CN110597255B - Method for establishing safety zone by using seat avoidance signal - Google Patents
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- CN110597255B CN110597255B CN201910859993.0A CN201910859993A CN110597255B CN 110597255 B CN110597255 B CN 110597255B CN 201910859993 A CN201910859993 A CN 201910859993A CN 110597255 B CN110597255 B CN 110597255B
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Abstract
The invention discloses a method for establishing a safety zone by utilizing a seat avoidance signal, which comprises the following steps: step 1, detecting the seat avoidance signal receiving condition of the robot in the signal receiving coverage area in real time in the process that the robot moves in the current working area, wherein the seat avoidance signal is from a charging seat specially used for charging the robot; and 2, setting a safety area in the current working area according to the seat avoiding signal received by the robot and the position characteristic relation of the preset working path of the robot, so that the robot moving in the safety area avoids a charging seat for transmitting the seat avoiding signal. And the method ensures that as long as the robot moves in the safety zone, no signal of the seat is processed, thereby effectively avoiding the charging seat and overcoming the technical problem that the angle and the intensity of the signal received by the robot are unstable.
Description
Technical Field
The invention relates to the field of control of anti-collision avoidance seats of robots, in particular to a method for establishing a safety zone by using avoidance seat signals.
Background
At present, the sweeping robot generally has an automatic recharging function, and most of charging seats guide the robot to recharge by using infrared signals. In order to ensure that the robot cannot collide with the charging seat in the cleaning process, the charging seat is generally avoided by receiving a signal sent by the charging seat, however, most of the seat-avoiding signals of the charging seat are infrared signals, and the infrared signals are influenced by many factors, when the robot approaches the charging seat from an oblique direction, the robot does not have enough space to adjust the direction in time due to the distance limitation between the robot and the charging seat and the instability of infrared recharging guide signals, so that the robot often collides with the charging seat, and the working efficiency of the robot is influenced.
Disclosure of Invention
In order to solve the technical defects, the technical scheme estimates that the charging seat is not in a certain area by utilizing seat avoiding signals of different angles, so that the charging seat is not influenced by the seat avoiding signals in the cleaning process of the area, and provides a method for establishing a safety area by utilizing the seat avoiding signals, and the specific technical scheme is as follows:
a method for establishing a safety zone using a seat avoidance signal, comprising: step 1, detecting the seat avoidance signal receiving condition of the robot in the signal receiving coverage area in real time in the process that the robot moves in the current working area, wherein the seat avoidance signal is transmitted from a charging seat for charging the robot; and 2, setting a safety area in the current working area according to the seat avoiding signal received by the robot and the position characteristic relation of the preset working path of the robot, so that the robot moving in the safety area avoids a charging seat for transmitting the seat avoiding signal. The technical scheme utilizes the seat-avoiding signal in the coverage range of the received signal of the robot to set a safety zone, and ensures that any seat-avoiding signal is not processed as long as the robot moves in the safety zone, thereby effectively avoiding the charging seat and overcoming the technical problem that the angle and the intensity of the signal received by the robot are unstable.
Further, still include: when the safety zone is determined, establishing an anti-collision sensitive zone with the length and width being preset sensitive distances in the safety zone by taking the current position of the robot as a starting point and the extending direction of the preset working path, wherein the preset sensitive distance is smaller than or equal to the distance covered by the seat avoiding signal; when the robot crosses out of the current anti-collision sensitive area along the preset working path, deleting the currently established safety area, and then repeating the step 2 by taking the real-time position of the robot as a starting point to establish the next safety area; wherein the step 2 is not repeated to establish the next safety zone until the robot crosses the current collision avoidance sensitive zone.
Compared with the prior art, the technical scheme limits the safety zone in a zone range, in the anti-collision sensitive zone, the robot continues to work according to the preset working path even if receiving the seat avoidance signal or even colliding with a charging seat which moves in real time, and only when the robot crosses the anti-collision sensitive zone, the next safety zone can be reestablished by deleting the historical information of the currently established safety zone, so that the anti-collision sensitive zone is updated in real time, and the risk that the robot collides with the seat is effectively avoided. Is not affected by the seat avoidance signal.
Based on the above technical solution, in step 2, when the robot detects that the seat avoidance signal exists only on the left side of the moving direction of the robot and the preset working path extends to the right side of the direction of the current moving path of the robot, it is determined that a straight line where the current moving path of the robot is located or a body center line of the robot is a boundary, and a right side area of the boundary is set as the safety area along the direction of the current moving path of the robot. Compared with the prior art, the technical scheme has the advantages that the safe area excluding the charging seat is set by utilizing the direction relation between the seat avoiding signals with different angles and the preset working path, so that the aim that the robot is not influenced by the seat avoiding signals in the cleaning process of the area is fulfilled.
Based on the above technical solution, in step 2, when the robot detects that the seat avoidance signal exists only on the right side of the moving direction of the robot and the preset working path extends to the left side of the direction of the current moving path of the robot, it is determined that a straight line where the current moving path of the robot is located or a body center line of the robot is a boundary, and a left side area of the boundary is set as the safety area along the direction of the current moving path of the robot. Compared with the prior art, the technical scheme utilizes seat avoidance signals of different angles to estimate that the charging seat is not in a certain area, and a safe working area is set by combining the preset cleaning working path planned at present of the robot, so that the aim that the robot is not influenced by the seat avoidance signals in the cleaning process is fulfilled.
Further, the step 2 further comprises: before the safety zone is established, when the robot detects that the seat avoiding signal exists right in front of the robot, or when the robot detects that the seat avoiding signal exists on the right side and the left side of the moving direction of the robot at the same time, the continuous advancing is stopped. Effectively and timely prevent the robot from colliding with the charging seat.
Drawings
Fig. 1 is a schematic process diagram illustrating a process of establishing a safety zone and marking a danger indicator position in a current moving direction in a process that a robot moves along a currently planned arcuate path in a scenario in which a charging seat is located on the right side of the Y axis in the first embodiment.
Fig. 2 is a schematic diagram illustrating a process of establishing a safety area and a danger area in a process that the robot moves along a currently planned zigzag path in a scenario in which a charging seat is located on the right side of the Y axis in the second embodiment.
Fig. 3 is a schematic diagram of a process of establishing a safety zone and marking a danger indicator position in a current moving direction in a process that the robot moves along a currently planned arcuate path in a scene in which charging seats are both present on the right side and the left side of the Y axis in the third embodiment.
Fig. 4 is a schematic process diagram illustrating a process of establishing a safety zone and a danger zone in a process that the robot moves along a currently planned zigzag path in a scenario in which charging seats are both present on the right side and the left side of the Y axis in the fourth embodiment.
Detailed Description
The above-described scheme is further illustrated below with reference to specific examples. It should be understood that the following examples are intended to illustrate the present invention and are not intended to limit the scope of the present invention. The conditions used in the following examples may be further adjusted according to the conditions of the particular manufacturer, and the conditions not specified are generally the conditions in routine experiments.
The main implementation body of the invention is a robot, the robot is provided with infrared receiving sensors in at least three different directions, and the infrared receiving sensors are used for receiving seat avoidance signals sent by a charging seat, namely infrared anti-collision signals, and the infrared receiving sensors arranged in the three different directions comprise: the front sensor is located right ahead, and the other is the side sensor of the both sides of front sensor, and the angle that the side sensor deviates from front sensor sets up at 30 ~ 60 degrees. Moreover, the robot that this embodiment provided includes the machine robot of sweeping the floor of planning formula removal, makes the robot of sweeping the floor clean according to preset direction and cleans.
The embodiment of the invention provides a method for establishing a safety zone by using a seat avoidance signal, which predicts an area without a charging seat by using seat avoidance signals at different angles so as to achieve the effect that a robot is not influenced by the seat avoidance signal in the cleaning process of the area, and comprises the following steps: step 1, detecting the seat avoidance signal receiving condition of the robot in the signal receiving coverage area in real time in the process that the robot moves in the current working area, wherein the seat avoidance signal is from a charging seat specially used for charging the robot; and 2, establishing a safety zone in the current working area according to the seat avoiding signal received by the robot and the position characteristic relation of the preset working path of the robot, namely according to the angle of the received seat avoiding signal deviating from the current moving direction of the robot and the working direction of the pre-planned working path of the robot relative to the initial point extension. The embodiment utilizes the seat-avoiding signal in the coverage range of the received signal of the robot to set a safety zone, and ensures that any seat-avoiding signal is not processed as long as the robot moves in the safety zone, thereby effectively avoiding the charging seat and overcoming the technical problem that the angle and the intensity of the signal received by the robot are unstable.
Before the safety zone is established, a danger zone is identified and established at a position meeting the anti-collision relation with the current position of the robot, so that the robot avoids a charging seat in the process of moving in the current working area. The method provided by the embodiment sets up the effective working area at the periphery of the charging seat by establishing the dangerous area and the safety area, so that the robot moving in the safety area is not interfered by the seat avoidance signal to execute the pre-planned working path, the robot moving in the dangerous area outside the safety area effectively avoids the charging seat in time, the technical problem that the angle and the strength of the signal received by the robot are unstable is solved, and the working efficiency of the robot is improved.
It should be noted that, after the sweeping robot starts to call the program for avoiding the charging seat, it is determined whether the safety zone has been established; if the safe zone has not been established, then the safe zone and the hazard zone are established as per step 2. When the safety zone is established, continuously judging whether the robot crosses the currently established safety zone along the preset working path, if so, deleting the currently established safety zone, marking a danger identification position at a position meeting the anti-collision relation with the current position of the robot to establish a danger zone, and then establishing the next safety zone; and when the robot does not cross the currently established safety zone along the preset working path, the robot continuously moves along the preset working path until the robot crosses the currently established safety zone, wherein the danger identification position is not marked when the robot moves in the safety zone. In the embodiment, the dangerous mark positions are mapped into a grid map, then the mark positions are connected, and the dangerous area is synchronously established in the grid map so as to surround the charging seat; the grid map is established by marking position information in real time in the process that the robot moves in the current working area.
In this embodiment, the area range and the establishment time of the safety zone are limited, and even if the robot receives the seat avoidance signal and even collides with a charging seat which moves in real time, the robot continues to operate according to the preset operating path, so that the movement of the robot is not interfered by the seat avoidance signal; in this embodiment, the establishment time state of the dangerous area is also limited, that is, only when the dangerous area is crossed, the next safe area can be reestablished by deleting the historical information of the currently established safe area, and before the safe area is established, the dangerous area also needs to be identified, so that the risk that the robot collides with the seat is more effectively avoided, and the influence of the seat avoidance signal is reduced.
As an example, as shown in fig. 1, before the safety zone is established, the robot moves to a position a0 along a pre-planned zigzag path extending in the positive direction of the X-axis, and it has been detected at a position a0 that there is a seat-avoiding signal transmitted from the charging stand 1 right in front of the robot, at which time the robot receives the seat-avoiding signal in the same direction as the working direction of the preset working path of the robot, so that the safety zone cannot be established at a position a 0.
As shown in fig. 1, the robot detects that there is a seat avoidance signal transmitted from a charging seat 1 right in front of the robot at a position a0, and marks a first preset position a1, which is one radius distance from the current position of the robot, as the danger identification position, as occupying one grid area in a grid map and as a position satisfying the anti-collision relationship, in the current moving direction of the robot, i.e., in the positive direction of the x-axis of the coordinate system; meanwhile, in the direction perpendicular to the current moving direction of the robot (corresponding to the direction in which a0 points to a1 in fig. 1), a second preset position and a third preset position adjacent to the first preset position are marked as the danger identification positions corresponding to two black square areas adjacent to the position a1, and can be regarded as two grids adjacent to the grid a1 in the grid map in the Y-axis direction, so that the first preset position, the second preset position and the third preset position adjacent to the first preset position and the position distribution relationship between the current positions of the robot form the anti-collision relationship, and the robot is limited to continue to perform cleaning work along the zigzag path in the positive direction of the X-axis.
Then the robot stops moving forward, retreats along the direction opposite to the current moving direction (corresponding to the direction indicated by the arrow P in fig. 1) for a preset safety distance to a position a2, and then rotates in place to make the sensor right in front of the robot face the positive direction of the Y axis, as shown in fig. 1, the robot starts from a position a2, continues cleaning along a pre-planned arch-shaped path, and simultaneously starts to establish a danger zone by marking a danger marking position at a position satisfying the anti-collision relation with the current position of the robot before establishing the next safety zone (including the anti-collision sensitive zone 1 shown in fig. 1). The marking embodiment of the dangerous mark position improves the mark coverage rate of the dangerous area and reduces the risk that the robot collides with the charging seat frontally.
As shown in fig. 1, when the robot moves to the position a2, the robot detects that the seat avoidance signal is present only on the right side of the moving direction of the robot, and detects that the preset working path extends to the left side of the current moving path of the robot, as shown in fig. 1, the robot starts from the position a2, moves in the positive direction of the Y-axis, and performs a zigzag cleaning, that is, the preset working path. Since charging dock 1 is to the right of position a2, the cradle-away signal that the robot receives at position a2 comes from charging dock 1 to the right of position a2 (positive direction of X axis). Meanwhile, the present embodiment sets the currently planned zigzag path to extend in the direction indicated by the left arrow P so that the area covered by the zigzag path is to the left of the position a2 (negative direction of the X-axis). Then, a straight line where the current moving path of the robot is located or a center line of a body of the robot is determined as a boundary line, that is, a straight line passing through the position a2 and perpendicular to the X axis is determined as a boundary line, and then the boundary line is recorded in the grid map, and then a left area of the boundary line is set as the safety zone and recorded, so that the robot is not affected by the seat avoidance signal during the moving process of the safety zone. In this embodiment, a safety zone excluding the charging seat is set by using the directional relationship between the seat-avoiding signal on the right side of the initial advancing direction and the currently planned cleaning working path of the robot, so that the robot is not affected by the seat-avoiding signal of the charging seat 1 in the cleaning process of the zone.
Theoretically, the left measurement areas of the boundary are all safety areas, and considering that the charging seat can be moved, or the charging seat exists in a farther area on the left side and does not detect the seat-avoiding signal sent by the charging seat, an anti-collision sensitive area needs to be established for restricting the effective range of the safety area, a rectangular anti-collision sensitive area range with the length and the width both being preset sensitive distances is set and can be determined according to the seat-avoiding signal range of the seat, wherein the preset sensitive distance is smaller than or equal to the distance covered by the seat-avoiding signal. In this embodiment, an anti-collision sensitive area with a length and a width both being preset sensitive distances is established with the current position of the robot as a starting point according to the working direction of the preset working path, and is recorded in the grid map. As shown in fig. 1, the present embodiment preferably sets a rectangular collision avoidance sensitive area range with a length and width of 2m, and sets the coordinate unit as m; in the coordinate system corresponding to the grid map, the coordinate system may be a local grid coordinate system or a transformed global coordinate system, the current position a2 of the robot is (x0+2, y0), since the length and width of the anti-collision sensitive area are both 2m, and the extending direction of a node on the boundary of the anti-collision sensitive area with respect to the starting point is a working direction, the direction of the arrow P in fig. 1 is taken as the working direction in this embodiment, so that the four boundary lines forming the anti-collision sensitive area 1 in fig. 1 intersect at (x0+2, y0+2), (x0, y0+2), A3(x0+2, y0) and a2(x0, y0), respectively. The robot starts the cleaning work from the position a2(x0, y0) along the indicated zigzag path, and moves to the position A3(x0, y0) according to the indicated zigzag path without processing the seat avoidance signal received in the collision-avoidance sensitive area 1, and then moves to the position a4(x1, y1) across the collision-avoidance sensitive area 1.
When the robot crosses the collision-proof sensitive area 1 along the zigzag path, deleting the established collision-proof sensitive area 1 from the grid map, and at the moment, not marking the danger identification position because no charging seat is arranged around or the seat-avoiding signal transmitted by the charging seat 1 is not received; then, with the position a4(x1, y1) of the robot as a starting point, setting the working direction to be also the direction indicated by the arrow P in fig. 1, establishing the anti-collision sensitive area 2 with the length and width both being 2m, and planning the rectangular anti-collision sensitive area 2 in fig. 1, wherein the four boundary lines of the anti-collision sensitive area 2 intersect at (x1-2, y1+2), (x1, y1+2), (x1-2, y1) and a4(x1, y1), respectively. The robot starts from position a4(x1, y1) and does not process the seat avoidance signal received in the collision-avoidance sensitive area 2, moves to position (x1-2, y1) according to the illustrated bow-shaped path, and then crosses the collision-avoidance sensitive area 2 while deleting the established collision-avoidance sensitive area 2 from the grid map. If the seat avoidance signal transmitted by a charging seat is received at position a4(x1, y1), a danger zone is established by marking a danger identification position at a position satisfying the collision avoidance relationship with the current position of the robot before establishing the next safety zone (including collision avoidance sensitive area 2).
As the second embodiment, based on the determination of the danger-identifying position a1 in the first embodiment, as shown in fig. 2, before the safety zone is established, the robot detects that the seat-avoiding signal transmitted from the charging seat 3 exists at the right side of the moving direction of the robot at the position a0, but does not exclude the situation that the seat-avoiding signal transmitted from the charging seats at other positions in the current working area is received by the right-side receiving sensor of the robot at the position a 0; then, in a direction of deflecting a preset angle to the right with respect to the current moving direction, that is, in a direction of deflecting 45 degrees to the right with respect to the direction in which a0 points to a1 in fig. 2, the position C1, which is one diameter of the body of the robot from the current position a0 of the robot, is selected as the danger flag position, so that the flag position C1 and the current position a0 of the robot conform to the collision avoidance relationship for restricting the robot from continuing the cleaning work in the positive X-axis direction along the zigzag path. The identification accuracy of the dangerous area is improved, and the risk that the robot collides with the charging seat is reduced.
Before establishing the safety zone, the robot detects at position a0 that the seatavoidance signal transmitted from charging dock 2 exists to the left of its moving direction, but does not exclude the case where the seatavoidance signals transmitted from charging docks at other positions within the current work area are of sufficient signal strength to be received by the left side receiving sensor of the robot at position a 0; then, in a direction of deflecting a preset angle to the left with respect to the current moving direction, that is, in a direction of deflecting 45 degrees to the left with respect to the direction pointing to a1 from a0 in fig. 2, the position B1, which is one diameter of the body of the robot from the current position a0 of the robot, is selected to be marked as the danger flag position, so that the flag position B1 and the current position a0 of the robot conform to the collision avoidance relationship for restricting the robot from continuing the cleaning work in the positive X-axis direction along the zigzag path. The identification accuracy of the dangerous area is improved, and the risk that the robot collides with the charging seat is reduced.
When the dangerous mark positions B1, a1, C1 and two adjacent black grid areas at the position a1 are respectively marked independently and mapped to a grid map one by one, the mark positions are connected, as shown by arc-shaped dotted lines in the positive direction of the X axis of fig. 2, the dangerous area is synchronously established in the grid map to surround the charging stand, so that the position of the charging stand in the grid map is predicted; the grid map is established by marking position information in real time in the process that the robot moves in the current working area. In the process that the robot moves in the current working area, the enclosed semi-closed dangerous areas are abandoned, so that the risk of the collision of the robot with a seat is reduced; and the phenomenon that the robot repeatedly enters and exits in a seat avoidance signal coverage area and a recharging guide signal coverage area when the robot enters a dangerous area is avoided, so that the working efficiency of the robot is reduced.
Then, the robot stops moving forward, and then moves backward for a preset safety distance to a position a2 along a direction opposite to the current moving direction (corresponding to the direction indicated by the arrow P in fig. 2), as shown in fig. 2, the robot continues cleaning along a pre-planned arcuate path from the position a2, and at this time, the robot detects that the seat-avoiding signal exists only on the right side of the moving direction of the robot, and detects that the preset working path extends to the left side of the current moving path of the robot. Since there is no charging seat distributed in the negative direction of the X axis of fig. 2, similar to the coordinate environment characteristics shown in fig. 1 corresponding to the embodiment, this embodiment establishes the safety zone in the same location area according to the method of the first embodiment, and establishes the collision-avoidance sensitive area 1 and the collision-avoidance sensitive area 2 in the same location area based on the safety zone, as shown in fig. 2. In this embodiment, the safety zone is limited in an area range, that is, in the anti-collision sensitive zone, even if the robot receives the seat-avoiding signal and even collides with a charging seat which moves in real time, the robot continues to operate according to the preset operating path, so that the movement of the robot is not interfered by the seat-avoiding signal; only when the robot crosses the anti-collision sensitive area, the next safety area can be reestablished in a mode of deleting the historical information of the currently established safety area, and a dangerous area also needs to be identified before the safety area is established, so that the risk that the robot collides with a seat is effectively avoided. Is not affected by the seat avoidance signal.
Example three: once the threat identification location a1 and its adjacent threat identification location have been marked at location a0, the robot then moves to location A3(x0+2, y0) and crosses the collision-sensitive area 1 and then moves to location a5 in a zig-zag path as shown in fig. 1, at which point the robot detects the presence of a seat-avoidance signal transmitted from the charging dock 5 directly in front of the robot at location a 5. Before the safety zone is established, the robot moves to the position a5 along the pre-planned bow-shaped path extending in the negative X-axis direction, and it has been detected at the position a5 that there is a seat-avoiding signal transmitted from the charging seat 5 right in front of the robot, at which time the robot receives the seat-avoiding signal in the same direction as the working direction of the preset working path of the robot, so that the safety zone cannot be established at the position a 5.
As shown in fig. 3, in the current moving direction of the robot, i.e. in the negative x-axis direction of the coordinate system, a first preset position a6, which is a radial distance from the current position of the robot, is marked as the danger identification position, and can be regarded as occupying a grid area in the grid map; meanwhile, in the direction perpendicular to the current moving direction of the robot (corresponding to the direction in which a5 points to point to a6 in fig. 3), the second preset position and the third preset position adjacent to the first preset position a6, corresponding to two black grid areas adjacent to the position a6, are marked as the danger-identified positions, which can be regarded as two grids adjacent to the grid a6 in the grid map in the Y-axis direction, so that the position distribution relationship between the first preset position and the adjacent second preset position and third preset position and the current position of the robot forms the anti-collision relationship, which is used for limiting the robot to continue to perform cleaning work along the bow-shaped path toward the X-axis negative direction to avoid hitting the charging stand 5. Then the robot stops moving forward, retreats along the direction opposite to the current moving direction (corresponding to the direction indicated by the arrow P1 in fig. 3) for a preset safety distance to the position A3, and then rotates in place to make the sensor right in front of the robot face the positive direction of the Y axis, as shown in fig. 3, when the robot starts cleaning along the pre-planned bow-shaped path from the position A3, the next safety zone (including the collision-proof sensitive area 3 shown in fig. 3) is also established. And before establishing a new safety zone, establishing a danger zone by marking a danger identification position at a position satisfying the collision-preventing relationship with the current position of the robot. The marking embodiment of the dangerous mark position provided by the embodiment improves the mark coverage rate of the dangerous area and reduces the risk that the robot collides with the charging seat in front.
As shown in fig. 3, when the robot moves to the position A3, the robot detects that the seat avoidance signal is present only on the left side of the moving direction of the robot, and detects that the preset working path extends to the left side of the current moving path of the robot, as shown in fig. 3, the robot moves in the positive direction of the Y axis from the position A3, and performs a zigzag cleaning, that is, the preset working path. Since the charging dock 5 is to the left of position A3, the docking avoidance signal that the robot receives at position A3 comes from the charging dock 5 to the left of position A3 (negative direction of X-axis). Meanwhile, the currently planned zigzag path is set to extend in the direction indicated by the arrow P1 on the right side so that the area covered by the zigzag path is on the right side of the position A3 (positive direction of the X axis), and since the currently planned zigzag path of the robot is only opposite in direction compared with the zigzag path planned in the first embodiment, the planned zigzag cleaning coverage area is the same as that of the first embodiment.
Before the robot starts to perform the zigzag cleaning, it is further required to determine that a straight line where the current moving path of the robot is located or a center line of a body of the robot is a boundary line, that is, a straight line passing through the position a3 and perpendicular to the X axis is a boundary line, and then record the straight line in the grid map, and then set and record a right area of the boundary line as the safety zone, so that the robot is not affected by the seat avoidance signal during the moving process of the safety zone. In the embodiment, a safety zone excluding the charging seat is set by using the direction relationship between the seat avoiding signal on the left side of the initial advancing direction and the currently planned cleaning working path of the robot, so that the robot is not influenced by the seat avoiding signal of the charging seat 5 in the cleaning process of the zone.
Theoretically, the right measurement areas of the boundary are all safety areas, and considering that the charging seat is moved, or the charging seat 1 (shown in fig. 3) exists in the farther area on the right side and does not detect the seat-avoiding signal sent by the charging seat, an anti-collision sensitive area needs to be established for restricting the effective range of the safety area, a rectangular anti-collision sensitive area range with a length and a width both being preset sensitive distances is set and can be determined according to the seat-avoiding signal range of the seat, wherein the preset sensitive distance is smaller than or equal to the distance covered by the seat-avoiding signal. In this embodiment, an anti-collision sensitive area with a length and a width both being preset sensitive distances is established with the current position of the robot as a starting point according to the working direction of the preset working path, and is recorded in the grid map. As shown in fig. 3, the present embodiment preferably sets a rectangular collision avoidance sensitive area range with a length and width of 2m, and sets the coordinate unit as m; in the coordinate system corresponding to the grid map, the coordinate system may be a local grid coordinate system or a transformed global coordinate system, the coordinate system of the current position A3 of the robot is (x0, y0), since the length and width of the anti-collision sensitive area are both 2m, and the extending direction of a node on the boundary of the anti-collision sensitive area with respect to the starting point is taken as the working direction, the direction of the arrow P1 in fig. 3 is taken as the working direction in this embodiment, so that four boundary lines forming the anti-collision sensitive area 3 in fig. 3 intersect at (x0+2, y0+2), (x0, y0+2), A3(x0+2, y0) and a2(x0, y0), respectively. The robot starts to perform cleaning work along the indicated arch-shaped path from the position A3(x0, y0), does not process the seat avoidance signal received in the anti-collision sensitive area 3, moves to the position A2(x0+2, y0) according to the indicated arch-shaped path all the time, then crosses the anti-collision sensitive area 3, can move to the position A0 in the first embodiment, marks the first preset position, the second preset position and the third preset position as the danger identification positions according to the method in the first embodiment, so that the identification positions and the current position A2 of the robot conform to the anti-collision relation, and is used for limiting the robot to continue cleaning work in the working direction of the preset working path.
Example four: on the basis of the third embodiment, the robot moves to the position a5 along a pre-planned bow-shaped path extending in the negative X-axis direction, and it has been detected at the position a5 that there is a seat-avoiding signal transmitted from the charging seat 5 directly in front of it, the first preset position a6, which is a radial distance from the current position of the robot, is marked as the danger-sign position, and the second preset position and the third preset position, which are adjacent to the first preset position a6 and perpendicular to the current moving direction of the robot (corresponding to the direction in which a5 points to a6 in fig. 4), and which are adjacent to the first preset position a6, are marked as the danger-sign position, corresponding to two black grid areas adjacent to the position a 6. At this time, the robot receives the seating avoidance signal in the same direction as the preset working path of the robot, so that the safety zone cannot be established at the position a 5.
As shown in fig. 4, before the next safety zone is established, the robot detects that the seat-avoiding signal transmitted from the charging seat 6 exists at the right side of the moving direction of the robot at the position a5, but does not exclude the case that the seat-avoiding signal transmitted from the charging seats at other positions in the current working area is enough to be received by the right side receiving sensor of the robot at the position a 5; then, in a direction of deflecting a preset angle to the right with respect to the current moving direction, that is, in a direction of deflecting 45 degrees to the right with respect to the direction of pointing a6 at a5 in fig. 4, a position B2, which is one diameter of the body of the robot from the current position a5 of the robot, is selected and marked as the danger-indicating position, so that the danger-indicating position B2 and the current position a5 of the robot conform to the collision-preventing relationship. For limiting the robot to work along the bow-shaped path in the negative X-axis direction to avoid hitting the charging stand 6.
As shown in fig. 4, before the next safety zone is established, the robot detects that the seat-avoiding signal transmitted from the charging seat 4 exists on the left side of the moving direction thereof at position a5, but does not exclude the case where the seat-avoiding signal transmitted from the charging seats at other positions in the current working area is sufficiently strong to be received by the left side receiving sensor of the robot at position a 5; then, in a direction of deflecting a preset angle to the left with respect to the current moving direction, that is, in a direction of deflecting 45 degrees to the left with respect to the direction pointing to a6 from a5 in fig. 4, the position C2, which is one diameter of the body of the robot from the current position a5 of the robot, is selected to be marked as the danger indicating position, so that the danger indicating position C2 and the current position a5 of the robot conform to the collision avoidance relationship, for limiting the robot to work along the bow-shaped path toward the negative X-axis direction to avoid hitting the charging stand 4.
As shown in fig. 4, after the two black grid areas adjacent to the danger locations B2, a6, C2 and a6 have been marked and mapped onto the grid map, these positions are connected, as shown by the arc-shaped dotted line in the negative direction of the X axis of fig. 4, and the danger areas are synchronously established in the grid map, forming the boundary line separating the robot from the charging seat 4, the charging seat 5 and the charging seat 6. Then the robot stops moving forward, retreats along the direction opposite to the current moving direction (corresponding to the direction indicated by the arrow P1 in fig. 4) for a preset safety distance to reach the position A3, then rotates in situ to enable the sensor in front of the robot to face the positive direction of the Y axis, then establishes the anti-collision sensitive area 3 according to the method of the third embodiment, and moves in the anti-collision sensitive area 3 along the zigzag path planned in the third embodiment to perform cleaning operation. The robot starts to perform cleaning work along the indicated arch-shaped path from the position A3(x0, y0), does not process the seat avoidance signal received in the anti-collision sensitive area 3, moves to the position A2(x0+2, y0) according to the indicated arch-shaped path all the time, then crosses the anti-collision sensitive area 3, can move to the position A0 in the first embodiment, marks the first preset position, the second preset position and the third preset position as the danger identification positions according to the method in the first embodiment, so that the identification positions and the current position A2 of the robot conform to the anti-collision relation, and is used for limiting the robot to continue cleaning work in the working direction of the preset working path. Meanwhile, marking danger identification positions B1, A1 and C1 according to the method of the second embodiment, mapping the positions to a grid map, and connecting the identification positions, as shown by an arc-shaped dotted line in the positive direction of the X axis of FIG. 4, synchronously establishing the danger area in the grid map to surround the charging seat, forming a boundary line of the charging seat 1, the charging seat 2 and the charging seat 3 for isolating the robot, and combining the arc-shaped dotted line in the negative direction of the X axis of FIG. 4, so as to predict the position of the charging seat in the grid map; the grid map is established by marking position information in real time in the process that the robot moves in the current working area. In the process that the robot moves in the current working area, the enclosed semi-closed dangerous areas are abandoned, so that the risk of the collision of the robot with a seat is reduced; and the phenomenon that the robot repeatedly enters and exits from a seat avoidance signal coverage area and a recharging guide signal coverage area when the robot walks into a dangerous area is avoided, so that the working efficiency of the robot is reduced. It should be noted that, in this embodiment, only when the collision-avoidance sensitive area is crossed, the next safety area can be reestablished by deleting the historical information of the currently established safety area, and a dangerous area also needs to be identified before the safety area is established, so that the risk that the robot collides with the seat is more effectively avoided. Is not affected by the seat avoidance signal.
As an embodiment, before the next safety zone is established, the robot moves to a preset working position along a pre-planned zigzag path, the robot detects that the seat-avoiding signal exists on the right side of the moving direction of the robot at the preset working position, and simultaneously detects that the seat-avoiding signal also exists on the left side of the moving direction of the robot, it can be determined that the robot exists a seat-avoiding signal transmitted from a charging seat right in front of the moving direction of the robot, the first preset position and the second and third adjacent preset positions are respectively marked as the danger identification positions according to the method of the previous embodiment, so that the position distribution relationship between the first preset position and the second and third adjacent preset positions and the current position of the robot forms the anti-collision relationship, the robot is prevented from hitting the charging stand. Then the robot stops moving forward, retreats for a preset safety distance along the direction opposite to the current moving direction, and then rotates in situ to continue cleaning along the pre-planned bow-shaped path (which may be different from the originally planned bow-shaped path to clean and cover a new area), and at the same time, the next safety area is established according to the method of the foregoing embodiment.
In the foregoing embodiment, after the grid map establishes the dangerous area for the first time, the robot moves to the non-safe area in the current working area; when the seat avoidance signal is detected, judging whether the duration time of the seat avoidance signal reaches a preset response time, if so, repeating the marking method of the danger identification position of the previous embodiment to establish the next danger zone, otherwise, establishing the danger zone without using the currently detected seat avoidance signal; and mapping the dangerous mark positions to a grid map, connecting the mark positions, and synchronously establishing the dangerous area in the grid map so as to surround the charging seat. In the process that the robot moves in the current working area, the enclosed dangerous areas are abandoned, so that the risk of the robot colliding with the seat is reduced, and the situation that the robot enters the dangerous area and possibly repeatedly enters and exits the seat avoiding signal coverage area and the recharging guide signal coverage area is avoided, so that the working efficiency of the robot is reduced. Wherein the preset response time is in the order of milliseconds. The accuracy of the identification is improved, and the positioning accuracy of the charging seat is further improved.
In the aforementioned embodiment, the preset angle for determining the position of the hazard label is set between 30 and 60 degrees. And on the basis of the assembly characteristics of the anti-collision sensor of the robot, the coverage degree of the identification area of the dangerous area is improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the invention, it is intended to cover all modifications within the scope of the invention as claimed.
Claims (4)
1. A method for establishing a safety zone using a seat avoidance signal, comprising:
step 1, detecting the seat avoidance signal receiving condition of the robot in the signal receiving coverage area in real time in the process that the robot moves in the current working area, wherein the seat avoidance signal is from a charging seat specially used for charging the robot;
step 2, setting a safety area in the current working area according to the seat avoiding signal received by the robot and the position characteristic relation of the preset working path of the robot, so that the robot moving in the safety area avoids a charging seat for transmitting the seat avoiding signal;
after the safety zone is determined, establishing an anti-collision sensitive zone with the length and the width both being preset sensitive distances in the extending direction of the preset working path by taking the current position of the robot as a starting point in the safety zone, wherein the preset sensitive distance is smaller than or equal to the distance covered by the seat avoiding signal;
when the robot crosses out of the current anti-collision sensitive area along the preset working path, deleting the currently established safety area, and then repeating the step 2 by taking the real-time position of the robot as a starting point to establish the next safety area; wherein the step 2 is not repeated to establish the next safety zone before the robot crosses the current collision avoidance sensitive area.
2. The method according to claim 1, wherein in step 2, when the robot detects that the seat avoidance signal exists only on the left side of the moving direction of the robot and the preset working path extends to the right side of the direction of the current moving path of the robot, determining a straight line on which the current moving path of the robot is located or a center line of a body of the robot as a boundary, and setting a right side area of the boundary as the safety zone along the direction of the current moving path of the robot.
3. The method according to claim 1, wherein in step 2, when the robot detects that the seat avoidance signal exists only on the right side of the moving direction of the robot and the preset working path extends to the left side of the direction of the current moving path of the robot, determining a straight line on which the current moving path of the robot is located or a center line of a body of the robot as a boundary line, and setting a left area of the boundary line as the safety zone along the direction of the current moving path of the robot.
4. The method for establishing a security zone according to claim 1, wherein the step 2 further comprises: stopping continuing forward when the robot detects the presence of the seat avoidance signal directly in front of the robot before the safe zone is established.
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| CN111930118A (en) * | 2020-08-02 | 2020-11-13 | 珠海市一微半导体有限公司 | Control method for avoiding charging seat of robot, chip and robot |
| CN117234196A (en) * | 2022-06-07 | 2023-12-15 | 速感科技（北京）有限公司 | Autonomous mobile device, autonomous mobile device operation method, autonomous mobile device operation system, and storage medium |
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