CN105867364B - Restrict the system and method for robotic movement behavior - Google Patents
Restrict the system and method for robotic movement behavior Download PDFInfo
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- CN105867364B CN105867364B CN201510036176.7A CN201510036176A CN105867364B CN 105867364 B CN105867364 B CN 105867364B CN 201510036176 A CN201510036176 A CN 201510036176A CN 105867364 B CN105867364 B CN 105867364B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 112
- 238000001514 detection method Methods 0.000 claims abstract description 52
- 230000000694 effects Effects 0.000 claims abstract description 43
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims abstract description 5
- 238000012790 confirmation Methods 0.000 claims description 14
- 239000011800 void material Substances 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012358 sourcing Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The present invention provides a kind of system and methods for restricting robotic movement behavior, including a virtual wall device and a robot, virtual wall device receives an obstacle detection signal in a predetermined range of receiving, and the obstacle detection signal is received in the predetermined range of receiving and then issues a virtual wall signal, one activity space is separated into the first zone of action and the second zone of action by the virtual wall signal, robot then sends the obstacle detection signal when advancing, when being moved to the predetermined transmitting range of the virtual wall signal, receive the virtual wall signal, and selectively allow or forbid the predetermined transmitting range across the virtual wall signal according to the virtual wall signal, to restrict robot mobile behavior in the first zone of action and the second zone of action.
Description
Technical field
The invention belongs to robotic technology fields, are espespecially related to a kind of system and method for restricting robotic movement behavior.
Background technique
Existing clean robot executes operation for independently advancing in an interior space, while without using person's control
Autonomous device.Clean robot is usually in the interior spaces autonomous such as family or office, and mobile
The dirt (such as: rubbish, dust) on floor is drawn in the dust-collecting box in it simultaneously, thereby executing clean operation.
But clean robot, in practical operation, still there are many upper limitations of application, more typically, due to various
Different indoor decorative (for example, furniture) articles and its position are all different, even and the identical interior space, Yu Butong when
Between, may also there be different interior space planning, therefore, clean robot is set with a fixed walking path for its operation
Mode does not meet the operation and control form of actual demand.
And be avoid the clean robot from colliding the barriers such as metope, furniture, setting out articles when indoor walking operates, or
Person be avoid by non-handicapping every balcony, stair fall, the practice more universal at present be set to baffling device (virtual wall) it is each
A position for needing control generates the blocking signal externally emitted using the baffling device (virtual wall), and in the clean robot
On then at least provided with the receiving unit that can receive the grade blocking signals, make the clean robot in receiving the grade blocking signals
Afterwards, it can produce the corresponded manner of retrogressing or deflection walking, to reach the above-mentioned situation for avoiding collision or falling.
Such as U.S. Patent No. US7579803 patent of invention case, it discloses a kind of for robot localization and restriction
Method and system is for restricting robot in specific space.The system includes that can carry obstacle signal conveyer and can
The robot of movement wherein can carry obstacle signal conveyer mainly transmits signal along an axis, and generates virtual barrier in space
Hinder region, this virtual obstacles region is humanoid to movable machine at the blocking that can not be crossed over, and movable machine people once detects
It measures the obstacle signal and executes and avoid the obstacle signal, in the preferred embodiment, which is sent out with the frequency of infrared ray
It penetrates, and the robot includes comprehensive signal detection device.Once detecting the obstacle signal, the robot revolute is to by hindering
On the direction for hindering backoff algorithm selected, until no longer detecting the obstacle signal, effectively to avoid touching for aforementioned unintentional
Hit or fall situation.
It, can be constant since obstacle signal conveyer can be carried in running but in the structure of foregoing invention Patent Case
Ground externally issues axis transmission signal, cause its must quick and a large amount of consuming energy, and passed obstacle signal can be being carried at present
It send in device, is all to use battery as mainly for power supply is answered, in this situation, it is necessary to use relatively large battery, thus can
The unavoidable expansion of volume for causing can to carry obstacle signal conveyer, be unfavorable for cooperating the whole interior space utilizes rule
It draws, and a large amount of consuming energies do not meet economic benefit yet.
In view of that can carry obstacle signal conveyer with disadvantages mentioned above, therefore, dealer improves in response to this problem, as in
State CN102048499 patent disclosure case, it discloses the sides of mobile-robot system and control mobile-robot system
Method comprising mobile robot and Radio Beacon (be equivalent to above-mentioned carry obstacle signal conveyer), mobile robot is expert at
Signal can be sent when advancing in recessed region simultaneously；When visual field (Field of View, the letter of the remote controler receiving module of Radio Beacon
Claim: FOV) sense mobile robot transmission signal when, in the form of response signal to mobile robot report sensing result,
After cleaning to guide one room of mobile robot completion, reboots mobile robot and be moved to another room progress clearly
It is clean.
In the foregoing in state CN102048499 patent disclosure case, although solving U.S. Patent No. US7579803
The problem of consuming power supply of patent of invention case, but derived another problem, component needed for Radio Beacon becomes more, will
The difficulty of production can be improved and increase many part sourcing costs and assembling cost, it appears that be not able to efficiently solve consuming
Therefore how the problem of electric power provides an easy structure composition, and can have effective energy-saving effect Radio Beacon or can
Obstacle signal conveyer is carried, and relatively saves electric power using upper in Radio Beacon, is a very urgent project.
Summary of the invention
It is excessive in view of the Radio Beacon of the prior art and the component of robot, also there is the problem of excessively power consumption, it is of the invention
Purpose is to provide a kind of restriction machine that mobile behavior self can be restricted according to the virtual wall signal of virtual wall device sending
The system and method for human action behavior simply and compared with the virtual wall device of power saving replaces the Radio Beacon of the prior art using structure
Or obstacle signal conveyer can be carried.
The present invention is implemented as follows: a kind of system for restricting robotic movement behavior comprising:
One virtual wall device is furnished in an activity space, and the predetermined range of receiving in the activity space is inscribed
An obstacle detection signal is received, and receives the obstacle detection signal in the predetermined range of receiving and then issues a virtual wall signal,
The activity space is separated into one first zone of action and one second zone of action by the virtual wall signal, the virtual wall device
It does not receive the obstacle detection signal in the predetermined range of receiving and closes the virtual wall signal；
One robot, it is mobile in the activity space, and the obstacle detection signal is sent when advancing, and be moved to this virtually
The virtual wall signal is received when the predetermined transmitting range of wall signal, and selectively allowed according to the virtual wall signal or forbid across
The predetermined transmitting range of the virtual wall signal restricts the robot and moves in the first zone of action and the second zone of action
It is dynamic.
Further, which receives the obstacle detection signal, which will control the robot
The disengaging order modulation of the predetermined transmitting range of the virtual wall signal is detached from into the virtual wall signal.
Further, which is to control the robot one of to step back, turns to or combine.
Further, data during which further includes identification data and restrict, the virtual wall device will
The combination modulation of data is at the virtual wall signal during the disengaging order, the identification data and the restriction, during the restriction
Data are the restriction time for the movement that the robot is limited in second zone of action.
Further, which receives the virtual wall signal, and demodulated from the virtual wall signal disengaging order,
Data during the identification data and the restriction, and the robot is equipped with once overwriting, this records the machine through overwriting
Whether people had received data during identification data and the restriction, which is detached from the virtual wall signal from entering
Any time of range rise and start to start the restriction time, and receive the virtual wall signal when the robot, it is as follows by having
Action behavior:
First action behavior: the robot is mobile in the first zone of action, and receives the virtual wall signal, and from the warp
The identification data was not received in overwriting confirmation, then refused to execute the disengaging order, until across the virtual wall signal
Predetermined transmitting range, and enter in the second zone of action；
Second action behavior: the robot is mobile in the second zone of action, and receives the virtual wall signal, and from the warp
Overwriting confirmation had received the identification data, and confirmed and not yet terminate during the restriction, then executed the disengaging order, limited
It makes in the robot second zone of action and moves；
Third is taken action behavior: the robot is mobile in the second zone of action, and receives the virtual wall signal, and from the warp
Overwriting confirmation had received the identification data, and confirmed and terminated during the restriction, then refused to execute the disengaging order,
Until the predetermined transmitting range across the virtual wall signal, and enter in the first zone of action；
Fourth line moves behavior: the robot is mobile in the first zone of action, and receives the virtual wall signal, and from the warp
Overwriting confirmation had received the identification data, and confirmed and terminated during the restriction, then executed the disengaging order, limited
The robot moves in first zone of action.
Further, which includes:
One puts main body, is placed in the activity space；
One first signal reception unit is located at this and puts main body, and receives the obstacle detection signal；
One virtual wall signal transmitting unit is located at this and puts main body, and to the activity space issue the virtual wall signal or
Stop issuing the virtual wall signal；
One virtual wall control unit is located at this and puts main body, and connects first signal transmitter and the virtual wall signal
Transmitter, and the obstacle detection signal is received via first signal receiver, further according to the obstacle detection signal, order the void
Quasi- wall signal transmitter issues the virtual wall signal.
Further, which includes:
One mobile main body, is moved in the activity space；
One obstacle detecting unit is located at the movement body surfaces, and issues the obstacle detection signal to the activity space, makes
The robot detects the barrier arround it in traveling；
One virtual wall signal reception unit is located at the movement main body, and is moved to the virtual wall signal in the movement main body
Predetermined transmitting range when receive the virtual wall signal；
One robot control unit is located at the movement main body, and connects the obstacle detecting unit and the virtual wall signal connects
Unit is received, and the obstacle detecting unit is ordered to continuously send out the obstacle detection signal when the movement main body is mobile；
Wherein, which receives the virtual wall signal, the machine via the virtual wall signal reception unit
Device people control unit will control movement main body permission according to the demodulation result of the virtual wall signal or forbid across the virtual wall
The predetermined transmitting range of signal, and then it is moved to the second zone of action from the first zone of action, or mobile from the second zone of action
To the first zone of action, or it is limited in the first zone of action and moves, or is limited in the second zone of action and moves.
The present invention also provides a kind of method for restricting robotic movement behavior, apply virtual wall device and robot it
Between, this method includes the following steps:
The robot advances in an activity space, and sends an obstacle detection signal when advancing；
The virtual wall device judges whether to receive obstacle detecting news in a predetermined range of receiving of the activity space
Number；
When the virtual wall device receives the obstacle detection signal in the predetermined range of receiving, which exists
The activity space launches a virtual wall signal, which is separated into one first zone of action and one second behaviour area
Domain；
The robot judges whether to receive the virtual wall signal；
When the robot receives the virtual wall signal, which selectively allows or prohibits according to the virtual wall signal
Only across the predetermined transmitting range of the virtual wall signal, restrict the robot in the first zone of action and the second zone of action
Interior movement.
Further, which receives the obstacle detection signal, which will control the robot
The combination of data is adjusted during being detached from disengaging order, identification data and a restriction for the predetermined transmitting range of the virtual wall signal
Become the virtual wall signal；
The robot is equipped with once overwriting, this through overwriting record when the robot receives the virtual wall signal whether
Data are defaulted during having been subjected to the restriction one restricts the time, and records whether the robot had received identification number
According to when the robot receives the virtual wall signal, which is handled according to the following steps, and is selectively entered or prohibited
Only across the predetermined transmitting range of the virtual wall signal:
The robot receives the virtual wall signal, judges whether this received the identification data through overwriting；
When the robot judges that this did not received the identification data through overwriting, expression robot is sitting at first
In zone of action, then refuse to execute the disengaging order, until the predetermined transmitting range across the virtual wall signal, and enters second
In zone of action, and the identification data had been received through recording in overwriting at this；
When the robot is mobile in the second zone of action, and receives the virtual wall signal, pass through registration confirmed from this
The identification data had been received, has judged whether to be over during the restriction at this time again；
When the robot is mobile in the second zone of action, and receives the virtual wall signal, pass through registration confirmed from this
Received the identification data, and not yet terminated during the restriction, then executed the disengaging order, limit the robot this
It is moved in two zone of action；
When the robot is mobile in the second zone of action, and the virtual wall signal is received, and passes through registration confirmed from this
The identification data had been received, and has confirmed and has terminated during the restriction, then has refused to execute the disengaging order, allow across this
The predetermined transmitting range of virtual wall signal, and enter in the first zone of action；When the robot is mobile in the first zone of action, and
It receives the virtual wall signal, and had received the identification data from this by registration confirmed, and during confirming the restriction
It has been terminated that, then execute the disengaging order, limited and moved in the robot first zone of action.
Technical characteristic provided by the present invention is compared to each other with the prior art, it is known that, the present invention at least has the advantages that
Since general robot just needs to issue obstacle detection signal originally, to avoidant disorder object, in addition, robot is former
Originally there is reception external control signal, the function of opposite behavior is carried out according to control signal, therefore, robot is completely without increasing
Add New Parent；
Since virtual wall device only can just issue virtual wall signal after detecting obstacle detection signal, accordingly, with respect to
For the prior art, electric power is considerably saved.
It is living that virtual wall device only needs barrier detection detection signal and sending virtual wall signal that can limit robot first
Region is moved in the action behavior of the second zone of action, therefore, virtual wall device of the invention does not need too many component yet.
Detailed description of the invention
Fig. 1-Fig. 4 is the structural schematic diagram of the system provided in an embodiment of the present invention for restricting robotic movement behavior.
Fig. 5 is the structural schematic diagram of the virtual wall device and robot in the system of the restriction robotic movement behavior of Fig. 1.
Fig. 6 and Fig. 7 is the structural schematic diagram of the method provided in an embodiment of the present invention for restricting robotic movement behavior.
Label detail involved in attached drawing is as follows:
1: virtual wall device
10: predetermined range of receiving
12: predetermined transmitting range
14: putting main body
16: the first signal reception units
18: virtual wall signal transmitting unit
19: virtual wall control unit
2: robot
22: mobile main body
24: obstacle detecting unit
26: virtual wall signal reception unit
2: robot control unit
3: activity space
30: the first zone of action
32: the second zone of action
S601~S607: steps flow chart
S701~S706: steps flow chart
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, the embodiment of the invention provides a kind of systems for restricting robotic movement behavior comprising a void
Quasi- wall device 1 and a robot 2, wherein virtual wall device 1 is furnished in an activity space 3, such as: it is placed in Interior Space
Between in doorframe side floor on, or at the upper limb on doorframe side that is placed in the interior space, and in activity space 3 with
Obstacle detection signal is received in the predetermined range of receiving 10 of omni-directional or directive property.When virtual wall device 1 is in predetermined range of receiving
When receiving obstacle detection signal in 10, i.e., a virtual wall signal is issued in predetermined transmitting range 12, passes through virtual wall signal
By 3 virtual partition of activity space at one first zone of action 30 and one second zone of action 32, virtual wall device 1 is received predetermined
Obstacle detection signal is not received in range 10 and closes virtual wall signal.
And robot 2 can be clean robot, service robot etc., all movable machine people come under institute of the present invention
The robot of title.Robot 2 is mobile in activity space 3 while sending obstacle detection signal, and robot 2 is with random movement
Any modes such as mode, spiral Move Mode, S-shaped Move Mode or intelligent composition model move in activity space.In addition,
When robot 2 is moved to the predetermined transmitting range 12 of virtual wall signal, robot 2 receives virtual wall signal, and according to virtual wall
Signal selectively allows or forbids the predetermined transmitting range 12 across virtual wall signal, restricts robot 2 in the first activity
It is moved in region 30 and the second zone of action 32.
In the present invention, virtual wall device 1 receives obstacle detection signal, virtual wall device 1 will be disengaged from order modulation at
Virtual wall signal is detached from order as control robot 2 and steps back one of order, diversion order or combination, passes through control
The predetermined transmitting range 12 of the disengaging virtual wall signal of robot 2.Further, virtual wall device 1 further includes identification number
According to and restrict during data, wherein identification data be unique coded data, data are limited in during restriction for robot
The restriction time of the movement of second zone of action, when can give different restrictions respectively according to the size of different second areas
Between, such as: the room on 7~10 level grounds restricts 30 minutes time, less than room restriction the time 20 minutes of 7 level grounds, mentions on virtual unit
It is provided with the setting switching switch that setting restricts the time, so that user is set as big room or cubicle, virtual wall device 1 will take off
Combination modulation from data during order, identification data and restriction is at virtual wall signal.
In the present invention, robot 2 receives virtual wall signal, and disengaging order, identity are demodulated in self-virtualizing wall signal
Data during identifying data and restricting, and robot 2 stores one through overwriting 20, is that recorder people 2 is through overwriting 20
No data during having received identification data, and restriction, robot 2 can be from the models for entering disengaging virtual wall signal
Any time enclosed, which rises to start to start, restricts the time, and the one embodiment for restricting the start of calculation time point of time is that robot 2 is detached from void
The predetermined transmitting range 12 of quasi- wall signal starts to start.
Please refer to Fig. 2 to Fig. 4, robot 2 receives virtual wall signal, will have following action behavior:
1. the first action behavior:
2 people of machine is mobile in the first zone of action 30, and receives virtual wall signal, and demodulates from virtual wall signal
Data during being detached from order, identification data and restricting, then from being confirmed whether once to record identical identity through overwriting 20
It identifies data, when robot 2 had not recorded identical identification data, then refuses to execute and be detached from order, and allow to stride into
The predetermined transmitting range 12 of virtual wall signal, and enter in the second zone of action 32；
2. the second action behavior:
Robot 2 is mobile in the second zone of action 32, and receives virtual wall signal, and demodulates from virtual wall signal
Data during being detached from order, identification data and restricting, then by having received identification data through the confirmation of overwriting 20, but
It not yet reaches during restricting, then executes disengaging order, robot 2 can be limited during restriction only in the second zone of action 32
Middle movement；
The behavior 3. third is taken action:
Robot is mobile in the second zone of action 32, and receives virtual wall signal, and demodulates from virtual wall signal
Data during being detached from order, identification data and restricting, then by having received identification data through the confirmation of overwriting 20, and
Confirmation has terminated during restricting, then refuses to execute to be detached from and order, and across the predetermined transmitting range 12 of virtual wall signal, and enter
In first zone of action 30；
4. fourth line moves behavior:
Robot 2 is mobile in the first zone of action 30, and receives virtual wall signal, and demodulates from virtual wall signal
Be detached from order, identification data and restrict during data, then from through overwriting 20 confirmation received identification data and
Terminate during restriction, has then executed disengaging order, moved in the first zone of action 30 to limit robot 2.
In the present invention, referring to Fig. 5, virtual wall device 1 includes putting main body 14, the first signal reception unit 16, void
Quasi- wall signal transmitting unit 18 and virtual wall control unit 19, are placed in activity space 30 wherein putting main body 14.First
Signal reception unit 16, which is located at, to be put in main body, and for receiving obstacle detection signal.Virtual wall signal transmitting unit 18 is also set
It is putting in main body 14, for issuing virtual wall signal to activity space 3 or stopping issuing virtual wall signal.Virtual wall control is single
Member 19, which is located at, puts in main body, and connects the first signal transmitter 16 and virtual wall signal transmitter 18, virtual wall control unit
19 receive obstacle detection signal via the first signal receiver 19, according to obstacle detection signal order virtual wall signal transmitter
18 issue virtual wall signal.Wherein virtual wall control unit 19 will be disengaged from order, identity is known after receiving obstacle detection signal
Data transmission will be disengaged from order, body to virtual wall signal transmitter 19, virtual wall signal transmitter 19 during other data and restriction
Data-modulated is at virtual wall signal during part identification data and restriction.
In the present invention, referring to Fig. 5, robot 2 includes mobile main body 22, obstacle detecting unit 24, virtual wall
Signal reception unit 26 and robot control unit 28.It wherein moves main body 22 to move in activity space 3, obstacle detecting unit
24 are located at mobile 22 surface of main body, and send out obstacle detection signal, and robot 2 is enabled to detect the barrier arround it in traveling
Hinder object.Virtual wall signal reception unit 26 is located in mobile main body 22, and for receiving virtual wall signal, and from virtual wall signal
Data during demodulating disengaging order, identification data and restricting.Robot control unit 28 is located in mobile main body 22, and
Asynthesis detecting unit 24 and virtual wall signal reception unit 26, and order obstacle detecting unit 24 is when mobile main body is mobile
Continuously send out obstacle detection signal.In addition, robot control unit 28 receives virtual wall via virtual wall signal reception unit 26
Signal, and according to data during the disengaging order of virtual wall signal demodulated, identification data and restriction, permit to determine
Perhaps or forbidden moves main body 22 is across the predetermined transmitting range of virtual wall signal, and then is moved to second from the first zone of action 30
Zone of action 32, or it is moved to the first zone of action 30 from the second zone of action 32, or be limited in the first zone of action 30
It is mobile, or be limited in the second zone of action 32 and move.
Referring to Fig. 6, the embodiment of the present invention provides a kind of method for restricting robotic movement behavior, applies and filled in virtual wall
Set and robot between comprising the following steps:
(S601) robot advances in an activity space, and sends an obstacle detection signal when advancing；
(S602) virtual wall device judges whether to receive obstacle detecting news in a predetermined range of receiving of activity space
Number, if carrying out step (S603), otherwise carry out step (S606)；
(S603) when virtual wall device receives obstacle detection signal in predetermined range of receiving, virtual wall device is in work
Dynamic spatial emission goes out a virtual wall signal, and activity space is separated into one first zone of action and one second zone of action；
(S604) robot judges whether to receive virtual wall signal while advancing, if carrying out step (S605),
Otherwise step (S601) is carried out；
(S605) when robot receives virtual wall signal, robot selectively allows or forbids according to virtual wall signal
Across the predetermined transmitting range of virtual wall signal, enables robot be restricted and moved in the first zone of action and the second zone of action
It is dynamic；
(S606) when virtual wall device does not receive obstacle detection signal in predetermined range of receiving, virtual wall device is sentenced
It is disconnected whether to have launched virtual wall signal, if carrying out step (S607), otherwise carry out step (S602)；
(S607) when virtual wall device does not receive obstacle detection signal in predetermined range of receiving, and just launching virtual
When wall signal, virtual wall device stops issuing virtual wall signal, then carries out step (S601)；
In the present invention, when virtual wall device receives obstacle detection signal, virtual wall device takes off robot is controlled
The disengaging order of predetermined transmitting range from virtual wall signal, identification data and during restricting data combination modulation at void
Quasi- wall signal.Whether robot is equipped with once overwriting, have been subjected to when receiving virtual wall signal through overwriting recorder people
Whether the restriction time and recorder people that data are defaulted during restriction had received identification data.
Referring to Fig. 7, robot is handled according to the following steps, and is selected when robot receives virtual wall signal
Ground enters or forbids the predetermined transmitting range across virtual wall signal:
(S701) robot receives virtual wall signal, judges whether received identification data through overwriting, if
It carries out step (S702), otherwise carries out step (S703)；
(S702) when robot judges not receive identification data through overwriting, expression robot is sitting at first
In zone of action, then refuse to execute to be detached from and order, until the predetermined transmitting range across virtual wall signal, and enters the second activity
In region, and is recorded in through overwriting and received identification data；
(S703) when robot is in the movement of the second zone of action, and receives virtual wall signal, from by registration confirmed
Received identification data, judge whether again at this time restrict during be over, if carry out step (S704), otherwise into
Row step (S705)；
(S704) mobile in the second zone of action when robot, and virtual wall signal is received, and from by registration confirmed
Identification data had been received, and had been terminated during confirmation restricts, then has refused to execute to be detached from and order, permission is interrogated across virtual wall
Number predetermined transmitting range, and enter in the first zone of action, then carry out step (S706)；
(S705) when robot is in the movement of the second zone of action, and receives virtual wall signal, from by registration confirmed
Identification data had been received, and had not yet been terminated during restricting, then has executed disengaging order, limits the second zone of action of robot
Middle movement, then carry out step (S703)；
(S706) mobile in the first zone of action when robot, and virtual wall signal is received, and from by registration confirmed
Identification data had been received, and had been terminated during confirmation restricts, then has executed disengaging order, limits the first behaviour area of robot
It is moved in domain.
It is ordered in conclusion robot of the present invention receives directly simple be detached from, does not need to carry out any algorithm, be used to
Avoid virtual signal, solves U.S. Patent No. US7579803 patent of invention case suffering from obstacle signal and need to be implemented calculation
The problem of method Manipulation of the machine people carrys out avoidant disorder signal.And robot can be completed almost without any new component is increased
The present invention greatly reduces production cost.
Virtual wall device of the invention only can just issue virtual signal receiving obstacle detection signal, solve United States Patent (USP)
US7579803 patent of invention case constantly issues the problem of obstacle signal, reaches the effect of saving electric power.
In addition, virtual wall device of the invention only needs less component, that is, it may achieve China the CN102048499th specially
After sharp publication guidance mobile robot completes the cleaning in a room, reboots mobile robot and be moved to another room progress
Clean purpose.In addition, virtual wall device of the invention not respond robot response signal constantly, relative to China the
The more power saving of CN102048499 patent disclosure case.
Assuming that there is activity space to be placed with multiple virtual wall devices of the invention, it can be by activity space virtual partition at more
A zone of action, if each virtual wall device unique identification data and the respective restriction of setting is respectively set during
Data then restrict traveling time of the robot in each zone of action, this be the prior art do not have, also unexpected function
Effect.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of system for restricting robotic movement behavior, it is characterised in that: the system packet for restricting robotic movement behavior
It includes:
One virtual wall device, ornaments receive one in an activity space, and in the predetermined range of receiving in the activity space
Obstacle detection signal, and receive the obstacle detection signal in the predetermined range of receiving and then issue a virtual wall signal, pass through
The activity space is separated into one first zone of action and one second zone of action by the virtual wall signal, and the virtual wall device is at this
The obstacle detection signal is not received in predetermined range of receiving and closes the virtual wall signal；
One robot, it is mobile in the activity space, and the obstacle detection signal is sent when advancing, and be moved to virtual wall news
Number predetermined transmitting range when receive the virtual wall signal, and selectively allowed according to the virtual wall signal or forbidden across the void
The predetermined transmitting range of quasi- wall signal, restricts the robot and moves in the first zone of action and the second zone of action；
The virtual wall device receives the obstacle detection signal, which will control the robot and be detached from virtual wall news
Number predetermined transmitting range disengaging order modulation at the virtual wall signal；The virtual wall device further include identification data and
Data during restriction, the virtual wall device adjust the combination of data during the disengaging order, the identification data and the restriction
Become the virtual wall signal, when data are the restriction for the movement that the robot is limited in second zone of action during the restriction
Between.
2. restricting the system of robotic movement behavior as described in claim 1, it is characterised in that: the virtual wall signal is control
The robot one of is stepped back, turned to or combination.
3. restricting the system of robotic movement behavior as described in claim 1, it is characterised in that: it is virtual that the robot receives this
Wall signal, and data during the disengaging order, the identification data and the restriction are demodulated from the virtual wall signal, and should
Robot is equipped with once overwriting, this records whether the robot had received identification data and the restriction through overwriting
Period data, the robot since enter be detached from the virtual wall signal range any time start the restriction when
Between, and work as the robot and receive the virtual wall signal, there will be following action behavior:
First action behavior: the robot is mobile in the first zone of action, and receives the virtual wall signal, and from this by note
The identification data was not received in record confirmation, then refused to execute the disengaging order, until making a reservation for across the virtual wall signal
Transmitting range, and enter in the second zone of action；
Second action behavior: the robot is mobile in the second zone of action, and receives the virtual wall signal, and from this by note
Record confirmation had received the identification data, and confirmed and not yet terminate during the restriction, then executed the disengaging order, and limitation should
Robot moves in second zone of action；
Third action behavior: the robot is mobile in the second zone of action, and receives the virtual wall signal, and from this by note
Record confirmation had received the identification data, and confirmed and terminated during the restriction, then refused to execute the disengaging order, until
Across the predetermined transmitting range of the virtual wall signal, and enter in the first zone of action；
Fourth line moves behavior: the robot is mobile in the first zone of action, and receives the virtual wall signal, and from this by note
Record confirmation had received the identification data, and confirmed and terminated during the restriction, then executed the disengaging order, limit the machine
Device people moves in first zone of action.
4. restricting the system of robotic movement behavior as described in claim 1, it is characterised in that: the virtual wall device includes:
One puts main body, is placed in the activity space；
One first signal reception unit is located at this and puts main body, and receives the obstacle detection signal；
One virtual wall signal transmitting unit is located at this and puts main body, and issues the virtual wall signal or stopping to the activity space
Issue the virtual wall signal；
One virtual wall control unit is located at this and puts main body, and connects first signal transmitter and virtual wall signal transmitting
Device, and the obstacle detection signal is received via first signal receiver, further according to the obstacle detection signal, order the virtual wall
Signal transmitter issues the virtual wall signal.
5. restricting the system of robotic movement behavior as described in claim 1, it is characterised in that: the robot includes:
One mobile main body, is moved in the activity space；
One obstacle detecting unit is located at the movement body surfaces, and issues the obstacle detection signal to the activity space, makes the machine
Device people detects the barrier arround it in traveling；
One virtual wall signal reception unit is located at the movement main body, and is moved to the pre- of the virtual wall signal in the movement main body
Determine to receive the virtual wall signal when transmitting range；
One robot control unit is located at the movement main body, and connects the obstacle detecting unit and the virtual wall signal reception list
Member, and the obstacle detecting unit is ordered to continuously send out the obstacle detection signal when the movement main body is mobile；
Wherein, which receives the virtual wall signal, the robot via the virtual wall signal reception unit
Control unit will control movement main body permission according to the demodulation result of the virtual wall signal or forbid across the virtual wall signal
Predetermined transmitting range, and then be moved to the second zone of action from the first zone of action, or be moved to from the second zone of action
One zone of action, or be limited in the first zone of action and move, or be limited in the second zone of action and move.
6. a kind of method for restricting robotic movement behavior, is applied between virtual wall device and robot, under this method includes
Column step:
The robot advances in an activity space, and sends an obstacle detection signal when advancing；
The virtual wall device judges whether to receive the obstacle detection signal in a predetermined range of receiving of the activity space；
When the virtual wall device receives the obstacle detection signal in the predetermined range of receiving, the virtual wall device is in the work
Dynamic spatial emission goes out a virtual wall signal, which is separated into one first zone of action and one second zone of action；
The robot judges whether to receive the virtual wall signal；
When the robot receives the virtual wall signal, the robot selectively allowed according to the virtual wall signal or forbid across
The predetermined transmitting range for crossing the virtual wall signal restricts the robot and moves in the first zone of action and the second zone of action
It is dynamic；
Wherein, which receives the obstacle detection signal, which will control the robot and be detached from the void
The combination modulation of data is at the void during the disengaging order of the predetermined transmitting range of quasi- wall signal, identification data and one restrict
Quasi- wall signal；
The robot is equipped with once overwriting, and whether this record when the robot receives the virtual wall signal through overwriting
Data are defaulted during crossing the restriction one restricts the time, and records whether the robot had received identification data,
When the robot receives the virtual wall signal, which is handled according to the following steps, and is selectively entered or forbidden
Across the predetermined transmitting range of the virtual wall signal: the robot receives the virtual wall signal, judge this through overwriting whether
Received the identification data；
When the robot judges that this did not received the identification data through overwriting, expression robot is sitting at the first activity
In region, then refuse to execute the disengaging order, until the predetermined transmitting range across the virtual wall signal, and enters the second activity
In region, and the identification data had been received through recording in overwriting at this；
When the robot is mobile in the second zone of action, and receives the virtual wall signal, connect from this by registration confirmed
The identification data was received, judges whether to be over during the restriction at this time again；
When the robot is mobile in the second zone of action, and receives the virtual wall signal, connect from this by registration confirmed
The identification data was received, and was not yet terminated during the restriction, then executes the disengaging order, limits the robot second work
It is moved in dynamic region；
When the robot is mobile in the second zone of action, and the virtual wall signal is received, and has been connect from this by registration confirmed
The identification data was received, and confirms and has terminated during the restriction, then refuses to execute the disengaging order, was allowed virtual across this
The predetermined transmitting range of wall signal, and enter in the first zone of action；
When the robot is mobile in the first zone of action, and the virtual wall signal is received, and has been connect from this by registration confirmed
Received the identification data, and confirm and terminated during the restriction, then execute the disengaging order, limit the robot this first
It is moved in zone of action.
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| CN107024935A (en) * | 2017-04-28 | 2017-08-08 | 湖南格兰博智能科技有限责任公司 | Exempt to perform algorithm and receive obstacle detection signal in virtual wall device just send the walking device actuating system and method for virtual signal |
| CN109062218B (en) * | 2018-08-29 | 2021-09-10 | 广州安商智能科技有限公司 | Method and device for controlling robot driving path |
| CN108829115B (en) * | 2018-10-09 | 2019-01-29 | 上海岚豹智能科技有限公司 | A kind of motion control method and its calculating equipment of robot |
| CN111360808B (en) * | 2018-12-25 | 2021-12-17 | 深圳市优必选科技有限公司 | Method and device for controlling robot to move and robot |
| CN111949015A (en) * | 2019-04-29 | 2020-11-17 | 燕成祥 | Virtual wall device, robot and control method thereof |
| CN110597253B (en) * | 2019-09-05 | 2022-12-09 | 珠海一微半导体股份有限公司 | Robot control method, chip and laser type cleaning robot |
| CN111552286B (en) * | 2020-04-22 | 2024-05-07 | 深圳市优必选科技股份有限公司 | Robot and movement control method and device thereof |
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