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WO2019100269A1 - Procédé et système de commande de mouvement de robot, et robot - Google Patents

Procédé et système de commande de mouvement de robot, et robot Download PDF

Info

Publication number
WO2019100269A1
WO2019100269A1 PCT/CN2017/112438 CN2017112438W WO2019100269A1 WO 2019100269 A1 WO2019100269 A1 WO 2019100269A1 CN 2017112438 W CN2017112438 W CN 2017112438W WO 2019100269 A1 WO2019100269 A1 WO 2019100269A1
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WO
WIPO (PCT)
Prior art keywords
area
robot
defined area
map
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/112438
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English (en)
Chinese (zh)
Inventor
王声平
张立新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Water World Co Ltd
Original Assignee
Shenzhen Water World Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Water World Co Ltd filed Critical Shenzhen Water World Co Ltd
Priority to PCT/CN2017/112438 priority Critical patent/WO2019100269A1/fr
Publication of WO2019100269A1 publication Critical patent/WO2019100269A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • Robot movement control method system and robot
  • the present invention relates to the field of robot technology, and in particular, to a robot movement control method, system, and robot.
  • the virtual wall method is used to limit the moving area of the robot, and a virtual wall is set as a limited area in the area where the robot is not required to enter, so that the robot can avoid the limited area.
  • trigger signals are: Magnetic field signals, which are the most common processing method by laying magnetic strips on the ground as virtual walls; infrared signals, which are emitted by one or more infrared emitting devices as virtual walls.
  • the existing robot movement control scheme realizes the limitation of the moving area of the robot, it is necessary to additionally add sensors (such as magnetic field sensors, infrared sensors, etc.) and corresponding triggering devices (such as magnetic strips, infrared emitting devices, etc.).
  • sensors such as magnetic field sensors, infrared sensors, etc.
  • triggering devices such as magnetic strips, infrared emitting devices, etc.
  • the implementation cost is greatly increased.
  • the trigger device must be manually moved, which is troublesome, and the remote control cannot be performed in this case, which limits the use scenario.
  • the existing robot mobile control scheme has higher cost, less flexibility, and poor user experience.
  • the main object of the present invention is to provide a robot movement control method, system and robot, which aim to solve the technical problem of high cost and poor flexibility of the existing robot movement control scheme.
  • an embodiment of the present invention provides a robot movement control method, where the method includes the following steps:
  • the robot sends a map to the terminal device
  • the terminal device receives the map, sets a defined area on the map, and sends setting information of the limited area to the robot;
  • the robot receives the setting information of the defined area, and avoids the defined area according to the setting information of the limited area during the moving process.
  • the step of setting a limited area on the map includes:
  • the labeling information is a defined line drawn between two points on the map boundary, and the determining the defined area according to the labeling information includes:
  • the labeling information is a closed geometric figure drawn in a blank area of the map, and the determining the defined area according to the labeling information comprises:
  • the step of avoiding the defined area according to the setting information of the defined area during the moving process includes:
  • the moving path is adjusted to avoid the defined area.
  • the step of avoiding the defined area according to the setting information of the defined area during the moving process includes:
  • the movement route is adjusted to avoid the defined area.
  • An embodiment of the present invention further provides a robot movement control method, where the method is applied to the foregoing robot, including the following steps:
  • the defined area is avoided according to the setting information of the defined area during the moving process.
  • the step of avoiding the defined area according to the setting information of the defined area during the moving process includes:
  • the moving route is adjusted to avoid the defined area.
  • the step of avoiding the defined area according to the setting information of the defined area during the moving process includes:
  • the movement route is adjusted to avoid the defined area.
  • the setting information of the defined area includes location information and contour information of the defined area.
  • Embodiments of the present invention simultaneously provide a robot movement control system, the system including a robot and a terminal device, wherein:
  • the robot is configured to send a map to the terminal device
  • the terminal device is configured to receive the map, set a defined area on the map, and send setting information of the limited area to the robot;
  • the robot is further configured to: receive setting information of the defined area, and avoid the defined area according to setting information of the defined area during the moving process.
  • the terminal device is configured to: generate annotation information on the map according to a user operation, where ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 Determine the restricted area based on the labeling information.
  • the annotation information is a defined line drawn between two points on the boundary of the map, and the terminal device is configured to:
  • One of the two areas on both sides of the defined line is selected as a defined area, and position information and defined line information of the defined area are acquired as setting information of the defined area.
  • the labeling information is a closed geometric figure drawn in a blank area of the map
  • the terminal device is configured to: select an area defined by the closed geometric figure as a defined area, and obtain the limitation
  • the location information and the outline information of the area serve as setting information of the limited area.
  • the robot is configured to: acquire a current position during the moving process; determine, according to the current position and the setting information of the defined area, whether the robot approaches the defined area; when the robot approaches When the area is defined, the movement route is adjusted to avoid the defined area.
  • the robot is configured to: mark the defined area as an obstacle on the map according to the setting information of the defined area; acquire a current position during the moving; and detect whether the current position is within a safe range Obstacle; when there is an obstacle, adjust the movement route to avoid the defined area.
  • Embodiments of the present invention simultaneously provide a robot, and the device is applied to the foregoing robot, and includes:
  • a sending module configured to send a map to the terminal device
  • a receiving module configured to receive setting information of a limited area on the map sent by the terminal device
  • the motion control module is configured to avoid the limited area according to the setting information of the limited area during the moving.
  • the motion control module includes:
  • a positioning unit configured to acquire a current position during the moving process
  • the determining unit is configured to determine, according to the current location and the setting information of the limited area, whether the robot approaches the defined area;
  • the avoidance unit is configured to adjust the movement route to avoid the defined area when the robot approaches the defined area.
  • the motion control module includes:
  • a marking unit configured to set the defined area as an obstacle object according to setting information of the defined area ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 is recorded on the map;
  • a positioning unit configured to acquire a current location during the moving process
  • the detecting unit is configured to detect whether there is an obstacle in a safe range of the current position
  • the avoidance unit is configured to adjust the movement route to avoid the defined area when there is an obstacle.
  • a robot movement control method provided by an embodiment of the present invention provides a limited area on a map by a terminal device, and sends setting information of the limited area to the robot, so that the robot can be set according to the limited area during the moving process.
  • Information avoids restricted areas. Since the limited area is set on the map, there is no need to additionally add sensors and corresponding triggering devices, which greatly reduces the implementation cost.
  • the user can adjust the limited area on the map through the terminal device at any time, which is very convenient and fast, and can be passed through the terminal.
  • the device is remotely set up, which extends the application scenario and greatly increases flexibility.
  • FIG. 1 is a flow chart of a first embodiment of a robot movement control method of the present invention
  • FIG. 2 is a flow chart of a second embodiment of a robot movement control method of the present invention.
  • FIG. 3 is a flowchart of a third embodiment of a robot movement control method of the present invention.
  • FIG. 4 is a block diagram showing an embodiment of a robot movement control system of the present invention.
  • FIG. 5 is a block diagram of an embodiment of a robot of the present invention.
  • FIG. 6 is a block diagram of the motion control module of FIG. 5;
  • FIG. 7 is a block diagram of still another module of the motion control module of FIG. 5.
  • the robots in the embodiments of the present invention are mainly referred to as cleaning robots, and may be other types of robots, which are not limited by the present invention.
  • a first embodiment of a robot movement control method of the present invention is proposed, and the method includes the following steps:
  • the robot sends a map to the terminal device.
  • the robot measures the target location by any one or a combination of at least two types of sensing devices such as a laser radar, a visual sensor, and the like, and draws a map of the target location.
  • the robot and the terminal device can access the local area network or the Internet through a wireless network (such as ⁇ VIFI), and establish a communication connection.
  • the robot and the terminal device can directly communicate or communicate through the server; the robot and the terminal device can also be connected through a point-to-point connection ( For example, Bluetooth establishes a communication connection, in which case the robot communicates directly with the terminal device.
  • a communication connection is established, the robot sends the drawn map to the terminal device.
  • the terminal device is preferably a mobile terminal such as a mobile phone or a tablet, and may also be a personal computer, a notebook computer, or the like. ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 Computer terminal.
  • the terminal device receives the map, sets a limited area on the map, and transmits setting information of the limited area to the robot.
  • the map is displayed on the screen, and the user can specify a limited area on the map that prohibits the robot from entering.
  • the user operates on the map, such as drawing a limit line between two points on the boundary of the map (representing that the robot cannot cross the limit line), and drawing a closed geometric figure in a blank area of the map (representing that the robot cannot enter the map) Graphic area), etc.
  • the terminal device generates annotation information on the map according to the user operation, the annotation information is a defined line drawn between two boundaries on the map, and a closed geometric figure (such as a rectangle drawn in a blank area of the map) , circle, triangle, etc.), and determine the defined area based on the annotation information.
  • the defined area may be one or at least two.
  • the contours of the aforementioned defined lines and closed geometry are user-defined virtual walls.
  • the terminal device when the annotation information is a defined line drawn between two points on the boundary of the map, the terminal device first selects one of the two areas on both sides of the defined line as the defined area, such as the user.
  • the clicked area is selected as the limited area, and the area on the other side of the area where the robot is currently located is automatically selected as the limited area, and then the position information and the outline information of the limited area are acquired as the setting information of the limited area.
  • the terminal device can alert the user to prompt the user to reselect or move the robot out of the area.
  • the position information includes position coordinates of a geometric center defining a region, position coordinates of an intersection of a defined line and a boundary, and/or position coordinates of a turning point defining a line
  • the terminal device calculates a pixel position of the defined area in the map, and Corresponding coordinate transformation is performed to convert the pixel position into the global coordinate system of the robot to obtain its position coordinates in the global coordinate system.
  • the coordinate conversion operation can also be performed on the robot side.
  • the outline information may include only the defined line information, and may also include outline contour information of the entire defined area.
  • the terminal device when the annotation information is a closed geometric figure drawn in a blank area of the map, the terminal device first selects an area defined by the closed geometric shape as the defined area, and then acquires position information and contour information of the defined area as a limitation. Setting information for the area.
  • the terminal device may also select an area other than the closed geometry as the limited area, or select the area clicked by the user as the limited area, or select an area other than the area where the robot is currently located as the limited area or the like.
  • the location ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 The information includes the position coordinates of the geometric center of the defined area and/or the vertex coordinates of the closed geometry, and the terminal device calculates the pixel position of the defined area in the map and performs corresponding Coordinate transformation, transforming the pixel position into the global coordinate system of the robot to obtain its position coordinates in the global coordinate system.
  • the coordinate conversion operation can also be performed on the robot end.
  • the contour information can be the outline of the entire limited area. That is, the outline of the closed geometry. When the closed geometry is a regular figure such as a circle, a rectangle, a triangle, etc., the outline information can also be just the type of the geometry.
  • the robot receives the setting information of the limited area, and avoids the defined area according to the setting information of the limited area during the moving.
  • the robot receives the setting information of the limited area and stores it, and in the subsequent movement, avoids the defined area according to the setting information of the limited area.
  • the robot performs positioning in real time or timing during the movement process, obtains the current position of the robot, and determines whether the user is approaching the limited area according to the current position and the setting information of the limited area, and when approaching the limited area, timely Adjust the movement route to avoid the restricted area.
  • the robot calculates the distance between the robot and the boundary of the defined area according to the current position of the location and the position information and the contour information of the limited area, and determines whether the distance is less than or equal to the threshold.
  • the threshold is less than or equal to the threshold, It is determined that it is approaching the limited area, so that the moving route bypass is adjusted in time to prevent entry into the limited area.
  • the robot when the distance is less than or equal to the threshold, the robot further determines whether its moving direction is toward the defined area, and determines that it is approaching the defined area when the moving direction is toward the defined area.
  • the robot marks the defined area as an obstacle on the map according to the setting information of the defined area, performs positioning in real time or timing during the moving process, acquires the current position of the current location, and simulates the safety of the sensor to detect the current position. Whether there are obstacles in the range, when there are obstacles, adjust the movement route to avoid the limited area.
  • the robot draws the defined area on the map according to the position information and the contour information of the defined area, and marks the defined area as an obstacle.
  • Positioning in real time or timing during the movement obtaining the current position of the location, and simulating a kind of sensor (such as laser ranging sensor, infrared ranging sensor, etc.) according to the map to the obstacles within the safe range of the current position Detect the situation and combine it with the actual sensor measurement data, and judge whether there is any safety range of the current position according to the processing result.
  • ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 Obstacle when there is an obstacle, indicating that it is about to enter the restricted area, adjust the moving route around in time to prevent entering the restricted area.
  • the terminal device may also directly send the map in which the defined area is set to the robot, that is, the setting information of the defined area is included in the map. After the robot receives the map, it acquires setting information of the limited area according to the map. In the subsequent movement, it is also possible to directly use the map in which the limited area is set to avoid the limited area.
  • the terminal device sets a limited area on the map, and sends the setting information of the limited area to the robot, so that the robot can avoid the limitation according to the setting information of the limited area during the moving process. region. Since the limited area is set on the map, there is no need to additionally add sensors and corresponding triggering devices, which greatly reduces the implementation cost. At the same time, the user can adjust the limited area on the map through the terminal device at any time, which is very convenient and fast, and can be passed through the terminal. The device is remotely set up, which extends the application scenario and greatly increases flexibility.
  • a second embodiment of the robot movement control method of the present invention is proposed.
  • the method is applied to the aforementioned robot, and the method includes the following steps:
  • the robot and the terminal device can access the local area network or the Internet through a wireless network (such as ⁇ VIFI), and establish a communication connection, at which time the robot and the terminal device can directly communicate or communicate through the server; the robot and the terminal device can also pass the peer-to-peer
  • the connection method (such as Bluetooth) establishes a communication connection, and the robot communicates directly with the terminal device.
  • the robot sends the drawn map to the terminal device.
  • the robot receives setting information of the limited area and stores the setting information.
  • the setting information includes position information and outline information of the limited area.
  • the robot performs positioning in real time or timing during the movement process, obtains the current position of the robot, and determines whether it is approaching the limited area according to the current position and the setting information of the limited area. When approaching the limited area, the time is timely. Adjust the movement route to avoid the restricted area.
  • the robot according to the current location of the location and the location information and contour information of the limited area ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 Calculate the distance between the robot and the boundary of the limited area, determine whether the distance is less than or equal to the threshold, and when it is less than or equal to the threshold, determine that you are approaching the limited area, so as to Adjusting the moving route to bypass, preventing entry into the defined area. In some embodiments, when the distance is less than or equal to the threshold, the robot further determines whether the moving direction of the robot is toward the defined area, and determines when the moving direction is toward the defined area. Approaching the restricted area by yourself.
  • the robot marks the defined area as an obstacle on the map according to the setting information of the defined area, performs positioning in real time or timing during the moving process, acquires the current position where the user is located, and simulates the safety of the sensor to detect the current position. Whether there are obstacles in the range, when there are obstacles, adjust the movement route to avoid the limited area.
  • the robot draws the defined area on the map according to the position information and the contour information of the defined area, and marks the defined area as an obstacle.
  • Positioning in real time or timing during the movement obtaining the current position of the location, and simulating a kind of sensor (such as laser ranging sensor, infrared ranging sensor, etc.) according to the map to the obstacles within the safe range of the current position Detecting the situation and integrating it with the actual sensor measurement data.
  • it is judged whether there is an obstacle in the safety range of the current position. When there is an obstacle, it indicates that the restricted area is about to enter, and then the moving route bypass is adjusted in time to prevent Enter the restricted area.
  • the robot movement control method of the embodiment transmits the map to the terminal device by the robot, and receives the setting information of the limited area set by the terminal device on the map, and the robot avoids the setting information according to the limited area during the subsequent movement.
  • Limited area Since the limited area is set on the map, there is no need to additionally add sensors and corresponding triggering devices, which greatly reduces the implementation cost.
  • the user can adjust the limited area on the map through the terminal device at any time, which is very convenient and fast, and can be passed through the terminal.
  • the device is remotely set up, which extends the application scenario and greatly increases flexibility.
  • a third embodiment of the robot movement control method of the present invention is proposed.
  • the method is applied to the foregoing terminal device, and the method includes the following steps:
  • the terminal device and the robot can access the local area network or the Internet through a wireless network (such as WIFI), and establish a communication connection.
  • a wireless network such as WIFI
  • the terminal device and the robot can directly communicate or communicate through the server; the terminal device and the robot can also be connected through a point-to-point connection.
  • Way (such as Bluetooth) to establish a communication connection, at this point ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 Direct communication between the end device and the robot.
  • the robot sends a map to the terminal device, and the terminal device receives the map and saves it.
  • the terminal device displays the map on the screen, and the user can specify a limited area on the map that prohibits the robot from entering. Specifically, the user operates on the map, such as drawing a limit line between two points on the boundary of the map (representing that the robot cannot cross the limit line), and drawing a closed geometric figure in a blank area of the map (representing that the robot cannot enter the map) Graphic area), etc., the terminal device generates annotation information on the map according to the user operation, the annotation information is a defined line drawn between two boundaries on the map, and a closed geometric figure (such as a rectangle drawn in a blank area of the map) , circle, triangle, etc.), and determine the defined area based on the annotation information.
  • the defined area may be one or at least two.
  • the terminal device first selects one of the two regions on both sides of the defined line as the defined area, such as the user.
  • the clicked area is selected as the limited area, and the area on the other side of the area where the robot is currently located is automatically selected as the limited area, and then the position information and the outline information of the limited area are acquired as the setting information of the limited area.
  • the position information includes position coordinates of a geometric center defining a region, position coordinates of an intersection of a defined line and a boundary, and/or position coordinates of a turning point defining a line
  • the terminal device calculates a pixel position of the defined area in the map, and Corresponding coordinate transformation is performed to convert the pixel position into the global coordinate system of the robot to obtain its position coordinates in the global coordinate system.
  • the outline information may include only the defined line information, and may also include outline information of the entire defined area.
  • the terminal device when the annotation information is a closed geometry drawn in a blank area of the map, the terminal device first selects an area defined by the closed geometry as the defined area, and then acquires position information and contour information of the defined area as a limitation. Setting information for the area.
  • the terminal device may also select an area other than the closed geometry as the limited area, or select the area clicked by the user as the limited area, or select an area other than the area where the robot is currently located as the limited area or the like.
  • the position information includes a position coordinate of a geometric center of the defined area and/or a vertex coordinate of the closed geometry
  • the terminal device calculates a pixel position of the defined area in the map, and performs corresponding coordinate conversion to convert the pixel position to In the global coordinate system of the robot, obtain its position coordinates in the global coordinate system ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438
  • the contour information can be the contour of the entire defined area, ie the contour of the closed geometry.
  • the outline information can also be just the type of the geometric figure.
  • the terminal device directly transmits the location information of the limited area to the robot or sends the information to the robot through the server
  • the terminal device may also directly transmit the map in which the limited area is set to the robot, that is, the setting information of the defined area is included in the map.
  • the limited area is set on the map by the terminal device, and the setting information of the limited area is sent to the robot, so that the robot can avoid the limited area according to the setting information of the limited area during the moving process. . Since the limited area is set on the map, there is no need to additionally add sensors and corresponding triggering devices, which greatly reduces the implementation cost. At the same time, the user can adjust the limited area on the map through the terminal device at any time, which is very convenient and fast, and can be passed through the terminal. The device is remotely set up, which extends the application scenario and greatly increases flexibility.
  • the defined area is avoided according to the setting information of the defined area. Since the limited area is set on the map, there is no need to additionally add sensors and corresponding triggering devices, which greatly reduces the implementation cost. At the same time, the user can adjust the limited area on the map through the terminal device at any time, which is very convenient and fast, and can be passed through the terminal. The device is remotely set up, which extends the application scenario and greatly increases flexibility.
  • the system includes a robot 10 and a terminal device 20, wherein: the robot 10 is arranged to transmit a map to the terminal device 20; the terminal device 20 is set to The map is received, a limited area is set on the map, and setting information of the limited area is transmitted to the robot 10; the robot 10 is further configured to receive setting information of the limited area, and avoid the limited area according to the setting information of the limited area during the moving.
  • the robot 10 and the terminal device 20 can access a local area network or the Internet through a wireless network (such as ⁇ VIFI), and establish a communication connection, at which time the robot 10 and the terminal device 20 can directly communicate or communicate through the server; the robot 10 and the terminal The device 20 can also establish a communication connection through a point-to-point connection (e.g., Bluetooth), at which point the robot 10 communicates directly with the terminal device 20.
  • the terminal device 20 is preferably a mobile terminal such as a mobile phone or a tablet, or may be a computer terminal such as a personal computer or a notebook computer. ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438
  • the robot 10 transmits the drawn map to the terminal device 20.
  • the terminal device 20 After the terminal device 20 receives the map, the map is displayed on the screen, and the user can designate a limited area on the map that prohibits the robot 10 from entering. Specifically, the user operates on the map, such as drawing a limit line between two points on the boundary of the map (representing that the robot 10 cannot traverse the limit line), and drawing a closed geometric figure in a blank area of the map (representing the robot 10 not Entering the graphics area, etc., the terminal device 20 generates annotation information on the map according to the user operation, where the annotation information is a defined line drawn between two boundaries on the map, and a closed geometry drawn in a blank area of the map. Graphics (such as rectangles, circles, triangles, etc.), etc., and determine the defined area based on the annotation information.
  • the defined area may be one or at least two.
  • the terminal device 20 first selects one of the two regions on both sides of the defined line as the defined region, as The area clicked by the user is selected as the limited area, the area on the other side of the area where the robot 10 is currently located is selected as the limited area, and the position information and the contour information of the limited area are acquired as the setting information of the limited area.
  • the position information includes position coordinates of a geometric center defining a region, position coordinates of an intersection of a defined line and a boundary, and/or position coordinates of a turning point defining a line
  • the terminal device 20 calculates a pixel position of the defined area in the map, Corresponding coordinate transformation is performed, and the pixel position is converted into the global coordinate system of the robot 10 to obtain the position coordinates thereof in the global coordinate system.
  • the outline information may include only the defined line information, and may also include outline information of the entire defined area.
  • the terminal device 20 when the annotation information is a closed geometry drawn in a blank area of the map, the terminal device 20 first selects an area defined by the closed geometry as the defined area, and then acquires position information and contour information of the defined area as The setting information of the limited area. In some embodiments, the terminal device 20 may select an area other than the closed geometry as the defined area, or select the area clicked by the user as the limited area, or select an area other than the area where the robot 10 is currently located as the limited area. .
  • the position information includes position coordinates of a geometric center of the defined area and/or vertex coordinates of the closed geometry, and the terminal device 20 calculates a pixel position of the defined area in the map, and performs corresponding coordinate conversion to convert the pixel position In the global coordinate system of the robot 10, its position coordinates in the global coordinate system are obtained.
  • the contour information can be the contour of the entire defined area, ie the contour of the closed geometry. ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 When the closed geometry is a regular graphic such as a circle, a rectangle, a triangle, etc., the contour information can also be just the type of the geometry.
  • the robot 10 receives the setting information of the limited area and stores it, and in the subsequent movement, the limited area is avoided according to the setting information of the limited area.
  • the robot 10 performs positioning in real time or timing during the movement process, acquires the current position where it is located, and determines whether it is approaching the limited area according to the current position and the setting information of the limited area.
  • the robot 10 calculates the distance between the robot 10 and the boundary of the defined area according to the current position of the location and the position information and the contour information of the limited area, and determines whether the distance is less than or equal to the threshold, when less than or equal to the threshold. Then, it is determined that it is approaching the limited area, so that the moving route bypass is adjusted in time to prevent entry into the limited area. In some embodiments, when the distance is less than or equal to the threshold, the robot 10 further determines whether its moving direction is toward the defined area, and determines that it is approaching the defined area when the moving direction is toward the defined area.
  • the robot 10 marks the defined area as an obstacle on the map according to the setting information of the defined area, performs positioning in real time or timing during the moving process, acquires the current position where the user is located, and simulates the current position of the sensor. Whether there are obstacles in the safe range, when there are obstacles, adjust the movement route to avoid the limited area.
  • the robot 10 draws the defined area on the map according to the position information and the outline information of the defined area, and marks the defined area as an obstacle. Positioning in real time or timing during the movement, obtaining the current position of the location, and simulating a kind of sensor (such as laser ranging sensor, infrared ranging sensor, etc.) according to the map to the obstacles within the safe range of the current position Detecting the situation and integrating it with the actual sensor measurement data. According to the processing result, it is judged whether there is an obstacle in the safety range of the current position. When there is an obstacle, it indicates that the restricted area is about to enter, and then the moving route bypass is adjusted in time to prevent Enter the restricted area.
  • a kind of sensor such as laser ranging sensor, infrared ranging sensor, etc.
  • the terminal device 20 may also directly transmit a map in which the limited area is set to the robot 10, that is, the setting information of the defined area is included in the map.
  • the blog account obtains the setting information of the limited area according to the map.
  • the map in which the limited area is set may also be directly used to avoid the limited area.
  • the robot 10 movement control system of the embodiment of the present invention sets a limited area on the map by the terminal device 20, and transmits setting information of the limited area to the robot 10, so that the robot 10 can be set according to the limited area during the moving process.
  • Information avoids restricted areas. Since the limited area is set on the map, the additional sensor and the corresponding triggering device are not needed, which greatly reduces the implementation cost.
  • the user can adjust the limited area on the map through the terminal device 20 at any time, which is very convenient and fast, and can be adopted.
  • the terminal device 20 performs remote setting, which expands the application scenario and greatly improves flexibility.
  • the robot includes a sending module 100, a receiving module 200, and a motion control module 300, where: the sending module 100 is configured to send a map to the terminal device; and the receiving module 200 And setting the receiving information of the limited area on the map sent by the terminal device; the motion control module 300 is configured to avoid the defined area according to the setting information of the limited area during the moving process.
  • the motion control module 300 includes a positioning unit 310, a determining unit 320, and an evasion unit 330, where: the positioning unit 310 is configured to perform positioning in real time or timing during the moving process, The determining unit 320 is configured to determine whether the robot approaches the defined area according to the current position and the setting information of the limited area; the avoiding unit 330 is configured to adjust the moving route to avoid the defined area when the robot approaches the defined area.
  • the determining unit 320 calculates the distance between the robot and the boundary of the defined area according to the current position of the robot and the position information and the contour information of the defined area, and determines whether the distance is less than or equal to the threshold, and when less than or equal to the threshold, determines The robot approaches the defined area, and the avoidance unit 330 adjusts the movement route bypass in time to prevent entry into the limited area. In some embodiments, when the distance is less than or equal to the threshold, the determining unit 320 further determines whether the moving direction of the self is toward the defined area, and determines that the self is approaching the defined area when the moving direction is toward the defined area.
  • the motion control module 300 includes a marking unit 340, a positioning unit 310, a detecting unit 350, and an avoiding unit 330, wherein: the marking unit 340 is configured to be defined according to setting information of the defined area. The area is marked as an obstacle on the map; the positioning unit 310 is configured to perform real-time or timed positioning during the moving process to obtain the current position where the user is located; and the detecting unit 350 is configured to detect whether the analog sensor detects the current position within the safe range.
  • the obstacle; the avoiding unit 330 is configured to adjust the moving route to avoid the defined area when there is an obstacle.
  • the marking unit 340 draws the defined area according to the position information and the contour information of the defined area. ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438 on the map, and mark the restricted area as an obstacle.
  • the positioning unit 310 performs positioning in real time or timing to obtain the current position where it is located, and the detecting unit 350
  • a sensor such as a distance measuring sensor
  • the obstacle when there is an obstacle, indicates that the restricted area is about to enter, and the avoiding unit 330 adjusts the moving route bypass in time to prevent entry into the limited area.
  • the terminal device may also directly send the map in which the limited area is set to the robot, that is, the setting information of the defined area is included in the map.
  • the receiving module 200 acquires the setting information of the limited area according to the map.
  • the motion control module 300 can also directly use the map with the defined area to avoid the defined area.
  • the robot of the embodiment of the present invention by transmitting the map to the terminal device and receiving the setting information of the limited area set by the terminal device on the map, enables the robot to avoid the limitation according to the setting information of the limited area during the subsequent moving process. region. Since the limited area is set on the map, there is no need to additionally add sensors and corresponding triggering devices, which greatly reduces the implementation cost. At the same time, the user can adjust the limited area on the map through the terminal device at any time, which is very convenient and fast, and can be passed through the terminal. The device is remotely set up, which extends the application scenario and greatly increases flexibility.
  • the embodiment of the present invention is based on the current status of the virtual wall solution, considering that mobile terminals (such as mobile phones, tablet computers, etc.) have been greatly popularized, and most of the cleaning robots have the function of data interaction with the mobile terminal.
  • a method for setting a limited area (virtual wall) for a cleaning robot through a terminal device such as a mobile terminal is proposed, which can reduce the production cost of the cleaning robot and provide a flexible setting method for the user to define a region (virtual wall). , remote settings can be made anytime, anywhere.
  • the present invention includes apparatus related to performing one or more of the operations described herein.
  • These devices may be specially designed and manufactured for the required purposes, or may also include known devices in a general purpose computer.
  • These devices have computer programs stored therein that are selectively activated or reconfigured.
  • Such computer programs may be stored in a device (eg, computer) readable medium or in any type of medium suitable for storing electronic instructions and respectively coupled to a bus, including but not limited to any Type of disk (including floppy disk, hard disk, CD, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory, read-only memory ⁇ 0 2019/100269 ⁇ (:17 ⁇ 2017/112438
  • RAM Random Access Memory
  • EPROM Erasable Programmable Read-Only
  • a readable medium includes any medium that is stored or transmitted by a device (e.g., a computer) in a readable form.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un système de commande de mouvement de robot, ainsi qu'un robot. Le procédé comprend les étapes suivantes : le robot envoie une carte à un dispositif terminal ; le dispositif terminal reçoit la carte, règle une zone d'accès limité sur la carte, et envoie des informations de réglage de la zone d'accès limité au robot ; et le robot reçoit les informations de réglage de la zone d'accès limité, et évite la zone d'accès limité dans un processus de déplacement en fonction des informations de réglage de la zone d'accès limité. Comme la zone d'accès limité est définie sur la carte, aucun capteur supplémentaire ni dispositif de déclenchement correspondant ne sont nécessaires, ce qui réduit considérablement le coût de fabrication ; et un utilisateur peut régler la zone d'accès limité sur la carte à tout moment au moyen du dispositif terminal de façon pratique et rapide, et peut régler à distance la zone d'accès limité au moyen du dispositif terminal, ce qui élargit les scénarios d'application et améliore considérablement la flexibilité.
PCT/CN2017/112438 2017-11-22 2017-11-22 Procédé et système de commande de mouvement de robot, et robot Ceased WO2019100269A1 (fr)

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PCT/CN2017/112438 WO2019100269A1 (fr) 2017-11-22 2017-11-22 Procédé et système de commande de mouvement de robot, et robot

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PCT/CN2017/112438 WO2019100269A1 (fr) 2017-11-22 2017-11-22 Procédé et système de commande de mouvement de robot, et robot

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104898652A (zh) * 2011-01-28 2015-09-09 英塔茨科技公司 与一个可移动的远程机器人相互交流
WO2015169382A1 (fr) * 2014-05-08 2015-11-12 Alfred Kärcher Gmbh & Co. Kg Appareil de nettoyage de sol autopropulsé et autodirigé et procédé de nettoyage d'une surface de sol
CN106527424A (zh) * 2016-09-20 2017-03-22 深圳市银星智能科技股份有限公司 移动机器人及移动机器人的导航方法
CN106598052A (zh) * 2016-12-14 2017-04-26 南京阿凡达机器人科技有限公司 一种基于环境地图的机器人安防巡检方法及其机器人

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104898652A (zh) * 2011-01-28 2015-09-09 英塔茨科技公司 与一个可移动的远程机器人相互交流
WO2015169382A1 (fr) * 2014-05-08 2015-11-12 Alfred Kärcher Gmbh & Co. Kg Appareil de nettoyage de sol autopropulsé et autodirigé et procédé de nettoyage d'une surface de sol
CN106527424A (zh) * 2016-09-20 2017-03-22 深圳市银星智能科技股份有限公司 移动机器人及移动机器人的导航方法
CN106598052A (zh) * 2016-12-14 2017-04-26 南京阿凡达机器人科技有限公司 一种基于环境地图的机器人安防巡检方法及其机器人

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