CN104898677A - Robot navigation system and robot navigation method - Google Patents
Robot navigation system and robot navigation method Download PDFInfo
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- CN104898677A CN104898677A CN201510365366.3A CN201510365366A CN104898677A CN 104898677 A CN104898677 A CN 104898677A CN 201510365366 A CN201510365366 A CN 201510365366A CN 104898677 A CN104898677 A CN 104898677A
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Abstract
A robot navigation system comprises a plurality of infrared projectors and a wheeled robot, wherein the infrared projectors are arranged in room or corridors and are capable of projecting asymmetric infrared patterns to ceilings, and the wheeled robot can identify the infrared patterns. The wheeled robot can move from a first position to multiple different second positions, and walking paths from the first position to the second positions are provided with the infrared projectors. The wheeled robot comprises a control unit, an identification unit, a moving unit and a learning path storage unit. The invention also comprises a robot navigation method. According to the invention, the learning path storage unit is arranged to write navigation data obtained from acquired asymmetric infrared patterns into the identification unit, so that in the practical navigation process, the wheeled robot takes the navigation data as references and continuously adjust self movement according to proportion operational results, thereby fully achieving objects of improving self control precision and operational efficiency.
Description
Technical field
The present invention relates to robot field, refer in particular to a kind of navigational system and method thereof of robot.
Background technology
Robot is that a class completes corresponding action for the order accepting the mankind, also can automatically perform pre-set programs to complete corresponding task, and have the installations of programmability.But in life, robot and unlike showing in film the omnipotent stage similar with the mankind.In the level of current development in science and technology, even if there is the profile of the mankind in robot, but its artificial intelligence level is far away under the mankind, and most robot does not have the profile of the mankind.In general, robot can increase production efficiency, improve the quality of products with the comfort level improving human lives.So, robot be one assist or replace human work mechanical hook-up.
Wheeled robot is a kind of can work under complex environment, there is the robot of self planning, self-organization, adaptive ability, there is the advantages such as action is quick, work efficiency is high, structure is simple, controllability is strong, security is good, be at home and abroad widely used at present.
For now, in wheeled robot relation technological researching, airmanship belongs to its core technology, is also to realize gordian technique that is intelligent and autonomous.Traditional vision guided navigation is general according to visual pattern, utilizes the correlation techniques such as image procossing, computer vision, Model Identification to obtain movable information and the spatial positional information of movable body, thus the object that realization is navigated to robot.But very large in the mode of the vision guided navigation real-time operation amount in its motion process, underaction, the impact of enclosing environment by illumination isoperimetric is larger, and laying and maintenance cost high.
Summary of the invention
The invention provides a kind of navigational system and method thereof of robot, it is low and lay and the defect such as maintenance cost is high that its fundamental purpose is to overcome existing vision guided navigation mode exists poor stability, positioning precision.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of navigational system of robot, comprise be arranged in room a plurality of and can project the infrared projection instrument of asymmetric infrared patterns and the wheeled robot of this infrared patterns of identifiable design to ceiling, described wheeled robot can be used for being displaced to multiple different second place from primary importance, the walking path of primary importance to the second place is equipped with described infrared projection instrument, described wheeled robot comprises control module, recognition unit, mobile unit and learning path deposit unit, the Enable Pin of control module is connected to described recognition unit, the Enable Pin of mobile unit is connected to described control module, described learning path deposit unit is electrically connected on described control module, when initial setting, described wheeled robot is displaced to arbitrary described second place by primary importance, described recognition unit identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, judge relative position and to control module output reference location point data, this reference position point data is write described learning path deposit unit by control module, when described wheeled robot completes once by the shift motion of primary importance to a second place, multiple reference positions point data that control module is written in learning path deposit unit forms a navigation data jointly, after initial setting, the primary importance navigation data be displaced to corresponding to each second place is all written in learning path deposit unit, during use, when control module receives after by primary importance to the instruction of a second place, control module transfers the navigation data corresponding to primary importance to this second place, and control the displacement of described mobile unit according to this navigation data, in shifting process, described recognition unit identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, judge relative position and export real time position point data to control module, scale operation is carried out with the current reference position point data transferred in navigation data after described control module obtains this real time position point data, and adjust described shift unit action, it is made to be shifted according to current navigation data of transferring.
Further, described asymmetric infrared patterns at least comprises a front summit, a left-hand point and a right-hand point, described recognition unit carries out in identifying to its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, first determine direction of travel according to front summit, wherein front summit and described recognition unit line go between for navigating; When described left-hand point and right-hand point are all positioned at the right side of described navigation lead-in wire, control module judges that wheeled robot departs to the left, and control module gets final product the correction of control action unit right shift travel direction; When described left-hand point and right-hand point are all positioned at the left side of described navigation lead-in wire, control module judges that wheeled robot departs to the right, and control module gets final product control action unit to travel direction correction of shifting left.
Further, described wheeled robot also comprises barrier sensing cell, described barrier sensing cell comprises a plurality of infrared inductor in described wheeled robot outside and control the process switch that this plural infrared inductor starts one by one by the mode of scanning of being interspersed, after wherein an infrared inductor starts, infrared inductor before it is closed, and the output terminal of described process switch is connected to the Enable Pin of described control module.
Further, a plurality of described infrared inductor is with the scanning altogether starting speed and come each different angles of above-mentioned wheeled robot for 50 ~ 150 times/second.
An air navigation aid for robot, comprises the following steps: initial path study and instruction manipulation walking, and described initial path study comprises the following steps:
A, by wheeled robot by primary importance be displaced to first need setting the second place, in the process, the recognition unit of wheeled robot identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking;
By the asymmetric infrared patterns that it obtains, b, recognition unit judge that wheeled robot is relative to the position residing for current asymmetric infrared patterns and to control module output reference location point data;
C, control module are by this reference position point data write learning path deposit unit, when wheeled robot completes once by the shift motion of primary importance to the second place, multiple reference positions point data that control module is written in learning path deposit unit forms first group of navigation data jointly;
D, by wheeled robot by primary importance be displaced to second need setting the second place, in the process, the recognition unit of wheeled robot identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking;
E, repetition step b and c, write second group of navigation data thus in learning path deposit unit;
Wheeled robot is displaced to other second places needing setting by primary importance by f, in the process, the recognition unit of wheeled robot identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, repeat step b and c, the navigation data that other groups need setting is write thus in learning path deposit unit, after initial setting, the primary importance navigation data be displaced to corresponding to each second place is all written in learning path deposit unit;
Described instruction manipulation walking comprises the steps:
G, when control module receive that user side provides manipulate instruction by primary importance to the walking of the wherein second place after, control module transfers that group navigation data corresponding to primary importance to this second place, and controls described mobile unit according to this navigation data and be shifted by primary importance;
In h, shifting process, described recognition unit identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, judge relative position and export real time position point data to control module, scale operation is carried out with the current reference position point data transferred in navigation data after described control module obtains this real time position point data, and adjust described shift unit action, it is made to be shifted according to current navigation data of transferring, until arrive the second place.
Further, in the h step of described instruction manipulation walking step, during shifting process, described asymmetric infrared patterns at least comprises a front summit, a left-hand point and a right-hand point, described recognition unit carries out in identifying to its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, first determine direction of travel according to front summit, wherein front summit and described recognition unit line go between for navigating; When described left-hand point and right-hand point are all positioned at the right side of described navigation lead-in wire, control module judges that wheeled robot departs to the left, and control module gets final product the correction of control action unit right shift travel direction; When described left-hand point and right-hand point are all positioned at the left side of described navigation lead-in wire, control module judges that wheeled robot departs to the right, and control module gets final product control action unit to travel direction correction of shifting left.
Further, described wheeled robot also comprises barrier sensing cell, described barrier sensing cell comprises a plurality of infrared inductor in described wheeled robot outside and control the process switch that this plural infrared inductor starts one by one by the mode of scanning of being interspersed, after wherein an infrared inductor starts, infrared inductor before it is closed, and the output terminal of described process switch is connected to the Enable Pin of described control module.
Further, also comprise in the h step of described instruction manipulation walking step, step h1: during shifting process, first infrared inductor starts, and first to the angular emission infrared ray at its place, has judged whether barrier, step h2: once have barrier in specific range on this angle direction, then by information conveyance to control module, control module then priority acccess control walking unit is shifted towards the direction away from barrier, direction of travel is determined again afterwards according to described front summit, wherein front summit and described recognition unit line go between for navigating, when described left-hand point and right-hand point are all positioned at the right side of described navigation lead-in wire, control module judges that wheeled robot departs to the left, control module gets final product the correction of control action unit right shift travel direction, when described left-hand point and right-hand point are all positioned at the left side of described navigation lead-in wire, control module judges that wheeled robot departs to the right, and control module gets final product control action unit to travel direction correction of shifting left, finally again according to the result of aforementioned proportion computing, adjust described shift unit action, make it be shifted according to current navigation data of transferring, until arrive the second place, step h3: if do not have barrier in the specific range on first infrared inductor corresponding angle direction, then process switch first infrared inductor is closed, and open second infrared inductor be adjacent simultaneously, then to the angular emission infrared ray at its place, judge whether barrier, once have barrier in specific range on this angle direction, then repeating said steps h2, if there is no barrier in the specific range on second infrared inductor corresponding angle direction, then process switch second infrared inductor is closed, and open the 3rd infrared inductor be adjacent simultaneously, then to the angular emission infrared ray at its place, judge whether barrier, once have barrier in specific range on this angle direction, then repeating said steps h2, if there is no barrier in the specific range on the 3rd infrared inductor corresponding angle direction, repeat aforesaid operations, infrared inductor on described wheeled robot is started one by one, and after wherein an infrared inductor starts, infrared inductor before it is closed.
Further, each infrared inductor ringwise angularly interval arrange the outside of described wheeled robot, and with the scanning altogether starting speed and come each different angles of above-mentioned wheeled robot for 50 ~ 150 times/second.
Further, also comprise in the h step of described instruction manipulation walking step, step h1: during shifting process, first infrared inductor starts, first to the angular emission infrared ray at its place, judge there is clear in the specific range on this angle direction, and by this information temporary storage in process switch, then process switch first infrared inductor is closed, and open second infrared inductor be adjacent simultaneously, then to the angular emission infrared ray at its place, judged whether barrier and by this information temporary storage to process switch in, repeat aforesaid operations, infrared inductor on described wheeled robot is started one by one, and after wherein an infrared inductor starts, infrared inductor before it is closed, step h2: after each infrared inductor all completes the action of scanning barrier, the positional information of barrier is then delivered to control module by process switch, control module then priority acccess control walking unit is shifted towards the direction away from barrier, direction of travel is determined again afterwards according to described front summit, wherein front summit and described recognition unit line go between for navigating, when described left-hand point and right-hand point are all positioned at the right side of described navigation lead-in wire, control module judges that wheeled robot departs to the left, control module gets final product the correction of control action unit right shift travel direction, when described left-hand point and right-hand point are all positioned at the left side of described navigation lead-in wire, control module judges that wheeled robot departs to the right, and control module gets final product control action unit to travel direction correction of shifting left, last again according to the result of aforementioned proportion computing, adjust described shift unit action, make it be shifted according to current navigation data of transferring, step h3: repeat step h1 and h2 in shifting process until arrive the second place.
Compared to the prior art, the beneficial effect that the present invention produces is:
1, structure of the present invention is simple, practical, by arranging learning path deposit unit, the navigation data that recognition unit is drawn by its asymmetric infrared patterns obtained is write, thus in actual navigation procedure, wheeled robot can using this navigation data as reference, according to the result of scale operation, continuous adjustment oneself is walked, thus can reach the object improving himself control accuracy and operational efficiency completely.
2, in the present invention, recognition unit is component based on infrared recognition technique, thus can reduce the influence of enclosing environment by illumination isoperimetric widely, is conducive to the degree of accuracy and the stability that improve navigation.
3, in the present invention, by carrying out projecting asymmetric infrared patterns to ceiling arranging infrared projection instrument below ground, so not only facility is installed, lay and maintenance cost low, and be conducive to adjusting navigation data and revising, its operand is much smaller and good stability.
4, in the present invention, by arranging a front summit, a left-hand point and a right-hand point, refinement is carried out to navigation action, wheeled robot not offset direction in shifting process can be ensured like this, and can refinement area stores targeted specifically a large amount of positions and control information, improve motion control accuracy and the efficiency of robot.
5, in the present invention, the infrared inductor that can start one by one by arranging a plurality of infrared inductor scans peripheral obstacle, the sensing of multiple angles can be realized, wheeled robot can not only be dodged plane object, and the cylindrical object of more difficult differentiation of can dodging or conical object, greatly improve wheeled robot to dodge the ability of barrier, thus make the phenomenon of colliding with in its walking process obtain very strong elimination.
6, in the present invention, after wherein an infrared inductor starts, the infrared inductor before it is closed, and can make to obtain infrared inductor each other like this can not disturb mutually, improves its degree of accuracy detecting barrier and stability widely.
Accompanying drawing explanation
Fig. 1 is the structural representation of navigational system described in the present invention.
Fig. 2 is the plane figure of navigational system described in the present invention.
Fig. 3 is the operating diagram one of the detection of wheeled robot described in the present invention barrier.
Fig. 4 is the operating diagram two of the detection of wheeled robot described in the present invention barrier.
Fig. 5 is the operating diagram three of the detection of wheeled robot described in the present invention barrier.
Fig. 6 is the operating diagram four of the detection of wheeled robot described in the present invention barrier.
Embodiment
With reference to the accompanying drawings the specific embodiment of the present invention is described.
Embodiment one
With reference to Fig. 1-Fig. 6.A kind of navigational system of robot, comprise be arranged in room a plurality of and can project the infrared projection instrument 2 of asymmetric infrared patterns 1 and the wheeled robot 3 of this infrared patterns 1 of an identifiable design to ceiling, described wheeled robot 3 can be used for being displaced to multiple different second place from primary importance, the walking path of primary importance to the second place is equipped with described infrared projection instrument 2, described wheeled robot 3 comprises control module 4, recognition unit 5, mobile unit 6 and learning path deposit unit 7, the Enable Pin of control module 4 is connected to described recognition unit 5, the Enable Pin of mobile unit 6 is connected to described control module 4, described learning path deposit unit 7 is electrically connected on described control module 4, when initial setting, described wheeled robot 3 is displaced to arbitrary described second place by primary importance, described recognition unit 5 identifies its asymmetric infrared patterns 1 that infrared projection instrument 2 of process sends successively in the process of walking, judge relative position and to control module 4 output reference location point data, this reference position point data is write described learning path deposit unit 7 by control module 4, when described wheeled robot 3 completes once by the shift motion of primary importance to a second place, multiple reference positions point data that control module 4 is written in learning path deposit unit 7 forms a navigation data jointly, after initial setting, the primary importance navigation data be displaced to corresponding to each second place is all written in learning path deposit unit 7, during use, when control module 4 receives after by primary importance to the instruction of a second place, control module 4 transfers the navigation data corresponding to primary importance to this second place, and control described mobile unit 6 according to this navigation data to be shifted, in shifting process, described recognition unit 5 identifies its asymmetric infrared patterns 1 that infrared projection instrument 2 of process sends successively in the process of walking, judge relative position and export real time position point data to control module 4, scale operation is carried out with the current reference position point data transferred in navigation data after described control module 4 obtains this real time position point data, and adjust described shift unit action, it is made to be shifted according to current navigation data of transferring.
With reference to Fig. 1-Fig. 6.Described asymmetric infrared patterns 1 at least comprises front summit 10, left-hand point 11 and a right-hand point 12, described recognition unit 5 carries out in identifying to its asymmetric infrared patterns 1 that infrared projection instrument 2 of process sends successively in the process of walking, first determine direction of travel according to front summit 10, wherein front summit 10 goes between for navigating with described recognition unit 5 line; When described left-hand point 11 and right-hand point 12 are all positioned at the right side of described navigation lead-in wire, control module 4 judges that wheeled robot 3 departs to the left, and control module 4 gets final product the correction of control action unit 6 right shift travel direction; When described left-hand point 11 and right-hand point 12 are all positioned at the left side of described navigation lead-in wire, control module 4 judges that wheeled robot 3 departs to the right, and control module 4 gets final product control action unit 6 to travel direction correction of shifting left.
With reference to Fig. 4, Fig. 5 and Fig. 6.Described wheeled robot 3 also comprises barrier sensing cell, described barrier sensing cell comprises a plurality of infrared inductor 8 in described wheeled robot 3 outside and control the process switch 9 that this plural infrared inductor 8 starts one by one by the mode of scanning of being interspersed, after wherein an infrared inductor 8 starts, infrared inductor 8 before it is closed, and the output terminal of described process switch 9 is connected to the Enable Pin of described control module 4.A plurality of described infrared inductor 8 is with the scanning altogether starting speed and come each different angles of above-mentioned wheeled robot 3 for 50 ~ 150 times/second.
Embodiment two
With reference to Fig. 1-Fig. 6.For villa indoor this cover of manipulation Algorithms of Robots Navigation System, the concise and to the point air navigation aid describing robot in the present invention.Wherein primary importance can be chosen to be bedroom, and the second place can be chosen to be kitchen, and in fact the second place can also select other places multiple certainly, such as guest room, bathroom etc.
An air navigation aid for robot, comprises the following steps: initial path study and instruction manipulation walking, and described initial path study comprises the following steps:
A, wheeled robot 3 is displaced to kitchen by bedroom, in the process, the recognition unit 5 of wheeled robot 3 identifies its asymmetric infrared patterns 1 that infrared projection instrument 2 of process sends successively in the process of walking;
By the asymmetric infrared patterns 1 that it obtains, b, recognition unit 5 judge that wheeled robot 3 is relative to the position residing for current asymmetric infrared patterns 1 and to control module 4 output reference location point data;
C, control module 4 are by this reference position point data write learning path deposit unit 7, when wheeled robot 3 completes once by the shift motion of bedroom to kitchen, multiple reference positions point data that control module 4 is written in learning path deposit unit 7 forms first group of navigation data jointly;
D, be displaced in guest room by wheeled robot 3 by bedroom, in the process, the recognition unit 5 of wheeled robot 3 identifies its asymmetric infrared patterns 1 that infrared projection instrument 2 of process sends successively in the process of walking;
E, repetition step b and c, write second group of navigation data thus in learning path deposit unit 7;
Wheeled robot 3 is displaced to other second places (such as bathroom etc.) needing setting by primary importance by f, in the process, the recognition unit 5 of wheeled robot 3 identifies its asymmetric infrared patterns 1 that infrared projection instrument 2 of process sends successively in the process of walking, repeat step b and c, in learning path deposit unit 7, other groups of write need the navigation data of setting thus, after initial setting, bedroom is displaced to each second place (such as kitchen, guest room or bathroom etc.) corresponding to navigation data be all written in learning path deposit unit 7.
Described instruction manipulation walking be current we need wheeled robot 3 to which place thus the shift motion that carries out according to our order of wheeled robot 3, when we need to call the wheeled robot 3 being positioned at bedroom in kitchen, it specifically comprises the steps:
G, when control module 4 receive that user side provides manipulate instruction by bedroom to the walking in kitchen after, control module 4 transfers that group navigation data corresponding to bedroom to kitchen, and controls described mobile unit 6 according to this navigation data and be shifted by bedroom;
In h, shifting process, described recognition unit 5 identifies its asymmetric infrared patterns 1 that infrared projection instrument 2 of process sends successively in the process of walking, judge relative position and export real time position point data to control module 4, scale operation is carried out with the current reference position point data transferred in navigation data after described control module 4 obtains this real time position point data, and adjust described shift unit action, it is made to be shifted according to current navigation data of transferring, until arrive kitchen.
Wherein, in the h step of described instruction manipulation walking step, during shifting process, described asymmetric infrared patterns 1 at least comprises front summit 10, left-hand point 11 and a right-hand point 12, described recognition unit 5 carries out in identifying to its asymmetric infrared patterns 1 that infrared projection instrument 2 of process sends successively in the process of walking, first determine direction of travel according to front summit 10, wherein front summit 10 goes between for navigating with described recognition unit 5 line; When described left-hand point 11 and right-hand point 12 are all positioned at the right side of described navigation lead-in wire, control module 4 judges that wheeled robot 3 departs to the left, and control module 4 gets final product the correction of control action unit 6 right shift travel direction; When described left-hand point 11 and right-hand point 12 are all positioned at the left side of described navigation lead-in wire, control module 4 judges that wheeled robot 3 departs to the right, and control module 4 gets final product control action unit 6 to travel direction correction of shifting left.
And, described wheeled robot 3 also comprises barrier sensing cell, described barrier sensing cell comprises a plurality of infrared inductor 8 in described wheeled robot 3 outside and control the process switch 9 that this plural infrared inductor 8 starts one by one by the mode of scanning of being interspersed, after wherein an infrared inductor 8 starts, infrared inductor 8 before it is closed, and the output terminal of described process switch 9 is connected to the Enable Pin of described control module 4.
As one of them more preferred scheme of the present embodiment, also comprise in the h step of described instruction manipulation walking step, step h1: during shifting process, first infrared inductor 8 starts, and first to the angular emission infrared ray at its place, has judged whether barrier, step h2: once have barrier in specific range on this angle direction, then by information conveyance to control module 4, control module 4 priority acccess control walking unit are shifted towards the direction away from barrier, direction of travel is determined again afterwards according to described front summit 10, wherein front summit 10 goes between for navigating with described recognition unit 5 line, when described left-hand point 11 and right-hand point 12 are all positioned at the right side of described navigation lead-in wire, control module 4 judges that wheeled robot 3 departs to the left, control module 4 gets final product the correction of control action unit 6 right shift travel direction, when described left-hand point 11 and right-hand point 12 are all positioned at the left side of described navigation lead-in wire, control module 4 judges that wheeled robot 3 departs to the right, control module 4 gets final product control action unit 6 to travel direction correction of shifting left, finally again according to the result of aforementioned proportion computing, adjust described shift unit action, make it be shifted according to current navigation data of transferring, until arrive kitchen, step h3: if do not have barrier in the specific range on first infrared inductor 8 corresponding angle direction, then process switch 9 first infrared inductor 8 is closed, and open second infrared inductor 8 be adjacent simultaneously, then to the angular emission infrared ray at its place, judge whether barrier, once have barrier in specific range on this angle direction, then repeating said steps h2, if there is no barrier in the specific range on second infrared inductor 8 corresponding angle direction, then process switch 9 second infrared inductor 8 is closed, and open the 3rd infrared inductor 8 be adjacent simultaneously, then to the angular emission infrared ray at its place, judge whether barrier, once have barrier in specific range on this angle direction, then repeating said steps h2, if there is no barrier in the specific range on the 3rd infrared inductor 8 corresponding angle direction, repeat aforesaid operations, infrared inductor 8 on described wheeled robot 3 is started one by one, and after wherein an infrared inductor 8 starts, infrared inductor 8 before it is closed.
As another more preferred scheme of the present embodiment, wherein each infrared inductor 8 ringwise angularly interval arrange the outside of described wheeled robot 3, and with the scanning altogether starting speed and come each different angles of above-mentioned wheeled robot 3 for 50 ~ 150 times/second.Also comprise in the h step of described instruction manipulation walking step, step h1: during shifting process, first infrared inductor 8 starts, first to the angular emission infrared ray at its place, judge there is clear in the specific range on this angle direction, and by this information temporary storage in process switch 9, then process switch 9 first infrared inductor 8 is closed, and open second infrared inductor 8 be adjacent simultaneously, then to the angular emission infrared ray at its place, judged whether barrier and by this information temporary storage to process switch 9 in, repeat aforesaid operations, infrared inductor 8 on described wheeled robot 3 is started one by one, and after wherein an infrared inductor 8 starts, infrared inductor 8 before it is closed, step h2: after each infrared inductor 8 all completes the action of scanning barrier, the positional information of barrier is delivered to control module 4 by process 9, switch, control module 4 priority acccess control walking unit are shifted towards the direction away from barrier, direction of travel is determined again afterwards according to described front summit 10, wherein front summit 10 goes between for navigating with described recognition unit 5 line, when described left-hand point 11 and right-hand point 12 are all positioned at the right side of described navigation lead-in wire, control module 4 judges that wheeled robot 3 departs to the left, control module 4 gets final product the correction of control action unit 6 right shift travel direction, when described left-hand point 11 and right-hand point 12 are all positioned at the left side of described navigation lead-in wire, control module 4 judges that wheeled robot 3 departs to the right, control module 4 gets final product control action unit 6 to travel direction correction of shifting left, last again according to the result of aforementioned proportion computing, adjust described shift unit action, make it be shifted according to current navigation data of transferring, step h3: repeat step h1 and h2 in shifting process until arrive kitchen.
Compared to the prior art, the beneficial effect that the present invention produces is:
1, structure of the present invention is simple, practical, by arranging learning path deposit unit 7, the navigation data that recognition unit 5 is drawn by its asymmetric infrared patterns 1 obtained is write, thus in actual navigation procedure, wheeled robot 3 can using this navigation data as reference, according to the result of scale operation, continuous adjustment oneself is walked, thus can reach the object improving himself control accuracy and operational efficiency completely.
2, in the present invention, recognition unit 5 is component based on infrared recognition technique, thus can reduce the influence of enclosing environment by illumination isoperimetric widely, is conducive to the degree of accuracy and the stability that improve navigation.
3, in the present invention, by carrying out projecting asymmetric infrared patterns 1 to ceiling arranging infrared projection instrument 2 below ground, so not only facility is installed, lay and maintenance cost low, and be conducive to adjusting navigation data and revising, its operand is much smaller and good stability.
4, in the present invention, by arranging front summit 10, left-hand point 11 and a right-hand point 12, refinement is carried out to navigation action, wheeled robot 3 not offset direction in shifting process can be ensured like this, and can refinement area stores targeted specifically a large amount of positions and control information, improve motion control accuracy and the efficiency of robot.
5, in the present invention, the infrared inductor 8 that can start one by one by arranging a plurality of infrared inductor 8 scans peripheral obstacle, the sensing of multiple angles can be realized, wheeled robot 3 can not only be dodged plane object, and the cylindrical object of more difficult differentiation of can dodging or conical object, greatly improve wheeled robot 3 to dodge the ability of barrier, thus make the phenomenon of colliding with in its walking process obtain very strong elimination.
6, in the present invention, after wherein an infrared inductor 8 starts, the infrared inductor 8 before it is closed, and can make to obtain infrared inductor 8 each other like this can not disturb mutually, improves its degree of accuracy detecting barrier and stability widely.
Above are only the specific embodiment of the present invention, but design concept of the present invention is not limited thereto, all changes utilizing this design the present invention to be carried out to unsubstantiality, all should belong to the behavior of invading scope.
Claims (10)
1. the navigational system of a robot, it is characterized in that: comprising be arranged in each room or corridor a plurality of can project the infrared projection instrument of asymmetric infrared patterns and the wheeled robot of this infrared patterns of identifiable design to ceiling, described wheeled robot can be used for being displaced to multiple different second place from primary importance, the walking path of primary importance to the second place is equipped with described infrared projection instrument, described wheeled robot comprises control module, recognition unit, mobile unit and learning path deposit unit, the Enable Pin of control module is connected to described recognition unit, the Enable Pin of mobile unit is connected to described control module, described learning path deposit unit is electrically connected on described control module, when initial setting, described wheeled robot is displaced to arbitrary described second place by primary importance, described recognition unit identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, judge relative position and to control module output reference location point data, this reference position point data is write described learning path deposit unit by control module, when described wheeled robot completes once by the shift motion of primary importance to a second place, multiple reference positions point data that control module is written in learning path deposit unit forms a navigation data jointly, after initial setting, the primary importance navigation data be displaced to corresponding to each second place is all written in learning path deposit unit, during use, when control module receives after by primary importance to the instruction of a second place, control module transfers the navigation data corresponding to primary importance to this second place, and control the displacement of described mobile unit according to this navigation data, in shifting process, described recognition unit identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, judge relative position and export real time position point data to control module, scale operation is carried out with the current reference position point data transferred in navigation data after described control module obtains this real time position point data, and adjust described shift unit action, it is made to be shifted according to current navigation data of transferring.
2. the navigational system of a kind of robot as claimed in claim 1, it is characterized in that: described asymmetric infrared patterns at least comprises a front summit, a left-hand point and a right-hand point, described recognition unit carries out in identifying to its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, first determine direction of travel according to front summit, wherein front summit and described recognition unit line go between for navigating; When described left-hand point and right-hand point are all positioned at the right side of described navigation lead-in wire, control module judges that wheeled robot departs to the left, and control module gets final product the correction of control action unit right shift travel direction; When described left-hand point and right-hand point are all positioned at the left side of described navigation lead-in wire, control module judges that wheeled robot departs to the right, and control module gets final product control action unit to travel direction correction of shifting left.
3. the navigational system of a kind of robot as claimed in claim 2, it is characterized in that: described wheeled robot also comprises barrier sensing cell, described barrier sensing cell comprises a plurality of infrared inductor in described wheeled robot outside and control the process switch that this plural infrared inductor starts one by one by the mode of scanning of being interspersed, after wherein an infrared inductor starts, infrared inductor before it is closed, and the output terminal of described process switch is connected to the Enable Pin of described control module.
4. the navigational system of a kind of robot described in claim 3, is characterized in that: a plurality of described infrared inductor is with the scanning altogether starting speed and come each different angles of above-mentioned wheeled robot for 50 ~ 150 times/second.
5. an air navigation aid for robot, is characterized in that, comprises the following steps: initial path study and instruction manipulation walking, and described initial path study comprises the following steps:
A, by wheeled robot by primary importance be displaced to first need setting the second place, in the process, the recognition unit of wheeled robot identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking;
By the asymmetric infrared patterns that it obtains, b, recognition unit judge that wheeled robot is relative to the position residing for current asymmetric infrared patterns and to control module output reference location point data;
C, control module are by this reference position point data write learning path deposit unit, when wheeled robot completes once by the shift motion of primary importance to the second place, multiple reference positions point data that control module is written in learning path deposit unit forms first group of navigation data jointly;
D, by wheeled robot by primary importance be displaced to second need setting the second place, in the process, the recognition unit of wheeled robot identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking;
E, repetition step b and c, write second group of navigation data thus in learning path deposit unit;
Wheeled robot is displaced to other second places needing setting by primary importance by f, in the process, the recognition unit of wheeled robot identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, repeat step b and c, the navigation data that other groups need setting is write thus in learning path deposit unit, after initial setting, the primary importance navigation data be displaced to corresponding to each second place is all written in learning path deposit unit;
Described instruction manipulation walking comprises the steps:
G, when control module receive that user side provides manipulate instruction by primary importance to the walking of the wherein second place after, control module transfers that group navigation data corresponding to primary importance to this second place, and controls described mobile unit according to this navigation data and be shifted by primary importance;
In h, shifting process, described recognition unit identifies its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, judge relative position and export real time position point data to control module, scale operation is carried out with the current reference position point data transferred in navigation data after described control module obtains this real time position point data, and adjust described shift unit action, it is made to be shifted according to current navigation data of transferring, until arrive the second place.
6. the air navigation aid of a kind of robot as claimed in claim 5, it is characterized in that: in the h step of described instruction manipulation walking step, during shifting process, described asymmetric infrared patterns at least comprises a front summit, a left-hand point and a right-hand point, described recognition unit carries out in identifying to its asymmetric infrared patterns that infrared projection instrument of process sends successively in the process of walking, first determine direction of travel according to front summit, wherein front summit and described recognition unit line go between for navigating; When described left-hand point and right-hand point are all positioned at the right side of described navigation lead-in wire, control module judges that wheeled robot departs to the left, and control module gets final product the correction of control action unit right shift travel direction; When described left-hand point and right-hand point are all positioned at the left side of described navigation lead-in wire, control module judges that wheeled robot departs to the right, and control module gets final product control action unit to travel direction correction of shifting left.
7. the air navigation aid of a kind of robot as claimed in claim 6, it is characterized in that: described wheeled robot also comprises barrier sensing cell, described barrier sensing cell comprises a plurality of infrared inductor in described wheeled robot outside and control the process switch that this plural infrared inductor starts one by one by the mode of scanning of being interspersed, after wherein an infrared inductor starts, infrared inductor before it is closed, and the output terminal of described process switch is connected to the Enable Pin of described control module.
8. the air navigation aid of a kind of robot as claimed in claim 7, is characterized in that, also comprises in the h step of described instruction manipulation walking step, step h1: during shifting process, first infrared inductor starts, and first to the angular emission infrared ray at its place, has judged whether barrier, step h2: once have barrier in specific range on this angle direction, then by information conveyance to control module, control module then priority acccess control walking unit is shifted towards the direction away from barrier, direction of travel is determined again afterwards according to described front summit, wherein front summit and described recognition unit line go between for navigating, when described left-hand point and right-hand point are all positioned at the right side of described navigation lead-in wire, control module judges that wheeled robot departs to the left, control module gets final product the correction of control action unit right shift travel direction, when described left-hand point and right-hand point are all positioned at the left side of described navigation lead-in wire, control module judges that wheeled robot departs to the right, and control module gets final product control action unit to travel direction correction of shifting left, finally again according to the result of aforementioned proportion computing, adjust described shift unit action, make it be shifted according to current navigation data of transferring, until arrive the second place, step h3: if do not have barrier in the specific range on first infrared inductor corresponding angle direction, then process switch first infrared inductor is closed, and open second infrared inductor be adjacent simultaneously, then to the angular emission infrared ray at its place, judge whether barrier, once have barrier in specific range on this angle direction, then repeating said steps h2, if there is no barrier in the specific range on second infrared inductor corresponding angle direction, then process switch second infrared inductor is closed, and open the 3rd infrared inductor be adjacent simultaneously, then to the angular emission infrared ray at its place, judge whether barrier, once have barrier in specific range on this angle direction, then repeating said steps h2, if there is no barrier in the specific range on the 3rd infrared inductor corresponding angle direction, repeat aforesaid operations, infrared inductor on described wheeled robot is started one by one, and after wherein an infrared inductor starts, infrared inductor before it is closed.
9. the air navigation aid of a kind of robot as claimed in claim 7, it is characterized in that: each infrared inductor ringwise angularly interval arrange the outside of described wheeled robot, and with the scanning altogether starting speed and come each different angles of above-mentioned wheeled robot for 50 ~ 150 times/second.
10. the air navigation aid of a kind of robot as claimed in claim 9, it is characterized in that: also comprise in the h step of described instruction manipulation walking step, step h1: during shifting process, first infrared inductor starts, first to the angular emission infrared ray at its place, judge there is clear in the specific range on this angle direction, and by this information temporary storage in process switch, then process switch first infrared inductor is closed, and open second infrared inductor be adjacent simultaneously, then to the angular emission infrared ray at its place, judged whether barrier and by this information temporary storage to process switch in, repeat aforesaid operations, infrared inductor on described wheeled robot is started one by one, and after wherein an infrared inductor starts, infrared inductor before it is closed, step h2: after each infrared inductor all completes the action of scanning barrier, the positional information of barrier is then delivered to control module by process switch, control module then priority acccess control walking unit is shifted towards the direction away from barrier, direction of travel is determined again afterwards according to described front summit, wherein front summit and described recognition unit line go between for navigating, when described left-hand point and right-hand point are all positioned at the right side of described navigation lead-in wire, control module judges that wheeled robot departs to the left, control module gets final product the correction of control action unit right shift travel direction, when described left-hand point and right-hand point are all positioned at the left side of described navigation lead-in wire, control module judges that wheeled robot departs to the right, and control module gets final product control action unit to travel direction correction of shifting left, last again according to the result of aforementioned proportion computing, adjust described shift unit action, make it be shifted according to current navigation data of transferring, step h3: repeat step h1 and h2 in shifting process until arrive the second place.
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