CN109421055A - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN109421055A CN109421055A CN201710740386.3A CN201710740386A CN109421055A CN 109421055 A CN109421055 A CN 109421055A CN 201710740386 A CN201710740386 A CN 201710740386A CN 109421055 A CN109421055 A CN 109421055A
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- 230000004888 barrier function Effects 0.000 claims description 37
- 238000005259 measurement Methods 0.000 claims description 31
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000004364 calculation method Methods 0.000 abstract description 4
- 238000003860 storage Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 241001122767 Theaceae Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
A kind of self-movement robot, control unit including robot body (10) and setting on the body, the robot body includes multilayer cartographic information acquisition device (20), obstacle information for Collecting operation environment different height, the multilayer cartographic information acquisition device includes first distance sensor and second distance sensor, first distance sensor is arranged on robot body top, second distance sensor is arranged in robot body lower part, wherein, the ranging range of the ranging range > second distance sensor of first distance sensor.The present invention passes through setting multilayer map acquisition device, it is ensured that self-movement robot is unimpeded in complex environment, safe and efficient walking, while reducing the storage capacity and calculation amount of control unit, reduces production cost in the case where guaranteeing avoidance.
Description
Technical field
The present invention relates to a kind of self-movement robots, belong to small household appliances manufacturing technology field.
Background technique
Extensively and profoundly with artificial intelligence technology research, the research of self-movement robot is just gradually being goed deep into China, right
The requirement of self-movement robot is also higher and higher, but existing self-movement robot independence is executed under complex environment, can
When requiring relatively high task by property, weaker to environment sensing ability and bad to the avoidance effect of track route, integrated level is not
It is high.
The sensor that robot on the market mostly uses greatly laser range sensor etc. to have two-dimentional perceptional function now comes
Detection barrier simultaneously build figure, although it can obtain biggish detection range, its is at high price, and commonly used in height compared with
On small sweeping robot.Since there is very more short and small barriers in interior, robot still needs to the exhausted big portion of traversal working environment
Subregion could obtain the line drawing of working region, and it is lower to build figure efficiency.Or such as Chinese publication
Multi-function robot disclosed by CN201520339856.1, although robot body height is higher, laser range finder setting
In the bottom of robot, the most areas of traversal working environment, inefficiency are still needed to when building figure；There are also a kind of on the market
There is the robot of three-dimensional perception function using camera etc., figure and positioning are built using camera, although entire area can be obtained
The three-dimensional map in domain, but camera is not directly available the range information of barrier, needs to carry out a large amount of data processing, response
Speed is slow and is easy to generate erroneous judgement.
Summary of the invention
Technical problem to be solved by the present invention lies in view of the deficiencies of the prior art, providing a kind of self-movement robot,
Pass through setting multilayer map acquisition device, it is ensured that self-movement robot is unimpeded in complex environment, safe and efficient walking, together
When reduce the storage capacity and calculation amount of control unit, reduce production cost in the case where guaranteeing avoidance.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions:
The present invention provides a kind of self-movement robot, the control list including robot body and setting on the body
Member, the robot body include multilayer cartographic information acquisition device, and the barrier for Collecting operation environment different height is believed
Breath, the multilayer cartographic information acquisition device includes first distance sensor and second distance sensor, first distance sensor
Setting is arranged in robot body top, second distance sensor in robot body lower part, wherein first distance sensor
The ranging range of ranging range > second distance sensor.
Wherein, the first distance sensor and second distance sensor are respectively used to obtain the first height barrier object information
With the second height barrier object information, described control unit receives the first height barrier object information and the second height barrier object information simultaneously
Correspondence establishment the first level information two-dimensional map and the second level information two-dimensional map.
In order to improve the ability of multilayer cartographic information acquisition device, the multilayer cartographic information acquisition device further includes setting
Third range sensor between first distance sensor and second distance sensor, and the survey of the third range sensor
Away from range between first distance sensor and the ranging range of second distance sensor.
In order to facilitate positioning and building figure, the first distance sensor is laser range finder, and locating for laser range finder
The 4/5 of height > robot body height.
In order to make robot body extreme higher position not collision obstacle, robot body is arranged in the laser range finder
On top surface, the height of the ranging working height range of height > robot body height and laser range finder locating for laser range finder
It is poor to spend.
Preferably, the robot body height > 40cm.
In order to detect more barriers, the second distance sensor is ultrasonic range finder, the ultrasonic distance measurement
The 1/5 of height < robot body height locating for instrument.
For anti-crosstalk, the ultrasonic range finder includes ultrasonic transmitter and ultrasonic receiver, the ultrasonic wave
Barriers are equipped between transmitter and ultrasonic receiver, the barriers are located at the outer surface of self-movement robot ontology, use
Continuous surface between the partition ultrasonic transmitter and ultrasonic receiver.Preferably, the barriers are setting in institute
State a plurality of groove between ultrasonic transmitter and ultrasonic receiver.
Preferably, the third range sensor is infrared range-measurement system, and height locating for the infrared range-measurement system is machine
The 1/3-2/3 of human body's height.Specifically, the quantity of the infrared range-measurement system has 5, wherein 3 infrared range-measurement systems are with parallel
It is set to below laser range finder, is located in the middle in 3 infrared range-measurement systems below infrared range-measurement system in the mode of operation surface
It is successively arranged other 2 infrared range-measurement systems.
Preferably, the self-movement robot is air purifying robot, and the first distance sensor is laser ranging
Instrument, the height > 50cm of the air purifying robot, height locating for the laser range finder are 50cm-60cm.
In conclusion the present invention passes through setting multilayer map acquisition device, it is ensured that self-movement robot is in complex environment
In unimpeded, safe and efficient walking, while reducing the storage capacity and calculation amount of control unit, decline the case where guaranteeing avoidance
Low production cost.
In the following with reference to the drawings and specific embodiments, technical solution of the present invention is described in detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of self-movement robot of the present invention.
Specific embodiment
Fig. 1 is the structural schematic diagram of self-movement robot of the present invention.As shown in Figure 1, the present invention provides one kind from moving machine
Device people (such as air purifying robot, sweeping robot), including robot body 10 and the control being arranged on the ontology 10
Unit (not shown) processed, the robot body 10 include multilayer cartographic information acquisition device 20, are used for Collecting operation ring
The obstacle information of border different height.The multilayer cartographic information acquisition device 20 is electrically connected with control unit, will be collected
Obstacle information be sent to control unit, control unit receives and processes the obstacle information of different height, according to barrier
Information establishes multilayer map, and the multilayer map includes the two-dimensional map of at least two Different Plane height.
The robot body 10 further includes the components such as walking unit 11, detection unit and functional unit.The walking is single
Member 11 can be made of motor, driving wheel and driven wheel, for driving self-movement robot to walk；Detection unit is for detecting certainly
Operating environment and manipulating object of mobile robot etc., and will test signal and be sent to control unit, to facilitate control unit
Control self-movement robot executes different functions；Functional unit can be multiple types, for example, when functional unit includes cleaning
When component, self-movement robot can execute cleaning, and when functional unit includes mechanical arm, self-movement robot can be with
It realizes and the functions such as carries, grabs, when functional unit includes air purifier, self-movement robot can purify air, this hair
The bright type for being not intended to limit functional unit.
The multilayer cartographic information acquisition device 20 includes multiple range sensors, locating for plurality of range sensor
Height is different, and the range sensor includes ultrasonic range finder 22, infrared range-measurement system 23 and laser range finder 21 etc..
Specifically, multilayer cartographic information acquisition device 20 may include first distance sensor and second distance sensing
Device, on 10 top of robot body, second distance sensor is arranged in 10 lower part of robot body the setting of first distance sensor,
Wherein, the ranging range > second distance sensor of first distance sensor, it is preferred that the ranging of the first distance sensor
Range is the 2 times or more of second distance sensor instrument distance range.The first distance sensor and second distance sensor difference
For the obstacle information of height where acquiring it, i.e., the described first distance sensor and second distance sensor are respectively used to obtain
The first height barrier object information and the second height barrier object information are taken, described control unit receives and processes the obstacle of different height
Object information (the first height barrier object information and the second height barrier object information), the two-dimensional map of level where correspondence establishment
(the first level information two-dimensional map and the second level information two-dimensional map).
Further, multilayer cartographic information acquisition device 20 further includes that setting is passed in first distance sensor and second distance
Third range sensor between sensor, the ranging range of third range sensor is between first distance sensor and second distance
Between the ranging range of sensor.Preferably, as shown in Figure 1, first distance sensor is laser range finder 21, second distance is passed
Sensor is ultrasonic range finder 22, and third range sensor is infrared range-measurement system 23.
In the present embodiment, the ranging range of laser range finder 21 is 3m-8m, it is preferred that setting quantity is 1.Laser Measuring
Distance meter 21 includes LASER Discharge Tube, reception pipe, motor and processing chip etc., and under motor drive, laser range finder 21 passes through certainly
Turn the object around measurement within the scope of 360 °, while its function of being also equipped with auxiliary positioning, since it is arranged in robot body
10 tops, the visual field is preferable, and the positioning of self-movement robot in the present embodiment is completed by laser range finder 21, can also be with
Using other sensors such as code-disc or gyroscope on self-movement robot etc. come auxiliary positioning, another aspect laser range finder 21
Barrier maximum height be can also confirm that judge whether self-movement robot can pass through furniture as desk.Specifically,
10 height (machine of height locating for laser range finder 21 (the distance between laser range finder 21 and operation surface) > robot body
The distance between 10 highest point of device human body and operation surface, the i.e. maximum height of self-movement robot) 4/5, specifically,
Laser range finder 21 can be arranged on the top surface of robot body 10, since laser range finder 21 is when measuring barrier,
Itself there is ranging working height range L in the vertical direction, i.e., laser range finder, which is surveyed, actually emits a small angle
Spindle light beam (usually 1 ° -3 °), so that the laser range finder can at least be detected positioned at self-movement robot top surface and machine
The barrier of height, prevents self-movement robot top surface or laser range finder from colliding barrier between device human body's height.Cause
This, the height of the ranging working height range of height > robot body height and laser range finder locating for laser range finder
Difference.Preferably, 10 height > 40cm of robot body, further preferred > 50cm, altitude range locating for laser range finder 21
For 50cm-60cm.According to statistics, the height (such as tea table, seats, vase) of indoor most of short and small articles is generally lower than
50cm can effectively circumvent the resistance of above-mentioned barrier by the control of height locating for laser range finder 21 between 50cm-60cm
Gear improves efficiency of the laser range finder 21 when establishing map, only needs to walk i.e. in the fraction region of operating environment
The line drawing of entire operating environment can be obtained.The method of the two-dimensional map of height where laser range finder positions and establish it
It discloses and is sensed using laser ranging for the prior art, such as patent document CN101809461A and CN 200610053690.2
Device builds the technical solution of figure and positioning, and details are not described herein.
The ultrasonic range finder 22 includes 3 ultrasonic transmitter 221 and 2 ultrasonic receivers 222, and the present invention is simultaneously
Quantity and the position of transmitter and receiver are not limited, and those skilled in the art can be adjusted according to actual needs.It is described
The characteristic of ultrasonic range finder 22 is that measurement angle is wide, and the barrier in operating environment is generally all on ground, so setting
The leak detection of barrier can be reduced to the greatest extent in lower part by setting；In addition, ultrasonic range finder 22 is to glass, (there are many glass in such as office
Glass wall) etc. the low material Effect on Detecting of infrared reflectivities it is good, by the setting of ultrasonic range finder 22 in 10 lower part of robot body,
Self-movement robot is enabled to find various barriers (such as Foot of chair and sofa leg) in time when walking, to avoid touching
It hits.Specifically, height locating for ultrasonic range finder 22 (the distance between ultrasonic range finder 22 and operation surface) < machine
The 1/5 of 10 height of human body.The method of the two-dimensional map of height where ultrasonic range finder positions and establish it is existing skill
Art, patent document CN104536447A and CN201510363054.9 disclose the technology for build using ultrasonic wave figure and positioning
Scheme, details are not described herein.
(do not show in figure you need to add is that being equipped with barriers between the ultrasonic transmitter and ultrasonic receiver
Out), barriers are arranged on the outer surface of self-movement robot ontology, connect for separating the ultrasonic transmitter and ultrasonic wave
The continuous surface between device is received, anti-crosstalk is played the role of.Preferably, barriers include that setting connects in ultrasonic transmitter and ultrasonic wave
Receive a plurality of groove between device.Barriers include but is not limited to that perhaps raised line can also be intensive salient point or pit to groove,
Either one section of isolation flexible glue etc..
Since 22 detection accuracy of ultrasonic range finder is relatively low, detecting distance is relatively short (1m or so), and Laser Measuring
Although 21 detection accuracy of distance meter and detecting distance are higher, its cost is also very high, therefore, 21 He of laser range finder in the present embodiment
Infrared range-measurement system 23 is additionally provided between ultrasonic range finder 22, the detecting distance of infrared range-measurement system 23 is 1m-1.5m, preferably
1.2m.The setting of infrared range-measurement system 23, the perfect detection range of detection unit 20, from mobile when avoiding the occurrence of special-shaped barrier
The problem of robot collides because can't detect.In order to not collide when guaranteeing self-movement robot work, infrared survey
The setting quantity of distance meter 23 is The more the better, however considers edge effect and production cost, the setting of the infrared range-measurement system 23
Quantity has 5, wherein 3 infrared range-measurement systems 23 are set to below laser range finder 21 in a manner of being parallel to operation surface, 3
It is located in the middle in infrared range-measurement system 23 below infrared range-measurement system 23 and is successively arranged other 2 infrared range-measurement systems 23, so that substantially
Cover the barrier on self-movement robot direction of travel.Specifically, (the infrared range-measurement system 23 of height locating for infrared range-measurement system 23
The distance between operation surface) be 10 height of robot body 1/3-2/3.Infrared range-measurement system 23 positions and establishes its institute
It is the prior art in the method for the two-dimensional map of height, details are not described herein.It can be seen from the above, being established respectively in the present embodiment
5 two-dimensional maps, for forming multilayer map.
Table 1 show test in different height be arranged different distance sensor when self-movement robot complete work
Collision frequency.The height of self-movement robot employed in test is 60cm, and the number 21 in table is represented in corresponding height
Provided with laser range finder 21, number 22, which is represented, is provided with ultrasonic range finder 22 in corresponding height, and number 23 is represented corresponding
Height is provided with infrared range-measurement system 23.From table 1 it follows that different range sensors is arranged in position at various height
When, self-movement robot completes work collision frequency difference experienced, and self-movement robot does not pass through in the test of serial number 1
What successive collision has just smoothly completed work.
Table 1
The characteristics of taking full advantage of different distance sensor using the detection unit 20 of 1 structure of serial number, is almost able to detect
The obstacle frequently encountered to daily life, avoids the problem of self-movement robot collides when walking.
The present invention is not intended to limit the specific setting position of range sensor and height, those skilled in the art can bases
Actual needs is designed.
Preferably, in order to facilitate working sensor, sensor can be arranged on rotary components (such as above-mentioned motor),
It enables the sensor to rotate around 10 periphery of robot body, alternatively, robot body 10 can be arranged on rotary components,
Robot body 10 is rotated in place, i.e., it, can be not when self-movement robot is in the random site of operating environment
The obstacle information of large range of operating environment is obtained in the case where movement.
The present invention also provides a kind of traveling methods applied to self-movement robot as described above, which comprises
Step 1: the obstacle information of Collecting operation environment different height；
Step 2: handling the obstacle information of different height, the corresponding two-dimensional map for generating multiple and different height is established more
Layer map；
Step 3: the walking path of self-movement robot is planned according to multilayer map.
Wherein, plan that the walking path of self-movement robot can be planned walking automatically by self-movement robot in step 3
Walking path is planned by user in path by hand.
The course of work of self-movement robot is as follows in the present invention:
Firstly, self-movement robot acquires different height by multilayer cartographic information acquisition device 20 in operating environment
Obstacle information, multilayer cartographic information acquisition device 20 will test signal after acquiring information and be sent to control unit, and control is single
Member generates the two-dimensional map of the obstacle information of multiple corresponding different heights, planning according to the obstacle information for including different height
Walking is executed after the walking path of self-movement robot, for example, the obstacle information in each two-dimensional map is taken union, is obtained
All obstacle informations of operating environment, so as to avoid self-movement robot in the process of walking with the obstacle in operating environment
Object collides.
The present invention passes through setting multilayer map acquisition device, it is ensured that self-movement robot is unimpeded in complex environment, pacifies
Complete efficient walking, while reducing the storage capacity and calculation amount of control unit, production is reduced in the case where guaranteeing avoidance
Cost.
Claims (12)
1. a kind of self-movement robot, the control unit including robot body (10) and setting on the body, the machine
Device human body includes multilayer cartographic information acquisition device (20), for the obstacle information of Collecting operation environment different height,
It is characterized in that, the multilayer cartographic information acquisition device includes first distance sensor and second distance sensor, first distance
Sensor setting is arranged in robot body top, second distance sensor in robot body lower part, wherein first distance passes
The ranging range of the ranging range > second distance sensor of sensor.
2. self-movement robot as described in claim 1, which is characterized in that the first distance sensor and second distance pass
Sensor is respectively used to obtain the first height barrier object information and the second height barrier object information, and it is high that described control unit receives first
Spend obstacle information and the second height barrier object information and correspondence establishment the first level information two-dimensional map and the second plane
Elevation information two-dimensional map.
3. self-movement robot as described in claim 1, which is characterized in that the multilayer cartographic information acquisition device further includes
Third range sensor between first distance sensor and second distance sensor, and the third range sensor are set
Ranging range between first distance sensor and the ranging range of second distance sensor.
4. self-movement robot as described in claim 1, which is characterized in that the first distance sensor is laser range finder
(21), the laser range finder is arranged on the top surface of robot body (10), height > robot locating for laser range finder
The difference in height of the ranging working height range of body height and laser range finder.
5. self-movement robot as claimed in claim 4, which is characterized in that robot body (10) the height > 40cm.
6. self-movement robot as described in claim 1, which is characterized in that the first distance sensor is laser range finder
(21), and height > robot body (10) height locating for laser range finder 4/5.
7. self-movement robot as described in claim 1, which is characterized in that the second distance sensor is ultrasonic distance measurement
Instrument (22), 1/5 of height < robot body (10) height locating for the ultrasonic range finder.
8. self-movement robot as claimed in claim 7, which is characterized in that the ultrasonic range finder (22) includes ultrasonic wave
Transmitter (221) and ultrasonic receiver (222) are equipped with barriers between the ultrasonic transmitter and ultrasonic receiver,
The barriers are located at the outer surface of self-movement robot ontology, for separating the ultrasonic transmitter and ultrasonic receiver
Between continuous surface.
9. self-movement robot as claimed in claim 8, which is characterized in that the barriers are that setting is sent out in the ultrasonic wave
A plurality of groove between emitter (221) and ultrasonic receiver (222).
10. self-movement robot as claimed in claim 3, which is characterized in that the third range sensor is infrared distance measurement
Instrument (23), height locating for the infrared range-measurement system are the 1/3-2/3 of robot body (10) height.
11. self-movement robot as claimed in claim 10, which is characterized in that the quantity of the infrared range-measurement system (23) has 5
It is a, wherein 3 infrared range-measurement systems are set to below laser range finder (21) in a manner of being parallel to operation surface, 3 infrared surveys
It is located in the middle in distance meter below infrared range-measurement system and is successively arranged other 2 infrared range-measurement systems.
12. self-movement robot as described in claim 1, which is characterized in that the self-movement robot is air cleaner
Device people, the first distance sensor are laser range finder, the height > 50cm of the air purifying robot, the Laser Measuring
Height locating for distance meter is 50cm-60cm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710740386.3A CN109421055A (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710740386.3A CN109421055A (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
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| CN112034467A (en) * | 2020-07-20 | 2020-12-04 | 深圳市无限动力发展有限公司 | Method and device for drawing floor sweeping mechanism, computer equipment and readable storage medium |
| CN116661459A (en) * | 2023-06-26 | 2023-08-29 | 中煤科工机器人科技有限公司 | Inspection and obstacle avoidance method for coal mine inspection robot |
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