CN107030686B - Self-moving robot system and direction calibration method thereof - Google Patents
Self-moving robot system and direction calibration method thereof Download PDFInfo
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- CN107030686B CN107030686B CN201610079541.7A CN201610079541A CN107030686B CN 107030686 B CN107030686 B CN 107030686B CN 201610079541 A CN201610079541 A CN 201610079541A CN 107030686 B CN107030686 B CN 107030686B
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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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Abstract
The self-moving robot system comprises a base and a self-moving robot, wherein the self-moving robot is provided with an angle sensor and a control unit, the base and the self-moving robot are respectively provided with a transmitting device and a receiving device capable of transmitting polarized light, the receiving device is provided with a polaroid, and after the polarized light transmitted by the transmitting device is received by the receiving device, the control unit can calibrate the direction of the cleaning robot according to the intensity and/or intensity change of a signal received by the receiving device. According to the invention, the transmitting device capable of transmitting polarized light and the corresponding receiving device are arranged, and the control unit calibrates the direction of the self-moving robot according to the intensity and/or intensity change of the signal received by the receiving device, so that the calibration precision is high, the direction positioning is accurate, the operation is simple and the cost is low.
Description
Technical Field
The invention relates to a self-moving robot system and a direction calibration method thereof, belonging to the technical field of small household appliance manufacturing.
Background
The existing planning type self-moving robot is generally divided into two modes of an absolute coordinate system and a relative coordinate system to perform positioning and navigation.
For positioning systems employing an absolute coordinate system, for example, a robot captures images with position identification on a ceiling or other location by a camera or the like, and correspondingly determine its current position from the captured image, such positioning systems require the system to process large amounts of data quickly, resulting in high costs.
For positioning systems using a relative coordinate system, for example, the robot calculates the relative position of the robot by a travel distance sensor and an angle sensor, but this positioning method generates cumulative detection errors with repeated rotation operations of the robot, so that calibration needs to be performed at intervals. For example, the robot cleaner coordinate correction method disclosed in CN1330274C patent, which corrects the pose of the robot cleaner back to the base according to the distances d1 and d2 between the distance sensor and the detection plate of the base by arranging a plurality of distance sensors on the robot cleaner, the method for correcting the pose has high cost, and the adjustment process is complex and difficult to control.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides a self-moving robot system and a direction calibration method thereof, wherein a control unit calibrates the direction of the self-moving robot according to the intensity and/or intensity change of a signal received by a receiving device by arranging a transmitting device capable of transmitting polarized light and a corresponding receiving device, and the self-moving robot system has the advantages of high calibration precision, accurate direction positioning, simple operation and low cost.
The technical problems to be solved by the invention are realized by the following technical scheme:
the invention provides a self-moving robot system, which comprises a base, a self-moving robot, a transmitting device and a receiving device, wherein the self-moving robot is provided with an angle sensor and a control unit, the transmitting device and the receiving device can transmit polarized light, the receiving device is provided with a polaroid, and after the polarized light emitted by the transmitting device is received by the receiving device, the control unit can calibrate the direction of a cleaning robot according to the intensity and/or intensity change of a signal received by the receiving device; the transmitting device is arranged on the base, and the receiving device is correspondingly arranged on the self-moving robot; or the transmitting device is arranged on the self-moving robot, and the receiving device is correspondingly arranged on the base.
In order to facilitate calibration, in an initial state, the polarization direction of the polarizer arranged on the receiving device is parallel to the polarization plane of the polarized light emitted by the emitting device.
Preferably, the receiving device is located at the top of the self-mobile robot, the transmitting device is located at the base, and polarized light emitted by the transmitting device is received by the receiving device after being reflected by the ceiling or the baffle. Or the transmitting device is positioned at the top of the self-moving robot, the receiving device is positioned at the base, polarized light emitted by the transmitting device is received by the receiving device after being reflected by the ceiling or the baffle, and the base and the self-moving robot are respectively provided with a communication unit. Or the receiving device is positioned at the top of the self-moving robot, the transmitting device is arranged on the base opposite to the receiving device, and polarized light emitted by the transmitting device is directly received by the receiving device. Or the base comprises a base for bearing the self-moving robot, the transmitting device is arranged on the base, the receiving device is positioned at the bottom of the self-moving robot, and polarized light emitted by the transmitting device is directly received by the receiving device.
In order to facilitate calibration, in an initial state, the polarization direction of the polarizer arranged on the receiving device is perpendicular to the polarization plane of the polarized light emitted by the emitting device.
The invention also provides a direction calibration method of the self-mobile robot system, wherein polarized light is received after being reflected, and the direction calibration method comprises the following steps: step 1: the self-moving robot returns to the base, receives polarized light emitted by the emitting device, the angle offset recorded by the angle sensor is theta 1 Wherein 0 DEG is less than or equal to theta 1 Less than 360 degrees; step 2: the control unit controls the self-moving robot to rotate 360 degrees clockwise and records the light intensity as the maximum value I 0 Rotation angle θ at the time 2 The method comprises the steps of carrying out a first treatment on the surface of the Step (a) 3: the control unit is used for controlling the rotation angle theta according to the light intensity change rule of the polarized light passing through the polaroid 2 Calibrating the angular offset theta recorded by the angle sensor 1 。
Further, the step 3 includes: step 31: rotation angle theta 2 Including theta 21 And theta 22 Wherein θ is 21 And theta 22 180 DEG out of phase with each other, the control unit according to the rotation angle theta 21 And theta 22 Estimating the actual angle offset of the self-moving robot back to the base, wherein the result comprises theta 21 correction ＝360°-θ 21 ，θ 22 correction ＝360°-θ 22 The method comprises the steps of carrying out a first treatment on the surface of the Step 32: the control unit selects theta between 0 and 90 degrees (including 0 degree) or between 270 and 360 degrees 21 correction Or theta 22 correction As accurate theta Correction of The method comprises the steps of carrying out a first treatment on the surface of the Step 33: the control unit is based on theta Correction of Calibrating the angular offset theta recorded by the angle sensor 1 。
Further, the step 33 is: the control unit records the angle offset theta of the angle sensor 1 Corrected to theta Correction of I.e. θ 1 ＝θ Correction of The method comprises the steps of carrying out a first treatment on the surface of the Or the control unit controls the self-moving robot to rotate anticlockwise by theta Correction of Then, the angle offset theta recorded by the angle sensor is calculated 1 Corrected to 0 °, i.e. θ 1 ＝0°
The present invention also provides a direction calibration method of a self-mobile robot system in which polarized light is directly received without reflection, the direction calibration method comprising: step 10: the self-moving robot returns to the base, receives polarized light emitted by the emitting device, and the angle offset recorded by the angle sensor is theta 1 Wherein 0 DEG is less than or equal to theta 1 Less than 360 degrees; step 20: the control unit calculates the actual angle offset theta according to the polarized light intensity I received by the receiving device 3 The method comprises the steps of carrying out a first treatment on the surface of the Step 30: the control unit controls the self-moving robot to rotate clockwise by theta 4 And then, rotating back, and recording the light intensity change; step 40: the control unit calibrates the angle offset theta recorded by the angle sensor according to the light intensity variation 1 。
Further, the angle offset θ actually calculated in the step 20 3 Including theta 31 、θ 32 、θ 33 And theta 34 Wherein θ 31 ≤θ 32 ＜θ 33 ≤θ 34 ，0°≤θ 31 ≤90°，270°≤θ 34 < 360 DEG or theta 31 ＝θ 34 =0° and θ 32 ＝θ 33 ＝180°。
Further, if the light intensity recorded in step 30 changes to be stronger first, the control unit selects θ in step 40 34 As an angular offset of the calibrated angle sensor, i.e. θ 1 ＝θ 34 The method comprises the steps of carrying out a first treatment on the surface of the If the light intensity variation recorded in the step 30 becomes weaker first, the control unit selects θ in the step 40 31 As an angular offset of the calibrated angle sensor, i.e. θ 1 ＝θ 31 。
In summary, according to the invention, by arranging the transmitting device capable of transmitting polarized light and the corresponding receiving device, the control unit calibrates the direction of the self-moving robot according to the intensity and/or intensity variation of the signal received by the receiving device, and the method has the advantages of high calibration precision, accurate direction positioning, simple operation and low cost.
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic diagram of a self-moving robotic system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of a self-moving robotic system according to the present invention;
fig. 3 is a second structural diagram of a self-mobile robot system according to a second embodiment of the present invention.
Detailed Description
The self-moving robot system comprises a base and a self-moving robot, wherein the base is provided with a transmitting device, the transmitting device is provided with a polaroid, so that the transmitting device can emit polarized light, the self-moving robot is provided with an angle sensor, a control unit and a receiving device, the angle sensor is used for detecting angle change in the walking process of the self-moving robot, the receiving device is provided with the same polaroid as the transmitting device, and after the polarized light emitted by the transmitting device is received by the receiving device, the control unit calibrates the direction of the self-moving robot according to the intensity and/or intensity change of signals received by the receiving device. It should be noted that the transmitting device may also be disposed on the self-mobile robot, and the corresponding receiving device is disposed on the base, where communication units are required to be disposed on the base and the self-mobile robot, respectively, so that the polarized light signal received by the receiving device disposed on the base can be transmitted to the control unit of the self-mobile robot, but the effect of the change of the position on the implementation of the technical scheme is small, so the technical scheme will be further described by taking the case that the transmitting device is disposed on the base and the receiving device is disposed on the self-mobile robot as an example.
In order to facilitate calibration, it is preferable that in the initial state, the polarization direction of the polarizer disposed on the receiving device is parallel to or perpendicular to the polarization plane of the polarized light emitted by the emitting device. The following describes a procedure for calibrating the direction from the mobile robot, taking an example in which the polarization direction of the polarizing plate provided on the receiving device and the polarization plane of the polarized light emitted from the transmitting device are parallel to each other. In addition, the recording method of the offset angle θ from the mobile robot may be expressed in such a manner that θ is 0+.ltoreq.θ < 360 °, but other metering methods such as 0+.θ < 2π and the like are not excluded.
In general, the self-mobile robot returns to the base, and at this time, the self-mobile robot can receive polarized light emitted by the emitting device (guiding the self-mobile robot to return to the base belongs to the prior art, and is not described herein), and due to an error of the guiding device, an angle deviation of about 10 ° exists between the return position of the self-mobile robot and the initial position, that is, the actual angle deviation θ is about 10 ° or 350 °. At this time, the angle offset recorded by the angle sensor is theta 1 Wherein 0 DEG is less than or equal to theta 1 < 360 DEG, in particular, when the angle sensor registers an angle offset of θ 1 When the angle is a negative value or more than 360 degrees, the control unit controls the angle theta 1 Correction is carried out, and θ after correction 1 correction ＝θ 1 A number of x-n-360 degrees, wherein n is an integer. Because the angle sensor has a certain precision error, the measured value of the angle sensor can continuously accumulate the precision error after the self-moving robot walks for a long time, so that the angle sensor enables the angle sensor to be theta 1 And θ is not the same, i.e., the angle sensor cannot correctly record the actual angle offset from the mobile robot.
Example 1
Fig. 1 is a schematic structural diagram of a self-mobile robot system according to a first embodiment of the present invention. As shown in fig. 1, when the mobile robot 200 is operated for a certain period of time and then returned to the base 100, polarized light emitted from the emitting device 110 of the base 100 is reflected by the ceiling or the baffle 120 and then received by the receiving device 210 located at the top of the mobile robot 200. When polarized light emitted from the emitting device 110 of the base 100 is received from the receiving device 210 of the mobile robot 200, it is assumed that the actual angular offset from the mobile robot 200 is θ, and the angular offset recorded by the angle sensor is θ 1 Wherein 0 DEG is less than or equal to theta 1 The control unit controls the self-moving robot 200 to rotate clockwise by 360 degrees (or can rotate counterclockwise by 360 degrees) and the angle sensor records the angle offset theta at the moment 1 The angular offset amount is returned to 0 ° until it is increased to 360 °, and the angular offset amount is continuously increased to θ as the self-moving robot 200 is continuously rotated 1 In this process, the receiving device 210 of the mobile robot 200 feeds back the light intensity signal of the polarized light to the control unit, and the control unit records the light intensity as the maximum value I 0 Rotation angle θ at the time 2 For example, assuming that the angular deviation amount recorded by the angle sensor is 15 ° after the mobile robot 200 is returned to the base 100, the control unit controls the maximum light intensity of the polarized light received by the receiving device 210 when the mobile robot 200 is rotated 170 ° clockwise, at which time the angular deviation amount θ recorded by the angle sensor 1 185 degrees, rotation angle θ 2 170 °. Due to the characteristic of polarized light, the light intensity is at a maximum I during the clockwise rotation of the mobile robot 200 by 360 DEG 0 Angular offset θ at the time 2 There are two (theta) 21 And theta 22 Wherein |θ 22 -θ 21 I=180°), i.e., corresponding to two positions parallel to the initial direction, and the corresponding actual angular offset amounts are 0 ° and 180 °, the actual angular offset amount θ is 10 ° or around 350 ° in view of the fact that the guide device guides the self-moving robot 200 to return to the initial position, the calibration process of the self-moving robot 200 in the present embodiment will be described in detail below:
the control unit is based on the rotation angle theta 2 Calibrating the angular offset theta recorded by the angle sensor 1 。
The control unit is based on the rotation angle theta 21 And theta 22 Estimating the actual angle offset of the self-moving robot back to the base, wherein the result comprises theta 21 correction ＝360°-θ 21 ，θ 22 correction ＝360°-θ 22 . When deriving corrected theta 21 correction And corrected theta 22 correction After that, the control unit controls the control unit according to θ 21 correction And theta 22 correction Is selected as a calibrated angleAngular offset θ recorded by sensor Calibration of Specific judgment criteria are that the control unit selects the corrected theta 21 correction Or corrected theta 22 correction A value lying in the range of 0 ° to 10 ° (including 0 °) or 350 ° to 360 ° is used as the actual angular offset θ from the mobile robot back to the base Correction of I.e. the angle offset recorded by the angle sensor is theta 1 Corrected to theta Correction of Thereby completing the calibration, or the control unit may also control the self-moving robot to rotate counterclockwise (here clockwise if the above-mentioned rotation is a counterclockwise rotation when 360 °) θ Correction of Back (or rotate clockwise 360-theta) Correction of ) The angle offset theta recorded by the angle sensor is calculated 1 Corrected to 0 °, i.e. θ 1 ＝0°。
In order to improve the compatibility of the self-mobile robot 200 system, when the actual angle offset θ caused by the guiding device is prevented from being too large, the self-mobile robot 200 system cannot perform the directional calibration, and the control unit performs the directional calibration at θ 21 correction And theta 22 correction Among which is selected theta Correction of When the control unit selects the corrected theta 21 correction Or corrected theta 22 correction One of the values lying between 0 deg. and 90 deg. (including 0 deg.) or between 270 deg. and 360 deg. is used as the actual angular offset θ from the mobile robot back to the base Correction of 。
Example two
FIG. 2 is a schematic diagram of a second embodiment of a self-moving robotic system according to the present invention; fig. 3 is a second structural diagram of a self-mobile robot system according to a second embodiment of the present invention. As shown in fig. 2 and fig. 3, the difference between the first embodiment and the second embodiment is that the polarized light emitted by the emitting device of the base is directly received by the receiving device of the self-moving robot, and is not reflected, the base 101 in fig. 2 includes a base for carrying the self-moving robot 201, the emitting device 111 is disposed on the base, and after the self-moving robot 201 returns to the base 101, the polarized light is received by the receiving device 211 disposed at the bottom of the self-moving robot 201; the polarized light emitted by the emitting device 112 of the base 102 shown in fig. 3 is directly emitted to the ground to be self-movedAfter the mobile robot returns to the base 102, the polarized light is received by a receiving device 212 disposed at the top of the self-moving robot 202. Since the polarized light is not reflected, the energy of the polarized light is hardly lost and the influence caused by different environments is small, and the maximum light intensity of the polarized light which can be received by the receiving device is a constant I under the condition that the working power of the transmitting device is determined 1 . The following describes the calibration process of the self-moving robot in the present embodiment in detail:
when polarized light emitted by the emitting device of the base is received by the receiving device of the mobile robot, the actual angle offset of the mobile robot is assumed to be theta 3 The angle offset recorded by the angle sensor is theta 1 Wherein 0 DEG is less than or equal to theta 1 The light intensity of polarized light received from the mobile robot receiving device is I less than 360 degrees, and the control unit can deduce that the light intensity change rule passing through the polaroid is I=I according to Malus law 1 *(cosθ 3 ) 2 (where I) 1 For the maximum light intensity received by the receiving device through the polaroid, the actual angle offset theta can be calculated 3 But the actual angular offset θ 3 Including at most four results, e.g. θ 3 Including theta 31 、θ 32 、θ 33 And theta 34 Wherein θ 31 ≤θ 32 ＜θ 33 ≤θ 34 ，0°≤θ 31 ≤90°，270°≤θ 34 < 360 DEG or theta 31 ＝θ 34 =0° and θ 32 ＝θ 33 ＝180°。
Further, the control unit controls the self-moving robot to rotate clockwise by a small angle theta 4 (preferably, 0 DEG.ltoreq.θ) 5 And (5) after less than or equal to 10 DEG), and rotating back, and recording the light intensity change. Due to reality angle of offset theta 3 At about 10 or 350, so if the light intensity changes to become stronger first, the control unit determines the actual angular offset θ of the self-moving robot 3 In the range of 270-360 degrees (including 270 degrees), namely the control unit selects theta 34 As the angle offset of the angle sensor after calibration, the angle offset theta recorded by the angle sensor is used 1 Corrected to theta 34 If the light intensity change becomes weaker first, the control unit judges the actual angle offset amount theta of the self-moving robot 3 In the range of 0-90 degrees (including 0 degrees), namely the control unit selects theta 31 As the angle offset of the angle sensor after calibration, the angle offset theta recorded by the angle sensor is used 1 Corrected to theta 31 。
It should be noted that, the polarization direction of the polarizer disposed on the receiving device in the initial state and the polarization plane of the polarized light emitted by the transmitting device may be set to be perpendicular to each other or other known angles, and those skilled in the art may only need to modify the procedure in the control unit, and may also implement the process of calibrating the direction of the self-moving robot, for example, the scheme in the first embodiment may be modified corresponding to the situation that the polarization direction is perpendicular to each other, and the angle value when the light intensity of the polarized light received by the receiving device is the minimum value is used as the reference for correcting the angle offset recorded by the angle sensor, and the foregoing process is specifically considered Cheng Kecan and will not be repeated herein.
According to the invention, the transmitting device capable of transmitting polarized light and the corresponding receiving device are arranged, and the control unit calibrates the direction of the self-moving robot according to the intensity and/or intensity change of the signal received by the receiving device, so that the calibration precision is high, the direction positioning is accurate, the operation is simple, and the cost is low.
Claims (3)
1. The self-moving robot system comprises a base and a self-moving robot, wherein the self-moving robot is provided with an angle sensor and a control unit, the self-moving robot system further comprises a transmitting device and a receiving device which can transmit polarized light, the receiving device is provided with a polaroid, and after the polarized light emitted by the transmitting device is received by the receiving device, the control unit can calibrate the direction of the self-moving robot according to the intensity and/or intensity change of a signal received by the receiving device; in an initial state, the polarization direction of the polaroid arranged on the receiving device is parallel to the polarization plane of the polarized light emitted by the emitting device; the receiving device is positioned at the top of the self-moving robot, the transmitting device is positioned at the base, and polarized light emitted by the transmitting device is received by the receiving device after being reflected by a ceiling or a baffle; the method is characterized by comprising the following steps:
step 1: the self-moving robot returns to the base, receives polarized light emitted by the emitting device, and the angle offset recorded by the angle sensor is theta 1 Wherein 0 DEG is less than or equal to theta 1 ＜360°；
Step 2: the control unit controls the self-moving robot to rotate 360 degrees clockwise and records the light intensity as the maximum value I 0 Rotation angle θ at the time 2 ；
Step 3: the control unit is used for controlling the rotation angle theta according to the light intensity change rule of the polarized light passing through the polaroid 2 Calibrating the angular offset theta recorded by the angle sensor 1 。
2. The method for calibrating a direction of a self-moving robot system according to claim 1, wherein the step 3 comprises:
step 31: rotation angle theta 2 Including theta 21 And theta 22 Wherein θ is 21 And theta 22 180 DEG out of phase with each other, the control unit according to the rotation angle theta 21 And theta 22 Estimating the actual angle offset of the self-moving robot back to the base, wherein the result comprises theta 21 correction ＝360°-θ 21 ，θ 22 correction ＝360°-θ 22 ；
Step 32: the control unit selects theta which is less than or equal to 0 degree 21 correction < 90 DEG or 270 DEG < theta 21 correction Theta less than 360 DEG 21 correction As accurate theta Correction of Or selecting a position which is less than or equal to 0 DEG and less than or equal to theta 22 correction < 90 DEG or 270 DEG < theta 22 correction Theta less than 360 DEG 22 correction As accurate theta Correction of ；
Step 33: the control unit is based on theta Correction of Calibrating the angular offset theta recorded by the angle sensor 1 。
3. The method of calibrating a direction of a self-moving robot system according to claim 2, wherein the step 33 is:
the control unit records the angle offset theta of the angle sensor 1 Corrected to theta Correction of I.e. θ 1 ＝θ Correction of The method comprises the steps of carrying out a first treatment on the surface of the Or alternatively
The control unit controls the self-moving robot to rotate anticlockwise by theta Correction of Then, the angle offset theta recorded by the angle sensor is calculated 1 Corrected to 0 °, i.e. θ 1 ＝0°。
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