CN107791251A - robot movement control method and robot - Google Patents
robot movement control method and robot Download PDFInfo
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- CN107791251A CN107791251A CN201711176408.4A CN201711176408A CN107791251A CN 107791251 A CN107791251 A CN 107791251A CN 201711176408 A CN201711176408 A CN 201711176408A CN 107791251 A CN107791251 A CN 107791251A
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- Prior art keywords
- limited area
- robot
- map
- configuration information
- terminal device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present invention is disclosed robot movement control method and robot, the described method comprises the following steps：Robot sends map to terminal device；Terminal device receives map, and limited area is set on map, and the configuration information of limited area is sent to robot；Robot receives the configuration information of limited area, and the configuration information according to limited area in moving process avoids limited area.Because limited area is set on map, therefore without additionally increasing sensor and triggering equipment accordingly, greatly reduce cost of implementation；It is very convenient quick meanwhile user can adjust limited area by terminal device on map at any time, and can be carried out by terminal device remotely located, application scenarios are extended, greatly improve flexibility.
Description
Technical field
The present invention relates to robotic technology field, especially relates to a kind of robot movement control method and robot.
Background technology
With the continuous development of science and technology, cleaning class robot product has come into huge numbers of families, and pole is brought to user
Big facility.But in family's cleaning process, due to various factors, there can be some regions user and not want to allow robot to enter
Situation.In order to solve this problem, people are not wanting to allow machine using the moving area of the method limitation robot of virtual wall
The region that people enters sets one of virtual wall as limited area so that robot can avoid limited area.
Existing virtual wall scheme all to provide certain trigger signal to realize, when clean robot receive it is this
After trigger signal, with regard to being acted accordingly, so as to avoid enter into limited area.The trigger signal generally used has：Believe in magnetic field
Number, it is used as virtual wall by laying magnetic stripe on the ground, this is most common processing mode；Infrared signal, by one or more
Individual infrared transmitting device launches infrared signal as virtual wall.
Although existing robot movement control program realizes the limitation to robot moving area, but all must volume
Outer increase sensor (such as magnetic field sensor, infrared sensor) and accordingly triggering equipment (such as magnetic stripe, infrared emitting dress
Put), considerably increase cost of implementation；Meanwhile if user needs to be adjusted limited area, just must artificially it move
Equipment is triggered, it is cumbersome, and remote control can not be carried out under such a situation, limit usage scenario.
Understand in summary, existing robot movement control program cost is higher, and flexibility is poor, and Consumer's Experience is not
It is good.
The content of the invention
The main object of the present invention is a kind of robot movement control method of offer and robot, it is intended to solves existing machine
Device people moves control program cost height, the technical problem of very flexible.
To achieve these objectives, the embodiment of the present invention proposes a kind of robot movement control method, and methods described includes following
Step：
Robot sends map to terminal device；
The terminal device receives the map, sets limited area on the map, and send to the robot
The configuration information of the limited area；
The robot receives the configuration information of the limited area, the setting according to the limited area in moving process
Confidence breath avoids the limited area.
Alternatively, described set on the map the step of limited area includes：
Markup information is generated according to user's operation on the map；
Limited area is determined according to the markup information.
Alternatively, the restriction line that the markup information is drawn between two points on the map boundary line, described
The step of determining limited area according to the markup information includes：
A region is chosen as limited area in two regions of the restriction line both sides；
Obtain the positional information of the limited area and limit configuration information of the line information as the limited area.
Alternatively, the markup information is in the closed geometry figure of the white space of map drafting, the basis
The step of markup information determines limited area includes：
Region that the closed geometry figure is limited is chosen as limited area；
Obtain the configuration information of the positional information and profile information of the limited area as the limited area.
Alternatively, the step for avoiding the limited area according to the configuration information of the limited area in moving process
Suddenly include：
Current location is obtained in moving process；
Judge whether the robot approaches the limit according to the configuration information of the current location and the limited area
Determine region；
When the robot approaches the limited area, mobile route is adjusted to avoid the limited area.
Alternatively, the step for avoiding the limited area according to the configuration information of the limited area in moving process
Suddenly include：
According to the configuration information of the limited area using the limited area as obstacle tag on map；
Current location is obtained in moving process；
Whether detect in the safe range of current location has barrier；
When there is barrier, mobile route is adjusted to avoid the limited area.
The embodiment of the present invention also proposes a kind of robot movement control method, and methods described is applied to aforementioned machines people, bag
Include following steps：
Map is sent to terminal device；
Receive the configuration information of the limited area on the map that the terminal device is sent；
The limited area is avoided according to the configuration information of the limited area in moving process.
Alternatively, the step for avoiding the limited area according to the configuration information of the limited area in moving process
Suddenly include：
Current location is obtained in moving process；
Judge whether the robot approaches the limit according to the configuration information of the current location and the limited area
Determine region；
When the robot approaches the limited area, mobile route is adjusted to avoid the limited area.
Alternatively, the step for avoiding the limited area according to the configuration information of the limited area in moving process
Suddenly include：
According to the configuration information of the limited area using the limited area as obstacle tag on map；
Current location is obtained in moving process；
Whether detect in the safe range of current location has barrier；
When there is barrier, mobile route is adjusted to avoid the limited area.
Alternatively, the configuration information of the limited area includes the positional information and profile information of the limited area.
The embodiment of the present invention proposes a kind of robot mobile control system simultaneously, and the system includes robot and terminal is set
It is standby, wherein：
The robot, for sending map to terminal device；
The terminal device, for receiving the map, limited area is set on the map, and to the robot
Send the configuration information of the limited area；
The robot is additionally operable to：The configuration information of the limited area is received, according to the restriction in moving process
The configuration information in region avoids the limited area.
Alternatively, the terminal device is used for：Markup information is generated according to user's operation on the map, according to described
Markup information determines limited area.
Alternatively, the restriction line that the markup information is drawn between two points on the map boundary line, the end
End equipment is used for：
A region is chosen as limited area in two regions of the restriction line both sides, obtains the limited area
Positional information and limit configuration information of the line information as the limited area.
Alternatively, the markup information is in the closed geometry figure of the white space of map drafting, the terminal
Equipment is used for：Region that the closed geometry figure limited is chosen as limited area, obtains the position of the limited area
The configuration information of information and profile information as the limited area.
Alternatively, the robot is used for：Current location is obtained in moving process；According to the current location and described
The configuration information of limited area judges whether the robot approaches the limited area；When the robot approaches the restriction
During region, mobile route is adjusted to avoid the limited area.
Alternatively, the robot is used for：According to the configuration information of the limited area using the limited area as barrier
Hinder substance markers on map；Current location is obtained in moving process；Whether detect in the safe range of current location has obstacle
Thing；When there is barrier, mobile route is adjusted to avoid the limited area.
The embodiment of the present invention proposes a kind of robot simultaneously, and described device is applied to aforementioned machines people, including：
Sending module, for sending map to terminal device；
Receiving module, the configuration information of the limited area on the map sent for receiving the terminal device；
Motion-control module, for avoiding the restriction area according to the configuration information of the limited area in moving process
Domain.
Alternatively, the motion-control module includes：
Positioning unit, for obtaining current location in moving process；
Judging unit, for judging that the robot is according to the configuration information of the current location and the limited area
It is no to approach the limited area；
Hide unit, for when the robot approaches the limited area, adjusting movement route to avoid the limit
Determine region.
Alternatively, the motion-control module includes：
Indexing unit, the limited area is existed as obstacle tag for the configuration information according to the limited area
On map；
Positioning unit, for obtaining current location in moving process；
Detection unit, detect in the safe range of current location whether have barrier for mould；
Hide unit, for when there is barrier, adjusting movement route to avoid the limited area.
A kind of robot movement control method that the embodiment of the present invention is provided, limit is set by terminal device on map
Determine region, and the configuration information of limited area is sent to robot so that robot can be according to restriction in moving process
The configuration information in region avoids limited area.Because limited area is set on map, therefore without additionally increase sensing
Device and equipment is triggered accordingly, greatly reduce cost of implementation；Meanwhile user can be at any time by terminal device on map
Limited area is adjusted, it is very convenient quick, and can be carried out by terminal device remotely located, application scenarios are extended, greatly
Improve flexibility.
Brief description of the drawings
Fig. 1 is the flow chart of the robot movement control method first embodiment of the present invention；
Fig. 2 is the flow chart of the robot movement control method second embodiment of the present invention；
Fig. 3 is the flow chart of the robot movement control method 3rd embodiment of the present invention；
Fig. 4 is the module diagram of the embodiment of robot mobile control system one of the present invention；
Fig. 5 is the module diagram of the embodiment of robot one of the present invention；
Fig. 6 is the module diagram of the motion-control module in Fig. 5；
Fig. 7 is the another module diagram of the motion-control module in Fig. 5.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is individual ", " described " and "the" may also comprise plural form.It is to be further understood that what is used in the specification of the present invention arranges
Diction " comprising " refer to the feature, integer, step, operation, element and/or component be present, but it is not excluded that in the presence of or addition
One or more other features, integer, step, operation, element, component and/or their groups.It should be understood that when we claim member
Part is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or wireless coupling.It is used herein to arrange
Taking leave "and/or" includes whole or any cell and all combinations of one or more associated list items.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is the general understanding identical meaning with the those of ordinary skill in art of the present invention.Should also
Understand, those terms defined in such as general dictionary, it should be understood that have with the context of prior art
The consistent meaning of meaning, and unless by specific definitions as here, idealization or the implication of overly formal otherwise will not be used
To explain.
Those skilled in the art of the present technique are appreciated that " terminal " used herein above, " terminal device " both include wireless communication
The equipment of number receiver, it only possesses the equipment of the wireless signal receiver of non-emissive ability, includes receiving again and transmitting hardware
Equipment, its have on bidirectional communication link, can perform two-way communication reception and launch hardware equipment.This equipment
It can include：Honeycomb or other communication equipments, it has single line display or multi-line display or shown without multi-line
The honeycomb of device or other communication equipments；PCS (Personal Communications Service, PCS Personal Communications System), it can
With combine voice, data processing, fax and/or its communication ability；PDA (Personal Digital Assistant, it is personal
Digital assistants), it can include radio frequency receiver, pager, the Internet/intranet access, web browser, notepad, day
Go through and/or GPS (Global Positioning System, global positioning system) receiver；Conventional laptop and/or palm
Type computer or other equipment, its have and/or the conventional laptop including radio frequency receiver and/or palmtop computer or its
His equipment." terminal " used herein above, " terminal device " they can be portable, can transport, installed in the vehicles (aviation,
Sea-freight and/or land) in, or be suitable for and/or be configured in local runtime, and/or with distribution form, operate in the earth
And/or any other position operation in space." terminal " used herein above, " terminal device " can also be communication terminal, on
Network termination, music/video playback terminal, such as can be PDA, MID (Mobile Internet Device, mobile Internet
Equipment) and/or mobile phone or the equipment such as intelligent television, set top box with music/video playing function.
Those skilled in the art of the present technique are appreciated that server used herein above, and it includes but is not limited to computer, net
The cloud that network main frame, single network server, multiple webserver collection or multiple servers are formed.Here, cloud is by based on cloud meter
The a large amount of computers or the webserver for calculating (Cloud Computing) are formed, wherein, cloud computing is the one of Distributed Calculation
Kind, a super virtual computer being made up of the computer collection of a group loose couplings.In embodiments of the invention, server,
Between terminal device and WNS servers can by any communication mode realize communicate, including but not limited to, based on 3GPP, LTE,
WIMAX mobile communication, based on TCP/IP, the computer network communication of udp protocol and based on bluetooth, Infrared Transmission standard
Low coverage wireless transmission method.
Robot described in the embodiment of the present invention, refer mainly to clean class robot, naturally it is also possible to be other types of machine
Device people, this is not limited by the present invention.
Reference picture 1, proposes the robot movement control method first embodiment of the present invention, and methods described includes following step
Suddenly：
S11, robot send map to terminal device.
Robot is surveyed by any one in the sensing equipments such as laser radar, vision sensor or at least two combination
Objective is measured, draws out the map of objective.Robot can be accessed with terminal device by wireless network (such as WIFI)
LAN or internet, and establish communication connection, now robot and terminal device with direct communication or can pass through server
Communicated；Robot can also be established by point-to-point interconnection (such as bluetooth) with terminal device and communicated to connect, this opportunity
Direct communication between device people and terminal device.After communication connection is established, robot then sends the map drawn to terminal device.
The mobile terminals or PC, notebook computer etc. such as the preferred mobile phone of the terminal device, flat board calculate
Machine terminal.
S12, terminal device receive map, limited area are set on map, and send setting for limited area to robot
Confidence ceases.
After terminal device receives map, the map is shown on screen, user can then specify on map forbids machine
The limited area that device people enters.Specifically, user is operated on map, it is standardized between two such as on map boundary line point
Bar limit line (the restriction line can not be passed through by representing robot), map white space draw closed geometry figure (represent machine
People can not enter the graphics field) etc., terminal device then generates markup information, the mark letter according to user's operation on map
Drawn between breath i.e. two borders on map limit line, map the closed geometry figure drawn of white space (such as
Rectangle, circle, triangle etc.) etc., and limited area is determined according to markup information.The limited area can be one, also may be used
With at least two.The virtual wall that aforementioned definition line, the profile of closed geometry figure are then set for User Defined.
Alternatively, when markup information is the restriction line drawn between two points on map boundary line, terminal device is first
A region is first chosen in two regions for limiting line both sides as limited area, the region for such as clicking on user, which is chosen, to be limited
Determine region, the region of the opposite side in the region that robot is currently located is chosen for limited area etc. automatically, then obtains and limits
Configuration information of the positional information and profile information in region as limited area.When robot is located just at the region of user's selection
When interior, terminal device can be reminded user, prompt user to reselect or robot is removed into the region.
The positional information includes the position coordinates of the geometric center of limited area, limits the position of line and the intersection point on border
The position coordinates of the turning point of coordinate and/or restriction line, terminal device calculate location of pixels of the limited area in map, gone forward side by side
Coordinate Conversion corresponding to row, location of pixels is transformed into the global coordinate system of robot, obtains it in global coordinate system
Position coordinates, the operation of certain Coordinate Conversion can also be carried out in robotic end.The profile information can only include limiting line
Information, the appearance profile information of whole limited area can also be included.
Alternatively, when markup information is in the closed geometry figure of the white space drafting of map, terminal device is first
Positional information and profile information of the region that selection closed geometry figure is limited as limited area, then acquisition limited area
Configuration information as limited area.In certain embodiments, terminal device can also choose the area beyond closed geometry figure
The region that user clicks on either is chosen for limited area or the region for being currently located robot by domain as limited area
Region in addition is chosen for limited area etc..The position coordinates of the geometric center of the positional information including limited area and/or
The apex coordinate of closed geometry figure, terminal device calculate location of pixels of the limited area in map, and carry out corresponding sit
Mark conversion, location of pixels is transformed into the global coordinate system of robot, obtains its position coordinates in global coordinate system, when
The operation of right Coordinate Conversion can also be carried out in robotic end.The profile information can be the appearance profile of whole limited area,
That is the profile of closed geometry figure.When closed geometry figure is the regular figures such as circle, rectangle, triangle, profile information
It can be the type of geometric figure.
S13, robot receive the configuration information of limited area, and the configuration information according to limited area in moving process is kept away
Open limited area.
In this step S13, robot receives the configuration information of limited area and stored, subsequently in moving process,
Limited area is then avoided according to the configuration information of limited area.
Alternatively, robot is real-time or timing in moving process position, and obtains the current location where oneself,
Judge whether oneself approaches limited area according to the configuration information of current location and limited area, when approaching limited area, then
Mobile route is adjusted in time to avoid limited area.
Specifically, the positional information and profile information meter of current location and limited area of the robot according to where oneself
The distance on the border of robot and limited area is calculated, judges whether the distance is less than or equal to threshold value, when less than or equal to threshold
During value, then judge oneself to approach limited area, detoured so as to adjust mobile route in time, prevent from entering the limited area.At certain
In a little embodiments, when distance is less than or equal to threshold value, robot also determines whether direction limits the moving direction of oneself
Determine region, when moving direction is towards limited area, just judge oneself to approach limited area.
Alternatively, robot according to the configuration information of limited area using limited area as obstacle tag on map,
It is real-time or timing in moving process position, obtain the current location where oneself, analog sensor detection present bit
Whether there is barrier in the safe range put, when there is barrier, adjust mobile route to avoid limited area.
Specifically, limited area is plotted on map by robot according to the positional information and profile information of limited area,
And limited area is labeled as barrier.In moving process in real time or timing position, obtain current where oneself
Position, and a kind of sensor (such as laser range sensor, infrared distance sensor) is simulated according to the map to current location
Safe range in barrier detection case, and with real sensor measurement data carry out fusion treatment, according to processing
As a result judge whether there is barrier in the safe range of current location, when there is barrier, explanation will enter limited area, then
The mobile route of adjustment in time detours, and prevents from entering the limited area.
In certain embodiments, terminal device directly can also be sent to robot by there is provided the map of limited area,
I.e. the configuration information of limited area is included in map.After robot receives map, then limited area is obtained according to the map
Configuration information.Subsequently in moving process, can also directly using this be provided with limited area map come avoid limit area
Domain.
The robot movement control method of the embodiment of the present invention, limited area is set on map by terminal device, and
The configuration information of limited area is sent to robot so that robot can be according to the setting of limited area in moving process
Information avoids limited area.Because limited area is set on map, therefore without additionally increase sensor and accordingly
Triggering equipment, greatly reduce cost of implementation；Meanwhile user can be adjusted on map by terminal device and limit area at any time
Domain, it is very convenient quick, and can be carried out by terminal device remotely located, application scenarios are extended, greatly improve spirit
Activity.
Reference picture 2, proposes the robot movement control method second embodiment of the present invention, and methods described is applied to foregoing machine
Device people, the described method comprises the following steps：
S21, to terminal device send map.
Robot can be by wireless network (such as WIFI) access to LAN or internet with terminal device, and establishes communication
Connection, now robot can be communicated with terminal device with direct communication or by server；Robot and terminal device
It can also be established and communicated to connect by point-to-point interconnection (such as bluetooth), it is now directly logical between robot and terminal device
Letter.After communication connection is established, robot then sends the map drawn to terminal device.
The configuration information for the limited area on map that S22, receiving terminal apparatus are sent.
Robot receives the configuration information of limited area, and configuration information is stored.The configuration information includes limiting
The positional information and profile information in region.
S23, the configuration information according to limited area in moving process avoid limited area.
Alternatively, robot is real-time or timing in moving process position, and obtains the current location where oneself,
Judge whether oneself approaches limited area according to the configuration information of current location and limited area, when approaching limited area, then
Mobile route is adjusted in time to avoid limited area.
Specifically, the positional information and profile information meter of current location and limited area of the robot according to where oneself
The distance on the border of robot and limited area is calculated, judges whether the distance is less than or equal to threshold value, when less than or equal to threshold
During value, then judge oneself to approach limited area, detoured so as to adjust mobile route in time, prevent from entering the limited area.At certain
In a little embodiments, when distance is less than or equal to threshold value, robot also determines whether direction limits the moving direction of oneself
Determine region, when moving direction is towards limited area, just judge oneself to approach limited area.
Alternatively, robot according to the configuration information of limited area using limited area as obstacle tag on map,
It is real-time or timing in moving process position, obtain the current location where oneself, analog sensor detection present bit
Whether there is barrier in the safe range put, when there is barrier, adjust mobile route to avoid limited area.
Specifically, limited area is plotted on map by robot according to the positional information and profile information of limited area,
And limited area is labeled as barrier.In moving process in real time or timing position, obtain current where oneself
Position, and a kind of sensor (such as laser range sensor, infrared distance sensor) is simulated according to the map to current location
Safe range in barrier detection case, and with real sensor measurement data carry out fusion treatment, according to processing
As a result judge whether there is barrier in the safe range of current location, when there is barrier, explanation will enter limited area, then
The mobile route of adjustment in time detours, and prevents from entering the limited area.
The robot movement control method of the present embodiment, map is sent to by terminal device by robot, and receives end
The configuration information for the limited area that end equipment is set on map, robot then setting according to limited area during subsequent movement
Confidence breath avoids limited area.Because limited area is set on map, therefore without additionally increasing sensor and phase
The triggering equipment answered, greatly reduces cost of implementation；Meanwhile user can adjust restriction by terminal device on map at any time
Region, it is very convenient quick, and can be carried out by terminal device remotely located, application scenarios are extended, are greatly improved
Flexibility.
Reference picture 3, proposes the robot movement control method 3rd embodiment of the present invention, and methods described is applied to foregoing end
End equipment, it the described method comprises the following steps：
S31, receive the map that machine human hair is sent.
Terminal device can be by wireless network (such as WIFI) access to LAN or internet with robot, and establishes communication
Connection, now terminal device can be communicated with robot with direct communication or by server；Terminal device and robot
It can also be established and communicated to connect by point-to-point interconnection (such as bluetooth), it is now directly logical between terminal device and robot
Letter.After communication connection is established, robot then receives the map and preserved to the map of terminal device transmission, terminal device.
S32, limited area is set on map.
Terminal device shows the map on screen, and user can then specify the restriction for forbidding robot to enter on map
Region.Specifically, user is operated on map, standardized bar limits line and (represented between two such as on map boundary line point
Robot can not pass through the restriction line), in the white space of map draw closed geometry figure (figure can not be entered by representing robot
Shape region) etc., terminal device then generates markup information according to user's operation on map, and the markup information is i.e. on map
Drawn between two borders limit line, map white space draw closed geometry figure (such as rectangle, circle, triangle
Shape etc.) etc., and limited area is determined according to markup information.The limited area can be one, can also at least two.
Alternatively, when markup information is the restriction line drawn between two points on map boundary line, terminal device is first
A region is first chosen in two regions for limiting line both sides as limited area, the region for such as clicking on user, which is chosen, to be limited
Determine region, the region of the opposite side in the region that robot is currently located is chosen for limited area etc. automatically, then obtains and limits
Configuration information of the positional information and profile information in region as limited area.
The positional information includes the position coordinates of the geometric center of limited area, limits the position of line and the intersection point on border
The position coordinates of the turning point of coordinate and/or restriction line, terminal device calculate location of pixels of the limited area in map, gone forward side by side
Coordinate Conversion corresponding to row, location of pixels is transformed into the global coordinate system of robot, obtains it in global coordinate system
Position coordinates.The profile information can only include limiting line information, and the appearance profile that can also include whole limited area is believed
Breath.
Alternatively, when markup information is in the closed geometry figure of the white space drafting of map, terminal device is first
Positional information and profile information of the region that selection closed geometry figure is limited as limited area, then acquisition limited area
Configuration information as limited area.In certain embodiments, terminal device can also choose the area beyond closed geometry figure
The region that user clicks on either is chosen for limited area or the region for being currently located robot by domain as limited area
Region in addition is chosen for limited area etc..
The summit of position coordinates and/or closed geometry figure that the positional information includes the geometric center of limited area is sat
Mark, terminal device calculate location of pixels of the limited area in map, and Coordinate Conversion corresponding to progress, location of pixels are changed
Into the global coordinate system of robot, its position coordinates in global coordinate system is obtained.The profile information can be whole limit
Determine the profile of the appearance profile in region, i.e. closed geometry figure.When closed geometry figure is the rules such as circle, rectangle, triangle
During figure, profile information can also be the type of geometric figure.
S33, the configuration information to robot transmission limited area.
The positional information of limited area is transmitted directly to robot or is sent to robot by server by terminal device.
In certain embodiments, terminal device directly can also be sent to robot by there is provided the map of limited area,
I.e. the configuration information of limited area is included in map.
The robot movement control method of the present embodiment, limited area is set on map by terminal device, and will limit
The configuration information for determining region is sent to robot so that robot can be according to the configuration information of limited area in moving process
Avoid limited area.Because limited area is set on map, therefore without additionally increasing sensor and touching accordingly
Equipment is sent out, greatly reduces cost of implementation；Meanwhile user can adjust limited area by terminal device on map at any time,
It is very convenient quick, and can be carried out by terminal device remotely located, application scenarios are extended, are greatly improved flexibly
Property.
Limited area is avoided according to the configuration information of limited area.Because limited area is set on map, therefore
Without additionally increasing sensor and triggering equipment accordingly, cost of implementation is greatly reduced；Meanwhile user can pass through at any time
Terminal device adjusts limited area on map, very convenient quick, and remotely located, extension can be carried out by terminal device
Application scenarios, greatly improve flexibility.
Reference picture 4, proposes the embodiment of 10 mobile control system of robot one of the present invention, and the system includes robot 10
With terminal device 20, wherein：Robot 10 is used to send map to terminal device 20；Terminal device 20 is used to receive the map,
Limited area is set on this map, and the configuration information of limited area is sent to robot 10；Robot 10 is additionally operable to receive
The configuration information of limited area, the configuration information according to limited area in moving process avoid limited area.
Robot 10 can be by wireless network (such as WIFI) access to LAN or internet with terminal device 20, and establishes
Communication connection, now robot 10 can be communicated with terminal device 20 with direct communication or by server；Robot 10
It can also be established and communicated to connect by point-to-point interconnection (such as bluetooth) with terminal device 20, now robot 10 is set with terminal
Direct communication between standby 20.Mobile terminal or PC, the notes such as the 20 preferred mobile phone of terminal device, flat board
The terminals such as this computer.
After communication connection is established, robot 10 then sends the map drawn to terminal device 20.
After terminal device 20 receives map, the map is shown on screen, user can then specify on map to be forbidden
The limited area that robot 10 enters.Specifically, user is operated on map, between two such as on map boundary line point
Standardized bar limits line (the restriction line can not be passed through by representing robot 10), the white space picture closed geometry figure (generation in map
Table robot 10 can not enter the graphics field) etc., terminal device 20 then generates markup information according to user's operation on map,
The markup information be draw between two borders on map limit line, map the closing drawn of white space it is several
What figure (such as rectangle, circle, triangle) etc., and limited area is determined according to markup information.The limited area can be
One, can also at least two.
Alternatively, when markup information is the restriction line drawn between two points on map boundary line, terminal device 20
A region is chosen in two regions for limiting line both sides first as limited area, is such as chosen for the region that user clicks on
Limited area, the region of opposite side in the region for being currently located robot 10 are chosen for limited area etc., then obtain and limit
Configuration information of the positional information and profile information in region as limited area.
The positional information includes the position coordinates of the geometric center of limited area, limits the position of line and the intersection point on border
The position coordinates of the turning point of coordinate and/or restriction line, terminal device 20 calculate location of pixels of the limited area in map, and
Coordinate Conversion corresponding to progress, location of pixels is transformed into the global coordinate system of robot 10, obtains it in global coordinate system
In position coordinates.The profile information can only include limiting line information, can also include the profile wheel of whole limited area
Wide information.
Alternatively, when markup information is in the closed geometry figure of the white space drafting of map, terminal device 20 is first
As limited area, the positional information and profile for then obtaining limited area are believed in the region that first selection closed geometry figure is limited
Cease the configuration information as limited area.In certain embodiments, terminal device 20 can also be chosen beyond closed geometry figure
Region as limited area, the region that user clicks on either is chosen for limited area or is currently located robot 10
Region beyond region be chosen for limited area etc..
The summit of position coordinates and/or closed geometry figure that the positional information includes the geometric center of limited area is sat
Mark, terminal device 20 calculate location of pixels of the limited area in map, and Coordinate Conversion corresponding to progress, location of pixels are turned
Change in the global coordinate system of robot 10, obtain its position coordinates in global coordinate system.The profile information can be whole
The profile of the appearance profile of individual limited area, i.e. closed geometry figure.When closed geometry figure is circle, rectangle, triangle etc.
During regular figure, profile information can also be the type of geometric figure.
Robot 10 receives the configuration information of limited area and stored, subsequently in moving process, then according to restriction
The configuration information in region avoids limited area.
Alternatively, robot 10 is real-time or timing in moving process position, and obtains the present bit where oneself
Put, judge whether oneself approaches limited area according to the configuration information of current location and limited area, when approaching limited area,
Mobile route is then adjusted in time to avoid limited area.
Specifically, the positional information and profile information of current location and limited area of the robot 10 according to where oneself
The distance on the border of robot 10 and limited area is calculated, judges whether the distance is less than or equal to threshold value, when being less than or wait
When threshold value, then judge oneself to approach limited area, detoured so as to adjust mobile route in time, prevent from entering the limited area.
In certain embodiments, when distance is less than or equal to threshold value, whether robot 10 also determines whether the moving direction of oneself
Towards limited area, when moving direction is towards limited area, just judge oneself to approach limited area.
Alternatively, robot 10 according to the configuration information of limited area using limited area as obstacle tag in map
On, it is real-time or timing in moving process position, the current location where oneself is obtained, analog sensor detection is current
Whether there is barrier in the safe range of position, when there is barrier, adjust mobile route to avoid limited area.
Specifically, limited area is plotted in map by robot 10 according to the positional information and profile information of limited area
On, and limited area is labeled as barrier.In moving process in real time or timing position, working as where oneself is obtained
Front position, and a kind of sensor (such as laser range sensor, infrared distance sensor) is simulated according to the map to present bit
The detection case for the barrier in safe range put, and fusion treatment is carried out with real sensor measurement data, according to place
Reason result judges whether there is barrier in the safe range of current location, and when there is barrier, explanation will enter limited area,
Then the mobile route of adjustment in time detours, and prevents from entering the limited area.
In certain embodiments, terminal device 20 directly can also be sent to robot by there is provided the map of limited area
10, i.e. the configuration information of limited area is included in map.After robot 10 receives map, then obtained and limited according to the map
The configuration information in region.Subsequently in moving process, the map that limited area can also be directly provided with using this is avoided limiting
Determine region.
The mobile control system of robot 10 of the embodiment of the present invention, set by terminal device 20 on map and limit area
Domain, and the configuration information of limited area is sent to robot 10 so that robot 10 can be according to restriction in moving process
The configuration information in region avoids limited area.Because limited area is set on map, therefore without additionally increase sensing
Device and equipment is triggered accordingly, greatly reduce cost of implementation；Meanwhile user can be at any time by terminal device 20 in map
Upper adjustment limited area, it is very convenient quick, and can be carried out by terminal device 20 remotely located, application scenarios are extended,
Greatly improve flexibility.
Reference picture 5, proposes the embodiment of robot one of the present invention, and the robot includes sending module 100, receiving module
200 and motion-control module 300, wherein：Sending module 100, for sending map to terminal device；Receiving module 200, is used for
The configuration information for the limited area on map that receiving terminal apparatus is sent；Motion-control module 300, in moving process
Limited area is avoided according to the configuration information of limited area.
Alternatively, motion-control module 300 is as shown in fig. 6, including positioning unit 310, judging unit 320 and hide unit
330, wherein：Positioning unit 310, it is current where oneself in real time or timing position, being obtained in moving process
Position；Judging unit 320, area is limited for judging whether robot approaches according to the configuration information of current location and limited area
Domain；Hide unit 330, for when robot approaches limited area, adjusting movement route to avoid limited area.
The positional information and profile information meter of current location and limited area of the judging unit 320 according to where robot
The distance on the border of robot and limited area is calculated, judges whether the distance is less than or equal to threshold value, when less than or equal to threshold
During value, then judge that robot approaches limited area, hiding unit 330, then the mobile route of adjustment in time detours, and prevents from entering the limit
Determine region.In certain embodiments, when distance is less than or equal to threshold value, judging unit 320 also determines whether the shifting of oneself
Whether dynamic direction, when moving direction is towards limited area, just judges oneself to approach limited area towards limited area.
Alternatively, motion-control module 300 is as shown in fig. 7, comprises indexing unit 340, positioning unit 310, detection unit
350 and hide unit 330, wherein：Indexing unit 340, for the configuration information according to limited area using limited area as barrier
Hinder substance markers on map；Positioning unit 310, for real-time or timing in moving process position, obtain oneself institute
Current location；Detection unit 350, detect in the safe range of current location whether have barrier for analog sensor；
Hide unit 330, for when there is barrier, adjusting movement route to avoid limited area.
Specifically, limited area is plotted in ground by indexing unit 340 according to the positional information and profile information of limited area
On figure, and limited area is labeled as barrier.Positioning unit 310 is in real time in moving process or timing position, and obtains
The current location being derived from where oneself, detection unit 350 simulate a kind of sensor (such as distance measuring sensor) to current according to the map
The detection case of barrier in the safe range of position, and fusion treatment is carried out with real sensor measurement data, according to
Result judges whether there is barrier in the safe range of current location, and when there is barrier, explanation, which will enter, limits area
Domain, hiding unit 330, then the mobile route of adjustment in time detours, and prevents from entering the limited area.
In certain embodiments, terminal device directly can also be sent to robot by there is provided the map of limited area,
I.e. the configuration information of limited area is included in map.After receiving module 200 receives map, then obtained and limited according to the map
The configuration information in region.Subsequently in moving process, motion-control module 300 directly utilization can also should be provided with limited area
Map avoid limited area.
The robot of the embodiment of the present invention, by the way that map is sent into terminal device, and receiving terminal apparatus is on map
The configuration information of the limited area of setting so that robot can be according to the configuration information of limited area during subsequent movement
Avoid limited area.Because limited area is set on map, therefore without additionally increasing sensor and touching accordingly
Equipment is sent out, greatly reduces cost of implementation；Meanwhile user can adjust limited area by terminal device on map at any time,
It is very convenient quick, and can be carried out by terminal device remotely located, application scenarios are extended, are greatly improved flexibly
Property.
Present situation of the embodiment of the present invention based on current virtual wall scheme, it is contemplated that mobile terminal (such as mobile phone, tablet personal computer
Deng) greatly popularized, and most of cleaning class robot has been provided with carrying out the work(of data interaction with mobile terminal
Can, a kind of method that limited area (virtual wall) is set for cleaning class robot by terminal devices such as mobile terminals is proposed, can
The production cost of cleaning class robot is reduced, and provides the user a kind of flexible set-up mode of limited area (virtual wall),
It can carry out whenever and wherever possible remotely located.
It will be understood by those skilled in the art that the present invention includes being related to for performing one in operation described herein
Or multinomial equipment.These equipment can specially be designed and manufactured for required purpose, or can also include general-purpose computations
Known device in machine.These equipment have the computer program being stored in it, and these computer programs optionally activate
Or reconstruct.Such computer program, which can be stored in equipment (for example, computer) computer-readable recording medium or be stored in, to be suitable to
Storage e-command is simultaneously coupled in any kind of medium of bus respectively, and the computer-readable medium includes but is not limited to
Any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, it is read-only to deposit
Reservoir), RAM (Random Access Memory, random access memory), EPROM (Erasable Programmable Read-
Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable Programmable
Read-Only Memory, EEPROM), flash memory, magnetic card or light card.It is it is, readable
Medium includes any medium for storing or transmitting information in the form of it can read by equipment (for example, computer).
Those skilled in the art of the present technique be appreciated that can with computer program instructions come realize these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology is led
Field technique personnel be appreciated that these computer program instructions can be supplied to all-purpose computer, special purpose computer or other
The processor of programmable data processing method is realized, so as to pass through the processing of computer or other programmable data processing methods
Device performs the scheme specified in the frame of structure chart and/or block diagram and/or flow graph disclosed by the invention or multiple frames.
Those skilled in the art of the present technique are appreciated that in the various operations discussed in the present invention, method, flow
Step, measure, scheme can be replaced, changed, combined or deleted.Further, it is each with having been discussed in the present invention
Kind operation, method, other steps in flow, measure, scheme can also be replaced, changed, reset, decomposed, combined or deleted.
Further, it is of the prior art to have and the step in the various operations disclosed in the present invention, method, flow, measure, scheme
It can also be replaced, changed, reset, decomposed, combined or deleted.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of robot movement control method, it is characterised in that comprise the following steps：
Robot sends map to terminal device；
The terminal device receives the map, sets limited area on the map, and to described in robot transmission
The configuration information of limited area；
The robot receives the configuration information of the limited area, is believed in moving process according to the setting of the limited area
Breath avoids the limited area.
2. robot movement control method according to claim 1, it is characterised in that described that limit is set on the map
The step of determining region includes：
Markup information is generated according to user's operation on the map；
Limited area is determined according to the markup information.
A kind of 3. robot movement control method, it is characterised in that including：
Map is sent to terminal device；
Receive the configuration information of the limited area on the map that the terminal device is sent；
The limited area is avoided according to the configuration information of the limited area in moving process.
4. robot movement control method according to claim 3, it is characterised in that it is described in moving process according to institute
Stating the step of the configuration information of limited area avoids the limited area includes：
Current location is obtained in moving process；
Judge whether the robot approaches the restriction area according to the configuration information of the current location and the limited area
Domain；
When the robot approaches the limited area, mobile route is adjusted to avoid the limited area.
5. robot movement control method according to claim 3, it is characterised in that it is described in moving process according to institute
Stating the step of the configuration information of limited area avoids the limited area includes：
According to the configuration information of the limited area using the limited area as obstacle tag on map；
Current location is obtained in moving process；
Whether detect in the safe range of current location has barrier；
When there is barrier, mobile route is adjusted to avoid the limited area.
6. according to the robot movement control method described in claim any one of 3-5, it is characterised in that the limited area
Configuration information includes the positional information and profile information of the limited area.
A kind of 7. robot, it is characterised in that including：
Sending module, for sending map to terminal device；
Receiving module, the configuration information of the limited area on the map sent for receiving the terminal device；
Motion-control module, for avoiding the limited area according to the configuration information of the limited area in moving process.
8. robot according to claim 7, it is characterised in that the motion-control module includes：
Positioning unit, for obtaining current location in moving process；
Judging unit, for judging whether the robot forces according to the configuration information of the current location and the limited area
The nearly limited area；
Hide unit, for when the robot approaches the limited area, adjusting movement route to avoid the restriction area
Domain.
9. robot according to claim 7, it is characterised in that the motion-control module includes：
Indexing unit, for the configuration information according to the limited area using the limited area as obstacle tag in map
On；
Positioning unit, for obtaining current location in moving process；
Detection unit, whether there is barrier in the safe range for detecting current location；
Hide unit, for when there is barrier, adjusting movement route to avoid the limited area.
10. according to the robot described in claim any one of 7-9, it is characterised in that the configuration information bag of the limited area
Include the positional information and profile information of the limited area.
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| CN201711176408.4A CN107791251A (en) | 2017-11-22 | 2017-11-22 | robot movement control method and robot |
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| CN201711176408.4A CN107791251A (en) | 2017-11-22 | 2017-11-22 | robot movement control method and robot |
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| WO2019210566A1 (en) * | 2018-05-04 | 2019-11-07 | 深圳市沃特沃德股份有限公司 | Control method and system for robotic vacuum cleaner |
| CN110428423A (en) * | 2019-06-25 | 2019-11-08 | 深圳乐动机器人有限公司 | A kind of terrain feature edit method, editing equipment and editing system |
| CN111265151A (en) * | 2018-12-05 | 2020-06-12 | 科沃斯机器人股份有限公司 | Robot control method, device and storage medium |
| CN113467452A (en) * | 2021-07-02 | 2021-10-01 | 追觅创新科技(苏州)有限公司 | Avoidance method and device for mobile robot, storage medium, and electronic device |
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