparison result; if the target detection data meets the preset error filtering condition, filtering the target detection data, and determining the nearest obstacle distance through the filtered target detection data; if the target detection data does not meet the preset error filtering condition, determining the nearest obstacle distance through the target detection data. It should be noted that, since each environmental detection sensor collects detection data according to a preset collection cycle, such as one collection cycle per second or one collection cycle per 10ms, the target detection data is used to indicate the detection data of the current collection cycle, and the historical detection data is used to indicate the detection data of the previous collection cycle. For example, assuming that one collection cycle per second, the target detection data is the detection data of the target detection area collected in the current second, and the historical detection data is the detection data of the target detection area collected in the previous second. The mobile robot then compares the historical detection data with the target detection data to obtain a comparison result, and then determines whether the target detection data meets the preset error filtering condition based on the comparison result. If the target detection data does not meet the preset error filtering condition, it means that the target detection data is valid data and does not need to be filtered. The nearest obstacle distance is directly determined through the target detection data. If the target detection data meets the preset error filtering condition, it means that there is a measurement error in the target detection data, and the target detection data with the measurement error is eliminated, and the nearest obstacle distance is determined through the filtered target detection data. In one embodiment, the comparison result is used to indicate the difference between the target detection data and the historical detection data. The difference indicated by the comparison result is used to determine whether the target detection data is within a preset error range, so as to determine whether the target detection data meets the preset error filtering condition. For example, if the error range is -15mm to 15mm, if the target detection data is within the preset error range, it is determined that the target detection data meets the preset error filtering condition. If the target detection data is not within the preset error range, it is determined that the target detection data does not meet the preset error filtering condition. This embodiment can effectively eliminate the measurement error caused by the environmental detection sensor's own equipment factors or the movement of the mobile robot, ensure that the mobile robot has indeed left the position of the previous acquisition cycle, and enable the mobile robot to stop the obstacle more gently.

[0090] 103. The variable acceleration of the mobile robot is calculated by the nearest obstacle distance and motion parameters, and the obstacle-stopping speed of the mobile robot is controlled by the variable acceleration.

[0091] It should be noted that in order to achieve a gentle slow stop effect, the mobile robot calculates the variable acceleration based on the nearest obstacle distance and motion parameters, and then calculates the dynamic obstacle stopping speed through the variable acceleration, and controls the mobile robot to stop obstacles through the dynamic obstacle stopping speed, so that the mobile robot can effectively plan the obstacle stopping speed and achieve a slow stop effect. In one embodiment, a variable acceleration planning curve is established in advance based on the relationship between speed, displacement and variable acceleration, and the variable acceleration is calculated for the nearest obstacle distance and the motion speed according to the variable acceleration planning curve to obtain the variable acceleration of the mobile robot, and the obstacle stopping speed of the mobile robot is dynamically calculated through the variable acceleration, so that the mobile robot controls the obstacle stopping speed according to the dynamically calculated obstacle stopping speed. This embodiment can gently control the mobile robot to stop obstacles, thereby improving the safety of the obstacle stopping process.

[0092] In the embodiment of the present invention, the mobile robot determines the target detection area according to the current movement direction and movement speed, identifies the distance to the nearest obstacle through the target detection data, calculates the variable acceleration according to the nearest obstacle distance and the current movement parameters of the mobile robot, and controls the obstacle stopping speed based on the variable acceleration. It can efficiently detect real obstacles and effectively plan the obstacle stopping speed, thereby realizing a gentle obstacle stopping of the mobile robot.

[0093] See also Figure 5 Another embodiment of the obstacle prevention control method of the mobile robot in the embodiment of the present invention includes:

[0094] 501. Obtain motion parameters of the mobile robot, and determine a target detection area according to the motion parameters;

[0095] 502. Obtain target detection data of the target detection area, and determine the distance to the nearest obstacle through the target detection data;

[0096] The execution process of steps 501-502 is similar to the execution process of steps 101-102, and will not be described in detail here.

[0097] 503. According to the motion direction and the motion speed in the motion parameters, the target detection area is divided into regions to obtain a target deceleration region and a target obstacle stopping region;

[0098] 504. Determine whether the distance to the nearest obstacle is within the target deceleration area;

[0099] 505. If the distance to the nearest obstacle is within the target deceleration area, the variable acceleration of the mobile robot is calculated through the preset variable acceleration planning curve, and the obstacle stopping speed of the mobile robot is controlled through the variable acceleration.

[0100] In this embodiment, in order to avoid collisions caused by motion inertia or the extension of the fuselage during the obstacle stopping process, the target detection area is divided into a target deceleration area and a target obstacle stopping area, wherein the target deceleration area is a deceleration control area, in which the mobile robot controls the obstacle stopping speed, the target deceleration area includes a deceleration starting distance, the target obstacle stopping area is a stopping area, in which the mobile robot must control the obstacle stopping speed to 0, the target obstacle stopping area includes a stopping starting distance, the mobile robot determines whether the nearest obstacle distance is within the target deceleration area, that is, determines whether the nearest obstacle distance is less than or equal to the deceleration starting distance, if the nearest obstacle distance is within the target deceleration area, that is, the nearest obstacle distance is less than or equal to the deceleration starting distance, then the variable acceleration of the mobile robot is calculated through a preset variable acceleration planning curve, and the obstacle stopping speed of the mobile robot is controlled through the variable acceleration. The size of the target deceleration area and the target obstacle stopping area is pre-set according to different movement speeds and distances from obstacles. For example, when the movement speed of the mobile robot is greater than the preset high-speed value, the target deceleration area is set to 850mm and the target obstacle stopping area is set to 200mm, which means that the mobile robot must start to decelerate when the distance to the nearest obstacle is equal to 850mm, and must complete deceleration and stop when the distance to the nearest obstacle is equal to 200, so as to ensure the safety and softness of the mobile robot's obstacle stopping.

[0101] In one embodiment, the preset variable acceleration planning curve is as follows: Figure 6 As shown, the calculation expression of variable acceleration a is as follows:

[0102]

[0103] Among them, d x represents the distance to the nearest obstacle, d1 represents the deceleration starting distance in the target deceleration area, d0 represents the stopping starting distance in the target obstacle stopping area, and v1 represents the maximum speed of the mobile robot. Figure 6 In the equation, the horizontal axis d represents the distance between the mobile robot and the obstacle, the vertical axis represents the movement speed of the mobile robot, v1 represents the maximum speed of the mobile robot, and p is the intersection between the maximum speed and the deceleration starting distance. Figure 6As shown in the figure, when the nearest obstacle distance is greater than d1, even if the mobile robot is at the maximum speed, there is enough deceleration space to control the mobile robot to stop at d0. Therefore, when the nearest obstacle distance is greater than d1, there is no need to control the movement speed of the mobile robot. When the nearest obstacle distance is less than or equal to d1 and greater than d0, it means that the nearest obstacle is in the target deceleration area, and the obstacle stopping speed of the mobile robot needs to be controlled by variable acceleration. When the nearest obstacle distance is less than or equal to d0 and greater than 0, it means that the nearest obstacle is in the target obstacle stopping area, and the movement speed of the mobile robot needs to be controlled to 0.

[0104] Furthermore, the variable acceleration of the mobile robot is calculated by a preset variable acceleration planning curve, and the obstacle-stopping speed of the mobile robot is controlled by the variable acceleration, including: calculating the variable acceleration of the mobile robot by a preset variable acceleration planning curve; calculating the planned speed of the mobile robot according to the variable acceleration and the nearest obstacle distance, the planned speed being used to indicate the maximum speed allowed for the mobile robot in the target deceleration area; and controlling the obstacle-stopping speed of the mobile robot according to the planned speed, so that the mobile robot stops in the target obstacle-stopping area. In this embodiment, the preset variable acceleration planning curve is used to calculate the planned speed of the mobile robot at different nearest obstacle distances, and controlling the mobile robot to stop at the planned speed can make the obstacle-stopping process of the mobile robot softer and safer. Therefore, after determining the distance to the nearest obstacle, the variable acceleration a of the mobile robot is calculated through the preset variable acceleration planning curve, and then the planned speed v of the mobile robot is calculated based on a. The planned speed is used to indicate the maximum speed allowed by the mobile robot in the target deceleration area. As long as the obstacle stopping speed of the mobile robot is controlled to be less than or equal to the planned speed v, the mobile robot can be stopped in the target obstacle stopping area, thereby improving the softness and safety of the mobile robot's obstacle stopping.

[0105] Furthermore, since there is a situation where the movement speed is greater than the planned speed, that is, the movement speed is Figure 6In the case other than pd1 d0 shown in the figure, this situation may lead to the problem of inaccurate calculation of variable acceleration. Therefore, the obstacle-stopping speed of the mobile robot is controlled according to the planned speed so that the mobile robot stops in the target obstacle-stopping area, including: judging whether the movement speed is greater than the planned speed; if the movement speed is greater than the planned speed, the obstacle-stopping speed of the mobile robot is controlled to be less than or equal to the planned speed, so that the mobile robot stops in the target obstacle-stopping area. In this embodiment, firstly, it is judged whether the movement speed is greater than the planned speed. If the movement speed is greater than the planned speed, the obstacle-stopping speed of the mobile robot is controlled to be less than or equal to the planned speed, and then the obstacle-stopping speed of the mobile robot is controlled according to the planned speed, that is, after the obstacle-stopping speed of the mobile robot is pulled back to pd1 d0, the variable acceleration of the mobile robot is calculated according to the preset variable acceleration planning curve, and the obstacle-stopping speed of the mobile robot is controlled by the variable acceleration so that the mobile robot stops in the target obstacle-stopping area. This embodiment can accurately control the obstacle-stopping speed, making the obstacle-stopping process of the mobile robot softer and safer.

[0106] In an embodiment of the present invention, the mobile robot determines a target detection area according to the current movement direction and movement speed, and divides the target detection area into a target deceleration area and a target obstacle stopping area. It determines whether to start obstacle stopping control of the mobile robot by judging whether the distance to the nearest obstacle is within the target deceleration area. The distance to the nearest obstacle is then identified through target detection data. The variable acceleration is calculated according to the distance to the nearest obstacle and the current movement parameters of the mobile robot. The obstacle stopping speed is controlled based on the variable acceleration. The real obstacles can be detected efficiently and the obstacle stopping speed can be effectively planned, thereby achieving a gentle obstacle stopping of the mobile robot.

[0107] The obstacle stopping control method of the mobile robot in the embodiment of the present invention is described above. The obstacle stopping control device of the mobile robot in the embodiment of the present invention is described below. Figure 7 An embodiment of the obstacle prevention control device of the mobile robot in the embodiment of the present invention includes:

[0108] The area determination module 701 is used to obtain motion parameters of the mobile robot and determine the target detection area according to the motion parameters;

[0109] The distance determination module 702 is used to obtain target detection data of the target detection area and determine the distance to the nearest obstacle through the target detection data;

[0110] The obstacle-stopping control module 703 is used to calculate the variable acceleration of the mobile robot according to the nearest obstacle distance and the motion parameters, and control the obstacle-stopping speed of the mobile robot according to the variable acceleration.

[0111] In the embodiment of the present invention, the mobile robot determines the target detection area according to the current movement direction and movement speed, then obtains the target detection data through the environment detection sensor used to collect the detection data of the target detection area, identifies the distance of the nearest obstacle according to the target detection data, and finally calculates the variable acceleration that can make the mobile robot stop smoothly according to the distance of the nearest obstacle and the current movement parameters of the mobile robot, and finally controls the obstacle stopping speed of the mobile robot by the calculated variable acceleration. The present invention can improve the softness of the obstacle stopping control of the mobile robot.

[0112] See also Figure 8 Another embodiment of the obstacle prevention control device for a mobile robot in the embodiment of the present invention includes:

[0113] The area determination module 701 is used to obtain motion parameters of the mobile robot and determine the target detection area according to the motion parameters;

[0114] The distance determination module 702 is used to obtain target detection data of the target detection area and determine the distance to the nearest obstacle through the target detection data;

[0115] The obstacle-stopping control module 703 is used to calculate the variable acceleration of the mobile robot according to the nearest obstacle distance and the motion parameters, and control the obstacle-stopping speed of the mobile robot according to the variable acceleration.

[0116] Optionally, the area determination module 701 is specifically used for:

[0117] Acquire motion parameters of the mobile robot, wherein the motion parameters include motion direction and motion speed;

[0118] Determine the target detection direction by the movement direction, and determine the target detection range by the movement speed;

[0119] An object detection area is determined based on the object detection direction and the object detection range.

[0120] Optionally, the distance determination module 702 is used to:

[0121] Obtaining original detection data collected by each environmental detection sensor;

[0122] Performing sensor screening on the original detection data corresponding to each environment detection sensor according to the target detection direction corresponding to the target detection area to obtain target sensor detection data;

[0123] The target detection data is screened by the target detection range corresponding to the target detection area to obtain the target detection data;

[0124] The minimum area value of the target detection area is calculated using the target detection data, and the distance to the nearest obstacle is determined based on the minimum area value.

[0125] Optionally, the distance determination module 702 is further used to:

[0126] Acquire target detection data and historical detection data of the target detection area, wherein the target detection data is used to indicate detection data of a current acquisition cycle, and the historical detection data is used to indicate detection data of a previous acquisition cycle;

[0127] Comparing the historical detection data with the target detection data to obtain a comparison result;

[0128] Determining whether the target detection data meets a preset error filtering condition through the comparison result;

[0129] If the target detection data meets the preset error filtering condition, the target detection data is filtered, and the distance to the nearest obstacle is determined through the filtered target detection data;

[0130] If the target detection data does not satisfy the preset error filtering condition, the distance to the nearest obstacle is determined using the target detection data.

[0131] Optionally, the obstacle prevention control module 703 includes:

[0132] The division submodule 7031 is used to divide the target detection area into regions according to the motion direction and motion speed in the motion parameters to obtain a target deceleration area and a target obstacle stopping area;

[0133] A judgment submodule 7032, configured to judge whether the distance to the nearest obstacle is within the target deceleration area;

[0134] The calculation submodule 7033 is used to calculate the variable acceleration of the mobile robot through a preset variable acceleration planning curve if the distance to the nearest obstacle is within the target deceleration area, and control the obstacle-stopping speed of the mobile robot through the variable acceleration.

[0135] Optionally, the calculation submodule 7033 includes:

[0136] The calculation unit 70331 is used to calculate the variable acceleration of the mobile robot through a preset variable acceleration planning curve;

[0137] A planning unit 70332, configured to calculate a planned speed of the mobile robot according to the variable acceleration and the nearest obstacle distance, wherein the planned speed is used to indicate a maximum speed allowed for the mobile robot in the target deceleration area;

[0138] The control unit 70333 is used to control the obstacle stopping speed of the mobile robot according to the planned speed so that the mobile robot stops within the target obstacle stopping area.

[0139] Optionally, the control unit 70333 is specifically used for:

[0140] Determining whether the movement speed is greater than the planned speed;

[0141] If the movement speed is greater than the planned speed, the obstacle stopping speed of the mobile robot is controlled to be less than or equal to the planned speed, so that the mobile robot stops in the target obstacle stopping area.

[0142] In the embodiment of the present invention, the mobile robot determines the target detection area according to the current movement direction and movement speed, then obtains the target detection data through the environment detection sensor used to collect the detection data of the target detection area, identifies the distance of the nearest obstacle according to the target detection data, and finally calculates the variable acceleration that can make the mobile robot stop smoothly according to the distance of the nearest obstacle and the current movement parameters of the mobile robot, and finally controls the obstacle stopping speed of the mobile robot by the calculated variable acceleration. The present invention can improve the softness of the obstacle stopping control of the mobile robot.

[0143] above Figure 7 and Figure 8 The obstacle control device of the mobile robot in the embodiment of the present invention is described in detail from the perspective of modular functional entities. The obstacle control device of the mobile robot in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0144] Fig. 9 1 is a schematic diagram of the structure of a mobile robot obstacle control device provided by an embodiment of the present invention. The obstacle control device 900 of the mobile robot may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 910 (for example, one or more processors) and a memory 920, and one or more storage media 930 (for example, one or more mass storage devices) storing application programs 933 or data 932. Among them, the memory 920 and the storage medium 930 can be short-term storage or permanent storage. The program stored in the storage medium 930 may include one or more modules (not shown in the figure), and each module may include a series of computer program operations in the obstacle control device 900 of the mobile robot. Furthermore, the processor 910 can be configured to communicate with the storage medium 930 to execute a series of computer program operations in the storage medium 930 on the obstacle control device 900 of the mobile robot.

[0145] The obstacle prevention control device 900 of the mobile robot may also include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input and output interfaces 960, and / or one or more operating systems 931, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Fig. 9 The illustrated structure of the obstacle control device for the mobile robot does not constitute a limitation on the obstacle control device for the mobile robot, and may include more or fewer components than illustrated, or a combination of certain components, or a different arrangement of components.

[0146] The present invention also provides a computer device, which includes a memory and a processor, wherein a computer-readable computer program is stored in the memory, and when the computer-readable computer program is executed by the processor, the processor executes the steps of the obstacle control method for the mobile robot in the above-mentioned embodiments.

[0147] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program runs on a computer, the computer executes the steps of the obstacle control method for the mobile robot.

[0148] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0149] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several computer programs to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0150] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An obstacle prevention control method for a mobile robot, It is characterized in that The obstacle prevention control method of the mobile robot comprises: Acquiring motion parameters of the mobile robot, and determining a target detection area according to the motion parameters; Acquire target detection data of the target detection area, and determine the distance to the nearest obstacle through the target detection data; The variable acceleration of the mobile robot is calculated by the nearest obstacle distance and the motion parameters, and the obstacle-stopping speed of the mobile robot is controlled by the variable acceleration; the variable acceleration changes as the nearest obstacle distance changes.

2. The obstacle prevention control method for a mobile robot according to claim 1, It is characterized in that The obtaining of motion parameters of the mobile robot and determining the target detection area according to the motion parameters includes: Acquiring motion parameters of the mobile robot, wherein the motion parameters include motion direction and motion speed; Determine the target detection direction by the movement direction, and determine the target detection range by the movement speed; An object detection area is determined based on the object detection direction and the object detection range.

3. The obstacle prevention control method for a mobile robot according to claim 2, It is characterized in that The mobile robot is equipped with a plurality of environment detection sensors, and the acquiring of target detection data of the target detection area and the determination of the nearest obstacle distance through the target detection data include: Obtaining original detection data collected by each environmental detection sensor; Performing sensor screening on the original detection data corresponding to each environment detection sensor according to the target detection direction corresponding to the target detection area to obtain target sensor detection data; The target detection data is screened by the target detection range corresponding to the target detection area to obtain the target detection data; The minimum area value of the target detection area is calculated using the target detection data, and the distance to the nearest obstacle is determined based on the minimum area value.

4. The obstacle prevention control method for a mobile robot according to claim 1, It is characterized in that The acquiring target detection data of the target detection area and determining the nearest obstacle distance through the target detection data further includes: Acquire target detection data and historical detection data of the target detection area, wherein the target detection data is used to indicate detection data of a current acquisition cycle, and the historical detection data is used to indicate detection data of a previous acquisition cycle; Comparing the historical detection data with the target detection data to obtain a comparison result; Determining whether the target detection data meets a preset error filtering condition through the comparison result; If the target detection data meets the preset error filtering condition, the target detection data is filtered, and the distance to the nearest obstacle is determined through the filtered target detection data; If the target detection data does not satisfy the preset error filtering condition, the distance to the nearest obstacle is determined using the target detection data.

5. The obstacle prevention control method for a mobile robot according to claim 1, It is characterized in that The step of calculating the variable acceleration of the mobile robot by using the nearest obstacle distance and the motion parameter, and controlling the obstacle-stopping speed of the mobile robot by using the variable acceleration comprises: According to the motion direction and the motion speed in the motion parameters, the target detection area is divided into regions to obtain a target deceleration area and a target obstacle stopping area; Determine whether the distance to the nearest obstacle is within the target deceleration area; If the distance to the nearest obstacle is within the target deceleration area, the variable acceleration of the mobile robot is calculated through a preset variable acceleration planning curve, and the obstacle-stopping speed of the mobile robot is controlled through the variable acceleration.

6. The obstacle prevention control method for a mobile robot according to claim 5, It is characterized in that The variable acceleration of the mobile robot is calculated by using a preset variable acceleration planning curve, and the obstacle-stopping speed of the mobile robot is controlled by using the variable acceleration, including: Calculating the variable acceleration of the mobile robot through a preset variable acceleration planning curve; Calculating a planned speed of the mobile robot according to the variable acceleration and the nearest obstacle distance, wherein the planned speed is used to indicate a maximum speed allowed for the mobile robot in the target deceleration area; The obstacle-stopping speed of the mobile robot is controlled according to the planned speed, so that the mobile robot stops within the target obstacle-stopping area.

7. The obstacle prevention control method for a mobile robot according to claim 6, It is characterized in that The step of controlling the obstacle-stopping speed of the mobile robot according to the planned speed so that the mobile robot stops within the target obstacle-stopping area includes: Determining whether the movement speed is greater than the planned speed; If the movement speed is greater than the planned speed, the obstacle stopping speed of the mobile robot is controlled to be less than or equal to the planned speed, so that the mobile robot stops in the target obstacle stopping area.

8. An obstacle control device for a mobile robot, It is characterized in that The obstacle stopping control device of the mobile robot comprises: An area determination module is used to obtain motion parameters of the mobile robot and determine a target detection area according to the motion parameters; A distance determination module, used to obtain target detection data of the target detection area and determine the distance to the nearest obstacle through the target detection data; The obstacle stopping control module is used to calculate the variable acceleration of the mobile robot according to the nearest obstacle distance and the motion parameters, and control the obstacle stopping speed of the mobile robot according to the variable acceleration; the variable acceleration changes with the change of the nearest obstacle distance.

9. An obstacle control device for a mobile robot, It is characterized in that The obstacle control device of the mobile robot comprises: a memory and at least one processor, wherein the memory stores a computer program; The at least one processor calls the computer program in the memory so that the obstacle control device of the mobile robot executes the obstacle control method of the mobile robot as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the obstacle prevention control method for the mobile robot as described in any one of claims 1-7 is implemented.

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