Summary of the invention
The main purpose of the application is to provide a kind of paths planning method and distributed robot, to improve distributed robotThe probability smoothly to arrive at the destination.
To achieve the goals above, this application provides a kind of paths planning methods, comprising:
Obtain the position of each barrier in scene map；
According to demand set by user, the position, preset path is adjusted so that path adjusted with it is describedPosition is not overlapped；And
Instruction of advancing is executed according to path adjusted.
Optionally, the position for obtaining each barrier in scene map includes:
The barrier is positioned, to determine position of the barrier in scene map.
Optionally, according to demand set by user, the position, preset path is adjusted, so that road adjustedDiameter is not overlapped with the position
When the demand set by user is to reduce duplicate paths, according to the position of destination each in the preset pathIt sets, is determined to successively reach all path candidates of each destination；
Select the path not being overlapped with the position as destination path from all path candidates；
All destination paths are compared, using the least path candidate of duplicate paths as travel path；And
The preset path is adjusted to the travel path.
Optionally, according to demand set by user, the position, preset path is adjusted, so that road adjustedDiameter is not overlapped with the position
When the demand set by user be it is time-consuming most in short-term, according to the position of destination each in the preset path, reallySurely all path candidates of each destination can successively be reached；
Select the path not being overlapped with the position as destination path from all path candidates；
Calculate the duration consumed when each destination path is advanced according to specified travel speed and turning rate；
Each duration is compared, will most grow corresponding path in short-term as travel path；And
The preset path is adjusted to the travel path.
Optionally, according to path adjusted execute advance instruction when, the distributed robot just facing towards with travelingDirection is identical or the distributed robot back side is towards identical as direction of travel.
To achieve the goals above, this application provides a kind of distributed robots, comprising:
Acquiring unit, for obtaining the position of each barrier in scene map；
Path adjustment unit, for being adjusted to preset path according to demand set by user, the position, so thatPath adjusted is not overlapped with the position；
Traveling unit, for executing instruction of advancing according to path adjusted.
Optionally, in the acquiring unit for being used for when obtaining the position of each barrier in scene map:
The barrier is positioned, to determine position of the barrier in scene map.
Optionally, the path adjustment unit is used to carry out preset path according to demand set by user, the positionWhen adjustment, it is used for:
When the demand set by user is to reduce duplicate paths, according to the position of destination each in the preset pathIt sets, is determined to successively reach all path candidates of each destination；
Select the path not being overlapped with the position as destination path from all path candidates；
All destination paths are compared, using the least path candidate of duplicate paths as travel path；
The preset path is adjusted to the travel path.
Optionally, the path adjustment unit is used to carry out preset path according to demand set by user, the positionWhen adjustment, it is used for:
When the demand set by user be it is time-consuming most in short-term, according to the position of destination each in the preset path, reallySurely all path candidates of each destination can successively be reached；
Select the path not being overlapped with the position as destination path from all path candidates；
Calculate the duration consumed when each destination path is advanced according to specified travel speed and turning rate；
Each duration is compared, will most grow corresponding path in short-term as travel path；
The preset path is adjusted to the travel path.
Optionally, according to path adjusted execute advance instruction when, the distributed robot just facing towards with travelingDirection is identical or the distributed robot back side is towards identical as direction of travel.
The technical solution that embodiments herein provides can include the following benefits:
In this application, in getting scene map behind the position of each barrier, according to demand set by user and upperThe position stated, is adjusted preset path, and is overlapped path adjusted not with the position of barrier, therefore in delivery machineWhen device people executes traveling instruction according to path adjusted, barrier influence not will receive, when distributed robot is according to default roadWhen diameter is advanced, if after being influenced by barrier, can be adjusted according to the above method to preset path, and due to adjustmentPath afterwards is not overlapped with barrier position, therefore is conducive to make distributed robot will not be by subsequent traveling processTo the influence of barrier, to be conducive to improve the probability that distributed robot smoothly arrives at the destination, also, to preset pathWhen being adjusted, it is also necessary to be adjusted according to demand set by user, for example, when demand set by user is to reduce to repeat roadWhen diameter, distributed robot advantageously reduces the duplicate paths of distributed robot, to have when advancing according to path adjustedConducive to the efficiency improved when distributed robot executes task.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present applicationAttached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is onlyThe embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill peopleMember's every other embodiment obtained without making creative work, all should belong to the model of the application protectionIt encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this wayData be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " toolHave " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or unitsProcess, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clearOther step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside"," in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure orPositional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodimentSet, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating itHis meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For abilityFor the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phaseIt even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phaseMutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 be a kind of flow diagram of paths planning method provided by the present application, as shown in Figure 1, this method include withLower step:
101, the position of each barrier in scene map is obtained.
It should be noted that specific scene map can be set according to actual needs, for example, scene map can be withFor the scene map of the scene map of school, the scene map in market or hotel, specific scene map is not done specifically hereinIt limits.
It needs to be noted again that, barrier can cause the traveling of distributed robot to be all in scene mapThe object of influence, for example, desk, statue, the object temporarily placed in channel etc., specific barrier can be according to actual needsIt is set, is not specifically limited herein.
102, according to demand set by user, the position, preset path is adjusted so that path adjusted withThe position is not overlapped.
It should be noted that demand set by user can be set according to the actual demand of user, does not do have hereinBody limits.
103, instruction of advancing is executed according to path adjusted.
In this application, in getting scene map behind the position of each barrier, according to demand set by user and upperThe position stated, is adjusted preset path, and is overlapped path adjusted not with the position of barrier, therefore in delivery machineWhen device people executes traveling instruction according to path adjusted, barrier influence not will receive, when distributed robot is according to default roadWhen diameter is advanced, if after being influenced by barrier, can be adjusted according to the above method to preset path, and due to adjustmentPath afterwards is not overlapped with barrier position, therefore is conducive to make distributed robot will not be by subsequent traveling processTo the influence of barrier, to be conducive to improve the probability that distributed robot smoothly arrives at the destination, also, to preset pathWhen being adjusted, it is also necessary to be adjusted according to demand set by user, for example, when demand set by user is to reduce to repeat roadWhen diameter, distributed robot advantageously reduces the duplicate paths of distributed robot, to have when advancing according to path adjustedConducive to the efficiency improved when distributed robot executes task.
In a feasible embodiment, when executing step 101, the barrier can be positioned, with trueDetermine position of the barrier in scene map.
Specifically, if barrier be it is fixed, barrier can be positioned according to the setting position of barrier,If barrier is temporarily placed, barrier can be positioned by photographic device acquired image, for example, to figureIt, can basis about the specific method positioned to barrier to determine position that barrier is specifically placed as being analyzedActual needs is set, and is not specifically limited herein.
In a feasible embodiment, Fig. 2 is the process signal of another paths planning method provided by the present applicationFigure, when executing step 102, as shown in Fig. 2, when the demand set by user be reduction duplicate paths when, can by withLower step is realized:
201, it according to the position of destination each in the preset path, is determined to successively reach the institute of each destinationThere is path candidate.
202, select the path not being overlapped with the position as destination path from all path candidates.
203, all destination paths are compared, using the least path candidate of duplicate paths as travel path.
204, the preset path is adjusted to the travel path.
Specifically, planning path again is needed when distributed robot is influenced not moving by barrier, in delivery machinePeople again planning path when, can be planned again according to demand set by user, so that the path after planning meets user'sDemand, when demand set by user is to reduce duplicate paths, it is desirable that distributed robot reduces duplicate paths to the greatest extent, is sent with improvingThe efficiency that goods robot executes task needs to obtain distributed robot's present bit when according to above-mentioned requirements planning path againPath candidate all when successively arriving each destination is set, i.e. every path candidate can make distributed robot successively reach each meshGround influenced to make distributed robot no longer by barrier after determining all path candidates, need from candidate roadThe path not being overlapped with the position of barrier is filtered out in diameter as destination path, due to area of the destination path on scene mapDomain is not repeated with the position of barrier, therefore no matter distributed robot along the traveling of which destination path not will receive barrierIt influences, since demand set by user is to reduce duplicate paths, therefore, it is necessary to be screened again to destination path, i.e., to allDestination path is compared, using the least path candidate of duplicate paths as travel path, it should be noted that about specificWay of contrast can be set according to actual needs, be not specifically limited herein, after determining travel path, can willPreset path is adjusted to travel path, and distributed robot can continue on according to travel path at this time.
In a feasible embodiment, Fig. 3 is the process signal of another paths planning method provided by the present applicationFigure, when executing step 102, as shown in figure 3, when the demand set by user be time-consuming most in short-term, can be by followingStep is realized:
301, it according to the position of destination each in the preset path, is determined to successively reach the institute of each destinationThere is path candidate.
302, select the path not being overlapped with the position as destination path from all path candidates.
303, the duration consumed when each destination path is advanced according to specified travel speed and turning rate is calculated；
304, each duration is compared, will most grows corresponding path in short-term as travel path.
305, the preset path is adjusted to the travel path.
Specifically, planning path again is needed when distributed robot is influenced not moving by barrier, in delivery machinePeople again planning path when, can be planned again according to demand set by user, so that the path after planning meets user'sDemand, when demand set by user be it is time-consuming most in short-term, it is desirable that distributed robot's time-consuming when completing all tasks is most short, to mentionThe efficiency that high distributed robot executes task needs to obtain distributed robot and works as when according to above-mentioned requirements planning path againPath candidate all when each destination is successively arrived in front position, i.e. every path candidate can be such that distributed robot successively reachesEach destination is influenced by barrier in order to make distributed robot no longer, is needed from time after determining all path candidatesThe path not being overlapped with the position of barrier is filtered out in routing diameter as destination path, since destination path is on scene mapRegion do not repeated with the position of barrier, therefore no matter distributed robot along the traveling of which destination path not will receive obstacleThe influence of object, since demand set by user is travel speed and turning rate that be time-consuming most short, specifying therefore, it is necessary to basisConsumed duration, is then compared each duration when advancing to simulate according to each destination path, time-consuming most short to determineDestination path as travel path, it should be noted that can be set according to actual needs about specific way of contrastIt is fixed, it is not specifically limited herein, after determining travel path, preset path can be adjusted to travel path, at this time deliveryRobot can be continued on according to travel path.
In a feasible embodiment, when executing traveling instruction according to path adjusted, the delivery machinePeople is just facing towards and direction of travel is identical or the distributed robot back side is towards identical as direction of travel.
Specifically, distributed robot has positive (direction of travel of distributed robot and the front of distributed robot of advancingTowards identical) and the function of (direction of travel of distributed robot and distributed robot just facing towards opposite) is fallen back and advances, withJust distributed robot has a variety of traveling modes during traveling, reduce distributed robot make excessively waste time it is dynamicMake, for example, currently have A point and B point, distributed robot is after from A point to B point, at this time distributed robot just facing towards with from A pointExtending direction to B point is identical, in the prior art, if distributed robot is allowed to return to A point from B point, needs delivery machinePeople complete turning action, make distributed robot just facing towards with from B point to the extending direction of A point it is identical after, can just continueIt advances, since the more time can be wasted when distributed robot's turning, when being unfavorable for improving distributed robot's execution taskEfficiency, in this application, distributed robot can without turning, directly exercise fall back traveling function, so that it may from BPoint returns to A point, to be conducive to improve efficiency when distributed robot executes task.
Fig. 4 is a kind of structural schematic diagram of distributed robot provided by the present application, as shown in figure 4, the distributed robot wrapsIt includes:
Acquiring unit 41, for obtaining the position of each barrier in scene map；
Path adjustment unit 42, for being adjusted to preset path according to demand set by user, the position, withIt is overlapped path adjusted not with the position；
Traveling unit 43, for executing instruction of advancing according to path adjusted.
In a feasible embodiment, it is used to obtain the position of each barrier in scene map in the acquiring unit 41When setting, it is used for:
The barrier is positioned, to determine position of the barrier in scene map.
In a feasible embodiment, the path adjustment unit 42 is used for according to demand set by user, describedPosition when being adjusted to preset path, is used for:
When the demand set by user is to reduce duplicate paths, according to the position of destination each in the preset pathIt sets, is determined to successively reach all path candidates of each destination；
Select the path not being overlapped with the position as destination path from all path candidates；
All destination paths are compared, using the least path candidate of duplicate paths as travel path；
The preset path is adjusted to the travel path.
In a feasible embodiment, the path adjustment unit 42 is used for according to demand set by user, describedPosition when being adjusted to preset path, is used for:
When the demand set by user be it is time-consuming most in short-term, according to the position of destination each in the preset path, reallySurely all path candidates of each destination can successively be reached；
Select the path not being overlapped with the position as destination path from all path candidates；
Calculate the duration consumed when each destination path is advanced according to specified travel speed and turning rate；
Each duration is compared, will most grow corresponding path in short-term as travel path；
The preset path is adjusted to the travel path.
In a feasible embodiment, when executing traveling instruction according to path adjusted, the delivery machinePeople is just facing towards and direction of travel is identical or the distributed robot back side is towards identical as direction of travel.
The concrete mode of operation is executed in the embodiment of the method about each unit in above-described embodimentIt is described in detail, no detailed explanation will be given here.
In this application, in getting scene map behind the position of each barrier, according to demand set by user and upperThe position stated, is adjusted preset path, and is overlapped path adjusted not with the position of barrier, therefore in delivery machineWhen device people executes traveling instruction according to path adjusted, barrier influence not will receive, when distributed robot is according to default roadWhen diameter is advanced, if after being influenced by barrier, can be adjusted according to the above method to preset path, and due to adjustmentPath afterwards is not overlapped with barrier position, therefore is conducive to make distributed robot will not be by subsequent traveling processTo the influence of barrier, to be conducive to improve the probability that distributed robot smoothly arrives at the destination, also, to preset pathWhen being adjusted, it is also necessary to be adjusted according to demand set by user, for example, when demand set by user is to reduce to repeat roadWhen diameter, distributed robot advantageously reduces the duplicate paths of distributed robot, to have when advancing according to path adjustedConducive to the efficiency improved when distributed robot executes task.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this fieldFor art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repairChange, equivalent replacement, improvement etc., should be included within the scope of protection of this application.