CN107305384A - The method and robot of a kind of automatic obstacle-avoiding - Google Patents
The method and robot of a kind of automatic obstacle-avoiding Download PDFInfo
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- CN107305384A CN107305384A CN201610252693.2A CN201610252693A CN107305384A CN 107305384 A CN107305384 A CN 107305384A CN 201610252693 A CN201610252693 A CN 201610252693A CN 107305384 A CN107305384 A CN 107305384A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004888 barrier function Effects 0.000 claims abstract description 46
- 230000008569 process Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 7
- 239000002699 waste material Substances 0.000 abstract description 6
- 239000011449 brick Substances 0.000 description 10
- 238000003860 storage Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004387 environmental modeling Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The method and robot of a kind of automatic obstacle-avoiding, this method specifically include following steps：Robot first direction is walked, when an obstacle is detected, is converted into second direction and is moved a pre-determined distance；Barrier is persistently detected in moving process；If after the obstacle information disappears in the pre-determined distance, being walked on according to first direction；If the obstacle information does not disappear in the pre-determined distance, robot walks according to default instruction；When detecting barrier continuous n time in the first preset time, obstacle information is converted into boundary information and sent to background server drafting obstacles borders.The present invention solves in the market robot device instantly and walked on after the success of local avoidance, can barrier rear or near leave a large amount of missed areas and can not detect, waste substantial amounts of working time and electric power, the problem of avoidance efficiency is low.
Description
Technical field
The present invention relates to the method and robot of field of artificial intelligence, more particularly to a kind of automatic obstacle-avoiding.
Background technology
Intelligent mobile robot is that a class can be real to be moved now with object-oriented independent navigation in the environment of barrier by sensor senses environment and oneself state, so as to complete the robot system of preplanned mission.Realize the automatic obstacle avoiding of robot, it is necessary to solve the cooperation between each sensor, trajectory planning, motion control, environmental modeling, a series of problems, such as position in real time.Be frequently deployed on intelligent mobile robot for avoidance sensor be generally the multisensor such as laser radar, vision sensor, infrared, ultrasonic fusion, the advantage of the allocation plan is that avoiding barrier is accurate, and the speed of autonomous can be than very fast；Have the disadvantage that operative sensor is expensive, require that CPU processing speed is fast during processing, memory data output is big, therefore, the configuration is some precision aspects are less demanding, do not have under the specific environment of particular/special requirement in terms of speed, and such as indoor environment, this configuration increases the cost of system, the complexity of system is increased, while reducing the cost performance of product.
In addition, self-movement robot is widely used freely with its easy to operate walking, it is possible to achieve including wipe window, sweep the floor, the multiple use including air cleaning etc..Existing self-movement robot has a kind of walking manner to be random walk-like fashion, under the walking manner, when robot runs into barrier, fallen back first along the former direction of motion, make to reserve enough spaces between robot and barrier, then the body of robot rotates a certain low-angle clockwise or counterclockwise, moves on.If now still running into barrier, the action for falling back and turning to is repeated, until avoiding obstacles, is walked on.Existing this local avoidance mode robot ambulation trajectory random and complexity, waste substantial amounts of working time and electric power, avoidance efficiency is low.Meanwhile, walked on after robot is in the success of local avoidance, can barrier rear or near leave a large amount of missed areas and can not reach, avoidance effect is low.
The content of the invention
The present invention provides the method and robot of a kind of automatic obstacle-avoiding, walked on solving in the market robot instantly after the success of local avoidance, can barrier rear or near leave a large amount of missed areas and can not detect, waste substantial amounts of working time and electric power, the problem of avoidance efficiency is low.
Its method specifically may include steps of：
Robot first direction is walked, when an obstacle is detected, is converted into second direction and is moved a pre-determined distance；Barrier is persistently detected in moving process；If after the obstacle information disappears in the pre-determined distance, being walked on according to first direction；If the obstacle information does not disappear in the pre-determined distance, robot walks according to default instruction；When detecting barrier continuous n time in the first preset time, obstacle information is converted into boundary information and sent to background server drafting obstacles borders；Wherein n is natural number.
The method of above-mentioned automatic obstacle-avoiding, includes according to default instruction action：The reverse walking of Robot first direction.
The method of above-mentioned automatic obstacle-avoiding, also includes according to default instruction action：Robot second direction translates a section and moved.
The method of above-mentioned automatic obstacle-avoiding, whether disturbance in judgement thing, which disappears, further specifically includes：Robot first walks in the first direction, if being not detected by barrier after one segment distance of walking, disturbance in judgement thing disappears；Otherwise, then disturbance in judgement thing does not disappear.
The method of above-mentioned automatic obstacle-avoiding, detection barrier further comprises：The bottom of the robot is provided with attached sucker, detects whether there is rimless border by attached sucker.
The method of above-mentioned automatic obstacle-avoiding, detection barrier further comprises：The bottom of the robot is provided with supporting roller, detects whether there is raised obstacle by supporting roller.
The method of above-mentioned automatic obstacle-avoiding, the detection further body of barrier includes：The sidepiece of robot is provided with vision vision sensor, and robot judges whether to walk on according to first direction according to the feedback signal of vision vision sensor.
The method of above-mentioned automatic obstacle-avoiding, Robot first direction is walked, when an obstacle is detected, further comprise along translating a section with the perpendicular second direction of first direction and moving, Robot first direction is walked, when an obstacle is detected, first retreat in the first direction after a segment distance, then translate section shifting in a second direction.
The method of above-mentioned automatic obstacle-avoiding, the second direction is vertical with the first direction.The method of above-mentioned automatic obstacle-avoiding, the second direction is vertical with the first direction.
The present invention also provides a kind of automatic obstacle-avoiding robot, uses the automatic obstacle-avoiding method described in above-mentioned any one.
The present invention provides the method and robot of a kind of automatic obstacle-avoiding, when running into barrier, persistently detects the state of barrier, judging distance obstacle distance, further planning operation path.In the market robot instantly is solved to walk on after the success of local avoidance, can barrier rear or near leave a large amount of missed areas and can not detect, waste substantial amounts of working time and electric power, the problem of avoidance efficiency is low.
Brief description of the drawings
Fig. 1 is the flow chart according to the automatic obstacle-avoiding method in one embodiment of the invention.
Embodiment
The present invention provides the method and robot of a kind of automatic obstacle-avoiding, walked on solving in the market robot instantly after the success of local avoidance, can barrier rear or near leave a large amount of missed areas and can not detect, waste substantial amounts of working time and electric power, the problem of avoidance efficiency is low.
Fig. 1 is the flow chart according to the automatic obstacle-avoiding method in one embodiment of the invention.Fig. 1 is refer to, in the present embodiment, the method for automatic obstacle-avoiding, including：
S1：Robot first direction is walked, when an obstacle is detected, is converted into second direction and is moved a pre-determined distance；
S2：Barrier is persistently detected in moving process；
S3：If after the obstacle information disappears in the pre-determined distance, being walked on according to first direction；
S4：If the obstacle information does not disappear in the pre-determined distance, robot walks according to default instruction；
S5：When detecting barrier continuous n time in the first preset time, obstacle information is converted into boundary information and sent to background server drafting obstacles borders；
Wherein n is natural number.
For example, robot starts to travel eastwards, barrier is detected while traveling（E.g. individual brick）.When an obstacle is detected, robot rotates clockwise or counterclockwise certain angle（Such as 90 degree）Continue to travel certain distance, such as 0.5 meter afterwards.When travelling for this 0.5 meter, the information of brick is detected in real time all the time.If brick information disappears within 0.5 meter（Brick is got around）Afterwards, the distance that the point for running into barrier and being, the point of barrier, current walking position point calculate the point with current walking position point that run into barrier is calculated with Pythagorean theorem again, if direction point barrier is not crossed, then determine that detect the point of barrier for the first time runs for target point, if direction point barrier has passed over, the first-class distance objective point of extended line eastwards for the line for running into the point of barrier and the point of barrier for the first time is then connected, robot, which rotates back into target point, to be continued to travel eastwards.If having detected brick information always within 0.5 meter（Brick is not got around）Afterwards, then according to predetermined instruction action.The instruction action can then be further continued for next 0.5 meter of traveling, until brick is got around or reversely walked.When all detecting brick information continuous 10 times within 1 minute, then it is assumed that the brick is a face wall.Will the brick wall be defined as border.
As one kind selection, in the embodiment of the application one, disturbance in judgement thing whether disappear including：
Robot first walks in the first direction, if being not detected by barrier after one segment distance of walking, disturbance in judgement thing disappears；Otherwise, then judge that robot barrier thing does not disappear.
As one kind selection, in the embodiment of the application one, whether disturbance in judgement thing, which disappears, further specifically includes：Robot first walks in the first direction, if being not detected by barrier after one segment distance of walking, disturbance in judgement thing disappears；Otherwise, then disturbance in judgement thing does not disappear.
As one kind selection, in the embodiment of the application one, detection barrier further comprises：
The bottom of the robot is provided with attached sucker, detects whether there is rimless border by attached sucker.
As one kind selection, in the embodiment of the application one, detection barrier further comprises：
The bottom of the robot is provided with supporting roller, detects whether there is raised obstacle by supporting roller.
As one kind selection, in the embodiment of the application one, the detection further body of barrier includes：
The sidepiece of robot is provided with vision vision sensor, and robot judges whether to walk on according to first direction according to the feedback signal of vision vision sensor.
It is used as one kind selection, in the embodiment of the application one, Robot first direction is walked, when an obstacle is detected, further comprise along translating a section with the perpendicular second direction of first direction and moving, the walking of Robot first direction, when an obstacle is detected, first retreat in the first direction after a segment distance, then translate section shifting in a second direction.
As one kind selection, in the embodiment of the application one, the second direction is vertical with the first direction.
The present invention also provides a kind of automatic obstacle-avoiding robot, uses above-mentioned any described automatic obstacle-avoiding method.
The present invention provides the method and robot of a kind of automatic obstacle-avoiding, when running into barrier, persistently detects the state of barrier, judging distance obstacle distance, further planning operation path.In the market robot instantly is solved to walk on after the success of local avoidance, can barrier rear or near leave a large amount of missed areas and can not detect, waste substantial amounts of working time and electric power, the problem of avoidance efficiency is low.
If the function described in the present embodiment method is realized using in the form of SFU software functional unit and as independent production marketing or in use, can be stored in a computing device read/write memory medium.Understood based on such, the part or the part of the technical scheme that the embodiment of the present invention contributes to prior art can be embodied in the form of software product, the software product is stored in a storage medium, including some instructions are to cause a computing device（Can be personal computer, server, mobile computing device or the network equipment etc.）Perform all or part of step of each embodiment methods described of the invention.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage（ROM, Read-Only Memory）, random access memory（RAM, Random Access Memory）, magnetic disc or CD etc. are various can be with the medium of store program codes.
The embodiment of each in this specification is described by the way of progressive, what each embodiment was stressed be between the difference with other embodiments, each embodiment same or similar part mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.A variety of modifications to these embodiments be will be apparent for those skilled in the art, and generic principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the most wide scope consistent with features of novelty with principles disclosed herein.
Claims (10)
1. a kind of method of automatic obstacle-avoiding, it is characterised in that this method specifically includes following steps：
Robot first direction is walked, when an obstacle is detected, is converted into second direction and is moved a pre-determined distance；
Barrier is persistently detected in moving process；
If after the obstacle information disappears in the pre-determined distance, being walked on according to first direction；
If the obstacle information does not disappear in the pre-determined distance, robot walks according to default instruction；
When detecting barrier continuous n time in the first preset time, obstacle information is converted into boundary information and sent to background server drafting obstacles borders.
2. the method for automatic obstacle-avoiding as claimed in claim 1, it is characterised in that include according to default instruction action：The reverse walking of Robot first direction.
3. the method for automatic obstacle-avoiding as claimed in claim 1, it is characterised in that also include according to default instruction action：Robot second direction translates a section and moved.
4. the method for automatic obstacle-avoiding as claimed in claim 2 or claim 3, it is characterised in that whether disturbance in judgement thing, which disappears, further specifically includes：
Robot first walks in the first direction, if being not detected by barrier after one segment distance of walking, disturbance in judgement thing disappears；Otherwise, then disturbance in judgement thing does not disappear.
5. the method for automatic obstacle-avoiding as claimed in claim 4, it is characterised in that detection barrier further comprises：
The bottom of the robot is provided with attached sucker, detects whether there is rimless border by attached sucker.
6. the method for automatic obstacle-avoiding as claimed in claim 4, it is characterised in that detection barrier further comprises：
The bottom of the robot is provided with supporting roller, detects whether there is raised obstacle by supporting roller.
7. the method for automatic obstacle-avoiding as claimed in claim 1, it is characterised in that the detection further body of barrier includes：
The sidepiece of robot is provided with vision sensor, and robot judges whether to walk on according to first direction according to the feedback signal of vision sensor.
8. the method for automatic obstacle-avoiding as claimed in claim 1, it is characterized in that, Robot first direction is walked, when an obstacle is detected, further comprise along translating a section with the perpendicular second direction of first direction and moving, the walking of Robot first direction, when an obstacle is detected, first retreat in the first direction after a segment distance, then translate section shifting in a second direction.
9. the method for automatic obstacle-avoiding as claimed in claim 1, it is characterised in that the second direction is vertical with the first direction.
10. a kind of automatic obstacle-avoiding robot, it is characterised in that use the automatic obstacle-avoiding method as described in any one in claim 1-9.
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| CN201610252693.2A CN107305384A (en) | 2016-04-22 | 2016-04-22 | The method and robot of a kind of automatic obstacle-avoiding |
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| CN201610252693.2A CN107305384A (en) | 2016-04-22 | 2016-04-22 | The method and robot of a kind of automatic obstacle-avoiding |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108606728A (en) * | 2018-05-08 | 2018-10-02 | 平安科技（深圳）有限公司 | Sweeping robot control method and equipment, sweeping robot and storage medium |
| CN108762246A (en) * | 2018-04-21 | 2018-11-06 | 广东宝乐机器人股份有限公司 | Obstacle determination method for mobile robot, storage medium, and mobile robot |
| CN109974686A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Transfer robot path planning householder method based on monitoring camera detection |
| CN110187709A (en) * | 2019-06-11 | 2019-08-30 | 北京百度网讯科技有限公司 | Travel processing method, equipment and storage medium |
| CN110618674A (en) * | 2018-06-19 | 2019-12-27 | 广州极飞科技有限公司 | Obstacle avoidance method and device for movable equipment, movable equipment and storage medium |
| CN111366937A (en) * | 2018-12-24 | 2020-07-03 | 珠海市一微半导体有限公司 | Robot working method based on ultrasonic wave, working device, chip and robot |
| CN111443692A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Robot obstacle avoidance processing method, electronic device and computer-readable storage medium |
| CN112462747A (en) * | 2019-08-19 | 2021-03-09 | 苏州宝时得电动工具有限公司 | Automatic walking equipment, control method and device |
| CN113031589A (en) * | 2021-02-02 | 2021-06-25 | 深圳市优必选科技股份有限公司 | Robot navigation method and device and robot |
| CN114779784A (en) * | 2022-04-28 | 2022-07-22 | 格力博(江苏)股份有限公司 | Control method for robot tool and robot tool |
| CN114793599A (en) * | 2022-04-14 | 2022-07-29 | 宁波市华代科技有限公司 | Intelligent operation system for intelligent mower |
| WO2023125650A1 (en) * | 2021-12-31 | 2023-07-06 | 格力博(江苏)股份有限公司 | Control method for robot tool and robot tool |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974686A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Transfer robot path planning householder method based on monitoring camera detection |
| CN108762246A (en) * | 2018-04-21 | 2018-11-06 | 广东宝乐机器人股份有限公司 | Obstacle determination method for mobile robot, storage medium, and mobile robot |
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| CN110618674B (en) * | 2018-06-19 | 2023-02-14 | 广州极飞科技股份有限公司 | Obstacle avoidance method and device for movable equipment, movable equipment and storage medium |
| CN110618674A (en) * | 2018-06-19 | 2019-12-27 | 广州极飞科技有限公司 | Obstacle avoidance method and device for movable equipment, movable equipment and storage medium |
| CN111366937A (en) * | 2018-12-24 | 2020-07-03 | 珠海市一微半导体有限公司 | Robot working method based on ultrasonic wave, working device, chip and robot |
| CN111443692A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Robot obstacle avoidance processing method, electronic device and computer-readable storage medium |
| CN110187709A (en) * | 2019-06-11 | 2019-08-30 | 北京百度网讯科技有限公司 | Travel processing method, equipment and storage medium |
| CN112462747A (en) * | 2019-08-19 | 2021-03-09 | 苏州宝时得电动工具有限公司 | Automatic walking equipment, control method and device |
| CN113031589A (en) * | 2021-02-02 | 2021-06-25 | 深圳市优必选科技股份有限公司 | Robot navigation method and device and robot |
| WO2023125650A1 (en) * | 2021-12-31 | 2023-07-06 | 格力博(江苏)股份有限公司 | Control method for robot tool and robot tool |
| CN114793599A (en) * | 2022-04-14 | 2022-07-29 | 宁波市华代科技有限公司 | Intelligent operation system for intelligent mower |
| CN114779784A (en) * | 2022-04-28 | 2022-07-22 | 格力博(江苏)股份有限公司 | Control method for robot tool and robot tool |
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Address after: 200433, five floor, Boston International Building, 18 Yangpu District Government Road, Shanghai. Applicant after: Shanghai Ming me information technology Co., Ltd. Address before: 200433, five floor, Boston International Building, 18 Yangpu District Government Road, Shanghai. Applicant before: Shanghai Hui Liu cloud computing Science and Technology Ltd. |
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