CN105867364A - System and method for restricting movement behaviors of robot - Google Patents
System and method for restricting movement behaviors of robot Download PDFInfo
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- CN105867364A CN105867364A CN201510036176.7A CN201510036176A CN105867364A CN 105867364 A CN105867364 A CN 105867364A CN 201510036176 A CN201510036176 A CN 201510036176A CN 105867364 A CN105867364 A CN 105867364A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000006399 behavior Effects 0.000 title abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 230000009471 action Effects 0.000 claims description 107
- 230000000694 effects Effects 0.000 claims description 42
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides a system and method for restricting the movement behaviors of a robot. The system includes a virtual wall device and a robot; the virtual wall device receives an obstacle detection signal in a predetermined receiving range and sends a virtual wall signal when receiving the obstacle detection signal in the predetermined receiving range; a movement space is divided into a first movement region and a second movement region through the virtual wall signal; the robot sends the obstacle detection signal in movement; and when moving into the predetermined transmitting range of the virtual wall signal, the robot receives the virtual wall signal and is allowed to or forbidden to cross over the predetermined transmitting range of the virtual wall signal according to the virtual wall signal, so that the movement behaviors of the robot in the first movement region and the second movement region can be restricted.
Description
Technical field
The invention belongs to robotics, espespecially relate to a kind of system restricting robotic movement's behavior and
Method.
Background technology
Existing clean robot, for independently advancing in an interior space, controls to hold without user simultaneously
The autonomous device of row operation.Clean robot is generally autonomous in the such as interior space such as family or office
Mobile, and while movement, the dirt (such as: rubbish, dust etc.) on floor is drawn to its interior dust
In box, thus perform clean operation.
But, clean robot, when practical operation, still has a restriction in many application, more typically,
Owing to all there is difference various different indoor decorative (such as, furniture) article and position thereof, even and identical chamber
Interior space, in the different time, also may have the different interior spaces to plan, therefore, by clean robot
Set and fix the operation not meeting actual demand in the way of walking path runs for it by one and control form.
And for avoiding this clean robot to collide the barriers such as metope, furniture, setting out articles when indoor walking operates
Hinder thing, or for avoid by non-handicapping every balcony, stair fall, the most universal practice is to intercept
Device (virtual wall) is located at each position needing control, utilizes this baffling device (virtual wall) to produce emission
Blocking signal, then at least provided with receiving the receiving unit of such blocking signal on this clean robot,
Make this clean robot after receiving such blocking signal, retrogressing or the corresponded manner of deflection walking can be produced,
To reach above-mentioned collision free or the situation dropped.
Such as U.S. Patent No. US7579803 patent of invention case, it discloses a kind of for robot localization with
The method and system of restriction, is used to restrict robot in specific space.This system includes carrying barrier
Hinder signal transmitter and removable robot, wherein can carry obstacle signal conveyer mainly along an axle transmission
Signal, and produce virtual obstacles region in space, movable machine people is formed by this virtual obstacles region
The stop that cannot cross over, movable machine people once detects this obstacle signal and i.e. performs to avoid this obstacle letter
Number, in the preferred embodiment, this obstacle signal is launched with ultrared frequency, and this robot includes entirely
The signal detection device in orientation.Once detecting this obstacle signal, this robot revolute is to by obstacle avoidance algorithm
On selected direction, until no longer detecting this obstacle signal, to be prevented effectively from touching of aforementioned unintentional
Hit or drop situation.
But in the structure of foregoing invention Patent Case, due to can carry obstacle signal conveyer running time, can hold
The continuous axle that the most externally sends transmits signal, cause its must the quick and substantial amounts of consuming energy, and at present
Can carry in obstacle signal conveyer, be all use battery as mainly for answering power supply, under this present situation,
Relatively large battery must be used, the volume that can carry obstacle signal conveyer thus can be caused unavoidable
Expand, be unfavorable for coordinating the utilization planning of the overall interior space, and a large amount of energy that expends does not meets economic effect yet
Benefit.
Having disadvantages mentioned above in view of carrying obstacle signal conveyer, therefore, dealer changes for this problem
Kind, such as Chinese CN102048499 patent publication, it discloses mobile-robot system and control
The method of mobile-robot system, it includes that mobile robot and Radio Beacon (are equivalent to aforesaid carry obstacle
Signal transmitter), mobile robot can send signal when advancing in travel zone simultaneously；Distant when Radio Beacon
(Field of View is called for short: FOV) sense the signal that mobile machine human hair is sent in the visual field of control device receiver module
Time, to respond the form of signal to mobile robot report sensing result, in order to guide mobile robot to complete
After the cleaning in one room, reboot mobile robot and move to another room and be cleaned.
In the preamble in state CN102048499 patent publication, although solve U.S. Patent No.
The problem expending power supply of US7579803 patent of invention case, but but derive another problem, beacon
Assembly needed for machine becomes more, it will improves the difficulty produced and adds many part sourcing costs and group
Dress up this, it appears that be not able to efficiently solve the problem expending electric power, therefore, how to provide one simply
Structure composition, and the Radio Beacon can with effective energy-saving effect maybe can carry obstacle signal conveyer, and
On Radio Beacon uses, relatively save electric power, be an instant problem.
Summary of the invention
Because the assembly of the Radio Beacon of prior art and robot is too much, the problem also having excessively power consumption, this
The purpose of invention is to provide a kind of virtual wall signal that can send according to virtual wall device and oneself's restriction is mobile
The system and method for restriction robotic movement's behavior of behavior, utilizes the virtual wall of simple in construction relatively power saving to fill
Put and replace the Radio Beacon of prior art and maybe can carry obstacle signal conveyer.
The present invention is achieved in that a kind of system restricting robotic movement's behavior, comprising:
One virtual wall device, ornaments are in an activity space, and the predetermined reception model of in this activity space
Enclose interior reception one obstacle detection signal, and in this predetermined range of receiving, receive this obstacle detection signal then send out
Go out a virtual wall signal, by this virtual wall signal, this activity space is separated into one first zone of action and
Second zone of action, this virtual wall device does not receives this obstacle detection signal i.e. in this predetermined range of receiving
Close this virtual wall signal；
One robot, moves at this activity space, and sends this obstacle detection signal when advancing, and mobile
Receive this virtual wall signal during to the predetermined transmitting boundary of this virtual wall signal, and select according to this virtual wall signal
Allow or forbid striding across the predetermined transmitting boundary of this virtual wall signal with selecting, make this robot be restricted first
Zone of action is moved in the second zone of action.
Further, this virtual wall device receives this obstacle detection signal, and this virtual wall device should by control
Robot departs from the disengaging order modulation of the predetermined transmitting boundary of this virtual wall signal and becomes this virtual wall signal.
Further, this disengaging order is to control one of them or the combination that this robot steps back, turns to.
Further, this virtual wall device also includes data during identification data and restriction, this virtual wall
The combination modulation of data during this disengaging order, this identification data and this restriction is become this virtual wall by device
Signal, during this restriction, data are the restriction time that this robot is limited in the movement of this second zone of action.
Further, this robot receives this virtual wall signal, and demodulates this in this virtual wall signal and take off
Data during order, this identification data and this restriction, and this robot is provided with once overwriting, should
Data during this robot of overwriting record had received identification data and this restriction the most, this machine
Device people starts to start at this restriction time from any time entering into the scope departing from this virtual wall signal, and
When this robot receives this virtual wall signal, will there is a following action behavior:
First action behavior: this robot moves in the first zone of action, and receives this virtual wall signal,
And do not received this identification data from this through registration confirmed, then refusal performs this disengaging order, until
Stride across the predetermined transmitting boundary of this virtual wall signal, and enter in the second zone of action；
Second action behavior: this robot moves in the second zone of action, and receives this virtual wall signal,
And received this identification data from this through registration confirmed, and not yet terminate during confirming this restriction,
Then perform this disengaging order, limit in this second zone of action of this robot and move；
The third line moves behavior: this robot moves in the second zone of action, and receives this virtual wall signal,
And received this identification data from this through registration confirmed, and terminate, then during confirming this restriction
Refusal performs this disengaging order, until striding across the predetermined transmitting boundary of this virtual wall signal, and it is alive to enter first
In dynamic region；
Fourth line moves behavior: this robot moves in the first zone of action, and receives this virtual wall signal,
And received this identification data from this through registration confirmed, and terminate, then during confirming this restriction
Perform this disengaging order, limit in this first zone of action of this robot and move.
Further, this virtual wall device includes:
One puts main body, is placed in this activity space；
One first signal reception unit, is located at this and puts main body, and receive this obstacle detection signal；
One virtual wall signal transmitter unit, is located at this and puts main body, and send this virtual wall to this activity space
Signal or stopping send this virtual wall signal；
One virtual wall control unit, is located at this and puts main body, and connects this first signal transmitter and this is virtual
Wall signal transmitter, and receive this obstacle detection signal via this first signal receiver, further according to this obstacle
Detection signal, orders this virtual wall signal transmitter to send this virtual wall signal.
Further, this robot includes:
One moves main body, moves in this activity space；
One obstacle detecting unit, is located at this and moves body surfaces, and send the detecting of this obstacle to this activity space
Signal, makes this robot detect the barrier arround it in traveling；
One virtual wall signal reception unit, is located at this and moves main body, and moving main body at this, to move to this virtual
This virtual wall signal is received during the predetermined transmitting boundary of wall signal；
One robot control unit, is located at this and moves main body, and connect this obstacle detecting unit and this virtual wall
Signal reception unit, and order this obstacle detecting unit to move and continuously send out this obstacle at this when main body moves and detect
Survey signal；
Wherein, this robot control unit receives this virtual wall signal via this virtual wall signal reception unit,
This robot control unit moves main body permission by controlling this according to the demodulation result of this virtual wall signal or forbids
Stride across the predetermined transmitting boundary of this virtual wall signal, and then move to the second zone of action from the first zone of action,
Or the first zone of action is moved to from the second zone of action, or move in being limited in the first zone of action, or
Move in being limited in the second zone of action.
The present invention also provides for a kind of method restricting robotic movement's behavior, applies at virtual wall device and machine
Between people, the method comprises the following steps:
This robot advances in an activity space, and sends an obstacle detection signal when advancing；
This virtual wall device judges whether that receiving this obstacle in a predetermined range of receiving of this activity space detects
Survey signal；
When this virtual wall device receives this obstacle detection signal in this predetermined range of receiving, this virtual wall
Device launches a virtual wall signal at this activity space, and this activity space is separated into one first zone of action
And one second zone of action；
This robot judges whether to receive this virtual wall signal；
When this robot receives this virtual wall signal, this robot selectively permits according to this virtual wall signal
Permitted or forbidden striding across the predetermined transmitting boundary of this virtual wall signal, making this robot be restricted in the first behaviour area
Territory is moved in the second zone of action.
Further, this virtual wall device receives this obstacle detection signal, and this virtual wall device should by control
Robot departs from the disengaging order of the predetermined transmitting boundary of this virtual wall signal, identification data and a restriction
The combination modulation of period data becomes this virtual wall signal；
This robot is provided with once overwriting, and this receives this virtual wall signal through this robot of overwriting record
Time data are given tacit consent to during this restriction the most restriction time, and record this robot the most
Receiving identification data, when this robot receives this virtual wall signal, this robot depends on following step
Suddenly process, and selectively enter or forbid striding across the predetermined transmitting boundary of this virtual wall signal:
This robot receives this virtual wall signal, it is judged that whether this received this identification number through overwriting
According to；
When this robot judges that this did not received this identification data through overwriting, represent robot normotopia
In the first zone of action, then refusal performs this disengaging order, sends out until striding across the predetermined of this virtual wall signal
Penetrate scope, and enter in the second zone of action, and record in overwriting received this identification at this
Data；
When this robot moves in the second zone of action, and when receiving this virtual wall signal, from this through note
Record confirms to have received this identification data, is over during judging whether this restriction the most again；
When this robot moves in the second zone of action, and when receiving this virtual wall signal, from this through note
Record not yet terminates during confirming to have received this identification data, and this restriction, then perform this disengaging order,
Limit in this second zone of action of this robot and move；
When this robot moves in the second zone of action, and receive this virtual wall signal, and from this through note
Record confirms to have received this identification data, and terminates during confirming this restriction, then refusal performs this and takes off
From order, it is allowed to stride across the predetermined transmitting boundary of this virtual wall signal, and enter in the first zone of action；When
This robot moves in the first zone of action, and receives this virtual wall signal, and from this through registration confirmed
Receive this identification data, and terminated during confirming this restriction, then perform this disengaging order, limit
Make in this first zone of action of this robot and move.
Technical characteristic provided by the present invention is compared to each other with prior art, it is known that, the present invention at least have as
Lower advantage:
Owing to general robot is accomplished by sending obstacle detection signal originally, in order to avoidant disorder thing, it addition,
Originally just there is reception external control signal in robot, according to controlling signal and carry out the function of relative behavior, therefore,
Robot is completely without increasing New Parent；
After detecting obstacle detection signal, virtual wall signal only just can be sent due to virtual wall device, therefore,
In terms of existing technologies, electric power is considerably saved.
Virtual wall device has only to barrier detection detection signal and sends virtual wall signal and can limit robot
One zone of action is in the action behavior of the second zone of action, therefore, the virtual wall device of the present invention also without
Too many assembly.
Accompanying drawing explanation
Fig. 1-Fig. 4 is the structural representation of the system of restriction robotic movement's behavior that the embodiment of the present invention provides
Figure.
Fig. 5 is the virtual wall device in the system of restriction robotic movement's behavior of Fig. 1 and the structure of robot
Schematic diagram.
Fig. 6 and Fig. 7 is the structural representation of the method for restriction robotic movement's behavior that the embodiment of the present invention provides
Figure.
The label related in accompanying drawing is detailed as follows:
1: virtual wall device
10: predetermined range of receiving
12: predetermined transmitting boundary
14: put main body
16: the first signal reception unit
18: virtual wall signal transmitter unit
19: virtual wall control unit
2: robot
22: mobile main body
24: obstacle detecting unit
26: virtual wall signal reception unit
2: robot control unit
3: activity space
30: the first zones of action
32: the second zones of action
S601～S607: steps flow chart
S701～S706: steps flow chart
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
Refer to Fig. 1, embodiments provide a kind of system restricting robotic movement's behavior, its bag
Including a virtual wall device 1 and a robot 2, wherein, virtual wall device 1 is furnished at an activity space 3
In, such as: on the floor on the doorframe limit being placed in the interior space, or be placed in the interior space
At the upper limb on doorframe limit, and connect in predetermined range of receiving 10 with omni-directional or directive property in activity space 3
Receive obstacle detection signal.When virtual wall device 1 receives obstacle detection signal in predetermined range of receiving 10,
In predetermined transmitting boundary 12, i.e. send a virtual wall signal, by virtual wall signal by virtual for activity space 3
Being separated into one first zone of action 30 and one second zone of action 32, virtual wall device 1 is at predetermined reception model
Do not receive obstacle detection signal in enclosing 10 and i.e. close virtual wall signal.
And robot 2 can be clean robot, service robot etc., every movable machine people comes under
Robot alleged by the present invention.Robot 2 is mobile in activity space 3 sends obstacle detection signal simultaneously,
And robot 2 is with random Move Mode, spiral Move Mode, S-shaped Move Mode or intelligence composition model
Move in activity space Deng any one pattern.Send out it addition, robot 2 moves to the predetermined of virtual wall signal
During the scope 12 of penetrating, robot 2 receives virtual wall signal, and selectively allows according to virtual wall signal or forbid
Stride across the predetermined transmitting boundary 12 of virtual wall signal, make robot 2 by restriction the first zone of action 30 with
Move in second zone of action 32.
In the present invention, virtual wall device 1 receives obstacle detection signal, and virtual wall device 1 will be disengaged from life
Modulation is made to become virtual wall signal, disengaging order to step back order, diversion order wherein for control robot 2
One of or combination, depart from the predetermined transmitting boundary 12 of virtual wall signal by controlling robot 2.Further
Ground, virtual wall device 1 also includes data during identification data and restriction, and wherein identification data is
Unique coded data, when during restriction, data are the restriction of the movement that robot is limited in the second zone of action
Between, the different restriction time can be given respectively according to the size of different second areas, such as: 7～10 level grounds
Room restriction 30 minutes time, less than 7 level grounds room restrict 20 minutes time, on virtual unit provide
There is the setting switching switch setting the restriction time, in order to user is set as big room or cubicle, virtual wall
During device 1 will be disengaged from order, identification data and restriction, the combination modulation of data becomes virtual wall signal.
In the present invention, robot 2 receives virtual wall signal, and demodulates disengaging life in self-virtualizing wall signal
Make, data during identification data and restriction, and robot 2 stores one through overwriting 20, Jing Guoji
Record 20 is that recorder people 2 had received data during identification data, and restriction, robot the most
2 can start to start at the restriction time from any time entering into the scope departing from virtual wall signal, restriction
The embodiment starting at time point of time is the predetermined transmitting boundary 12 that robot 2 departs from virtual wall signal
Start to start at.
Please refer to Fig. 2 to Fig. 4, robot 2 receives virtual wall signal, will have following action row
For:
1. the first action behavior:
Machine 2 people moves in the first zone of action 30, and receives virtual wall signal, and from virtual wall signal
In demodulate data during disengaging order, identification data and restriction, then be confirmed whether from through overwriting 20
Once identical identification data was recorded, when robot 2 had not recorded identical identification data,
Then refusal performs to depart from order, and allows to stride into the predetermined transmitting boundary 12 of virtual wall signal, and enters second
In zone of action 32；
2. the second action behavior:
Robot 2 moves in the second zone of action 32, and receives virtual wall signal, and from virtual wall signal
In demodulate data during disengaging order, identification data and restriction, then confirmed to connect by through overwriting 20
Received identification data, but during not yet arriving restriction, then perform to depart from order, can be during restricting
Interior restriction robot 2 only moves in the second zone of action 32；
3. the third line moves behavior:
Robot moves in the second zone of action 32, and receives virtual wall signal, and from virtual wall signal
Demodulate data during disengaging order, identification data and restriction, then confirmed to receive by through overwriting 20
Terminate during crossing identification data, and confirmation restriction, then refusal performs to depart from and orders, and strides across virtual
The predetermined transmitting boundary 12 of wall signal, and enter in the first zone of action 30；
4. fourth line moves behavior:
Robot 2 moves in the first zone of action 30, and receives virtual wall signal, and from virtual wall signal
In demodulate data during disengaging order, identification data and restriction, then confirm to connect from through overwriting 20
Terminated during receiving identification data and restriction, then perform to depart from order, exist in order to limit robot 2
Move in first zone of action 30.
In the present invention, referring to Fig. 5, virtual wall device 1 includes putting main body the 14, first signal reception
Unit 16, virtual wall signal transmitter unit 18 and virtual wall control unit 19, wherein put main body 14 and put
It is placed in activity space 30.First signal reception unit 16 is located to be put in main body, and is used for receiving obstacle
Detection signal.Virtual wall signal transmitter unit 18 is also provided in putting in main body 14, for activity space 3
Send virtual wall signal or stopping sends virtual wall signal.Virtual wall control unit 19 is located at puts in main body,
And connecting the first signal transmitter 16 and virtual wall signal transmitter 18, virtual wall control unit 19 is via the
One signal receiver 19 receives obstacle detection signal, to launch according to obstacle detection signal order virtual wall signal
Device 18 sends virtual wall signal.Wherein virtual wall control unit 19 is after receiving obstacle detection signal, will
During departing from order, identification data and restriction, data send virtual wall signal transmitter 19, virtual wall to
During signal transmitter 19 will be disengaged from order, identification data and restriction, data-modulated becomes virtual wall signal.
In the present invention, referring to Fig. 5, robot 2 includes mobile main body 22, obstacle detecting unit
24, virtual wall signal reception unit 26 and robot control unit 28.Wherein move main body 22 movable empty
Between move in 3, obstacle detecting unit 24 is located at mobile main body 22 surface, and sends out obstacle detecting news
Number, make robot 2 detect the barrier arround it in traveling.Virtual wall signal reception unit 26 is located at
In mobile main body 22, and it is used for receiving virtual wall signal, and demodulates disengaging order, body from virtual wall signal
Part identifies data during data and restriction.Robot control unit 28 is located in mobile main body 22, and connects
Obstacle detecting unit 24 and virtual wall signal reception unit 26, and order obstacle detecting unit 24 is mobile main
Obstacle detection signal is continuously sent out when body moves.It addition, robot control unit 28 connects via virtual wall signal
Receive unit 26 and receive virtual wall signal, and according to the disengaging order demodulated of virtual wall signal, identification
Data during data and restriction, in order to determine that permission or forbidden moves main body 22 stride across the predetermined of virtual wall signal
Transmitting boundary, and then move to the second zone of action 32 from the first zone of action 30, or from the second behaviour area
Territory 32 moves to the first zone of action 30, or moves in being limited in the first zone of action 30, or is limited
Move in the second zone of action 32.
Referring to Fig. 6, the embodiment of the present invention provides a kind of method restricting robotic movement's behavior, applies
Between virtual wall device and robot, it comprises the following steps:
(S601) robot advances in an activity space, and sends an obstacle detection signal when advancing；
(S602) virtual wall device judges whether that receiving obstacle in a predetermined range of receiving of activity space detects
Survey signal, if the step of being by (S603), otherwise carry out step (S606)；
(S603) when virtual wall device receives obstacle detection signal in predetermined range of receiving, virtual wall fills
Put and launch a virtual wall signal at activity space, activity space is separated into one first zone of action and one
Two zones of action；
(S604) robot judges whether to receive virtual wall signal while advancing, if the step of being by
(S605), step (S601) is otherwise carried out；
(S605) when robot receives virtual wall signal, robot selectively allows according to virtual wall signal
Or forbid striding across the predetermined transmitting boundary of virtual wall signal, make robot be restricted in the first zone of action and the
Move in two zones of action；
(S606) when virtual wall device does not receives obstacle detection signal in predetermined range of receiving, virtual wall
Device judges whether to launch virtual wall signal, if the step of being by (S607), otherwise carries out step (S602)；
(S607) in predetermined range of receiving, do not receive obstacle detection signal when virtual wall device, and just launch
When going out virtual wall signal, virtual wall device stops sending virtual wall signal, then carries out step (S601)；
In the present invention, when virtual wall device receives obstacle detection signal, virtual wall device will control machine
Device people departs from number during the disengaging order of the predetermined transmitting boundary of virtual wall signal, identification data and restriction
According to combination modulation become virtual wall signal.Robot is provided with once overwriting, and through overwriting, recorder people connects
The restriction time that when receiving virtual wall signal, data are given tacit consent to during restriction the most, and logging machine
Device people had received identification data the most.
Referring to Fig. 7, when robot receives virtual wall signal, robot processes according to the following step,
And selectively enter or forbid striding across the predetermined transmitting boundary of virtual wall signal:
(S701) robot receives virtual wall signal, it is judged that whether received identification data through overwriting,
If the step of being by (S702), otherwise carry out step (S703)；
(S702) judge not receive identification data through overwriting when robot, represent robot normotopia
In the first zone of action, then refusal performs to depart from order, until striding across the predetermined transmitting model of virtual wall signal
Enclose, and enter in the second zone of action, and received identification data recording in overwriting；
(S703) move in the second zone of action when robot, and when receiving virtual wall signal, from through note
Record confirms to have received identification data, is over, if being by during judging whether restriction the most again
Step (S704), otherwise carries out step (S705)；
(S704) move in the second zone of action when robot, and receive virtual wall signal, and from through note
Record terminates during confirming to have received identification data, and confirmation restriction, then refusal performs to depart from and orders,
Allow to stride across the predetermined transmitting boundary of virtual wall signal, and enter in the first zone of action, then carry out step
(S706)；
(S705) move in the second zone of action when robot, and when receiving virtual wall signal, from through note
Record not yet terminates during confirming to have received identification data, and restriction, then perform to depart from order, limit
Robot moves in the second zone of action, then carries out step (S703)；
(S706) move in the first zone of action when robot, and receive virtual wall signal, and from through note
Record terminates during confirming to have received identification data, and confirmation restriction, then perform to depart from order, limit
Robot processed moves in first zone of action.
In sum, robot of the present invention accepts directly simply to depart from order, is not required to carry out any calculation
Method, is used for avoiding virtual signal, solves U.S. Patent No. US7579803 patent of invention case and suffering from
Obstacle signal needs to perform algorithm and manipulates the problem that robot carrys out avoidant disorder signal.And robot does not almost have
There is any new assembly of increase, the present invention can be completed, greatly reduce production cost.
The virtual wall device of the present invention only just can send virtual signal receiving obstacle detection signal, solves U.S.
State's patent US7579803 patent of invention case constantly sends the problem of obstacle signal, reaches to save electric power
Effect.
It addition, the virtual wall device of the present invention has only to less assembly, China the can be reached
After CN102048499 patent publication guides mobile robot to complete the cleaning in a room, reboot shifting
Mobile robot moves to the purpose that another room is cleaned.Additionally, the virtual wall device of the present invention not
Constantly response robot responds signal, more saves relative to Chinese CN102048499 patent publication
Electricity.
Assume the virtual wall device having activity space to be placed with multiple present invention, can be by virtual for activity space point
It is divided into multiple zone of action, if being respectively provided with unique identification data and set of each virtual wall device
Putting data during respective restriction, then restriction robot traveling time in each zone of action, this is existing
Technology do not has, also cannot intended effect.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention
Protection domain within.
Claims (9)
1. the system restricting robotic movement's behavior, it is characterised in that: described restriction robotic movement's behavior
System include:
One virtual wall device, ornaments are in an activity space, and the predetermined range of receiving in this activity space
Interior reception one obstacle detection signal, and in this predetermined range of receiving, receive this obstacle detection signal then send out
Go out a virtual wall signal, by this virtual wall signal this activity space is separated into one first zone of action with
One second zone of action, this virtual wall device does not receives this obstacle detecting news in this predetermined range of receiving
Number i.e. close this virtual wall signal；
One robot, moves at this activity space, and sends this obstacle detection signal when advancing, and moves to
Receive this virtual wall signal during the predetermined transmitting boundary of this virtual wall signal, and select according to this virtual wall signal
Allow or forbid striding across the predetermined transmitting boundary of this virtual wall signal with selecting, make this robot be restricted
One zone of action is moved in the second zone of action.
2. the system restricting robotic movement's behavior as claimed in claim 1, it is characterised in that: this virtual wall
Device receives this obstacle detection signal, and this robot of control is departed from this virtual wall signal by this virtual wall device
The disengaging order modulation of predetermined transmitting boundary become this virtual wall signal.
3. the system restricting robotic movement's behavior as claimed in claim 1, it is characterised in that: this disengaging is ordered
Order is for controlling one of them or the combination that this robot steps back, turns to.
4. the system restricting robotic movement's behavior as claimed in claim 2, it is characterised in that: this virtual wall
Device also includes data during identification data and restriction, and this virtual wall device is by this disengaging order, this body
During part identification data and this restriction, the combination modulation of data becomes this virtual wall signal, and during this restriction, data are
This robot is limited in the restriction time of the movement of this second zone of action.
5. the system restricting robotic movement's behavior as claimed in claim 4, it is characterised in that: this robot
Receive this virtual wall signal, and in this virtual wall signal, demodulate this disengaging order, this identification data
And data during this restriction, and this robot is provided with once overwriting, this through this robot of overwriting record is
No having received data during identification data and this restriction, from entering into disengaging, this is virtual in this robot
Any time of the scope of wall signal rises and starts to start at this restriction time, and to receive this virtual when this robot
Wall signal, will have a following action behavior:
First action behavior: this robot moves in the first zone of action, and receives this virtual wall signal, and
Do not received this identification data from this through registration confirmed, then refusal performs this disengaging order, until
Stride across the predetermined transmitting boundary of this virtual wall signal, and enter in the second zone of action；
Second action behavior: this robot moves in the second zone of action, and receives this virtual wall signal, and
Received this identification data from this through registration confirmed, and not yet terminated during confirming this restriction,
Then perform this disengaging order, limit in this second zone of action of this robot and move；
The third line moves behavior: this robot moves in the second zone of action, and receives this virtual wall signal, and
Received this identification data from this through registration confirmed, and terminated, then during confirming this restriction
Refusal performs this disengaging order, until striding across the predetermined transmitting boundary of this virtual wall signal, and enters first
In zone of action；
Fourth line moves behavior: this robot moves in the first zone of action, and receives this virtual wall signal, and
Received this identification data from this through registration confirmed, and terminated, then during confirming this restriction
Perform this disengaging order, limit in this first zone of action of this robot and move.
6. the system restricting robotic movement's behavior as claimed in claim 1, it is characterised in that: this virtual wall
Device includes:
One puts main body, is placed in this activity space；
One first signal reception unit, is located at this and puts main body, and receive this obstacle detection signal；
One virtual wall signal transmitter unit, is located at this and puts main body, and send this virtual wall news to this activity space
Number or stop send this virtual wall signal；
One virtual wall control unit, is located at this and puts main body, and connect this first signal transmitter and this virtual wall
Signal transmitter, and receive this obstacle detection signal via this first signal receiver, further according to this obstacle
Detection signal, orders this virtual wall signal transmitter to send this virtual wall signal.
7. the system restricting robotic movement's behavior as claimed in claim 1, it is characterised in that: this robot
Including:
One moves main body, moves in this activity space；
One obstacle detecting unit, is located at this and moves body surfaces, and send this obstacle detecting news to this activity space
Number, make this robot detect the barrier arround it in traveling；
One virtual wall signal reception unit, is located at this and moves main body, and moves main body move to this virtual wall at this
This virtual wall signal is received during the predetermined transmitting boundary of signal；
One robot control unit, is located at this and moves main body, and connect this obstacle detecting unit and this virtual wall news
Number receive unit, and order this obstacle detecting unit to move and continuously send out this obstacle at this when main body moves and detect
Survey signal；
Wherein, this robot control unit receives this virtual wall signal via this virtual wall signal reception unit,
This robot control unit by according to the demodulation result of this virtual wall signal control this move main body allow or
Forbid striding across the predetermined transmitting boundary of this virtual wall signal, and then move to second from the first zone of action alive
Dynamic region, or the first zone of action is moved to from the second zone of action, or it is limited in the first zone of action
Interior movement, or move in being limited in the second zone of action.
8. the method restricting robotic movement's behavior, applies between virtual wall device and robot, the party
Method comprises the following steps:
This robot advances in an activity space, and sends an obstacle detection signal when advancing；
This virtual wall device judges whether that receiving this obstacle in a predetermined range of receiving of this activity space detects
Survey signal；
When this virtual wall device receives this obstacle detection signal in this predetermined range of receiving, this virtual wall fills
Put and launch a virtual wall signal at this activity space, this activity space is separated into one first zone of action
And one second zone of action；
This robot judges whether to receive this virtual wall signal；
When this robot receives this virtual wall signal, this robot selectively allows according to this virtual wall signal
Or forbid striding across the predetermined transmitting boundary of this virtual wall signal, make this robot be restricted in the first behaviour area
Territory is moved in the second zone of action.
9. the method restricting robotic movement's behavior as claimed in claim 8, it is characterised in that: this virtual wall
Device receives this obstacle detection signal, and this robot of control is departed from this virtual wall signal by this virtual wall device
The disengaging order of predetermined transmitting boundary, identification data and one restriction during data combination modulation become this
Virtual wall signal；
This robot is provided with once overwriting, and this is when this robot of overwriting record receives this virtual wall signal
The restriction time that data are given tacit consent to during this restriction the most, and record this robot the most
Receiving identification data, when this robot receives this virtual wall signal, this robot is according to following
Step processes, and selectively enters or forbid striding across the predetermined transmitting boundary of this virtual wall signal:
This robot receives this virtual wall signal, it is judged that whether this received this identification number through overwriting
According to；
When this robot judges that this did not received this identification data through overwriting, represent that robot is sitting at
In first zone of action, then refusal performs this disengaging order, sends out until striding across the predetermined of this virtual wall signal
Penetrate scope, and enter in the second zone of action, and this record in overwriting received this identity know
Other data；
When this robot moves in the second zone of action, and when receiving this virtual wall signal, from this through overwriting
Confirm to have received this identification data, be over during judging whether this restriction the most again；
When this robot moves in the second zone of action, and when receiving this virtual wall signal, from this through overwriting
Not yet terminate during confirming to have received this identification data, and this restriction, then perform this disengaging order,
Limit in this second zone of action of this robot and move；
When this robot moves in the second zone of action, and receive this virtual wall signal, and from this through overwriting
Confirm to have received this identification data, and terminate during confirming this restriction, then refusal performs this and takes off
From order, it is allowed to stride across the predetermined transmitting boundary of this virtual wall signal, and enter in the first zone of action；
When this robot moves in the first zone of action, and receive this virtual wall signal, and from this through overwriting
Confirm to have received this identification data, and terminate during confirming this restriction, then perform this disengaging life
Order, limits in this first zone of action of this robot and moves.
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