CN108490945A - The method that grass-removing robot judges narrow zone and leaves automatically - Google Patents
The method that grass-removing robot judges narrow zone and leaves automatically Download PDFInfo
- Publication number
- CN108490945A CN108490945A CN201810324553.0A CN201810324553A CN108490945A CN 108490945 A CN108490945 A CN 108490945A CN 201810324553 A CN201810324553 A CN 201810324553A CN 108490945 A CN108490945 A CN 108490945A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000004888 barrier function Effects 0.000 claims abstract description 53
- 238000009825 accumulation Methods 0.000 claims abstract description 8
- 230000001186 cumulative effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007514 turning Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The method for judging narrow zone the present invention relates to grass-removing robot and leaving automatically when grass-removing robot encounters boundary line or barrier, starts first timer and counter；In the preset time threshold of first timer, counter encounters the number of boundary line or barrier for the grass-removing robot that adds up；When the number for encountering boundary line or barrier that counter adds up reaches the predetermined threshold value of counter, judge to be in narrow zone；Start second timer, and judges whether grass-removing robot encounters boundary line or barrier again：In the preset time threshold of second timer, boundary line or barrier is encountered in grass-removing robot, and when the accumulation interval value of timer meets or exceeds the preset time threshold of second timer, and narrow zone is left in judgement.The flow for judging narrow zone and leaving automatically of the present invention is simple and efficient, is suitble to be applied in numerous general grass-removing robots.
Description
Technical field
The invention belongs to the technical fields of grass-removing robot, judge narrow zone in particular to a kind of grass-removing robot
And the method left automatically.
Background technology
In the case of existing, grass-removing robot can be pre- with a program when encountering boundary line or barrier in working region
If preset angle change direction operation, the angle be selected from 60 degree to 180 degree.When grass-removing robot enters one
When a narrow space, which may be made of the barriers such as boundary line or shrub, fence.At this point, if still with
The mode of the preset larger angle of turn of normal procedure is run, and grass-removing robot is difficult to leave the region, causes mowing efficiency
Lowly.
Invention content
The side for judging narrow zone in view of the deficiencies of the prior art, the present invention provides a kind of grass-removing robot and leaving automatically
Method,
When grass-removing robot encounters boundary line or barrier, start first timer and counter；
In the preset time threshold of first timer, the counter grass-removing robot that is used to add up encounters boundary line or barrier
Number；
When the number for encountering boundary line or barrier that counter adds up reaches the predetermined threshold value of counter, judge in narrow
Region；
Start second timer, and judges whether grass-removing robot encounters boundary line or barrier again：
If in the preset time threshold of second timer, grass-removing robot encounters boundary line or barrier, and grass-removing robot is pressed
Preset micro- deflection angle is into horizontal deflection；
If in the preset time threshold of second timer, boundary line or barrier, and the second timing is encountered in grass-removing robot
When the accumulation interval value of device meets or exceeds the preset time threshold of second timer, narrow zone is left in judgement.
Further, judging before narrow zone, when grass-removing robot encounters boundary line or barrier, according to pre-
If large deflection angle degree into horizontal deflection.
Further, in the preset time threshold of first timer, boundary line or barrier is encountered in grass-removing robot
When, counter, which counts, to reset；First timer and counter return to reset condition.
Further, in the preset time threshold of first timer, what counter added up encounters boundary line or barrier
Number when being not up to the predetermined threshold value of counter, first timer and counter return to reset condition.
Further, in the preset time threshold of second timer, grass-removing robot encounters boundary line or barrier, the
The accumulation interval value of two timers is reset.
Further, grass-removing robot by preset micro- deflection angle into horizontal deflection and then secondary startup second timer,
Judge whether grass-removing robot encounters boundary line or barrier again again；The large deflection angle degree is more than micro- deflection angle.
Further, grass-removing robot includes the boundary line sensor being separately positioned at left and right sides of it, for detecting side
Boundary line；Grass-removing robot includes the crash sensor being separately positioned at left and right sides of it, for detecting barrier.
Further, when the crash sensor in left side or border sensor trigger, grass-removing robot deflects to the right.
Further, when the crash sensor on right side or border sensor trigger, grass-removing robot deflects to the left.
Further, when both sides crash sensor or border sensor trigger simultaneously, grass-removing robot is at random to the left
Or it deflects to the right.
Further, the large deflection angle is the angle selected in 60 ~ 180 degree；Micro- micro- deflection angle is to be selected in 1 ~ 5 degree
The angle selected.
Advantageous effect：
It is used in the present invention and is provided with the first timer of preset time threshold and encounters boundary for the grass-removing robot that adds up
The counter of the number of line or barrier passes through what is acquired and calculate by acquiring collision frequency in preset time threshold
Whether mode accurate judgement grass-removing robot is in narrow space；
Judge that grass-removing robot is in after narrow space, the present invention, which uses, to be provided with preset time threshold and cut for cumulative
Careless robot is in the second timer of the time value run in narrow space, by comparing grass-removing robot in narrow space
The time value of operation and the time threshold of second timer are to determine whether leave narrow space.
The flow for judging narrow zone and leaving automatically of the present invention is simple and efficient, and the hardware to realizing above-mentioned function is soft
Part is of less demanding, is suitble to be applied in numerous general grass-removing robots.
Description of the drawings
Fig. 1 is each stage condition figure during grass-removing robot adjusts in narrow space in the present invention；
Fig. 2 is the flow chart that grass-removing robot judges narrow zone in the present invention；
Fig. 3 is the flow chart that grass-removing robot leaves narrow zone in the present invention.
Specific implementation mode
It is clearer for the purpose and technical solution that make the embodiment of the present invention, below in conjunction with the attached of the embodiment of the present invention
Figure, is clearly and completely described the technical solution of the embodiment of the present invention.Obviously, described embodiment is of the invention
A part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of without creative work, shall fall within the protection scope of the present invention.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein（Including technology art
Language and scientific terminology）With meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the meaning of too formal be explained.
As shown in fig. 1, it is the shape in each stage of the same grass-removing robot during the adjustment respectively from left to right
State, at first, grass-removing robot enter narrow zone with the direction in direction 1, and encounter boundary line or the barrier of its right front ends
Hinder object A, grass-removing robot then to be deflected to the left, as deflected shown in direction 2 in figure, and deflects into direction 3；Thereafter, it cuts
Careless robot continues to move ahead with the direction in direction 3 again, until its right front ends encounters boundary line or barrier A, grass cutter again
People then carries out the direction such as deflection direction 4 in figure into horizontal deflection to the left, and deflects into direction 5；Thereafter, grass-removing robot again with
The direction in direction 5 continues to move ahead, until its right front ends encounters boundary line or barrier A again, grass-removing robot then to the left into
The direction in deflection direction 6 is into horizontal deflection in row such as figure, and deflects into direction ..., is adjusted traveling side in a manner mentioned above
To until grass-removing robot adjusts, its direction of travel is parallel with boundary line or barrier, and grass-removing robot leaves along the direction
The narrow region.
Grass-removing robot includes two or more crash sensor, is respectively placed in the left and right ends of grass-removing robot, is used
In detection barrier, grass-removing robot includes two or more boundary line sensor, is respectively placed in the left and right of grass-removing robot
Both ends, for detecting boundary line.
As shown in Fig. 2, when grass-removing robot encounters boundary line or barrier in the process of running, machine is according to default
Wide-angle（That is the predetermined angle A in Fig. 2）It turns to, large deflection angle selected angle usually from 60 ~ 180 degree, while starting journey
Sequence first timer（That is the timer 1 in Fig. 2）, when encountered again in the default timing threshold in timer 1 boundary line or
Start counter 1 when barrier, when not encountering new boundary line or barrier in the default timing threshold in timer 1
Counter 1 is reset.When the number for encountering new boundary line or barrier that counter 1 is counted reaches program predetermined threshold value
When, robot judges that itself is in a narrow space.
Start second timer at this time（That is the timer 2 in Fig. 3）, in the default timing threshold of timer 2, machine is not
It can be turned with program predetermined angle A, but be turned with micro- deflection angle again（That is the predetermined angle B turnings in Fig. 3, micro- deflection angle are micro-
It is the angle selected in 1 ~ 5 degree.When the crash sensor or border sensor trigger timing device of left are turned right, when right
Crash sensor either turn left when both sides crash sensor or border sensor while touching by border sensor trigger timing device
Machine can to the left or turn right at random when hair.When machine works in timer 2 predetermined threshold value, encounter every time boundary line or
When person's barrier, second timer will be reset；When the accumulation interval value of second timer meets or exceeds the pre- of second timer
If judging to leave narrow space when time threshold, the angle of grass-removing robot turning restores preset angle of turn A.
Specifically, the method that the grass-removing robot of the present invention judges narrow zone and leaves automatically：
As shown in Fig. 2, when grass-removing robot encounters boundary line or barrier, start first timer and counter；
In the preset time threshold of first timer, the counter grass-removing robot that is used to add up encounters boundary line or barrier
Number；When the number for encountering boundary line or barrier that counter adds up reaches the predetermined threshold value of counter, judge in narrow
Narrow region；
As shown in figure 3, starting second timer, and judge whether grass-removing robot encounters boundary line or barrier again：
If in the preset time threshold of second timer, grass-removing robot encounters boundary line or barrier, and grass-removing robot is pressed
Preset micro- deflection angle is into horizontal deflection；Wherein, grass-removing robot can judge to start by default after narrow zone
Micro- deflection angle into horizontal deflection, can also start after starting second timer by preset micro- deflection angle into horizontal deflection；Figure
Grass-removing robot is provided in 3 flow charts to judge after narrow zone by preset micro- deflection angle into horizontal deflection, then
Restart second timer, belongs to a kind of preferred embodiment of the present invention.
If in the preset time threshold of second timer, boundary line or barrier, and second is encountered in grass-removing robot
When the accumulation interval value of timer meets or exceeds the preset time threshold of second timer, narrow zone is left in judgement.
Judging before narrow zone, when grass-removing robot encounters boundary line or barrier, according to preset big partially
Gyration is into horizontal deflection.
In the preset time threshold of first timer, when boundary line or barrier is encountered in grass-removing robot, counter
It counts and resets；First timer and counter return to reset condition.
In the preset time threshold of first timer, counter it is cumulative encounter boundary line or the number of barrier does not reach
To counter predetermined threshold value when, first timer and counter return to reset condition.
In the preset time threshold of second timer, grass-removing robot encounters boundary line or barrier, second timer
Accumulation interval value reset.
Grass-removing robot, into horizontal deflection and then secondary startup second timer, is judged again by preset micro- deflection angle
Whether grass-removing robot encounters boundary line or barrier again；Large deflection angle degree is more than micro- deflection angle.
It these are only embodiments of the present invention, the description thereof is more specific and detailed, but can not therefore be interpreted as pair
The limitation of the scope of the claims of the present invention.It should be pointed out that for those of ordinary skill in the art, not departing from the present invention
Under the premise of design, various modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (10)
1. the method that grass-removing robot judges narrow zone and leaves automatically, which is characterized in that
When grass-removing robot encounters boundary line or barrier, start first timer and counter；
In the preset time threshold of first timer, the counter grass-removing robot that is used to add up encounters boundary line or barrier
Number；
When the number for encountering boundary line or barrier that counter adds up reaches the predetermined threshold value of counter, judge in narrow
Region；
Start second timer, and judges whether grass-removing robot encounters boundary line or barrier again：
If in the preset time threshold of second timer, grass-removing robot encounters boundary line or barrier, and grass-removing robot is pressed
Preset micro- deflection angle is into horizontal deflection；
If in the preset time threshold of second timer, grass-removing robot is encountered boundary line or barrier, and timer
When accumulation interval value meets or exceeds the preset time threshold of second timer, narrow zone is left in judgement.
2. the method that grass-removing robot according to claim 1 judges narrow zone and leaves automatically, which is characterized in that
Judge before narrow zone, when grass-removing robot encounters boundary line or barrier, is carried out according to preset large deflection angle degree
Deflection.
3. the method that grass-removing robot according to claim 1 judges narrow zone and leaves automatically, which is characterized in that
In the preset time threshold of first timer, when boundary line or barrier is encountered in grass-removing robot, counter, which counts, to reset；The
One timer and counter return to reset condition.
4. the method that grass-removing robot according to claim 1 judges narrow zone and leaves automatically, which is characterized in that
In the preset time threshold of first timer, counter it is cumulative encounter boundary line or the number of barrier is not up to counter
When predetermined threshold value, first timer and counter return to reset condition.
5. the method that grass-removing robot according to claim 1 judges narrow zone and leaves automatically, which is characterized in that
In the preset time threshold of second timer, grass-removing robot encounters boundary line or barrier, and the accumulation interval value of timer is clear
Zero.
6. the method that grass-removing robot according to claim 2 judges narrow zone and leaves automatically, which is characterized in that cut
Careless robot, into horizontal deflection and then secondary startup second timer, judges grass-removing robot again by preset micro- deflection angle
Whether boundary line or barrier are encountered again；The large deflection angle degree is more than micro- deflection angle.
7. the method that grass-removing robot according to claim 1 judges narrow zone and leaves automatically, which is characterized in that cut
Careless robot includes the boundary line sensor being separately positioned at left and right sides of it, for detecting boundary line；Grass-removing robot includes
The crash sensor being separately positioned at left and right sides of it, for detecting barrier.
8. the method that grass-removing robot according to claim 7 judges narrow zone and leaves automatically, which is characterized in that when
When crash sensor or the border sensor triggering in left side, grass-removing robot deflects to the right；When right side crash sensor or
When person's border sensor triggers, grass-removing robot deflects to the left.
9. the method that grass-removing robot according to claim 7 judges narrow zone and leaves automatically, which is characterized in that when
Either grass-removing robot deflects border sensor both sides crash sensor to the left or to the right at random when triggering simultaneously.
10. the method that grass-removing robot according to claim 6 judges narrow zone and leaves automatically, which is characterized in that
The large deflection angle is the angle selected in 60 ~ 180 degree；Micro- micro- deflection angle is the angle selected in 1 ~ 5 degree.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810324553.0A CN108490945A (en) | 2018-04-12 | 2018-04-12 | The method that grass-removing robot judges narrow zone and leaves automatically |
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| CN201810324553.0A CN108490945A (en) | 2018-04-12 | 2018-04-12 | The method that grass-removing robot judges narrow zone and leaves automatically |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109588101A (en) * | 2018-10-31 | 2019-04-09 | 浙江亚特电器有限公司 | For improving the control method of intelligent grass-removing operation coverage rate |
| CN111103886A (en) * | 2020-01-02 | 2020-05-05 | 深圳拓邦股份有限公司 | Method, device and equipment for identifying narrow traffic lane and computer readable storage medium |
| CN111198559A (en) * | 2018-10-31 | 2020-05-26 | 苏州科瓴精密机械科技有限公司 | Control method and system of walking robot |
| CN111308994A (en) * | 2018-11-23 | 2020-06-19 | 苏州科瓴精密机械科技有限公司 | Robot control method and robot system |
| CN111714031A (en) * | 2019-03-20 | 2020-09-29 | 北京奇虎科技有限公司 | Sweeping method and device for sweeping equipment and electronic equipment |
| CN112230644A (en) * | 2019-07-15 | 2021-01-15 | 苏州宝时得电动工具有限公司 | Autonomous robot, edgewise control method and device thereof, and storage medium |
| CN112327847A (en) * | 2020-11-04 | 2021-02-05 | 北京石头世纪科技股份有限公司 | Method, device, medium and electronic equipment for bypassing object |
| CN112445213A (en) * | 2019-08-16 | 2021-03-05 | 苏州科瓴精密机械科技有限公司 | Automatic work system, automatic walking device, control method thereof, computer device, and computer-readable storage medium |
| CN112806149A (en) * | 2019-11-15 | 2021-05-18 | 南京德朔实业有限公司 | Intelligent mowing system |
| WO2021093856A1 (en) * | 2019-11-15 | 2021-05-20 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN112932367A (en) * | 2021-03-05 | 2021-06-11 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
| WO2022045471A1 (en) * | 2020-08-24 | 2022-03-03 | 엘지전자 주식회사 | Mobile robot and control method therefor |
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| CN109588101B (en) * | 2018-10-31 | 2022-04-05 | 浙江亚特电器有限公司 | Control method for improving operation coverage rate of intelligent mower |
| CN111198559A (en) * | 2018-10-31 | 2020-05-26 | 苏州科瓴精密机械科技有限公司 | Control method and system of walking robot |
| CN111198557A (en) * | 2018-10-31 | 2020-05-26 | 苏州科瓴精密机械科技有限公司 | Control method and control system for walking robot |
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| CN111714031A (en) * | 2019-03-20 | 2020-09-29 | 北京奇虎科技有限公司 | Sweeping method and device for sweeping equipment and electronic equipment |
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| CN112230644B (en) * | 2019-07-15 | 2023-10-10 | 苏州宝时得电动工具有限公司 | Autonomous robot, and edge control method, device and storage medium thereof |
| CN112230644A (en) * | 2019-07-15 | 2021-01-15 | 苏州宝时得电动工具有限公司 | Autonomous robot, edgewise control method and device thereof, and storage medium |
| CN112445213A (en) * | 2019-08-16 | 2021-03-05 | 苏州科瓴精密机械科技有限公司 | Automatic work system, automatic walking device, control method thereof, computer device, and computer-readable storage medium |
| CN112445213B (en) * | 2019-08-16 | 2024-01-16 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic walking equipment, control method of automatic walking equipment, computer equipment and computer readable storage medium |
| WO2021093856A1 (en) * | 2019-11-15 | 2021-05-20 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN112806149A (en) * | 2019-11-15 | 2021-05-18 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN111103886A (en) * | 2020-01-02 | 2020-05-05 | 深圳拓邦股份有限公司 | Method, device and equipment for identifying narrow traffic lane and computer readable storage medium |
| CN111103886B (en) * | 2020-01-02 | 2024-05-03 | 深圳拓邦股份有限公司 | Method, device, equipment and computer readable storage medium for identifying narrow passage |
| WO2022045471A1 (en) * | 2020-08-24 | 2022-03-03 | 엘지전자 주식회사 | Mobile robot and control method therefor |
| CN112327847A (en) * | 2020-11-04 | 2021-02-05 | 北京石头世纪科技股份有限公司 | Method, device, medium and electronic equipment for bypassing object |
| CN112932367A (en) * | 2021-03-05 | 2021-06-11 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
| CN112932367B (en) * | 2021-03-05 | 2022-06-17 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
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Application publication date: 20180904 |
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