Wheeled robot movement control method and system based on complex obstacle environment and medium

Abstract

The embodiment of the invention provides a wheeled robot movement control method and system based on a complex obstacle environment and a medium, and the method comprises the steps: obtaining working environment data based on a sensor, and constructing an environment map based on the working environment data; analyzing barrier distribution information in the working environment based on the type of the environment map to obtain barrier position information; analyzing the moving state information of the wheeled robot based on the moving parameter information of the wheeled robot; analyzing the real-time position information of the wheeled robot, and generating a movement control strategy based on the real-time position information of the wheeled robot and the position information of the obstacle; analyzing difference information between the moving track of the wheeled robot and a set track, and adjusting and generating moving parameter information of the wheeled robot based on the difference information; obstacle distribution in the working environment of the wheeled robot is accurately analyzed by constructing an environment map, so that moving parameter information is dynamically adjusted according to real-time position information of the wheeled robot, and the control precision of the wheeled robot is improved.

Description

Technical Field

[0001] This application relates to the technical field of mobile control of wheeled robots, and more specifically, to a method, system, and medium for mobile control of wheeled robots in a complex obstacle environment. Background Art

[0002] With the rapid development of computer technology and artificial intelligence technology, wheeled robots have been greatly improved both in terms of function and technical level, showing great superiority in replacing humans to handle certain dangerous and complex situations. In addition, the scope of application of wheeled robots is becoming wider and wider, and wheeled robots with various functional uses underwater, in space, in the air, and on the ground have been unprecedentedly applied. At present, China is in a period of rapid rise in the application of wheeled robots, and it is imperative to vigorously develop China's wheeled robot technology and industry. The high adaptability and high autonomy of mobile wheeled robots are the key research directions in the current research field. In the existing wheeled robot mobile control methods, it is difficult to accurately control the movement of wheeled robots based on the constructed environmental map, so as to efficiently realize the operation of wheeled robots. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a method, system, and medium for mobile control of wheeled robots in a complex obstacle environment, which can accurately analyze the distribution of obstacles in the working environment of wheeled robots by constructing an environmental map, and thus dynamically adjust the movement parameter information according to the real-time position information of the wheeled robots, so as to improve the control accuracy of wheeled robots.

[0004] The embodiments of this application also provide a method for mobile control of wheeled robots in a complex obstacle environment, including:

[0005] Obtaining working environment data based on sensors, constructing an environmental map based on the working environment data, and analyzing the type of the environmental map;

[0006] Analyzing the distribution information of obstacles in the working environment based on the type of the environmental map to obtain the obstacle position information;

[0007] Obtaining the movement parameter information of the wheeled robot, and analyzing the movement state information of the wheeled robot based on the movement parameter information of the wheeled robot;

[0008] Analyzing the real-time position information of the wheeled robot based on the movement state information of the wheeled robot, and generating a movement control strategy based on the real-time position information of the wheeled robot and the obstacle position information;

[0009] Analyzing the difference information between the movement trajectory of the wheeled robot and the set trajectory based on the movement control strategy, and adjusting and generating the movement parameter information of the wheeled robot based on the difference information.

[0010] Optionally, in the wheeled robot movement control method based on a complex obstacle environment described in the embodiments of the present application, work environment data is acquired based on sensors, an environment map is constructed based on the work environment data, and the type of the environment map is analyzed, specifically including:

[0011] Analyze the distance between the wheeled robot and the sensor based on the time of flight of the reflected light measured by the lidar after emitting a laser beam;

[0012] Acquire real-time work environment image information based on a camera, and generate work environment data based on the work environment image information and the distance between the wheeled robot and the sensor;

[0013] Analyze the three-dimensional space information of the work environment based on the work environment data to obtain three-dimensional point cloud data;

[0014] Analyze the work environment parameter information based on the three-dimensional point cloud data, and construct an environment map based on the work environment parameter information;

[0015] Analyze the grid information, semantic information, and node position information based on the environment map, and analyze the type of the environment map based on the grid information, semantic information, and node position information. The types of the environment map include grid maps, topological maps, and semantic maps.

[0016] Optionally, in the wheeled robot movement control method based on a complex obstacle environment described in the embodiments of the present application, analyze the obstacle distribution information in the work environment based on the type of the environment map to obtain the obstacle position information, specifically including:

[0017] Obtain the type of the environment map, divide the work environment into a number of grids of equal size based on the grid map, and generate corresponding sub-regions for each grid;

[0018] Analyze the obstacle occupancy status information of each grid based on the work environment data;

[0019] Analyze the key positions and important nodes in the co-work environment based on the topological map, extract the topological features of the important nodes and key positions, and analyze the connection relationship between the key positions and important nodes based on the topological features;

[0020] Analyze the category, function, and attribute information of the objects in the work environment based on the semantic map, and generate semantic information based on the category, function, and attribute information of the objects in the work environment;

[0021] Generate the obstacle distribution information of the work environment based on the obstacle occupancy status information, the connection relationship between the key positions and important nodes, and the semantic information, and obtain the obstacle position information.

[0022] Optionally, in the wheeled robot movement control method based on a complex obstacle environment described in the embodiments of the present application, obtaining the wheeled robot movement parameter information and analyzing the wheeled robot movement state information based on the wheeled robot movement parameter information specifically includes:

[0023] Obtaining the linear velocity and angular velocity of the wheeled robot, and analyzing the wheeled robot movement parameter information based on the linear velocity and angular velocity;

[0024] Analyzing the position information and movement speed information at different time nodes based on the wheeled robot movement parameter information;

[0025] Comparing the position information and movement speed information of adjacent time nodes to obtain the position change information and speed change information;

[0026] Analyzing the movement state information of the mobile wheeled robot based on the position change information and speed change information.

[0027] Optionally, in the wheeled robot movement control method based on a complex obstacle environment described in the embodiments of the present application, analyzing the real-time position information of the wheeled robot based on the wheeled robot movement state information and generating a movement control strategy based on the real-time position information of the wheeled robot and the obstacle position information specifically includes:

[0028] Obtaining the wheeled robot movement state information and analyzing the steering angle of the wheeled robot based on the wheeled robot movement state information;

[0029] Analyzing the movement speed information of the wheeled robot based on the wheeled robot movement state information;

[0030] Analyzing the real-time position information of the wheeled robot based on the wheeled robot movement angle and the wheeled robot movement speed information;

[0031] Comparing the real-time position information of the wheeled robot with the obstacle position information to obtain the distance information;

[0032] Generating a movement control strategy based on the distance information.

[0033] Optionally, in the wheeled robot movement control method based on a complex obstacle environment described in the embodiments of the present application, analyzing the difference information between the wheeled robot movement trajectory and the set trajectory based on the movement control strategy and adjusting and generating the wheeled robot movement parameter information based on the difference information specifically includes:

[0034] Obtaining the movement control strategy and analyzing the steering angle of the wheeled robot and the wheeled robot movement speed information based on the movement control strategy;

[0035] Analyzing the wheeled robot movement trajectory based on the wheeled robot steering angle and the wheeled robot movement speed information;

[0036] Compare the moving trajectory of the wheeled robot with the set trajectory and calculate the Euclidean distance;

[0037] Analyze the difference information between the moving trajectory of the wheeled robot and the set trajectory based on the Euclidean distance;

[0038] Compare the difference information with the set condition information to obtain the moving deviation rate;

[0039] Determine whether the moving deviation rate is greater than or equal to the set moving deviation rate threshold;

[0040] If it is greater than or equal to the set moving deviation rate threshold, generate correction information and adjust the moving parameter information of the wheeled robot based on the correction information;

[0041] If it is less, obtain the moving trajectory of the wheeled robot in real time.

[0042] In a second aspect, an embodiment of the present application provides a wheeled robot movement control system based on a complex obstacle environment. The system includes: a memory and a processor. The memory includes a program for the wheeled robot movement control method based on a complex obstacle environment. When the program for the wheeled robot movement control method based on a complex obstacle environment is executed by the processor, the following steps are implemented:

[0043] Obtain working environment data based on sensors, construct an environment map based on the working environment data, and analyze the type of the environment map;

[0044] Analyze the obstacle distribution information in the working environment based on the type of the environment map to obtain the obstacle position information;

[0045] Obtain the moving parameter information of the wheeled robot and analyze the moving state information of the wheeled robot based on the moving parameter information of the wheeled robot;

[0046] Analyze the real-time position information of the wheeled robot based on the moving state information of the wheeled robot, and generate a moving control strategy based on the real-time position information of the wheeled robot and the obstacle position information;

[0047] Analyze the difference information between the moving trajectory of the wheeled robot and the set trajectory based on the moving control strategy, and adjust and generate the moving parameter information of the wheeled robot based on the difference information.

[0048] Optionally, in the wheeled robot movement control system based on a complex obstacle environment described in the embodiment of the present application, obtaining working environment data based on sensors, constructing an environment map based on the working environment data, and analyzing the type of the environment map specifically include:

[0049] Analyze the distance between the wheeled robot and the sensor based on the laser beam emitted by the lidar and measuring the flight time of the reflected light;

[0050] Obtain the image information of the working environment in real time based on a camera, and generate working environment data based on the image information of the working environment and the distance between the wheeled robot and the sensor;

[0051] Analyze the three-dimensional space information of the working environment based on the working environment data to obtain three-dimensional point cloud data;

[0052] Analyze the working environment parameter information based on the three-dimensional point cloud data, and construct an environmental map based on the working environment parameter information;

[0053] Analyze the grid information, semantic information, and node position information based on the environmental map, and analyze the type of the environmental map based on the grid information, semantic information, and node position information. The types of the environmental map include a grid map, a topological map, and a semantic map.

[0054] Optionally, in the wheeled robot movement control system based on a complex obstacle environment described in the embodiments of the present application, analyze the obstacle distribution information in the working environment based on the type of the environmental map to obtain the obstacle position information, specifically including:

[0055] Obtain the type of the environmental map, divide the working environment into a number of grids of equal size based on the grid map, and generate a corresponding sub-region for each grid;

[0056] Analyze the obstacle occupancy status information of each grid based on the working environment data;

[0057] Analyze the key positions and important nodes in the co-working environment based on the topological map, extract the topological features of the important nodes and key positions, and analyze the connection relationship between the key positions and important nodes based on the topological features;

[0058] Analyze the category, function, and attribute information of the objects in the working environment based on the semantic map, and generate semantic information based on the category, function, and attribute information of the objects in the working environment;

[0059] Generate the obstacle distribution information of the working environment based on the obstacle occupancy status information, the connection relationship between the key positions and important nodes, and the semantic information to obtain the obstacle position information.

[0060] In a third aspect, the embodiments of the present application further provide a computer-readable storage medium, which includes a program for the method for controlling the movement of a wheeled robot based on a complex obstacle environment. When the program for the method for controlling the movement of a wheeled robot based on a complex obstacle environment is executed by a processor, the steps of the method for controlling the movement of a wheeled robot based on a complex obstacle environment as described in any one of the above are implemented.

[0061] As described above, a wheeled robot movement control method, system, and medium based on a complex obstacle environment provided by an embodiment of the present application obtain working environment data based on sensors, construct an environment map based on the working environment data, and analyze the type of the environment map; analyze the obstacle distribution information in the working environment based on the type of the environment map to obtain obstacle position information; obtain the wheeled robot movement parameter information, and analyze the wheeled robot movement state information based on the wheeled robot movement parameter information; analyze the wheeled robot real-time position information based on the wheeled robot movement state information, and generate a movement control strategy based on the wheeled robot real-time position information and the obstacle position information; analyze the difference information between the wheeled robot movement trajectory and the set trajectory based on the movement control strategy, and adjust and generate the wheeled robot movement parameter information based on the difference information; accurately analyze the obstacle distribution in the working environment of the wheeled robot by constructing an environment map, so as to dynamically adjust the movement parameter information according to the wheeled robot real-time position information and improve the control accuracy of the wheeled robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0063] Figure 1 It is a flowchart of the wheeled robot movement control method based on a complex obstacle environment provided by an embodiment of the present application;

[0064] Figure 2 It is a flowchart of the environment map construction method of the wheeled robot movement control method based on a complex obstacle environment provided by an embodiment of the present application;

[0065] Figure 3 It is a flowchart of the obstacle position information analysis method of the wheeled robot movement control method based on a complex obstacle environment provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0066] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with 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, rather than all the embodiments. The components of the embodiments of the present application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0067] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0068] Please refer to Figure 1 , Figure 1 which is a flowchart of a method for controlling the movement of a wheeled robot in a complex obstacle environment in some embodiments of the present application. The method for controlling the movement of a wheeled robot in a complex obstacle environment is used in a terminal device. The method for controlling the movement of a wheeled robot in a complex obstacle environment includes the following steps:

[0069] S101, obtaining working environment data based on sensors, constructing an environment map based on the working environment data, and analyzing the type of the environment map;

[0070] S102, analyzing the obstacle distribution information in the working environment based on the type of the environment map to obtain obstacle position information;

[0071] S103, obtaining the movement parameter information of the wheeled robot and analyzing the movement state information of the wheeled robot based on the movement parameter information of the wheeled robot;

[0072] S104, analyzing the real-time position information of the wheeled robot based on the movement state information of the wheeled robot, and generating a movement control strategy based on the real-time position information of the wheeled robot and the obstacle position information;

[0073] S105, analyzing the difference information between the movement trajectory of the wheeled robot and the set trajectory based on the movement control strategy, and adjusting and generating the movement parameter information of the wheeled robot based on the difference information.

[0074] It should be noted that by constructing an environmental map, the distribution of obstacles in the working environment can be accurately analyzed, and the movement parameter information of the wheeled robot can be accurately controlled according to the obstacle distribution, so as to improve the movement speed and obstacle avoidance effect of the wheeled robot.

[0075] Please refer to Figure 2 , Figure 2 which is a flowchart of an environmental map construction method for a wheeled robot movement control method based on a complex obstacle environment in some embodiments of the present application. According to an embodiment of the present invention, working environment data is acquired based on sensors, an environmental map is constructed based on the working environment data, and the type of the environmental map is analyzed, specifically including:

[0076] S201, analyzing the distance between the wheeled robot and the sensor based on the time of flight of the reflected light by emitting a laser beam using a lidar;

[0077] S202, acquiring real-time image information of the working environment based on a camera, and generating working environment data based on the working environment image information and the distance between the wheeled robot and the sensor;

[0078] S203, analyzing the three-dimensional spatial information of the working environment based on the working environment data to obtain three-dimensional point cloud data;

[0079] S204, analyzing the working environment parameter information based on the three-dimensional point cloud data, and constructing an environmental map based on the working environment parameter information;

[0080] S205, analyzing the grid information, semantic information, and node position information based on the environmental map, and analyzing the type of the environmental map based on the grid information, semantic information, and node position information. The types of environmental maps include grid maps, topological maps, and semantic maps.

[0081] It should be noted that by analyzing the working environment data, the three-dimensional spatial information of the working environment is analyzed, and then an environmental map is accurately constructed to improve the reflection accuracy of the environmental map.

[0082] Please refer to Figure 3 , Figure 3 which is a flowchart of an obstacle position information analysis method for a wheeled robot movement control method based on a complex obstacle environment in some embodiments of the present application. According to an embodiment of the present invention, the distribution information of obstacles in the working environment is analyzed based on the type of the environmental map to obtain obstacle position information, specifically including:

[0083] S301, obtaining the type of the environmental map, dividing the working environment into a number of grids of equal size based on the grid map, and generating sub-regions corresponding to each grid;

[0084] S302, analyzing the obstacle occupancy status information of each grid based on the working environment data;

[0085] S303. Analyze the key positions and important nodes in the co - working environment based on the topological map, extract the topological features of the important nodes and key positions, and analyze the connection relationship between the key positions and important nodes based on the topological features;

[0086] S304. Analyze the category, function and attribute information of the objects in the working environment based on the semantic map, and generate semantic information based on the category, function and attribute information of the objects in the working environment;

[0087] S305. Generate the obstacle distribution information of the working environment based on the obstacle occupancy state information, the connection relationship between the key positions and important nodes, and the semantic information, and obtain the obstacle position information.

[0088] It should be noted that by analyzing the distribution of obstacles in the working environment through different types of environmental maps, the position of the obstacles can be accurately located.

[0089] According to the embodiments of the present invention, obtain the mobile parameter information of the wheeled robot, and analyze the mobile state information of the wheeled robot based on the mobile parameter information of the wheeled robot, specifically including:

[0090] Obtain the linear velocity and angular velocity of the wheeled robot, and analyze the mobile parameter information of the wheeled robot based on the linear velocity and angular velocity;

[0091] Analyze the position information and mobile speed information at different time nodes based on the mobile parameter information of the wheeled robot;

[0092] Compare the position information and mobile speed information of adjacent time nodes to obtain the position change information and speed change information;

[0093] Analyze the mobile state information of the mobile wheeled robot based on the position change information and speed change information.

[0094] It should be noted that by analyzing the position information and speed information of the wheeled robot at different time nodes, the position change and speed change of the wheeled robot are analyzed, and the mobile state of the wheeled robot is accurately analyzed, providing an effective basis for the mobile control of the mobile robot.

[0095] According to the embodiments of the present invention, analyze the real - time position information of the wheeled robot based on the mobile state information of the wheeled robot, and generate a mobile control strategy based on the real - time position information of the wheeled robot and the obstacle position information, specifically including:

[0096] Obtain the mobile state information of the wheeled robot, and analyze the steering angle of the wheeled robot based on the mobile state information of the wheeled robot;

[0097] Analyze the moving speed information of the wheeled robot based on the moving state information of the wheeled robot;

[0098] Analyze the real-time position information of the wheeled robot based on the moving angle of the wheeled robot and the moving speed information of the wheeled robot;

[0099] Compare the real-time position information of the wheeled robot with the obstacle position information to obtain distance information;

[0100] Generate a movement control strategy based on the distance information.

[0101] It should be noted that by analyzing the moving state information of the wheeled robot, the steering angle and moving speed of the wheeled robot are analyzed, so as to accurately position the wheeled robot and improve the accuracy of wheeled robot position analysis.

[0102] According to the embodiment of the present invention, based on the movement control strategy, analyze the difference information between the movement trajectory of the wheeled robot and the set trajectory, and adjust and generate the movement parameter information of the wheeled robot based on the difference information, specifically including:

[0103] Obtain the movement control strategy, and analyze the steering angle of the wheeled robot and the movement speed information of the wheeled robot based on the movement control strategy;

[0104] Analyze the movement trajectory of the wheeled robot based on the steering angle of the wheeled robot and the movement speed information of the wheeled robot;

[0105] Compare the movement trajectory of the wheeled robot with the set trajectory and calculate the Euclidean distance;

[0106] Analyze the difference information between the movement trajectory of the wheeled robot and the set trajectory based on the Euclidean distance;

[0107] Compare the difference information with the set condition information to obtain the movement deviation rate;

[0108] Judge whether the movement deviation rate is greater than or equal to the set movement deviation rate threshold;

[0109] If it is greater than or equal to the set movement deviation rate threshold, generate correction information and adjust the movement parameter information of the wheeled robot based on the correction information;

[0110] If it is less than, obtain the movement trajectory of the wheeled robot in real time.

[0111] It should be noted that by analyzing the Euclidean distance between the movement trajectory of the wheeled robot and the set trajectory, the deviation information of the movement trajectory is analyzed, so as to accurately adjust the movement parameters of the wheeled robot and ensure that the wheeled robot can move according to the set trajectory.

[0112] According to the embodiment of the present invention, it further includes: obtaining the working environment data

[0113] Judge whether each grid is occupied by an obstacle based on the working environment data;

[0114] If it is occupied, it is determined that there is an obstacle in the current grid;

[0115] If it is not occupied, it is determined that there is no obstacle in the current grid.

[0116] It should be noted that by analyzing the working environment data, the occupancy situation of the grid can be accurately analyzed, and then whether there is an obstacle in the grid can be analyzed according to the occupancy situation of the grid, and the distribution of obstacles can be accurately analyzed.

[0117] In a second aspect, an embodiment of the present application provides a mobile control system for a wheeled robot in a complex obstacle environment. The system includes: a memory and a processor. The memory includes a program for the mobile control method of the wheeled robot in a complex obstacle environment. When the program for the mobile control method of the wheeled robot in a complex obstacle environment is executed by the processor, the following steps are implemented:

[0118] Obtain working environment data based on sensors, construct an environment map based on the working environment data, and analyze the type of the environment map;

[0119] Analyze the obstacle distribution information in the working environment based on the type of the environment map to obtain the obstacle position information;

[0120] Obtain the mobile parameter information of the wheeled robot, and analyze the mobile state information of the wheeled robot based on the mobile parameter information of the wheeled robot;

[0121] Analyze the real-time position information of the wheeled robot based on the mobile state information of the wheeled robot, and generate a mobile control strategy based on the real-time position information of the wheeled robot and the obstacle position information;

[0122] Analyze the difference information between the mobile trajectory of the wheeled robot and the set trajectory based on the mobile control strategy, and adjust and generate the mobile parameter information of the wheeled robot based on the difference information.

[0123] It should be noted that by constructing an environment map, the distribution of obstacles in the working environment can be accurately analyzed, and the mobile parameter information of the wheeled robot can be accurately controlled according to the obstacle distribution, so as to improve the moving speed and obstacle avoidance effect of the wheeled robot.

[0124] According to an embodiment of the present invention, obtaining working environment data based on sensors, constructing an environment map based on the working environment data, and analyzing the type of the environment map specifically include:

[0125] Analyze the distance between the wheeled robot and the sensor based on the laser beam emitted by the lidar and the flight time of the reflected light;

[0126] Obtain the image information of the working environment in real time based on the camera, and generate the working environment data based on the image information of the working environment and the distance between the wheeled robot and the sensor;

[0127] Analyze the three-dimensional space information of the working environment based on the working environment data to obtain the three-dimensional point cloud data;

[0128] Analyze the working environment parameter information based on the three-dimensional point cloud data, and construct an environmental map based on the working environment parameter information;

[0129] Analyze the grid information, semantic information and node position information based on the environmental map, and analyze the type of the environmental map based on the grid information, semantic information and node position information. The types of environmental maps include grid maps, topological maps and semantic maps.

[0130] It should be noted that by analyzing the working environment data, the three-dimensional space information of the working environment is analyzed, and then the environmental map is accurately constructed to improve the reflection accuracy of the environmental map.

[0131] According to the embodiments of the present invention, analyze the obstacle distribution information in the working environment based on the type of the environmental map to obtain the obstacle position information, specifically including:

[0132] Obtain the type of the environmental map, divide the working environment into a number of grids of equal size based on the grid map, and generate a corresponding sub-region for each grid;

[0133] Analyze the obstacle occupancy status information of each grid based on the working environment data;

[0134] Analyze the key positions and important nodes in the co-working environment based on the topological map, extract the topological features of the important nodes and key positions, and analyze the connection relationship between the key positions and important nodes based on the topological features;

[0135] Analyze the category, function and attribute information of the objects in the working environment based on the semantic map, and generate semantic information based on the category, function and attribute information of the objects in the working environment;

[0136] Generate the obstacle distribution information of the working environment based on the obstacle occupancy status information, the connection relationship between the key positions and important nodes, and the semantic information, and obtain the obstacle position information.

[0137] It should be noted that by analyzing the distribution of obstacles in the working environment through different types of environmental maps, the position of the obstacles can be accurately located.

[0138] According to the embodiments of the present invention, obtain the wheeled robot movement parameter information, and analyze the wheeled robot movement state information based on the wheeled robot movement parameter information, specifically including:

[0139] Obtain the linear velocity and angular velocity of the wheeled robot, and analyze the movement parameter information of the wheeled robot based on the linear velocity and angular velocity;

[0140] Analyze the position information and movement speed information at different time nodes based on the movement parameter information of the wheeled robot;

[0141] Compare the position information and movement speed information of adjacent time nodes to obtain the position change information and speed change information;

[0142] Analyze the movement state information of the mobile wheeled robot based on the position change information and speed change information.

[0143] It should be noted that by analyzing the position information and speed information of the wheeled robot at different time nodes, the position change and speed change of the wheeled robot are analyzed, and the movement state of the wheeled robot is accurately analyzed, providing an effective basis for the movement control of the mobile robot.

[0144] According to the embodiments of the present invention, analyze the real-time position information of the wheeled robot based on the movement state information of the wheeled robot, and generate a movement control strategy based on the real-time position information of the wheeled robot and the position information of the obstacle, specifically including:

[0145] Obtain the movement state information of the wheeled robot, and analyze the steering angle of the wheeled robot based on the movement state information of the wheeled robot;

[0146] Analyze the movement speed information of the wheeled robot based on the movement state information of the wheeled robot;

[0147] Analyze the real-time position information of the wheeled robot based on the movement angle of the wheeled robot and the movement speed information of the wheeled robot;

[0148] Compare the real-time position information of the wheeled robot with the position information of the obstacle to obtain the distance information;

[0149] Generate a movement control strategy based on the distance information.

[0150] It should be noted that by analyzing the movement state information of the wheeled robot, the steering angle and movement speed of the wheeled robot are analyzed, so as to accurately position the wheeled robot and improve the accuracy of wheeled robot position analysis.

[0151] According to the embodiments of the present invention, analyze the difference information between the movement trajectory of the wheeled robot and the set trajectory based on the movement control strategy, and adjust and generate the movement parameter information of the wheeled robot, specifically including:

[0152] Obtain the movement control strategy, and analyze the steering angle of the wheeled robot and the movement speed information of the wheeled robot based on the movement control strategy;

[0153] Analyze the moving trajectory of a wheeled robot based on the steering angle and moving speed information of the wheeled robot;

[0154] Compare the moving trajectory of the wheeled robot with the set trajectory and calculate the Euclidean distance;

[0155] Analyze the difference information between the moving trajectory of the wheeled robot and the set trajectory based on the Euclidean distance;

[0156] Compare the difference information with the set condition information to obtain the moving deviation rate;

[0157] Judge whether the moving deviation rate is greater than or equal to the set moving deviation rate threshold;

[0158] If it is greater than or equal to the set moving deviation rate threshold, generate correction information and adjust the moving parameter information of the wheeled robot based on the correction information;

[0159] If it is less, obtain the moving trajectory of the wheeled robot in real time.

[0160] It should be noted that by analyzing the Euclidean distance between the moving trajectory of the wheeled robot and the set trajectory, the deviation information of the moving trajectory is analyzed, so as to accurately adjust the moving parameters of the wheeled robot and ensure that the wheeled robot can move according to the set trajectory.

[0161] According to the embodiments of the present invention, it further includes: obtaining working environment data,

[0162] Based on the working environment data, judge whether each grid is occupied by an obstacle;

[0163] If it is occupied, it is determined that there is an obstacle in the current grid;

[0164] If it is not occupied, it is determined that there is no obstacle in the current grid.

[0165] It should be noted that by analyzing the working environment data, the occupancy situation of the grid is accurately analyzed, and then whether there is an obstacle in the grid is analyzed according to the occupancy situation of the grid, and the distribution of obstacles is accurately analyzed.

[0166] The third aspect of the present invention provides a computer-readable storage medium, and the readable storage medium includes a program for the moving control method of a wheeled robot under a complex obstacle environment. When the program for the moving control method of a wheeled robot under a complex obstacle environment is executed by a processor, the steps of the moving control method of a wheeled robot under a complex obstacle environment as described in any one of the above are realized.

[0167] A wheeled robot movement control method, system and medium based on a complex obstacle environment disclosed by the present invention obtain working environment data based on sensors, construct an environment map based on the working environment data, and analyze the type of the environment map; analyze the obstacle distribution information in the working environment based on the type of the environment map to obtain obstacle position information; obtain the wheeled robot movement parameter information, and analyze the wheeled robot movement state information based on the wheeled robot movement parameter information; analyze the wheeled robot real-time position information based on the wheeled robot movement state information, and generate a movement control strategy based on the wheeled robot real-time position information and the obstacle position information; analyze the difference information between the wheeled robot movement trajectory and the set trajectory based on the movement control strategy, and adjust and generate the wheeled robot movement parameter information based on the difference information; accurately analyze the obstacle distribution in the working environment of the wheeled robot by constructing the environment map, so as to dynamically adjust the movement parameter information according to the wheeled robot real-time position information, and improve the control accuracy of the wheeled robot.

[0168] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms.

[0169] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units; they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0170] In addition, each functional unit in the embodiments of the present invention can be all integrated in one processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in one unit; the above integrated unit can be implemented in the form of hardware, or in the form of a hardware plus software functional unit.

[0171] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0172] Alternatively, if the above integrated units of the present invention are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, ROM, RAM, magnetic disks, or optical discs.

Claims

1. A mobile control method for a wheeled robot in a complex obstacle environment, characterized in that, Including: Obtaining working environment data based on sensors, constructing an environment map based on the working environment data, and analyzing the type of the environment map; Analyzing the obstacle distribution information in the working environment based on the type of the environment map to obtain obstacle position information; Obtaining the movement parameter information of the wheeled robot, and analyzing the movement state information of the wheeled robot based on the movement parameter information of the wheeled robot; Analyzing the real-time position information of the wheeled robot based on the movement state information of the wheeled robot, and generating a movement control strategy based on the real-time position information of the wheeled robot and the obstacle position information; Analyzing the difference information between the movement trajectory of the wheeled robot and the set trajectory based on the movement control strategy, and adjusting and generating the movement parameter information of the wheeled robot based on the difference information.

2. The wheeled robot movement control method based on a complex obstacle environment according to claim 1, wherein Obtaining working environment data based on sensors, constructing an environment map based on the working environment data, and analyzing the type of the environment map, specifically including: Analyzing the distance between the wheeled robot and the sensor based on the laser beam emitted by the lidar and measuring the flight time of the reflected light; Obtaining the working environment image information in real time based on the camera, and generating working environment data based on the working environment image information and the distance between the wheeled robot and the sensor; Analyzing the three-dimensional space information of the working environment based on the working environment data to obtain three-dimensional point cloud data; Analyzing the working environment parameter information based on the three-dimensional point cloud data, and constructing an environment map based on the working environment parameter information; Analyzing the grid information, semantic information and node position information based on the environment map, and analyzing the type of the environment map based on the grid information, semantic information and node position information, where the type of the environment map includes grid map, topological map and semantic map.

3. The wheeled robot movement control method based on a complex obstacle environment according to claim 2, wherein Analyzing the obstacle distribution information in the working environment based on the type of the environment map to obtain obstacle position information, specifically including: Obtaining the type of the environment map, dividing the working environment into a number of grids of equal size based on the grid map, and generating sub-regions corresponding to each grid; Analyzing the obstacle occupancy state information of each grid based on the working environment data; Analyzing the key positions and important nodes in the co-working environment based on the topological map, extracting the topological features of the important nodes and key positions, and analyzing the connection relationship between the key positions and important nodes based on the topological features; Analyzing the category, function and attribute information of the objects in the working environment based on the semantic map, and generating semantic information based on the category, function and attribute information of the objects in the working environment; Generating the obstacle distribution information of the working environment based on the obstacle occupancy state information, the connection relationship between the key positions and important nodes, and the semantic information, and obtaining the obstacle position information.

4. The wheeled robot movement control method based on a complex obstacle environment according to claim 3, characterized in that Obtaining the movement parameter information of the wheeled robot, and analyzing the movement state information of the wheeled robot based on the movement parameter information of the wheeled robot, specifically including: Obtaining the linear velocity and angular velocity of the wheeled robot, and analyzing the movement parameter information of the wheeled robot based on the linear velocity and angular velocity; Analyzing the position information and movement speed information at different time nodes based on the movement parameter information of the wheeled robot; Comparing the position information and movement speed information of adjacent time nodes to obtain the position change information and speed change information; Analyzing the movement state information of the moving wheeled robot based on the position change information and speed change information.

5. The wheeled robot movement control method based on a complex obstacle environment according to claim 4, wherein Analyze the real-time position information of the wheeled robot based on the moving state information of the wheeled robot, and generate a motion control strategy based on the real-time position information of the wheeled robot and the obstacle position information, specifically including: Obtain the moving state information of the wheeled robot, and analyze the steering angle of the wheeled robot based on the moving state information of the wheeled robot; Analyze the moving speed information of the wheeled robot based on the moving state information of the wheeled robot; Analyze the real-time position information of the wheeled robot based on the moving angle of the wheeled robot and the moving speed information of the wheeled robot; Compare the real-time position information of the wheeled robot with the obstacle position information to obtain distance information; Generate a motion control strategy based on the distance information.

6. The wheeled robot movement control method based on a complex obstacle environment according to claim 5, wherein Analyze the difference information between the moving trajectory of the wheeled robot and the set trajectory based on the motion control strategy, and adjust and generate the moving parameter information of the wheeled robot based on the difference information, specifically including: Obtain the motion control strategy, and analyze the steering angle of the wheeled robot and the moving speed information of the wheeled robot based on the motion control strategy; Analyze the moving trajectory of the wheeled robot based on the steering angle of the wheeled robot and the moving speed information of the wheeled robot; Compare the moving trajectory of the wheeled robot with the set trajectory and calculate the Euclidean distance; Analyze the difference information between the moving trajectory of the wheeled robot and the set trajectory based on the Euclidean distance; Compare the difference information with the set condition information to obtain a motion deviation rate; Judge whether the motion deviation rate is greater than or equal to the set motion deviation rate threshold; If it is greater than or equal to the set motion deviation rate threshold, generate correction information and adjust the moving parameter information of the wheeled robot based on the correction information; If it is less, obtain the moving trajectory of the wheeled robot in real time.

7. A mobile control system for a wheeled robot in a complex obstacle environment, characterized in that, The system includes: a memory and a processor. The memory includes a program for the motion control method of the wheeled robot in a complex obstacle environment. When the program for the motion control method of the wheeled robot in a complex obstacle environment is executed by the processor, the following steps are implemented: Obtain working environment data based on sensors, construct an environment map based on the working environment data, and analyze the type of the environment map; Analyze the obstacle distribution information in the working environment based on the type of the environment map to obtain obstacle position information; Obtain the moving parameter information of the wheeled robot, and analyze the moving state information of the wheeled robot based on the moving parameter information of the wheeled robot; Analyze the real-time position information of the wheeled robot based on the moving state information of the wheeled robot, and generate a motion control strategy based on the real-time position information of the wheeled robot and the obstacle position information; Analyze the difference information between the moving trajectory of the wheeled robot and the set trajectory based on the motion control strategy, and adjust and generate the moving parameter information of the wheeled robot based on the difference information.

8. The wheeled robot movement control system based on a complex obstacle environment according to claim 7, characterized in that, Obtain working environment data based on sensors, construct an environment map based on the working environment data, and analyze the type of the environment map, specifically including: Analyze the distance between the wheeled robot and the sensor based on the laser beam emitted by the lidar and the flight time of the reflected light; Obtain the working environment image information in real time based on the camera, and generate working environment data based on the working environment image information and the distance between the wheeled robot and the sensor; Analyze the three-dimensional space information of the working environment based on the working environment data to obtain three-dimensional point cloud data; Analyze the working environment parameter information based on the three-dimensional point cloud data, and construct an environmental map based on the working environment parameter information; Analyze the grid information, semantic information and node position information based on the environmental map, and analyze the type of the environmental map based on the grid information, semantic information and node position information. The types of the environmental map include grid map, topological map and semantic map.

9. The wheeled robot movement control system based on a complex obstacle environment according to claim 8, characterized in that, Analyze the obstacle distribution information in the working environment based on the type of the environmental map to obtain the obstacle position information, specifically including: Obtain the type of the environmental map, divide the working environment into several grids of equal size based on the grid map, and generate corresponding sub-regions for each grid; Analyze the obstacle occupancy status information of each grid based on the working environment data; Analyze the key positions and important nodes in the co-working environment based on the topological map, extract the topological features of the important nodes and key positions, and analyze the connection relationship between the key positions and important nodes based on the topological features; Analyze the category, function and attribute information of the objects in the working environment based on the semantic map, and generate semantic information based on the category, function and attribute information of the objects in the working environment; Generate the obstacle distribution information of the working environment based on the obstacle occupancy status information, the connection relationship between the key positions and important nodes, and the semantic information, and obtain the obstacle position information.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program for the mobile control method of a wheeled robot under a complex obstacle environment. When the program for the mobile control method of a wheeled robot under a complex obstacle environment is executed by a processor, the steps of the mobile control method of a wheeled robot under a complex obstacle environment as described in any one of claims 1 to 6 are implemented.

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