Mobile robot control method and device, mobile robot and storage medium

A mobile robot and control method technology, applied in the field of robotics, can solve problems such as the inability to obtain road surface information, and achieve the effect of broadening application scenarios and improving performance

Active Publication Date: 2021-04-20
KEENON ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, obstacles in the surrounding space are identified through the 360° rotating scanning of the laser radar installed in the lower area of ​​the mobile robot. Since the laser radar is usually at a certain height from the ground, the mobile robot in the prior art cannot obtain the road surface. information, thus operating only on level ground

Method used

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  • Mobile robot control method and device, mobile robot and storage medium
  • Mobile robot control method and device, mobile robot and storage medium
  • Mobile robot control method and device, mobile robot and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0059] figure 2 It is a schematic flowchart of the control method of the mobile robot provided in Embodiment 1 of the present application. The method of this embodiment can be executed by the control device of the mobile robot provided in the embodiment of the present application, and the device can be realized by software and / or hardware , and can be integrated into mobile robots. Such as figure 2 As shown, the control method of the mobile robot of the present embodiment includes:

[0060] S101. When the effective distance changes in the distance information obtained by the laser radar, predict the inclination angle of the road ahead relative to the road where the mobile robot is currently located.

[0061] As an example, assuming that the mobile robot is moving on a horizontal road surface (current road surface), the distance measured by the lidar is used as d 0 Indicates that when encountering an uphill slope, the measured distance d 1 d 0 , when encountering a dow...

Embodiment 2

[0134] Figure 7 A schematic diagram of the structure of the control device of the mobile robot provided in Embodiment 2 of the present application, as shown in Figure 7 As shown, the control device 10 of the mobile robot in this embodiment includes:

[0135] Slope prediction module 11 and motion control module 12.

[0136] The slope prediction module 11 is used to predict the inclination angle of the road ahead relative to the current road surface of the mobile robot when the distance information obtained by the laser radar changes effectively; based on the inclination angle and the pitch measured by the inertial measurement unit Angle, to determine the slope of the road ahead;

[0137] The motion control module 12 is used to control the movement of the mobile robot according to the gradient, the comparison result of the gradient and the gradient threshold of the mobile robot; the road section ahead is marked as a gradient area on the gradient map, the The slope map is us...

Embodiment 3

[0173] Figure 8 A schematic structural diagram of a mobile robot provided in Embodiment 3 of the present application, such as Figure 8 As shown, the mobile robot 20 includes:

[0174] Lidar 21 , inertial measurement unit 22 and data processing center 23 . The laser radar 21 and the inertial measurement unit 22 are respectively connected in communication with the data processing center 23 to send the collected data to the data processing center 23 .

[0175] Wherein, the laser radar 21 may be a single-line laser radar, or may be a multi-line laser radar. The laser radar is installed parallel to the chassis of the mobile robot, and the light beam emitted by the laser radar forms a fixed angle with the horizontal ground to measure the distance between the laser radar and the road surface.

[0176] The inertial measurement unit 22 is a device for measuring the orientation and attitude of the moving carrier through an accelerometer and a gyroscope. In this embodiment, the iner...

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Abstract

The embodiment of the invention provides a mobile robot control method and device, a mobile robot and a storage medium, and the method comprises the steps: predicting the inclination angle of a front road section relative to a current road surface where the mobile robot is located when the distance information obtained by a laser radar changes an effective distance; determining the gradient of the front road section based on the inclination angle and the pitching angle; according to the gradient and a comparison result of the gradient and a gradient threshold value set by the mobile robot, controlling the mobile robot to move; marking the front road section as a slope area on a slope map, wherein the slope map is used for controlling the mobile robot to send out climbing warning information according to the slope area when the mobile robot passes through the slope area, so that the mobile robot can run in the road section with uphill and downhill slopes, the performance of the mobile robot is improved, and the application scene of the mobile robot is broadened.

Description

technical field [0001] The embodiments of the present application relate to the technical field of robots, and in particular, to a control method and device for a mobile robot, a mobile robot, and a storage medium. Background technique [0002] With the rapid development of robot technology, the application fields of mobile robots are becoming more and more extensive. In order to realize the motion control and navigation of mobile robots in unknown environments, robot obstacle recognition based on vision has attracted much attention. It has become a mobile robot in recent years. One of the research hotspots of robotics. [0003] In the prior art, obstacles in the surrounding space are identified through the 360° rotating scanning of the laser radar installed in the lower area of ​​the mobile robot. Since the laser radar is usually at a certain height from the ground, the mobile robot in the prior art cannot obtain the road surface. information and thus only operate on level...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276G05D1/027G01S17/931G01S7/4808G01C9/06B60Q5/005G01S17/08G01S17/89
Inventor 徐玮吕登辉金超唐京扬
Owner KEENON ROBOTICS CO LTD
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