CN104656650A - Mobile device with route correction function and operation steps thereof - Google Patents
Mobile device with route correction function and operation steps thereof Download PDFInfo
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- CN104656650A CN104656650A CN201410035587.XA CN201410035587A CN104656650A CN 104656650 A CN104656650 A CN 104656650A CN 201410035587 A CN201410035587 A CN 201410035587A CN 104656650 A CN104656650 A CN 104656650A
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- 238000000034 method Methods 0.000 claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 7
- 238000010408 sweeping Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A mobile device with route correcting function comprises a body and at least two wheel bodies arranged on the body, wherein the mobile device is provided with a laser ranging scanner arranged in the body and a microprocessor arranged in the body and electrically connected with the laser ranging scanner, and the mobile device comprises the following operation steps: step A: the laser ranging scanner obtains coordinates of a starting point and an end point; and B: executing 360-degree omnibearing rotary scanning operation in the walking process; and C: obtaining coordinates of each point in the walking path; step D: obtaining the vertical distance, the horizontal error distance and the offset angle between the position and the end point through two-dimensional operation of the microprocessor; step E: judging whether the vertical distance is within the radius of the end point coordinate; step F: if yes, reaching the end point; step G: if not, the microprocessor calculates the positions of the at least two wheels as the starting points, and repeats steps B, C, D, E and F or G.
Description
Technical field
The invention relates to a kind of mobile device, refer in particular to and a kind ofly there is route correction function and walking error and then the mobile device that correctly reaches the destination can be revised.
Background technology
Along with the progress of science and technology, the kind of electronic product is also more and more many.In electronic industry, have one industry just little by little to develop, its science and technology also improves and ripe boundary of marching toward by easy stages, and that is exactly the industry of self-propelled electronic installation, the Robot industry be namely commonly called as.
And along with the progress gradually of robot science and technology, existing task miscellaneous and function are given with it robot now, such as the disaster relief, cleaning ... etc., with modal sweeping robot, utilize it to automatically perform the mode of the work of sweeping to be widely used in family, and in order to perform this task of sweeping, the function played when itself just must possess every executing the task.
For example; when task is swept in execution by robot; in order to avoid colliding barrier or wall; contactless or the sensor of contact can be set usually; wherein contactless sensor can utilize infrared ray or laser; by the distance initiatively sending signal to detect and between barrier; and in order to reduce the probability that dead angle produces; also the sensor of contact can be had; such as impact damper (Bumper); when robot collides barrier by impact damper, can automatically stop or changing moving direction.
But there is sensor that is contactless and contact simultaneously, not only can increase the degree of difficulty of design, manufacturing cost also can be allowed to increase.On the other hand, sensor that is contactless or contact has the restriction of height to barrier, if when running into height lower than position just in time higher than impact damper of the barrier of robot body or the place place of barrier, robot possibly cannot make the control of avoid-obstacles, or even walking is when irregular ground, it also cannot perform corresponding adjustment according to contacted terrain environment in real time.
Therefore, just have person skilled design a kind of disclosed in No. 100126039th, Taiwan Patent application robot, it has and utilizes dynamic induction module to carry out the effect detected, and the ambient condition that can contact according to robot detects generation induced signal; Judge whether induced signal is mobile abnormal signal; And if so, then according to mobile abnormal signal to control motor, to adjust wheels further to adapt to this ambient condition.
In addition, if limit the moving range of robot in the process of sweeping, need to place stopping dam as boundary marker on the ground of the working environment residing for robot, allow it in the regional work in border that works, or place infrared equipment on the ground, utilize infrared ray to limit its working range.
No matter but stopping dam or infrared equipment are all the external device (ED)s needing robot to arrange in pairs or groups, in the work environment, especially in home environment, furnish this type of external device (ED), not only take up room also unsightly, and need to increase extra purchase cost, extremely do not meet economic benefit.
So just have person skilled to invent one robot disclosed in No. 100125864th, Taiwan Patent application, it comprises: environmental information sensing component, in order to detect from the working environment information residing for robot walking; Map building block is electrically connected with this environmental information sensing component, in order to foundation working environment information construction environmental map; Setting module is electrically connected with this map building block, in order to set work border on environmental map; Path planning module, is electrically connected with setting module, in order to planning from the operating path of robot walking in the perform region that work border is formed; Driver module, is electrically connected with path planning module, moves according to this operating path in order to drive this robot.Whereby, this robot does not just need to arrange in pairs or groups with external module, and can execute the task in the perform region of specifying.
But, prior art mentioned above, barrier or wall although can dodge, or can not work in the region of specifying with external module, but execute the task in the process of walking at them, very likely produce walking path skew, and cause the disappearance that cannot effectively reach the destination, cause the result that cannot execute the task smoothly, if therefore have people to design, develop a kind of mobile device with route correction function, just can solve robot for a long time and lack the defect of route correction function.
Summary of the invention
The present inventor is because above-mentioned conventional operating type cannot Problems existing in this technical field effectively for a long time, so germinating intention, by self practical experience, actively set about going in for the study, through constantly test and effort, finally design " there is mobile device and the job step thereof of route correction function " that this innovation is practical again, to overcome the defect of prior art.
Fundamental purpose of the present invention is to provide one have route correction function and can revise walking error, and then the mobile device correctly reached the destination.
Another object of the present invention is to the route correction job step that a kind of aforementioned mobile device of arranging in pairs or groups is provided, make this mobile device be reached route correction function.
In order to reach foregoing invention object, the present invention takes following technological means to be reached, wherein, the mobile device with route correction function that the present invention proposes, they at least two wheel bodys comprising a body and be installed in this body, it is characterized in that: this mobile device has one and is arranged at this intrinsic laser range scanners (Laser DisTance Scanner, LDS) and one to be arranged in this body and electrical connection in the microprocessor of this laser range scanners, and there is following job step:
Steps A: this laser range scanners obtains starting point, the terminal point coordinate of this mobile device;
Step B: this laser range scanners performs 360 degree of omnibearing rotation sweep operations in this mobile device walking process;
Step C: obtain each point coordinate in this mobile device walking path;
Step D: by this microprocessor two dimension computing, obtain the vertical range of this mobile device position and this terminal, lateral error distance and deviation angle;
Step e: judge this vertical range whether in the restriction radius of this terminal point coordinate;
Step F: if so, namely arrive at this terminal;
Step G: if not, namely calculates the starting point of position as this mobile device using this at least two distance of taking turns displacement body through this microprocessor, and repeats step B, C, D, E and F or G.
The function that the mobile device having route correction function by the present invention possesses, when the present invention is applied to each field by person skilled, the robot of each application is while executing the task, just carry out the rotation sweep operation of 360 degree by laser range scanners of the present invention and obtain each point coordinate, then two-dimentional computing is carried out via microprocessor of the present invention according to following formula again: the coordinate (Xn of mobile device position, Yn), terminal point coordinate is (xt, yt); The vertical range D=Yn-yt of this mobile device position and this terminal; The lateral error distance E=Xn-xt of this mobile device position and this terminal; The deviation angle TheTa=arcTan(d/E of this mobile device (1)), d=D/2; And the displacement (Ln, Rn) of taking turns with this disome and following modes are gone to calculate the current position of this mobile device and are carried out correction bit and move:
Obtain the information required for every position judgment whereby, so can judge whether this robot arrives at target location, if not yet arrive at, then the sustainable correction being carried out path deviations by above-mentioned steps, until arrive at target location.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention has the mobile device of route correction function;
Fig. 2 is job step schematic diagram of the present invention;
Fig. 3 is route correction operation schematic diagram of the present invention.
Description of reference numerals: 1-mobile device; 11-body; 12-wheel body; 13-laser range scanners; 14-microprocessor; 21-steps A; 22-step B; 23-step C; 24-step D; 25-step e; 26-step F; 27-step G.
Embodiment
Please refer to Fig. 1, the present invention has the mobile device (1) of route correction function, in the present embodiment, artificially routine with a sweeping machine, it wheel body (12) comprising a body (11) and be installed in this body (11), in the present embodiment, wheel body (12) is two wheel bodys, comprise a revolver and rightly to take turns, wherein: this mobile device (1) have a laser range scanners (13) and be arranged in this body (11) to be arranged in this body (11) and electrical connection in the microprocessor (14) of this laser range scanners (13).
Please refer to Fig. 1 and Fig. 2, when this sweeping robot is while executing the task, namely the mobile device (1) that the present invention has route correction function carries out following job step:
Steps A (21): this laser range scanners (13) obtains starting point, the terminal point coordinate of this mobile device (1);
Step B(22): this mobile device (1) in the process of walking, performs 360 degree of omnibearing rotation sweep operations by this laser range scanners (13);
Step C(23): this laser range scanners (13) is in scanning each point coordinate obtained in this mobile device (1) walking path simultaneously;
Step D(24): carry out two-dimentional computing by this microprocessor (14), obtain the vertical range of this mobile device (1) position and this terminal, lateral error distance and deviation angle;
Step e (25): judge this vertical range whether in the restriction radius of this terminal point coordinate;
Step F (26): if so, namely arrive at this terminal;
Step G(27): if not, namely calculate the starting point of this mobile device (1) position as this mobile device using this revolver and right distance of taking turns displacement through this microprocessor (14), and repeat step B, C, D, E to F or G.
Refer again to Fig. 1,2 and 3, the starting point coordinate of this mobile device (1) is (x0, y0), terminal point coordinate is (xt, yt), after this laser range scanners (13) 360 degree of all-directional rotations scan and obtain each point coordinate in this mobile device (1) walking path, this microprocessor (14) just carries out two-dimentional computing.
Suppose that the coordinate of now position is for (Xn, Yn), this microprocessor (14) just can calculate the relevant information of position and terminal, the use for route correction:
The vertical range D=Yn-yt of position and terminal;
The lateral error distance E=Xn-xt of position and terminal;
The deviation angle TheTa=arcTan(d/E of this mobile device (1)), d=D/2.
After above-mentioned information calculates, can judge that whether this vertical range D is at terminal point coordinate (xt, yt) in radius, if, represent that this mobile device (1) arrives at terminal, if not, this microprocessor (14) is namely with this revolver and the right displacement (Ln taken turns, Rn) and following modes go calculate the current position of this mobile device (1) and correct displacement, and repeat step B(22), step C(23), step D(24), step e (25) and step F (26) or step G(27).
So repeat the circulation run with calculating, just can reaching the function of route correction, drastically improving machine in normal service people when executing the task, because do not possess route correction function, causing walking path to offset, thus fail the defect of correctly executing the task.
Therefore, the mobile device that the present invention has a route correction function by design is upper cannot apparent intention, develop the instrument of practicality, novelty, solve Problems existing for a long time.
The above embodiment, is only preferred embodiment of the present invention, not limits scope of the invention process with this; Therefore, all simple equivalences done according to the claims in the present invention scope and description change or modify, and all belong to the scope that patent of the present invention contains.
Claims (4)
1. one kind has the mobile device of route correction function, they at least two wheel bodys comprising a body and be installed in this body, is characterized in that: this mobile device have one be arranged at this intrinsic laser range scanners and one to be arranged in this body and electrical connection in the microprocessor of this laser range scanners.
2. have the mobile device of route correction function as claimed in claim 1, it is characterized in that, this mobile device comprises following route correction job step:
Steps A: this laser range scanners obtains starting point, the terminal point coordinate of this mobile device;
Step B: this laser range scanners performs 360 degree of omnibearing rotation sweep operations in this mobile device walking process;
Step C: obtain each point coordinate in this mobile device walking path;
Step D: by this microprocessor two dimension computing, obtain the vertical range of this mobile device position and this terminal, lateral error distance and deviation angle;
Step e: judge this vertical range whether in the restriction radius of this terminal point coordinate;
Step F: if so, namely arrive at this terminal;
Step G: if not, namely calculates the starting point of position as this mobile device using this at least two distance of taking turns displacement body through this microprocessor, and repeats step B, C, D, E and F or G.
3. job step as claimed in claim 2, it is characterized in that, this microprocessor is the two-dimentional computing carrying out step D according to following formula:
The coordinate of this mobile device position is (Xn, Yn), and this terminal point coordinate is (xt, yt);
The vertical range D=Yn-yt of this mobile device position and this terminal;
The lateral error distance E=Xn-xt of this mobile device position and this terminal;
The deviation angle TheTa=arcTan(d/E of this mobile device), wherein, d=D/2.
4. job step as claimed in claim 3, is characterized in that, this microprocessor is that the displacement (Ln, Rn) of taking turns with this disome and following modes are gone to calculate the current position of this mobile device and carried out correction bit and move:
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102221476 | 2013-11-18 | ||
| TW102221476U TWM477598U (en) | 2013-11-18 | 2013-11-18 | Mobile device having route correction function |
Publications (1)
| Publication Number | Publication Date |
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| CN104656650A true CN104656650A (en) | 2015-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201410035587.XA Pending CN104656650A (en) | 2013-11-18 | 2014-01-24 | Mobile device with route correction function and operation steps thereof |
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| CN (1) | CN104656650A (en) |
| TW (1) | TWM477598U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106289075A (en) * | 2016-09-29 | 2017-01-04 | 深圳市迈测科技股份有限公司 | The antidote of geodimeter and system |
| CN107515605A (en) * | 2017-07-12 | 2017-12-26 | 上海斐讯数据通信技术有限公司 | A kind of AGV dolly navigation methods and systems based on ultrasonic ranging |
| CN107957504A (en) * | 2016-10-18 | 2018-04-24 | 苏州宝时得电动工具有限公司 | Collision course detection method and its device |
| WO2018192465A1 (en) * | 2017-04-17 | 2018-10-25 | 北京京东尚科信息技术有限公司 | Method and device for controlling travelling of transfer robot, and robot |
| CN110379044A (en) * | 2018-09-13 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus of kinematic error compensation |
| CN110522369A (en) * | 2019-09-27 | 2019-12-03 | 珠海市一微半导体有限公司 | Sweeping robot sweep-out pattern editing and processing method and apparatus |
| CN112286180A (en) * | 2020-09-16 | 2021-01-29 | 四川嘉能佳网创新能源科技有限责任公司 | Power inspection analysis system and method based on inspection robot |
| CN112414418A (en) * | 2019-08-20 | 2021-02-26 | 北京图森智途科技有限公司 | Driving planning method and device for automatic driving vehicle and automatic driving vehicle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106289075A (en) * | 2016-09-29 | 2017-01-04 | 深圳市迈测科技股份有限公司 | The antidote of geodimeter and system |
| CN107957504A (en) * | 2016-10-18 | 2018-04-24 | 苏州宝时得电动工具有限公司 | Collision course detection method and its device |
| CN107957504B (en) * | 2016-10-18 | 2020-09-22 | 苏州宝时得电动工具有限公司 | Collision direction detection method and device |
| WO2018192465A1 (en) * | 2017-04-17 | 2018-10-25 | 北京京东尚科信息技术有限公司 | Method and device for controlling travelling of transfer robot, and robot |
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| CN107515605B (en) * | 2017-07-12 | 2020-12-18 | 台州智奥通信设备有限公司 | AGV (automatic guided vehicle) navigation method and system based on ultrasonic ranging |
| CN110379044A (en) * | 2018-09-13 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus of kinematic error compensation |
| CN112414418A (en) * | 2019-08-20 | 2021-02-26 | 北京图森智途科技有限公司 | Driving planning method and device for automatic driving vehicle and automatic driving vehicle |
| CN112414418B (en) * | 2019-08-20 | 2023-03-14 | 北京图森智途科技有限公司 | Driving planning method and device for automatic driving vehicle and automatic driving vehicle |
| CN110522369A (en) * | 2019-09-27 | 2019-12-03 | 珠海市一微半导体有限公司 | Sweeping robot sweep-out pattern editing and processing method and apparatus |
| CN112286180A (en) * | 2020-09-16 | 2021-01-29 | 四川嘉能佳网创新能源科技有限责任公司 | Power inspection analysis system and method based on inspection robot |
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| TWM477598U (en) | 2014-05-01 |
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