CN107544524A

CN107544524A - Collision processing method, device and the robot of robot

Info

Publication number: CN107544524A
Application number: CN201711037188.7A
Authority: CN
Inventors: 潘俊威; 谭平; 栾成志; 刘坤
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2017-10-30
Filing date: 2017-10-30
Publication date: 2018-01-05

Abstract

The invention discloses a kind of collision processing method of robot, device and robot, wherein method includes：When detecting robot and barrier collision rift, the collision bearing of robot is determined by being arranged at least two crash sensors of front end of robot；Control machine people is moved to rotation position and starts rotary motion, during rotary motion, monitors the situation of change of obstacle distance value that the range sensor for the predetermined position for being arranged on robot is sensed；The current towards whether being parallel to each other with barrier of robot is judged according to the collision bearing of the situation of change of obstacle distance value and robot；When judged result for when being, control machine people stops the rotation motion, and is advanced along barrier.Using the present invention program, robot can be made after being collided with irregular slalom thing, avoid the irregular slalom thing in time, and allow the robot to continue to advance along barrier to clean barrier periphery.

Description

Collision processing method, device and the robot of robot

Technical field

The present invention relates to Smart Home technical field, and in particular to a kind of collision processing method of robot, device and machine Device people.

Background technology

With the development of science and technology, and requirement of the people to quality of life constantly increase, smart home occurs gradually over In daily life, wherein, especially representative sweeping robot is increasingly liked by people.Due to cleaning ring The complexity in border so that sweeping robot can run into various barriers during cleaning works is performed, wherein, especially work as machine Device people is advanced near some irregular barriers, for example, near " V-shape " barrier, then robot is easily trapped in this In barrier, thus sweeping robot can be blocked to be automatically performed cleaning works.

However, inventor has found during the present invention is realized, robot of the prior art above-mentioned is not advised running into Then after barrier, often can only by way of manually moving, or, exited according to fixed mode near the barrier, because This, it is impossible to complete the cleaning works near irregular slalom thing.As can be seen here, still there is no one kind can be well in the prior art The technical scheme to solve the above problems.

The content of the invention

In view of the above problems, it is proposed that the present invention so as to provide one kind overcome above mentioned problem or at least in part solve on State the collision processing method, device and robot of the robot of problem.

According to an aspect of the invention, there is provided a kind of collision processing method of robot, including：

When detecting robot and barrier collision rift, at least two collision sensings of the front end by being arranged on robot Device determines the collision bearing of robot；

Control machine people is moved to rotation position and starts rotary motion, and during rotary motion, monitoring is arranged on The situation of change for the obstacle distance value that the range sensor of the predetermined position of robot is sensed；

The current towards being of robot is judged according to the collision bearing of the situation of change of obstacle distance value and robot It is no to be parallel to each other with barrier；

When judged result for when being, control machine people stops the rotation motion, and is advanced along barrier.

Further, the predeterminated position includes：The non-central location of robot, also, the court of the range sensor It is parallel to each other to the horizontal direction with the robot；Wherein, the horizontal direction of the robot is perpendicular to the robot Current direction.

Further, the barrier that the range sensor for monitoring the predetermined position for being arranged on robot is sensed The situation of change of distance value；Machine is judged according to the collision bearing of the situation of change of the obstacle distance value and the robot The step of whether current direction of device people is parallel to each other with the barrier specifically includes：

Change curve corresponding to the situation of change drafting of the obstacle distance value sensed according to the range sensor, Trough in the change curve judges whether the current direction of robot is parallel to each other with the barrier.

Further, the situation of change drafting pair of the obstacle distance value sensed according to the range sensor The step of change curve answered, specifically includes：Obstacle distance value that the range sensor is sensed is drawn according to the time And/or change curve of anglec of rotation when being changed；

Then the trough in the change curve judge robot it is current towards whether with the barrier phase Mutually parallel step specifically includes：

Trough in the change curve is determined to make the current towards mutually flat with the barrier of robot Capable time point and/or the anglec of rotation, by robot at the time point and/or the anglec of rotation corresponding position be defined as it is parallel Position；When robot is in the parallel position, determine that the current direction of robot is parallel to each other with the barrier.

Further, the trough in the change curve judge robot it is current towards whether with the barrier The step of hindering thing to be parallel to each other specifically includes：

When the trough in the change curve is multiple, robot and barrier are determined according to the collision bearing of robot Between position relationship；

After filtering out the invalid trough included in multiple troughs according to the position relationship, significant wave is selected from multiple troughs Paddy, the current towards whether being parallel to each other with the barrier of robot is judged according to the effective trough.

Further, at least two crash sensor includes：The first switch being arranged on inside robot crash bar Formula crash sensor and second switch formula crash sensor；Then it is described by being arranged on the front end of the robot at least two Individual crash sensor determines that the step of collision bearing of robot specifically includes：

When the first switch formula crash sensor is triggered, and the second switch formula crash sensor is not triggered, Determine that collision bearing is located at the orientation corresponding with the first switch formula crash sensor；

When the second switch formula crash sensor is triggered, and the first switch formula crash sensor is not triggered, Determine that collision bearing is located at the orientation corresponding with the second switch formula crash sensor；

When the first switch formula crash sensor is triggered, and the second switch formula crash sensor is triggered, Determine that collision bearing is located at the middle part of the first switch formula crash sensor and the second switch formula crash sensor.

Further, at least two crash sensor further comprises：The first switch formula collision is arranged on to pass At least one middle part switching regulator crash sensor between sensor and the second switch formula crash sensor, wherein, it is each to touch Hit and be spaced predetermined angle between sensor.

Further, the predeterminated position includes：The front end of the first round of robot, or, the second wheel of robot Front end.

Further, it is between the line of range sensor and the robot center and the horizontal direction of robot Default angle；Wherein, the default angle is 3 degree to 15 degree.

Further, the default angle is 5 degree to 10 degree.

Further, described the step of being advanced along the barrier, specifically includes：

The obstacle distance value sensed when robot is stopped the rotation and moved is defined as reference obstacle distance value；

Judge the reference obstacle distance value whether in default reference range；

If so, the reference obstacle distance value is then kept between control machine people and barrier and is advanced；If it is not, then adjust The first round of robot and/or the wheel speed of the second wheel, so that the distance between robot and barrier are in the reference range It is interior and advance.

Further, the wheel speed of the first round of the adjustment robot and/or the second wheel so that robot and barrier it Between distance be in the reference range and specifically included the step of traveling：

If the reference obstacle distance value is more than the default reference range, the first round is controlled to accelerate, second Wheel slows down, to reduce the distance between robot and barrier；

If the reference obstacle distance value is less than the default reference range, the first round is controlled to slow down, second Wheel accelerates, to increase the distance between robot and barrier；

Wherein, the distance between the first round and barrier are more than the distance between the described second wheel and barrier.

Further, the step of reference obstacle distance value is kept between the control machine people and barrier and is advanced Specifically include：

During robot advances, the obstacle distance value that the range sensor is sensed, root are obtained in real time The first round of the robot and/or the second wheel speed taken turns are adjusted in real time according to the obstacle distance value got.

Further, it is described when detecting robot and barrier collision rift, control the robot to be moved to rotation position Put and specifically included the step of starting rotary motion：

When detecting robot and barrier collision rift, the robot is controlled to retreat pre-determined distance since position of collision To the rotation position, carry out rotating in place motion in the rotational position.

Further, the outside of the robot is further provided with resilience part；

It is then described when detecting robot and barrier collision rift, control the robot to be moved to rotation position and start The step of rotary motion, specifically includes：

The robot recoils to the rotation backward under the rebound effect of the resilience part since position of collision Position, carry out rotating in place motion in the rotational position.

According to another aspect of the present invention, there is provided a kind of hit-treatment device of robot, including：

Determining module, robot and barrier collision rift are detected suitable for working as, by the front end for being arranged on the robot At least two crash sensors determine the collision bearing of robot；

First control module, suitable for controlling the robot to be moved to rotation position and starting rotary motion；

Monitoring modular, suitable for during rotary motion, the distance that monitoring is arranged on the predetermined position of robot passes The situation of change for the obstacle distance value that sensor is sensed；

Judge module, sentence suitable for the situation of change according to the obstacle distance value and the collision bearing of the robot Whether the current direction of disconnected robot is parallel to each other with the barrier；

Second control module, during suitable for being when judged result, the robot is controlled to stop the rotation motion, and along described Barrier is advanced.

Further, the monitoring modular is further adapted for：According to the barrier that the range sensor is sensed away from From change curve corresponding to the situation of change drafting of value；

The judge module is further adapted for：Trough in the change curve judges that the current direction of robot is It is no to be parallel to each other with the barrier.

Further, the monitoring modular is further adapted for：Draw barrier that the range sensor sensed away from Change curve when being changed from value according to time and/or the anglec of rotation；

Then the judge module is further adapted for：

Further, the judge module is further adapted for：When the trough in the change curve is multiple, according to machine The collision bearing of device people determines the position relationship between robot and barrier；

Further, at least two crash sensor includes：The first switch being arranged on inside robot crash bar Formula crash sensor and second switch formula crash sensor；Then the determining module is further adapted for：

Further, the default angle is 5 degree to 10 degree.

Further, second control module is further adapted for：

Further, first control module is further adapted for：

Further, the outside of the robot is further provided with resilience part；

Then first control module is further adapted for：

According to a further aspect of the invention, there is provided a kind of robot, include the hit-treatment dress of above-mentioned robot Put, be arranged on the range sensor of the predetermined position of robot, and be arranged at least two collisions of the front end of robot Sensor.

According to another aspect of the invention, there is provided a kind of electronic equipment, including：Processor, memory, communication interface and Communication bus, processor, memory and communication interface complete mutual communication by communication bus；

Memory is used to deposit an at least executable instruction, and executable instruction makes the collision of the above-mentioned robot of computing device Operated corresponding to processing method.

In accordance with a further aspect of the present invention, there is provided a kind of computer-readable storage medium, be stored with least one in storage medium Executable instruction, executable instruction make computing device be operated as corresponding to the collision processing method of above-mentioned robot.

According to collision processing method, device and the robot of the robot of the present invention, it can be directed in cleaning process and run into Irregular slalom thing carry out hit-treatment, for example, being handled for the collision of " V-shape " barrier, pass through collision sensing Device determines the collision bearing of collision, and using range sensor monitoring obstacle distance value, according to the change of obstacle distance value The collision bearing of situation and determination determines the current direction of robot and the barrier to collide robot parallel to each other, And then make the current towards parallel with the barrier to collide of robot, hereafter, robot can continue to carry out along barrier Cleaning works.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can Become apparent, below especially exemplified by the embodiment of the present invention.

Brief description of the drawings

By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：

Fig. 1 shows the flow chart of the collision processing method of the robot of one embodiment of the invention；

Fig. 2 shows the flow chart of the collision processing method of the robot of another embodiment of the present invention；

Fig. 3 shows that the cross section of the robot of one embodiment of the invention and the relative position relation of barrier is illustrated Figure；

Fig. 4 shows that the control machine people of one embodiment of the invention advances by default along side travel rule along barrier Method flow diagram；

Fig. 5 shows the functional block diagram of the hit-treatment device for the robot that one embodiment of the invention provides；

Fig. 6 shows the structural representation of a kind of electronic equipment according to embodiments of the present invention.

Embodiment

The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure Completely it is communicated to those skilled in the art.

Fig. 1 shows the flow chart of the collision processing method of the robot of one embodiment of the invention.As shown in figure 1, should Method comprises the following steps：

Step S101：When detecting robot and barrier collision rift, at least two of front end by being arranged on robot Individual crash sensor determines the collision bearing of robot.

The process of cleaning works is carried out in robot, due to cleaning the complexity of environment, robot unavoidably can be with barrier Collide, it is at the same time, irregular due to barrier, such as barrier is " V-shape " barrier, causes to be difficult to determine hair The collision bearing of raw collision, therefore, in this step, when detecting robot and barrier collision rift, by robot Crash sensor determines the collision bearing of robot, in order to perform corresponding hit-treatment measure according to the collision bearing.

Wherein, crash sensor is arranged on the front end of robot.The division of the front end of robot and the rear end of robot can Determined by following manner：Robot is divided into two regions as the straight line where the line of two driving wheels of robot, It is first half region wherein close to the region in the direction of Robot straight ahead, the area in the direction away from Robot straight ahead Domain is later half region, then the front end of robot refers to around first half region that the rear end of robot refers to around later half region. Crash sensor can be used for the collision bearing that monitoring collides, and optionally, crash sensor is mainly made up of laser radar, Collision bearing is determined using the positioning function of laser radar.Also, two crash sensors are set to be easy to accurately confirm The collision bearing to collide, wherein, collision bearing includes the left side of robot, the middle part of robot, and/or the right side of robot Side, for the direction of Robot straight ahead, the left side of the perpendicular bisector of the line of two driving wheels is referred to as machine The left side of device people, the position on the perpendicular bisector of the line of two driving wheels are referred to as the middle part of robot, two driving wheels The right side of the perpendicular bisector of line is referred to as the right side of robot.

By this step, the collision bearing collided and occurred is determined using two crash sensors.

Step S102：Control machine people is moved to rotation position and starts rotary motion, during rotary motion, prison The situation of change for the obstacle distance value that the range sensor for the predetermined position that survey is arranged on robot is sensed.

In this step, by control machine, people moves, and allows the robot to away from barrier；Then, in rotary motion During, sense obstacle distance value in real time using range sensor, and the situation of change of obstacle distance value is detected, the change Situation can symbolize the position relationship of robot and barrier.

Wherein, range sensor includes laser range sensor, ultrasonic distance-measuring sensor or infrared distance measurement sensing Device；Optionally, range sensor is positioned close to the left driving wheel of robot or the front of right driving wheel, and range sensor Sensing direction it is parallel with the horizontal direction of robot.

When it is implemented, can be retreated with control machine people with remote barrier, and then avoid between robot and barrier Contact.Also, after robot is moved to rotation position, it is necessary to further Reasonable adjustment robot direction so that machine People can walk without colliding again along barrier, therefore, in the present embodiment, control machine people start in rotation position into Row rotary motion, in order to determine robot relative to obstacle according to the situation of change of obstacle distance value in rotary movement The position of thing.Optionally, using the center of robot as pivot, and left driving wheel and right driving wheel is controlled to do phase respectively The motion of opposite direction, and left and right wheel speed is identical, so that robot rotates in place motion.

By this step, monitoring obtains obstacle distance value with time or the situation of change of the anglec of rotation.

Step S103：Working as robot, is judged according to the collision bearing of the situation of change of obstacle distance value and robot Whether the previous dynasty is to being parallel to each other with barrier.

The change of obstacle distance value is mainly due to during rotary motion, the change of the current direction of robot Caused by, also imply that current direction of the robot in rotary movement has mapping with obstacle distance value and closed System.Specifically, according to the most short principle of vertical range, diminish with the current angle towards with barrier of robot, obstacle Thing distance value also diminishes therewith, and when angle is 0 degree, the current direction of as robot is parallel with barrier, and Distance-sensing The direction of device and barrier edge-perpendicular, therefore, now corresponding obstacle distance value is minimum.

However, due to some irregular barriers be present, for example, " V-shape " barrier, then in robot rotary motion During, only judge from the situation of change of obstacle distance value, it may appear that the current direction and barrier of robot at least twice Hinder the situation that thing is parallel to each other.At this time, it may be necessary to the collision bearing with reference to robot determines whether the current direction of robot The barrier whether to be collided with this or the subregion of barrier are parallel to each other.

By this step, only obstacle distance value meets condition, and robot corresponding to the obstacle distance value It is current to be parallel to each other towards the current direction that robot when being consistent with collision bearing, be judged with barrier.

Step S104：When judged result for when being, control machine people stops the rotation motion, and is advanced along barrier.

Control machine people motion of stopping the rotation refers to：When robot it is current towards the barrier to be collided with this or Robot is controlled to stop the rotation motion when the subregion of barrier is parallel to each other, so that the barrier that robot collides with this Hinder the subregion of thing or barrier parallel, now, the direction of robot, which has adjusted, to be finished.Then, after robot is according to adjustment Direction continue to advance to complete cleaning works along barrier.

Under actual conditions, during robot carries out cleaning works, due to cleaning the complexity of environment and changeable Property, robot collides between and cleaning the barrier in environment unavoidably, especially when robot advances to irregular slalom When near thing, the barrier that robot may be frequently with multiple orientation collides, therefore, it is necessary first to it is determined that collision Collision bearing, corresponding treatment measures are then performed according to collision bearing.The collision processing method of robot provided by the invention, The scene of the irregular slalom thing hit-treatment similar with the above situation can be widely used in, with solve robot because with obstacle The problem of thing collides and can not normally complete cleaning works.

It is in the description of the embodiment of the present invention and the schematic diagram of the barrier provided, to be to need described herein With " V-shape " barrier for example, still, those skilled in the art should understand that being the side provided in the embodiment of the present invention Case can be suitable for handling the machine a barrier entirety being at least made up of the mutual not parallel barrier of two parts The collision situation of people, wherein, it can contact, can not also contact between not parallel barrier, the present invention does not do specific to this Limit.

The collision processing method of the robot provided according to the present embodiment, when detecting robot and barrier collision rift, The collision bearing of robot is determined by least two crash sensors of the front end for being arranged on robot；Then, control machine People is moved to rotation position, away from barrier, to avoid robot from being rubbed with barrier during rotation；Using away from From sensor, obstacle distance value is sensed during robot rotates, obtain obstacle distance value with the time or The situation of change of the anglec of rotation, and determine that the current direction of robot is touched with this according to the situation of change and collision bearing Time or the anglec of rotation when barrier hit or the subregion of barrier are parallel；To should time or the anglec of rotation control Robot stops the rotation motion, so that robot is parallel with barrier that this collides or the subregion of barrier；And Control machine people is advanced in a manner of parallel with barrier, and then avoids robot from being touched again in a short time with barrier Hit；Or the distance between control machine people and barrier are maintained in a suitable scope and advanced, and then ensure robot Do not collided with barrier, and can farthest carry out the cleaning on barrier periphery, reduce the situation of drain sweep.

Fig. 2 shows the flow chart of the collision processing method of the robot of another embodiment of the present invention.As shown in Fig. 2 This method comprises the following steps：

Step S201：When detecting robot and barrier collision rift, at least two of front end by being arranged on robot Individual crash sensor determines the collision bearing of robot.

When robot and barrier collision rift, the collision bearing of robot is determined by crash sensor first, in order to Corresponding hit-treatment measure is performed according to the collision bearing.

Fig. 3 shows that the cross section of the robot of one embodiment of the invention and the relative position relation of barrier is illustrated Figure, wherein, barrier 31 is " V-shape " barrier, and it is made up of two parts, respectively the first barrier 311 and the second obstacle Thing 312.As shown in figure 3, there are two driving wheels, respectively left driving wheel 301 and right driving wheel 302 in robot 30, positioned at machine On straight line where the center of people 30, wherein, the direction of arrow is direction of the robot 30 along straight ahead.Require emphasis It is that the robot 30 and barrier 31 in Fig. 3 are merely illustrative schematic diagram, in practice, robot can be other shapes, example Such as ellipse, barrier can also be other irregular shapes, and the position of range sensor 303 can also be in other positions Put.

In an embodiment of the present invention, the direction of left driving wheel 301 and the line of right driving wheel 302 is the transverse direction of robot 30 Robot is divided into two regions by the straight line where the line of direction, left driving wheel 301 and right driving wheel 302, wherein close The region in the direction of Robot straight ahead is first half region 321, and the region away from the direction of Robot straight ahead is Later half region 322, then the front end 331 of robot refer to around first half region 321 that the rear end 332 of robot refers to later half area Around domain 322；It is vertical with the horizontal direction of the robot 30, and the direction consistent with direction of the robot 30 along straight ahead It is the currently direction (that is, currently towards it can be appreciated that the direction of advance of robot) of robot 30, current direction and obstacle Angle between thing is θ.Wherein, the point midway of left driving wheel 301 and the line of right driving wheel 302 is the centre bit of robot 30 Put, correspondingly, the straight line corresponding to the direction of advance of robot is put down with left driving wheel 301 and the vertical of the line of right driving wheel 302 Separated time (i.e. by robot center and perpendicular to the straight line of robot horizontal direction) be parallel to each other.

Wherein, crash sensor is arranged on the front end of robot.Also, two crash sensors are set to be easy to accurately Confirm the collision bearing to collide, wherein, collision bearing includes the left side of robot, the middle part of robot, and/or robot Right side, for the direction of Robot straight ahead, the left side of the perpendicular bisector of the line of two driving wheels claims For the left side of robot, the position on the perpendicular bisector of the line of two driving wheels is referred to as the middle part of robot, two drivings The right side of the perpendicular bisector of the line of wheel is referred to as the right side of robot.

Specifically, at least two crash sensors include：The first switch formula collision being arranged on inside robot crash bar Sensor and second switch formula crash sensor, such as, in Fig. 3 symmetrically arranged first switch formula crash sensor 341 with And second switch formula crash sensor 342.Wherein, around robot crash bar is arranged on outside robot, for example, being arranged on The circumference of robot 30 in Fig. 3, or, robot crash bar is arranged on the front end of robot, for avoiding robot The collision of fierceness occurs between barrier and causes robot hardware's component damage, therefore, crash sensor is arranged on machine Can be with the damage of collision free sensor inside device people crash bar.

The first switch formula crash sensor and second switch formula crash sensor of corresponding above-mentioned setting, then passed by colliding Sensor determines that the method for the collision bearing of robot is specially：When first switch formula crash sensor is triggered, second switch formula When crash sensor is not triggered, determine that collision bearing is located at the orientation corresponding with first switch formula crash sensor；When Two switching regulator crash sensors are triggered, and when first switch formula crash sensor is not triggered, determine that collision bearing is located at and the The corresponding orientation of two switching regulator crash sensors；When first switch formula crash sensor is triggered, and second switch formula is collided When sensor is triggered, determine that collision bearing is located at first switch formula crash sensor and second switch formula crash sensor Middle part.By taking Fig. 3 as an example, if only first switch formula crash sensor 341 is triggered, it is determined that the left side of robot 30 and second Barrier 312 collides.

In some specific embodiments of the present invention, in order that being determined to for collision bearing is more accurate, set above-mentioned On the basis of putting, at least two crash sensors further comprise：It is arranged on first switch formula crash sensor and second switch At least one middle part switching regulator crash sensor between formula crash sensor, wherein, it is spaced between each crash sensor pre- If angle.Wherein, the quantity of crash sensor is more, and test position is more accurate；The quantity of crash sensor is fewer, and cost is lower It is honest and clean.Those skilled in the art can be arranged as required to the quantity of crash sensor.

By this step, after collision occurs, the collision bearing to collide can be accurately determined, for judging robot It is current towards the barrier or the position relationship of the subregion of barrier that are collided with this.

Step S202：When detecting robot and barrier collision rift, control machine people is moved to rotation position and started Rotary motion.

For avoid robot and barrier collision rift cause robot can not the situation of normal work occur, detecting machine Device people and barrier collide, and after collision bearing is determined, the method for being immediately performed the hit-treatment of the present embodiment offer, so that Robot is away from barrier.

In this step, moved by control machine people to make robot avoiding obstacles.Specifically, control machine people moves Mode have two kinds, wherein, mode one be control machine people retreat pre-determined distance, mode two is to utilize resilience part control machine People's resilience, two kinds of control modes are described in detail below.

Mode one, control machine people retreat pre-determined distance.Specifically, when detecting robot and barrier collision rift, control Robot processed retreats pre-determined distance to rotation position since position of collision, carries out rotating in place motion in rotational position.

Wherein, pre-determined distance can be according to the current direction and the angle between barrier, environment of collision occurrence time device people Map, and/or empirical value setting.In addition, the numerical value of pre-determined distance both can be a variable determined according to above-mentioned factor, Can be the constant of a fixed setting, the present invention is not limited this.The mode that control machine people retreats pre-determined distance can The movement of more stable control machine people, suitable space is left for the adjustment of robot travel direction, during avoiding adjustment With the friction or collision of barrier.

Mode two, utilize resilience part control machine people's resilience.Specifically, the outside of robot is further provided with resilience Part, for making robot recoil to rotation position backward since position of collision after an impact；Control machine people is in rotation position Put and carry out rotating in place motion.

Wherein, around resilience part is arranged on outside robot, for example, the circumference of robot 30 in figure 3 is set, Or resilience part is arranged on the front end of robot.In robot and barrier collision rift, because the resilience of resilience part is made With, robot can the segment distance of automatic rebounding one, and then purpose away from barrier.This utilizes resilience part control machine People's resilience mode can not only make robot away from barrier, and can be effectively protected the hard of robot using resilience part Part, the hardware of robot is not set to be collided by fierceness.

Moved by this step control machine people, make robot away from barrier, to determine that robot is put down with barrier The adjustment process of capable current direction provides space.

Step S203：During rotary motion, monitoring is arranged on the range sensor of the predetermined position of robot The situation of change of the obstacle distance value sensed；The change feelings of the obstacle distance value sensed according to range sensor Change curve corresponding to condition drafting.

Wherein, predeterminated position includes：The non-central location of robot, also, the direction of range sensor and robot Horizontal direction is parallel to each other；Wherein, current direction of the horizontal direction of robot perpendicular to robot.Wherein, center is Refer to：The midpoint of the line of two driving wheels.Specifically, the direction of range sensor is arranged to the horizontal direction phase with robot It is mutually parallel, primarily to determining robot in the obstacle distance value minimum sensed using the most short principle of vertical range It is current towards parallel with barrier.By range sensor be arranged on the non-central location of robot primarily for it is following consider because Element：On the one hand, range sensor is arranged on to the non-central location of robot, for example, being arranged on the left side or right side of robot (for direction of advance), it can be ensured that when robot rotates to the obstacle distance measured during left side and rotates to right side The obstacle distance of measurement is significantly different, and then can preferably determine that robot works as the previous dynasty according to the difference of obstacle distance value To the angle between barrier.On the other hand, range sensor is arranged on to the non-central location of robot, such as is arranged on The first half region of robot or the position in later half region, additionally it is possible to prejudged in robot advance or fallback procedures, to stay Go out the reaction time.

Further, predeterminated position includes：The front end of the first round of robot, or, before the second wheel of robot End；Wherein, the first round and the second wheel are respectively the left driving wheel and right driving wheel of robot.Wherein, the first round or second wheel Front end is determined by the direction of advance of robot.For example, one end of the direction of advance in driving wheel close to robot is referred to as The front end of the first round or the front end of the second wheel, the rear end or second of the first round will be referred to as away from one end of the direction of advance of robot The rear end of wheel.For example direction of advance (direction i.e. in figure arrow shown in) of the range sensor 303 along robot is set in Fig. 3 Put in the front of right driving wheel 302.Also, the transverse direction of the line and robot between range sensor and robot center In default angle between direction.For example, the angle α in Fig. 3.Specifically, the determination of the value of the default angle needs to refer to many-side Factor.For example, range sensor can not be made to influence the normal operation of the first round or the second wheel, while the first round or the can not be made Two wheels stop the ranging direction of range sensor；Range sensor can be allowed to sense robot in Each point in time or the anglec of rotation Obstacle distance value when spending.Based on this, in one particular embodiment of the present invention, default angle is 3 degree to 15 degree.It is optional , in another specific embodiment of the present invention, default angle is 5 degree to 10 degree.

Specifically, during robot rotary motion, range sensor constantly senses obstacle distance value, and according to Obstacle distance value corresponding to the Each point in time or the anglec of rotation monitored draws the barrier that range sensor is sensed Change curve when distance value is changed according to time and/or the anglec of rotation.Because robot is the centre bit with robot Central rotation is set to, i.e. the distance of center and barrier does not change, therefore, during rotation, with machine The change of the current direction of people, the current angle towards with barrier of robot also change therewith, and range sensor senses Obstacle distance value can also change therewith；More specifically, illustrated by taking Fig. 3 as an example, it is assumed that robot 30 shown in Fig. 3 Position is rotation position, and robot 30 rotates in the counterclockwise direction, then in rotary course, first, range sensor 303 is felt The obstacle distance value d to the first barrier 311 measured from large to small, then can change from small to big, then, range sensor 303 The obstacle distance value d to the second barrier 312 sensed from large to small, then can change from small to big；Obviously, with robot Current direction diminishes with the angle of corresponding barrier, and the obstacle distance value that range sensor senses also reduces therewith, Also, when the current direction of robot is parallel with corresponding barrier, obstacle distance value is minimum.

Step S204：The collision bearing of trough and robot in change curve judges the current direction of robot Whether it is parallel to each other with barrier.

In general, the trough in change curve can judge the current towards whether mutually flat with barrier of robot OK：Trough in change curve be determined to make robot it is current towards the time point being parallel to each other with barrier and/ Or the anglec of rotation, by robot, corresponding position is defined as parallel position at the time point and/or the anglec of rotation；Work as robot During in parallel position, determine that the current direction of robot is parallel to each other with barrier.

But due to present invention is generally directed to be processing with irregular slalom thing collision rift, for example, with Fig. 3 " V-shape " barrier 31 at least while processing after colliding, in the scene, it is clear that corresponding to the first barrier 311 Obstacle distance value change curve in, a trough is had, corresponding to the obstacle distance value with the second barrier 312 In change curve, a trough is also had, at this time, it may be necessary to determine which trough is effective trough.Specifically, change curve is worked as In trough for it is multiple when, the position relationship between robot and barrier is determined according to the collision bearing of robot；According to this After position relationship filters out the invalid trough included in multiple troughs, effective trough is selected from multiple troughs, according to the significant wave Paddy judges whether the current direction of robot is parallel to each other with barrier.Wherein, effective trough, i.e.,：For the barrier of this collision Hinder the subregion of thing or barrier, currently direction and the subregion of the barrier or barrier of robot are corresponding when parallel Change curve in trough.For example, in Fig. 3, when robot 30 and the first barrier 311 collide, then effective trough is machine The current trough being directed parallel to during the first barrier 311 in corresponding change curve of people 30, and invalid trough is robot The 30 current trough being directed parallel to during the second barrier 312 in corresponding change curve.

Further, the relative position of collision occurrence time device people and barrier is determined according to the collision bearing of robot Relation, and effective trough is determined according to the relative position relation.For example, crash sensor determines that the left side of robot is touched Hit, then can determine to collide point on the left of robot, it is assumed that Robot counterclockwise rotates, then effective trough is pair Robot in change curve is answered to be rotated by 90 ° interior trough.Robot and the barrier to collide is determined it is emphasized that working as After the position relationship for hindering thing, determine effective trough, or filter out invalid trough mode have it is a variety of, than the as noted above anglec of rotation Degree, also has in addition, such as, correspond to the machine when rotational time of trough, the obstacle distance value of corresponding trough and corresponding trough Current angle of current direction towards with colliding occurrence time device people of device people etc., therefore, it is existing it is every being capable of basis The position relationship of robot and barrier determines effective trough, or filter out invalid trough mode be all contained in the present invention protection In the range of.

In addition, it is necessary to illustrate, the implication that currently direction is parallel to each other with barrier of the robot in the present embodiment Both the current towards the current towards substantially of the edge for being strictly parallel to barrier or robot of robot can have been referred to Parallel to the edge of barrier.Wherein, when almost parallel, certain angular error can be pre-set, for example, working as robot Angle between barrier determines the current towards the edge for being roughly parallel to barrier of robot when being less than 3 degree.

Step S205：When judged result for when being, control machine people stops the rotation motion, and is advanced along barrier.

After effective trough is judged, control machine people stops rotation in time point or the anglec of rotation of corresponding effective trough Turn, so that robot is parallel with barrier.Then, robot continues to advance along barrier to complete clearly according to the direction after adjustment Work is swept, specifically, is advanced by default along side travel rule along barrier.

Fig. 4 shows that the control machine people of one embodiment of the invention advances by default along side travel rule along barrier Method flow diagram, i.e.,：Step S205 refined flow chart.As shown in figure 4, step S205 specifically includes following sub-step：

Step S401：The obstacle distance value sensed when robot is stopped the rotation and moved is defined as reference obstacle Distance value.

After the current direction for judging robot is parallel with barrier, now, robot has been completed the tune of direction Whole, robot stops the rotation motion.Then, robot also needs to continue to advance along barrier to complete cleaning works, this step The obstacle distance value sensed when robot is stopped the rotation and moved is defined as reference obstacle distance value, is to utilize The reference obstacle distance value formulates the measure of the distance between corresponding adjustment robot and barrier, to allow the robot to Do not collided with barrier, and/or, allow the robot to farthest clean barrier periphery, that reduces drain sweep can Energy.

Step S402：Judge the reference obstacle distance value whether in default reference range.

In order that robot does not collide with barrier, then default minimum reference value is must be provided with, meanwhile, in order that Robot will not be too remote apart from barrier, so that it cannot be swept into barrier periphery, then must be provided with default maximum benchmark Value, to sum up, that is, can determine default reference range between minimum reference value and maximum a reference value.

In this step, by judgment standard obstacle distance value whether in default reference range, it may be determined that machine It can reach in the traveling process of people thereafter and the effect on barrier periphery is not collided and can cleaned with barrier.If judge knot Fruit is yes, then performs step S404, if judged result is no, performs step S403.

Step S403：The first round of robot and/or the wheel speed of the second wheel are adjusted, so that between robot and barrier Distance is in reference range and advances.

Wherein, the distance between the first round and barrier are more than the distance between the second wheel and barrier, and corresponding diagram 3 can To think the first round as left driving wheel 301, the second wheel is right driving wheel 302.Specifically, reference obstacle distance value is not default Reference range in have two kinds of situations：Situation one, reference obstacle distance value are more than default reference range；Situation two, benchmark Obstacle distance value is less than default reference range.It is adjusted separately below for two kinds of situations, so that robot and obstacle The distance between thing is in reference range and advanced.

Situation one, if the reference obstacle distance value is more than default reference range, the control first round accelerates, the second wheel Slow down, to reduce the distance between robot and barrier.Specifically, reference obstacle distance value is more than default benchmark model Enclose, then show that robot is too remote far from barrier, it is impossible to complete the cleaning works on barrier periphery, it is necessary to by control the first round and The speed difference of second wheel reduces the distance between robot and barrier.

Situation two, if the reference obstacle distance value is less than default reference range, the control first round slows down, the second wheel Accelerate, to increase the distance between robot and barrier.Specifically, reference obstacle distance value is less than default benchmark model Enclose, then show that robot is too near far from barrier, frictional impact may occur with barrier, it is necessary to by controlling the first round and second The speed difference of wheel increases the distance between robot and barrier.

In above-mentioned two situations, it is determined that one kind of the occurrence of the wheel speed of the first round of adjustment robot and/or the second wheel Optional mode is to be determined by pid control algorithm.As understood by those skilled in the art, PID control, which represents, uses three (i.e.：Ratio (P), integration (I) and differential (D) item) control loop feedback mechanism.PID needs real in a closed-loop system It is existing, i.e.,：There is input to have feedback.In the present embodiment, the wheel speed for the first round and the second wheel is inputted, is fed back to the base sensed in real time The deviation of quasi- obstacle distance value and default reference range, it is final determine to meet the first round corresponding to the deviation of preparatory condition and The speed of second wheel is the occurrence of adjustment.In other words, as long as the distance between robot and barrier value and default benchmark In the range of the deviation of standard value be unsatisfactory for preparatory condition, the wheel speed of the first round and the second wheel is just determined using pid control algorithm Or difference in wheel, and then the distance between robot and barrier is in reference range.

Step S404：The reference obstacle distance value is kept between control machine people and barrier and is advanced.

Specifically, when reference obstacle distance value is in default reference range, it may be determined that the row of robot thereafter The numerical value corresponding to the reference obstacle distance value is kept to reach not with barrier collision simultaneously between barrier during entering The effect on barrier periphery can be cleaned.However, in practice, due to cleaning complexity and the polytropy of environment, for example, barrier It is in irregular shape etc., cause the distance between robot and barrier to change at any time.On the other hand, in the present embodiment, During robot advances, the obstacle distance value that range sensor is sensed is obtained in real time, according to the obstacle got Thing distance value is adjusted in real time to the first round of robot and/or the second wheel speed taken turns, so that between robot and barrier Distance approximation it is constant.Wherein, adjustment can be realized by pid control algorithm in real time.

It should be noted that after adjustment by above-mentioned steps S403 or step S404, between robot and barrier Although distance be in default reference range, robot it is current towards may have angle between barrier, So that in traveling process thereafter, robot can collide with barrier, therefore, in the specific embodiment of the present invention In, after the wheel speed adjustment of the first round and/or the second wheel, control machine people rotates default convolution angle, so that robot Current direction is parallel with barrier and advances.Wherein, default convolution angle can be according to the current direction and obstacle of robot Angle between thing determines.Wherein, especially when the first round of robot during adjustment and larger the second wheel speed difference taken turns, Need the default convolution angle of further control machine people rotation after the adjustment.For example, working as robot is adjusted in step S403 The first round and/or the second wheel wheel speed so that the distance between robot and barrier be in reference range it is interior after, if tune The difference of the distance between Zheng Qian robots and barrier between reference range exceedes preset difference value, causes robot direction prominent Become, then further control machine people should rotate default convolution angle after wheel speed is adjusted.

Also, if robot, during traveling, the obstacle distance value that range sensor senses is mutated, For example, when running into right angle barrier, the obstacle distance value mutation that range sensor senses is to infinity, for similar feelings Condition, corresponding avoidance treatment measures can be used, allow the robot to avoid the barrier, and can continue to along the barrier Cleaning works is carried out, specifically treatment measures are as follows：When obstacle distance value, which meets default avoidance, starts condition, then show Robot encounters the barrier that certain angle be present, such as above-mentioned right angle barrier, now, by according to the first rule adjustment The first round of robot and/or the wheel speed of the second wheel carry out control machine people movement, until meeting default avoidance pause condition, Then think that robot has crossed the corner of the barrier to form an angle close to the driving wheel of barrier, in other words, crossed barrier The position for hindering thing distance value to be undergone mutation；Hereafter, in order to allow the robot to carry out cleaning works along barrier, it is necessary to by machine Device people is moved toward close to the direction of barrier, and robot is determined according to obstacle distance value, and default avoidance pause condition The wheel speed of the first round and/or the second wheel when mobile, until robot is moved to when meeting default avoidance termination condition, then keep away Barrier processing is completed, and then robot is avoided the frictional impact with barrier during avoidance；It is moved at the end of avoidance Close to the position of barrier, so that robot can continue to clean barrier periphery.

In addition, when Robot barrier is advanced, robot is roughly parallel to the edge of barrier, with farthest Avoid the two from colliding.But when the edge of barrier is irregular, for example, when the edge of barrier is curved, machine People the tangential direction of each point can advance along curve, to be preferably bonded barrier and realize the effect thoroughly cleaned.Or When the edge uneven of barrier, less parallel between robot and barrier can also be made, rather than it is proper It is parallel, so as to avoid the frequent adjustment of robot wheel speed.In a word, those skilled in the art can flexibly set Robot obstacle The rule that thing is advanced, the present invention are not limited this.

The collision processing method of the robot provided according to the present embodiment, when detecting robot and barrier collision rift, The collision bearing of robot is determined by least two crash sensors of the front end for being arranged on robot；Then, control machine People is moved to rotation position, away from barrier, to avoid robot from being rubbed with barrier during rotation；Using away from From sensor, obstacle distance value is sensed during robot rotates, obtain obstacle distance value with the time or The situation of change of the anglec of rotation, and determine that the current direction of robot is touched with this according to the situation of change and collision bearing Time or the anglec of rotation when barrier hit or the subregion of barrier are parallel；To should time or the anglec of rotation control Robot stops the rotation motion, so that robot is parallel with barrier that this collides or the subregion of barrier；This Afterwards, control machine people advances by default along side travel rule along barrier, so that the distance between robot and barrier are protected Hold in suitable scope, and then ensure that robot does not collide with barrier, and can farthest carry out obstacle The cleaning on thing periphery, reduce the situation of drain sweep；In addition, during robot advances, if the barrier that range sensor monitors Hinder thing distance value to be undergone mutation, then can utilize corresponding avoidance measure, make robot avoid making obstacle distance value occur to dash forward The position of change, and make robot continue to advance along the barrier to clean barrier periphery.

Fig. 5 shows the functional block diagram of the hit-treatment device for the robot that one embodiment of the invention provides.Such as Fig. 5 institutes Show, the device includes：Determining module 501, the first control module 502, monitoring modular 503, judge module 504 and second control Module 505.

Determining module 501, robot and barrier collision rift are detected suitable for working as, before being arranged on the robot At least two crash sensors at end determine the collision bearing of robot；

First control module 502, suitable for controlling the robot to be moved to rotation position and starting rotary motion；

Monitoring modular 503, suitable for during rotary motion, monitoring is arranged on the distance of the predetermined position of robot The situation of change for the obstacle distance value that sensor is sensed；

Judge module 504, suitable for the situation of change according to the obstacle distance value and the collision side of the robot Position judges whether the current direction of robot is parallel to each other with the barrier；

Second control module 505, during suitable for being when judged result, the robot is controlled to stop the rotation motion, and edge The barrier is advanced.

In addition, in another embodiment of the present invention：

Predeterminated position includes：The non-central location of robot, also, the direction of the range sensor and the robot Horizontal direction be parallel to each other；Wherein, current direction of the horizontal direction of the robot perpendicular to the robot.

Optionally, monitoring modular 503 is further adapted for：The obstacle distance value sensed according to the range sensor Situation of change draw corresponding to change curve；

Then judge module 504 is further adapted for：Trough in the change curve judges the current direction of robot Whether it is parallel to each other with the barrier.

Optionally, monitoring modular 503 is further adapted for：Draw the obstacle distance value that the range sensor is sensed Change curve when being changed according to time and/or the anglec of rotation；

Then the judge module 504 is further adapted for：Trough in the change curve is determined to make robot It is current towards the time point being parallel to each other with the barrier and/or the anglec of rotation, by robot in the time point and/or rotation Corresponding position is defined as parallel position during gyration；When robot is in the parallel position, the current of robot is determined Direction is parallel to each other with the barrier.

Optionally, judge module 504 is further adapted for：When the trough in the change curve is multiple, according to machine The collision bearing of people determines the position relationship between robot and barrier；

Optionally, at least two crash sensors include：The first switch formula collision being arranged on inside robot crash bar Sensor and second switch formula crash sensor；

Then the determining module 501 is further adapted for：

Optionally, at least two crash sensors further comprise：Be arranged on the first switch formula crash sensor with At least one middle part switching regulator crash sensor between the second switch formula crash sensor, wherein, each collision sensing Predetermined angle is spaced between device.

Optionally, the predeterminated position includes：The front end of the first round of robot, or, before the second wheel of robot End.

Optionally, in default folder between the horizontal direction of the line and robot of range sensor and robot center Angle；Wherein, the default angle is 3 degree to 15 degree.

Optionally, the default angle is 5 degree to 10 degree.

Optionally, the second control module 505 is further adapted for：

Optionally, second control module 505 is further adapted for：

Optionally, the first control module 502 is further adapted for：

Optionally, the outside of the robot is further provided with resilience part；

Then first control module 502 is further adapted for：The robot under the rebound effect of the resilience part, Recoil to the rotation position backward since position of collision, carry out rotating in place motion in the rotational position.

In addition, the embodiment of the present application additionally provides a kind of robot, include the hit-treatment device of robot shown in Fig. 5, The range sensor for the predetermined position for being arranged on robot is previously mentioned, and the front end mentioned above for being arranged on robot At least two crash sensors.Wherein, the concrete structure of the hit-treatment device of robot and range sensor is specific Set location can refer to the description of above appropriate section, and here is omitted.

The embodiment of the present application provides a kind of nonvolatile computer storage media, and computer-readable storage medium is stored with least One executable instruction, the computer executable instructions can perform the hit-treatment side of the robot in above-mentioned any means embodiment Method.

Fig. 6 shows the structural representation of a kind of electronic equipment according to embodiments of the present invention, the specific embodiment of the invention The specific implementation to electronic equipment does not limit.

As shown in fig. 6, the electronic equipment can include：Processor (processor) 602, communication interface (Communications Interface) 604, memory (memory) 606 and communication bus 608.

Wherein：

Processor 602, communication interface 604 and memory 606 complete mutual communication by communication bus 608.

Communication interface 604, for being communicated with the network element of miscellaneous equipment such as client or other servers etc..

Processor 602, for configuration processor 610, it can specifically perform the collision processing method embodiment of above-mentioned robot In correlation step.

Specifically, program 610 can include program code, and the program code includes computer-managed instruction.

Processor 602 is probably central processor CPU, or specific integrated circuit ASIC (Application Specific Integrated Circuit), or it is arranged to implement the integrated electricity of one or more of the embodiment of the present invention Road.The one or more processors that electronic equipment includes, can be same type of processor, such as one or more CPU；Also may be used To be different types of processor, such as one or more CPU and one or more ASIC.

Memory 606, for depositing program 610.Memory 606 may include high-speed RAM memory, it is also possible to also include Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.

Program 610 specifically can be used for so that processor 602 performs following operation：

When detecting robot and barrier collision rift, at least two collisions of the front end by being arranged on the robot Sensor determines the collision bearing of robot；

Control the robot to be moved to rotation position and start rotary motion, during rotary motion, monitoring is set The situation of change for the obstacle distance value that the range sensor put in the predetermined position of robot is sensed；

Working as robot, is judged according to the collision bearing of the situation of change of the obstacle distance value and the robot Whether the previous dynasty is to being parallel to each other with the barrier；

When judged result when being, to control the robot to stop the rotation motion, and along barrier traveling.

In a kind of optional mode：The predeterminated position includes：The non-central location of robot, also, the distance The direction of sensor and the horizontal direction of the robot are parallel to each other；Wherein, the horizontal direction of the robot is perpendicular to institute State the current direction of robot.

In a kind of optional mode, program 610 can specifically be further used for so that processor 602 performs following behaviour Make：

In a kind of optional mode, program 610 can specifically be further used for so that processor 602 performs following behaviour Make：Draw when the obstacle distance value that the range sensor is sensed is changed according to time and/or the anglec of rotation Change curve；

In a kind of optional mode, program 610 can specifically be further used for so that processor 602 performs following behaviour Make：When the trough in the change curve is multiple, determined according to the collision bearing of robot between robot and barrier Position relationship；

In a kind of optional mode, program 610 can specifically be further used for so that processor 602 performs following behaviour Make：At least two crash sensor includes：Be arranged on first switch formula crash sensor inside robot crash bar with And second switch formula crash sensor；Then at least two crash sensors by being arranged on the front end of the robot are true The step of collision bearing for determining robot, specifically includes：

In a kind of optional mode：At least two crash sensor further comprises：Described first is arranged on to open At least one middle part switching regulator crash sensor between pass formula crash sensor and the second switch formula crash sensor, its In, it is spaced predetermined angle between each crash sensor.

In a kind of optional mode：The predeterminated position includes：The front end of the first round of robot, or, robot Second wheel front end.

In a kind of optional mode：Range sensor and the line of robot center and the horizontal direction of robot Between in default angle；Wherein, the default angle is 3 degree to 15 degree.

In a kind of optional mode：The default angle is 5 degree to 10 degree.

In a kind of optional mode, program 610 can specifically be further used for so that processor 602 performs following behaviour Make：The outside of the robot is further provided with resilience part；

Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein. Various general-purpose systems can also be used together with teaching based on this.As described above, required by constructing this kind of system Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that it can utilize various Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair Bright preferred forms.

In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this description.

Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect, Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor The application claims of shield features more more than the feature being expressly recited in each claim.It is more precisely, such as following Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore, Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself Separate embodiments all as the present invention.

Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power Profit requires, summary and accompanying drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation Replace.

In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments Including some features rather than further feature, but the combination of the feature of different embodiments means to be in the scope of the present invention Within and form different embodiments.For example, in the following claims, embodiment claimed it is any it One mode can use in any combination.

The all parts embodiment of the present invention can be realized with hardware, or to be run on one or more processor Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that it can use in practice Microprocessor or digital signal processor (DSP) are realized in the hit-treatment device of robot according to embodiments of the present invention Some or all parts some or all functions.The present invention is also implemented as being used to perform side as described herein The some or all equipment or program of device (for example, computer program and computer program product) of method.It is such Realizing the program of the present invention can store on a computer-readable medium, or can have the shape of one or more signal Formula.Such signal can be downloaded from internet website and obtained, and either be provided or with any other shape on carrier signal Formula provides.

It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame Claim.

Claims

1. a kind of collision processing method of robot, including：

When detecting robot and barrier collision rift, at least two collision sensings of the front end by being arranged on the robot Device determines the collision bearing of robot；

Control the robot to be moved to rotation position and start rotary motion, during rotary motion, monitoring is arranged on The situation of change for the obstacle distance value that the range sensor of the predetermined position of robot is sensed；

Work as the previous dynasty according to what the collision bearing of the situation of change of the obstacle distance value and the robot judged robot To whether being parallel to each other with the barrier；

2. according to the method for claim 1, wherein, the predeterminated position includes：The non-central location of robot, also, The direction of the range sensor and the horizontal direction of the robot are parallel to each other；Wherein, the horizontal direction of the robot Perpendicular to the current direction of the robot.

3. method according to claim 1 or 2, wherein, the distance for monitoring the predetermined position for being arranged on robot The situation of change for the obstacle distance value that sensor is sensed；According to the situation of change of the obstacle distance value and described The collision bearing of robot judges that the step of whether current direction of robot is parallel to each other with the barrier specifically includes：

Change curve corresponding to the situation of change drafting of the obstacle distance value sensed according to the range sensor, according to Trough in the change curve judges whether the current direction of robot is parallel to each other with the barrier.

4. the method according to claim 11, wherein, the obstacle distance sensed according to the range sensor Specifically included corresponding to the situation of change drafting of value the step of change curve：Draw the obstacle that the range sensor is sensed Change curve when thing distance value is changed according to time and/or the anglec of rotation；

Then the trough in the change curve judges the current towards whether mutually flat with the barrier of robot Capable step specifically includes：

Trough in the change curve is determined to make the current towards being parallel to each other with the barrier of robot Time point and/or the anglec of rotation, by robot, corresponding position is defined as parallel position at the time point and/or the anglec of rotation Put；When robot is in the parallel position, determine that the current direction of robot is parallel to each other with the barrier.

5. the method according to claim 3 or 4, wherein, the trough in the change curve judges robot It is current towards whether be parallel to each other with the barrier the step of specifically include：

When the trough in the change curve is multiple, determined according to the collision bearing of robot between robot and barrier Position relationship；

After filtering out the invalid trough included in multiple troughs according to the position relationship, effective trough, root are selected from multiple troughs Judge the current towards whether being parallel to each other with the barrier of robot according to the effective trough.

6. according to any described methods of claim 1-4, wherein, at least two crash sensor includes：It is arranged on machine First switch formula crash sensor and second switch formula crash sensor inside device people's crash bar；It is then described by being arranged on The step of at least two crash sensors of the front end of the robot determine the collision bearing of robot specifically includes：

When the first switch formula crash sensor is triggered, and the second switch formula crash sensor is not triggered, it is determined that Collision bearing is located at the orientation corresponding with the first switch formula crash sensor；

When the second switch formula crash sensor is triggered, and the first switch formula crash sensor is not triggered, it is determined that Collision bearing is located at the orientation corresponding with the second switch formula crash sensor；

When the first switch formula crash sensor is triggered, and the second switch formula crash sensor is triggered, it is determined that Collision bearing is located at the middle part of the first switch formula crash sensor and the second switch formula crash sensor.

7. a kind of hit-treatment device of robot, including：

Determining module, robot and barrier collision rift are detected suitable for working as, by being arranged on the front end of the robot extremely Few two crash sensors determine the collision bearing of robot；

Monitoring modular, suitable for during rotary motion, monitoring is arranged on the range sensor of the predetermined position of robot The situation of change of the obstacle distance value sensed；

Judge module, judge machine suitable for the situation of change according to the obstacle distance value and the collision bearing of the robot Whether the current direction of device people is parallel to each other with the barrier；

Second control module, during suitable for being when judged result, the robot is controlled to stop the rotation motion, and along the obstacle Thing is advanced.

8. a kind of robot, including the hit-treatment device of the robot described in claim 7, the default position of robot is arranged on The range sensor at place is put, and is arranged at least two crash sensors of the front end of robot.

9. a kind of electronic equipment, including：Processor, memory, communication interface and communication bus, the processor, the storage Device and the communication interface complete mutual communication by the communication bus；

The memory is used to deposit an at least executable instruction, and the executable instruction makes the computing device such as right will Ask and operated corresponding to the collision processing method of the robot any one of 1-6.

10. a kind of computer-readable storage medium, an at least executable instruction, the executable instruction are stored with the storage medium Make operation corresponding to the collision processing method of robot of the computing device as any one of claim 1-6.