CN106493733A - The cruise establishment of coordinate system method of room cruise robot and learning method - Google Patents
The cruise establishment of coordinate system method of room cruise robot and learning method Download PDFInfo
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- CN106493733A CN106493733A CN201610917157.XA CN201610917157A CN106493733A CN 106493733 A CN106493733 A CN 106493733A CN 201610917157 A CN201610917157 A CN 201610917157A CN 106493733 A CN106493733 A CN 106493733A
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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
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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
- B25J9/1656—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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- Automation & Control Theory (AREA)
- Robotics (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of cruise establishment of coordinate system method of room cruise robot and cruise method, the method for setting up coordinate system is comprised the following steps：Identification magnetic nail, determines zero；Cruise robot enters room from threshold, and is cruised along room edge contour, and the profile traces coordinate record that cruise is formed is in coordinate system；Cruise robot carries out blanket type cruise in the profile traces, and by the barrier coordinate record run into during cruise in coordinate system；The obstacle article coordinate of the coordinate system, record in the profile traces coordinate in coordinate system and record in coordinate system is collectively forming primary data.Cruise robot learning method is comprised the following steps：According to primary data, the n-th data, the n-th 1 data ..., the n-th m data analysiss go out the (n+1)th path optimizing to cruise robot；According to the (n+1)th path optimizing, cruise robot carries out (n+1)th customary cruise, and forms the (n+1)th data according to the actual cruise path of (n+1)th customary cruise.
Description
Technical field
The present invention relates to a kind of indoor cruise robot, more particularly to a kind of cruise coordinate system of room cruise robot is built
Cube method and cruise method.
Background technology
Family or office interior have occurred in that cruise robot of sweeping the floor, and also include certainly other kinds of service cruiser
Device people.These cruise robots will realize that the effect of oneself must play the function of its cruise indoors, then can
Realize its distinctive other functions.Particularly sweep the floor cruise robot, need blanket type cleaning to be carried out for the ground in house type
How cruise, plan optimum cruise route, be at utmost time-saving guarantee, and at utmost meet blanket type without dead
The guarantee of angle cruise.How further optimum working method is obtained by daily work and study.
Content of the invention
Instant invention overcomes the deficiencies in the prior art, there is provided a kind of cruise establishment of coordinate system method of room cruise robot
And cruise method.
For reaching above-mentioned purpose, the first technical scheme that the present invention is adopted for：A kind of cruise of room cruise robot
Establishment of coordinate system method, arranges magnetic nail, it is characterised in that comprise the following steps at door：
（1）When entering room, cruise robot recognizes magnetic nail by the Magnetic Sensor of itself at the threshold, and is defined as coordinate system
Zero；
（2）Cruise robot enters room from threshold, and is cruised along room edge contour, and the profile rail that cruise is formed
Mark coordinate record is in coordinate system；
（3）Cruise robot carries out blanket type cruise in the profile traces, and the barrier run into during cruise is sat
Mark is recorded in coordinate system；
The obstacle article coordinate of the coordinate system, record in the profile traces coordinate in coordinate system and record in coordinate system is common
Form primary data.
Second technical scheme adopting of the present invention for：A kind of cruise robot study in the profile traces coordinate
Method, comprises the following steps：
（a）Cruise robot goes out the first path optimizing according to initial data analysis；
According to the first path optimizing, cruise robot carries out customary cruise for the first time, and the reality according to customary cruise for the first time
Cruise path forms the first data；
（b）Cruise robot goes out the second path optimizing according to primary data and the first data analysiss；
According to the second path optimizing, cruise robot carries out second customary cruise, and the reality according to second customary cruise
Cruise path forms the second data；
（c）According to primary data, the n-th data, the (n-1)th data ..., the n-th-m data analysiss go out the (n+1)th optimization road to cruise robot
Footpath；
According to the (n+1)th path optimizing, cruise robot carries out (n+1)th customary cruise, and the reality according to (n+1)th customary cruise
Border cruise path forms the (n+1)th data.
In a preferred embodiment of the present invention, every time before customary cruise, cruise robot is by the Magnetic Sensor of itself
Identification magnetic nail, and then determine the position itself being located in coordinate system.
In a preferred embodiment of the present invention, the (n+1)th path optimizing is the n-th data, the (n-1)th number according to primary data
According to ..., the comparison of the n-th-m data analysiss is obtained；
Analysis process is：
The change profile coordinate and fixing profile coordinate changed in profile traces coordinate is distinguished, wherein changes profile coordinate root
According to the change profile coordinate that change frequency divides into some grades；
The change obstacle article coordinate and solid obstacle article coordinate changed in obstacle article coordinate is distinguished, wherein change barrier is sat
Mark divides into the change obstacle article coordinate of some grades according to change frequency.
In a preferred embodiment of the present invention, n is the number of times of customary cruise, m be include 0 natural number.
The present invention solves defect present in background technology, and the present invention possesses following beneficial effect：
（1）Magnetic nail is arranged at threshold, is the hardware foundation that cruise robot sets up self-position coordinate system, is cruise robot
Determine that self-position creates conditions.
（2）Magnetic nail is set in the key position of the controllings such as threshold, the quantity of magnetic nail can be reduced as far as possible.While magnetic
Nail is arranged at threshold, and either cruise robot is entered and also goes out to leave the room, is intended to cross magnetic nail, so as to cruise robot
Determine self-position.
（3）By setting up path optimizing, the accumulative path optimizing data of statistical analysiss can form a set of optimum robot
Real work path, such as whether being roving article or will not be moved substantially by statistic discriminance barrier
Article, it is to avoid robot blindly cruises.
Specific embodiment
Presently in connection with embodiment, the present invention is further detailed explanation.
A kind of cruise establishment of coordinate system method of room cruise robot, arranges magnetic nail at door, and its feature exists
In comprising the following steps：
（1）When entering room, cruise robot recognizes magnetic nail by the Magnetic Sensor of itself at the threshold, and is defined as coordinate system
Zero；Magnetic nail is arranged at threshold, is the hardware foundation that cruise robot sets up self-position coordinate system, is cruiser
Device people determines that self-position creates conditions.
（2）Cruise robot enters room from threshold, and is cruised along room edge contour, and the wheel that cruise is formed
Wide trajectory coordinates are recorded in coordinate system；Adopt the cruise of edge contour formula draw a circle to approve the most bull wheel in each room with the very first time
Profile surface is accumulated, and forms each room accurate location and exact outline coordinate in the coordinate system.
（3）Cruise robot carries out blanket type cruise, and the obstacle that will be run into during cruise in the profile traces
Article coordinate is recorded in coordinate system；Blanket type cruise is to ensure that cruise robot can be carried out to floor area in house type without dead angle
The guarantee of cleaning.
Magnetic nail is set in the key position of the controllings such as threshold, the quantity of magnetic nail can be reduced as far as possible.Magnetic is followed closely simultaneously
It is arranged at threshold, either cruise robot is entered and also goes out to leave the room, is intended to cross magnetic nail, so that cruise robot is true
Determine self-position.
The obstacle article coordinate of the coordinate system, record in the profile traces coordinate in coordinate system and record in coordinate system
It is collectively forming primary data.
A kind of cruise robot learning method in profile traces coordinate, comprises the following steps：
（a）Cruise robot goes out the first path optimizing according to initial data analysis；
According to the first path optimizing, cruise robot carries out customary cruise for the first time, and the reality according to customary cruise for the first time
Cruise path forms the first data；
（b）Cruise robot goes out the second path optimizing according to primary data and the first data analysiss；
According to the second path optimizing, cruise robot carries out second customary cruise, and the reality according to second customary cruise
Cruise path forms the second data；
（c）According to primary data, the n-th data, the (n-1)th data ..., the n-th-m data analysiss go out the (n+1)th optimization road to cruise robot
Footpath；
According to the (n+1)th path optimizing, cruise robot carries out (n+1)th customary cruise, and the reality according to (n+1)th customary cruise
Border cruise path forms the (n+1)th data.N is the number of times of customary cruise, m be include 0 natural number.
Every time before customary cruise, cruise robot recognizes magnetic nail by the Magnetic Sensor of itself, and then determines itself position
Position in coordinate system.
(n+1)th path optimizing is that the n-th data, the (n-1)th data ..., the n-th-m data analysiss are compared according to primary data
Arrive；N is the number of times of customary cruise, m be include 0 natural number.
Analysis process is：
The change profile coordinate and fixing profile coordinate changed in profile traces coordinate is distinguished, wherein changes profile coordinate root
According to the change profile coordinate that change frequency divides into some grades；
The change obstacle article coordinate and solid obstacle article coordinate changed in obstacle article coordinate is distinguished, wherein change barrier is sat
Mark divides into the change obstacle article coordinate of some grades according to change frequency.
By setting up path optimizing, the accumulative path optimizing data of statistical analysiss can form a set of optimum robot reality
Operating path, whether such as by statistic discriminance barrier is roving article or the thing that will not be moved substantially
Product, it is to avoid robot blindly cruises.
It is enlightenment according to the desirable embodiment of the present invention above, by above-mentioned description, related personnel completely can be with
In the range of without departing from this invention technological thought, various change and modification is carried out.The technical scope of this invention
The content being not limited in description, it is necessary to which technical scope is determined according to right.
Claims (5)
1. a kind of cruise establishment of coordinate system method of room cruise robot, arranges magnetic nail at door, it is characterised in that
Comprise the following steps：
（1）When entering room, cruise robot recognizes magnetic nail by the Magnetic Sensor of itself at the threshold, and is defined as coordinate system
Zero；
（2）Cruise robot enters room from threshold, and is cruised along room edge contour, and the profile rail that cruise is formed
Mark coordinate record is in coordinate system；
（3）Cruise robot carries out blanket type cruise in the profile traces, and the barrier run into during cruise is sat
Mark is recorded in coordinate system；
The obstacle article coordinate of the coordinate system, record in the profile traces coordinate in coordinate system and record in coordinate system is common
Form primary data.
2. a kind of cruise robot learning method in profile traces coordinate described in claim 1, it is characterised in that include with
Lower step：
（a）Cruise robot goes out the first path optimizing according to initial data analysis；
According to the first path optimizing, cruise robot carries out customary cruise for the first time, and the reality according to customary cruise for the first time
Cruise path forms the first data；
（b）Cruise robot goes out the second path optimizing according to primary data and the first data analysiss；
According to the second path optimizing, cruise robot carries out second customary cruise, and the reality according to second customary cruise
Cruise path forms the second data；
（c）According to primary data, the n-th data, the (n-1)th data ..., the n-th-m data analysiss go out the (n+1)th optimization road to cruise robot
Footpath；
According to the (n+1)th path optimizing, cruise robot carries out (n+1)th customary cruise, and the reality according to (n+1)th customary cruise
Border cruise path forms the (n+1)th data.
3. cruise robot learning method according to claim 2, it is characterised in that every time before customary cruise, cruise machine
Magnetic nail is recognized by the Magnetic Sensor of itself per capita, and then determines the position itself being located in coordinate system.
4. cruise robot learning method according to claim 2, it is characterised in that
(n+1)th path optimizing is the n-th data, the (n-1)th data ... according to primary data, and the n-th-m data analysiss are compared and to be obtained；
Analysis process is：
The change profile coordinate and fixing profile coordinate changed in profile traces coordinate is distinguished, wherein changes profile coordinate root
According to the change profile coordinate that change frequency divides into some grades；
The change obstacle article coordinate and solid obstacle article coordinate changed in obstacle article coordinate is distinguished, wherein change barrier is sat
Mark divides into the change obstacle article coordinate of some grades according to change frequency.
5. cruise robot learning method according to claim 2 or 4, it is characterised in that n is the number of times of customary cruise, m is
Including 0 natural number.
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| CN201610917157.XA CN106493733B (en) | 2016-10-21 | 2016-10-21 | The cruise establishment of coordinate system method and learning method of room cruise robot |
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| CN201610917157.XA CN106493733B (en) | 2016-10-21 | 2016-10-21 | The cruise establishment of coordinate system method and learning method of room cruise robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108845575A (en) * | 2018-06-27 | 2018-11-20 | 芜湖市越泽机器人科技有限公司 | A kind of robot localization method |
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Effective date of registration: 20211214 Address after: Room 513, building 2, No.209 Zhuyuan Road, high tech Zone, Suzhou, Jiangsu 215000 Patentee after: SUZHOU YOUTA TECHNOLOGY CO.,LTD. Address before: 215000 No. 625 Binhe Road, Suzhou City, Jiangsu Province (Pioneer Park) Patentee before: SUZHOU DACHENG ELECTRONIC TECHNOLOGY Co.,Ltd. |
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