CN108762248A - Mobile robot and its air navigation aid - Google Patents
Mobile robot and its air navigation aid Download PDFInfo
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- CN108762248A CN108762248A CN201810384865.0A CN201810384865A CN108762248A CN 108762248 A CN108762248 A CN 108762248A CN 201810384865 A CN201810384865 A CN 201810384865A CN 108762248 A CN108762248 A CN 108762248A
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Automation & Control Theory (AREA)
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Abstract
The present invention relates to field of intelligent control technology, a kind of mobile robot and its air navigation aid are specifically provided, it is intended to the technical issues of how solution realizes window wiping robot automatic obstacle-avoiding.For this purpose, mobile robot in the present invention can on detecting mobile route there are obstacle after, respectively controlling two fissions, sequentially leaping over obstacles realizes avoidance.Meanwhile obstacle detection module, complaint message acquisition module, pose detection module and displacement distance detection module are preset in the mobile robot, these infomation detection/acquisition modules are based on, can realize that mobile robot carries out accurate avoidance.Air navigation aid in the present invention not only can be according to the posture information of mobile robot ontology and the status information of obstacle, control retractable structure is stretched and/or is compressed, to drive two fissions sequentially leaping over obstacles, mobile robot movement can also be controlled according to posture information and preset motion track.
Description
Technical field
The present invention relates to field of intelligent control technology, and in particular to a kind of mobile robot and its air navigation aid.
Background technology
Window wiping robot is mainly the vacuum pump or blower fan apparatus by its own bottom, is firmly adsorbed on glass
On, then by certain artificial intelligence, window path is wiped in the automatic corner for detecting window away from discrete programming, and finishes it in cleaning
Returning to initial placement location afterwards facilitates people to be removed.But existing window wiping robot often lacks avoidance work(at present
Can, need user to manually adjust the moving direction of side swipe robot when encountering barrier, thus increase window wiping robot
Operating Complexity.
Invention content
In order to solve the above problem in the prior art, in order to solve how to realize the skill of window wiping robot automatic obstacle-avoiding
Art problem, for this purpose, the present invention provides a kind of mobile robot and its air navigation aids.
In a first aspect, mobile machine includes mobile robot ontology and retractable structure in the present invention；
The mobile robot ontology includes two fissions of the preset structure for carrying the mobile robot, and
Two fissions are connected by the retractable structure；
The retractable structure is used for when, there are when obstacle, passing through stretching on the current mobile route of the mobile robot
And/or compression drives two fissions sequentially to cross over the obstacle.
Further, an optimal technical scheme provided by the invention is：
The retractable structure includes deformable telescopic rod and two retractable support levers；
Two retractable support levers are separately positioned on the both ends of the deformable telescopic rod, and each described can stretch
Contracting supporting rod respectively with one it is described it is seperated connection.
Further, an optimal technical scheme provided by the invention is：
The mobile robot further includes obstacle detection module and complaint message acquisition module；
The obstacle detection module is arranged on the mobile robot ontology, for detecting working as the mobile robot
It whether there is obstacle on preceding mobile route；
The complaint message acquisition module is arranged on the deformable telescopic rod, and the state for obtaining the obstacle is believed
Breath；The status information includes the width information and elevation information of the obstacle.
Further, an optimal technical scheme provided by the invention is：
The obstacle detection module includes：
First detection unit is used to detect the current mobile route and whether there is raised obstacle in the plane；
Second detection unit is used to detect the current mobile route and whether there is recess obstacle in the plane and hang
Empty obstacle；The hanging obstacle is that a part for the mobile robot ontology is in vacant state.
Further, an optimal technical scheme provided by the invention is：
The first detection unit includes ultrasonic sensor and/or infrared sensor；
The second detection unit includes ultrasonic sensor and/or infrared sensor；
The complaint message acquisition module includes depth camera.
Further, an optimal technical scheme provided by the invention is：
The mobile robot further includes：
Displacement distance detection module is used to detect displacement distance of the mobile robot on current mobile route；
Pose detection module is used to detect the posture information of the mobile robot.
Further, an optimal technical scheme provided by the invention is：
The pose detection module includes：
Inertia measurement submodule is used to detect attitude angle, speed of the mobile robot in each preset axial direction
Degree and acceleration；
Gravity detection sub-module is used to detect the folder of gravity field direction and the current moving direction of the mobile robot
Angle.
Further, an optimal technical scheme provided by the invention is：
The mobile robot is window wiping robot.
The air navigation aid of mobile robot includes the following steps in second aspect, the present invention：
According to the testing result of the obstacle detection module judge on the current mobile route of the mobile robot whether
There are obstacle,
If there are obstacle, according to the posture information of the mobile robot ontology obtained in advance and the complaint message
Status information acquired in acquisition module controls the retractable structure and is stretched and/or compressed, to drive described in two
It is seperated sequentially to cross over the obstacle；
If obstacle is not present, according to the posture information and preset motion track, controls the mobile robot and move
It is dynamic.
Further, an optimal technical scheme provided by the invention is：
It " is obtained according to the posture information of the mobile robot ontology obtained in advance and the complaint message acquisition module
The status information taken controls the retractable structure and is stretched and/or compressed, to drive two fissions sequentially to cross over
The step of obstacle ", specifically includes：
The seperated corresponding retractable support lever of control first is stretched, and can't detect barrier in the obstacle detection module
The retractable support lever is controlled after hindering to stop stretching；Described first it is seperated stretch in control retractable structure and/or
Fission far from obstacle before compression；
The tensile elongation and draw direction of the deformable stretch rod are determined according to the posture information and status information, and
The deformable stretch rod is controlled according to identified tensile elongation and draw direction to be stretched；
The seperated corresponding retractable support lever of control second is stretched, and described when Forward in the described second seperated arrival
The retractable support lever is controlled after plane where dynamic path to stop stretching；Described second it is seperated for control retractable structure into
Row stretches and/or compression is before close to the fission of obstacle；
It controls the mobile robot to move along current moving direction, and is controlled after the described first seperated close obstacle
It makes the mobile robot and stops movement；
Reduction length is determined according to the status information, and seperated right according to identified reduction length control described first
The retractable support lever answered is compressed；
The deformable stretch rod is controlled according to the tensile elongation and draw direction to be compressed；
It controls the described second seperated corresponding retractable support lever to be compressed, and works as described in the described first seperated arrival
The retractable support lever is controlled after plane where preceding mobile route stops compression.
Compared with the immediate prior art, above-mentioned technical proposal at least has the advantages that：
1, the mobile robot in the present invention can be being detected comprising two seperated Split movable robots
On mobile route there are obstacle after, controlling two fissions respectively, sequentially leaping over obstacles realizes avoidance.Meanwhile the mobile robot
Upper preset obstacle detection module (such as ultrasonic sensor or infrared sensor) can detect on mobile route with the presence or absence of barrier
Hinder, complaint message acquisition module (such as depth camera) can obtain the status information of obstacle, and pose detection module (such as survey by inertia
Quantum module and gravity detection sub-module) posture information of mobile robot, displacement distance detection module (such as mileage can be detected
Meter) displacement distance of mobile robot can be measured.Based on above- mentioned information detection/acquisition module, mobile robot can be realized
Carry out accurate avoidance.
2, the obstacle detection module in the present invention can detect raised obstacle, the recess various disorders such as obstacle and hanging obstacle
Type improves the success rate of robot obstacle-avoiding.
3, the Mobile Robotics Navigation method in the present invention can be obtained in the case where detecting obstacle according to advance
Mobile robot ontology posture information and obstacle status information, control retractable structure stretched and/or compressed, from
And drive two fissions sequentially leaping over obstacles.It, can be according to posture information and preset movement in the case where not detecting obstacle
Track, control mobile robot movement.Based on above-mentioned steps, it is not necessarily to user's manual manipulation mobile robot, realizes moving machine
The self-navigation function of device people.
Description of the drawings
Fig. 1 is a kind of primary structure schematic diagram of mobile robot in the embodiment of the present invention；
Fig. 2 is the first obstacle schematic diagram in the embodiment of the present invention；
Fig. 3 is second of obstacle schematic diagram in the embodiment of the present invention；
Fig. 4 is the third obstacle schematic diagram in the embodiment of the present invention；
Fig. 5 is the 4th kind of obstacle schematic diagram in the embodiment of the present invention；
Fig. 6 is the 5th kind of obstacle schematic diagram in the embodiment of the present invention；
Fig. 7 is the 6th kind of obstacle schematic diagram in the embodiment of the present invention；
Fig. 8 is a kind of key step schematic diagram of Mobile Robotics Navigation method in the embodiment of the present invention；
Fig. 9 is a kind of schematic diagram of motion track in the embodiment of the present invention；
The key step schematic diagram of another Mobile Robotics Navigation method in Figure 10 embodiment of the present invention.
Specific implementation mode
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.
Below in conjunction with the accompanying drawings, the mobile robot in the embodiment of the present invention is illustrated.
Refering to attached drawing 1, Fig. 1 illustrates a kind of primary structure of mobile robot in the present embodiment.Such as Fig. 1 institutes
Show, mobile robot may include mobile robot ontology and retractable structure in the present embodiment.Specifically, it is moved in the present embodiment
Mobile robot ontology may include the fission 11 and fission 12 of the preset structure for carrying mobile robot.Retractable structure can
To include retractable support lever 21, retractable support lever 22 and deformable telescopic rod 23.Retractable support lever 21 and scalable branch
Strut 22 is separately positioned on the both ends of deformable telescopic rod 23, and retractable support lever 21 and seperated 11 connection, scalable branch
Strut 22 and seperated 12 connection.
Preset structure refers to that mobile robot can realize the functional structure needed for specific function in the present embodiment, should
Functional structure can be mechanical structure, can also be that can load and execute the computer equipment of specific computer program/deposit
Storage media.For example, when mobile robot is window wiping robot, preset structure can be controlled mobile robot movement and hold
The functional structure of the functions such as row erasing move.
Further, in this embodiment mobile robot shown in FIG. 1 can also include obstacle detection module, complaint message
Acquisition module, displacement distance detection module and pose detection module.
Specifically, obstacle detection module is arranged on mobile robot ontology in the present embodiment, can be used for detecting movement
It whether there is obstacle on the current mobile route of robot.
In a preferred embodiment of the present embodiment, obstacle detection module may include first detection unit and second
Detection unit.First detection unit can be used for detecting current mobile route and whether there is raised obstacle in the plane.Second
Detection unit is used to detect current mobile route and whether there is recess obstacle and hanging obstacle in the plane, wherein is hanging
Obstacle is that a part for mobile robot ontology is in vacant state.
The first raised obstacle in the present embodiment is illustrated refering to attached drawing 2-7, Fig. 2, Fig. 3 is illustrated
Second of raised obstacle in the present embodiment, Fig. 4 illustrate the third raised obstacle in the present embodiment, Fig. 5 examples
Property shows that the first hanging obstacle in the present embodiment, Fig. 6 illustrate second of hanging obstacle in the present embodiment,
Fig. 7 illustrates the recess obstacle in the present embodiment.
In the present embodiment, first detection unit may include ultrasonic sensor and/or infrared sensor, the second inspection
It can also includes ultrasonic sensor and/or infrared sensor to survey unit.
Complaint message acquisition module is arranged on deformable telescopic rod 23 in the present embodiment, and the state for obtaining obstacle is believed
Breath.Wherein, status information may include the width information and elevation information of obstacle.It is noted that relative to raised obstacle and
The elevation information of speech, obstacle refers to that obstacle is higher than the distance of working face.For the obstacle that is recessed, the height of obstacle is believed
Breath refers to that obstacle is less than the distance of working face.In the present embodiment, complaint message acquisition module can be depth camera.
Displacement distance detection module can be used for detecting shifting of the mobile robot on current mobile route in the present embodiment
Dynamic distance.For example, displacement distance detection module can be odometer.
Pose detection module can be used for detecting the posture information of mobile robot in the present embodiment.In the another of the present embodiment
In one preferred embodiment, pose detection module may include inertia measurement submodule (Inertial Measurement
Unit, IMU) and gravity detection sub-module.Inertia measurement submodule can be used for detecting mobile robot in each preset axis
Upward attitude angle, speed and acceleration.Gravity detection sub-module can be used for detecting gravity field direction and mobile robot
The angle of current moving direction.
In the present embodiment, based on split structure mobile robot can on detecting mobile route there are obstacles
Afterwards, two fissions are controlled respectively sequentially leaping over obstacles realizes avoidance.
Below in conjunction with the accompanying drawings, the Mobile Robotics Navigation method in the embodiment of the present invention is illustrated.
Refering to attached drawing 8, Fig. 8 illustrates a kind of key step of Mobile Robotics Navigation method in the present embodiment,
Wherein the mobile robot can be the mobile robot described in above-mentioned mobile robot embodiment.As shown in figure 8, the present embodiment
The air navigation aid of middle mobile robot may include steps of：
Step S101：Obtain the testing result of obstacle detection module.
Step S102：Judge to whether there is obstacle on the current mobile route of mobile robot according to testing result.Specifically
Ground, if there are obstacles to then follow the steps S103 on the current mobile route of mobile robot, if the current movement of mobile robot
There is no obstacles to then follow the steps S104 on path.
Step S103：According to the status information of the posture information of mobile robot ontology and obstacle, retractable structure is controlled
It is stretched and/or is compressed, to drive two fissions sequentially leaping over obstacles.Wherein, posture information can be examined using pose
The posture information that module detects is surveyed, the status information of obstacle can be the status information that complaint message acquisition module obtains.
Specifically, mobile robot shown in FIG. 1 can be controlled in the present embodiment in accordance with the following steps and carries out obstacle detouring：
Step S1031：The seperated corresponding retractable support lever of control first is stretched, and is detected in obstacle detection module
Stop stretching less than retractable support lever is controlled after obstacle；First fission is to be stretched and/or pressed in control retractable structure
Fission far from obstacle before contracting.
Specifically, it is assumed that the fission 11 of mobile robot shown in FIG. 1 is the fission far from obstacle in the present embodiment, seperated
12 are proximate to the fission of obstacle.In this case, it is possible to be proceeded as follows to mobile robot：Control retractable support lever 21
It is stretched, and controls retractable support lever 21 after obstacle detection module can't detect obstacle and stop stretching.
Step S1032：Tensile elongation and the stretching side of deformable stretch rod 23 are determined according to posture information and status information
To, and deformable stretch rod 23 is controlled according to identified tensile elongation and draw direction and is stretched so that fission 12 is crossed over
Obstacle.
Step S1033：The seperated corresponding retractable support lever of control second is stretched, and current in the second seperated arrival
Control retractable support lever stops stretching after plane where mobile route；Second fission is to be stretched in control retractable structure
And/or close to the fission of obstacle before compression.
Fission 12 is proximate to the fission of obstacle known to aforementioned.In this case, it is possible to be carried out to mobile robot as follows
Operation：Control retractable support lever 22 is stretched, and control retractable support lever 22 stops after fission 12 reaches working face
Only stretch.When mobile robot is side swipe robot, can be contacted in fission 12 and adsorb control after working face it is scalable
Supporting rod 22 stops stretching.
Step S1034：Control mobile robot is moved along current moving direction, and is controlled after the first seperated close obstacle
Mobile robot stops movement, i.e., controlling mobile robot after obstacle in fission 11 stops movement.
Step S1035：Reduction length is determined according to status information, and seperated according to identified reduction length control first
Corresponding retractable support lever is compressed, i.e., is compressed to retractable support lever 21, is kept it hanging and is higher than obstacle.
Step S1036：According to tensile elongation and draw direction deformable stretch rod is controlled to be compressed so that fission 11 across
Obstacle-overpass
Step S1037：The seperated corresponding retractable support lever of control second is compressed, and current in the first seperated arrival
Control retractable support lever stops compression after plane where mobile route, i.e., is compressed to retractable support lever 22, and is dividing
Body 11 is reached controls the stopping compression of retractable support lever 22 after working face.It, can when mobile robot is side swipe robot
To control the stopping compression of retractable support lever 22 after fission 11 contacts and adsorbs working face.
Step S104：According to posture information and preset motion track, control mobile robot movement.
Refering to attached drawing 9, Fig. 9 illustrates a kind of motion track in the present embodiment.As shown in figure 9, the present embodiment
Middle mobile robot can be moved according to continuous arcuate trajectory.In this example, it is assumed that the working face of mobile robot
When with horizontal plane (such as the glass planar perpendicular to horizontal plane in building), following steps can be based on and control mobile robot
It is moved according to motion track shown in Fig. 9：
Step S1041：Initialization process is carried out to mobile robot.
Specifically, carrying out initialization process to mobile robot in the present embodiment may include：To pre- in mobile robot
The software module set carries out parameter initialization, carries out module self-test to preset hardware module in mobile robot, and will move
Mobile robot is placed on the initial position of working face (initial position can be the upper left corner in plane shown in Fig. 9), and makes
The moving direction of mobile robot and gravity direction angle are 90 °, to ensure that mobile robot can be according to horizontal direction to the right
It is mobile.
Step S1042：Control mobile robot is moved according to current moving direction.
Step S1043：Mobile robot rotation is controlled after detecting working interface boundary (right side boundary i.e. shown in Fig. 9)
Turn so that the moving direction of mobile robot is parallel with gravity direction, to ensure that mobile robot can move down.
In a preferred embodiment of the present embodiment, when using the normal direction of working face as rotary shaft, will rotate counterclockwise
Angle as positive angle, using the angle rotated clockwise as negative sense angle.In the case, when detecting working interface
Mobile robot can be controlled behind boundary (right side boundary i.e. shown in Fig. 9) to be rotated by 90 °, to move down.
Step S1044：It is controlled after detecting that mobile robot moves down certain distance (width of such as mobile robot)
Mobile robot processed rotates (be such as rotated by 90 °) again so that and the moving direction of mobile robot and gravity direction angle are 90 °,
To ensure that mobile robot can to the left be moved according to horizontal direction.
Step S1045：Control mobile robot is moved according to current moving direction.
Step S1046：Mobile robot rotation is controlled after detecting working interface boundary (left border i.e. shown in Fig. 9)
Turn (such as -90 ° of rotation) so that the moving direction of mobile robot is parallel with gravity direction, to ensure that mobile robot can be to
Lower movement.
Step S1047：It is controlled after detecting that mobile robot moves down certain distance (width of such as mobile robot)
Mobile robot processed is rotated again (such as -90 ° of rotation) so that and the moving direction of mobile robot and gravity direction angle are 90 °,
To ensure that mobile robot can move right according to horizontal direction.
Step S1048：Step S1042- step S1047 are repeated, until mobile robot is moved to working face
Behind the lower left corner, control mobile robot stops movement.
With continued reference to attached drawing 10, Figure 10 illustrates the master of another Mobile Robotics Navigation method in the present embodiment
Step is wanted, the wherein mobile robot can be the mobile robot described in above-mentioned mobile robot embodiment.As shown in Figure 10,
The air navigation aid of mobile robot may include steps of in the present embodiment：
Step S201：Initialization process is carried out to mobile robot.
Specifically, the initialization process in the present embodiment and the initialization process phase described in above-mentioned air navigation aid embodiment
Together, succinct in order to describe, details are not described herein.
Step S202：According to the posture information of mobile robot and preset motion track, control mobile robot movement.
Specifically, " according to the posture information of mobile robot and preset motion track, moving machine is controlled in the present embodiment
The method of device people movement " " according to posture information and preset motion track, controls moving machine with above-mentioned air navigation aid embodiment
The method of device people movement " is identical, and succinct in order to describe, details are not described herein.
Step S203：Judge whether to meet end condition.Wherein, it is flat to refer to that mobile robot reaches work for end condition
The Mobile Termination boundary in face, and mobile robot crosses over the Mobile Termination boundary not successfully.
Specifically, if meeting end condition thens follow the steps S209, if being unsatisfactory for end condition thens follow the steps S204.
Step S204：Judge whether the boundary for reaching working face.
Specifically, if the boundary for reaching working face thens follow the steps S205, if the boundary for not reaching working face is returned
Return step S202.
Step S205：Judge whether the successful cumulative number of obstacle detouring reaches maximum value.
Specifically, the return to step S202 if the successful cumulative number of obstacle detouring reaches maximum value, if obstacle detouring successfully adds up
Number is not up to maximum value and thens follow the steps S206.
Step S206：It controls mobile robot and carries out obstacle detouring.
Specifically, in the present embodiment in the method and above-mentioned air navigation aid embodiment of " control mobile robot carries out obstacle detouring "
" according to the status information of the posture information of mobile robot ontology and obstacle, control retractable structure is stretched and/or is pressed
The method of contracting, to drive two fissions sequentially leaping over obstacles " is identical, and succinct in order to describe, details are not described herein.
Step S207：Judge whether obstacle detouring success.
Specifically, if obstacle detouring successfully thens follow the steps S208, if obstacle detouring failure return to step S202.
Step S208：The successful cumulative number of obstacle detouring is added into 1, and return to step S202.
Step S209：It controls mobile robot and stops movement.
In the present embodiment, after mobile robot reaches the boundary of working face, the successful cumulative number of obstacle detouring is utilized
As whether carrying out the Rule of judgment of obstacle detouring so that mobile robot need not be carried out obstacle detouring behaviour after being moved to boundary every time
Make, can both improve the working efficiency of mobile robot, the service life of mechanical structure in mobile robot can also be extended.
Although each step is described in the way of above-mentioned precedence in above-described embodiment, this field
Technical staff is appreciated that realize the effect of the present embodiment, is executed not necessarily in such order between different steps,
It (parallel) execution simultaneously or can be executed with reverse order, these simple variations all protection scope of the present invention it
It is interior.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference mark between bracket should not be configured to limitations on claims.Word " comprising " does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in claims of the present invention, embodiment claimed
It is one of arbitrary mode to use in any combination.
So far, it has been combined preferred embodiment shown in the drawings and describes technical scheme of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific implementation modes.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make the relevant technologies feature equivalent change or replacement, these
Technical solution after change or replacement is fallen within protection scope of the present invention.
Claims (10)
1. a kind of mobile robot, it is characterised in that including mobile robot ontology and retractable structure；
The mobile robot ontology includes two fissions of the preset structure for carrying the mobile robot, and two
The fission is connected by the retractable structure；
The retractable structure be used for when on the current mobile route of the mobile robot there are when obstacle, by stretch and/
Or compression drives two fissions sequentially to cross over the obstacle.
2. mobile robot according to claim 1, which is characterized in that
The retractable structure includes deformable telescopic rod and two retractable support levers；
Two retractable support levers are separately positioned on the both ends of the deformable telescopic rod, and each scalable branch
Strut respectively with one it is described it is seperated connection.
3. mobile robot according to claim 2, which is characterized in that the mobile robot further includes obstacle detection mould
Block and complaint message acquisition module；
The obstacle detection module is arranged on the mobile robot ontology, moves forward for detecting working as the mobile robot
It whether there is obstacle on dynamic path；
The complaint message acquisition module is arranged on the deformable telescopic rod, the status information for obtaining the obstacle；
The status information includes the width information and elevation information of the obstacle.
4. mobile robot according to claim 3, which is characterized in that the obstacle detection module includes：
First detection unit is used to detect the current mobile route and whether there is raised obstacle in the plane；
Second detection unit is used to detect the current mobile route and whether there is recess obstacle and hanging barrier in the plane
Hinder；The hanging obstacle is that a part for the mobile robot ontology is in vacant state.
5. mobile robot according to claim 4, which is characterized in that
The first detection unit includes ultrasonic sensor and/or infrared sensor；
The second detection unit includes ultrasonic sensor and/or infrared sensor；
The complaint message acquisition module includes depth camera.
6. mobile robot according to any one of claims 1-5, which is characterized in that the mobile robot is also wrapped
It includes：
Displacement distance detection module is used to detect displacement distance of the mobile robot on current mobile route；
Pose detection module is used to detect the posture information of the mobile robot.
7. mobile robot according to claim 6, which is characterized in that the pose detection module includes：
Inertia measurement submodule, be used to detect attitude angle of the mobile robot in each preset axial direction, speed and
Acceleration；
Gravity detection sub-module is used to detect the angle of gravity field direction and the current moving direction of the mobile robot.
8. mobile robot according to any one of claims 1-5, which is characterized in that
The mobile robot is window wiping robot.
9. a kind of air navigation aid of mobile robot, which is characterized in that the mobile robot is any one of claim 3-5
The mobile robot, the air navigation aid include：
Judged to whether there is on the current mobile route of the mobile robot according to the testing result of the obstacle detection module
Obstacle,
If there are obstacle, obtained according to the posture information of the mobile robot ontology obtained in advance and the complaint message
Status information acquired in module controls the retractable structure and is stretched and/or compressed, to drive two fissions
Sequentially cross over the obstacle；
If obstacle is not present, according to the posture information and preset motion track, the mobile robot movement is controlled.
10. the air navigation aid of mobile robot according to claim 9, which is characterized in that " according to obtaining in advance
Status information acquired in the posture information of mobile robot ontology and the complaint message acquisition module, control are described scalable
Structure is stretched and/or is compressed, to drive two described seperated sequentially to cross over the obstacle " the step of specifically include：
The seperated corresponding retractable support lever of control first is stretched, and after the obstacle detection module can't detect obstacle
The retractable support lever is controlled to stop stretching；First fission is to be stretched and/or compressed in control retractable structure
Fission far from obstacle before；
Determine the tensile elongation and draw direction of the deformable stretch rod according to the posture information and status information, and according to
Identified tensile elongation and draw direction control the deformable stretch rod and are stretched；
The seperated corresponding retractable support lever of control second is stretched, and on the described second seperated arrival current mobile road
The retractable support lever is controlled after plane where diameter to stop stretching；Second fission is to be drawn in control retractable structure
Close to the fission of obstacle before stretching and/or compressing；
It controls the mobile robot to move along current moving direction, and institute is controlled after the described first seperated close obstacle
It states mobile robot and stops movement；
Reduction length is determined according to the status information, and seperated corresponding according to identified reduction length control described first
Retractable support lever is compressed；
The deformable stretch rod is controlled according to the tensile elongation and draw direction to be compressed；
It controls the described second seperated corresponding retractable support lever to be compressed, and described when Forward in the described first seperated arrival
The retractable support lever, which is controlled, after plane where dynamic path stops compression.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810384865.0A CN108762248A (en) | 2018-04-26 | 2018-04-26 | Mobile robot and its air navigation aid |
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| CN201810384865.0A CN108762248A (en) | 2018-04-26 | 2018-04-26 | Mobile robot and its air navigation aid |
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