CN106774294A - A kind of mobile robot virtual wall method for designing - Google Patents
A kind of mobile robot virtual wall method for designing Download PDFInfo
- Publication number
- CN106774294A CN106774294A CN201510822200.XA CN201510822200A CN106774294A CN 106774294 A CN106774294 A CN 106774294A CN 201510822200 A CN201510822200 A CN 201510822200A CN 106774294 A CN106774294 A CN 106774294A
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- virtual wall
- grating map
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Abstract
The present invention provides a kind of mobile robot virtual wall method for designing, including：By the environment grating map file download of robot body to virtual wall setting unit；Virtual wall is set, and location of pixels by virtual wall on screen is converted to the position in grating map file, and the grating map files passe of virtual wall to robot body will be finished；The value of information of all grids in the grating map file, original map of the generation not comprising virtual wall and the planning map comprising virtual wall；Information generation robot according to planning map gets around the global path of virtual wall.The present invention does not need extra medium, and generation makes robot get around the course of action of virtual wall.Meanwhile, the virtual wall set on grating map can't have any impact to the original alignment system based on map match.
Description
Technical field
It is virtual more particularly, to a kind of mobile robot the present invention relates to mobile robot technology field
Wall method for designing.
Background technology
The working site environment of the robot place for forbidding robot to pass through or enter in need, as
Next layer entry to the stair etc..Therefore, the function of virtual wall is also arisen at the historic moment.Virtual wall, turns round and look at name
Think justice, be exactly one virtual wall, prevent robot from entering a certain region.
At present, be widely used in the virtual wall in sweeping robot, launched using infrared sensor
Infrared signal, the Infrared Detectors of robot receives infrared signal and perceives virtual wall to recognize workspace
The border in domain.
The present invention is different from the virtual wall in sweeping robot.The present invention is a kind of based on grating map
The virtual wall method for designing of positioning, it is not necessary to extra hardware medium.It is mainly used in mobile machine
People so that mobile robot can be around the virtual wall for being opened in setting on map.
The content of the invention
It is a kind of based on grating map alignment system the present invention solves the technical problem of providing
Mobile robot virtual wall method for designing, the method for designing depends on the positioning system based on grating map
System, on the grating map of the robot running environment generated by alignment system, sets virtual wall,
So that mobile robot gets around the virtual wall set on map by not needing extra hardware medium.
In order to solve the above technical problems, one aspect of the present invention is：A kind of moving machine
Device people's virtual wall method for designing, the method is comprised the following steps：
By the environment grating map file download of robot body to virtual wall setting unit；
Virtual wall is set, and location of pixels by virtual wall on screen is converted to grating map file
In position, and the grating map files passe of virtual wall to robot body will be finished；
The value of information of all grids in the grating map file, generation does not include virtual wall
Original map and the planning map comprising virtual wall；
Information generation robot according to planning map gets around the global path of virtual wall.
Preferably, the step of setting virtual wall is：Drawn in the grating map file with mouse
Go out the position of virtual wall；The position of virtual wall is converted into the position in grating map file, and is write
Enter grating map file；The grating map file that virtual wall will be finished is preserved and is uploaded to robot sheet
Body.
Preferably, the position of virtual wall is converted into the position in grating map file, and writes grid
Lattice map file is specially：By location of pixels of the known virtual wall on screen with it on grid ground
Corresponding position is compared in map file, if it is original to set the corresponding grid of virtual wall displacement
There is no barrier, then represented with one kind mark, write grating map file；If setting virtual wall
The corresponding grid in position has barrier originally, then represented with another kind mark, write-in grating map text
Part.
Preferably, methods described also includes：In grating map file, also can use four kinds it is different
Mark represent it is all can distinguishable region, it is described can distinguishable region include：Without virtual wall obstacle free zone
Domain, there is barrier without virtual wall, there is virtual wall clear region and there is the virtual wall to have barrier area
Domain.
Preferably, the value of information of all grids in the grating map file, generation is not
Original map comprising virtual wall and the planning map comprising virtual wall, specially：
The original map not comprising virtual wall will have barrier and clear in grating map
Region distinguish respectively；The planning map comprising virtual wall will have virtual wall in grating map
Region and there is a kind of being represented with mark for barrier, and the region without virtual wall is distinguished with clear
Distinguish.
The beneficial effects of the invention are as follows：For with the mobile machine based on grating map alignment system
People, the present invention devises a kind of virtual wall method, and the invention does not need extra medium, and generation makes
Robot gets around the course of action of virtual wall.Meanwhile, the virtual wall set on grating map is not
The original alignment system based on map match can be had any impact.
Brief description of the drawings
Fig. 1 is the flow chart of mobile robot virtual wall method for designing provided in an embodiment of the present invention；
Specific embodiment
Fig. 1 is referred to, Fig. 1 is the mobile robot virtual wall method for designing of the embodiment of the present invention
Flow chart.As shown in figure 1, the method is comprised the following steps：
S1：By the environment grating map file download of robot body to virtual wall setting unit.
Specifically, the environment grating map of robot body is downloaded into virtual wall by ftp setting
Unit, virtual wall setting unit may operate on single notebook or desktop computer, and by wireless
LAN is communicatively coupled with robot body.In the environment grating map file, Ke Yiyong
Different numerals respectively represents whether there is barrier region.For example in one embodiment, represented with 0
Clear area, barrier region is represented with -1.
S2：Virtual wall is set, and location of pixels by virtual wall on screen is converted to grating map
Position in file, and the grating map files passe of virtual wall to robot body will be finished.
Before virtual wall is set, being downloaded to the grating map File Open of virtual wall setting unit,
Including on computer screen, in this document, 1 pixel corresponds to 1 grid.Specifically set
The step of putting virtual wall is as follows：
S201：The position of virtual wall is drawn in the grating map file with mouse.
S202：The position of virtual wall is converted into the position in grating map file, and writes grid
Map file.
Specific method is：Location of pixels of the known virtual wall on screen, by the position and grid ground
The corresponding position of map file is compared, if set the corresponding grid of virtual wall displacement do not had originally
There is barrier, then represented with 1 herein, write grating map file.If setting virtual wall position
Put corresponding grid has barrier originally, then represented with 2, writes grating map file.So,
In grating map file, it is designated 0 and indicates without virtual wall clear region, is designated -1 table
Show without virtual wall there is barrier region, be designated 1 and indicate virtual wall clear region, identify
It is identified with virtual wall and has barrier region for 2.
S203：The grating map file that virtual wall will be finished is preserved and is uploaded to robot body.
The grating map file that virtual wall will be finished is preserved and is uploaded to robot body by ftp.
S3：The value of information of all grids in the grating map file, generation is not comprising virtual
The original map of wall and the planning map comprising virtual wall.
After robot body receives grating map file, the grid value of information in this document,
Generate for the original map without virtual wall of map match positioning and for path planning
Planning map comprising virtual wall displacement.
Generate original map method be：The grating map file that reading is received, by original file
It is middle still to be represented with 0 with the position that represents of mark 0, it is originally that -1 table is still used in the position of mark -1
Show, originally grid is that 1 use 0 is represented, originally grid is that 2 use -1 is represented.So, with regard to shape
There is no the original map of virtual wall into only barrier, only two kinds marks 0 in the original map
With -1, mark 0 identifies clear region, and mark -1 is identified with barrier region, and this is primitively
Scheme to be used for robot map match positioning.
Generate planning map method be：The position that will be represented with mark 0 in original grating map file
Put and still represented with 0, the position still use -1 for originally being represented with mark -1 is represented, originally with mark
The 1 positions whole use -1 represented with mark 2 represent that the position that will have virtual wall is all shown as
There is Obstacle Position.The planning map for so being formed is used for the planning in path.
S4：Information generation robot according to planning map gets around the global path of virtual wall.
Path planning uses A* algorithms, because virtual wall is as fixed obstacle, therefore can
The path of virtual wall is got around to generate.Robot can get around setting according to the path motion of generation
Virtual wall.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited,
Equivalent structure or equivalent flow conversion that every utilization description of the invention and accompanying drawing content are made, or
Other related technical fields are directly or indirectly used in, patent of the invention are similarly included in and are protected
In the range of shield.
Claims (5)
1. a kind of mobile robot virtual wall method for designing, it is characterised in that comprise the following steps：
By the environment grating map file download of robot body to virtual wall setting unit；
Virtual wall is set, and location of pixels by virtual wall on screen is converted to grating map file
In position, and the grating map files passe of virtual wall to robot body will be finished；
The value of information of all grids in the grating map file, generation does not include virtual wall
Original map and the planning map comprising virtual wall；
Information generation robot according to planning map gets around the global path of virtual wall.
2. mobile robot virtual wall method for designing as claimed in claim 1, it is characterised in that：
It is described setting virtual wall the step of be：
The position of virtual wall is drawn in the grating map file with mouse；
The position of virtual wall is converted into the position in grating map file, and writes grating map text
Part；
The grating map file that virtual wall will be finished is preserved and is uploaded to robot body.
3. mobile robot virtual wall method for designing as claimed in claim 2, it is characterised in that：
The position of virtual wall is converted into the position in grating map file, and writes grating map file tool
Body is：Location of pixels of the known virtual wall on screen is relative in grating map file with it
The position answered is compared, if setting the corresponding grid of virtual wall displacement originally without barrier,
Then represented with one kind mark, write grating map file；If setting the corresponding grid of virtual wall displacement
Lattice have barrier originally, then represented with another kind mark, write grating map file.
4. mobile robot virtual wall method for designing as claimed in claim 3, it is characterised in that：
Methods described also includes：In grating map file, four kinds of different marks also can use to represent all
Can distinguishable region, it is described can distinguishable region include：Without virtual wall clear region, without virtual wall
There is barrier, there is virtual wall clear region and there is the virtual wall to have barrier region.
5. mobile robot virtual wall method for designing as claimed in claim 4, it is characterised in that：
The value of information of all grids in the grating map file, generation does not include virtual wall
Original map and the planning map comprising virtual wall, specially：
The original map not comprising virtual wall will have barrier and clear in grating map
Region distinguish respectively；The planning map comprising virtual wall will have virtual wall in grating map
Region and there is a kind of being represented with mark for barrier, and the region without virtual wall is distinguished with clear
Distinguish.
Priority Applications (1)
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| CN201510822200.XA CN106774294A (en) | 2015-11-20 | 2015-11-20 | A kind of mobile robot virtual wall method for designing |
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| CN201510822200.XA CN106774294A (en) | 2015-11-20 | 2015-11-20 | A kind of mobile robot virtual wall method for designing |
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Family
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108303980A (en) * | 2018-01-16 | 2018-07-20 | 上海木爷机器人技术有限公司 | The system and method for virtual wall figure layer is realized based on robot |
| CN108334080A (en) * | 2018-01-18 | 2018-07-27 | 大连理工大学 | A kind of virtual wall automatic generation method for robot navigation |
| WO2018196800A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳乐动机器人有限公司 | Virtual wall system for robot |
| CN108829095A (en) * | 2018-05-11 | 2018-11-16 | 云鲸智能科技（东莞）有限公司 | Geography fence setting method and the method for limiting robot motion |
| CN109313822A (en) * | 2017-12-13 | 2019-02-05 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device, map constructing method, mobile electronic equipment based on machine vision |
| CN109358617A (en) * | 2018-09-25 | 2019-02-19 | 北京云迹科技有限公司 | Robot localization method, apparatus, robot and terminal device |
| CN109361665A (en) * | 2018-10-11 | 2019-02-19 | 高新兴科技集团股份有限公司 | In the method and apparatus that dynamic virtual wall is realized in mobile terminal |
| CN109387214A (en) * | 2018-09-05 | 2019-02-26 | 南京理工大学 | A kind of Robot Path Planning Algorithm based on virtual wall |
| CN109416251A (en) * | 2017-12-13 | 2019-03-01 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device, map constructing method, mobile electronic equipment based on color lump label |
| CN109591008A (en) * | 2017-11-18 | 2019-04-09 | 广州科语机器人有限公司 | The area of safety operaton of mobile robot determines method |
| CN109744945A (en) * | 2017-11-08 | 2019-05-14 | 杭州萤石网络有限公司 | A kind of area attribute determines method, apparatus, system and electronic equipment |
| CN109947094A (en) * | 2019-01-31 | 2019-06-28 | 科沃斯机器人股份有限公司 | Mode of progression, from mobile device and storage medium |
| CN110146068A (en) * | 2019-03-27 | 2019-08-20 | 深圳乐行天下科技有限公司 | A kind of robot recovery is damaged the method, apparatus and robot of map |
| CN110168465A (en) * | 2017-11-16 | 2019-08-23 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN110385719A (en) * | 2019-07-23 | 2019-10-29 | 珠海市一微半导体有限公司 | Robot judges whether to collide the method for virtual wall and chip and intelligent robot |
| WO2019210566A1 (en) * | 2018-05-04 | 2019-11-07 | 深圳市沃特沃德股份有限公司 | Control method and system for robotic vacuum cleaner |
| CN110597253A (en) * | 2019-09-05 | 2019-12-20 | 珠海市一微半导体有限公司 | Robot control method, chip and laser type cleaning robot |
| CN112120603A (en) * | 2020-09-14 | 2020-12-25 | 江苏美的清洁电器股份有限公司 | Active area construction method, cleaning robot, control terminal, and storage medium |
| CN113467452A (en) * | 2021-07-02 | 2021-10-01 | 追觅创新科技(苏州)有限公司 | Avoidance method and device for mobile robot, storage medium, and electronic device |
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| WO2018196800A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳乐动机器人有限公司 | Virtual wall system for robot |
| US11877716B2 (en) | 2017-11-08 | 2024-01-23 | Hangzhou Ezviz Software Co., Ltd. | Determining region attribute |
| CN109744945A (en) * | 2017-11-08 | 2019-05-14 | 杭州萤石网络有限公司 | A kind of area attribute determines method, apparatus, system and electronic equipment |
| CN110168465A (en) * | 2017-11-16 | 2019-08-23 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN109591008A (en) * | 2017-11-18 | 2019-04-09 | 广州科语机器人有限公司 | The area of safety operaton of mobile robot determines method |
| CN109313822B (en) * | 2017-12-13 | 2020-04-10 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device based on machine vision, map construction method and movable electronic equipment |
| CN109313822A (en) * | 2017-12-13 | 2019-02-05 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device, map constructing method, mobile electronic equipment based on machine vision |
| CN109416251B (en) * | 2017-12-13 | 2020-01-07 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device based on color block labels, map construction method and movable electronic equipment |
| CN109416251A (en) * | 2017-12-13 | 2019-03-01 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device, map constructing method, mobile electronic equipment based on color lump label |
| CN108303980A (en) * | 2018-01-16 | 2018-07-20 | 上海木爷机器人技术有限公司 | The system and method for virtual wall figure layer is realized based on robot |
| CN108334080A (en) * | 2018-01-18 | 2018-07-27 | 大连理工大学 | A kind of virtual wall automatic generation method for robot navigation |
| WO2019210566A1 (en) * | 2018-05-04 | 2019-11-07 | 深圳市沃特沃德股份有限公司 | Control method and system for robotic vacuum cleaner |
| CN108829095A (en) * | 2018-05-11 | 2018-11-16 | 云鲸智能科技（东莞）有限公司 | Geography fence setting method and the method for limiting robot motion |
| CN109387214A (en) * | 2018-09-05 | 2019-02-26 | 南京理工大学 | A kind of Robot Path Planning Algorithm based on virtual wall |
| CN109358617A (en) * | 2018-09-25 | 2019-02-19 | 北京云迹科技有限公司 | Robot localization method, apparatus, robot and terminal device |
| CN109361665A (en) * | 2018-10-11 | 2019-02-19 | 高新兴科技集团股份有限公司 | In the method and apparatus that dynamic virtual wall is realized in mobile terminal |
| CN109947094A (en) * | 2019-01-31 | 2019-06-28 | 科沃斯机器人股份有限公司 | Mode of progression, from mobile device and storage medium |
| CN109947094B (en) * | 2019-01-31 | 2020-06-09 | 科沃斯机器人股份有限公司 | Travel method, self-moving device and storage medium |
| CN110146068A (en) * | 2019-03-27 | 2019-08-20 | 深圳乐行天下科技有限公司 | A kind of robot recovery is damaged the method, apparatus and robot of map |
| CN110146068B (en) * | 2019-03-27 | 2021-02-09 | 深圳乐行天下科技有限公司 | Method and device for recovering damaged map by robot and robot |
| CN110385719A (en) * | 2019-07-23 | 2019-10-29 | 珠海市一微半导体有限公司 | Robot judges whether to collide the method for virtual wall and chip and intelligent robot |
| WO2021012501A1 (en) * | 2019-07-23 | 2021-01-28 | 珠海市一微半导体有限公司 | Method for robot to determine whether same collides with virtual wall, and chip and intelligent robot |
| CN110385719B (en) * | 2019-07-23 | 2020-08-28 | 珠海市一微半导体有限公司 | Method and chip for judging whether virtual wall is collided by robot and intelligent robot |
| 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 |
| CN110597253A (en) * | 2019-09-05 | 2019-12-20 | 珠海市一微半导体有限公司 | Robot control method, chip and laser type cleaning robot |
| CN112120603A (en) * | 2020-09-14 | 2020-12-25 | 江苏美的清洁电器股份有限公司 | Active area construction method, cleaning robot, control terminal, and storage medium |
| CN112120603B (en) * | 2020-09-14 | 2022-03-01 | 美智纵横科技有限责任公司 | Active area construction method, cleaning robot, control terminal, and storage medium |
| CN113467452A (en) * | 2021-07-02 | 2021-10-01 | 追觅创新科技(苏州)有限公司 | Avoidance method and device for mobile robot, storage medium, and electronic device |
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