CN109933072A - Robot detects the control method of cradle guardrail signal when returning seat - Google Patents
Robot detects the control method of cradle guardrail signal when returning seat Download PDFInfo
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Abstract
The present invention relates to the control methods that cradle guardrail signal is detected when a kind of robot returns seat, and described method includes following steps: robot detects the guardrail signal that cradle issues when returning seat；Robot retreats the first pre-determined distance using current location as starting point, along first straight line；Robot turns to, along second straight line the second pre-determined distance of walking；Robot turns to, along third straight line walking third pre-determined distance.Wherein, the robot is during along the walking of the first straight line, second straight line or third straight line, if detecting the intermediate guidance signal that cradle issues, carries out back seat according to the guidance of the intermediate guidance signal.Robot uses control method of the present invention, and the accuracy and validity of seat can be improved back.
Description
Technical field
The present invention relates to field in intelligent robotics, and in particular to detects cradle guardrail signal when a kind of robot time seat
Control method.
Background technique
Currently, being able to carry out the intelligent robot of autonomous, such as clean robot, security robot and company machine
People etc. has the function of returning seat charging automatically.But time seat mode that different robots use is different, some robots exist
During searching for the intermediate guidance signal that cradle issues, guardrail signal is detected, is still carried out in guardrail signal area
The search of signal, in this case, even if robot detects intermediate guidance signal, robot is also difficult to carry out accurately
Angle adjustment, it is difficult to realize that robot is docked with the accurate of cradle, so as to cause robot return seat efficiency is very low or even nothing
The problem of method is effectively returned.
Summary of the invention
The present invention provides the control methods that cradle guardrail signal is detected when a kind of robot returns seat, and machine can be improved
Device people returns the efficiency of seat.Specific technical solution of the present invention is as follows:
The control method that cradle guardrail signal is detected when a kind of robot time seat, when including the following steps: that robot returns seat
Detect the guardrail signal that cradle issues；Robot retreats the first pre-determined distance using current location as starting point, along first straight line；
Robot turns to, along second straight line the second pre-determined distance of walking；Robot turns to, along third straight line walking third pre-determined distance.
Wherein, the robot fills during along the walking of the first straight line, second straight line or third straight line if detected
The intermediate guidance signal that electric seat issues then carries out back seat according to the guidance of the intermediate guidance signal；The first straight line and institute
The angle for stating second straight line is first angle, and the angle of the first straight line and the third straight line is second angle.This programme
It can guarantee that robot returns the accuracy and validity of seat.
It further, further include walking as follows after the step of Robot third straight line walking third pre-determined distance
Rapid: robot completes once according to walking the walking in path in advance, and judge according to walking whether the number that path is walked reaches default in advance
Number, if it is, stop continue according in advance walk path walk, if it is not, then robot using current location as starting point, continue by
It walks according to path is walked in advance.The flexibility and intelligent level of robot can be improved in this programme.
Further, robot along first straight line during walking, if detecting barrier, along the obstacle
It walks at the edge of object；When the edge of Robot barrier is walked and returns to the first straight line, then continuation is straight along described first
Line walking stops until reaching first pre-determined distance along the linear distance that first straight line is walked, then turns to, starts edge
Second straight line straight trip；When the edge of Robot barrier has been walked the 4th pre-determined distance, it is also not returned to the first straight line,
Then robot turns to, and starts to keep straight on along second straight line；Robot along second straight line during walking, if detecting obstacle
Object is then walked along the edge of the barrier；When the edge of Robot barrier is walked and returns to the second straight line, then after
It is continuous to walk along the second straight line, stop until reaching second pre-determined distance along the linear distance that second straight line is walked,
It then turns to, starts to keep straight on along third straight line；When the edge of Robot barrier has been walked the 5th pre-determined distance, do not have back yet
To the second straight line, then robot turns to, and starts to keep straight on along third straight line；Robot is in the process walked along third straight line
In, if detecting barrier, walk along the edge of the barrier；When the edge of Robot barrier is walked and is returned to
The third straight line then continues to walk along the third straight line, until the linear distance walked along third straight line reaches described
Third pre-determined distance stops, and completes the walking for walking path in advance；When the edge of Robot barrier has been walked the 6th pre-determined distance,
Also it is not returned to the third straight line, then robot stops, and completes the walking for walking path in advance.This programme can not only improve machine
People exits the efficiency of guardrail signal area along path is walked in advance, moreover it is possible to while the efficiency that robot finds intermediate guidance signal is improved,
So that robot is more intelligent, more flexible.
Detailed description of the invention
Fig. 1 is the process that the control method of cradle guardrail signal is detected when robot described in the embodiment of the present invention returns seat
Schematic diagram.
Fig. 2 is the signal distributions schematic diagram of cradle described in the embodiment of the present invention.
Fig. 3 is robot according to the path schematic diagram for walking path walking in advance.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that disclosed below, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.Below
Description in, provide detail to provide a thorough understanding of embodiments.However, those skilled in the art will manage
Solution, may be practiced without these specific details embodiment.For example, circuit can be shown in block diagrams, avoid
Make embodiment fuzzy in unnecessary details.In other cases, it in order not to obscure embodiment, can not display the details of well known
Circuit, structure and technology.
The control method of cradle guardrail signal is detected when a kind of robot time seat, the robot can be sweeper
The Intelligent robots such as device people, floor-cleaning machine device people, security robot or robot of accompanying and attending to, these robots being capable of autonomous rows
It walks, Automatic-searching cradle carries out back seat charging, and seat code difference is returned in robot insertion, and the mode for returning seat is different, returns seat
Efficiency is also different.As shown in Figure 1, control method described in the present embodiment includes the following steps: in step S1, when robot returns seat
Detect the guardrail signal that cradle issues.Firstly, robot receives back seat control signal, described time seat control signal can be with
The control robot that be user issued by remote control devices such as Robot remote device or smart phones returns the signal of seat, can also be with
It is the signal that robot interior control system self-test generates, for example robot detects not enough power supply, needs back seat to charge, then machine
Device people can automatically generate back seat control signal.Robot controls signal according to the received seat that returns, and into seat mode is returned, starts to seek
Cradle is looked for carry out back seat.Robot, can real-time perfoming signal detection during finding cradle.When robot detects
When the guardrail signal that cradle issues, show that robot relatively close to cradle, is not only easy to collide cradle, it is also difficult to
The region carries out accurately returning seat, so entering step S2.According to the quantity of infrared emission sensor set in cradle and
Installation site can be divided into the signal that cradle issues different signal types, for example be located at red among on front side of cradle
The intermediate guidance signal that outer emission sensor is issued, the left side that the infrared emission sensor positioned at the left side on front side of cradle is issued
Signal is guided, the right guidance signal that the infrared emission sensor on the right is issued on front side of cradle is located at cradle two sides
The guardrail signal that is issued of infrared emission sensor, it is, of course, also possible to be divided into distal end according to the distance in the region of signal distributions
Signal, middle part signal and near end signal, etc..In addition, the infrared of cradle can be received set by the fuselage of robot
The infrared receiver sensor for the guidance signal that emission sensor issues, can be separately positioned on the not Tongfang of fuselage using multiple
Position.The infrared receiver sensor of robot described in the present embodiment be separately positioned on the front of robot, left front, right front,
Left back and right back can so receive guidance signal in order to robot omnibearing, improve robot and judge itself orientation
Accuracy.A coding can be arranged in each infrared receiver sensor, and encoded radio can be freely arranged, and such robot can be with
Know which guidance signal is located at which orientation of robot, more accurately convenient for the positioning of robot.As shown in Fig. 2, this reality
Apply the sending of cradle C described in example guidance signal include intermediate guidance signal F3, left guidance signal F4, right guidance signal F2 and
Guardrail signal F1.Wherein, the guardrail signal F1 is the signal being distributed in the surrounded region of camber line before cradle C.It is located at
Before cradle C, the signal being distributed in region defined by two intermediate oblique lines extended downwardly is intermediate guidance signal F3.Position
Before cradle C, the signal being distributed in region defined by two oblique lines extended downwardly of the leftmost side is left guidance signal F4.
Before cradle C, the signal being distributed in region defined by two oblique lines extended downwardly of the rightmost side is right guidance signal
F2.In step S2, as shown in figure 3, robot retreats the first pre-determined distance using current location as starting point 0, along first straight line 01.Institute
Stating the first pre-determined distance can be configured according to the distribution of guardrail signal, it is preferred that the present embodiment is set as 50 centimetres.
Certainly, robot keeps straight on further along after turning to 180 °, can also be that robot executes the operation retreated.Robot has retreated
After one pre-determined distance, step S3 is subsequently entered.In step S3, robot is turned to, along the second pre-determined distance of straight trip of second straight line 12.
Second pre-determined distance can be configured according to the distribution of guardrail signal, it is preferred that the present embodiment is set as 60 lis
Rice.Second straight line 12 shown in Fig. 3 is that robot turns to the right the straight trip route after certain angle.Certainly, which can also be with
It is set as robot and turns to the straight trip route after equal angular to the left, i.e., be symmetry axis with first straight line 01, be located at first straight line
On the left of in the of 01 is in the straight line path of mirror symmetry with second straight line 12.Robot keeps straight on after the second pre-determined distance, subsequently enters step
Rapid S4.In step S4, robot is turned to, along the straight trip third pre-determined distance of third straight line 23.The third pre-determined distance can root
It is configured according to the distribution of guardrail signal, it is preferred that the present embodiment is set as 110 centimetres.Robot ambulation is to location point 3
When, complete the walking for once walking path in advance.Wherein, the angle a of the first straight line 01 and the second straight line 12 is first jiao
Degree, the first angle is preferably 75 degree.The angle b of the first straight line 01 and the third straight line 23 is second angle, institute
Stating second angle is preferably 90 degree.The robot is along 23 row of the first straight line 01, second straight line 12 or third straight line
During walking, if detecting that the intermediate of cradle sending guides signal, directly drawing according to the intermediate guidance signal
It leads and carries out back seat.In the present embodiment, robot walks according to the path locus of first straight line 01, can quickly exit guardrail signal
Region when avoiding too close to cradle, is difficult to realize accurately angular alignment and adjusts, cannot accurately return to a safe distance
The problem of seat, meanwhile, the expansion of left and right range is carried out by second straight line 12 and third straight line 23, it can be with fast search to charging
The intermediate guidance signal that seat issues, guarantees that robot returns the accuracy and validity of seat.
As one of embodiment, the step of Robot third straight line walking third pre-determined distance after,
Further include following steps: completing once firstly, robot determines according to the walking for walking path in advance, it is described it is pre- walk path be exactly by
The path that first straight line, second straight line and third straight line connect and compose.Then, robot judges according to time for walking path walking in advance
Whether number reaches preset times, if so, showing that signal received by robot may be interference signal or robot
The reasons such as sensor is faulty, robot continues to exit guardrail signal area to be difficult with the behavior for searching for intermediate guidance signal
At, and it will use family and think that robot is running chaotically, so, robot stops continuing walking according to walking path in advance, and voice mentions
Awake user is handled.If not reaching preset times, show that the guardrail range of signal of cradle is wider, robot continues
Walking may will exit guardrail signal area, so, robot using current location as starting point, continue according in advance walk path row
It walks.The preset times can be set to 2 times or 3 times, so can exit guardrail letter than reasonably controlling robot execution
The mode in number region improves the flexibility and intelligence of robot the case where avoiding robot ceaselessly or blindly execute the mode
Energyization is horizontal.
As one of embodiment, as shown in figure 3, robot is along first straight line 01 during walking, if
It detects barrier, then walks along the edge of the barrier, when the edge of Robot barrier is walked and returns to described the
One straight line 01, then continue along first straight line walking until the linear distance walked reach 50 centimetres (i.e. first it is default away from
From), then the machine talent walks along second straight line 12.When the edge of Robot barrier has been walked the 4th pre-determined distance,
It is not returned to the first straight line, then robot turns to, and starts to keep straight on along second straight line.4th pre-determined distance is preferably 60
Centimetre.Robot along second straight line 12 during walking, if detecting barrier, along the edge row of the barrier
It walks.When the edge of Robot barrier is walked and returns to the second straight line 12, then continuation is walked along the second straight line 12,
It until the linear distance walked along second straight line 12 reaches 60 centimetres (i.e. the second pre-determined distance) stoppings, then turning to, starts
It keeps straight on along third straight line 23.When the edge of Robot barrier has been walked the 5th pre-determined distance, it is also not returned to described second
Straight line 12, then robot turns to, and starts to keep straight on along third straight line 23.5th pre-determined distance is preferably 70 centimetres.Robot
During walking along third straight line 23, if detecting barrier, walk along the edge of the barrier.Work as robot
It walks along the edge of barrier and returns to the third straight line 23, then continue to walk along the third straight line 23, until along third
The linear distance that straight line 23 is walked reaches 110 centimetres (i.e. third pre-determined distance) stoppings, completing the walking for once walking path in advance.
When the edge of Robot barrier has been walked the 6th pre-determined distance, it is also not returned to the third straight line 23, then robot stops
Only, the walking for walking path in advance is completed.6th pre-determined distance is preferably 120 centimetres.Robot is along pre- described in the present embodiment
During walking path walking, detecting can flexibly be handled when barrier, can not only be improved Robot and walked path in advance and move back
The efficiency of guardrail signal area out, moreover it is possible to while the efficiency that robot finds intermediate guidance signal is improved, so that robot more intelligence
Can, it is more flexible.
Robot described in each embodiment as above in the process of walking, can rely on the driving wheel code-disc of itself, gyroscope, take the photograph
As sensors such as head and laser radars, records in real time and determine oneself current position and direction, so as to realize robot
Autonomous, purposive movement and navigation.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.When being executed, execution includes the steps that above-mentioned each method embodiment to the program.Finally
It is noted that the above embodiments are only used to illustrate the technical solution of the present invention., it rather than its limitations, can between each embodiment
To be combined with each other；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art
It is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, either to part of or
All technical features are equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution this hair
The range of bright each embodiment technical solution.
Claims (3)
1. a kind of robot detects cradle guardrail signal control method when returning seat, which comprises the steps of:
Robot detects the guardrail signal that cradle issues when returning seat；
Robot retreats the first pre-determined distance using current location as starting point, along first straight line；
Robot turns to, along second straight line the second pre-determined distance of walking；
Robot turns to, along third straight line walking third pre-determined distance；
Wherein, the robot is during along the walking of the first straight line, second straight line or third straight line, if detection
The intermediate guidance signal issued to cradle, then carry out back seat according to the guidance of the intermediate guidance signal；The first straight line
Angle with the second straight line is first angle, and the angle of the first straight line and the third straight line is second angle.
2. control method according to claim 1, which is characterized in that the Robot third straight line walking third is default
Apart from the step of after, further include following steps:
Robot completes once according to walking the walking in path in advance, and judge according to walking whether the number that path is walked reaches default in advance
Number, if it is, stop continue according in advance walk path walk, if it is not, then robot using current location as starting point, continue by
It walks according to path is walked in advance.
3. control method according to claim 1 or 2, it is characterised in that:
Robot along first straight line during walking, if detecting barrier, walks along the edge of the barrier；
When the edge of Robot barrier is walked and returns to the first straight line, then continuation is walked along the first straight line, Zhi Daoyan
The linear distance that first straight line is walked reaches first pre-determined distance and stops, and then turns to, and starts to keep straight on along second straight line；
When the edge of Robot barrier has been walked the 4th pre-determined distance, being also not returned to the first straight line, then robot turns to,
Start to keep straight on along second straight line；
Robot along second straight line during walking, if detecting barrier, walks along the edge of the barrier；
When the edge of Robot barrier is walked and returns to the second straight line, then continuation is walked along the second straight line, Zhi Daoyan
The linear distance that second straight line is walked reaches second pre-determined distance and stops, and then turns to, and starts to keep straight on along third straight line；
When the edge of Robot barrier has been walked the 5th pre-determined distance, being also not returned to the second straight line, then robot turns to,
Start to keep straight on along third straight line；
Robot is during along the walking of third straight line, if detecting barrier, walks along the edge of the barrier；
When the edge of Robot barrier is walked and returns to the third straight line, then continuation is walked along the third straight line, Zhi Daoyan
The linear distance that third straight line is walked reaches the third pre-determined distance and stops, and completes the walking for walking path in advance；Work as robot
It has walked the 6th pre-determined distance along the edge of barrier, has also been not returned to the third straight line, then robot stops, and completion is walked in advance
The walking in path.
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