Robot obstacle avoidance method, chip and robot

Abstract

The invention discloses a robot obstacle avoidance method, a chip and a robot, and the method comprises the steps: a mobile robot recognizes a first set region in the advancing direction in the moving process, and judges whether there is an obstacle in the first set region; if the mobile robot does not find the obstacle in the first set area, the mobile robot continues to move; and if the mobile robot finds an obstacle in the first set area, the mobile robot identifies a second set area in the advancing direction, and then determines whether to execute a deceleration obstacle avoidance strategy according to the obstacle distribution condition in the second set area. The mobile robot determines whether to carry out a deceleration obstacle avoidance strategy or not according to the obstacle distribution condition, so that the mobile robot does not reduce the moving speed when deceleration is not needed, and the working speed of the mobile robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a robot obstacle avoidance method, a chip and a robot. Background Art

[0002] When a mobile robot is moving, if it does not find an obstacle, it will keep colliding with the obstacle. Therefore, current mobile robots use a variety of obstacle avoidance methods to avoid obstacles, such as infrared obstacle avoidance, laser obstacle avoidance, intelligent recognition, etc. However, no matter which obstacle avoidance method is used, there will always be blind spots and scenes where obstacles cannot be identified. If the mobile robot does not accurately identify the obstacle or only identifies the obstacle at a close distance, the mobile robot is prone to violent collision with the obstacle, causing damage to the mobile robot. In order to reduce the force of the mobile robot's collision with the obstacle, the existing method is that the mobile robot executes a deceleration obstacle avoidance strategy after identifying the obstacle, so as to increase the time for the mobile robot to deal with the obstacle and reduce the collision force between the mobile robot and the obstacle. However, when the mobile robot moves along the wall or marks the mobile obstacle on the grid, the deceleration obstacle avoidance strategy will be triggered all the time, which greatly reduces the working efficiency of the mobile robot. Summary of the invention

[0003] To solve the above problems, the present invention provides a robot obstacle avoidance method, a chip and a robot. The specific technical solution of the present invention is as follows: A robot obstacle avoidance method, the method comprising the following steps: a mobile robot identifies a first set area in a forward direction during movement, and determines whether there is an obstacle in the first set area; if the mobile robot does not find an obstacle in the first set area, the mobile robot continues to move; if the mobile robot finds an obstacle in the first set area, the mobile robot identifies a second set area in the forward direction, and then decides whether to execute a deceleration obstacle avoidance strategy according to the distribution of obstacles in the second set area.

[0004] Furthermore, the mobile robot obtains laser data of the environment through a laser sensor during movement, and then constructs a grid map through the laser data; the mobile robot marks the cleaned grids as F, the uncleaned grids as U, the grids occupied by obstacles as B, and the grids occupied by cliffs as H during movement.

[0005] Furthermore, the mobile robot determines whether there is an obstacle in the first set area, including the following steps: the mobile robot traverses the grid map to determine whether there is an obstacle mark B in the grid occupied by the current first set area, and if so, it is determined that there is an obstacle in the current first set area; or, the mobile robot detects whether there is an obstacle in the current first set area through a laser sensor, and if so, it is determined that there is an obstacle in the current first set area.

[0006] Furthermore, the first set area is an area of ​​size Scm*Scm, the distance between the center point of the first set area and the center point of the mobile robot is greater than the sum of half of the side length of the first set area and the radius of the mobile robot, and the side length of the first set area is greater than the diameter of the mobile robot; wherein S is a natural number greater than 0.

[0007] Furthermore, the mobile robot decides whether to execute the deceleration and obstacle avoidance strategy according to the distribution of obstacles in the second set area, including the following steps: the mobile robot determines whether there are a set number of obstacle marks B arranged in sequence along the forward direction of the mobile robot in the grid occupied by the current second set area; if so, the mobile robot determines not to execute the deceleration and obstacle avoidance strategy; if not, the mobile robot determines to execute the deceleration and obstacle avoidance strategy.

[0008] Furthermore, the mobile robot decides whether to execute the deceleration and obstacle avoidance strategy according to the distribution of obstacles in the second set area, including the following steps: the mobile robot determines whether there are two or more uncleaned marks U and at least one obstacle mark B in the grid occupied by the current second set area; if so, the mobile robot determines not to execute the deceleration and obstacle avoidance strategy; if not, the mobile robot determines to execute the deceleration and obstacle avoidance strategy.

[0009] Furthermore, the second set area is an area of ​​Ncm*Mcm in size, where N is greater than S and M is less than S; the side length of the first set area that is perpendicular to the forward direction of the mobile robot and is closest to it is set to a first side length, and the side length of the second set area that is perpendicular to the forward direction of the mobile robot and is closest to it is set to a second side length, and the first side length and the second side length coincide with each other; wherein the length of the side of the second set area parallel to the forward direction of the mobile robot is Ncm, and N and M are natural numbers greater than 0.

[0010] Furthermore, the mobile robot executes a deceleration obstacle avoidance strategy, including the following steps: the mobile robot reduces its moving speed, and then bypasses obstacles or turns around directly through a laser sensor; the mobile robot resumes its normal moving speed after detecting no obstacles in the current first set area or turning around.

[0011] A chip is used to store a program, and the program is configured to execute the above-mentioned robot obstacle avoidance method.

[0012] A mobile robot comprises a main control chip, and the main control chip is the above-mentioned chip.

[0013] Compared with the existing technology, the beneficial effect of the present invention is that the mobile robot described in the present application detects obstacles in a first set area in the direction of travel. When an obstacle is found in the first set area, the obstacle distribution in a second set area in the direction of travel is detected, and a decision is made whether to implement a deceleration and obstacle avoidance strategy based on the obstacle distribution. This allows the mobile robot to maintain its moving speed when deceleration is not necessary, thereby improving the working speed of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The figure is a flow chart of a robot obstacle avoidance method in one embodiment of the present invention. Implementation

[0015] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions.

[0016] The following is a further description of the specific embodiments of the present invention in conjunction with the drawings of the specification, so that the technical solution and its beneficial effects of the present invention are clearer and more explicit. The following description of the embodiments with reference to the drawings is exemplary and intended to explain the present invention, but cannot be understood as limiting the present invention.

[0017] like Figure 1 As shown, a robot obstacle avoidance method includes the following steps: the mobile robot identifies a first set area in the forward direction during movement, the first set area is a set detection range, and will change to different positions as the mobile robot moves, and the mobile robot will determine in real time whether there is an obstacle in the first set area during movement; if the mobile robot does not find an obstacle in the first set area, the mobile robot continues to move at a normal speed and does not execute a deceleration obstacle avoidance strategy; if the mobile robot finds an obstacle in the first set area, it triggers a first condition for executing a deceleration obstacle avoidance strategy, and then the mobile robot identifies a second set area in the forward direction, and decides whether to execute a deceleration obstacle avoidance strategy based on the distribution of obstacles in the second set area, so that the mobile robot decelerates and avoids obstacles when it needs to execute the deceleration obstacle avoidance strategy, and moves at a normal speed when it does not need to execute the deceleration obstacle avoidance strategy, and the normal speed is the speed of the mobile robot when it walks in a straight line. The mobile robot described in the present application performs obstacle detection on a first set area in the direction of travel. When an obstacle is found in the first set area, the obstacle distribution in a second set area in the direction of travel is detected, and a decision is made whether to implement a deceleration and obstacle avoidance strategy based on the obstacle distribution. This allows the mobile robot to increase its working speed without reducing its moving speed without decelerating.

[0018] As one of the embodiments, the mobile robot obtains laser data of the environment through a laser sensor during movement, and then constructs a grid map through the laser data. The mobile robot obtains laser data of the environment through a laser sensor during movement, and then places the laser data on the map one by one according to the posture when the laser data is obtained and the coordinate information contained in the laser data, thereby obtaining a grid map. During movement, the mobile robot marks the cleaned grids as F, the uncleaned grids as U, the grids occupied by obstacles as B, and the grids occupied by cliffs as H. The mobile robot marks the grids of the grid map according to the type of grid, so that when the mobile robot does not detect an obstacle, it can also avoid obstacles through the obstacle marks on the grid map, thereby improving the obstacle avoidance capability of the mobile robot.

[0019] As one embodiment, the mobile robot determines whether there is an obstacle in the first set area, including the following steps: the mobile robot traverses the grid map to determine whether there is an obstacle mark B in the grid occupied by the current first set area, and if so, it is determined that there is an obstacle in the current first set area; or, the mobile robot detects whether there is an obstacle in the current first set area through a laser sensor, and if so, it is determined that there is an obstacle in the current first set area. The mobile robot can also identify obstacles through sensors such as collision plates, line lasers or infrared ranging, and mark the identified obstacles on the grid map. The mobile robot identifies obstacles through obstacle marks and laser sensors, which makes up for the defect that the line laser cannot identify hollow sofas and coffee tables, or the defect that the hollow sofas and coffee tables are not identified in time, and improves the accuracy of the mobile robot in identifying obstacles.

[0020] As one embodiment, the first setting area is an area of ​​Scm*Scm size, and the position of the mobile robot on the grid is the center point of the mobile robot. If the mobile robot is circular, the distance between the center point of the first setting area and the center point of the mobile robot is greater than the sum of half of the side length of the first setting area and the radius of the mobile robot, so as to prevent the edge of the mobile robot from colliding with obstacles when the mobile robot avoids obstacles through the grid map. The side length of the first setting area is greater than the diameter of the mobile robot. When no obstacle is detected in the first setting area, the mobile robot will not encounter obstacles when walking in a straight line; wherein S is a natural number greater than 0. If the mobile robot is square, the distance between the first setting area and the mobile robot is greater than the distance between the center point of the mobile robot and the front end of the mobile robot in the forward direction, so that the side length of the first setting area is greater than the width of the mobile robot. Preferably, the grid size of the grid map can be 5cm*5cm, and the first setting area is an area of ​​25cm*25cm size.

[0021] As one embodiment, the mobile robot determines whether to execute the deceleration obstacle avoidance strategy according to the obstacle distribution in the second set area, including the following steps: the mobile robot determines whether there are a set number of obstacle marks B arranged in sequence along the forward direction of the mobile robot in the grid occupied by the current second set area; if yes, the mobile robot determines not to execute the deceleration obstacle avoidance strategy; if not, the mobile robot determines to execute the deceleration obstacle avoidance strategy. Preferably, the set number is 5. If the mobile robot identifies 5 obstacle marks B arranged in sequence along the forward direction of the mobile robot in the second set area, it is determined that the currently identified obstacle is a wall. The mobile robot does not need to execute the deceleration obstacle avoidance strategy when moving along the wall, so as to prevent the deceleration obstacle avoidance strategy from being triggered all the time when the mobile robot moves along the wall, thereby reducing the working efficiency of the mobile robot.

[0022] As one of the embodiments, the mobile robot decides whether to execute the deceleration and obstacle avoidance strategy according to the distribution of obstacles in the second set area, including the following steps: the mobile robot determines whether there are two or more uncleaned marks U and at least one obstacle mark B in the grid occupied by the current second set area; if so, the mobile robot determines not to execute the deceleration and obstacle avoidance strategy; if not, the mobile robot determines to execute the deceleration and obstacle avoidance strategy. When there are at least two uncleaned marks in the second set area, and there is an obstacle mark in the remaining grids, it can be determined that the obstacle in the current second set area is likely to be a dynamic obstacle, and there is no need to trigger the deceleration and obstacle avoidance strategy. When the mobile robot recognizes that there is an uncleaned area ahead, it determines whether it needs to execute the deceleration and obstacle avoidance strategy through the grid mark on the grid map to avoid dynamic obstacles causing the mobile robot to misjudge the deceleration and obstacle avoidance strategy.

[0023] As one embodiment, the second set area is an area of ​​Ncm*Mcm, N is greater than S and M is less than S; the length of the side of the first set area that is perpendicular to the moving direction of the mobile robot and closest to it is set to the first side length, and the length of the side of the second set area that is perpendicular to the moving direction of the mobile robot and closest to it is set to the second side length, and the first side length and the second side length coincide; wherein the length of the side of the second set area parallel to the moving direction of the mobile robot is Ncm, and N and M are natural numbers greater than 0. Preferably, the second set area is an area of ​​35cm*15cm; wherein the length of the side of the second set area parallel to the mobile robot is 35cm.

[0024] As one embodiment, the mobile robot executes a deceleration obstacle avoidance strategy, including the following steps: the mobile robot reduces its moving speed, and then uses a laser sensor to bypass obstacles or directly turns around; the mobile robot resumes its normal working moving speed after failing to detect obstacles in the current first set area or after turning around. After the mobile robot avoids obstacles, it immediately resumes its original moving speed, thereby improving the working efficiency of the mobile robot.

[0025] A chip is used to store a program, and the program is configured to execute the above-mentioned robot obstacle avoidance method.

[0026] A mobile robot comprises a main control chip, and the main control chip is the above-mentioned chip.

[0027] Compared with the existing technology, the beneficial effect of the present invention is that the mobile robot described in the present application detects obstacles in a first set area in the direction of travel. When an obstacle is found in the first set area, the obstacle distribution in a second set area in the direction of travel is detected, and a decision is made whether to implement a deceleration and obstacle avoidance strategy based on the obstacle distribution. This allows the mobile robot to maintain its moving speed when deceleration is not necessary, thereby improving the working speed of the mobile robot.

[0028] In the description of the specification, the description with reference to the terms "one embodiment", "preferably", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention, and the schematic expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. The connection method connected in the description of the specification has obvious effects and practical effectiveness.

[0029] Through the description of the above structure and principle, technicians in the relevant technical field should understand that the present invention is not limited to the above-mentioned specific implementation methods. Improvements and substitutions based on the present invention using the well-known technology in the field all fall within the protection scope of the present invention and should be defined by the claims.

Claims

1. A robot obstacle avoidance method, characterized in that: The method comprises the following steps: The mobile robot identifies a first set area in a forward direction during movement, and determines whether there is an obstacle in the first set area; If the mobile robot finds no obstacle in the first set area, the mobile robot continues to move; If the mobile robot finds an obstacle in the first set area, the mobile robot identifies the second set area in the forward direction, and then decides whether to execute the deceleration obstacle avoidance strategy according to the distribution of obstacles in the second set area.

2. The robot obstacle avoidance method according to claim 1, characterized in that: The mobile robot acquires laser data of the environment through laser sensors during movement, and then constructs a grid map based on the laser data; During the movement, the mobile robot marks the cleaned grids as F, the uncleaned grids as U, the grids occupied by obstacles as B, and the grids occupied by cliffs as H.

3. The robot obstacle avoidance method according to claim 1, characterized in that: The mobile robot determines whether there is an obstacle in the first set area, including the following steps: The mobile robot traverses the grid map to determine whether there is an obstacle mark B in the grid occupied by the current first set area. If yes, it is determined that there is an obstacle in the current first set area; Alternatively, the mobile robot detects whether there is an obstacle in the current first set area through a laser sensor, and if so, determines that there is an obstacle in the current first set area.

4. The robot obstacle avoidance method according to claim 1, characterized in that: The first set area is an area of ​​size Scm*Scm, the distance between the center point of the first set area and the center point of the mobile robot is greater than the sum of half of the side length of the first set area and the radius of the mobile robot, and the side length of the first set area is greater than the diameter of the mobile robot; Wherein, S is a natural number greater than 0.

5. The robot obstacle avoidance method according to claim 1, characterized in that: The mobile robot decides whether to execute a deceleration obstacle avoidance strategy according to the obstacle distribution in the second set area, including the following steps: The mobile robot determines whether there are a set number of obstacle marks B arranged in sequence along the moving direction of the mobile robot in the grid occupied by the current second set area; If yes, the mobile robot determines not to execute the deceleration obstacle avoidance strategy; If not, the mobile robot will determine and execute the deceleration obstacle avoidance strategy.

6. The robot obstacle avoidance method according to claim 1, characterized in that: The mobile robot decides whether to execute a deceleration obstacle avoidance strategy according to the obstacle distribution in the second set area, including the following steps: The mobile robot determines whether there are two or more uncleaned marks U and at least one obstacle mark B in the grid occupied by the current second set area; If it exists, the mobile robot will determine not to execute the deceleration obstacle avoidance strategy; If it does not exist, the mobile robot will determine and execute the deceleration obstacle avoidance strategy.

7. The robot obstacle avoidance method according to claim 4, characterized in that: The second set area is an area of ​​size Ncm*Mcm, where N is greater than S and M is less than S; The first set area is perpendicular to the moving direction of the mobile robot and the closest side length is set to a first side length, the second set area is perpendicular to the moving direction of the mobile robot and the closest side length is set to a second side length, and the first side length and the second side length overlap; The length of the side of the second set area parallel to the moving direction of the mobile robot is N cm, and N and M are natural numbers greater than 0.

8. The robot obstacle avoidance method according to claim 1, characterized in that: The mobile robot executes the deceleration and obstacle avoidance strategy, which includes the following steps: The mobile robot reduces its speed and uses laser sensors to avoid obstacles or turn around directly; The moving speed of the mobile robot when it detects no obstacles in the current first set area or resumes normal operation after turning around.

9. A chip for storing a program, characterized in that: The program is configured to execute the robot obstacle avoidance method according to any one of claims 1 to 8.

10. A mobile robot, characterized in that: The mobile robot comprises a main control chip, and the main control chip is the chip according to claim 9.

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