CN110524541A - It is a kind of for limiting the space virtual division methods of robot motion's range - Google Patents
It is a kind of for limiting the space virtual division methods of robot motion's range Download PDFInfo
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- CN110524541A CN110524541A CN201910876746.1A CN201910876746A CN110524541A CN 110524541 A CN110524541 A CN 110524541A CN 201910876746 A CN201910876746 A CN 201910876746A CN 110524541 A CN110524541 A CN 110524541A
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- signal
- transmitting
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- motion
- enclosure wall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of for limiting the space virtual division methods of robot motion's range, the N number of transmitting of setting and reception signal device in space, emitting and receiving between signal device, signal enclosure wall is being formed, for determining the space of robot, when robot motion is to signal enclosure wall boundary, change the direction of motion, limits its motion range and be located within signal enclosure wall, wherein, transmitting and the quantity N for receiving signal device, determine according to the shape of robot motion's range or size.The application forms signal-virtual enclosure wall by the signal that signal device emits in space setting transmitting and reception signal device, and the virtual scope for realizing space divides, and defines the motion range of robot.
Description
Technical field
The present invention relates to robotic technology fields, empty more particularly, to a kind of space for limiting robot motion's range
Quasi- division methods.
Background technique
Positioning and map structuring when robot moves in circumstances not known at present, it is main to use synchronous positioning and build figure
(SLAM=Simultaneous localization and mapping) method, research service robot autonomous positioning navigation
Solution, sensor-based difference, one is the laser SLAM based on laser radar, and one is the visions of view-based access control model
SLAM, laser SLAM use 2D or 3D laser radar, are also single line or multi-line laser radar, 2D laser radar is generally used for interior
In robot, such as sweeping robot, and 3D laser radar is generally used in unmanned field.The advantages of vision SLAM is its institute
The abundant texture information utilized.Such as the two identical content of block size different billboards, the laser SLAM algorithm based on cloud
It cannot be distinguished from them, and vision can then be differentiated easily, this results in unrivaled huge excellent on reorientation, scene classification
Gesture.Meanwhile visual information can be relatively easy to be used to track and predict the dynamic object in scene, such as pedestrian, vehicle,
For in complicated dynamic scene being vital using this.
But the place that, nothing bigger for space obviously identifies, such as station square, a clean robot complete cleaning
It acquires a certain degree of difficulty, multiple robots is needed to be cleaned, how each robot distinguishes the working region of oneself, current SLAM
Technology can not provide robot and position, and how distinguish to space, allow robot work in the specified range of oneself
It is interior, it is current urgent problem to be solved.
Summary of the invention
The object of the present invention is to provide a kind of for limiting the space virtual division methods of robot motion's range, by
Space setting is multiple to be emitted and receives signal device, by emitting the signal with reception signal device transmitting, in multiple transmittings and is connect
It receives and forms signal enclosure wall between signal device, determine the space of robot, realize the determination to robot motion's range.
Foregoing invention purpose of the invention is achieved by the following technical programs:
It is a kind of for limiting the space virtual division methods of robot motion's range, space setting it is N number of transmitting with receive signal
Device is emitting and is receiving between signal device, forming signal enclosure wall, for determining the space of robot, robot fortune
When moving signal enclosure wall boundary, changes the direction of motion, limit its motion range and be located within signal enclosure wall, wherein N is greater than
In 2 positive integer.
The present invention is further arranged to: transmitting and the quantity for receiving signal device, according to the shape of robot motion's range
Or size determines.
The present invention is further arranged to: transmitting with it is received be electromagnetic wave signal, including visible light electromagnetic wave, black light
Electromagnetic wave.
The present invention is further arranged to: transmitting with it is received be laser signal.
The present invention is further arranged to: the signal between two neighboring transmitting and reception signal device, running track are
Linear, the first transmitting can only be received by the second transmitting with signal device is received with the signal for receiving signal device transmitting, and second
Transmitting can only be received by third transmitting with signal device is received with the signal for receiving signal device transmitting, be sequentially connected, N transmitting
It can only be received by the first transmitting with signal device is received with the signal for receiving signal device transmitting, it is closed virtual to form one
Enclosure wall.
The present invention is further arranged to: transmitting with it is received be single beam signal, or the multi beam signal arranged from top to bottom.
The present invention is further arranged to: for the virtual signal enclosure wall of polygon, being arranged in odd number Angle Position and is emitted
With reception signal device, transmitting is not provided in even number Angle Position and receives signal device, even number Angle Position is by adjacent
Two odd number Angle Positions setting transmitting determine that robot detects whether to touch with the signal intersection point for receiving signal device transmitting
Signal enclosure wall.
The present invention is further arranged to: when robot reaches signal enclosure wall boundary, transmitting is detected with signal device is received
Robot has reached signal enclosure wall boundary, issues sideband signal to robot, after robot receives sideband signal, changes movement
Direction.
Foregoing invention purpose of the invention is also achieved by the following technical programs:
It is a kind of for limiting the space virtual division methods of robot motion's range, in space, N number of positioning device, positioning dress are set
It sets and is provided with the flag information that robot can identify, after Robot Scanning positioning device, according to each positioning device and machine
The virtual enclosure wall of robot motion is drawn, for determining the space of robot, robot motion in relative position between people
When to signal enclosure wall boundary, changes the direction of motion, limit its motion range and be located within signal enclosure wall, wherein N, which is greater than, to be equal to
3 positive integer.
The present invention is further arranged to: the relative position between each positioning device and robot, including direction, distance.
Compared with prior art, advantageous effects of the invention are as follows:
1. the application forms signal-virtual by the signal that signal device emits and encloses in space setting transmitting and reception signal device
Wall, the virtual scope for realizing space divide, and define the motion range of robot；
2. further, setting track is that linear signal forms signal enclosure wall, it ensure that form the unicity of enclosure wall, to be formed
Signal enclosure wall provides possibility；
3. further, using interval setting transmitting with receive signal device method setting signal enclosure wall, reduce transmitting with
The quantity for receiving signal device, reduces costs；
4. further, being provided with the positioning device of flag information, motion range is positioned by Robot Scanning flag information,
Virtual enclosure wall is drawn, the division of Virtual Space is realized.
Detailed description of the invention
Fig. 1 is the signal fence structure schematic diagram of a specific embodiment of the invention；
Fig. 2 is the signal fence structure schematic diagram of another specific embodiment of the invention；
Fig. 3 is the signal fence structure schematic diagram of another specific embodiment of the invention.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Specific embodiment one
Of the invention is a kind of for limiting the space virtual division methods of robot motion's range, as shown in Figure 1, being arranged in space
Five transmittings had both emitted signal or had received signal with signal device 1,2,3,4,5, each transmitting is received with signal device is received, and sent out
It penetrates and receives the signal A that signal device 1 emits and be launched and receive the reception of signal device 2, signal A is in transmitting and reception signal dress
Formation signal wall between 1,2 is set, same principle forms signal wall emitting and receiving between signal device 2,3, emitting and connecing
Signal wall is formed between receipts signal device 3,4, forms signal wall between signal device 4,5 emitting and receiving, is emitting and is connecing
It receives and forms signal wall between signal device 5,1, these signal walleds are at a closed space, for limiting the movement of robot
Range.
When robot motion is to signal enclosure wall boundary, transmitting and receiving device detects that signal is blocked, and does not receive
Signal is judged as robot and has blocked signal, issues and reaches sideband signal to robot, robot is receiving arrival sideband signal
Afterwards, change the direction of motion, limit its motion range and be located within signal enclosure wall.
In the specific embodiment of the application, transmitting and receive signal device transmitting are electromagnetic signals, including can
Light-exposed electromagnetic signal, black light electromagnetic signal.Visible light electromagnetic signal includes laser signal.Because the running track of laser is
Linearly, signal enclosure wall is advantageously formed.Black light electromagnetic signal includes the signal enclosure wall that infrared light forms pipe, when transmitting with
The infrared signal of infrared transmitting tube transmitting in reception signal device 1 can only be launched and receive infrared in signal device 2
Reception pipe receives, and signal wall is formed between signal device 2 emitting and receiving signal device 1, transmitting and receive, similarly, hair
Penetrating can only be launched and receive in signal device 3 with the infrared signal of the infrared transmitting tube transmitting received in signal device 2
Infrared receiving tube receives, and signal wall is formed between signal device 3 emitting and receiving signal device 2, transmitting and receive, successively class
It pushes away, signal device 1 can only be launched and receive with the infrared signal of the infrared transmitting tube transmitting received in signal device 5 by emitting
In infrared receiving tube receive, emit and receive signal device 5, transmitting receive signal device 1 between formed signal wall, it is more
A signal walled is at being formed virtual enclosure wall behind closed area.
In the specific embodiment of the application, signal enclosure wall is formed by a branch of or multi beam linear track signal, it is more
The signal of beam linear track is arranged successively from top to bottom, forms signal beam wall.
Specific embodiment two
Of the invention is a kind of for limiting the space virtual division methods of robot motion's range, as shown in Fig. 2, being arranged in space
Three transmittings and reception signal device 1,3,5, are not provided with transmitting in 2,4 two Angle Positions and receive signal device, hair at this time
It penetrates and emits signal in two different directions simultaneously with reception device, the transmitting signal being reflected back is received at transmitting.Transmitting
With reception signal device 1,3 respectively in the signal of different directions transmitting, in the place intersection of Angle Position 2, so that it is determined that Angle Position
2, likewise, emitting and receiving signal device 3,5 respectively in the signal of different directions transmitting, intersect in the place of Angle Position 4, from
And determine Angle Position 4, transmitting receive between signal device 1,5, while emitting signal round about, in this way, transmitting with
The signal wall received between signal device 1,3,5 and Angle Position 2,4 forms a closed Virtual Space.
Transmitting receives reflected signal with signal device 1,3,5 is received, if reflected signal always exists,
It penetrates such as emitted and receiving signal device 1 to emit and receives signal device with receiving the signal reflex that emits of signal device 5 and postback
5, then transmitting thinks that reflecting signal is invalid signals with signal device 5 is received；If reflected signal occurs suddenly, sentence
Break as robot arriving signal boundary, transmitting reaches signal boundary signal to robot, robot with receiving signal device and send
After receiving arrival sideband signal, changes the direction of motion, limit its motion range and be located within signal enclosure wall.
In the specific embodiment of the application, if Virtual Space is quadrangle, only needs two transmittings and connect
Signal device is received, the cost of information enclosure wall is greatly reduced.
This example demonstrates another setting methods of the virtual signal enclosure wall for polygon, the first of polygon
A the first transmitting of Angle Position setting and reception signal device, are not provided with transmitting in second adjacent Angle Position and receive signal dress
It sets, emit in the third Angle Position setting third adjacent with second Angle Position and receives signal device, second Angle Position
It is determined with reception signal device and third transmitting with the signal intersection point that signal device emits is received by the first transmitting, and so on.
This set method significantly reduces the cost of information enclosure wall.
Specific embodiment three
The application's is a kind of for limiting the space virtual division methods of robot motion's range, as shown in figure 3, being arranged in space
N number of positioning device is provided with the flag information that robot can identify, the mark in Robot Scanning positioning device in positioning device
After will information, according to the relative position between each positioning device and robot, including angle, distance, each positioning device is determined
The virtual enclosure wall of robot motion is drawn so that it is determined that positioning device is formed by spatial dimension in relative position, and robot calculates
Out be used for robot motion space map, robot motion arrive signal enclosure wall boundary when, change the direction of motion, limit its movement
Range is located within signal enclosure wall.Wherein, N is greater than the positive integer equal to 3.
The embodiment of present embodiment is presently preferred embodiments of the present invention, not limits protection of the invention according to this
Range, therefore: the equivalence changes that all structures under this invention, shape, principle are done, should all be covered by protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of for limiting the space virtual division methods of robot motion's range, it is characterised in that: N number of hair is arranged in space
It penetrates and receives signal device, emitting and receiving between signal device, forming signal enclosure wall, the movement for determining robot is empty
Between, when robot motion is to signal enclosure wall boundary, changes the direction of motion, limits its motion range and be located within signal enclosure wall,
In, N is greater than the positive integer equal to 2.
2. space virtual division methods according to claim 1, it is characterised in that: transmitting and the number for receiving signal device
Amount is determined according to the shape of robot motion's range or size.
3. space virtual division methods according to claim 1, it is characterised in that: transmitting with it is received be electromagnetic wave letter
Number, including visible light electromagnetic wave, black light electromagnetic wave.
4. space virtual division methods according to claim 3, it is characterised in that: transmitting with it is received be laser signal.
5. space virtual division methods according to claim 1, it is characterised in that: two neighboring transmitting is filled with signal is received
Signal between setting, running track be it is linear, first transmitting with receive signal device transmitting signal can only by second hair
It penetrates and receives signal device reception, the second transmitting and the signal for receiving signal device transmitting can only be by third transmittings and reception signal
Device receives, and is sequentially connected, and N transmitting and the signal for receiving signal device transmitting can only be by the first transmittings and reception signal device
It receives, to form a closed virtual enclosure wall.
6. space virtual division methods according to claim 1, it is characterised in that: transmitting with it is received be single beam signal,
Or the multi beam signal arranged from top to bottom.
7. space virtual division methods according to claim 1, it is characterised in that: the virtual signal of polygon is enclosed
Wall, odd number or even number Angle Position setting transmitting with receive signal device, even number or odd number Angle Position not
Transmitting is arranged by two adjacent odd number Angle Positions in setting transmitting and reception signal device, even number or odd number Angle Position
Determine that robot detects whether to touch signal enclosure wall with the signal intersection point for receiving signal device transmitting.
8. space virtual division methods according to claim 1, it is characterised in that: robot reaches signal enclosure wall boundary
When, transmitting detects that robot has reached signal enclosure wall boundary with signal device is received, and issues sideband signal to robot, machine
After people receives sideband signal, change the direction of motion.
9. a kind of for limiting the space virtual division methods of robot motion's range, it is characterised in that: it is N number of fixed to be arranged in space
Position device, is provided with the flag information that robot can identify in positioning device, after Robot Scanning positioning device, according to each fixed
Relative position between position device and robot, draws the virtual enclosure wall of robot motion, and the movement for determining robot is empty
Between, when robot motion is to signal enclosure wall boundary, changes the direction of motion, limits its motion range and be located within signal enclosure wall,
In, N is greater than the positive integer equal to 3.
10. space virtual division methods according to claim 9, it is characterised in that: between each positioning device and robot
Relative position, including direction, distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910876746.1A CN110524541A (en) | 2019-09-17 | 2019-09-17 | It is a kind of for limiting the space virtual division methods of robot motion's range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910876746.1A CN110524541A (en) | 2019-09-17 | 2019-09-17 | It is a kind of for limiting the space virtual division methods of robot motion's range |
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| CN110524541A true CN110524541A (en) | 2019-12-03 |
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| CN201910876746.1A Pending CN110524541A (en) | 2019-09-17 | 2019-09-17 | It is a kind of for limiting the space virtual division methods of robot motion's range |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113081666A (en) * | 2021-03-24 | 2021-07-09 | 上海傅利叶智能科技有限公司 | Virtual limiting method and device for rehabilitation robot and rehabilitation robot |
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| US20130218342A1 (en) * | 2012-02-16 | 2013-08-22 | Micro-Star International Company Limited | Control method for cleaning robots |
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| CN104914857A (en) * | 2014-03-10 | 2015-09-16 | 宝时得机械(中国)有限公司 | Intelligent boundary column |
| CN106805855A (en) * | 2016-11-21 | 2017-06-09 | 广东探金电子科技有限公司 | A kind of control system of Intelligent robot for sweeping floor |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102759924A (en) * | 2011-04-28 | 2012-10-31 | 苏州宝时得电动工具有限公司 | Automatic work system, automatic walking equipment and steering method of automatic walking equipment |
| US20130218342A1 (en) * | 2012-02-16 | 2013-08-22 | Micro-Star International Company Limited | Control method for cleaning robots |
| CN103076802A (en) * | 2012-10-09 | 2013-05-01 | 江苏大学 | Method and system for establishing and identifying robot virtual boundary |
| CN103891463A (en) * | 2012-12-28 | 2014-07-02 | 苏州宝时得电动工具有限公司 | Automatic mowing system |
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| CN113081666A (en) * | 2021-03-24 | 2021-07-09 | 上海傅利叶智能科技有限公司 | Virtual limiting method and device for rehabilitation robot and rehabilitation robot |
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Application publication date: 20191203 |
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| RJ01 | Rejection of invention patent application after publication |