CN109591008A - The area of safety operaton of mobile robot determines method - Google Patents
The area of safety operaton of mobile robot determines method Download PDFInfo
- Publication number
- CN109591008A CN109591008A CN201711150954.0A CN201711150954A CN109591008A CN 109591008 A CN109591008 A CN 109591008A CN 201711150954 A CN201711150954 A CN 201711150954A CN 109591008 A CN109591008 A CN 109591008A
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- China
- Prior art keywords
- mobile robot
- area
- safety operaton
- coordinate
- robot
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Classifications
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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
-
- 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
Abstract
Present invention discloses a kind of area of safety operaton of mobile robot to determine method, comprising the following steps: S1: establishing mobile robot coordinate system；S2: it obtains the area of safety operaton boundary coordinate information of mobile robot and is sent to visualization terminal；S3: area of safety operaton map boundary line profile is created in visualization terminal；S4: it is revised according to the actual profile to map boundary profile of area of safety operaton；S5: revised map boundary line profile coordinate is sent to mobile robot；S6: area of safety operaton is determined according to revised map boundary line profile coordinate.Compared with prior art, technical solution of the present invention revises the area of safety operaton of mobile robot by the visualization tool using existing visualization terminal, under conditions of not increasing the hardware cost of mobile robot, the precision for improving mobile robot area of safety operaton reduces the risk of mobile robot abnormal work.
Description
Technical field
The present invention relates to the area of safety operaton of mobile robot, especially mobile robot to determine method.
Background technique
Mobile robot is that one kind can under software control, the autonomous robot for completing particular task.With artificial intelligence
Can technology and advanced manufacturing technology continuous development, mobile robot using more and more extensive, the movement of existing industrialization
Robot representative includes clean robot and grass-removing robot.
In order to guarantee safe and efficient completion work, before mobile work robot, user needs to confirm movement
The working range of robot.By taking grass-removing robot as an example, existing grass-removing robot generallys use cable for lawn boundary, static
Barrier and the region for not allowing robot to enter fence up, to be formed to working region, grass-removing robot passes through induction
Electric signal in cable confirms its working range.
Since grass-removing robot judges whether it is in safe working region by way of inductive signal, work as meadow
When being embedded with some common cables below attachment or meadow, the signal that these cables generate may cause to do to grass-removing robot
It disturbs, causes grass-removing robot that these common cables are mistakenly identified as to the boundary line of oneself, and then work can not be normally completed.
Also have at present and grass-removing robot working region boundary profile coordinate is obtained by using the mode of space coordinate positioning
Method.But since there is a certain error (10cm or so) for existing location technology, it cannot achieve accurate positioning, cause to obtain
Boundary profile coordinate there is a certain error, direct use will will lead to grass-removing robot run off real work zone boundary and
Certain danger is brought, or deviateing work boundary causes certain boundaries not to be able to achieve covering, influences mowing effect.
It is therefore desirable to provide a kind of scheme that the area of safety operaton for solving mobile robot determines.
Summary of the invention
It is an object of the present invention to overcoming the defects of background technique, a kind of trouble free service of mobile robot is provided
Area determination method, concrete scheme are as follows:
A kind of area of safety operaton of mobile robot determines method, comprising the following steps: S1: establishing mobile robot seat
Mark system；S2: it obtains the area of safety operaton boundary coordinate information of mobile robot and is sent to visualization terminal；S3: visual
Change terminal and creates area of safety operaton map boundary line profile；S4: it is taken turns according to the actual profile to map boundary of area of safety operaton
Exterior feature is revised；S5: revised map boundary line profile coordinate is sent to mobile robot；S6: according to revised map side
Boundary's profile coordinate determines area of safety operaton.
Further, the step S1 includes following sub-step: S11: arranging three in the working region of mobile robot
A positioning anchor point；S12: coordinate system is established to position anchor point as reference.
Further, the step S2 includes following sub-step: S21: setting mobile robot by mobile tag node
Area of safety operaton boundary；S22: boundary coordinate is calculated at a distance from each positioning anchor point by mobile tag node；S23: will
Boundary coordinate is sent to visualization terminal.
Further, the mobile robot is grass-removing robot or clean robot.
Further, the visualization terminal is remote controler, mobile phone or tablet computer.
Compared with prior art, technical solution of the present invention passes through the visualization tool using existing visualization terminal to shifting
The area of safety operaton of mobile robot is revised, and under conditions of not increasing the hardware cost of mobile robot, improves shifting
The precision of mobile robot area of safety operaton reduces the risk of mobile robot abnormal work.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow chart of the preferred embodiment of the method for the present invention；
Fig. 2 is the sub-step flow chart of the step S1 in Fig. 1；
Fig. 3 is the sub-step flow chart of the step S2 in Fig. 1；
Fig. 4 is the grass-removing robot system block diagram in present pre-ferred embodiments；
Fig. 5 is the map boundary line outline drawing of the smart phone in Fig. 4.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with the drawings and specific embodiments, it is clear that this
In described embodiment be only invent a part of the embodiment, instead of all the embodiments.It is described based on the present invention
Specific embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, all should belong in protection scope defined by the claims in the present invention.
Mobile robot in the present invention refers in particular to the mobile robot of cover type, such as grass-removing robot or cleaner
Device people, the present invention in visualization terminal be to have the equipment of processor, as smart phone, tablet computer or with display screen
Common computer.
It as shown in Figures 1 to 5, is a preferred embodiment of the present invention.As shown in figure 4, the subject of implementation of this method includes cutting
Careless robot and smart phone, grass-removing robot include the control module (MCU) that can store map, are equipped on grass-removing robot
Label node, label node are removably mounted on grass-removing robot, are equipped with and label section in grass-removing robot working region
The positioning anchor point of the one-way or bi-directional communication of point；Smart phone is equipped with the application program that map is created according to coordinate information.
S1: mobile robot coordinate system is established.
As shown in Fig. 2, step S1 includes sub-step S11 and sub-step S12 in the present embodiment.
S11: three positioning anchor points are arranged in the working region of mobile robot.
Three positioning anchor points are arranged in predetermined position in the working region of mobile robot, and make the height of each positioning anchor point
The height of degree and the label node on grass-removing robot is arranged in same level height.Anchor point is positioned in the present embodiment to adopt
With ultra wide band (Ultra Wide band, abbreviation UWB), using the mobile tag node on pulse signal and grass-removing robot into
The transmission of the bidirectional wireless data of row non-contact as anchor point is due to it using ultra wide band to achieve the purpose that identify and position
Structure is simple, strong antijamming capability, has many advantages, such as the accurate tracking ability of real-time indoor and outdoor.Certainly, positioning anchor point can also be with
For laser emitter, while laser signal detection device being installed on grass-removing robot.
S12: coordinate system is established to position anchor point as reference.
As coordinate origin, straight line where the positioning anchor point and another positioning anchor point is denoted as optionally one of positioning anchor point
The x-axis of coordinate system establishes grass-removing robot working space seat to cross coordinate origin and the perpendicular straight line of x-axis as y-axis
Mark system.Anchor point mutual alignment relation is positioned by three and determines that third positions the coordinate of anchor point in the coordinate system, and then is obtained
Obtain the coordinate of three positioning anchor points in this coordinate system.
S2: it obtains the area of safety operaton boundary coordinate information of mobile robot and is sent to visualization terminal.
As shown in figure 3, the step S2 in the present embodiment includes following sub-step S21, sub-step S22 and sub-step S23.
S21: the area of safety operaton boundary of mobile robot is set by mobile tag node.
Grass-removing robot is controlled to walk along meadow boundary, fixed obstacle boundary, or remove grass-removing robot subscript
Node is signed, user holds the label node and detours along above-mentioned boundary.
S22: boundary coordinate is calculated at a distance from each positioning anchor point by mobile tag node.
Acquired in real time during step S21 label node with three position anchor point range information, by with three
The distance and coordinate information that position anchor point can calculate the coordinate information of label node.Specifically, if label node in some time
The coordinate at quarter is set as (x, y, z), and the known coordinate of three positioning anchor points in a coordinate system is respectively (x1,y1,z1), (x2,y2,
z2), (x3,y3,z3), positioning the distance between anchor point and three positioning anchor points at this time is respectively d1, d2, d3.Label node is herein
When coordinate and three anchor points there is following space geometry relationship:
This equation group is solved, label node can be found out in the coordinate (x, y, z) at the moment, by continuously obtaining label section
The coordinate (coordinate of a label node is such as obtained every 100ms-1s) of point, the work boundary that grass-removing robot can be obtained is sat
Mark.
S23: boundary coordinate is sent to visualization terminal.
Intelligence can be sent to by the wireless communication module (such as bluetooth, WiFi module, Zigbee) on grass-removing robot
Mobile phone.
S3: area of safety operaton map boundary line profile is created in visualization terminal.
The application program of creation map in the present embodiment is by the work boundary coordinate received (including meadow boundary and barrier
Hinder object boundary) shown that these coordinates are connected in turn in the screen of smart phone, work boundary profile can be formed.
As shown in figure 4, using the application program of the creation map on smart phone, it can be according to the grass-removing robot received
Boundary coordinate creation map boundary line profile (label 1), due to grass-removing robot position error and the shaking of operation etc.
Reason, map boundary line profile (label 1) indention.
S4: it is revised according to the actual profile to map boundary profile of area of safety operaton.
As shown in figure 5, user can the actual profile according to the area of safety operaton of setting and the modification using application program
Tool is optimized or is revised to the boundary of grass-removing robot, optimized or revised map boundary line profile such as 2 institute of label
Show.
S5: revised map boundary line profile coordinate is sent to mobile robot.
Revised boundary profile coordinate is obtained, and is sent to control module (MCU) module of grass-removing robot and stores.
S6: area of safety operaton is determined according to revised map boundary line profile coordinate.
Grass-removing robot is subject to the revised boundary profile coordinate received and redefines area of safety operaton, then
Control grass-removing robot works in working region.
Above disclosed is only the embodiment of technical solution of the present invention, and the right of the present invention cannot be limited with this
Range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (5)
1. a kind of area of safety operaton of mobile robot determines method, which comprises the following steps:
S1: mobile robot coordinate system is established；
S2: it obtains the area of safety operaton boundary coordinate information of mobile robot and is sent to visualization terminal；
S3: area of safety operaton map boundary line profile is created in visualization terminal；
S4: it is revised according to actual boundary profile to map boundary profile；
S5: revised map boundary line profile coordinate is sent and to mobile robot；
S6: area of safety operaton is determined according to revised map boundary line profile coordinate.
2. the area of safety operaton of mobile robot according to claim 1 determines method, which is characterized in that the step
S1 includes following sub-step:
S11: three positioning anchor points are arranged in the working region of mobile robot；
S12: robot coordinate system is established to position anchor point as reference.
3. the area of safety operaton of mobile robot according to claim 2 determines method, which is characterized in that the step
S2 includes following sub-step:
S21: the area of safety operaton boundary of mobile tag node setting mobile robot；
S22: boundary coordinate is calculated at a distance from each positioning anchor point according to label node；
S23: boundary coordinate is sent to visualization terminal.
4. determining method to the area of safety operaton of mobile robot described in one of 3 according to claim 1, which is characterized in that
The mobile robot is grass-removing robot or clean robot.
5. determining method to the area of safety operaton of mobile robot described in one of 3 according to claim 1, which is characterized in that
The visualization terminal is remote controler, mobile phone or tablet computer.
Priority Applications (1)
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| CN201711150954.0A CN109591008A (en) | 2017-11-18 | 2017-11-18 | The area of safety operaton of mobile robot determines method |
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| CN201711150954.0A CN109591008A (en) | 2017-11-18 | 2017-11-18 | The area of safety operaton of mobile robot determines method |
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Cited By (6)
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| CN110677811A (en) * | 2019-05-17 | 2020-01-10 | 广东宝乐机器人股份有限公司 | Ad hoc network method of multiple mobile robots and method for determining respective working areas |
| CN112605999A (en) * | 2020-12-22 | 2021-04-06 | 杭州北冥星眸科技有限公司 | Robot obstacle detection method and system based on infrared deep camera technology |
| CN112631267A (en) * | 2019-10-09 | 2021-04-09 | 苏州宝时得电动工具有限公司 | Automatic walking equipment control method and automatic walking equipment |
| WO2021114984A1 (en) * | 2019-12-09 | 2021-06-17 | 苏州宝时得电动工具有限公司 | Map data sending method and apparatus, map data display method and apparatus, device, and storage medium |
| WO2022042362A1 (en) * | 2020-08-26 | 2022-03-03 | 深圳市杉川机器人有限公司 | Self-moving device, and system, and method for establishing working area map |
| WO2023142692A1 (en) * | 2022-01-27 | 2023-08-03 | 追觅创新科技(苏州)有限公司 | Map beautification method and system, and cleaning device |
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