CN106272441A - Robot cruise site and set up method and the cruise method of coordinate system by site - Google Patents
Robot cruise site and set up method and the cruise method of coordinate system by site Download PDFInfo
- Publication number
- CN106272441A CN106272441A CN201610917306.2A CN201610917306A CN106272441A CN 106272441 A CN106272441 A CN 106272441A CN 201610917306 A CN201610917306 A CN 201610917306A CN 106272441 A CN106272441 A CN 106272441A
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- Prior art keywords
- robot
- coordinate system
- cruise
- magnetic nail
- threshold
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot cruise site and set up method and the cruise method of coordinate system by site, the method setting up robot cruise coordinate system in site, comprise the following steps: (1) starts robot at initial point magnetic nail, robot is followed closely by initial point magnetic described in the Magnetic Sensor identification of self, and is defined as the zero of coordinate system；(2) threshold magnetic nail searched one by one by robot, and after often searching a threshold magnetic nail, robot just identifies that this threshold magnetic is followed closely, and records this threshold magnetic nail positional information in described coordinate system；(3) positional information of initial point magnetic nail and each threshold magnetic nail all records in coordinate system the most at last.Robot cruise method in coordinate system, comprises the following steps: (a) any position starts robot, and robot cruises at random, until searching out first site, determines robot position in coordinate system；B () is followed closely corresponding room for entry door magnetic nail with each threshold magnetic one by one and is carried out blanket type cruise.
Description
Technical field
The present invention relates to a kind of Indoor Robot, particularly relate to a kind of robot cruise site and set up coordinate by site
The method of system and cruise method.
Background technology
Occur in that sweeping robot in family or office, the most also include other kinds of service robot.This
A little robots to realize the effect of oneself must play its function at indoor cruise, then can realize it distinctive
Other functions.Particularly sweeping robot, the ground being required in house type carries out blanket type and cleans cruise, how to plan optimum
Cruise route, is the most time-saving guarantee, is also the guarantee that blanket is cruised without dead angle the most contentedly.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, it is provided that a kind of robot cruise site and set up coordinate system by site
Method and cruise method.
For reaching above-mentioned purpose, the first technical scheme that the present invention uses is: a kind of indoor robot cruise site, its
It is characterised by, including: it is arranged on the threshold magnetic nail at indoor each threshold, and is arranged on the initial point magnetic nail at cradle.
In a preferred embodiment of the present invention, also include that entry door magnetic is followed closely.
The second technical scheme that the present invention uses is: a kind of side setting up robot cruise coordinate system in described site
Method, it is characterised in that comprise the following steps:
(1) starting robot at initial point magnetic nail, robot is followed closely by initial point magnetic described in the Magnetic Sensor identification of self, and determines
Zero for coordinate system；
(2) threshold magnetic nail searched one by one by robot, and after often searching a threshold magnetic nail, robot just identifies that this threshold magnetic is followed closely,
And record this threshold magnetic nail positional information in described coordinate system；
(3) positional information of initial point magnetic nail and each threshold magnetic nail all records in coordinate system the most at last.
In a preferred embodiment of the present invention, after in step (2), threshold magnetic nail is recorded in coordinate system by robot, just get over
Cross this threshold magnetic nail enter corresponding room and cruise along room edge contour.
The third technical scheme that the present invention uses is: a kind of robot cruise method in described coordinate system, site
Including: threshold magnetic nail, initial point magnetic nail and entry door magnetic nail, it is characterised in that comprise the following steps:
A () any position starts robot, robot cruises at random, until searching out first site, determines robot self
Position in coordinate system；
B () is followed closely corresponding room for entry door magnetic nail with each threshold magnetic one by one and is carried out blanket type cruise.
The present invention solves defect present in background technology, and the present invention possesses following beneficial effect:
(1) nail of the layout magnetic in house type, defines robot and sets up the hardware foundation of self-position coordinate system, true for robot
Determine self-position to create conditions.
(2) key position in the controlling such as threshold and cradle arranges magnetic nail, can reduce the number of magnetic nail as far as possible
Amount.Magnetic nail is arranged at threshold simultaneously, and either robot enters and also goes out to leave this room, is intended to cross magnetic nail, in order to machine
People determines self-position.
(3) by the foundation of site, and the displacement data analysis of robot self, can well be on the basis of site
On set up coordinate system according to the shape and structure of house type self, in order to robot has in coordinate system range that purpose is planned patrols
Boat, it is to avoid the blindness of robot in prior art.
Detailed description of the invention
Presently in connection with embodiment, the present invention is further detailed explanation.
A kind of indoor robot cruise site, including: it is arranged on the threshold magnetic nail at indoor each threshold, and is arranged on
Initial point magnetic nail at cradle, also includes that entry door magnetic is followed closely.Entry door magnetic nail can avoid robot to cross entry door magnetic nail, runs
Go out beyond house type, and ensure that robot is the cruise in house type all the time.
Layout magnetic nail in house type, defines robot and sets up the hardware foundation of self-position coordinate system, for robot
Determine that self-position creates conditions.Key position in the controlling such as threshold and cradle arranges magnetic nail, can subtract as far as possible
The quantity of few magnetic nail.Magnetic nail is arranged at threshold simultaneously, and either robot enters and also goes out to leave this room, is intended to cross magnetic
Nail, in order to robot determines self-position.
A kind of method setting up robot cruise coordinate system in site, comprises the following steps:
(1) starting robot at initial point magnetic nail, robot is followed closely by initial point magnetic described in the Magnetic Sensor identification of self, and determines
Zero for coordinate system；
(2) threshold magnetic nail searched one by one by robot, and after often searching a threshold magnetic nail, robot just identifies that this threshold magnetic is followed closely,
And record this threshold magnetic nail positional information in described coordinate system；
(3) positional information of initial point magnetic nail and each threshold magnetic nail all records in coordinate system the most at last.
Wherein, after threshold magnetic nail is recorded in coordinate system by robot in step (2), just cross the nail entrance of this threshold magnetic right
The room answered also cruises along room edge contour.The cruise using edge contour formula can draw a circle to approve each room the very first time
Big contour area, forms each room accurate location and exact outline coordinate in coordinate system.
A kind of robot cruise method in coordinate system, site includes: threshold magnetic nail, initial point magnetic nail and entry door magnetic
Nail, comprises the following steps:
A () any position starts robot, robot cruises at random, until searching out first site, determines robot self
Position in coordinate system；
B () is followed closely corresponding room for entry door magnetic nail with each threshold magnetic one by one and is carried out blanket type cruise.
Blanket type cruise is to ensure that the guarantee that floor area in house type can be cleaned by sweeping robot without dead angle.
By the foundation of site, and the displacement data analysis of robot self, can well be on the basis of site
Shape and structure according to house type self sets up coordinate system, in order to robot has the planned cruise of purpose in coordinate system range,
Avoid the blindness of robot in prior art.
The foundation of site is to be formed for robot self to set up the basic premise mating coordinate system with house type；Building of coordinate system
" map " of Li Shi robot cruise, coordinate system is planned as a whole to have merged site information and layout structure information, is formed robot permissible
The autonomous path navigation data used, it at utmost avoids the blindness of robotic movement；Cruise method be in site,
The optimum robotic movement's mode set up on the basis of coordinate system.
Desirable embodiment according to the present invention is enlightenment above, and by above-mentioned description, related personnel is the most permissible
In the range of without departing from this invention technological thought, carry out various change and amendment.The technical scope of this invention
The content being not limited in description, it is necessary to determine technical scope according to right.
Claims (5)
1. an indoor robot cruise site, it is characterised in that including: be arranged on the threshold magnetic nail at indoor each threshold,
And it is arranged on the initial point magnetic nail at cradle.
Indoor robot the most according to claim 1 cruise site, it is characterised in that: also include that entry door magnetic is followed closely.
3. one kind set up in site described in claims 1 robot cruise coordinate system method, it is characterised in that include with
Lower step:
(1) starting robot at initial point magnetic nail, robot is followed closely by initial point magnetic described in the Magnetic Sensor identification of self, and determines
Zero for coordinate system；
(2) threshold magnetic nail searched one by one by robot, and after often searching a threshold magnetic nail, robot just identifies that this threshold magnetic is followed closely,
And record this threshold magnetic nail positional information in described coordinate system；
(3) positional information of initial point magnetic nail and each threshold magnetic nail all records in coordinate system the most at last.
The method setting up robot cruise coordinate system the most according to claim 3, it is characterised in that: machine in step (2)
After threshold magnetic nail is recorded in coordinate system by people, just cross this threshold magnetic nail and enter corresponding room and patrol along room edge contour
Boat.
5. the robot cruise method in coordinate system described in claim 3, site includes: threshold magnetic nail, initial point magnetic nail
Follow closely with entry door magnetic, it is characterised in that comprise the following steps:
A () any position starts robot, robot cruises at random, until searching out first site, determines robot self
Position in coordinate system；
B () is followed closely corresponding room for entry door magnetic nail with each threshold magnetic one by one and is carried out blanket type cruise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917306.2A CN106272441A (en) | 2016-10-21 | 2016-10-21 | Robot cruise site and set up method and the cruise method of coordinate system by site |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917306.2A CN106272441A (en) | 2016-10-21 | 2016-10-21 | Robot cruise site and set up method and the cruise method of coordinate system by site |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272441A true CN106272441A (en) | 2017-01-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610917306.2A Pending CN106272441A (en) | 2016-10-21 | 2016-10-21 | Robot cruise site and set up method and the cruise method of coordinate system by site |
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| CN (1) | CN106272441A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061590A (en) * | 2021-11-18 | 2022-02-18 | 北京仙宇科技有限公司 | Method for dynamically creating robot cruise coordinate and robot navigation method |
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| CN103284662A (en) * | 2012-03-02 | 2013-09-11 | 恩斯迈电子(深圳)有限公司 | Cleaning system and control method thereof |
| CN104133476A (en) * | 2014-07-31 | 2014-11-05 | 四川阿泰因机器人智能装备有限公司 | Self-adaption path tracking method of inspection robot |
| CN105320140A (en) * | 2015-12-01 | 2016-02-10 | 浙江宇视科技有限公司 | Robot cleaner and cleaning path planning method thereof |
| CN205139706U (en) * | 2015-11-19 | 2016-04-06 | 深圳市招科智控科技有限公司 | Automatic navigational positioning system of guide transport vechicle |
| CN105573326A (en) * | 2016-02-03 | 2016-05-11 | 南京聚立工程技术有限公司 | Autonomous charging system and method for mobile routing inspection polar robot |
| CN105652864A (en) * | 2014-11-14 | 2016-06-08 | 科沃斯机器人有限公司 | Map construction method utilizing mobile robot and work method utilizing map |
| KR20160087687A (en) * | 2015-01-14 | 2016-07-22 | 부산대학교 산학협력단 | Localization method of mobile robot using magnetic and IMU |
-
2016
- 2016-10-21 CN CN201610917306.2A patent/CN106272441A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103284662A (en) * | 2012-03-02 | 2013-09-11 | 恩斯迈电子(深圳)有限公司 | Cleaning system and control method thereof |
| CN104133476A (en) * | 2014-07-31 | 2014-11-05 | 四川阿泰因机器人智能装备有限公司 | Self-adaption path tracking method of inspection robot |
| CN105652864A (en) * | 2014-11-14 | 2016-06-08 | 科沃斯机器人有限公司 | Map construction method utilizing mobile robot and work method utilizing map |
| KR20160087687A (en) * | 2015-01-14 | 2016-07-22 | 부산대학교 산학협력단 | Localization method of mobile robot using magnetic and IMU |
| CN205139706U (en) * | 2015-11-19 | 2016-04-06 | 深圳市招科智控科技有限公司 | Automatic navigational positioning system of guide transport vechicle |
| CN105320140A (en) * | 2015-12-01 | 2016-02-10 | 浙江宇视科技有限公司 | Robot cleaner and cleaning path planning method thereof |
| CN105573326A (en) * | 2016-02-03 | 2016-05-11 | 南京聚立工程技术有限公司 | Autonomous charging system and method for mobile routing inspection polar robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061590A (en) * | 2021-11-18 | 2022-02-18 | 北京仙宇科技有限公司 | Method for dynamically creating robot cruise coordinate and robot navigation method |
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