Method and apparatus for controlling a robot to travel along a wall

Abstract

The application discloses a kind of control method and device of robot along wall travel, method includes: by line scanning radar, first ray and second ray are emitted to wall, and first ray and second ray after reflection are sampled, and wall surface and fuselage model are constructed;According to the wall surface and fuselage model, the included angle between robot and wall surface and distance are calculated;According to the included angle between robot and wall surface and distance, the direction correction angle of robot is calculated;According to the direction correction angle, the wheel speed of the robot is corrected, and then the wheel speed after correction is used to control robot travel.The application solves the technical problem that robot cannot smoothly overstep to travel along wall in prior art, realizes robot double-wheel differential control by directly controlling and correcting wheel speed, and accurately and efficiently realizes along-wall travel control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, and in particular to a robot wall-following control method and device. BACKGROUND

[0002] With the development of robot control technology, in the application of dust collection, cleaning, wiping, etc., whether the robot can run close to the wall is a key requirement.

[0003] At present, the robot needs to stop for direction adjustment during wall-following, but this adjustment will cause the robot to run unevenly, and the robot takes a long time to achieve wall-following, which makes it difficult to be applied in practice.

[0004] Therefore, there is an urgent need for a control method that can smoothly adjust the robot to wall-following. SUMMARY

[0005] The present application provides a robot wall-following control method and device to solve the technical problem that the robot cannot smoothly transition to wall-following in the prior art.

[0006] To solve the above technical problems, the present application provides a robot wall-following control method, comprising:

[0007] The line-scan radar emits first and second rays towards the wall and samples the reflected first and second rays to construct a wall surface and body model;

[0008] According to the wall surface and body model, the included angle and distance between the robot and the wall surface are calculated;

[0009] According to the included angle and distance between the robot and the wall surface, the direction correction angle of the robot is calculated;

[0010] According to the direction correction angle, the wheel speed of the robot is corrected, and then the robot is controlled to move through the corrected wheel speed.

[0011] As a preferred scheme, the line-scan radar emits first and second rays with a preset fixed included angle towards the wall, and samples the reflected first and second rays to construct a wall surface and body model, specifically:

[0012] The line-scan radar emits first and second rays with a preset fixed included angle towards the wall;

[0013] The reflected first and second rays are sampled to obtain the length of the first ray and the length of the second ray;

[0014] According to the preset fixed included angle, and the length of the first ray and the length of the second ray, a wall surface and fuselage model is constructed.

[0015] As a preferred solution, according to the wall surface and fuselage model, the included angle and distance between the robot and the wall surface are calculated, specifically:

[0016] According to the wall surface and fuselage model, the included angle and distance between the robot and the wall surface are calculated through the preset fixed included angle, and the length of the first ray and the length of the second ray:

[0017]

[0018] l = b × cos α

[0019] β = γ - α

[0020] Wherein, a is the length of the first ray, b is the length of the second ray, α is the included angle between the second ray and the straight line between the robot and the wall surface, β is the included angle between the robot advancing direction and the wall surface, γ is the included angle between the second ray and the horizontal advancing direction of the robot, θ is the included angle between the first ray and the second ray, and l is the distance between the robot and the wall surface.

[0021] As a preferred solution, it also includes:

[0022] The first ray and the second ray are emitted to the wall in a preset number of times by the line scanning radar, and the first ray and the second ray after each emission are sampled, so as to construct the wall surface and fuselage model corresponding to each time;

[0023] According to all the constructed wall surface and fuselage models, the included angle and distance between the robot and the wall surface corresponding to each wall surface and fuselage model are calculated respectively;

[0024] All the included angle and distance between the robot and the wall surface are sorted, and a set of included angle and distance between the robot and the wall surface in the middle of the sorting is selected as the final result of the included angle and distance between the robot and the wall surface.

[0025] As a preferred solution, according to the included angle and distance between the robot and the wall surface, the direction correction angle of the robot is calculated, specifically:

[0026] According to the final result of the included angle and distance between the robot and the wall surface, and the preset target distance from the wall and the preset advancing distance, the direction correction angle of the robot is calculated:

[0027] δ = β + ε

[0028] ε = tan -1 [(d c -l) / m]

[0029] wherein, δ is a direction correction angle of the robot, ε is an included angle between a target moving direction of the robot and the wall, d t is a preset target distance from the wall, m is a preset advancing distance.

[0030] As a preferred solution, the wheel speed of the robot is corrected according to the direction correction angle, and the robot is controlled to move by the corrected wheel speed, specifically:

[0031] The wheel speed of the robot is corrected and calculated according to the direction correction angle and a preset expected speed; wherein the robot comprises a first wheel and a second wheel;

[0032] v1 = v t × (1 + p × δ)

[0033] v2 = v t × (1 - p × δ)

[0034] wherein, v1 is the wheel speed of the first wheel, v2 is the wheel speed of the second wheel, v t is a preset expected speed, p is a preset adjustment parameter, and δ is a direction correction angle;

[0035] The first wheel and the second wheel of the robot are respectively controlled in wheel speed according to the wheel speed of the first wheel and the wheel speed of the second wheel obtained by the correction calculation, so as to realize the moving control of the robot.

[0036] Correspondingly, the application also provides a control device for the robot moving along the wall, comprising: a model construction module, an included angle distance calculation module, a direction correction calculation module and a wheel speed control module;

[0037] The model construction module is used for emitting a first ray and a second ray to the wall by a line scanning radar, and sampling the reflected first ray and second ray to construct a wall surface and body model;

[0038] The included angle distance calculation module is used for calculating the included angle and distance between the robot and the wall surface according to the wall surface and body model;

[0039] The direction correction calculation module is used for calculating the direction correction angle of the robot according to the included angle and distance between the robot and the wall surface;

[0040] The wheel speed control module is used for correcting the wheel speed of the robot according to the direction correction angle, and then controlling the robot to move by the corrected wheel speed.

[0041] Correspondingly, the application also provides a robot, comprising: a body and a first wheel and a second wheel arranged at the bottom of the body;

[0042] The control host is arranged in the fuselage and is used for executing the control method for the robot to travel along the wall according to any one of the above.

[0043] The first wheel and the second wheel are used for receiving the control of the control host to realize the adjustment of the wheel speed.

[0044] Correspondingly, the application further provides a computer readable storage medium, which comprises a stored computer program, wherein the computer readable storage medium controls the device where the computer readable storage medium is located to execute the control method for the robot to travel along the wall according to any one of the above when the computer program runs.

[0045] Correspondingly, the application further provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor realizes the control method for the robot to travel along the wall according to any one of the above when the processor executes the computer program.

[0046] Compared with the prior art, the embodiment of the application has the following beneficial effects:

[0047] The technical scheme of the application transmits the first ray and the second ray to the wall through the line scanning radar, then samples the first ray and the second ray, thereby constructing the wall surface and the fuselage model, and calculating the included angle and the distance between the robot and the wall surface through the wall surface and the fuselage model, finally obtaining the direction correction angle of the robot to realize the correction of the wheel speed of the robot, realizing the wheel speed control robot to travel along the wall, avoiding the need to stop the robot for direction adjustment in the process of realizing the travel along the wall, and directly controlling and correcting the wheel speed to realize the differential control of the robot double wheels, accurately and efficiently realizing the control of the travel along the wall. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 It is a step flow chart of the control method for the robot to travel along the wall provided by the embodiment of the application.

[0049] Figure 2 It is a schematic diagram of the wall surface and the fuselage model provided by the embodiment of the application.

[0050] Figure 3 It is a principle schematic diagram of the first ray and the second ray transmitted by the line scanning radar on the robot provided by the embodiment of the application.

[0051] Figure 4 It is a principle schematic diagram of the first ray and the second ray transmitted by the line scanning radar on the robot in another exemplary scheme provided by the embodiment of the application.

[0052] Figure 5A schematic diagram of a principle of robot wheel speed adjustment provided by an embodiment of the present application is shown in the figure.

[0053] Figure 6 A structural schematic diagram of a control device for robot wall-following provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0055] Embodiment one

[0056] Please refer to Figure 1 A robot wall-following control method provided by an embodiment of the present application includes the following steps S101-S104.

[0057] Step S101: A line-scan radar emits a first ray and a second ray to a wall, and samples the reflected first ray and second ray to build a wall surface and body model.

[0058] It should be noted that, in order to enable the line-scan radar to stably and accurately emit the first ray and the second ray, and to ensure the accuracy and precision of the emitted ray sampling, the included angle between the first ray and the second ray is an acute angle. Thus, the model for calculating the included angle between the wall surface and the body is established by using two radar ray samples with an acute angle, please refer to Figure 2 which is a schematic diagram of the wall surface and body model.

[0059] As a preferred scheme of the present embodiment, the line-scan radar emits a first ray and a second ray to a wall, and samples the reflected first ray and second ray to build a wall surface and body model, specifically:

[0060] The line-scan radar emits a first ray and a second ray with a preset fixed included angle to a wall; samples the reflected first ray and second ray to obtain the length of the first ray and the length of the second ray; and builds a wall surface and body model according to the preset fixed included angle, the length of the first ray and the length of the second ray.

[0061] It should be noted that, since the first radar needs to emit the direction of the ray by pre-setting, the preset fixed angle between the first ray and the second ray is known, and does not need to be sampled or measured. At the same time, by sampling the reflected first ray and the second ray, the lengths of the first ray and the second ray can be obtained, and then the preset fixed angle between the first ray and the second ray can be used to construct the wall surface and the fuselage model.

[0062] Step S102: According to the wall surface and the fuselage model, the angle and distance between the robot and the wall surface are calculated.

[0063] As a preferred scheme of the embodiment, according to the wall surface and the fuselage model, the angle and distance between the robot and the wall surface are calculated, specifically:

[0064] According to the wall surface and the fuselage model, the preset fixed angle, and the lengths of the first ray and the second ray, the angle and distance between the robot and the wall surface are calculated.

[0065]

[0066] l = b x cos a

[0067] β = γ - a

[0068] Wherein, a is the length of the first ray, b is the length of the second ray, a is the angle between the second ray and the straight line from the robot to the wall surface, β is the angle between the direction of the robot and the wall surface, γ is the angle between the second ray and the horizontal direction of the robot, θ is the angle between the first ray and the second ray, and l is the distance between the robot and the wall surface.

[0069] In the embodiment, in order to further illustrate the calculation principle of the angle and distance between the robot and the wall surface, an exemplary scheme is given, please refer to Figure 3, which is a schematic diagram of the principle of the first ray and the second ray emitted by the line scanning radar on the robot. The included angle between the first ray a and the second ray b is angle θ, a right triangle is formed by extending the second ray b and the first ray a, so that angle α can be calculated, that is, the included angle α between the second ray and the straight line l of the wall surface away from the robot is calculated, that is, the included angle α is positive at this time, and then the distance between the robot and the straight line l of the wall surface is calculated through the included angle α, and the included angle β between the advancing direction of the robot and the direction of the wall surface can also be calculated through the included angle α and the included angle γ between the second ray b and the horizontal right direction (that is, the auxiliary line c) of the advancing direction of the robot; wherein, since the included angle of each ray of the radar relative to the starting point of the radar is known, the deflection angle of the starting point of the radar and the robot body can be obtained by calibration, so when the second ray b is selected, the included angle γ calculated according to the serial number of the second ray b, that is, γ = angle of ray b in the radar coordinate system - deflection angle of the radar coordinate system body coordinate system - 90°; it is assumed that the body coordinate system 0° points to the back.

[0070] Further, when the included angle α between the second ray and the straight line l of the wall surface away from the robot is negative, please refer to Figure 4 , an auxiliary line is constructed between the first ray a and the second ray b, so as to establish a right triangle and calculate the angle α, and then the distance between the robot and the straight line l of the wall surface is calculated through the angle α and the length of the second ray b, and the included angle β between the advancing direction of the robot and the direction of the wall surface can also be calculated through the included angle α and the included angle γ between the second ray b and the horizontal right direction (that is, the auxiliary line c) of the advancing direction of the robot.

[0071] The original advancing direction of the robot in this embodiment can also be to the left, that is, the calculation process of the included angle β between the advancing direction of the robot and the direction of the wall surface can still be calculated according to the above formula and principle.

[0072] As a preferred scheme of the embodiment, it further comprises:

[0073] The first ray and the second ray are emitted to the wall by the line scanning radar for a preset number of times, and the first ray and the second ray after each emission are sampled, so as to construct a wall and body model corresponding to each time; according to all the constructed wall and body models, the included angle and the distance between the robot and the wall corresponding to each wall and body model are calculated respectively; all the included angles and distances between the robot and the wall are sorted, and a set of included angles and distances between the robot and the wall in the middle of the sorting are selected as the final included angle and distance between the robot and the wall.

[0074] It should be noted that, since the radar will receive environmental interference, the calculation result of single pair of sampling is not stable enough, and multiple sampling is needed to establish a sample set, and the median is used to eliminate noise to obtain stable results of the included angle and the distance. For example, n pairs of radar samples are selected as the sample set on the right side of the robot, a set of included angles and distances (l, β) between the robot and the wall are obtained by calculation, the included angle calculation result set is sorted, and the middle value is selected as the included angle calculation result between the robot and the wall. The corresponding distance l is the vertical distance between the center part of the robot line scanning radar and the wall.

[0075] Step S103: According to the included angle and the distance between the robot and the wall, the direction correction angle of the robot is calculated.

[0076] As a preferred scheme of the embodiment, according to the included angle and the distance between the robot and the wall, the direction correction angle of the robot is calculated, specifically:

[0077] According to the final included angle and distance between the robot and the wall, and the preset target distance from the wall and the preset forward distance, the direction correction angle of the robot is calculated:

[0078] δ=β+ε

[0079] ε=tan -1 [(d c -l) / m]

[0080] Wherein, δ is the direction correction angle of the robot, ε is the included angle between the target direction of the robot and the wall, d t is the preset target distance from the wall, and m is the preset forward distance.

[0081] It should be noted that the wheel speed adjustment target is that the robot can smoothly transition to a state where the distance from the wall is equal to the preset target distance d t from the wall, and the included angle between the robot and the wall is 0, so that when the displacement in the direction parallel to the wall reaches the preset forward distance m, the distance between the robot and the wall is 0, so please refer to Figure 5 , which is a schematic diagram of the principle of robot wheel speed adjustment in an exemplary embodiment, and the preset target distance d t from the wall, the distance between the robot and the wall calculated in step S102, and the preset forward distance m, so that the included angle ε between the target direction of the robot and the wall can be calculated, and the direction correction angle δ of the robot can be calculated. The specific meaning of the preset forward distance is that after advancing m distance, the robot enters the state of advancing along the wall.

[0082] Step S104: correcting the wheel speed of the robot according to the direction correction angle, and then controlling the robot to move by the corrected wheel speed.

[0083] As a preferred scheme of the present embodiment, the step of correcting the wheel speed of the robot according to the direction correction angle, and then controlling the robot to move by the corrected wheel speed, specifically comprises:

[0084] The wheel speed of the robot is corrected according to the direction correction angle and a preset expected speed, and the corrected calculation is as follows:

[0085] v1 = v t × (1 + p x δ)

[0086] v2 = v t × (1 - p x δ)

[0087] Wherein, the robot comprises a first wheel and a second wheel; v1 is the wheel speed of the first wheel, v2 is the wheel speed of the second wheel, v t is the preset expected speed, p is the preset adjustment parameter, and δ is the direction correction angle; the wheel speed of the first wheel and the wheel speed of the second wheel are controlled according to the corrected calculation of the wheel speed of the first wheel and the wheel speed of the second wheel, and then the robot is controlled to move.

[0088] In the present embodiment, in order to make the differential robot run smoothly, the direction of the robot needs to be adjusted in real time, that is, the wall surface and the body model are dynamically changed and constructed in real time, so that the angle and distance between the robot and the wall surface calculated by the robot, and the direction correction angle of the robot, are dynamically changed with the correction of the moving direction of the robot, and thus the direction correction angle of the robot can be obtained by calculating the above parameters as a guide parameter for the wheel speed correction of the robot. Wherein, v t is the preset expected speed, that is, the target speed of the overall moving direction of the robot; the preset adjustment parameter p is a parameter preset in advance, which is used to scale the adjustment range, and is used to make the robot reach the expected target. The larger the preset adjustment parameter p is, the faster the robot adjusts, and the smaller the p is, the slower the adjustment is, but the adjustment is more smooth, which can be set according to the actual demand.

[0089] The above embodiment has the following effects:

[0090] The technical scheme of the present application emits first and second rays to the wall through a line scanning radar, then samples the first and second rays, thereby constructing a wall surface and fuselage model, and calculating the included angle and distance between the robot and the wall surface through the wall surface and fuselage model, finally obtaining the direction correction angle of the robot to correct the wheel speed of the robot, realizing the wheel speed control of the robot along the wall, avoiding the need to stop the robot for direction adjustment in the process of realizing the along-wall travel, and directly controlling and correcting the wheel speed to realize the differential control of the robot double wheels, accurately and efficiently realizing the along-wall travel control.

[0091] Embodiment two

[0092] Please refer to Figure 6 The present application also provides a control device for the along-wall travel of a robot, comprising a model construction module 201, an included angle and distance calculation module 202, a direction correction calculation module 203 and a wheel speed control module 204.

[0093] The model construction module 201 is used for emitting first and second rays to the wall through a line scanning radar, and sampling the reflected first and second rays to construct a wall surface and fuselage model.

[0094] The included angle and distance calculation module 202 is used for calculating the included angle and distance between the robot and the wall surface according to the wall surface and fuselage model.

[0095] The direction correction calculation module 203 is used for calculating the direction correction angle of the robot according to the included angle and distance between the robot and the wall surface.

[0096] The wheel speed control module 204 is used for correcting the wheel speed of the robot according to the direction correction angle, and then controlling the robot to travel through the corrected wheel speed.

[0097] As a preferred scheme, the first and second rays are emitted to the wall through a line scanning radar, and the reflected first and second rays are sampled to construct a wall surface and fuselage model, specifically as follows:

[0098] The first and second rays with a preset fixed included angle are emitted to the wall through a line scanning radar;

[0099] The reflected first and second rays are sampled to obtain the length of the first ray and the length of the second ray;

[0100] The wall surface and fuselage model is constructed according to the preset fixed included angle, the length of the first ray and the length of the second ray.

[0101] As a preferred solution, the angle and distance between the robot and the wall are calculated according to the wall and fuselage model, specifically:

[0102] According to the wall and fuselage model, the angle and distance between the robot and the wall are calculated by the preset fixed angle, the length of the first ray and the length of the second ray:

[0103]

[0104] l = b x cos a

[0105] β = γ - a

[0106] Wherein, a is the length of the first ray, b is the length of the second ray, a is the angle between the second ray and the straight line between the robot and the wall, β is the angle between the robot travel direction and the wall, γ is the angle between the second ray and the horizontal travel direction of the robot, θ is the angle between the first ray and the second ray, and l is the distance between the robot and the wall.

[0107] As a preferred solution, it also includes:

[0108] The first ray and the second ray are emitted to the wall by the line scanning radar for a preset number of times, and the first ray and the second ray after each emission are sampled, so as to construct the wall and fuselage model corresponding to each time;

[0109] According to all the constructed wall and fuselage models, the angle and distance between the robot and the wall corresponding to each wall and fuselage model are calculated respectively;

[0110] All the angles and distances between the robot and the wall are sorted, and a set of angles and distances between the robot and the wall in the middle of the sorting are selected as the final result of the angle and distance between the robot and the wall.

[0111] As a preferred solution, the direction correction angle of the robot is calculated according to the angle and distance between the robot and the wall, specifically:

[0112] According to the final result of the angle and distance between the robot and the wall, and the preset target distance from the wall and the preset forward distance, the direction correction angle of the robot is calculated:

[0113] δ = β + ε

[0114] ε = tan -1 [(d c -l) / m]

[0115] Wherein, δ is the direction correction angle of the robot, ε is the angle between the target travel direction of the robot and the wall, d tThe preset target distance from the wall is m, and the preset advancing distance is m.

[0116] As a preferred solution, the wheel speed of the robot is corrected according to the direction correction angle, and the robot is controlled to advance by the corrected wheel speed, specifically as follows:

[0117] The wheel speed of the robot is corrected and calculated according to the direction correction angle and a preset expected speed, wherein the robot comprises a first wheel and a second wheel.

[0118] v1=v t ×(1+p×δ)

[0119] v2=v t ×(1-p×δ)

[0120] Wherein, v1 is the wheel speed of the first wheel, v2 is the wheel speed of the second wheel, v t is a preset expected speed, p is a preset adjustment parameter, and δ is a direction correction angle.

[0121] The first wheel and the second wheel of the robot are respectively controlled by the wheel speed according to the wheel speed of the first wheel and the wheel speed of the second wheel obtained by the correction calculation, so as to realize the advancing control of the robot.

[0122] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0123] The above embodiment has the following effects:

[0124] The technical scheme of the present application emits first rays and second rays to the wall by the line scanning radar, and then samples the first rays and the second rays, so as to construct a wall surface and a body model, and calculate the included angle and the distance between the robot and the wall surface by the wall surface and the body model, and finally obtain the direction correction angle of the robot to correct the wheel speed of the robot, realize the wheel speed control of the robot along the wall, and avoid the need to stop the robot for direction adjustment in the process of realizing the advancing along the wall. The present application realizes the differential control of the robot double wheels by directly controlling and correcting the wheel speed, and accurately and efficiently realizes the advancing along the wall.

[0125] Embodiment three

[0126] Correspondingly, the present application also provides a robot, comprising a body and a first wheel and a second wheel arranged at the bottom of the body.

[0127] In the embodiment, the robot is a double-wheel differential robot, a control host is arranged in the interior of the robot body, and the control host is used for executing the control method for the robot to travel along the wall as described in Embodiment I.

[0128] The first wheel and the second wheel are used for receiving the control of the control host to realize the adjustment of the wheel speed and realize the double-wheel speed correction.

[0129] Embodiment IV

[0130] Correspondingly, the application further provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor realizes the control method for the robot to travel along the wall as described in any one of the above embodiments when executing the computer program.

[0131] The terminal device of the embodiment comprises a processor, a memory, and a computer program and computer instructions stored in the memory and executable on the processor. The processor realizes the steps in Embodiment I described above, such as steps S101 to S104, when executing the computer program. Alternatively, the processor realizes the functions of the modules / units in the apparatus embodiment, such as the wheel speed control module 204, when executing the computer program. Figure 1

[0132] Illustratively, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the terminal device. For example, the wheel speed control module 204 is used to correct the wheel speed of the robot according to the direction correction angle, and then control the robot to travel through the corrected wheel speed.

[0133] The terminal device can be a desktop computer, a notebook computer, a palm computer, a cloud server, and other computing devices. The terminal device can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the schematic diagram is only an example of the terminal device and does not constitute a limitation on the terminal device, and the terminal device can include more or fewer components than the diagram, or combine certain components, or different components, for example, the terminal device can further include an input / output device, a network access device, a bus, and the like.

[0134] ​The processor can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like, and is a control center of the terminal device, which connects all parts of the terminal device through various interfaces and lines.

[0135] The memory can be used to store the computer programs and / or modules, and the processor realizes various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function, etc.; and the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory can include a high-speed random access memory, and can also include a nonvolatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory device.

[0136] The modules / units integrated in the terminal device, if realized in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can realize the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer readable medium can include any entity or device, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. that can carry the computer program code. It should be noted that the contents included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0137] Embodiment five

[0138] Correspondingly, the application further provides a computer readable storage medium, including a stored computer program, wherein the computer program controls a device where the computer readable storage medium is located to execute the control method for robot wall-following travel according to any one of the above embodiments when the computer program is running.

[0139] The above specific embodiments further illustrate the purpose, technical solutions and advantages of the application. It should be understood that the above description is only for specific embodiments of the application and is not intended to limit the protection scope of the application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A control method of a robot traveling along a wall, characterized by, include: The first and second rays are emitted towards the wall by a line-scan radar, and the reflected first and second rays are sampled to construct a model of the wall and the fuselage. A first ray and a second ray are emitted toward the wall at a preset fixed angle using a line-scan radar; the reflected first ray and second ray are sampled to obtain the length of the first ray and the length of the second ray. Based on the preset fixed angle, and the lengths of the first and second rays, construct the wall and fuselage models; Based on the wall and robot model, the angle and distance between the robot and the wall are calculated; based on the wall and robot model, and using the preset fixed angle, as well as the lengths of the first and second rays, the angle and distance between the robot and the wall are calculated. wherein, is the length of the first ray, is the length of the second ray, is the angle between the second ray and the straight line from the robot to the wall, is the angle between the direction of travel of the robot and the wall, is the angle between the second ray and the horizontal direction of travel of the robot, is the angle between the first ray and the second ray, is the distance between the robot and the wall; The robot's orientation correction angle is calculated based on the angle and distance between the robot and the wall. The robot's wheel speed is corrected based on the direction correction angle, and the robot's movement is controlled by the corrected wheel speed.

2. The control method of a robot wall-following travel according to claim 1, wherein Also includes: The system uses a line-scan radar to emit a preset number of first and second rays at the wall, and samples the first and second rays after each emission to construct a model of the wall and fuselage corresponding to each emission. Based on all the constructed wall and body models, calculate the angle and distance between the robot and the wall corresponding to each wall and body model; Sort all the angles and distances between the robots and the wall, and select the middle value of the group of angles and distances between the robots and the wall as the final result of the angles and distances between the robots and the wall.

3. The control method of a robot wall-following travel according to claim 2, wherein The robot's orientation correction angle is calculated based on the angle and distance between the robot and the wall, specifically as follows: Based on the final angle and distance between the robot and the wall, as well as the preset target distance from the wall and the preset forward distance, the robot's direction correction angle is calculated: wherein, is a direction correction angle of the robot, is an angle between a target travel direction of the robot and the wall surface, is a preset target distance from the wall, is a preset forward distance.

4. The control method of a robot wall-following travel according to claim 3, wherein The step of correcting the robot's wheel speed based on the direction correction angle, and then controlling the robot's movement through the corrected wheel speed, specifically involves: The wheel speed of the robot is corrected and calculated based on the direction correction angle and the preset desired speed; wherein the robot includes a first wheel and a second wheel; wherein, is a wheel speed of the first wheel, is a wheel speed of the second wheel, is a preset desired speed, is a preset adjustment parameter, is a direction correction angle; Based on the corrected calculations of the rotational speeds of the first and second wheels, the robot's first and second wheels are controlled to achieve movement control.

5. A control device for a robot to travel along a wall, characterized by, include: Model building module, included angle distance calculation module, direction correction calculation module, and wheel speed control module; The model building module is used to emit a first ray and a second ray at a wall using a line-scan radar, and to sample the reflected first and second rays to build a wall and fuselage model; to emit a first ray and a second ray at a preset fixed angle at the wall using a line-scan radar; to sample the reflected first and second rays to obtain the lengths of the first and second rays; and to build a wall and fuselage model based on the preset fixed angle and the lengths of the first and second rays. The included angle distance calculation module is configured to calculate an included angle and a distance between the robot and the wall according to the wall and the fuselage model; and calculate the included angle and the distance between the robot and the wall according to the wall and the fuselage model, the preset fixed included angle, and lengths of the first ray and the second ray. wherein, is the length of the first ray, is the length of the second ray, is the angle between the second ray and the straight line from the robot to the wall, is the angle between the direction of travel of the robot and the wall, is the angle between the second ray and the horizontal direction of travel of the robot, is the angle between the first ray and the second ray, is the distance between the robot and the wall; The direction correction calculation module is configured to calculate a direction correction angle of the robot according to the included angle and the distance between the robot and the wall. The wheel speed control module is configured to correct wheel speeds of the robot according to the direction correction angle, and then control the robot to move by using the corrected wheel speeds.

6. A robot, characterized in that The robot comprises: a fuselage and first and second wheels arranged at a bottom of the fuselage; the fuselage is provided with a control host configured to execute the control method for the robot to move along the wall according to any one of claims 1-4; the first and second wheels are configured to receive control of the control host to realize adjustment of the wheel speeds.

7. A computer readable storage medium characterized in that, The computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the control method for the robot to move along the wall according to any one of claims 1-4 when the computer program is executed.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the control method for the robot to move along the wall according to any one of claims 1-4.

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