CN107977001A - A kind of robot and its air navigation aid, system, equipment - Google Patents
A kind of robot and its air navigation aid, system, equipment Download PDFInfo
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- CN107977001A CN107977001A CN201711183575.1A CN201711183575A CN107977001A CN 107977001 A CN107977001 A CN 107977001A CN 201711183575 A CN201711183575 A CN 201711183575A CN 107977001 A CN107977001 A CN 107977001A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
This application discloses a kind of robot and its air navigation aid, system, equipment, this method to include：When the edge of robot along support object moves, the positional information that first position sensor group detects is obtained in real time, obtains the first real-time position information；Wherein, on the first position sensor group is placed on the outside of a crawler body shortest with the Edge Distance for the robot；The speed of the robot left track and the speed of right side track are determined respectively, obtains left side speed and right side speed, and the real-time transversal displacement of the robot is determined according to the speed difference between left side speed and right side speed and corresponding shift time section；According to real-time transversal displacement and the first real-time position information, the robot is controlled to carry out corresponding offset operation, so that the first real-time position information is edge position information corresponding with the edge after offset every time.The application can cause robot to carry out navigation walking on the body surface of no frame.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot and its air navigation aid, system, equipment.
Background technology
Currently, robot industry development is swift and violent, and more and more robot kinds, which are developed, to be produced, and is applied to
Industry-by-industry, specific boundless application prospect.
Need to be applied to clean target object now with many robots, repair etc. in operating environment.Work as machine
People is needed when being moved on above-mentioned target object, it usually needs is navigated by means of the frame of target object.It is for example, traditional
Photovoltaic cleaning robot to conventional photovoltaic array when carrying out washing and cleaning operation, it is necessary to which the frame for relying on conventional photovoltaic array is walked.
However, under many circumstances, wait on the object of robot cleaning or maintenance and do not have frame, in such case
Under, how to allow robot to carry out navigation walking on a surface of an and become for a unusual stubborn problem.For example, current
Field of photovoltaic power generation in, the photovoltaic array (double glass photovoltaic arrays) based on double glazing component be in following photovoltaic art very
Important Novel photovoltaic array structure, is no frame on the photovoltaic array of this structure, at this time conventional photovoltaic cleaning robot
People just can not carry out navigation in this photovoltaic array and walk.
The content of the invention
In view of this, it is an object of the invention to provide a kind of robot and its air navigation aid, system, equipment, can make
Obtain robot and navigation walking is carried out on the body surface of no frame.Its concrete scheme is as follows：
In a first aspect, the invention discloses a kind of robot navigation method, including：
When the edge of robot along support object moves, the position that first position sensor group detects is obtained in real time
Information, obtains the first real-time position information；Wherein, the first position sensor group is being placed in the robot with the side
Edge is on shortest crawler body outside；
The speed of the robot left track and the speed of right side track are determined respectively, obtain left side speed and right side speed
Spend, and the reality of the robot is determined according to the speed difference between left side speed and right side speed and corresponding shift time section
When transversal displacement；
According to real-time transversal displacement and the first real-time position information, the robot is controlled to carry out corresponding offset behaviour
Make, so that the first real-time position information is edge position information corresponding with the edge after offset every time.
Optionally, it is equipped with the first range sensor group on two outsides of the robot crawler body.
Optionally, the first position sensor group includes a position sensor or multiple position sensors；
Wherein, the multiple position sensor is distributed on the straight line parallel with the crawler body side of the robot.
Optionally, the speed difference according between left side speed and right side speed and corresponding shift time section determine
The step of real-time transversal displacement of the robot, including：
The difference between left side speed and right side speed is calculated, obtains both sides speed difference；
Real time offset angle is determined using both sides speed difference；
Using real time offset angle and in the shift time section corresponding to real time offset angle before the robot
Into distance, corresponding real-time transversal displacement is determined.
Optionally, the real-time transversal displacement of the basis and the first real-time position information, control the robot to carry out phase
The offset operation answered, so that the first real-time position information is edge position information corresponding with the edge after offset every time
Step, including：
When the external location information that the first real-time position information is the edge, and current transversal displacement in real time is more than
Default bias amount threshold value, then control the robot to carry out offset operation inwardly, until the first real-time position information is changed into institute
State the corresponding edge position information in edge；
When the internal location informa that the first real-time position information is the edge, and current transversal displacement in real time is more than
Default bias amount threshold value, then control the robot to carry out offset operation laterally, until the first real-time position information is changed into institute
State the corresponding edge position information in edge.
Optionally, the robot navigation method, further includes：
The robot is utilized respectively to be placed in the second place sensor group of front end in advance and be placed in rear end in advance
The third place sensor group come detect it is described support object edge；
When any sensor group in the second place sensor group and the third place sensor group detects institute
The edge of support object is stated, then controls the robot to carry out being moved away from marginal operation.
Optionally, any sensor worked as in the second place sensor group and the third place sensor group
Group detects the edge of the support object, then the step of controlling the robot to carry out being moved away from marginal operation, including：
When any sensor group in the second place sensor group and the third place sensor group detects institute
The edge of support object is stated, then the edge is determined as object edge, and controls the robot to carry out being moved away from edge behaviour in real time
Make, so that the front end of the robot is kept towards with the line segment extending direction in the object edge after being moved away from edge
Unanimously, and ensure during marginal operation is moved away from, when the second place sensor group detects the side of the support object
Edge, then drive the robot to be moved rearwards, when the third place sensor group detect it is described support object edge, then
The robot is driven to move forward.
Optionally, the robot navigation method, further includes：
After edge is moved away from, judge whether the location of presently described robot is that standard starts position, if
It is then to start the robot to continue on the edge movement of support object, if it is not, then being carried out to the position of the robot
Fine setting, until the position of the robot starts position for standard；
Wherein, when the robot, which is in the standard, starts position, the first position sensor group and described the
Three position sensor groups detect the edge of the support object.
Second aspect, the invention discloses a kind of Algorithms of Robots Navigation System, including：
Position information acquisition module, for when edge of the robot along support object moves, obtaining first in real time
The positional information that sensor group detects is put, obtains the first real-time position information；Wherein, the first position sensor group placement
In on robot crawler body outside shortest with the Edge Distance；
Offset determination module, for determining the speed of the robot left track and the speed of right side track respectively,
Left side speed and right side speed are obtained, and according to the speed difference between left side speed and right side speed and corresponding shift time
Section determines the real-time transversal displacement of the robot；
Control module is deviated, for according to real-time transversal displacement and the first real-time position information, controlling the robot
Corresponding offset operation is carried out, so that the first real-time position information is marginal position corresponding with the edge after offset every time
Information.
The third aspect, the invention discloses a kind of robot navigation's equipment, including first position sensor group, memory and
Processor；Wherein, the processor realizes following steps by performing the computer program being stored in the memory：
When the edge of robot along support object moves, the position that first position sensor group detects is obtained in real time
Information, obtains the first real-time position information；Wherein, the first position sensor group is being placed in the robot with the side
Edge is on shortest crawler body outside；
The speed of the robot left track and the speed of right side track are determined respectively, obtain left side speed and right side speed
Spend, and the reality of the robot is determined according to the speed difference between left side speed and right side speed and corresponding shift time section
When transversal displacement；
According to real-time transversal displacement and the first real-time position information, the robot is controlled to carry out corresponding offset behaviour
Make, so that the first real-time position information is edge position information corresponding with the edge after offset every time.
Fourth aspect, the invention discloses a kind of robot, including foregoing disclosed robot navigation's equipment.
As it can be seen that the present invention has disposed a position on the outside of a nearest crawler body of the edge of distance support object in advance
Sensor group is put, when the edge of robot along support object moves, can be obtained accordingly by above-mentioned position sensor group
Real-time position information, in addition, the present invention, also during robot moves, the speed by left track and right side track is true
Make the real-time transversal displacement of robot；Then above-mentioned real-time position information and real-time transversal displacement are utilized, to machine
People carries out corresponding offset control, and so that above-mentioned real-time position information is margin location corresponding with above-mentioned edge after offset every time
Confidence cease, so can so that robot during being moved along edge, robot can either reach the side of supporting surface
Operation is carried out at edge, and can avoid slipping from the edge of supporting surface and drop, that is, so that robot is in no frame
Body surface on carry out navigation walking.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of robot navigation method flow chart disclosed by the embodiments of the present invention；
Fig. 2 determines schematic diagram for a kind of transversal displacement in real time disclosed by the embodiments of the present invention；
Fig. 3 is a kind of robot navigation method sub-process figure disclosed by the embodiments of the present invention；
Fig. 4 is a kind of specific robot navigation method application schematic diagram disclosed by the embodiments of the present invention；
Fig. 5 is a kind of specific robot navigation method schematic diagram disclosed by the embodiments of the present invention；
Fig. 6 is a kind of Algorithms of Robots Navigation System structure diagram disclosed by the embodiments of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Shown in Figure 1 the embodiment of the invention discloses a kind of robot navigation method, this method includes：
Step S11：When the edge of robot along support object moves, the detection of first position sensor group is obtained in real time
The positional information arrived, obtains the first real-time position information；Wherein, the first position sensor group is placed in the robot
On on the outside of a crawler body shortest with the Edge Distance.
It is understood that if robot is only along clockwise or only along counterclockwise in the edge progress of support object
When mobile, then the present embodiment only can be equipped with the first distance on the outside of a robot crawler body shortest with Edge Distance
Sensor group.Certainly, if robot both may along clockwise may also along counterclockwise support object edge carry out
When mobile, then current embodiment require that being equipped with the first range sensor group on two outsides of robot crawler body.
In the present embodiment, the real-time position information that first position sensor group detects can be specifically support target edges
External location information or internal location informa.The real-time position information detected by first position sensor group, can be true
Make whether first position sensor group is the outside edges region for being located at support object, or in the edge of support object
Portion region.
In addition, it is necessary to, it is noted that in the present embodiment, a position can be only included in above-mentioned first position sensor group
Sensor, then can be straight when the real-time position information that the position sensor detects to support the external location information of target edges
Connect and judge that first position sensor group positioned at the outside edges region of support object, similarly, is detected when the position sensor
Real-time position information is the internal location informa of support target edges, then can directly judge first position sensor group positioned at support
The edge interior zone of object.
Certainly, in order to lift navigation accuracy, error situation is reduced, can be with the first position sensor group in the present embodiment
Including multiple position sensors, also, above-mentioned multiple position sensors can be distributed in and be put down with the crawler body side of robot
On capable straight line, naturally it is also possible to need to carry out above-mentioned multiple position sensors on the outside of crawler body according to practical application
Rational distribution.
In the present embodiment, when when first position, sensor group includes multiple position sensors, it can get corresponding
Multigroup real-time position information, in above-mentioned multigroup real-time position information, if real-time position information is the outer of support target edges
The group number of portion's positional information is more than the half of total group number, then can be determined that first position sensor group positioned at the edge of support object
Perimeter, if real-time position information is greater than or equal to total group number for the group number of the internal location informa of support target edges
Half, then can be determined that edge interior zone of the first position sensor group positioned at support object.
In addition, the position sensor in the present embodiment can be range sensor or Boolean value output sensor, including
But it is not limited to ultrasonic distance sensor, close switch, optoelectronic switch and 3D laser radars.
It is further noted that the supporting surface that object is supported in the present embodiment can be that plane can also be curved surface,
Either rectangular surfaces or the irregular face of rule, do not limit it more specifically herein.
Step S12：The speed of robot left track and the speed of right side track are determined respectively, obtain left side speed and the right side
Side speed, and determine according to the speed difference between left side speed and right side speed and corresponding shift time section the reality of robot
When transversal displacement.
It is above-mentioned to determine robot along on the left of when supporting the edge of object to move respectively in a kind of embodiment
The speed of moving parts and the speed of right side moving parts, obtain left side speed and the step of the speed of right side, can include：
When robot moves at the edge along support object, left track formula moving parts and the right side are gathered in real time respectively
The rotating speed of driving wheel on the crawler-type mobile component of side, obtains the first rotating speed and the second rotating speed；Respectively according to the first rotating speed and
Two rotating speeds, determine the linear velocity of corresponding crawler-type mobile component, obtain left side speed and right side speed.
It is shown in Figure 2 in a kind of embodiment, it is above-mentioned that the machine is determined according to left side speed and right side speed
The step of real-time transversal displacement of device people, including：
The difference between left side speed and right side speed is calculated, obtains both sides speed difference；Determined using both sides speed difference
Real time offset angle, θ；Utilize real time offset angle, θ and the machine in the shift time section corresponding to real time offset angle, θ
The forward travel distance of device people, determines corresponding real-time transversal displacement.
Step S13：According to real-time transversal displacement and the first real-time position information, the robot is controlled to carry out corresponding
Offset operation, so that the first real-time position information is edge position information corresponding with the edge after offset every time.
In a kind of embodiment, the real-time transversal displacement of above-mentioned basis and the first real-time position information, control machine
Device people carries out corresponding offset operation, so that the first real-time position information is marginal position corresponding with edge after offset every time
The step of information, including：
When the external location information that the first real-time position information is edge, and current transversal displacement in real time is more than default
Offset threshold value, then control robot to carry out offset operation inwardly, and until the first real-time position information, to be changed into edge corresponding
Edge position information；When the internal location informa that the first real-time position information is edge, and current transversal displacement in real time is big
In default bias amount threshold value, then robot is controlled to carry out offset operation laterally, until the first real-time position information is changed into edge
Corresponding edge position information.
As it can be seen that the present invention has disposed a position on the outside of a nearest crawler body of the edge of distance support object in advance
Sensor group is put, when the edge of robot along support object moves, can be obtained accordingly by above-mentioned position sensor group
Real-time position information, in addition, the present invention, also during robot moves, the speed by left track and right side track is true
Make the real-time transversal displacement of robot；Then above-mentioned real-time position information and real-time transversal displacement are utilized, to machine
People carries out corresponding offset control, and so that above-mentioned real-time position information is margin location corresponding with above-mentioned edge after offset every time
Confidence ceases.So can so that robot during being moved along edge, robot can either reach the side of supporting surface
Operation is carried out at edge, and can avoid slipping from the edge of supporting surface and drop, that is, so that robot is in no frame
Body surface on carry out navigation walking.
On the basis of previous embodiment, the embodiment of the present invention has made further optimization and explanation.Specifically：
Shown in Figure 3, the robot navigation method in the present embodiment, can also include：
Step S21：Be utilized respectively robot be placed in advance front end second place sensor group and in advance be placed in after
The third place sensor group at end supports the edge of object to detect；
Step S22：When any sensor group in second place sensor group and the third place sensor group detects branch
The edge of object is supportted, then controls robot to carry out being moved away from marginal operation.
It is understood that the second place sensor group and the third place sensor group in the present embodiment can be wrapped only
A position sensor is included, if the position sensor detects the edge of support object, can directly judge corresponding position
Put the edge that sensor group has detected support object.Certainly, in order to lift detection accuracy, they can also include multiple positions
Sensor is put, in addition, if said second position sensor group or the third place sensor group include multiple position sensors,
In this case, for any position sensor group, if detecting the sensor number of support target edges in the sensor group
Amount reaches predetermined threshold value, then can determine that the sensor group has detected the edge of support object, otherwise judge the sensor group also
Do not detect the edge of support object.In order to improve the security of robot, avoid robot from slipping and drop, can will be above-mentioned pre-
If threshold value is set as smaller numerical value as far as possible, such as is set to 1.
In the present embodiment, the above-mentioned any sensor group worked as in second place sensor group and the third place sensor group is visited
The step of measuring the edge of support object, then controlling robot to carry out being moved away from marginal operation, can specifically include：
When any sensor group in second place sensor group and the third place sensor group detects support object
Edge, then be determined as object edge by the edge, and real time control machine device people carries out being moved away from marginal operation, so that being moved away from edge
After robot front end towards being consistent with the line segment extending direction in object edge, and ensure be moved away from marginal operation
During, when the second place, sensor group detects the edge of support object, then drives robot to be moved rearwards, work as the third place
Sensor group detects the edge of support object, then drives robot to move forward.
Further, the robot navigation method in the present embodiment, can also include：
After edge is moved away from, judge whether the location of current robot is that standard starts position, if it is,
Start the edge movement that robot continues on support object, if it is not, then being finely adjusted to the position of robot, until machine
The position of people starts position for standard；
Wherein, when robot, which is in standard, starts position, first position sensor group and the third place sensor group are equal
Detect the edge of support object.
Above-mentioned robot navigation method is illustrated by taking the robot shown in Fig. 4 as an example below.In Fig. 4, support
Object is double glass photovoltaic arrays, and robot is equipped with the first range sensor close to the side of double glass photovoltaic array left side edges
Group A1, the side away from double glass photovoltaic array left side edges of robot are equipped with the first range sensor group A2, robot
Head is equipped with second distance sensor group M, and the afterbody of robot is equipped with the 3rd range sensor group N.In addition, the left side of robot
Crawler belt is equipped with the speedometer B1 for being used for detecting left track driving wheel speed, and the right side track of robot, which is equipped with, to be used to detect
Right side track drives the speedometer B2 of wheel speed.
As shown in Figure 2 and Figure 4, position sensor is located at double glass photovoltaic array adjacent edges；Detected by speedometer clear
The track drive wheel speed of robot both sides is washed, crawler belt linear velocity can be obtained by the rotating speed, due to the turning of crawler body
Special mechanism：Differential is turned, namely when crawler belt both sides linear velocity is different, crawler body mode deflects, deflection angle and crawler belt
Both sides speed difference is linearly proportional.Continuously collected by the control system of cleaning robot and driven by the crawler belt of velocity feedback
Turn speed, that is, obtain crawler belt linear velocity, can obtain the attitudes vibration that cleaning robot compares time t in time t+t0 at any time,
That is the angle, θ and velocity variations of cleaning robot, speed refer to travel speed, and angle refers to current location cleaning robot central axes phase
Than previous moment cleaning robot central axes angle, it is known that the time difference t0 at two moment, can draw angle, θ by algorithm
Occurrence and in this time difference t0, displacement distance of the cleaning robot on direction of advance y can be with by trigonometric function relation
Calculate lateral shift distance of the cleaning robot in x directions.After knowing these data, the controller of cleaning robot can be defeated
Go out correction instruction, adjustment cleaning robot is deflected with reasonable time to opposite direction at an appropriate angle, to obtain precisely correction
Purpose.By controlling the size of assay intervals time t0 value, the precision of correction can be provided.
In addition, when robot moves forward at the edge of double glass photovoltaic arrays, if the position sensor group of front end reaches
Directly over the edge of double glass photovoltaic arrays, then cornering operation can be triggered.Detailed process may be referred to shown in Fig. 5, in Fig. 5, when
After cleaning robot is put on double glass photovoltaic arrays with the side posture parallel with double glass photovoltaic array end long side A, cleaning machine
Device people moves forward, and until sensor detects marginal point d, original place bends to right 90 °, and angle of turn can pass through crawler body
The control of turning machine producing linear, retract, by the sensor-triggered of cleaning robot rear end, find the double of cleaning robot rear end
Glass photovoltaic array edge A, if the sensor on the cleaning robot left side does not trigger at this time, cleaning robot is forward to moving to left
Dynamic, until triggering left sensor, after the double glass photovoltaic array edge B for finding left side, low-angle adjusts cleaning robot to the right
Vehicle body, and retract, at double glass photovoltaic array end d, the sensor on the left of cleaning robot with afterbody is all in triggering at this time
State, illustrates that cleaning robot is in place by setting.Start cleaning robot, moved with straight manner forward, in moving process
Constantly rectified a deviation along side edge B according to the real-time position information that sensor detects, to ensure that track route is straight line as far as possible, directly
Sensor to front end is triggered, point of arrival e positions；Original place is turned right 90 °, and straight forward, until front end sensor again
It is secondary to be triggered, f points are reached, original place bends to right 90 ° again；Continue straight forward, along D sides, visited again by position sensor
The real-time position information measured keeps the route accuracy of straight trip over long distances, final to arrive at starting point marginal point g, at this time cleaning robot
People's front end sensors trigger.90 ° of pivot turn to the right again, cleaning robot left side side is with being originally placed double glass photovoltaics at this time
Posture on array is consistent, parallel with double glass photovoltaic array edge A.Patch A sides move forward to point d, and it is double so to complete a line
The cleaning process of glass photovoltaic array plate face.Above flow is a kind of embodiment, according to different navigation modes, double glass photovoltaic battle arrays
Row specification, cleaning area of bed, cleaning process are also different.
Correspondingly, the embodiment of the invention also discloses a kind of Algorithms of Robots Navigation System, shown in Figure 6, which includes：
A kind of Algorithms of Robots Navigation System, including：
Position information acquisition module 11, for when edge of the robot along support object moves, obtaining first in real time
The positional information that position sensor group detects, obtains the first real-time position information；Wherein, sensor group in first position is placed in
On on the outside of a crawler body shortest with Edge Distance for robot；
Offset determination module 12, for determining the speed of robot left track and the speed of right side track respectively, obtains
To left side speed and right side speed, and according to the speed difference between left side speed and right side speed and corresponding shift time section
Determine the real-time transversal displacement of robot；
Deviate control module 13, for according to real-time transversal displacement and the first real-time position information, control robot into
The corresponding offset operation of row, so that the first real-time position information is edge position information corresponding with edge after offset every time.
The corresponding contents disclosed in previous embodiment are may be referred on the more specifical course of work of above-mentioned modules,
No longer repeated herein.
Correspondingly, the embodiment of the invention also discloses a kind of robot navigation's equipment, including first position sensor group, deposit
Reservoir and processor；Wherein, processor realizes following steps by performing the computer program preserved in memory：
When the edge of robot along support object moves, the position that first position sensor group detects is obtained in real time
Information, obtains the first real-time position information；Wherein, sensor group in first position is placed in the shortest with Edge Distance of robot
On on the outside of one crawler body；
The speed of robot left track and the speed of right side track are determined respectively, obtain left side speed and right side speed,
And the real-time transverse direction of robot is determined according to the speed difference between left side speed and right side speed and corresponding shift time section
Offset；
According to real-time transversal displacement and the first real-time position information, control robot carries out corresponding offset operation, with
So that the first real-time position information is edge position information corresponding with edge after offset every time.
The corresponding contents disclosed in previous embodiment are may be referred on the more specifical implementation procedure of above-mentioned processor,
This is no longer repeated.
In addition, the invention also discloses a kind of robot, including foregoing disclosed robot navigation's equipment.Wherein, it is above-mentioned
Robot is specifically as follows the robot for cleaning photovoltaic array, also, above-mentioned photovoltaic array for tracing type photovoltaic array or
Double glass photovoltaic arrays.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be with it is other
The difference of embodiment, between each embodiment same or similar part mutually referring to.For dress disclosed in embodiment
For putting, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is referring to method part
Explanation.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes each exemplary composition and step according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical solution.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Can directly it be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there are other identical element in the process, method, article or apparatus that includes the element.
A kind of robot provided by the present invention and its air navigation aid, system, equipment are described in detail above, this
Specific case is applied in text to be set forth the principle of the present invention and embodiment, the explanation of above example is only intended to
Help to understand method and its core concept of the invention；Meanwhile for those of ordinary skill in the art, the think of according to the present invention
Think, in specific embodiments and applications there will be changes, in conclusion this specification content should not be construed as pair
The limitation of the present invention.
Claims (11)
- A kind of 1. robot navigation method, it is characterised in that including：When the edge of robot along support object moves, the position letter that first position sensor group detects is obtained in real time Breath, obtains the first real-time position information；Wherein, the first position sensor group is being placed in the robot with the edge On on the outside of a shortest crawler body；The speed of the robot left track and the speed of right side track are determined respectively, obtain left side speed and right side speed, And the real-time of the robot is determined according to the speed difference between left side speed and right side speed and corresponding shift time section Transversal displacement；According to real-time transversal displacement and the first real-time position information, the robot is controlled to carry out corresponding offset operation, with So that the first real-time position information is edge position information corresponding with the edge after offset every time.
- 2. robot navigation method according to claim 1, it is characterised in that two of the robot crawler body are outer The first range sensor group is equipped with side.
- 3. robot navigation method according to claim 1, it is characterised in that the first position sensor group includes one A position sensor or multiple position sensors；Wherein, the multiple position sensor is distributed on the straight line parallel with the crawler body side of the robot.
- 4. robot navigation method according to claim 1, it is characterised in that described according to left side speed and right side speed Between speed difference and corresponding shift time section the step of determining the real-time transversal displacement of the robot, including：The difference between left side speed and right side speed is calculated, obtains both sides speed difference；Real time offset angle is determined using both sides speed difference；Using real time offset angle and in the shift time section corresponding to real time offset angle the advance of the robot away from From determining corresponding real-time transversal displacement.
- 5. robot navigation method according to claim 1, it is characterised in that the real-time transversal displacement of the basis and One real-time position information, controls the robot to carry out corresponding offset operation, so that the first real time position after offset every time The step of information is edge position information corresponding with the edge, including：When the external location information that the first real-time position information is the edge, and current transversal displacement in real time is more than default Offset threshold value, then control the robot to carry out offset operation inwardly, until the first real-time position information is changed into the side The corresponding edge position information of edge；When the internal location informa that the first real-time position information is the edge, and current transversal displacement in real time is more than default Offset threshold value, then control the robot to carry out offset operation laterally, until the first real-time position information is changed into the side The corresponding edge position information of edge.
- 6. robot navigation method according to any one of claims 1 to 5, it is characterised in that further include：The robot is utilized respectively to be placed in the second place sensor group of front end in advance and be placed in the 3rd of rear end in advance Position sensor group come detect it is described support object edge；When any sensor group in the second place sensor group and the third place sensor group detects the branch The edge of object is supportted, then controls the robot to carry out being moved away from marginal operation.
- 7. robot navigation method according to claim 6, it is characterised in that described to work as the second place sensor group The edge of the support object is detected with any sensor group in the third place sensor group, then controls the machine The step of people carries out being moved away from marginal operation, including：When any sensor group in the second place sensor group and the third place sensor group detects the branch The edge of object is supportted, then the edge is determined as object edge, and controls the robot to carry out being moved away from marginal operation in real time, with So that the front end direction of the robot is consistent with the line segment extending direction in the object edge after being moved away from edge, And ensure during marginal operation is moved away from, when the second place sensor group detect it is described support object edge, then Drive the robot to be moved rearwards, when the third place sensor group detect it is described support object edge, then drive The robot moves forward.
- 8. robot navigation method according to claim 6, it is characterised in that further include：After edge is moved away from, judge whether the location of presently described robot is that standard starts position, if it is, Start the robot and continue on the edge movement of support object, if it is not, then the position of the robot is finely adjusted, Until the position of the robot starts position for standard；Wherein, when the robot, which is in the standard, starts position, the first position sensor group and 3rd described Put the edge that sensor group detects the support object.
- A kind of 9. Algorithms of Robots Navigation System, it is characterised in that including：Position information acquisition module, for when edge of the robot along support object moves, obtaining first position in real time and passing The positional information that sensor group detects, obtains the first real-time position information；Wherein, the first position sensor group is placed in institute State on the outside of a crawler body shortest with the Edge Distance for robot；Offset determination module, for determining the speed of the robot left track and the speed of right side track respectively, obtains Left side speed and right side speed, and it is true according to the speed difference between left side speed and right side speed and corresponding shift time section The real-time transversal displacement of the fixed robot；Control module is deviated, for according to real-time transversal displacement and the first real-time position information, controlling the robot to carry out Corresponding offset operation, so that the first real-time position information is margin location confidence corresponding with the edge after offset every time Breath.
- 10. a kind of robot navigation's equipment, it is characterised in that including first position sensor group, memory and processor；Its In, the processor realizes following steps by performing the computer program being stored in the memory：When the edge of robot along support object moves, the position letter that first position sensor group detects is obtained in real time Breath, obtains the first real-time position information；Wherein, the first position sensor group is being placed in the robot with the edge On on the outside of a shortest crawler body；The speed of the robot left track and the speed of right side track are determined respectively, obtain left side speed and right side speed, And the real-time of the robot is determined according to the speed difference between left side speed and right side speed and corresponding shift time section Transversal displacement；According to real-time transversal displacement and the first real-time position information, the robot is controlled to carry out corresponding offset operation, with So that the first real-time position information is edge position information corresponding with the edge after offset every time.
- 11. a kind of robot, it is characterised in that including robot navigation's equipment as claimed in claim 10.
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