Control Method and Control System for Controlling Robot Movement Based on Stereo Map

Abstract

The present invention discloses a control method and a control system for controlling the movement of a robot based on a three-dimensional map. Among them, the robot collects environmental information in real time, and constructs a three-dimensional map with passable areas based on the environmental information; obtains the action areas of the moving parts in the robot, and embeds the action areas in the passable areas to determine the first pass path; traverses the corresponding narrow areas based on the passable areas, and collects the narrow paths in the first pass path relative to the narrow areas; optimizes the narrow paths based on the cooperative swing of each moving part, and outputs a reference path; monitors the circumferential swing amplitude of the robot in the narrow path, and adjusts the relative positions of the moving parts of the robot based on the circumferential swing model; if an obstacle is triggered during the circumferential swing of the robot, the circumferential swing model feeds back the touch information to the arc reverse model, and controls the robot to reverse in an arc based on the arc reverse model.

Description

Technical Field

[0001] The present invention relates to the technical field of robot motion control, and particularly to a control method and a control system for controlling the motion of a robot based on a three-dimensional map. Background Art

[0002] With the development of technology, a robot walks on the ground through multiple moving parts and conducts path planning based on a three-dimensional map. Among them, there are narrow areas in the three-dimensional map. In the prior art, the robot passes through the narrow area through the moving parts and moves along the trajectory line of the narrow area. However, at the corner of the narrow area, the robot is likely to hit an obstacle or a wall. When the robot hits an obstacle or a wall, it moves straight backward, resulting in the robot being easily stuck in the narrow area and unable to pass through the narrow area. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a control method and a control system for controlling the motion of a robot based on a three-dimensional map. The robot constructs a three-dimensional map with passable areas based on environmental information, and embeds the action areas of the moving parts in the passable areas to determine the first pass path. At this time, the corresponding narrow paths are collected in the first pass path to facilitate dealing with the narrow areas in the passable areas, and the narrow paths are optimized based on the cooperative swing of each moving part to facilitate adjusting the passing smoothness of the robot in the narrow areas. In addition, the relative positions of the moving parts of the robot are regulated based on the circumferential swing model, and the robot is controlled to arc backward based on the arc backward model. Thus, the robot conducts the interaction of multiple models in the narrow area and passes through the narrow area under the comprehensive regulation of the circumferential swing model and the arc backward model, avoiding the robot being stuck in the narrow area.

[0004] To solve the above technical problems, an embodiment of the present invention provides a control method for controlling the motion of a robot based on a three-dimensional map, including: the robot collects environmental information in real time, and constructs a three-dimensional map with passable areas based on the environmental information; obtains the action areas of the moving parts in the robot, and embeds the action areas in the passable areas to determine the first pass path; traverses the corresponding narrow areas based on the passable areas, and collects the narrow paths in the first pass path corresponding to the narrow areas; optimizes the narrow paths based on the cooperative swing of each moving part, and outputs a reference path; monitors the circumferential swing amplitude of the robot in the narrow paths, and regulates the relative positions of the moving parts of the robot based on the circumferential swing model; if the robot triggers an obstacle during the circumferential swing, the circumferential swing model feeds back the touch information to the arc backward model, and controls the robot to arc backward based on the arc backward model.

[0005] In addition, an embodiment of the present invention further provides a control system for controlling the movement of a robot based on a three-dimensional map. The control system for controlling the movement of a robot based on a three-dimensional map includes: an acquisition module: for collecting environmental information in real time through the robot and constructing a three-dimensional map with passable areas based on the environmental information; an acquisition module: for acquiring the action areas of the moving parts in the robot and embedding the action areas in the passable areas to determine a first passable path; a traversal module: for traversing the corresponding narrow areas based on the passable areas and collecting the narrow paths in the first passable path with respect to the narrow areas; an optimization module: for optimizing the narrow paths based on the collaborative swing of each moving part and outputting a reference path; a monitoring module: for monitoring the circumferential swing amplitude of the robot in the narrow paths and regulating the relative positions of the moving parts of the robot based on a circumferential swing model; a backward movement module: for, if an obstacle is triggered during the circumferential swing of the robot, feeding the touch information back to an arc backward movement model by the circumferential swing model and controlling the robot to move backward in an arc based on the arc backward movement model.

[0006] In an embodiment of the present invention, through the method in the embodiment of the present invention, the robot constructs a three-dimensional map with passable areas based on environmental information, and embeds the action areas of the moving parts in the passable areas to determine a first passable path. At this time, the corresponding narrow paths are collected in the first passable path to facilitate dealing with the narrow areas of the passable areas, and the narrow paths are optimized based on the collaborative swing of each moving part to facilitate adjusting the smoothness of the robot's passage in the narrow areas, and the relative positions of the moving parts of the robot are regulated based on a circumferential swing model, and the robot is controlled to move backward in an arc based on an arc backward movement model. Thus, the robot performs interactions of multiple models in the narrow areas and passes through the narrow areas under the comprehensive regulation of the circumferential swing model and the arc backward movement model, avoiding the robot getting stuck in the narrow areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0008] Figure 1 is a flowchart of a control method for controlling the movement of a robot based on a three-dimensional map in an embodiment of the present invention;

[0009] Figure 2 is a flowchart of a three-dimensional map of a control method for controlling the movement of a robot based on a three-dimensional map in an embodiment of the present invention;

[0010] Figure 3 It is a schematic flow chart of the first passage path of the control method for controlling the movement of a robot based on a three-dimensional map in an embodiment of the present invention;

[0011] Figure 4 It is a schematic flow chart of a narrow path of the control method for controlling the movement of a robot based on a three-dimensional map in an embodiment of the present invention;

[0012] Figure 5 It is a schematic diagram of the structural composition of a control system for controlling the movement of a robot based on a three-dimensional map in an embodiment of the present invention;

[0013] Figure 6 It is a hardware diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0014] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0015] Embodiment

[0016] Please refer to Figures 1 to 4 , a control method for controlling the movement of a robot based on a three-dimensional map, the method includes:

[0017] S11: The robot collects environmental information in real time, and constructs a three-dimensional map with passable areas based on the environmental information;

[0018] In the specific implementation process of the present invention, the specific steps may be:

[0019] S111: The robot collects environmental information in the binocular module, and obtains the outer contour information and height information in the environmental information;

[0020] S112: Construct a corresponding three-dimensional model based on the outer contour information and the height information, and sort the multiple three-dimensional models based on the positioning information of the robot to construct a three-dimensional map;

[0021] S113: Plan the movement path of the robot based on the three-dimensional map, and divide the passable areas along the movement path, where the obstacles are used as the boundaries of the passable areas;

[0022] S114: Construct a passageway based on two adjacent obstacles, and embed the passageway in the passable area to optimize the passable area.

[0023] Among them, based on the environmental information collected by the binocular module, and the environmental information is given to the outer contour and height. A corresponding three-dimensional model is constructed based on the outer contour information and the height information, and multiple three-dimensional models are sorted based on the positioning information of the robot, thereby realizing the construction of a three-dimensional map and facilitating path planning based on the three-dimensional map.

[0024] In addition, the moving path of the robot is planned based on the three-dimensional map, and the passable area is divided along the moving path. Among them, the obstacles are used as the boundaries of the passable area; a passage is constructed based on two adjacent obstacles, and the passage is embedded in the passable area to optimize the passable area.

[0025] S12: Obtain the action area of the moving part in the robot, and embed the action area in the passable area to determine the first pass path;

[0026] In the specific implementation process of the present invention, the specific steps may be:

[0027] S121: Obtain the relative position information of the moving part in the robot;

[0028] S122: Enclose the activity range of each moving part to correspond to an activity area;

[0029] S123: Measure the action area from the diagonal ranges of multiple activity areas, and embed the action area in the passable area;

[0030] S124: Define the corresponding pass path segment based on the spatial limit of the allowable action area in the passable area;

[0031] S125: Connect multiple pass path segments to determine the first pass path;

[0032] Among them, by determining the position of the moving part, it is convenient to enclose the activity range of each moving part to correspond to an activity area, thereby determining the activity range of the robot, and measuring the action area from the diagonal ranges of multiple activity areas, and embedding the action area in the passable area to achieve a high degree of unity between the action area and the passable area, and further defining the action path of the passable area.

[0033] In addition, define the corresponding pass path segment based on the spatial limit of the allowable action area in the passable area; connect multiple pass path segments to determine the first pass path.

[0034] In addition, virtual operations can be performed on the first passage path to measure the gap between the robot and the wall under the first passage path, and maintain the same gap during movement to optimize the first passage path and ensure the movable range of the robot relative to the wall, so as to facilitate the subsequent axial swing of the robot.

[0035] S13: Traverse the corresponding narrow areas based on the passable area, and collect the narrow paths in the first passage path relative to the narrow areas;

[0036] In the specific implementation process of the present invention, the specific steps may be:

[0037] S131: Perform area traversal on the passable area, and divide the passable area into narrow areas and non-narrow areas;

[0038] S132: Analyze the passage width in the narrow areas;

[0039] S133: Locate the passage area between the position with the maximum passage width and the position with the minimum passage width, and capture the narrow path corresponding to the passage area.

[0040] Among them, the passable area is divided into areas, and the narrow areas are defined to facilitate subsequent measurement of the narrow areas and analysis of the passage width in the narrow areas; locate the passage area between the position with the maximum passage width and the position with the minimum passage width, and capture the narrow path corresponding to the passage area.

[0041] In addition, measure the curvature based on the passage area between the position with the maximum width and the position with the minimum passage width, and modularly divide the passage area. Form modules with the outer contour of a single robot, and import the modules into the passage area to facilitate path adjustment based on the modules and adapt to the operation of the corresponding robot.

[0042] S14: Optimize the narrow path based on the collaborative swing of each moving part, and output a reference path;

[0043] In the specific implementation process of the present invention, the specific steps may be: perform interactive swing according to the activity areas of each moving part; expand the movement range of the robot during the swing of each moving part, and the swings between each moving part cooperate with each other; adjust the circumferential swing of the robot based on the mutual cooperation between each moving part, and optimize the narrow path. At this time, the movement trajectories of each moving part are curves; output a reference path based on the narrow path.

[0044] Among them, the swings between the moving parts cooperate with each other and jointly adjust the circumferential swing of the robot. At this time, the robot optimizes the narrow path under the circumferential swing, and the moving trajectories of the moving parts are curved.

[0045] S15: Monitor the circumferential swing amplitude of the robot in the narrow path, and regulate the relative positions of the moving parts of the robot based on the circumferential swing model;

[0046] In the specific implementation process of the present invention, the specific steps include: monitoring the circumferential swing of the robot in the narrow path and measuring the circumferential swing amplitude of the robot; monitoring the turning path of the robot based on the circumferential swing amplitude of the robot; matching the turning path with the narrow path of the passing area, and regulating the relative positions of the moving parts of the robot based on the circumferential swing model; controlling the robot to walk in the narrow path with negative feedback according to the regulation of the relative positions of the moving parts of the robot.

[0047] S16: If an obstacle is triggered during the circumferential swing of the robot, the circumferential swing model feeds back the touch information to the arc backward model, and controls the robot to arc backward based on the arc backward model.

[0048] In the specific implementation process of the present invention, the specific steps include that the robot makes a circumferential swing in a narrow area and detects an obstacle; if an obstacle is triggered during the circumferential swing of the robot, locate the collision point between the robot and the obstacle; perform an arc backward based on the collision point. At this time, the circumferential swing model feeds back the touch information to the arc backward model; the circumferential swing model and the arc backward model are associated, and the robot is controlled to arc backward based on the arc backward model.

[0049] The control method for controlling the movement of the robot based on the three-dimensional map further includes: obtaining the backward range when the robot performs an arc backward; gradually adjusting the backward amplitude of the robot according to the backward range; if the robot does not touch an obstacle when performing an arc backward, locate the arc trajectory and use it as the reference data for other robots.

[0050] In an embodiment of the present invention, through the method in the embodiment of the present invention, the robot constructs a three-dimensional map with passable areas based on environmental information, and embeds the action areas of the moving parts in the passable areas to determine the first pass path. At this time, the corresponding narrow path is collected on the first pass path to facilitate dealing with the narrow areas in the passable areas, and the narrow path is optimized based on the collaborative swing of each moving part to facilitate adjusting the smoothness of the robot passing through the narrow areas. Moreover, the relative positions of the moving parts of the robot are regulated based on the circumferential swing model, and the robot is controlled to arc backward based on the arc backward model. Thus, the robot performs the interaction of multiple models in the narrow area and passes through the narrow area under the comprehensive regulation of the circumferential swing model and the arc backward model, avoiding the robot getting stuck in the narrow area.

[0051] Embodiment

[0052] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a control system for controlling the movement of a robot based on a three-dimensional map in an embodiment of the present invention.

[0053] As Figure 5 shown, a control system for controlling the movement of a robot based on a three-dimensional map, the control system for controlling the movement of a robot based on a three-dimensional map includes:

[0054] Acquisition module 21: configured to collect environmental information through the robot in real time, and construct a three-dimensional map with passable areas based on the environmental information;

[0055] Obtaining module 22: configured to obtain the action areas of the moving parts in the robot, and embed the action areas in the passable areas to determine the first pass path;

[0056] Traversal module 23: configured to traverse the corresponding narrow areas based on the passable areas, and collect the narrow paths in the first pass path corresponding to the narrow areas;

[0057] Optimization module 24 is configured to optimize the narrow path based on the collaborative swing of each moving part, and output a reference path;

[0058] Monitoring module 25: configured to monitor the circumferential swing amplitude of the robot in the narrow path, and regulate the relative positions of the moving parts of the robot based on the circumferential swing model;

[0059] Backward module 26: configured to, if an obstacle is triggered during the circumferential swing of the robot, feed the touch information back to the arc backward model by the circumferential swing model, and control the robot to arc backward based on the arc backward model.

[0060] The present invention provides a control method and a control system for controlling the movement of a robot based on a three-dimensional map. The robot constructs a three-dimensional map with passable areas based on environmental information, and embeds the action areas of the moving parts in the passable areas to determine the first passable path. At this time, the corresponding narrow paths are collected on the first passable path to facilitate dealing with the narrow areas of the passable areas, and the narrow paths are optimized based on the cooperative swing of each moving part to facilitate adjusting the smoothness of the robot's passage in the narrow areas. Moreover, the relative positions of the moving parts of the robot are regulated based on the circumferential swing model, and the robot is controlled to arc backward based on the arc backward model. Thus, the robot performs the interaction of multiple models in the narrow area and passes through the narrow area under the comprehensive regulation of the circumferential swing model and the arc backward model, avoiding the robot getting stuck in the narrow area.

[0061] Embodiment

[0062] Please refer to Figure 6 , and hereinafter, the electronic device 40 according to this embodiment of the present invention will be described with reference to Figure 6 . Figure 6 The displayed electronic device 40 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

[0063] As Figure 6 shown, the electronic device 40 is presented in the form of a general-purpose computing device. The components of the electronic device 40 may include, but are not limited to: at least one of the above-mentioned processing units 41, at least one of the above-mentioned storage units 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0064] Wherein, the storage unit stores program codes, and the program codes can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the "Embodiment Method" part of this specification.

[0065] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 421 and / or a cache storage unit 422, and may further include a read-only storage unit (ROM) 423.

[0066] The storage unit 42 may further include a program / utility 424 having a set (at least one) of program modules 425. Such program modules 425 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. The implementation of a network environment may be included in each or some combination of these examples.

[0067] The bus 43 can represent one or more of several types of bus structures, including a memory unit bus or a memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of the various bus structures.

[0068] The electronic device 40 can also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), can also communicate with one or more devices that enable a user to interact with the electronic device 40, and / or can communicate with any device that enables the electronic device 40 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 45. Moreover, the electronic device 40 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 46. As Figure 6 shown, the network adapter 46 communicates with other modules of the electronic device 40 through the bus 43. It should be understood that although Figure 6 not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0069] Through the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0070] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium can include: a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc, etc. And it stores computer program instructions, and when the computer program instructions are executed by the computer, the computer executes the method according to the above.

[0071] In addition, the above has introduced in detail the control method and system for controlling the movement of a robot based on a three-dimensional map. In this article, specific examples have been used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A control method for controlling the movement of a robot based on a three-dimensional map, characterized in that, it includes: The robot collects environmental information in real time and constructs a three-dimensional map with passable areas based on the environmental information; Obtain the action area of the moving parts in the robot and embed the action area in the passable area to determine the first pass path; Traverse the corresponding narrow areas based on the passable area and collect the narrow paths in the first pass path relative to the narrow areas; Optimize the narrow path based on the collaborative swing of each moving part and output the reference path; Monitor the circumferential swing amplitude of the robot in the narrow path and regulate the relative positions of the moving parts of the robot based on the circumferential swing model; If the robot triggers an obstacle during circumferential swing, the circumferential swing model feeds back the touch information to the arc reverse model and controls the robot to reverse in an arc based on the arc reverse model.

2. The control method for controlling the movement of a robot based on a three-dimensional map according to claim 1, characterized in that, The robot collects environmental information in real time and constructs a three-dimensional map with passable areas based on the environmental information, including: The robot collects environmental information in the binocular module and obtains the outer contour information and height information in the environmental information; Construct a corresponding three-dimensional model based on the outer contour information and the height information, and sort multiple three-dimensional models based on the positioning information of the robot to construct a three-dimensional map; Plan the movement path of the robot based on the three-dimensional map and divide the passable area along the movement path, where obstacles are used as the boundaries of the passable area; Construct a passage based on two adjacent obstacles and embed the passage in the passable area to optimize the passable area.

3. The control method for controlling the movement of a robot based on a three-dimensional map according to claim 2, characterized in that, The obtaining the action area of the moving parts in the robot and embedding the action area in the passable area to determine the first pass path includes: Obtain the relative position information of the moving parts in the robot; Enclose the activity range of each moving part to define a corresponding activity area; Measure the action area from the diagonal ranges of multiple activity areas and embed the action area in the passable area; Define the corresponding pass path segments based on the spatial limitation of the allowable action area in the passable area; Dock multiple pass path segments to determine the first pass path.

4. The control method for controlling the movement of a robot based on a three-dimensional map according to claim 3, characterized in that, The traversing the corresponding narrow areas based on the passable area and collecting the narrow paths in the first pass path relative to the narrow areas includes: Traverse the passable area and divide the passable area into narrow areas and non-narrow areas; Analyze the passing width in the narrow areas; Locate the passage area between the position with the maximum passage width and the position with the minimum passage width, and capture the narrow path corresponding to the passage area.

5. The control method for controlling the movement of a robot based on a three-dimensional map according to claim 4, wherein, optimizing the narrow path based on the collaborative swing of each of the moving parts and outputting a reference path, including: Performing interactive swing according to the activity areas of each of the moving parts; During the swing of each of the moving parts, expanding the movement range of the robot, and the swings between each of the moving parts cooperate with each other; Based on the mutual cooperation between each of the moving parts, adjusting the circumferential swing of the robot and optimizing the narrow path. At this time, the movement trajectories of each of the moving parts are curves; Outputting a reference path based on the narrow path.

6. The control method for controlling the movement of a robot based on a three-dimensional map according to claim 5, wherein, monitoring the circumferential swing amplitude of the robot in the narrow path and regulating the relative positions of the moving parts of the robot based on a circumferential swing model, including: Monitoring the circumferential swing of the robot in the narrow path and measuring the circumferential swing amplitude of the robot; Performing turning path monitoring of the robot based on the circumferential swing amplitude of the robot; Matching the turning path with the narrow path of the passage area and regulating the relative positions of the moving parts of the robot based on the circumferential swing model; Negatively feedback controlling the walking of the robot in the narrow path according to the regulation of the relative positions of the moving parts of the robot.

7. The control method for controlling the movement of a robot based on a three-dimensional map according to claim 6, wherein, if the robot triggers an obstacle during the circumferential swing, the circumferential swing model feeds back the touch information to the arc backward model, and controls the robot to perform arc backward based on the arc backward model, including: The robot performs circumferential swing in a narrow area and detects an obstacle; If the robot triggers an obstacle during the circumferential swing, locate the collision point between the robot and the obstacle; Perform arc backward based on the collision point. At this time, the circumferential swing model feeds back the touch information to the arc backward model; The circumferential swing model and the arc backward model are associated, and the robot is controlled to perform arc backward based on the arc backward model.

8. The control method for controlling the movement of a robot based on a three-dimensional map according to claim 7, wherein, the control method for controlling the movement of a robot based on a three-dimensional map further includes: Obtaining the backward range of the robot when performing arc backward; Gradually adjusting the backward amplitude of the robot according to the backward range; If the robot does not contact an obstacle when performing arc backward, locate the arc trajectory and act on the reference data of other robots.

9. A control system for controlling the movement of a robot based on a three-dimensional map, wherein, the control system for controlling the movement of a robot based on a three-dimensional map includes: Collection module: used to collect environmental information in real time by the robot and construct a three-dimensional map with passable areas based on the environmental information; Obtaining module: used to obtain the action area of the moving parts in the robot and embed the action area in the passable area to determine the first passage path; Traversal module: used to traverse the corresponding narrow area based on the passable area and collect the narrow path in the first passage path relative to the narrow area; Optimization module: used to optimize the narrow path based on the cooperative swing of each moving part and output a reference path; Monitoring module: used to monitor the circumferential swing amplitude of the robot in the narrow path and regulate the relative positions of the moving parts of the robot based on the circumferential swing model; Retrograde module: used to, if an obstacle is triggered during the circumferential swing of the robot, feed the touch information back to the arc retrograde model by the circumferential swing model and control the robot to arc retrograde based on the arc retrograde model.

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