CN108334090A - A kind of setting method of virtual obstacles - Google Patents
A kind of setting method of virtual obstacles Download PDFInfo
- Publication number
- CN108334090A CN108334090A CN201810147139.7A CN201810147139A CN108334090A CN 108334090 A CN108334090 A CN 108334090A CN 201810147139 A CN201810147139 A CN 201810147139A CN 108334090 A CN108334090 A CN 108334090A
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- Prior art keywords
- virtual obstacles
- virtual
- layer
- start position
- setting method
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The invention discloses a kind of setting methods of virtual obstacles, belong to the technology of robot field, including：Start position and the final position of the virtual obstacles is arranged in step S1；Step S2 generates the virtual obstacles according to the start position and the final position in a virtual level；The virtual level and multiple figure layers are sequentially overlapped and generate the navigation map by step S3.The advantageous effect of the technical solution is：Virtual obstacles can be quickly arranged by the way that start position and final position is directly arranged in the present invention in navigation map, and can be one identification label of each virtual obstacles setting, it quickly the operations such as is modified to virtual obstacles by identifying label, to further improve the manipulation efficiency of mobile robot.
Description
Technical field
The present invention relates to a kind of technology of robot field, the setting methods of specifically a kind of virtual obstacles.
Background technology
With the continuous high speed development broken through with Information technology of sensor technology, robot the relevant technologies are by extensively and deep
The research entered.Robot has been widely used and all trades and professions, and starts to enter into common people house.
Mobile robot is mainly using each in multi-sensor fusion technology acquisition robot itself and its local environment
Kind of information, and these informixes are got up to carry out convergence analysis processing so that robot can understand in real time it is current
Itself and external environment, and make motion control decision in real time, realize avoiding barrier and find optimal path, independently moved
The basic functions such as dynamic and path trace.It the characteristics of according to mobile robot from environment sensing to behaviour control process, can be being
System is divided into perception, four part of data processing, path planning and motion control, this four part can be divided into multiple mutually coordinated sons again
Module.
Mobile robot free navigation in showing the world goes out to have grid sets firstly the need of by laser radar scanning at present
At navigation map, which indicates that in corresponding real world be no barrier, and black grid is indicated right
It is the region that robot can not reach to answer real world to have barrier, barrier region.
Robot free navigation can go to the region of any clear in real world, should not but also be intended to robot
Go to the region that laser radar can't detect, such as glass or certain dangerous and privacy regions, such as outdoors and lavatory, this
When just need that certain limitation is arranged to robot, for example we add a baffle on the doorway of lavatory, but true
The beauty that baffle is unfavorable for house is added in the world, so we increase a virtual gear in the map of robot ambulation
Plate, to have the function that stop robot.
It is empty to invent a kind of mobile robot in order to prevent robot from reaching some danger zones or privacy area
Quasi- barrier setting method and system.When the object that can't detect there are laser radars such as glass or dark objects in reality,
Robot will be considered that the region does not have barrier that can freely walk, but actually exist glass, due to the limitation of laser radar
The barrier is not detected, it may appear that the dangerous situation knocked causes robot and article impaired；In life
Need the region for preventing robot from going the privacies such as lavatory and bathroom.Virtual obstacles, which are arranged, in notice in map to be fully solved
The problems such as safety of above-mentioned appearance is low and secret protection is bad
Invention content
The present invention is directed to deficiencies of the prior art, proposes a kind of setting method of virtual obstacles.The present invention
Can virtual obstacles be quickly set by the way that start position and final position is directly arranged in navigation map, and can be every
One virtual obstacles setting, one identification label quickly the operations such as modifies to virtual obstacles by identifying label,
To further improve the manipulation efficiency of mobile robot.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of setting methods of virtual obstacles, wherein is applied to mobile robot, the mobile machine
People default one is sequentially overlapped the navigation map formed by multiple figure layers, and the setting up procedure of the virtual obstacles further includes following step
Suddenly：
Start position and the final position of the virtual obstacles is arranged in step S1；
Step S2 generates the virtual obstacles according to the start position and the final position in a virtual level；
The virtual level and multiple figure layers are sequentially overlapped and generate the navigation map by step S3.
Preferably, the setting method of the virtual obstacles, wherein the figure layer includes：First figure layer, the second figure layer and
Third figure layer, first figure layer include the grating map that scanning is formed, and second figure layer includes the barrier in environment
Outer profile, the third figure layer includes the expansion profile that obtains after being expanded according to the outer profile of the barrier.
Preferably, the setting method of the virtual obstacles, wherein the virtual level is superimposed on second figure layer and described
Between third figure layer.
Preferably, the setting method of the virtual obstacles, wherein in the step S1, the start position and described
The process in final position includes：
The start position is arranged in step S11；
The final position is arranged in step S12；
Step S13, judges whether the time interval being arranged between the start position and the setting final position is less than
Equal to a preset threshold value：
If being less than or equal to the preset threshold value, the final position and the start position are effective；
If more than the preset threshold value, S11 is thened follow the steps.
Preferably, the setting method of the virtual obstacles, wherein each virtual obstacles are equipped with a unique knowledge
Distinguishing label.
Preferably, the setting method of the virtual obstacles, wherein in the step S2, the life of the virtual obstacles
Following steps are specifically included at process：
Step S21 adds the virtual obstacles according to the start position and the final position in the virtual level
The beginning and end of object；
The starting point is connected with the terminal by a straight line by step S22；
Step S23, the grid that the straight line is passed through are filled with the first fill color, to form the virtual obstacles.
Preferably, the setting method of the virtual obstacles, wherein the start position and the final position are stored in together
In one file.
Preferably, the setting method of the virtual obstacles, wherein in the third figure layer, according to the virtual obstacles
The outer profile of object expands to form a safety zone.
The advantageous effect of above-mentioned technical proposal is：
The present invention can be quickly arranged virtually in navigation map by the way that start position and final position is directly arranged
Barrier, and can be one identification label of each virtual obstacles setting, by identifying label come quickly to virtual obstacles
It the operations such as modifies, to further improve the manipulation efficiency of mobile robot.
Description of the drawings
Fig. 1 is a kind of flow diagram of the setting method of virtual obstacles in the preferred embodiment of the present invention；
Fig. 2 is in the preferred embodiment of the present invention, the virtual obstacles in a kind of setting method of virtual obstacles
Generating process schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments 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 obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
The present embodiment is related to a kind of setting method of virtual obstacles.It is designed with a navigation map in mobile robot, moves
Mobile robot according to navigation map come planning path, so as to move or follow in the environment specified target.
Navigation map navigation in mobile robot in the present embodiment includes multiple figure layers, i.e. navigation map has multiple figures
Layer fusion is formed, and laser radar is equipped in mobile robot.
Figure layer includes：First figure layer, the second figure layer and third figure layer.
First figure layer includes that mobile robot scans the grating map come.
Second figure layer include by laser radar scanning to environment in barrier outer profile.
Third figure layer includes the expansion profile after being expanded according to the outer profile of barrier.Expand profile moving machine in order to prevent
Device people is too near to barrier and the safety zone that is arranged.
As shown in Figure 1, the setting up procedure of virtual obstacles is further comprising the steps of：
Start position and the final position of virtual obstacles is arranged in step S1.
The process in start position and final position includes：
Start position is arranged in step S11；
Final position is arranged in step S12；
Step S13 judges whether start position and the time interval being arranged between final position is arranged is less than or equal to one in advance
If threshold value：
If being less than or equal to preset threshold value, final position and start position are effective；
If more than preset threshold value, S11 is thened follow the steps.
Start position is set and the interval time being arranged between final position is less than a preset threshold value.
When start position and final position is arranged, the interval time of setting is necessarily less than preset threshold value.Preset threshold value
It can be 4 seconds or 5 seconds.
After start position is set, final position is set again behind 4 seconds or 5 seconds, then the final position being arranged is invalid, needs
From new setting start position.
Step S2 generates virtual obstacles according to start position and final position in a virtual level.
As shown in Fig. 2, in step s 2, the generating process of virtual obstacles specifically includes following steps：
Step S21 adds the beginning and end of virtual obstacles according to start position and final position in virtual level.
Beginning and end is connected by step S22 by a straight line.
After beginning and end is connected by straight line, all grids of straight line process can be obtained.
Step S23, the grid that straight line is passed through are filled with the first fill color, to form virtual obstacles.
The grid that straight line passes through all is filled with the first fill color, the first fill color can be black.In this way in void
The band of the black formed in quasi- layer, that is, be used as virtual obstacles.
White area in virtual level indicates clear.
Virtual level and figure layer fusion are generated navigation map by step S3.
The virtual level of formation, the first figure layer, the second figure layer and third figure layer are overlapped, desired navigation ground is generated
Figure.
Virtual level is between the second figure layer and third figure layer.
In third figure layer, expanded to form a safety zone according to the outer profile of virtual obstacles.By safety zone come
Prevent mobile robot from closely colliding very much apart from barrier in moving process, to prevent unexpected free.
Each virtual obstacles are equipped with a unique identification label.
Start position and final position are stored in identical file.
When needing to delete some virtual obstacles in navigation map, it is only necessary to find its correspondence according to identification label
Preserve start position and the file in final position, and this document deleted can be thus achieved delete it is virtual in navigation map
Barrier.
When needing to add virtual obstacles in navigation map, start position and final position be set, and by start position
It is stored in a file with final position, then desired virtual obstacles is generated in navigation map by step S1 to S3.
The setting method of the virtual obstacles of the present invention, compared with prior art：
The present invention can be quickly arranged virtually in navigation map by the way that start position and final position is directly arranged
Barrier, and can be one identification label of each virtual obstacles setting, by identifying label come quickly to virtual obstacles
It the operations such as modifies, to further improve the manipulation efficiency of mobile robot.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (8)
1. a kind of setting method of virtual obstacles is applied to mobile robot, which is characterized in that the mobile robot is default
One is sequentially overlapped the navigation map formed by multiple figure layers, and the setting up procedure of the virtual obstacles is further comprising the steps of：
Start position and the final position of the virtual obstacles is arranged in step S1；
Step S2 generates the virtual obstacles according to the start position and the final position in a virtual level；
The virtual level and multiple figure layers are sequentially overlapped and generate the navigation map by step S3.
2. the setting method of virtual obstacles according to claim 1, which is characterized in that the figure layer includes：First figure
Layer, the second figure layer and third figure layer, first figure layer include the grating map that scanning is formed, and second figure layer includes
The outer profile of barrier in environment, the third figure layer include being obtained after being expanded according to the outer profile of the barrier
Expand profile.
3. the setting method of virtual obstacles according to claim 2, which is characterized in that the virtual level is superimposed on described
Between second figure layer and the third figure layer.
4. the setting method of virtual obstacles according to claim 1, which is characterized in that the start position and the end
Point position process include：
The start position is arranged in step S11；
The final position is arranged in step S12；
Step S13, judges whether the time interval being arranged between the start position and the setting final position is less than or equal to
One preset threshold value：
If being less than or equal to the preset threshold value, the final position and the start position are effective；
If more than the preset threshold value, S11 is thened follow the steps.
5. the setting method of virtual obstacles according to claim 1, which is characterized in that described in the step S2
The generating process of virtual obstacles specifically includes following steps：
Step S21 adds the virtual obstacles according to the start position and the final position in the virtual level
Beginning and end；
The starting point is connected with the terminal by a straight line by step S22；
Step S23, the grid that the straight line is passed through are filled with the first fill color, to form the virtual obstacles.
6. the setting method of virtual obstacles according to claim 1, which is characterized in that each virtual obstacles are equal
Equipped with a unique identification label.
7. the setting method of virtual obstacles according to claim 1, which is characterized in that the start position and the end
Point position is stored in identical file.
8. the setting method of virtual obstacles according to claim 2, which is characterized in that in the third figure layer, root
It expands to form a safety zone according to the outer profile of the virtual obstacles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810147139.7A CN108334090A (en) | 2018-02-12 | 2018-02-12 | A kind of setting method of virtual obstacles |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147139.7A CN108334090A (en) | 2018-02-12 | 2018-02-12 | A kind of setting method of virtual obstacles |
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| CN108334090A true CN108334090A (en) | 2018-07-27 |
Family
ID=62929501
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| CN201810147139.7A Pending CN108334090A (en) | 2018-02-12 | 2018-02-12 | A kind of setting method of virtual obstacles |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109062225A (en) * | 2018-09-10 | 2018-12-21 | 扬州方棱机械有限公司 | The method of grass-removing robot and its generation virtual boundary based on numerical map |
| CN109491394A (en) * | 2018-12-17 | 2019-03-19 | 中新智擎科技有限公司 | A kind of virtual barrier-avoiding method, device, storage medium and robot |
| CN111104933A (en) * | 2020-03-20 | 2020-05-05 | 深圳飞科机器人有限公司 | Map processing method, mobile robot, and computer-readable storage medium |
| CN111202472A (en) * | 2020-02-18 | 2020-05-29 | 深圳市愚公科技有限公司 | Terminal map construction method of sweeping robot, terminal equipment and sweeping system |
| CN111543908A (en) * | 2020-05-15 | 2020-08-18 | 弗徕威智能机器人科技（上海）有限公司 | Method and device for planning travelling path and intelligent equipment travelling path |
| CN114427859A (en) * | 2022-03-14 | 2022-05-03 | 季华实验室 | Mobile robot virtual forbidden zone setting and deleting control system |
| US11504622B1 (en) | 2021-08-17 | 2022-11-22 | BlueOwl, LLC | Systems and methods for generating virtual encounters in virtual games |
| US11593539B2 (en) | 2018-11-30 | 2023-02-28 | BlueOwl, LLC | Systems and methods for facilitating virtual vehicle operation based on real-world vehicle operation data |
| US11691084B2 (en) | 2020-01-20 | 2023-07-04 | BlueOwl, LLC | Systems and methods for training and applying virtual occurrences to a virtual character using telematics data of one or more real trips |
| US11697069B1 (en) | 2021-08-17 | 2023-07-11 | BlueOwl, LLC | Systems and methods for presenting shared in-game objectives in virtual games |
| US11896903B2 (en) | 2021-08-17 | 2024-02-13 | BlueOwl, LLC | Systems and methods for generating virtual experiences for a virtual game |
| US11969653B2 (en) | 2021-08-17 | 2024-04-30 | BlueOwl, LLC | Systems and methods for generating virtual characters for a virtual game |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109062225A (en) * | 2018-09-10 | 2018-12-21 | 扬州方棱机械有限公司 | The method of grass-removing robot and its generation virtual boundary based on numerical map |
| US11593539B2 (en) | 2018-11-30 | 2023-02-28 | BlueOwl, LLC | Systems and methods for facilitating virtual vehicle operation based on real-world vehicle operation data |
| CN109491394A (en) * | 2018-12-17 | 2019-03-19 | 中新智擎科技有限公司 | A kind of virtual barrier-avoiding method, device, storage medium and robot |
| US11707683B2 (en) | 2020-01-20 | 2023-07-25 | BlueOwl, LLC | Systems and methods for training and applying virtual occurrences and granting in-game resources to a virtual character using telematics data of one or more real trips |
| US11857866B2 (en) | 2020-01-20 | 2024-01-02 | BlueOwl, LLC | Systems and methods for training and applying virtual occurrences with modifiable outcomes to a virtual character using telematics data of one or more real trips |
| US11691084B2 (en) | 2020-01-20 | 2023-07-04 | BlueOwl, LLC | Systems and methods for training and applying virtual occurrences to a virtual character using telematics data of one or more real trips |
| CN111202472A (en) * | 2020-02-18 | 2020-05-29 | 深圳市愚公科技有限公司 | Terminal map construction method of sweeping robot, terminal equipment and sweeping system |
| CN111104933A (en) * | 2020-03-20 | 2020-05-05 | 深圳飞科机器人有限公司 | Map processing method, mobile robot, and computer-readable storage medium |
| CN111543908B (en) * | 2020-05-15 | 2021-09-07 | 汇智机器人科技(深圳)有限公司 | Method and device for planning travelling path and intelligent equipment travelling path |
| CN111543908A (en) * | 2020-05-15 | 2020-08-18 | 弗徕威智能机器人科技（上海）有限公司 | Method and device for planning travelling path and intelligent equipment travelling path |
| US11504622B1 (en) | 2021-08-17 | 2022-11-22 | BlueOwl, LLC | Systems and methods for generating virtual encounters in virtual games |
| US11697069B1 (en) | 2021-08-17 | 2023-07-11 | BlueOwl, LLC | Systems and methods for presenting shared in-game objectives in virtual games |
| US11896903B2 (en) | 2021-08-17 | 2024-02-13 | BlueOwl, LLC | Systems and methods for generating virtual experiences for a virtual game |
| US11918913B2 (en) | 2021-08-17 | 2024-03-05 | BlueOwl, LLC | Systems and methods for generating virtual encounters in virtual games |
| US11969653B2 (en) | 2021-08-17 | 2024-04-30 | BlueOwl, LLC | Systems and methods for generating virtual characters for a virtual game |
| CN114427859A (en) * | 2022-03-14 | 2022-05-03 | 季华实验室 | Mobile robot virtual forbidden zone setting and deleting control system |
| CN114427859B (en) * | 2022-03-14 | 2023-06-02 | 季华实验室 | Mobile robot virtual forbidden zone setting and deleting control system |
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Application publication date: 20180727 |