CN108829115B - A kind of motion control method and its calculating equipment of robot - Google Patents
A kind of motion control method and its calculating equipment of robot Download PDFInfo
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- CN108829115B CN108829115B CN201811173727.4A CN201811173727A CN108829115B CN 108829115 B CN108829115 B CN 108829115B CN 201811173727 A CN201811173727 A CN 201811173727A CN 108829115 B CN108829115 B CN 108829115B
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000009471 action Effects 0.000 claims abstract description 79
- 238000004140 cleaning Methods 0.000 claims abstract description 76
- 230000004888 barrier function Effects 0.000 claims description 9
- 238000010408 sweeping Methods 0.000 abstract description 10
- 206010014357 Electric shock Diseases 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 11
- 238000004590 computer program Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000010926 purge Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000021824 exploration behavior Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides the motion control method and its calculating equipment of a kind of robot, this method comprises: zone of action and movement forbidden zone are arranged in the plane operation map of robot；Monitor the location information of the robot in real time；The robot is controlled according to the positional information executes cleaning procedure in the zone of action；The robot is forbidden to enter the movement forbidden zone according to the positional information.The motion control method and its calculating equipment of a kind of robot provided by the invention, pass through setting zone of action and movement forbidden zone, control robot carries out cleaning operation in specified zone of action, the placement region of curtain, electric wire and other items can be set as to movement forbidden zone simultaneously, it avoids robot from entering movement forbidden zone and be stuck on article, while also avoiding sweeping robot that Danger Electric shock risk occurs.
Description
Technical field
The present invention relates to the motion control methods and its calculating of field in intelligent robotics more particularly to a kind of robot to set
It is standby.
Background technique
As the improvement of people's living standards, all kinds of home-care service type electronic products are emerged in large numbers in blowout in recent years, than
Such as sweeping robot, intelligent sound box, TV box.Service type electronic product is while improving basic function at present, more
It mostly joined artificial intelligence technology, keep the operation of product more easy and can more be efficiently completed basic task.Tradition
The sweeping robot overwhelming majority uses random movement to carry out cleaning task, this cleaning method not only inefficiency but also clear
It is also unsatisfactory to sweep effect.Current several money intelligent sweeping robots can be by intelligence sensor with constructing indoor plane
Figure is cleaned, and this method is greatly improved the coverage rate and efficiency of cleaning, but still is had a problem in that and covered due to cleaning
Lid rate is high, and sweeping robot is easy to be stuck on the Flexible articles such as electric wire, curtain.It is carried out when sweeping robot cleans full-automatic complete
Room cleans, but is unable to control it and cleans a certain specific region.
Summary of the invention
It is an object of the present invention to provide a kind of motion control method of robot and its equipment is calculated, to solve to control
Robot is the problem of specified region carries out cleaning.
The present invention provides a kind of motion control method of robot, comprising:
Zone of action and movement forbidden zone are set in the plane operation map of robot；
Monitor the location information of the robot in real time；
The robot is controlled according to the positional information executes cleaning procedure in the zone of action；
The robot is forbidden to enter the movement forbidden zone according to the positional information；When the robot is located at the fortune
When in dynamic forbidden zone, it is set as the virtual wall of the movement forbidden zone to fail and control the robot and moves out the movement forbidden zone.
Further, motion control method of the present invention, further includes:
Cleaning time corresponding with the zone of action is set；
It controls the robot and executes the cleaning procedure in the zone of action according to the cleaning time；
After the robot executes the primary cleaning procedure, the primary cleaning time is subtracted until the cleaning time
When number is zero, stop executing the cleaning procedure.
Further, motion control method of the present invention, the zone of action are at least two；
The method also includes:
Judgement obtains the nearest zone of action of the current location information of distance；
The robot is controlled according to the positional information is moved to the execution cleaning in the nearest zone of action
Program.
Further, motion control method of the present invention, further includes:
It is set using the central point of the zone of action as the first start bit that the robot executes the cleaning procedure；
The robot is controlled according to the positional information be moved to the first start bit and postpone, start to execute described clear
Clean program.
Further, motion control method of the present invention, further includes:
Second initial position is set in the zone of action；
When the robot detects that the first start bit is equipped with barrier, according to the positional information described in control
Robot screw in such a way that from-inner-to-outer radius is gradually increased in the zone of action, to search for described second
Beginning position；
If judging that the robot is moved to second initial position according to the positional information, the machine is controlled
Device people starts to execute the cleaning procedure in second initial position；
If judging that the robot does not search described second in the zone of action according to the positional information
Beginning position then controls the robot and is moved to next zone of action execution cleaning procedure.
Further, motion control method of the present invention, further includes:
When the robot, which is moved to the first start bit, to be set, the side of zone of action described in the Robot is controlled
Edge is mobile, and executes marginal test program；
Original edge of the zone of action is updated with the edge of the marginal test program determination.
Further, motion control method of the present invention, further includes:
Along the edge for moving forbidden zone, virtual wall is set；
When judging that the robot is moved to the virtual wall according to the positional information, control the Robot with
The opposite direction in the movement forbidden zone is mobile.
Further, motion control method of the present invention, further includes:
Judge whether the robot is located in the movement forbidden zone according to the positional information；
When the robot is not located in the movement forbidden zone, controls the robot and be moved in the zone of action
Execute cleaning procedure；
When the robot is located in the movement forbidden zone, the virtual wall of the movement forbidden zone is set as failing and be controlled
The robot moves out the movement forbidden zone；After the robot moves out the movement forbidden zone, the virtual wall is set
To come into force.
The present invention also provides a kind of computer readable storage mediums, wherein including instruction, described instruction can unit processed
The motion control method of robot according to the present invention is executed.
The present invention provides a kind of calculating equipment again, wherein the equipment that calculates can robot according to the present invention
Motion control method executes instruction.
The motion control method and its calculating equipment of a kind of robot provided by the invention, pass through setting zone of action and fortune
Dynamic forbidden zone, control robot carry out cleaning operation in specified zone of action, while can putting curtain, electric wire and other items
It sets region and is set as movement forbidden zone, avoid robot from entering movement forbidden zone and be stuck on article, while also sweeping robot being avoided to send out
Raw Danger Electric shock risk.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the flow diagram of the motion control method of the robot of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the motion control device of the robot of the embodiment of the present invention；
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
Fig. 1 is the flow diagram of the motion control method of the robot of the embodiment of the present invention, as shown in Figure 1, of the invention
The motion control method of the robot of embodiment, comprising:
Zone of action and movement forbidden zone is arranged in step S101 in the plane operation map of robot；
Step S102 monitors the location information of the robot in real time；
Step S103 controls the robot according to the positional information and executes cleaning procedure in the zone of action；
Step S104 forbids the robot to enter the movement forbidden zone according to the positional information.
Wherein, robot refers to sweeping robot, floor-mopping robot, sweeps the intelligence machine for dragging all-in-one machine etc. for cleaning operation
People.Plane operation map, that is, robot storage indoor map for being used to delimit cleaning operation region, such as robot pass through certainly
It is dynamic to scan obtained home interior map, office building indoor map etc..Robot passes through laser or infrared sensor detection surrounding
Environment, or moved along indoor wall edge, by obtaining plane operation map to structure detection or motion trail analysis.User
Plane operation map can be got by terminal, and activity delimited out in plane operation map by way of pulling region
Region and movement forbidden zone.Such as the placement region for curtain, electric wire and other items, it is set to movement forbidden zone, robot is being gone
All cannot be introduced into journey, backhaul and cleaning process, avoid sweeping robot enter touch curtain and block or touch electric wire and
Cause to leak electricity.More place is generated for dust or rubbish, is set to zone of action, and region, control are cleaned with specified emphasis
Robot processed more attaches most importance to zone of action and careful cleaning.Multiple arbitrary zone of action can be set in user, i.e.,
Quantity, shape and the direction of zone of action pass through the customized setting of user, can arbitrarily change.Robot can pass through laser
Sensor, infrared sensor etc. scan the wall of surrounding enviroment, through the wall that detects compared with plane operation map
Match and the information such as distance apart from wall, location information of the robot in plane operation map is calculated.Robot can
With according to determining the position of oneself in location information plane operation map indoors, and then can enter in plane operation
The zone of action delimited on figure carries out cleanup activities or avoids enter into movement forbidden zone.Cleaning procedure is to default in robot interior
Program, control robot cleared up in zone of action according to the motion path for setting or being calculated.Motion path can
To select serpentine route, alternatively, spiral routes from the outside to the core or from inside to outside, motion path need to cover zone of action, with
Guarantee that the cleanup activities of robot can cover entire zone of action.
In an embodiment of the invention, motion control method of the present invention, further includes:
Cleaning time corresponding with the zone of action is set；
It controls the robot and executes the cleaning procedure in the zone of action according to the cleaning time；
After the robot executes the primary cleaning procedure, the primary cleaning time is subtracted until the cleaning time
When number is zero, stop executing the cleaning procedure.
Wherein, multiple zone of action can be set in user, and its cleaning time is arranged for each zone of action.For dust
Or rubbish generates more region, setting cleaning time is more.For it is more clean, do not allow the place for being also easy to produce rubbish, dust,
It is less that cleaning time is set.It is capable of the cleaning strategy of reasonable arrangement sweeping robot, does not need to own plane operation map
Region is all cleaned with same intensity, emphasis cleaning is carried out to easily contaminated area domain, to promote cleaning efficiency and effect.
In an embodiment of the invention, motion control method of the present invention, further includes:
Robot sends location information, starts the information of cleaning procedure and terminates the information of cleaning procedure to terminal；
Terminal generates robot cleaner according to the information of location information, the information of beginning cleaning procedure and end cleaning procedure
Motion profile；
Terminal shows purging zone and movement forbidden zone, and robot cleaner motion profile is shown in purging zone, with prison
The cleanup activities of man-controlled mobile robot.
Wherein, when robot is carrying out cleaning procedure, terminal is according to the information and location information for starting cleaning procedure
Generate robot cleaner motion profile.Purging zone includes: that robot is carrying out the current activity that cleaning procedure is located at
Region and robot have completed the zone of action of the history of cleaning procedure.
Terminal can pass through the zone of action of plane operation map and user setting and movement forbidden zone autosynchronous
Mode is sent to cloud server, convenient for next time use robot when, one key of terminal call plane operation map and its inside
Zone of action and movement forbidden zone.
In an embodiment of the invention, motion control method of the present invention, the zone of action are at least two；
The method also includes:
Judgement obtains the nearest zone of action of the current location information of distance；
The robot is controlled according to the positional information is moved to the execution cleaning in the nearest zone of action
Program.
Wherein, when the zone of action of setting have it is multiple in the case where, robot preferentially selects the activity nearest apart from oneself
Region carries out cleaning operation.
In an embodiment of the invention, motion control method of the present invention, further includes:
It is set using the central point of the zone of action as the first start bit that the robot executes the cleaning procedure；
The robot is controlled according to the positional information be moved to the first start bit and postpone, start to execute described clear
Clean program.
Wherein, generally in the initial position of the center setting robot cleaner operation of zone of action, robot is preferential
Zone of action center is reached, can avoid encountering the furniture furnished around zone of action or wall etc., the movement of robot can be improved
Efficiency.After furniture or wall are encountered by robot, programming movement path again is understood, if zone of action is smaller, robot can be multiple
Encounter the article of surrounding, expends the time.Two-dimensional plane coordinate system can be established in plane operation map, at this time the position of robot
Information is exactly its position coordinates, and it is also the coordinate demarcated in plane operation map that first start bit, which is set, when the two coordinates
When equal, determine that robot is moved to first start bit and sets.
In an embodiment of the invention, motion control method of the present invention, further includes:
Second initial position is set in the zone of action；
When the robot detects that the first start bit is equipped with barrier, according to the positional information described in control
Robot screw in such a way that from-inner-to-outer radius is gradually increased in the zone of action, to search for described second
Beginning position；
If judging that the robot is moved to second initial position according to the positional information, the machine is controlled
Device people starts to execute the cleaning procedure in second initial position；
If judging that the robot does not search described second in the zone of action according to the positional information
Beginning position then controls the robot and is moved to next zone of action execution cleaning procedure.
Wherein, first start bit sets the article that may have temporarily putting, and robot can not reach first start bit and set, thus
It influences robot and starts cleaning operation.One or more second initial positions can be set, set in first start bit by barrier
In the case where occupancy, robot detects the second initial position automatically, to start cleaning operation.Since robot first can be to activity
The first start bit of regional center sets movement, even if first start bit is equipped with barrier, robot can also be located in zone of action
Near the heart, robot takes the mode Exploratory behavior region that from-inner-to-outer radius is gradually increased since center at this time, to find
Second initial position.Robot can take round spiral or rectangular " time " shape motion path to be explored.When robot
When position coordinates are equal with the coordinate of the second initial position, determine that robot is moved to the second initial position.In the process, such as
There are barriers to forward path by fruit robot probe, then get around barrier and continue according to exploration motion path movement.If machine
Device people does not search the second initial position in zone of action, it is possible to which the second initial position is also occupied by barrier, illustrates to live
Putting on article is more in dynamic region, is not suitable for carrying out cleaning operation, robot is moved to next zone of action and carries out cleaning work
Industry.It is postponed when setting first start bit, the second initial position can be set in preset range around first start bit is set automatically, with
Start cleaning operation from the second initial position convenient for robot.
In an embodiment of the invention, motion control method of the present invention, further includes:
When the robot, which is moved to the first start bit, to be set, the side of zone of action described in the Robot is controlled
Edge is mobile, and executes marginal test program；
Original edge of the zone of action is updated with the edge of the marginal test program determination.
Wherein, the zone of action that user delimit is possible to not fit closely with wall, and robot is needed to start side at this time
Edge mensuration program, detects wall edge, accurately to obtain true region to be cleaned.Robot is moved to the first starting
Behind position, marginal test program can be started, order robot is moved to zone of action edge, and robot is at zone of action edge
Welt movement is carried out in preset range, i.e. the barriers movement such as abutting wall, the movement road of marginal test program recorder people
Diameter and the edge coordinate that zone of action is calculated at a distance from wall according to motion path, and with the coordinate displacement activity region
Original error coordinates, accurately to delimit the true edges of purging zone.
In an embodiment of the invention, motion control method of the present invention, further includes:
Along the edge for moving forbidden zone, virtual wall is set；
When judging that the robot is moved to virtual wall according to the positional information, control the Robot with it is described
It is mobile to move the opposite direction in forbidden zone.
Wherein, virtual wall is one group of coordinate, to delimit the edge of movement forbidden zone, when robot is moved to the coordinate of virtual wall
When surrounding, other directions controlled other than Robot orientation movements forbidden zone are mobile, enter movement forbidden zone to avoid robot.
In an embodiment of the invention, motion control method of the present invention, further includes:
Judge whether the robot is located in the movement forbidden zone according to the positional information；
When the robot is not located in the movement forbidden zone, controls the robot and be moved in the zone of action
Execute cleaning procedure；
When the robot is located in the movement forbidden zone, the virtual wall of the movement forbidden zone is set as failing and be controlled
The robot moves out the movement forbidden zone；After the robot moves out the movement forbidden zone, the virtual wall is set
To come into force.
Wherein, robot not can enter movement forbidden zone in principle, but if robot prohibits since cause specific enters movement
Area, such as be artificially placed in movement forbidden zone, due to the effect of virtual wall, robot, which can not automatically move out, moves forbidden zone.
Need that virtual wall is made to fail at this time, make robot move out movement forbidden zone, then be arranged virtual wall come into force, avoid robot again into
Enter to move forbidden zone.Whether the position coordinates that robot can detecte itself are in the coordinate range of movement forbidden zone, are with judgement
It is no itself whether to be in movement forbidden zone.When robot is not in movement forbidden zone, robot works according to normal procedure,
Such as nearest zone of action is gone to carry out cleaning operation.
The embodiment of the present invention also provides a kind of computer readable storage medium, wherein including instruction, described instruction can be located
The motion control method of reason unit robot shown in FIG. 1 according to the present invention is executed.
The embodiment of the present invention provides a kind of calculating equipment again, wherein the calculating equipment can be shown in FIG. 1 according to the present invention
The motion control method of robot executes instruction.
Fig. 2 is the structural schematic diagram of the motion control device of the robot of the embodiment of the present invention, as shown in Fig. 2, of the invention
The motion control device of the robot of embodiment, comprising:
Region setup module 21, for zone of action and movement forbidden zone to be arranged in the plane operation map of robot；
Position monitoring module 22, for monitoring the location information of the robot in real time；
Cleaning operation module 23 executes in the zone of action for controlling the robot according to the positional information
Cleaning procedure；
Disabled module 24 is moved, for forbidding the robot to enter the movement forbidden zone according to the positional information.
Motion control device shown in Fig. 2 is the realization device of motion control method shown in FIG. 1, and concrete principle is with reference to figure
Motion control method shown in 1, details are not described herein again.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, software program of the invention can be executed to implement the above steps or functions by processor.Similarly, of the invention
Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, some of the steps or functions of the present invention may be implemented in hardware, example
Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the invention can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the method for the present invention and/or technical solution.
And the program instruction of method of the invention is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal-bearing mediums and transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, according to one embodiment of present invention including a device, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When enabling by processor execution, method and/or skill of the device operation based on aforementioned multiple embodiments according to the present invention are triggered
Art scheme.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple
Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table
Show title, and does not indicate any particular order.
Claims (7)
1. a kind of motion control method of robot characterized by comprising
Zone of action and movement forbidden zone are set in the plane operation map of robot；
Monitor the location information of the robot in real time；
The robot is controlled according to the positional information executes cleaning procedure in the zone of action；
The robot is forbidden to enter the movement forbidden zone according to the positional information；
Wherein, virtual wall is set along the edge for moving forbidden zone；When judging that the robot is mobile according to the positional information
When to the virtual wall, controls the Robot direction opposite with the movement forbidden zone and move；When the robot is located at
When in the movement forbidden zone, it is set as the virtual wall of the movement forbidden zone to fail and control the robot and moves out the movement
Forbidden zone；
Wherein, it is set using the central point of the zone of action as the first start bit that the robot executes the cleaning procedure；
The robot is controlled according to the positional information be moved to the first start bit and postpone, start to execute the cleaning procedure；
The method also includes: the second initial position is set in the zone of action；When the robot detects described
When there is barrier in one initial position, control according to the positional information the robot in the zone of action according to from interior and
The mode screw that outer radius is gradually increased, to search for second initial position；If judged according to the positional information
The robot is moved to second initial position, then controls the robot and start to execute institute in second initial position
State cleaning procedure；If judging that the robot does not search described second in the zone of action according to the positional information
Initial position then controls the robot and is moved to next zone of action execution cleaning procedure.
2. motion control method according to claim 1, which is characterized in that further include:
Cleaning time corresponding with the zone of action is set；
It controls the robot and executes the cleaning procedure in the zone of action according to the cleaning time；
After the robot executes the primary cleaning procedure, the primary cleaning time is subtracted until the cleaning time is
When zero, stop executing the cleaning procedure.
3. motion control method according to claim 1, which is characterized in that the zone of action is at least two；
The method also includes:
Judgement obtains the nearest zone of action of the current location information of distance；
The robot is controlled according to the positional information is moved to the execution cleaning procedure in the nearest zone of action.
4. motion control method according to claim 1, which is characterized in that further include:
When the robot, which is moved to the first start bit, to be set, the edge for controlling zone of action described in the Robot is moved
It is dynamic, and execute marginal test program；
Original edge of the zone of action is updated with the edge of the marginal test program determination.
5. motion control method according to claim 1, which is characterized in that further include:
Judge whether the robot is located in the movement forbidden zone according to the positional information；
When the robot is not located in the movement forbidden zone, controls the robot and be moved to execution in the zone of action
Cleaning procedure；
After the robot moves out the movement forbidden zone, the virtual wall is set as coming into force.
6. a kind of computer readable storage medium, which is characterized in that including instruction, described instruction can unit processed according to right
It is required that the motion control method of robot described in any one of 1 to 5 is executed.
7. a kind of calculating equipment, which is characterized in that the calculating equipment can machine according to any one of claim 1 to 5
The motion control method of device people executes instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN109459048A (en) * | 2019-01-07 | 2019-03-12 | 上海岚豹智能科技有限公司 | Map loading method and equipment for robot |
| CN109846427A (en) * | 2019-01-16 | 2019-06-07 | 深圳乐动机器人有限公司 | A kind of control method and clean robot of clean robot |
| CN109828562B (en) * | 2019-01-17 | 2022-07-08 | 上海岚豹智能科技有限公司 | Robot cleaning mode adjusting method and device |
| WO2020150932A1 (en) * | 2019-01-23 | 2020-07-30 | 深圳市阿列夫图科技有限公司 | Method and device for ground grinding, robot and computer readable storage medium |
| CN109947094B (en) * | 2019-01-31 | 2020-06-09 | 科沃斯机器人股份有限公司 | Travel method, self-moving device and storage medium |
| CN111493748A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Robot cleaning execution method, device and computer readable storage medium |
| CN111568306A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Cleaning method and device based on cleaning robot, electronic equipment and storage medium |
| CN111714028A (en) * | 2019-03-18 | 2020-09-29 | 北京奇虎科技有限公司 | Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium |
| CN112716392B (en) * | 2019-10-28 | 2022-08-23 | 深圳拓邦股份有限公司 | Control method of cleaning equipment and cleaning equipment |
| US11612295B2 (en) | 2021-01-04 | 2023-03-28 | Beijing Roborock Technology Co., Ltd. | Autonomous cleaning device |
| CN113693492B (en) * | 2021-02-10 | 2022-12-02 | 北京石头创新科技有限公司 | Cleaning robot escaping method and device, medium and electronic equipment |
| CN113693522B (en) * | 2021-02-10 | 2023-01-17 | 北京石头创新科技有限公司 | Cleaning robot escaping method and device, medium and electronic equipment |
| CN113467452A (en) * | 2021-07-02 | 2021-10-01 | 追觅创新科技(苏州)有限公司 | Avoidance method and device for mobile robot, storage medium, and electronic device |
| CN116211168A (en) * | 2021-12-02 | 2023-06-06 | 追觅创新科技(苏州)有限公司 | Operation control method and device of cleaning equipment, storage medium and electronic device |
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| KR102094347B1 (en) * | 2013-07-29 | 2020-03-30 | 삼성전자주식회사 | Auto-cleaning system, cleaning robot and controlling method thereof |
| CN105867364B (en) * | 2015-01-23 | 2019-04-12 | 燕成祥 | Restrict the system and method for robotic movement behavior |
| CN107463177A (en) * | 2017-08-22 | 2017-12-12 | 北京小米移动软件有限公司 | Control mobile method, apparatus and system |
| CN107773164B (en) * | 2017-11-17 | 2020-11-03 | 北京奇虎科技有限公司 | Cleaning method and device for cleaning robot and robot |
| CN108170138A (en) * | 2017-12-18 | 2018-06-15 | 深圳市奇虎智能科技有限公司 | Sweeper control method and device |
| CN108209745B (en) * | 2017-12-18 | 2021-06-25 | 深圳市奇虎智能科技有限公司 | Control method and device of cleaning equipment, computer equipment and storage medium |
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