WO2020186405A1

WO2020186405A1 - Method, system and apparatus for returning from crossing border

Info

Publication number: WO2020186405A1
Application number: PCT/CN2019/078356
Authority: WO
Inventors: 伍浩文
Original assignee: 深圳拓邦股份有限公司
Priority date: 2019-03-15
Filing date: 2019-03-15
Publication date: 2020-09-24
Also published as: CN110087838B; CN110087838A

Abstract

A method, system and apparatus for returning from crossing a border. The method comprises: collecting a first electromagnetic signal and a second electromagnetic signal received by an electromagnetic sensor provided on a robot (S10); determining whether the first electromagnetic signal and the second electromagnetic signal satisfy a pre-set border-crossing condition (S20); and if a determination result is that same satisfy the condition, controlling the robot to move towards the side with a greater electromagnetic signal (S30). According to electromagnetic signals received by an electromagnetic sensor, the border-crossing direction of a robot is determined, such that the driving direction of the robot is corrected to control same to return to a pre-set track, thereby preventing the phenomenon of user experience being poor as a result of the fact that the robot cannot be accurately returned to a pre-set walking track after a border is crossed.

Description

Method, system and device for cross-border return

Technical field

The invention belongs to the field of robot control, and in particular relates to a method, system and device for returning beyond the boundary.

Background technique

Robots are the common name for automatic control machines. Automatic control machines include all machines that simulate human behavior or thought and simulate other creatures (such as robot dogs, robot cats, etc.). There are many classifications and disputes about the definition of robots in the narrow sense. Some computers Programs are even called robots. In contemporary industry, robots refer to man-made machines that can automatically perform tasks to replace or assist humans in their work. The ideal high-simulation robots are advanced integrated cybernetics, mechatronics, computers and humans. The product of intelligence, materials science and bionics, the United Nations Organization for Standardization has adopted the definition of robots given by the American Robot Association: "Programmable and multifunctional manipulators, or capable of computer changes and programmable actions in order to perform different tasks. "Specialized system", it can bring many conveniences to mankind. It has important uses in the fields of industry, medicine, agriculture, construction industry and even military. Chinese robot experts divide robots into two major categories based on the application environment. Classes, that is, industrial robots and special robots. With the improvement of the quality of life, robots have been widely used in our lives. When the robot is active, it is necessary to plan the walking trajectory of the robot to make the robot move on the planned path. The virtual boundary is a non-physical boundary used for obstacle avoidance and walking activities of the robot. It detects the position of the beacon through the sensors installed on the robot, and then realizes the recognition of the working area and the non-working area through the boundary formation algorithm, so that the robot is in the boundary area. If a boundary area is not established for internal activities, it will cause the robot to cross the boundary and cause accidents when it is moving, which will lead to damage to the robot.

When the existing robot performs work according to the predetermined walking trajectory, when it crosses the boundary, the robot can only rely on the navigation and positioning information to return when the robot is offline. However, when the navigation and positioning information is inaccurate, it cannot accurately return to the predetermined position. The walking trajectory can only perform shutdown operations, which reduces the work efficiency of the robot. When the shutdown operation is performed, manual corrections are required on site, which consumes human resources and affects the user experience.

Summary of the invention

The purpose of the embodiments of the present invention is to provide a cross-border return method, system, and device, which are intended to solve the problem that existing robots cannot accurately return to a predetermined walking trajectory after crossing the boundary during use.

The embodiment of the present invention is implemented in this way. An out-of-bounds return method is used to control the robot to return to the boundary area or boundary line, including:

Collecting the first electromagnetic signal and the second electromagnetic signal received by the electromagnetic sensor provided on the robot;

Judging whether the first electromagnetic signal and the second electromagnetic signal meet a preset out-of-bounds condition;

If the result of the judgment is yes, the robot is controlled to move to the side with a larger electromagnetic signal.

Furthermore, the step of judging whether the first electromagnetic signal and the second electromagnetic signal meet a preset out-of-bounds condition includes:

Judging whether the electromagnetic signals received by the electromagnetic sensor are all signals in the same direction;

If yes, it is determined that the electromagnetic signal satisfies the preset out-of-bounds condition.

Furthermore, if it is, the step of determining that the electromagnetic signal satisfies the preset out-of-bounds condition further includes:

Rotate the robot and collect real-time electromagnetic signals in each state;

Judging whether the real-time electromagnetic signals are all co-directional signals;

Judging whether the first electromagnetic signal and the second electromagnetic signal meet the preset traveling direction along the line;

If the judgment result is no, it is judged that the electromagnetic signal meets the preset out-of-bounds condition.

Furthermore, after the step of determining that the electromagnetic signal satisfies the preset out-of-bounds condition, the method further includes:

Rotate the robot and collect real-time electromagnetic signals in each state;

Judging whether the real-time electromagnetic signal satisfies the preset traveling direction along the line;

If yes, rotate the robot to meet the preset travel direction along the line.

Another object of the embodiments of the present invention is to provide a cross-border return system for controlling the robot to return to the boundary area or boundary line, and the system includes:

The out-of-bounds judgment module is used to collect the first electromagnetic signal and the second electromagnetic signal received by the electromagnetic sensor provided on the robot, and determine whether the first electromagnetic signal and the second electromagnetic signal meet the preset out-of-bounds condition;

The movement control module is used to control the robot to move to the side with the larger electromagnetic signal when the judgment result of the cross-border judgment module is yes.

Furthermore, the out-of-bounds judgment module is also used for:

Rotate the robot and collect real-time electromagnetic signals in each state;

Another object of the embodiments of the present invention is to provide an out-of-bounds return device, including a storage device and a processor, the storage device is used to store a computer program, and the processor runs the computer program to make the out-of-bounds return device execute The above-mentioned out-of-bounds return method.

Another object of the embodiments of the present invention is to provide a storage medium characterized in that it stores a computer program used in the above-mentioned cross-border return device, and when the computer program is executed by a processor, the steps of the above-mentioned cross-border return method are implemented. .

In the embodiment of the present invention, the electromagnetic sensor is controlled to receive the electromagnetic signal to determine whether the robot has exceeded a preset boundary area, and when the robot exceeds the boundary, the electromagnetic signal The size is determined to control the robot to move toward the side with the larger electromagnetic signal to control the robot to return to the boundary area. In the embodiment of the present invention, the out-of-boundary orientation of the robot is determined based on the electromagnetic signal received by the electromagnetic sensor, thereby Correcting the traveling direction of the robot to control the return to the predetermined trajectory prevents the phenomenon of user experience caused by the inability to accurately return to the predetermined walking trajectory after crossing the boundary in the prior art.

Description of the drawings

Figure 1 is a flow chart of the cross-border return method provided by the first embodiment of the present invention;

2 is a schematic diagram of the normal working state of the robot provided by the first embodiment of the present invention;

3 is a schematic diagram of the working state of the robot beyond the boundary provided by the first embodiment of the present invention;

FIG. 4 is a flowchart of a method for cross-border return provided by the second embodiment of the present invention;

FIG. 5 is a flowchart of a method for returning beyond the boundary provided by the third embodiment of the present invention;

6 is a schematic diagram of the working state of the robot when it exceeds the boundary provided by the third embodiment of the present invention;

FIG. 7 is a flowchart of a method for returning beyond the boundary provided by the fourth embodiment of the present invention;

FIG. 8 is a flow chart of a method for returning beyond the boundary provided by the fifth embodiment of the present invention;

Figure 9 is a schematic structural diagram of a cross-border return system provided by a seventh embodiment of the present invention;

Fig. 10 is a schematic structural diagram of a cross-border return device provided by an eighth embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

When the existing robot performs work according to the predetermined walking trajectory, when it crosses the boundary, the robot can only rely on the navigation and positioning information to return when the robot is offline. However, when the navigation and positioning information is inaccurate, it cannot accurately return to the predetermined position. The walking trajectory can only perform the shutdown operation, which reduces the work efficiency of the robot. When the shutdown operation is performed, manual field correction is required, which consumes human resources and affects the user’s experience. Therefore, the present invention is based on electromagnetic sensors. The received electromagnetic signal is used to determine the robot's out-of-bounds position, thereby correcting the robot's traveling direction to control the return to the predetermined trajectory, which prevents the user from being able to accurately return to the predetermined walking trajectory after crossing the boundary in the prior art. Experience the phenomenon of land.

In order to illustrate the technical solution of the present invention, specific embodiments are used for description below.

Example one

Please refer to Fig. 1, Fig. 2 and Fig. 3, which are flowcharts of the cross-border return method provided by the first embodiment of the present invention, which is used to control the robot to return to the boundary area or boundary line, including the steps:

Step S10, collecting the first electromagnetic signal and the second electromagnetic signal received by the electromagnetic sensor provided on the robot;

In the embodiment of the present invention, the robot refers to a machine device that can automatically perform work. For example, the robot may be a lawn mower robot. It should be understood that the examples of the robot are only used to explain the present invention. It is not intended to limit the present invention.

Wherein, the electromagnetic sensor is provided on the robot, and the electromagnetic sensor is electrically connected to the power supply in the robot. Preferably, the specific location where the electromagnetic sensor is set may be inside or outside the robot;

Specifically, in this embodiment, the signal source of the electromagnetic signal is sequentially set on the boundary line of the preset boundary area, and the signal source is set by a signal transmitter, which effectively facilitates the user When the change of the preset boundary area is required, the position setting of the signal transmitter;

Step S20, judging whether the first electromagnetic signal and the second electromagnetic signal meet a preset out-of-bounds condition;

Wherein, the electromagnetic signal is composed of signal strength and signal direction, and the signal direction is the position direction of the electromagnetic signal emission source induced by the electromagnetic sensor. Specifically, in this step, the preset out-of-bounds condition may be judged The manner of the magnitude of the signal strength or the manner of judging the direction and position of the signal direction to determine whether the electromagnetic signal meets the preset out-of-bounds condition;

In this step, the preset out-of-bounds condition is used to determine whether the robot has a boundary line that exceeds the preset boundary area. The area shape and size of the preset boundary area can be set independently according to user needs. The boundary area is the working area preset by the user for the robot, as shown in FIG. 2 is a schematic diagram of the robot in a normal working state;

When the judgment result of step S20 is yes, execute step S30;

Step S30, controlling the robot to move to the side with a larger electromagnetic signal;

In this embodiment, by controlling the design of the electromagnetic sensor to receive the electromagnetic signal, to correspondingly determine whether the robot has exceeded the preset boundary area, and when the robot exceeds the boundary, as shown in FIG. The schematic diagram in the working state beyond the boundary, by judging the magnitude of the electromagnetic signal, and controlling the robot to move toward the side with the larger electromagnetic signal, so as to control the robot to return to the boundary area.

Example two

Please refer to FIG. 4, which is a flow chart of the cross-border return method provided by the second embodiment of the present invention, which is used to control the robot to return to the boundary area or boundary line, including the steps:

Step S11, collecting the first electromagnetic signal and the second electromagnetic signal received by the electromagnetic sensor provided on the robot;

Step S21, determining whether the electromagnetic signals received by the electromagnetic sensor are all signals in the same direction;

When the judgment result of step S21 is yes, execute step S31;

Step S31, determining that the electromagnetic signal satisfies the preset out-of-bounds condition;

Specifically, in this step, the step of determining that the electromagnetic signal satisfies the preset out-of-bounds condition further includes:

Rotate the robot and collect real-time electromagnetic signals in each state;

Step S41, controlling the robot to move to the side with a larger electromagnetic signal;

In this embodiment, by controlling the design of the electromagnetic sensor to receive the electromagnetic signal to determine whether the robot has exceeded a preset boundary area, and when the robot exceeds the boundary, the electromagnetic signal is The size is judged to control the robot to move toward the side with a larger electromagnetic signal to control the robot to return to the boundary area.

Example three

Please refer to Fig. 5 and Fig. 6, which are the flow charts of the method for returning beyond the boundary provided by the third embodiment of the present invention, which is used to control the robot to return to the boundary area or boundary line, including the steps:

Step S12, collecting the first electromagnetic signal and the second electromagnetic signal received by the electromagnetic sensor provided on the robot;

Step S22, judging whether the first electromagnetic signal and the second electromagnetic signal satisfy a preset traveling direction along the line;

When the judgment result of step S22 is no, execute step S32;

Step S32, determining that the electromagnetic signal satisfies the preset cross-border condition, rotating the robot and collecting real-time electromagnetic signals in each state;

Step S42, judging whether the real-time electromagnetic signal satisfies the preset traveling direction along the line;

When the judgment result of step S42 is yes, execute step S52;

Step S52, controlling the robot to travel along the preset travel direction along the line;

When the judgment result of step S42 is no, execute step S30;

Step S30, controlling the robot to move to the side with a larger electromagnetic signal.

In this embodiment, by controlling the design of the electromagnetic sensor to receive the electromagnetic signal, to correspondingly determine whether the robot has exceeded the preset boundary area, as shown in FIG. 6, and when the robot exceeds the boundary, pass The magnitude of the electromagnetic signal is judged to control the robot to move toward the side with a larger electromagnetic signal to control the robot to return to the boundary area.

Example four

Please refer to FIG. 7, which is a flow chart of the method for returning beyond the boundary provided by the fourth embodiment of the present invention, which is used to control the robot to return to the boundary area or boundary line, including the steps:

Step S13, collecting electromagnetic signals received by the electromagnetic sensor;

Wherein, the electromagnetic sensor is provided on the robot, and the electromagnetic sensor is electrically connected to the power supply in the robot. Preferably, the specific location where the electromagnetic sensor is set may be inside or outside the robot, The electromagnetic sensors provided on the robot are symmetrical along the central axis of the robot, and when the number of electromagnetic sensors is a base number, at least one electromagnetic sensor is provided on the central axis of the robot;

Step S23, judging whether the electromagnetic signal meets a preset out-of-bounds condition;

In this step, the preset out-of-bounds condition is used to determine whether the robot has a boundary line that exceeds the preset boundary area. The area shape and size of the preset boundary area can be set independently according to user needs. The boundary area is the working area preset by the user for the robot;

When the judgment result of step S23 is no, it is judged that the robot does not exceed the preset boundary area, and at this time, stop performing the out-of-bounds return operation;

When the judgment result of step S23 is yes, execute step S33;

Step S33, controlling the robot to move to the side with a larger electromagnetic signal;

Wherein, the closer the distance to the signal source, the stronger the strength of the electromagnetic signal received on the electromagnetic sensor. Therefore, by controlling the robot to move to the side with the larger electromagnetic signal, the corresponding method is to turn the robot toward The preset boundary area moves, so it effectively plays the effect of controlling the robot to return beyond the boundary;

Specifically, in this embodiment, the preset walking trajectory is set on the midline within the preset boundary area. Therefore, when the number of the electromagnetic sensors provided on the robot is an even number, and the robot is moving When driving to the preset walking track during control, the electromagnetic signals received by the electromagnetic sensors on both sides of the central axis of the robot are in opposite directions. Optimally, when the electromagnetic signals received by the electromagnetic sensors are equal in magnitude , It means that the robot has returned to the normal walking track;

In this embodiment, by controlling the design of the electromagnetic sensor to receive the electromagnetic signal to determine whether the robot has exceeded a preset boundary area, and when the robot exceeds the boundary, the electromagnetic signal is The size is determined to control the robot to move toward the side with the larger electromagnetic signal to control the robot to return to the boundary area. In the embodiment of the present invention, the out-of-boundary orientation of the robot is determined based on the electromagnetic signal received by the electromagnetic sensor, thereby Correcting the traveling direction of the robot to control the return to the predetermined trajectory prevents the phenomenon of user experience caused by the inability to accurately return to the predetermined walking trajectory after crossing the boundary in the prior art.

Example five

Please refer to FIG. 8, which is a flowchart of the out-of-bounds return method provided by the fifth embodiment of the present invention, including the steps:

Step S15, collecting electromagnetic signals received by the electromagnetic sensor;

Step S25, judging whether the electromagnetic signals received by the electromagnetic sensor are all signals in the same direction;

Wherein, the electromagnetic signal is composed of signal strength and signal direction, and the signal direction is the position direction of the electromagnetic signal emission source induced by the electromagnetic sensor, because when the robot crosses the boundary, all the electromagnetic sensors receive The directions of the electromagnetic signals will be the same side. Therefore, in this step, by judging whether the electromagnetic signals received are all signals in the same direction, to accurately determine whether the robot is currently out of bounds;

When it is determined in step S25 that the electromagnetic signals received are not all in the same direction, it is determined that the robot does not exceed the preset boundary area. At this time, there is no need to perform a cross-border return operation on the robot;

When it is determined in step S25 that the electromagnetic signals received are all signals in the same direction, it is determined that the robot has exceeded the preset boundary area, and step S35 is executed;

Step S35, judging whether the signal intensity of the electromagnetic signal is less than an intensity threshold;

Wherein, the intensity threshold can be set independently according to user needs. Specifically, this step determines whether the robot exceeds the boundary line of the preset boundary area through the judgment between the signal intensity and the intensity threshold. It is assumed that the area shape and size of the boundary area can be independently set according to user requirements, and the preset boundary area is a working area preset by the user for the robot;

When it is determined in step S35 that the signal strength value is less than the strength threshold value, step S45 is executed;

Step S45, determining that the electromagnetic signal satisfies the preset cross-border condition, and separately calculating the signal strength of each electromagnetic signal;

Wherein, the signal strength of each electromagnetic signal is calculated separately to facilitate the subsequent judgment of the magnitude of the signal strength value, and in this step, the signal can be performed by using the peak or trough of the numerical value or the waveform. Calculation of intensity value;

Step S55: Obtain a target signal according to the calculation result, where the target signal is the electromagnetic signal corresponding to the maximum value among the signal strengths;

Wherein, the target signal is obtained by using a size sorting method, and a comparator or a comparison circuit may be used in this step to perform a sorting comparison between the signal strengths;

Step S65, acquiring the signal direction of the target signal, and controlling the robot to move toward the signal direction;

Example Six

Please refer to FIG. 9, which is a schematic structural diagram of a cross-border return system 100 provided by a seventh embodiment of the present invention. The cross-border return system 100 is used to control the robot to return to a boundary area or boundary line, and includes:

The cross-border judgment module is used to collect the first electromagnetic signal and the second electromagnetic signal received by the electromagnetic sensor provided on the robot, and determine whether the first electromagnetic signal and the second electromagnetic signal meet the preset cross-border condition.

Specifically, in this embodiment, the cross-border determination module is also used to determine whether the electromagnetic signals received by the electromagnetic sensor are all co-directional signals; if so, determine that the electromagnetic signals meet the preset Out-of-bounds conditions.

Further, the cross-border judging module is also used to: rotate the robot and collect real-time electromagnetic signals in each state; judge whether the real-time electromagnetic signals are all in the same direction; if so, judge that the electromagnetic signals meet the predetermined Set the out-of-bounds conditions.

Furthermore, the cross-border judging module is also used to judge whether the first electromagnetic signal and the second electromagnetic signal meet the preset traveling direction along the line; if the judgment result is no, then judge that the electromagnetic signal satisfies the The preset out-of-bounds conditions.

Preferably, the cross-border judging module is further used to: rotate the robot and collect real-time electromagnetic signals in each state; judge whether the real-time electromagnetic signals satisfy the preset travel direction; if so, rotate the The robot meets the preset driving direction along the line

Example Seven

Please refer to FIG. 10, which is an out-of-bounds returning device 101 provided by an eighth embodiment of the present invention, including a storage device and a processor. The out-of-bounds returning device 101 is electrically connected to the robot, and the storage device is used to store a computer program. The processor runs the computer program to make the out-of-bounds return device 101 execute the above-mentioned out-of-bounds return method.

This embodiment also provides a storage medium on which a computer program used in the above-mentioned cross-border return device is stored. When the program is executed, it includes the following steps:

If the result of the judgment is yes, the robot is controlled to move to the side with a larger electromagnetic signal. The storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above functional units and modules is used as an example. In practical applications, the above functions can be allocated to different functional units or Module completion, that is, the internal structure of the storage device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist alone physically, or two or more units can be integrated into one unit. The above-mentioned integrated units can be hardware-based Formal realization can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only used to facilitate distinguishing each other, and are not used to limit the protection scope of the present application.

Those skilled in the art can understand that the composition structure shown in FIG. 7 does not constitute a limitation on the cross-border return system of the present invention, and may include more or less components than shown in the figure, or a combination of certain components, or different components The cross-border return method in Figs. 1-6 also adopts more or fewer components shown in Fig. 7, or a combination of some components, or different component arrangements. The unit, module, etc. referred to in the present invention refers to a series of computer programs that can be executed by the processor (not shown in the figure) in the cross-border return system and can perform specific functions. All of them can be stored in the Cross the boundary and return to the storage device of the system (not shown).

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Claims

An out-of-bounds return method for controlling a robot to return to a boundary area or boundary line, characterized in that the method includes:

Collecting the first electromagnetic signal and the second electromagnetic signal received by the electromagnetic sensor provided on the robot;

Judging whether the first electromagnetic signal and the second electromagnetic signal meet a preset out-of-bounds condition;

If the result of the judgment is yes, the robot is controlled to move to the side with a larger electromagnetic signal.
The method for returning across the boundary according to claim 1, wherein the step of judging whether the first electromagnetic signal and the second electromagnetic signal meet a preset boundary condition comprises:

Judging whether the electromagnetic signals received by the electromagnetic sensor are all signals in the same direction;

If yes, it is determined that the electromagnetic signal satisfies the preset out-of-bounds condition.
The method for returning beyond the boundary according to claim 2, wherein, if yes, the step of determining that the electromagnetic signal satisfies the preset boundary condition further comprises:

Rotate the robot and collect real-time electromagnetic signals in each state;

Judging whether the real-time electromagnetic signals are all co-directional signals;

If yes, it is determined that the electromagnetic signal satisfies the preset out-of-bounds condition.
The method for returning across the boundary according to claim 1, wherein the step of judging whether the first electromagnetic signal and the second electromagnetic signal meet a preset boundary condition comprises:

Judging whether the first electromagnetic signal and the second electromagnetic signal meet the preset traveling direction along the line;

If the judgment result is no, it is judged that the electromagnetic signal meets the preset out-of-bounds condition.
The method for returning beyond the boundary of claim 4, wherein after the step of determining that the electromagnetic signal satisfies the preset boundary condition, the method further comprises:

Rotate the robot and collect real-time electromagnetic signals in each state;

Judging whether the real-time electromagnetic signal satisfies the preset traveling direction along the line;

If yes, rotate the robot to meet the preset travel direction along the line.
An out-of-bounds return system for controlling a robot to return to a boundary area or boundary line, characterized in that the system includes:

The out-of-bounds judgment module is used to collect the first electromagnetic signal and the second electromagnetic signal received by the electromagnetic sensor provided on the robot, and determine whether the first electromagnetic signal and the second electromagnetic signal meet the preset out-of-bounds condition;

The movement control module is used to control the robot to move to the side with the larger electromagnetic signal when the judgment result of the cross-border judgment module is yes.
The cross-border return system according to claim 6, wherein the cross-border judgment module is further used for:

Judging whether the electromagnetic signals received by the electromagnetic sensor are all signals in the same direction;

If yes, it is determined that the electromagnetic signal satisfies the preset out-of-bounds condition.
The cross-border return system according to claim 7, wherein the cross-border judgment module is further used for:

Rotate the robot and collect real-time electromagnetic signals in each state;

Judging whether the real-time electromagnetic signals are all co-directional signals;

If yes, it is determined that the electromagnetic signal satisfies the preset out-of-bounds condition.
An out-of-bounds return device, characterized in that it comprises a storage device and a processor, the storage device is used to store a computer program, and the processor runs the computer program to make the out-of-bounds return device execute according to claims 1 to 7. Any of the above-mentioned return methods.
A storage medium, characterized in that it stores a computer program used in the cross-border return device according to claim 10, which when executed by a processor realizes the cross-border return according to any one of claims 1 to 7 Method steps.