CN108937702A - Boundary detection method and device for robot, robot and medium - Google Patents
Boundary detection method and device for robot, robot and medium Download PDFInfo
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- CN108937702A CN108937702A CN201810729833.XA CN201810729833A CN108937702A CN 108937702 A CN108937702 A CN 108937702A CN 201810729833 A CN201810729833 A CN 201810729833A CN 108937702 A CN108937702 A CN 108937702A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention is suitable for the technical field of intelligent robots and provides a boundary detection method and device for a robot, the robot and a computer-readable storage medium, wherein the method comprises the following steps: determining a boundary spacing between a first boundary and a second boundary, the first boundary being parallel to the second boundary; determining a target projection distance of a distance moved by the robot on a perpendicular of the first boundary when the robot moves from the first boundary toward the second boundary; and if the target projection distance is greater than or equal to the boundary distance, judging that the robot detects the second boundary, so that the robot can accurately detect the target boundary even if a preset boundary sensor on the robot fails.
Description
Technical field
The invention belongs to intelligent robot technology field more particularly to a kind of boundary detection methods for robot, dress
It sets, robot and computer readable storage medium.
Background technique
The one kind of glass-cleaning robot as controlling intelligent household appliances, for carrying out automated cleaning to glass.In cleaning glass
During, glass-cleaning robot needs to move back and forth in region to be cleaned to realize and treat all glass in cleaning region
Cleaning, and the accurate detection for treating cleaning zone boundary is the premise that glass-cleaning robot completes clean up task.
In the prior art, glass-cleaning robot generallys use border sensor to detect the boundary in region to be cleaned.However,
During glass-cleaning robot practical cleaning glass, it often will appear the case where border sensor fails, which can lead
It causes glass-cleaning robot that can not accurately detect the boundary in region to be cleaned, and then causes glass-cleaning robot that can cross area to be cleaned
The boundary in domain continues to clean, so that glass-cleaning robot cleaning efficiency seriously reduces.
Summary of the invention
In view of this, the embodiment of the invention provides it is a kind of for the boundary detection method of robot, device, robot and
Computer readable storage medium, to solve the existing border sensor for the boundary detection method of robot in robot
When failure, the problem of can not accurately be detected to the boundary of target area.
The first aspect of the embodiment of the present invention provides a kind of boundary detection method for robot, comprising:
Determine the boundary spacing between the first boundary and the second boundary, first boundary is parallel to the second boundary；
When determining that the robot is mobile towards the second boundary from first boundary, the mobile distance of the robot
Target projection distance on the vertical line on first boundary；
If target projection distance is greater than or equal to the boundary spacing, determine that the robot detects described the
Two boundaries.
The second aspect of the embodiment of the present invention provides a kind of boundary detecting apparatus for robot, comprising:
First determination unit, for determining the boundary spacing between the first boundary and the second boundary, first boundary is flat
Row is in the second boundary；
Second determination unit, when for determining that the robot is mobile towards the second boundary from first boundary, institute
State target projection distance of the mobile distance of robot on the vertical line on first boundary；
Judging unit determines the machine if being greater than or equal to the boundary spacing for the target projection distance
People detects the second boundary.
The third aspect of the embodiment of the present invention provides a kind of boundary detecting apparatus for robot, including memory,
Processor and storage are in the memory and the computer program that can run on the processor, which is characterized in that institute
State the step of realizing the above method when processor executes the computer program.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, which is characterized in that the step of the above method is realized when the computer program is executed by processor
Suddenly.
5th aspect of the embodiment of the present invention provides a kind of robot, fills including the above-mentioned border detection for robot
It sets.
Existing beneficial effect is the embodiment of the present invention compared with prior art: robot from the first boundary towards and first
When the parallel the second boundary in boundary is mobile, if detecting target projection of the mobile distance of robot on the vertical line on the first boundary
Distance is greater than or equal to the boundary spacing between the first boundary and the second boundary, then determines that robot detects the second boundary, this
Sample, even if the preset boundary sensor failure in robot, robot also can accurately detect object boundary.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation flow chart for boundary detection method for robot that first embodiment of the invention provides；
Fig. 2 is the step S102 in a kind of boundary detection method for robot that second embodiment of the invention provides
Specific implementation flow chart；
Fig. 3 is that robot carries out mobile schematic diagram with two different shift strategies in the embodiment of the present invention；
Fig. 4 is a kind of implementation flow chart for boundary detection method for robot that third embodiment of the invention provides；
Fig. 5 is a kind of schematic diagram for boundary detecting apparatus for robot that fourth embodiment of the invention provides；
Fig. 6 is a kind of schematic diagram for boundary detecting apparatus for robot that fifth embodiment of the invention provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, omit to well-known system, device and
The detailed description of method, in case unnecessary details interferes description of the invention.Illustrate this hair below by specific embodiment
The bright technical solution.
Referring to Fig.1, Fig. 1 is a kind of realization for boundary detection method for robot that first embodiment of the invention provides
Flow chart, the executing subject in the present embodiment for the boundary detection method of robot are to fill for the border detection of robot
It sets, the boundary detecting apparatus for robot can be built in robot.
In practical applications, boundary detection method provided in an embodiment of the present invention can be applied to robot cleaner glass,
Robot cleans the scenes such as ground.It is right below mainly by taking boundary detection method is applied to the scene of robot cleaner glass as an example
Boundary detection method provided in an embodiment of the present invention is described in detail.
Boundary detection method for robot as shown in Figure 1 can comprise the following steps that
Step S101, determines the boundary spacing between the first boundary and the second boundary, and first boundary is parallel to described
The second boundary.
Before cleaning to glass to be cleaned, need first to determine the corresponding region to be cleaned of glass to be cleaned, to clear
The corresponding region to be cleaned of clean glass be the region being made of each boundary of glass to be cleaned.In practical applications, to
Clean the rectangular area that the corresponding region to be cleaned of glass is usually rule.In the embodiment of the present invention, glass to be cleaned is being determined
Behind the corresponding region to be cleaned of glass, it is thus necessary to determine that the boundary spacing between each group of boundary being parallel to each other in region to be cleaned.
It, can be by one of boundary in each group of boundary being parallel to each other in region to be cleaned in the embodiment of the present invention
As the first boundary, another boundary determines the boundary spacing between the first boundary and the second boundary as the second boundary.
As an embodiment of the present invention, it can control robot from the first Boundary Moving to the second boundary, be based on robot
Projector distance of the distance passed through from the first Boundary Moving to the second boundary on the vertical line of the first boundary and the second boundary comes
Determine the boundary spacing between the first boundary and the second boundary.
As another embodiment of the present invention, between the first boundary and the second boundary that can also artificially treat cleaning region
Boundary spacing measures, and the boundary spacing measured between the first obtained boundary and the second boundary is stored in advance in machine
In the memory of people.Boundary detecting apparatus can obtain first boundary and second in region to be cleaned from the memory of robot
Boundary spacing between boundary.
It should be noted that since region to be cleaned is made of two groups of parallel boundaries, in practical applications, need
The boundary spacing between two groups of parallel boundaries in region to be cleaned is determined respectively.
Step S102, when determining that the robot is mobile towards the second boundary from first boundary, the robot
Target projection distance of the mobile distance on the vertical line on first boundary.
During robot practical cleaning glass, it usually needs control robot is at wherein one group of region to be cleaned
Move back and forth between the boundary being parallel to each other, and robot is made to be completed at the same time another group of phase from region to be cleaned in the process
Mutually the movement on another boundary is arrived on a boundary in parallel boundary, to complete to treat the cleaning for cleaning glass in region.
It is moved in control robot from the first boundary in one group of boundary being parallel to each other in region to be cleaned towards the second boundary
When dynamic process, in order to guarantee that robot can accurately detect the second boundary, and then guarantee that robot is being moved to the
When two boundaries can accurate and return in time, the embodiment of the present invention is in robot from first boundary in region to be cleaned towards second
When boundary is moved, during boundary detecting apparatus determines robot from the first boundary towards the second boundary moving process, robot is moved
Target projection distance of the dynamic distance on the vertical line on the first boundary.
Boundary detecting apparatus is determining target projection distance of the mobile distance of robot on the vertical line on the first boundary
Afterwards, the boundary spacing between target projection distance and the first boundary and the second boundary is compared, is determined according to comparison result
Whether robot reaches the second boundary.
Step S103 determines the robot inspection if target projection distance is greater than or equal to the boundary spacing
Measure the second boundary.
In the embodiment of the present invention, if boundary detecting apparatus detect target projection distance be greater than or equal to the first boundary with
Boundary spacing between the second boundary then illustrates that robot has been moved into the second boundary, at this point, determining that robot detects second
Boundary.
It should be noted that in practical applications, if boundary detecting apparatus detects target projection distance less than first
Boundary spacing between boundary and the second boundary then illustrates that robot does not move to the second boundary also, at this point, determining robot not
It detects the second boundary, and controls robot and continue towards the second boundary movement.
Above as can be seen that a kind of boundary detection method provided in this embodiment robot from the first boundary towards and first
When the parallel the second boundary in boundary is mobile, if detecting target projection of the mobile distance of robot on the vertical line on the first boundary
Distance is greater than or equal to the boundary spacing between the first boundary and the second boundary, then boundary detecting apparatus determines that robot detects
The second boundary, in this way, it is accurate that robot can also carry out object boundary even if preset boundary sensor failure in robot
Detection, to improve the cleaning efficiency of robot.
It is S102 in a kind of boundary detection method for robot of second embodiment of the invention offer referring to Fig. 2, Fig. 2
Specific implementation flow chart, relative to the corresponding embodiment of Fig. 1, a kind of border detection for robot provided in this embodiment
S102 may include S1021~S1023 in method, and details are as follows:
Step S1021 controls the robot based on the first default shift strategy and the second default shift strategy alternating
Mobile move mode, it is mobile from first boundary towards the second boundary；The first default shift strategy is for identifying
It is mobile towards the second boundary, and the first angle between moving direction and first boundary is greater than 0 and is less than or waits
In 90 degree, the second default shift strategy is parallel with first boundary for identifying moving direction.
Referring to Fig. 3, mobile schematic diagram is carried out with two different shift strategies for the robot in the embodiment of the present invention,
During robot practical cleaning glass, in order to guarantee to treat the cleaning of all glass in cleaning region, border detection dress
It sets it is generally necessary to which control robot moves back and forth between first group of boundary being parallel to each other in region to be cleaned, and makes robot
It is completed at the same time the boundary to another boundary from second group of boundary being parallel to each other in region to be cleaned in the process
Movement.It can thus be seen that needing to control machine when the glass to be cleaned that control robot treats cleaning region is cleaned
Device people is based on two different shift strategies and moves.
In the present embodiment, and in order to determine robot between first group of boundary being parallel to each other in region to be cleaned back and forth
In mobile process, if while from the boundary to another side in second group of boundary being parallel to each other in region to be cleaned
Boundary, can be using a boundary in second group of boundary being parallel to each other in region to be cleaned as the first boundary, and another boundary is made
For the second boundary, boundary detecting apparatus controls robot based on the first default shift strategy and the second default shift strategy alternating
Mobile move mode, it is mobile from the first boundary towards the second boundary.
Wherein, the first default shift strategy is mobile towards the second boundary for identifying, and moving direction and above-mentioned first boundary
Between the first angle be greater than 0 and be less than or equal to 90 degree；Second default shift strategy for identify moving direction with it is above-mentioned
First boundary is parallel.
It should be noted that the distance that robot is moved when mobile based on the first default shift strategy every time is much smaller than machine
The distance that device people is moved when mobile based on the second default shift strategy, and robot be based on every time the second shift strategy it is mobile when
Boundary spacing between the distance moved and first group of boundary being parallel to each other is approximately equal.
It in practical applications, can be by being set to the angular transducer of robot interior come the fortune of real-time detection robot
The first angle between dynamic direction and the first boundary, and then robot is controlled when mobile based on the first default shift strategy, the
One angle is consistently greater than 0 and less than or equal to 90 degree, can guarantee robot in first group of phase in region to be cleaned in this way
Mutually move back and forth between parallel boundary, is completed at the same time a side from second group of boundary being parallel to each other in region to be cleaned
Boundary is to the movement on another boundary, and therefore, the range of above-mentioned first angle is greater than 0 degree and to be less than or equal to 90 degree；It is preferred that
Ground, when being moved due to robot by the first default shift strategy, it is only necessary to mobile lesser distance, therefore the first angle
Range be 30-60 degree, the first angle in the present embodiment is chosen for 45 degree.
Step S1022 determines moving distance of the robot every time based on the first default shift strategy when mobile
The first projector distance on the vertical line on first boundary.
In the present embodiment, in order to detect whether robot moves from second group of region to be cleaned the first boundary being parallel to each other
It moves to the second boundary, boundary detecting apparatus is it needs to be determined that all first throwings of the robot from the first boundary towards the second boundary when mobile
The determination of shadow sum of the distance obtains target projection distance, and judges whether target projection distance is greater than or equal to the first boundary and second
Boundary spacing between boundary, when target projection distance is greater than or equal to the boundary spacing between the first boundary and the second boundary
When, then boundary detecting apparatus confirmly detect the first Boundary Moving that robot is parallel to each other from second group of region to be cleaned to
The second boundary.Boundary detecting apparatus is in order to determine target projection distance, it is thus necessary to determine that robot is based on the first default movement every time
First projector distance of the moving distance on the vertical line on the first boundary when strategy is mobile.
Step S1023, by the robot from first boundary towards the second boundary when mobile all described the
The sum of one projector distance is determined as the target projection distance.
All first projector distances of the boundary detecting apparatus by above-mentioned robot from the first boundary towards the second boundary when mobile
The sum of be determined as target projection distance.Wherein, due to robot pass through every time the first default shift strategy it is mobile when movement away from
It is held essentially constant from the first projector distance on the vertical line on the first boundary, therefore can be pre- with first by obtaining robot
If shift strategy carries out mobile mobile number, first directly is obtained by the product determination of the first projector distance and mobile number
The sum of projector distance, to obtain target projection distance.It should be noted that due to presetting mobile plan in robot with first
When slightly being moved, the fuselage of robot can have the case where skidding, therefore obtain the first default shift strategy and carry out movement
When mobile number, need corresponding mobile number along with preset skidding number, so that the first projector distance acquired
The sum of it is more accurate, in the present embodiment, preset skidding number be can be set to three times.
Preferably due to which robot passes through moving distance when the first default shift strategy moves on the first boundary every time
The first projector distance on vertical line can have lesser error, directly be determined by the product of the first projector distance and mobile number
Obtain target projection apart from when, can have large error, in order to more accurately determine target projection distance, can be by robot
First projector distance of the moving distance on the vertical line on first boundary by the first default shift strategy when mobile every time
It calculates separately and obtains, then be overlapped to obtain target projection distance, to further increase determining target projection
The accuracy of distance, so that the second boundary that boundary detecting apparatus detects is more accurate.
Further, in this embodiment the boundary detection method for robot, the determination robot is each
First projector distance of the moving distance on the vertical line on first boundary based on the first default shift strategy when mobile
Step S1022, comprising:
Determine first movement speed and first movement of the robot based on the first default shift strategy when mobile
Duration.
According to formula D=v0t0sinθ0First projector distance is calculated, wherein D is first projector distance,
v0For the first movement speed, t0For the first movement duration, θ0For first angle.
Referring to Fig. 3, moving distance of the boundary detecting apparatus when determining mobile by the first default shift strategy every time exists
When the first projector distance on the vertical line on the first boundary, it is mobile to need first to determine that robot passes through the first default shift strategy every time
When first movement speed and first movement duration.To according to formula D=v0t0sinθ0It is pre- by first that this time is calculated
The first projector distance when if shift strategy is mobile, wherein D is the first projector distance, v0For first movement speed, t0It is first
Mobile duration, θ0For robot with the first default shift strategy with it is mobile towards the second boundary when, moving direction and the first boundary
Between the first angle, calculate every time the moving distance by the first default shift strategy when mobile on the first side to realize
The first projector distance on the vertical line on boundary.
Further, in this embodiment the boundary detection method for robot, first boundary of determination and second
The step S101 of boundary spacing between boundary, comprising:
The fuselage direction for adjusting the robot makes the robot towards first boundary, and the fuselage direction
It is vertical with first boundary.
The robot is controlled towards first Boundary Moving.
If detecting, preset boundary sensor detects corresponding first sideband signal in first boundary, records institute
First time when preset boundary sensor detects first sideband signal is stated, and controls the robot and stops movement,
And the fuselage direction of the adjustment robot, make the robot towards the second boundary, and the fuselage towards with it is described
The second boundary is vertical.
The robot is controlled at the uniform velocity to move with second movement speed towards the second boundary.
If detecting, the preset boundary sensor detects the corresponding the second boundary signal of the second boundary, remembers
Record the second time when the preset boundary sensor detects the second boundary signal.
Institute is determined according to the time interval between second movement speed and the first time and second time
State boundary spacing.
It needs to illustrate, boundary detecting apparatus is it needs to be determined that first group of region to be cleaned and second group mutual
Boundary spacing between parallel boundary, such as when determining boundary spacing between the boundary that second group is parallel to each other, boundary inspection
Device is surveyed by the fuselage direction of first control adjustment robot, makes robot towards the first boundary and fuselage hangs down towards with the first boundary
Directly, convenient for so that robot is vertically moved towards the first boundary.
Later, boundary detecting apparatus controls robot towards the first Boundary Moving, in addition, boundary detecting apparatus is default by judgement
Whether border sensor detects the corresponding sideband signal in the first boundary.When boundary detecting apparatus detects that preset boundary senses
Device detects corresponding first sideband signal in the first boundary, then illustrates that robot has arrived at the first boundary, border detection
Record is detected first time when the first sideband signal by device, and is controlled robot and stopped movement, and adjust robot
Fuselage direction makes robot towards the second boundary, and fuselage direction is vertical with the second boundary, facilitates towards parallel with the first boundary
The second boundary it is mobile.
When boundary detecting apparatus control robot is at the uniform velocity moved with the second movement speed towards the second boundary, it will judge whether
Detect that preset boundary sensor detects the corresponding the second boundary signal of the second boundary, when detecting preset boundary sensor
The corresponding the second boundary signal of the second boundary is detected, then illustrates that robot has arrived at the second boundary, border detection dress
Set the second time when record preset boundary sensor to be detected to the second boundary signal.Boundary detecting apparatus is mobile according to second
Time interval determination between speed and first time and the second time obtains between the boundary between the first boundary and the second boundary
Away from boundary detecting apparatus will also be accurately determined between first group of boundary being parallel to each other in region to be cleaned by the above method
Boundary spacing.
It is the implementation process of the boundary detection method for robot in third embodiment of the invention referring to Fig. 4, Fig. 4
Figure determines that the robot detects described the if target projection distance is greater than or equal to the boundary spacing
Before the step S103 on two boundaries, comprising:
Step S1031 records the robot from first boundary towards when the second mobile movement of the second boundary
It is long.
Step S1032, if the described second mobile duration is greater than preset duration threshold value, and preset boundary sensor is not detected
The target projection distance, then be compared by the corresponding the second boundary signal of the second boundary with the boundary spacing.
And in order to determine process that robot moves back and forth between first group of boundary being parallel to each other in region to be cleaned
In, if while from a Boundary Moving in second group of boundary being parallel to each other in region to be cleaned to another boundary, it can
Using a boundary in second group of boundary being parallel to each other by region to be cleaned as the first boundary, another boundary is as second
Boundary.In order to ensure robot will not cross the second boundary, boundary detecting apparatus will judge whether preset boundary sensor detects
To the corresponding the second boundary signal of the second boundary, it should be noted that before this, boundary detecting apparatus can recorde robot
The second mobile duration mobile towards the second boundary from the first boundary, and judge whether the second mobile duration is greater than preset duration threshold
Value, wherein preset duration threshold value is alternately to be moved according to robot with the first default shift strategy and the second default shift strategy
Move mode when being moved, when being moved to the second boundary towards the second boundary from the first boundary required total time as
With reference to a default time value, which is slightly less than above-mentioned total time.Therefore when the second mobile duration is greater than
Preset duration threshold value then illustrates that robot is closer apart from the second boundary, may cross the second boundary.It grows up when second is mobile
When preset duration threshold value, boundary detecting apparatus will judge whether preset boundary sensor detects the second boundary corresponding second
Sideband signal, when the corresponding the second boundary signal of the second boundary is not detected in preset boundary sensor, it is understood that there may be default side
The case where boundary's sensor failure, at this point, target projection distance is compared by boundary detecting apparatus with boundary spacing, if detecting
Target projection distance of the mobile distance of robot on the vertical line on the first boundary is greater than or equal to the first boundary and the second boundary
Between boundary spacing, then determine that robot detects the second boundary, in this way, even if the preset boundary sensor in robot loses
Effect, robot also can accurately detect object boundary, to improve the cleaning efficiency of robot.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
It is a kind of schematic diagram for robot boundary detecting apparatus that fourth embodiment of the invention provides referring to Fig. 5, Fig. 5.This
The each unit for including for the boundary detecting apparatus 100 of robot of embodiment is each in the corresponding embodiment of Fig. 1 for executing
Step does not repeat herein referring specifically to the associated description in the corresponding embodiment of Fig. 1 and Fig. 1.The robot of the present embodiment
Boundary detecting apparatus 100 includes: the first determination unit 101, the second determination unit 102 and judging unit 103.
First determination unit 101, for determining the boundary spacing between the first boundary and the second boundary, first boundary
It is parallel to the second boundary.
Second determination unit 102, when for determining that the robot is mobile towards the second boundary from first boundary,
Target projection distance of the mobile distance of the robot on the vertical line on first boundary.
Judging unit 103 determines the machine if being greater than or equal to the boundary spacing for the target projection distance
Device people detects the second boundary.
As an embodiment of the present invention, second determination unit 102 can also include first control unit, projecting cell
And third determination unit.
First control unit, for controlling the robot based on the default mobile plan of the first default shift strategy and second
Slightly replace mobile move mode, it is mobile from first boundary towards the second boundary；The first default shift strategy is used
It is mobile towards the second boundary in mark, and the first angle between moving direction and first boundary is greater than 0 and is less than
Or it is equal to 90 degree, the second default shift strategy is parallel with first boundary for identifying moving direction.
Projecting cell, for determine the robot every time the movement based on the first default shift strategy when mobile away from
From the first projector distance on the vertical line on first boundary.
Third determination unit, for the robot is all when mobile from first boundary towards the second boundary
The sum of described first projector distance is determined as the target projection distance.
As an embodiment of the present invention, the projecting cell can also include determining subelement and computation subunit.
Subelement is determined, for determining first movement of the robot based on the first default shift strategy when mobile
Speed and first movement duration.
Computation subunit, for according to formula D=v0t0sinθ0First projector distance is calculated, wherein D is institute
State the first projector distance, v0For the first movement speed, t0For the first movement duration, θ0For first angle.
As an embodiment of the present invention, first determination unit 101 can also include adjustment unit, the second control list
Member, third control unit, the 4th control unit, the first recording unit and the 4th determination unit.
Adjustment unit makes the robot towards first boundary for adjusting the fuselage direction of the robot, and
The fuselage direction is vertical with first boundary.
Second control unit, for controlling the robot towards first Boundary Moving.
Third control unit, if for detecting that preset boundary sensor detects first boundary corresponding first
Sideband signal then records the first time when preset boundary sensor detects first sideband signal, and controls institute
It states robot and stops movement, and adjust the fuselage direction of the robot, make the robot towards the second boundary, and institute
It is vertical with the second boundary to state fuselage direction.
4th control unit is at the uniform velocity moved with second movement speed towards the second boundary for controlling the robot
It is dynamic.
First recording unit, if for detecting that it is corresponding that the preset boundary sensor detects the second boundary
The second boundary signal then records the second time when the preset boundary sensor detects the second boundary signal.
4th determination unit, for according between second movement speed and the first time and second time
Time interval determine the boundary spacing.
As an embodiment of the present invention, the boundary detecting apparatus 100 for robot of the present embodiment further includes the second note
Record unit and comparing unit.
Second recording unit, for recording the robot second from first boundary towards the second boundary movement
Mobile duration.
Comparing unit, if being greater than preset duration threshold value for the described second mobile duration, and preset boundary sensor is not examined
The corresponding the second boundary signal of the second boundary is measured, then is compared the target projection distance and the boundary spacing
Compared with.
Above scheme, when robot is mobile towards the second boundary parallel with the first boundary from the first boundary, if detecting
Target projection distance of the mobile distance of robot on the vertical line on the first boundary is greater than or equal to the first boundary and the second boundary
Between boundary spacing, then determine that robot detects the second boundary, in this way, even if the preset boundary sensor in robot loses
Effect, robot also can accurately detect object boundary, to improve the cleaning efficiency of robot.
Fig. 6 is the schematic diagram for the boundary detecting apparatus for robot that fifth embodiment of the invention provides.Such as Fig. 6 institute
Show, the boundary detecting apparatus 6 for robot of the embodiment includes: processor 60, memory 61 and is stored in described deposit
Boundary detection method in reservoir 61 and the computer program 62 that can be run on the processor 60, such as robot
Program.The processor 60 realizes the embodiment of above-mentioned each robot boundary detection method when executing the computer program 62
In step, such as step S101 to S103 shown in FIG. 1.Alternatively, when the processor 60 executes the computer program 62
Realize the function of each module/unit in above-mentioned each Installation practice, such as the function of unit 101 to 103 shown in Fig. 5.
Illustratively, the computer program 62 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 61, and are executed by the processor 60, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 62 in the terminal device 6 is described.For example, the computer program 62 can be divided
It is cut into the first determination unit, the second determination unit and judging unit, each module concrete function is as described above.
The boundary detecting apparatus 6 for robot is built in robot.The border detection for robot
Device 6 may include, but be not limited only to, processor 60, memory 61.It will be understood by those skilled in the art that Fig. 6 is only used for
The example of the boundary detecting apparatus 6 of robot does not constitute the restriction of the boundary detecting apparatus 6 for robot, may include
Than illustrating more or fewer components, certain components or different components are perhaps combined, such as the terminal device can be with
Including input-output equipment, network access equipment, bus etc..
Alleged processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 61 can be the internal storage unit of the boundary detecting apparatus 6 for robot, such as machine
The hard disk or memory of the boundary detecting apparatus 6 of device people.The memory 61 is also possible to the border detection for being used for robot
The plug-in type hard disk being equipped on the External memory equipment of device 6, such as the boundary detecting apparatus 6 for robot, intelligence
Storage card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card)
Deng.Further, the memory 61 can also both include the storage inside list of the boundary detecting apparatus 6 for robot
Member also includes External memory equipment.The memory 61 is for storing the computer program and the side for robot
Other programs and data needed for boundary's detection device.The memory 61, which can be also used for temporarily storing, to have exported or has incited somebody to action
The data to be exported.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/robot and method, Ke Yitong
Other modes are crossed to realize.For example, device/robotic embodiment described above is only schematical, for example, the mould
The division of block or unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple
Unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device or
The INDIRECT COUPLING or communication connection of unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned
The step of each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
The embodiment of the invention also provides a kind of robots, including being used for robot in the corresponding embodiment of Fig. 5 or Fig. 6
Boundary detecting apparatus, which can be built in robot, in this way, even if in robot
Preset boundary sensor failure, robot also can accurately detect object boundary.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of boundary detection method for robot characterized by comprising
Determine the boundary spacing between the first boundary and the second boundary, first boundary is parallel to the second boundary；
When determining that the robot is mobile towards the second boundary from first boundary, the mobile distance of the robot is in institute
State the target projection distance on the vertical line on the first boundary；
If the target projection distance is greater than or equal to the boundary spacing, determine that the robot detects second side
Boundary.
2. the boundary detection method according to claim 1 for robot, which is characterized in that the determination machine
When people is mobile towards the second boundary from first boundary, vertical line of the mobile distance of the robot on first boundary
On target projection distance, comprising:
The robot is controlled with based on the first default shift strategy and the second default shift strategy alternately mobile move mode,
It is mobile from first boundary towards the second boundary；The first default shift strategy is for identifying towards the second boundary
It is mobile, and the first angle between moving direction and first boundary is greater than 0 and is less than or equal to 90 degree, described second is pre-
If shift strategy is parallel with first boundary for identifying moving direction；
Determine moving distance of the robot every time based on the first default shift strategy when mobile on first boundary
Vertical line on the first projector distance；
The sum of all first projector distances by the robot from first boundary towards the second boundary when mobile
It is determined as the target projection distance.
3. the boundary detection method according to claim 2 for robot, which is characterized in that the determination machine
People's first throwing of the moving distance based on the first default shift strategy when mobile on the vertical line on first boundary every time
Shadow distance, comprising:
Determine first movement speed and first movement duration of the robot based on the first default shift strategy when mobile；
According to formula D=v0t0sinθ0First projector distance is calculated, wherein D is first projector distance, v0For
The first movement speed, t0For the first movement duration, θ0For first angle.
4. the boundary detection method according to claim 1 for robot, which is characterized in that first boundary of determination
Boundary spacing between the second boundary, comprising:
The fuselage direction for adjusting the robot makes the robot towards first boundary, and the fuselage towards and institute
It is vertical to state the first boundary；
The robot is controlled towards first Boundary Moving；
If detecting, preset boundary sensor detects corresponding first sideband signal in first boundary, records described pre-
If border sensor detects first time when first sideband signal, and controls the robot and stop movement, and adjust
The fuselage direction of the whole robot makes the robot towards the second boundary, and the fuselage towards and described second
Boundary is vertical；
The robot is controlled at the uniform velocity to move with second movement speed towards the second boundary；
If detecting, the preset boundary sensor detects the corresponding the second boundary signal of the second boundary, records institute
State the second time when preset boundary sensor detects the second boundary signal；
The side is determined according to the time interval between second movement speed and the first time and second time
Boundary's spacing.
5. the boundary detection method according to claim 1 for robot, which is characterized in that if the target is thrown
Shadow distance is greater than or equal to the boundary spacing, then before determining that the robot detects the second boundary, comprising:
Record the robot second mobile duration mobile towards the second boundary from first boundary；
If the described second mobile duration is greater than preset duration threshold value, and the second boundary pair is not detected in preset boundary sensor
The target projection distance is then compared by the second boundary signal answered with the boundary spacing.
6. a kind of boundary detecting apparatus for robot characterized by comprising
First determination unit, for determining the boundary spacing between the first boundary and the second boundary, first boundary is parallel to
The second boundary；
Second determination unit, when for determining that the robot is mobile towards the second boundary from first boundary, the machine
Target projection distance of the mobile distance of device people on the vertical line on first boundary；
Judging unit determines the robot inspection if being greater than or equal to the boundary spacing for the target projection distance
Measure the second boundary.
7. the boundary detecting apparatus according to claim 6 for robot, which is characterized in that described second determines list
Member, comprising:
Control unit, for controlling the robot alternately to move based on the first default shift strategy and the second default shift strategy
Dynamic move mode, it is mobile from first boundary towards the second boundary；The first default shift strategy is for identifying court
It is mobile to the second boundary, and the first angle between moving direction and first boundary is greater than 0 and is less than or equal to
90 degree, the second default shift strategy is parallel with first boundary for identifying moving direction；
Projecting cell, for determining that the robot is existed based on moving distance of first default shift strategy when mobile every time
The first projector distance on the vertical line on first boundary；
Third determination unit, for the robot is all described when mobile from first boundary towards the second boundary
The sum of first projector distance is determined as the target projection distance.
8. a kind of boundary detecting apparatus for robot, including memory, processor and storage are in the memory simultaneously
The computer program that can be run on the processor, which is characterized in that the processor executes real when the computer program
Now such as the step of any one of claim 1 to 5 the method.
9. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
10. a kind of robot, which is characterized in that including the boundary detecting apparatus for robot as described in claim 6-8.
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| CN201810729833.XA CN108937702B (en) | 2018-07-05 | 2018-07-05 | Boundary detection method and device for robot, robot and medium |
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| CN201810729833.XA CN108937702B (en) | 2018-07-05 | 2018-07-05 | Boundary detection method and device for robot, robot and medium |
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| CN108937702B (en) | 2021-05-18 |
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