CN106814732A - Self-movement robot and its walking mode conversion method and traveling method - Google Patents
Self-movement robot and its walking mode conversion method and traveling method Download PDFInfo
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- CN106814732A CN106814732A CN201510845646.4A CN201510845646A CN106814732A CN 106814732 A CN106814732 A CN 106814732A CN 201510845646 A CN201510845646 A CN 201510845646A CN 106814732 A CN106814732 A CN 106814732A
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- 230000009184 walking Effects 0.000 title claims abstract description 310
- 238000000034 method Methods 0.000 title claims abstract description 82
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 24
- 230000004888 barrier function Effects 0.000 claims description 46
- 238000005295 random walk Methods 0.000 claims description 26
- 238000011084 recovery Methods 0.000 claims description 15
- 230000007613 environmental effect Effects 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 16
- 238000004140 cleaning Methods 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The present invention provides a kind of self-movement robot and its walking mode conversion method and traveling method, and the self-movement robot includes sensing unit and control unit, is additionally provided with planning navigation and non-planning navigation walking mode；Control unit includes processing module and the path planning module being connected with sensing unit；Under planning navigation walking mode, according to the information for receiving, path planning module plans mobile route, and self-movement robot implements the walking of the mobile route, when occurring according to the planning walking failure of default mobile route, processing module controls self-movement robot that walking mode is switched into non-planning navigation walking mode from planning navigation walking mode.By planning freely changing between navigation walking mode and non-planning navigation walking mode, the present invention make self-movement robot be difficult to or the complex environment of None- identified in, also normal working condition, simple structure, easy to operate freely and high working efficiency can be kept.
Description
Technical field
The present invention relates to a kind of self-movement robot and its walking mode conversion method and walking side
Method, belongs to small household appliances manufacturing technology field.
Background technology
Self-movement robot is provided only with crash sensor or side view sensors etc. earlier, such as
US6, the self-movement robot disclosed in 809,490, it is mainly walked by random walk, welt
Or pinpoint the one kind in walking or combine to ground execution cleaning.Due to the certainly mobile machine
People is without range scanners, it is impossible to set up the global map of indoor environment, it is impossible to recognize working environment,
Cleaning can only be simply performed using several walking modes, cause all multi-regions in cleaning
Domain cannot clean or repeat to clean, and sweeping efficiency is low.
A kind of and for example oneself with scanning rangefinder (or the equidistant information extracting device of camera)
Mobile robot, the self-movement robot as disclosed in CN101809461A, its preferential utilization is swept
The distance of barrier in stadia surveying room is retouched, so as to set up indoor environment global map, then
According to the planning of indoor map execution route.The self-movement robot is according to the planning of map execution route
Traversal cleaning is carried out to clean surface, once just flooring can all be covered substantially, very
Occur drain sweep region less or repeat overlay area.But the cleaning should with path planning ability is moved certainly
There is a fatal defect in mobile robot, once alignment error, such as environment complexity None- identified
Map is positioned or is artificially moved position and the positioning that misplaces, will cause self-movement robot without
Method works on.
Therefore, the walking manner and path planning of self-movement robot always study in the industry one
Individual problem, existing self-movement robot is mainly by self-sensor device acquisition environmental information,
Environmental map is drawn and updates, real-time navigation simultaneously plans optimal walking path.In most of ring
In border, the self-movement robot of real-time navigation can be according to the straightway efficient work of itself algorithm
Make, but once run into some complex environments or self-movement robot None- identified or be difficult to know
During other environment, self-movement robot will malfunction.In this case, it is general to set from movement
Untill robot performs certain action until exiting the mistake repeatedly, or performing n times work
Still None- identified, then directly shut down afterwards, is stopped, it is obvious that above two mode
It is not preferable and efficient counter-measure, it is impossible to self-movement robot is answered in various environment
Pay efficient operation freely.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of
Self-movement robot and its walking mode conversion method and traveling method, by planning navigation walking
Freely changing between pattern and non-planning navigation walking mode, is being difficult to self-movement robot
In the identification even complex environment of None- identified, it is also possible to keep normal work shape with handling a situation with ease
State, simple structure, easy to operate freely and high working efficiency.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of self-movement robot, including sensing unit and control unit；The sensing unit is used
In sensing the operating area state and the self-movement robot of the self-movement robot in operation
The information of position in region, and communicate this information to described control unit；It is described from moving machine
Device people is provided with various walking modes, including：Planning navigation walking mode and non-planning navigation walking
Pattern；Described control unit includes processing module and the path rule being connected with the sensing unit
Draw module；Under planning navigation walking mode, according to the described information for receiving, the path
Planning module plans mobile route, and the self-movement robot implements the walking of the mobile route,
When occurring according to the planning walking failure of default mobile route, the processing module control is described
Walking mode is switched to non-planning navigation walking mould by self-movement robot from planning navigation walking mode
Formula.The non-planning navigation walking mode includes random walk pattern and/or welt walking mode.
After being transferred under non-planning navigation walking mode, bar is recovered when self-movement robot meets
During part, planning navigation walking mode is automatically restored to；Or, received according to described control unit
The described information for arriving, when the path planning module makes the self-movement robot in the operation
When recovering mobile route planning ability in region, the path planning module sends instructions to described
Processing module, the self-movement robot is controlled by walking mode from non-rule by the processing module
Draw navigation walking mode and be automatically restored to planning navigation walking mode.
As needed, the sensing unit includes：CCD camera assembly, distance measuring sensor are (for example
Laser scanning and ranging instrument, infrared distance sensor and ultrasonic range finder sensor), code-disc, encoder,
One or a combination set of crash sensor, side view sensors or lower view sensor.
The present invention provides a kind of walking mode conversion method of self-movement robot, described from movement
The walking mode of robot includes planning navigation walking mode and non-planning navigation walking mode；Institute
Conversion method is stated to comprise the following steps：Step S100：The self-movement robot is in operating area
It is interior in planning navigation walking mode, self-movement robot is according to default movement in this mode
Path planning is walked；Step S200：Fail when occurring being walked according to the planning of default mobile route
When, self-movement robot is transferred to non-planning navigation walking mode walking automatically.
Also included before the step S100：Step S099：Self-movement robot is to place
Working region carries out figure of just establishing, and builds figure and is successfully entered step S100；Otherwise, step S110 is performed：
It is directly entered non-planning navigation walking mode walking.
The step S110 is further included：The self-movement robot is to its region at that time
Walked, the area row stores the information that the region has completed walking after the completion of walking；To surplus
Remaining region re-executes step S099.
Failing when occurring being walked according to the planning of default mobile route described in step S200, tool
Body includes：Self-movement robot cannot continue in existing mobile route because meeting with barrier
Normal walking.
The particular content that cannot continue normally to walk is：Self-movement robot is in operating area
Walked by planning navigation pattern, met with the unit interval barrier number of times reach preset value after
Cannot still be walked according to mobile route.
The particular content that cannot continue normally to walk is：Self-movement robot is in operating area
Walked by planning navigation pattern, meet with barrier and turn to after number of times reaches preset value and continue to meet with
Meet barrier and cannot be walked according to mobile route.
In an embodiment of the present invention, the barrier is annular.
Being lost when occurring being walked according to the planning of default mobile route described in the step S200
Lose, specifically include：The physical location of self-movement robot and figure or the planning walking process of just establishing
Middle set up environmental map position mismatches.
The non-planning navigation walking mode is still further comprised：Random walk pattern and/or welt
Walking mode, specifically includes：Situation one：Hinder when turning to number of times and reaching preset value and continue to meet with
When hindering thing, random walk pattern is transferred to；Situation two：When in the unit interval meet with barrier time
When number reaches preset value, welt walking mode is transferred to；Or, situation three：Self-movement robot
Into after non-planning navigation walking mode, random walk pattern is preferentially entered.
Also include step S300 after the step S200：When self-movement robot is in non-planning
It is automatic to recover planning navigation walking mode when walking meets recovery condition under navigation walking mode.
Recovery condition in the step S300 includes：Self-movement robot enters non-planning navigation
Travel time after walking mode reaches preset interval time；Or the number of times of setting random collision reaches
To preset value；Or, self-movement robot can re-start normal path planning walking.
The present invention also provides a kind of traveling method of self-movement robot, the self-movement robot
Walking mode include planning navigation walking mode and non-planning navigation walking mode；The walking
Method comprises the following steps：
Step S100 '：The self-movement robot is in operating area in planning navigation walking
Pattern, self-movement robot is according to the planning walking of default mobile route in this mode；
Step S200 '：When occurring according to the planning walking failure of default mobile route, move certainly
Mobile robot is transferred to non-planning navigation walking mode walking automatically；
Step S400 '：The self-movement robot completes the walking in operating area.
Also included before the step S100 '：
Step S099 '：Self-movement robot carries out figure of just establishing to place working region, builds figure
It is successfully entered step S100 '；
Otherwise, step S110 ' is performed：It is directly entered non-planning navigation walking mode walking.
The step S110 ' is further included：The self-movement robot is to its location at that time
Domain is walked, and the area row stores the information that the region has completed walking after the completion of walking；It is right
Remaining area re-executes step S099 '.
After the step S200 ', before step S400 ', also including step S300 '：When
Self-movement robot is walked when meeting recovery condition under non-planning navigation walking mode, automatic extensive
Multiple planning navigation walking mode.
Appearance described in the step S200 ' fails according to the planning walking of default mobile route,
Particular content is：The physical location of self-movement robot with just establish figure or planning walking process in
The environmental map position set up mismatches.
Being lost when occurring being walked according to the planning of default mobile route described in the step S200 '
Lose, specifically include：Self-movement robot is in existing mobile route because meeting with barrier and nothing
Method continues normal walking.
In sum, the present invention provides a kind of self-movement robot and its walking mode conversion method
And traveling method, by plan navigation walking mode and non-planning navigate walking mode between from
By changing, make self-movement robot be difficult to even None- identified complex environment in,
Keep normal operating conditions, simple structure, easy to operate freely and work with can handling a situation with ease
Efficiency high.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is carried out in detail
It is bright.
Brief description of the drawings
Fig. 1 is the flow chart of traveling method of the present invention；
Fig. 2 is the self-movement robot environment position schematic diagram of situation of the present invention；
Fig. 3 is the self-movement robot environment position schematic diagram of situation of the present invention two；
Fig. 4 is the self-movement robot environment position schematic diagram of situation of the present invention three；
Fig. 5 is the self-movement robot environment position schematic diagram of situation of the present invention four；
Fig. 6 is self-movement robot detail location schematic diagram in situation of the present invention four；
Fig. 7 is the self-movement robot environment position schematic diagram of situation of the present invention six；
Fig. 8 is self-movement robot detail location schematic diagram in situation of the present invention six；
Fig. 9 and Figure 10 establish drawing method schematic diagram at the beginning of being respectively two kinds of the present invention.
Specific embodiment
The present invention provides a kind of self-movement robot, including sensing unit and control unit；It is described
Sensing unit is used to sensing the operating area state of the self-movement robot and described from moving machine
The information of device people position in operating area, and communicate this information to described control unit；Institute
State self-movement robot and be provided with various walking modes, including：Planning navigation walking mode and non-rule
Draw navigation walking mode；Described control unit includes processing module and is connected with the sensing unit
The path planning module for connecing；Under planning navigation walking mode, according to the described information for receiving,
The path planning module plans mobile route, and the self-movement robot implements the movement road
The walking in footpath, when occurring according to the planning walking failure of default mobile route, the treatment mould
Block controls the self-movement robot that walking mode is switched into non-planning from planning navigation walking mode
Navigation walking mode.After being transferred under non-planning navigation walking mode, work as self-movement robot
When meeting recovery condition, planning navigation walking mode is automatically restored to；Or, according to the control
The described information that unit processed is received, when the path planning module makes the self-movement robot
When recovering mobile route planning ability in the operating area, institute is controlled by the processing module
State self-movement robot and walking mode is planned that navigation walking mode is automatically restored to planning and leads from non-
Navigation walking modes.
In addition, the non-planning navigation walking mode includes that random walk pattern and/or welt are walked
Pattern.Certainly, in actual applications, self-movement robot is under non-planning navigation walking mode
It is not limited in above two walking mode, other walking modes can also be used, such as traversal is gone
Walk or pinpoint walking mode etc..When self-movement robot enters non-planning navigation walking mode, both
Above two walking mode can be selected according to default condition, it is also possible to directly preferably
Into random walk pattern.
It should be noted that before planning navigation walking mode walking, self-movement robot is needed
The initial map of working region where first setting up.At the beginning of Fig. 9 and Figure 10 are respectively two kinds of the present invention
Establish drawing method schematic diagram.Generally initial map can be set up using the following two kinds method：Method one,
Map is set up in the walking of self-movement robot welt.As shown in figure 9, self-movement robot is from starting
Point s is set out, and welt is walked up to returning to starting point s, so as to set up the initial map in the M regions.
Figure is built in the scanning range finding of method two, self-movement robot.As shown in Figure 10, on self-movement robot
The rotation of 360 ° of scanning rangefinder, directly obtain self-movement robot apart from room boundaries away from
From so as to obtain the initial map in the room.Certainly, method one and method two combine
Building figure effect can be more preferable.Specifically build during figure process see Chinese patent CN201010282605.6
Disclosure of that, will not be repeated here.
In addition, according to different demands, the sensing unit can include many kinds, such as：
(distance measuring sensor includes again for CCD camera assembly, distance measuring sensor：It is laser scanning and ranging instrument, red
Outer distance measuring sensor and ultrasonic range finder sensor etc.), code-disc, encoder, crash sensor, side
One or a combination set of view sensor or lower view sensor.
Fig. 1 is the flow chart of traveling method of the present invention.As shown in figure 1, the present invention provides a kind of
The traveling method of self-movement robot, the walking mode of the self-movement robot is led including planning
Navigation walking modes and non-planning navigation walking mode；The traveling method comprises the following steps：
Step S100 '：The self-movement robot is in operating area in planning navigation walking
Pattern, self-movement robot is according to the planning walking of default mobile route in this mode；
Step S200 '：When occurring according to the planning walking failure of default mobile route, move certainly
Mobile robot is transferred to non-planning navigation walking mode walking automatically；
Step S400 '：The self-movement robot completes the walking in operating area.
Also included before the step S100 '：
Step S099 '：Self-movement robot carries out figure of just establishing to place working region, builds figure
It is successfully entered step S100 '；
Otherwise, step S110 ' is performed：It is directly entered non-planning navigation walking mode walking.
The step S110 ' is further included：The self-movement robot is to its location at that time
Domain is walked, and the area row stores the information that the region has completed walking after the completion of walking；It is right
Remaining area re-executes step S099 '.
After the step S200 ', before step S400 ', also including step S300 '：When
Self-movement robot is walked when meeting recovery condition under non-planning navigation walking mode, automatic extensive
Multiple planning navigation walking mode.
Appearance described in the step S200 ' fails according to the planning walking of default mobile route,
Particular content is：The physical location of self-movement robot with just establish figure or planning walking process in
The environmental map position set up mismatches.
Being lost when occurring being walked according to the planning of default mobile route described in the step S200 '
Lose, specifically include：Self-movement robot is in existing mobile route because meeting with barrier and nothing
Method continues normal walking.
The present invention also provides a kind of walking mode conversion method of self-movement robot, described from shifting
The walking mode of mobile robot includes planning navigation walking mode and non-planning navigation walking mode；
The conversion method comprises the following steps：
Step S100：The self-movement robot is in operating area in planning navigation walking mould
Formula, self-movement robot is according to the planning walking of default mobile route in this mode；
Step S200：It is certainly mobile when occurring according to the planning walking failure of default mobile route
Robot is transferred to non-planning navigation walking mode walking automatically.
Also included before the step S100：Step S099：Self-movement robot is to place
Working region carries out figure of just establishing, and builds figure and is successfully entered step S100；Otherwise, step S110 is performed：
It is directly entered non-planning navigation walking mode walking.
The step S110 is further included：The self-movement robot is to its region at that time
Walked, the area row stores the information that the region has completed walking after the completion of walking；To surplus
Remaining region re-executes step S099.
Failing when occurring being walked according to the planning of default mobile route described in step S200, tool
Body includes：Self-movement robot cannot continue in existing mobile route because meeting with barrier
Normal walking.
The particular content that cannot continue normally to walk is：Self-movement robot is in operating area
Walked by planning navigation pattern, met with the unit interval barrier number of times reach preset value after
Cannot still be walked according to mobile route.
The particular content that cannot continue normally to walk is：Self-movement robot is in operating area
Walked by planning navigation pattern, meet with barrier and turn to after number of times reaches preset value and continue to meet with
Meet barrier and cannot be walked according to mobile route.
In an embodiment of the present invention, the barrier is annular.
Being lost when occurring being walked according to the planning of default mobile route described in the step S200
Lose, specifically include：The physical location of self-movement robot and figure or the planning walking process of just establishing
Middle set up environmental map position mismatches.
The non-planning navigation walking mode is still further comprised：Random walk pattern and/or welt
Walking mode, specifically includes：
Situation one：When steering number of times reaches preset value continues to meet with barrier, it is transferred to random
Walking mode；
Situation two：When the number of times that barrier is met with the unit interval reaches preset value, patch is transferred to
Side walking mode；
Or, situation three：After self-movement robot enters non-planning navigation walking mode, preferentially
Into random walk pattern.
Also include step S300 after the step S200：When self-movement robot is in non-planning
It is automatic to recover planning navigation walking mode when walking meets recovery condition under navigation walking mode.
Recovery condition in the step S300 includes：Self-movement robot enters non-planning navigation
Travel time after walking mode reaches preset interval time；Or, the secondary of random collision is set
Number reaches preset value；Or, self-movement robot can re-start normal path planning row
Walk.
The various situations occurred during normal operation below in conjunction with self-movement robot, to this
The traveling method of the above-mentioned self-movement robot of invention and its walking applied in the process of walking
Mode conversion method is described in detail, in various situations as described below, it is described from
Mobile robot is sweeping robot, performs cleaning work to travel region in the process of walking.
Situation one
Fig. 2 is the self-movement robot environment position schematic diagram of situation of the present invention.Such as Fig. 2 institutes
Show, the operating area of self-movement robot 100 there are left and right two parallel walls 200 for one
Corridor, self-movement robot 100 can recognize that between left and right two parallel walls 200 away from
From, but None- identified is folded in the distance of the front and rear depletion region between side walls and has many on earth
It is long.In such a case, self-movement robot 100 is likely to position；Or move certainly
After mobile robot 100 is entered into the environment from other environment, cannot be just accurately positioned；
Or self-movement robot 100 is artificially to be moved to the operating area, autonomous positioning navigation,
Planning algorithm cannot normal work in this context, thus get lost.That is, moving certainly
When mobile robot enters the strip corridor area, it is impossible to set up initial map, occur in that and just establish
Scheme the situation of failure, self-movement robot then directly can automatically enter into non-planning navigation walking mould
Formula is walked, and carries out cleaning work to travel region while walking, such as：Can pass through
Random walk pattern, completes the operation in the region in the way of random collision.Specifically,
For the elongated zones shown in Fig. 2, self-movement robot 100 can also lead in the process of walking
Cross and the mode of virtual boundary is set is divided into multiple closed areas and it is carried out clearly one by one
Sweep.
Situation two
Fig. 3 is the self-movement robot environment position schematic diagram of situation of the present invention two.Such as Fig. 3 institutes
The a certain indoor environment shown, is provided with a broken line, one end of broken line and coffin in coffin
The closing of side wall, a slot A is formed between the other end and the opposite side wall of coffin.From
Mobile robot 100 starts welt walking in original position S, so as to set up the indoor environment
Initial map.When irregular lines L in Fig. 3 represents that the welt of self-movement robot 100 is walked
Path.Because the somewhere of indoor environment is a slot A, the walking of self-movement robot welt is arrived
After at terminal E, due to angle problem, self-movement robot 100 is possibly cannot be from slot A
Walk out, namely self-movement robot is likely to enclose to set with the side wall of coffin in the broken line form
The walking of region interior circulation welt, i.e.,：Self-movement robot 100 is in the operating area by rule
The walking of navigation pattern is drawn, experience barrier and steering number of times continue to meet with barrier after reaching preset value
Hinder thing and cannot be walked according to mobile route.In such a case, the meeting of self-movement robot 100
Because of figure failure of just establishing, and automatically into non-planning navigation walking mode walking, and in walking
Start simultaneously at and cleaned, now, control unit controls self-movement robot to turn mode of operation
To random walk pattern, self-movement robot is walked and is completed first under random walk pattern
Broken line encloses the cleaning in the region for setting with the side wall of coffin, and the region has been cleaned
Information Store in a control unit.Self-movement robot 100 can be by way of random collision
Completion walks out slot A to finding suitable angle, and the remainder to coffin builds figure, builds figure
Process be exactly that the shape treated the identification on operating area border and will identify that builds up complete closure
The process of figure.Completion is built after figure, and self-movement robot can be according to the complete closure figure
Shape cooks up its corresponding mobile route, and walks and complete to square according to the mobile route
The walking of shape Spatial Residual part, and complete to clean in the process of walking.
Situation three
Fig. 4 is the self-movement robot environment position schematic diagram of situation of the present invention three.Such as Fig. 4 institutes
Show, self-movement robot 100 builds figure in operating environment is treated, it is possible to endless loop can be run into
L1 paths in situation, such as Fig. 4, self-movement robot 100 is since at original position S1
Welt is walked, and is terminated at E1, due to without the welt envelope for completing whole environment, from shifting
Mobile robot thinks that welt walking failure, the i.e. walking of self-movement robot welt cannot return to original
Original position S1, just start anew to carry out welt walking next time, such as L2 paths, from mobile
Robot 100 at the original position S2 welt walking, terminate at E2, from mobile
Robot still believes that welt fails, and can then walk again again, thus and thus follows always
Ring.That is：Self-movement robot 100 cannot all be completed by outer welt and interior welt
The walking of welt pattern, circulates in this mode, it is impossible to build figure always.Now, then can pass through
The quantity of self-movement robot automatic identification endless loop, such as：When the quantity of endless loop is more than three
When secondary, self-movement robot will be transferred to random walk pattern, and then complete the row to whole environment
Walk, and perform cleaning works in the process of walking.
In the case of above-mentioned three kinds, self-movement robot 100 enters after figure failure of just establishing
Random walk pattern completes walking first to the region for building figure failure, and is held during walking
Row is cleaned, and the information Store that the region has been walked is in a control unit.Then treat work
The remaining space in industry region carries out building figure and walking again, is finally completed the complete line for treating operating area
Walk.Specifically, as shown in figure 2 above, Fig. 3 or Fig. 4, when initial, self-movement robot
100 take a round to determine Execution plan navigation pattern row behind a closed area generally along interior
Walk.In Fig. 1, self-movement robot 100 not can determine that the front and rear border in strip corridor, no
Stochastic model walking can be then transferred to figure of being established at the beginning of the strip corridor；In Fig. 2, from moving machine
After device people 100 enters slot a-quadrant, it is impossible to out, be then transferred to stochastic model first to the region
Walked；In Fig. 3, self-movement robot 100 carries out welt when building figure, it is impossible to returned to
Initial point, is also transferred to the walking that stochastic model first completes a part of region, then other parts are continued
Figure and walking are built, and performs cleaning in the process of walking.In actual job, from mobile machine
People is also possible to preferentially perform a bit of welt path row before stochastic model is transferred to, generally
Walk, be so easy to self-movement robot above water.
Situation four
Fig. 5 is the self-movement robot environment position schematic diagram of situation of the present invention four；Fig. 6 is this
Self-movement robot detail location schematic diagram in invention situation four.As shown in figure 5, from moving machine
Device people 100 has been completed and builds figure to the original of room to be cleaned, forms in coffin
Remove the complete closure border of barrier C.Subsequent self-movement robot 100 can start in rule
Draw and operation carries out normal traversal rule to be treated to this according to default mobile route under navigation walking mode
Paddle away, such as：Bow font walking, i.e. mobile route are X.Self-movement robot 100 is in motion
The region of process of being walked before to A points preserves in a control unit.When self-movement robot 100
Walk during to A points, fortuitous event occur, such as：Self-movement robot 100 is moved to B by child
Point, now, self-movement robot 100 just occurs alignment error, self-movement robot 100
Still continue when the walking of original direction, can always meet barrier C and block according to the mode in A points
Extremely, that is to say, that self-movement robot is in existing mobile route because meeting with barrier and nothing
Method continues normal walking, causes self-movement robot 100 to continue by navigation pattern walking work
Make.Now, self-movement robot 100 changes into random walk pattern, so as to depart from barrier C.
More specifically, as shown in Fig. 5 and reference picture 6, self-movement robot 100 is if there is positioning
Error, S2 is the position of current self-movement robot 100, due to algorithmic issue, from movement
The alignment error of robot 100, it is believed that present position is S1, correct path planning is
S1E1, after alignment error, the actual walking path of self-movement robot 100 is changed into S2E2,
If there is barrier 300 on the S2E2 paths, self-movement robot 100 cannot can pass through,
Attempt multiple, such as：After three failures, switch to the walking of random walk pattern.If clear
300, self-movement robot 100 can then pass through, and run to E2, then proceed to location navigation,
Walking is planned according to fixed walking mode.That is, in the present embodiment, due to artificial
Self-movement robot is moved, certainly it could also be possible that artificially having moved barrier to road of having walked
Correspondence alignment error is result in footpath, in the path map of storage, in previously having walked logical path
Barrier has been suffered from when walking again.Now, then need to be converted from planning navigation walking mode
It is non-planning navigation walking mode, especially random walk pattern, can just smoothly completes from shifting
Walking of the mobile robot 100 in operating area simultaneously performs operation in the process of walking.
Further, when self-movement robot 100 is walked under non-planning navigation walking mode
It is automatic to recover planning navigation walking mode when meeting recovery condition.Specifically, due to moving certainly
Walked before the moving to A points region of process of mobile robot 100 all preserves in a control unit,
After self-movement robot 100 is transferred to random walk pattern walks, it is possible to before moving to
Default mobile route X gets on, in returning to map that is known or having stored, for example, returning to position
The local figure for putting A local figure corresponding with the environmental map location A set up matches,
I.e. self-movement robot can re-start normal path planning walking, now, will be automatic extensive
Planning navigation walking mode walking before arriving again.
Certainly, in addition to the recovery condition in above-mentioned, it is also possible to other extensive by meeting
Multiple condition and the planning navigation walking mode before coming back to self-movement robot, such as：
Can preset in a control unit an interval time, when self-movement robot is led into non-planning
Timing after navigation walking modes, when walking between when reaching preset interval time, it is automatic to recover planning
Navigation walking mode.Furthermore it is also possible to be used as recovery planning by setting the number of times of random collision
The condition of navigation walking mode, likewise it is possible to set collision frequency in a control unit before
Preset value, when self-movement robot enter it is non-planning navigation walking mode after, start recording exists
With the actual collision number of times of barrier in walking process, when actual collision number of times reaches preset value,
It is automatic to recover planning navigation walking mode.The above-mentioned walking mode for recovering self-movement robot
Setting condition can be adapted to according to the need for difference and the walking condition of operating environment is treated
Property ground selection.
Situation five
Equally it is referred to shown in Fig. 5, if do not exist barrier C in Fig. 5, from moving machine
Device people 100 obtains very regular rectangle working space map by original figure of building, and then starts
Operation is carried out normal time to be treated to this according to default mobile route under planning navigation walking mode
Planning walking is gone through, such as：Bow font walking, i.e. mobile route are X.Self-movement robot 100 exists
The region of process of being walked before moving to A points preserves in a control unit.Work as self-movement robot
When 100 walkings are to A points, it is artificially moved to B points, now, self-movement robot 100
The environmental map position set up in physical location and figure of just establishing mismatches, such as from mobile machine
People move rear present position B points periphery figure and previous position A points periphery figure completely not
Matching, even if there be no barrier C, cannot also continue to be walked according to default bow font, then
It is transferred to non-planning navigation walking mode walking.In this case, due to treating the shape of working space
Compare regular, therefore can be by default interval time in a control unit, when from moving machine
Device people into it is non-planning navigation walking mode after travel time reach preset interval time when, from
It is dynamic to recover planning navigation walking mode.
Situation six
Fig. 7 is the self-movement robot environment position schematic diagram of situation of the present invention six；Fig. 8 is this
Self-movement robot detail location schematic diagram in invention situation six.As shown in fig. 7, when certainly mobile
Robot 100 is located in complex region M, and region M is by desk 400 and multiple chairs 500
The complex environment of composition.Before cleaning work is started, operating area is entered equally is treated to this
Go and built figure work.Now, self-movement robot 100 carries out traversal and walks and hold in M regions
Row cleaning work, but because the quantity of desk 400 and chair 500 is a lot, it is difficult to execution route
Planning, such as Fig. 7 is simultaneously combined shown in Fig. 8, and barrier herein is mainly chair 500, barrier
Arrangement in operating area is treated is shaped as annular.That is, self-movement robot 100 has
May be there occurs with desk 400 or chair 500 in cleaning process and repeatedly collide, i.e.,：
The number of times of experience barrier still cannot be according to mobile route row after reaching preset value in unit interval
Walk.It could also be possible that continuing to meet with barrier after number of times reaches preset value meeting with barrier and turning to
Hinder thing and cannot be walked according to mobile route.Preset value is preset in a control unit before being,
Its quantity can as needed determine that the numerical value of the preset value is 3 in this example.Now,
Self-movement robot 100 cannot walk according to common bow font or zigzag walking mode,
Then need to translate into random walk pattern.Specifically, as shown in figure 8, having when in walking environment
When multiple barriers 300, multiple barriers 300 form a closed area, from movement
Robot 100 plans a paths to destination M, such as A paths in this region, but due to
Self-movement robot 100 may bump against obstacle when entering the region or working in this region
Thing 300, or artificially place other barriers over path, self-movement robot 100 can be recognized
For the path can not walk, identify as that region can not be walked, again planning such as B, C or D road
Footpath, if but the situation in such as A paths all occur, self-movement robot 100 can not find can walking along the street
Footpath, it is impossible to walk out the closed area.Now, self-movement robot 100 is in planning walking failure
Afterwards, into random walk pattern, the operation in the region is completed.That is, in this reality
Apply in example, self-movement robot 100 corresponds to meet with closing barrier in the process of walking, by pre-
If mode is walked can not walk to objective.At this time, it may be necessary to turn from path planning walking mode
Entering random walk pattern can fulfil assignment task.Similarly, when 100 turns of self-movement robot
Enter after non-planning walking mode, operating area for the treatment of that equally can be first to place is carried out time nearby
Go through walking and cleaning work is performed while walking, and the information of travel region is preserved
In a control unit, then to other regions carry out building figure, walk and clean.In above process,
When self-movement robot 100 is under non-planning walking mode, once meet recovery condition, still
Walking and operation under planning walking mode can so be returned to.
As shown in the above, situation one to three is that first figure of establishing unsuccessfully makes self-movement robot straight
Tap into non-planning navigation walking mode, and situation four to six is the work in self-movement robot
Obstacle is run into during industry or is mismatched with figure (or in walking process) position of just establishing causes
Cannot walk on and be transferred to non-planning navigation walking mode.It should be strongly noted that nothing
By be just establishing during figure, or in the walking operation process after the completion of building figure, when from
After mobile robot is transferred to non-planning navigation walking mode from planning navigation walking mode, for adopting
Walked with random walk or welt and all had no particular limits, can according to it is set in advance certain
A little respective conditions are selected, certainly, from being easy to enter self-movement robot within the shortest time
Enter from the point of view of working condition, in above-mentioned various situations, self-movement robot is all excellent
First it is directly changed into random walk pattern.
In sum, the present invention provides a kind of self-movement robot and its walking mode conversion method
And traveling method, when path planning walking mode is difficult to, i.e.,：When appearance is according to default
Mobile route planning walking failure when, then non-planning walking mode is automatically converted into, wherein wrapping
Having included to build figure failure, map and mismatch and meet with barrier cannot walk on three kinds of prevailing situations.
And after working as non-planning walking mode operation a period of time or departing from complex environment, can voluntarily turn again
Gain path planning walking mode；That is, the present invention by plan navigation walking mode and
Freely changing between non-planning navigation walking mode, makes self-movement robot be difficult to very
Into the complex environment of None- identified, it is also possible to keep normal operating conditions with handling a situation with ease, knot
Structure is simple and convenient to operate freely and high working efficiency.
Claims (21)
1. a kind of self-movement robot, including sensing unit and control unit；The sensing unit
Operating area state and the self-movement robot for sensing the self-movement robot are being made
The information of position in industry region, and communicate this information to described control unit；Characterized in that,
The self-movement robot is provided with various walking modes, including：Planning navigation walking mode
With non-planning navigation walking mode；
Described control unit includes processing module and the path planning being connected with the sensing unit
Module；
Under planning navigation walking mode, according to the described information for receiving, the path planning
Module planning mobile route, and the self-movement robot implements the walking of the mobile route, when
When occurring planning walking failure according to default mobile route, the processing module control is described certainly
Walking mode is switched to non-planning navigation walking mould by mobile robot from planning navigation walking mode
Formula.
2. self-movement robot as claimed in claim 1, it is characterised in that be transferred to non-rule
It is automatic to recover when self-movement robot meets recovery condition after drawing under navigation walking mode
It is planning navigation walking mode；
Or, according to the described information that described control unit is received, when the path planning mould
When block makes the self-movement robot recover mobile route planning ability in the operating area,
The path planning module sends instructions to the processing module, and institute is controlled by the processing module
State self-movement robot and walking mode is planned that navigation walking mode is automatically restored to planning and leads from non-
Navigation walking modes.
3. self-movement robot as claimed in claim 1 or 2, it is characterised in that the sense
Surveying unit includes：CCD camera assembly, distance measuring sensor, code-disc, encoder, crash sensor,
One or a combination set of side view sensors or lower view sensor.
4. self-movement robot as claimed in claim 3, it is characterised in that the non-planning
Navigation walking mode includes random walk pattern and/or welt walking mode.
5. the walking mode conversion method of a kind of self-movement robot, it is characterised in that it is described from
The walking mode of mobile robot includes planning navigation walking mode and non-planning navigation walking mould
Formula；The conversion method comprises the following steps：
Step S100：The self-movement robot is in operating area in planning navigation walking mould
Formula, self-movement robot is according to the planning walking of default mobile route in this mode；
Step S200：It is certainly mobile when occurring according to the planning walking failure of default mobile route
Robot is transferred to non-planning navigation walking mode walking automatically.
6. walking mode conversion method as claimed in claim 5, it is characterised in that the step
Also included before rapid S100：
Step S099：Self-movement robot carries out just establishing figure to place working region, build figure into
Work(enters step S100；
Otherwise, step S110 is performed：It is directly entered non-planning navigation walking mode walking.
7. walking mode conversion method as claimed in claim 6, it is characterised in that the step
Rapid S110 is further included：The self-movement robot was walked region at that time to it,
The area row stores the information that the region has completed walking after the completion of walking；To remaining area again
Perform step S099.
8. walking mode conversion method as claimed in claim 5, it is characterised in that step
Failing when occurring being walked according to the planning of default mobile route described in S200, specifically includes：
Self-movement robot cannot continue normal row in existing mobile route because meeting with barrier
Walk.
9. walking mode conversion method as claimed in claim 8, it is characterised in that the nothing
Method continues normal walking particular content：Self-movement robot navigates in operating area by planning
Pattern is walked, meet with the unit interval barrier number of times reach preset value after still cannot be according to
Mobile route is walked.
10. walking mode conversion method as claimed in claim 8, it is characterised in that described
The particular content that cannot continue normally to walk is：Self-movement robot is led in operating area by planning
The walking of model plane formula, experience barrier and steering number of times continue to meet with barrier after reaching preset value
And cannot be walked according to mobile route.
11. walking mode conversion methods as claimed in claim 10, it is characterised in that described
Barrier is annular.
12. walking mode conversion methods as claimed in claim 6, it is characterised in that described
Failing when occurring being walked according to the planning of default mobile route described in step S200, specific bag
Include：Set up in the physical location of self-movement robot and just establish figure or planning walking process
Environmental map position mismatches.
13. walking mode conversion methods as claimed in claim 5, it is characterised in that described
Non- planning navigation walking mode is still further comprised：Random walk pattern and/or welt walking mould
Formula, specifically includes：
Situation one：When steering number of times reaches preset value continues to meet with barrier, it is transferred to random
Walking mode；
Situation two：When the number of times that barrier is met with the unit interval reaches preset value, patch is transferred to
Side walking mode；
Or, situation three：After self-movement robot enters non-planning navigation walking mode, preferentially
Into random walk pattern.
14. walking mode conversion methods as claimed in claim 5, it is characterised in that described
Also include step S300 after step S200：When self-movement robot is in non-planning navigation walking mould
It is automatic to recover planning navigation walking mode when walking meets recovery condition under formula.
15. walking mode conversion methods as claimed in claim 14, it is characterised in that described
Recovery condition in step S300 includes：
Self-movement robot reaches between presetting into the travel time after non-planning navigation walking mode
Every the time；
Or, the number of times for setting random collision reaches preset value；
Or, self-movement robot can re-start normal path planning walking.
16. a kind of traveling methods of self-movement robot, it is characterised in that described from moving machine
The walking mode of device people includes planning navigation walking mode and non-planning navigation walking mode；It is described
Traveling method comprises the following steps：
Step S100 '：The self-movement robot is in operating area in planning navigation walking
Pattern, self-movement robot is according to the planning walking of default mobile route in this mode；
Step S200 '：When occurring according to the planning walking failure of default mobile route, move certainly
Mobile robot is transferred to non-planning navigation walking mode walking automatically；
Step S400 '：The self-movement robot completes the walking in operating area.
17. traveling methods as claimed in claim 16, it is characterised in that the step S100 '
Also include before：
Step S099 '：Self-movement robot carries out figure of just establishing to place working region, builds figure
It is successfully entered step S100 '；
Otherwise, step S110 ' is performed：It is directly entered non-planning navigation walking mode walking.
18. traveling methods as claimed in claim 17, it is characterised in that the step S110 '
Further include：The self-movement robot was walked region at that time to it, the region
The information that the region has completed walking is stored after the completion of walking；Step is re-executed to remaining area
Rapid S099 '.
19. traveling methods as claimed in claim 16, it is characterised in that the step S200 '
Afterwards, before step S400 ', also including step S300 '：When self-movement robot is in non-rule
Walking is automatic to recover planning navigation walking mode when meeting recovery condition under drawing navigation walking mode.
20. traveling methods as claimed in claim 17, it is characterised in that the step S200 '
Described in appearance according to the planning walking failure of default mobile route, particular content is：From shifting
The physical location of mobile robot and the environmental map set up in just establish figure or planning walking process
Position mismatches.
21. traveling methods as claimed in claim 16, it is characterised in that the step S200 '
Described in when occur according to default mobile route planning walking failure, specifically include：From shifting
Mobile robot cannot continue normal walking in existing mobile route because meeting with barrier.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510845646.4A CN106814732A (en) | 2015-11-27 | 2015-11-27 | Self-movement robot and its walking mode conversion method and traveling method |
| PCT/CN2016/107247 WO2017088811A1 (en) | 2015-11-27 | 2016-11-25 | Self-moving robot and walking mode conversion method and walking method therefor |
Applications Claiming Priority (1)
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|---|---|---|---|
| CN201510845646.4A CN106814732A (en) | 2015-11-27 | 2015-11-27 | Self-movement robot and its walking mode conversion method and traveling method |
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| WO (1) | WO2017088811A1 (en) |
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Application publication date: 20170609 |