CN111198559B - Control method and system of walking robot - Google Patents
Control method and system of walking robot Download PDFInfo
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- CN111198559B CN111198559B CN201910638888.4A CN201910638888A CN111198559B CN 111198559 B CN111198559 B CN 111198559B CN 201910638888 A CN201910638888 A CN 201910638888A CN 111198559 B CN111198559 B CN 111198559B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The invention provides a control method and a system of a walking robot, comprising the following steps: s1, counting the temporary turning angle count value and the turning angle count value in each first period; the corner count value is used for representing the sum of the number of corners passed by the robot in the line patrol state in each first period, and the same corner is counted once; the temporary turning angle count value is used for representing the sum of the number of turning angles which are passed by the robot when the robot starts from an initial point, enters a line patrol state and travels along a line patrol path in each second period; and S2, determining a work starting point according to the size relationship between the temporary turning angle count value and the turning angle count value, driving the robot to leave the line patrol path and enter a work area at the work starting point, and changing the line patrol state of the robot into a work state. The invention improves the ergodicity of the walking robot in the working interval and improves the working efficiency.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a control method and a control system of a walking robot.
Background
With the continuous progress of scientific technology, various automatic working devices have started to slowly move into people's lives, such as: automatic dust collection robots, automatic mowing robots, and the like. The automatic working equipment is provided with the travelling device, the working device and the automatic control device, so that the automatic working equipment can be separated from the operation of people, automatically travel and execute work within a certain range, and can automatically return to the charging station device to be charged and then continue to work when the energy of the energy storage device of the automatic working equipment is insufficient.
In the prior art, random mowing is one of the main low-cost ways of mowing robots. That is, the robot moves forward within a delineated area, such as an electronic boundary, and enters a work area to mow grass in a random manner.
When the area is small and the working area is in a regular shape, the control mode can meet the mowing requirement; however, the working area is usually large, the shape of the working area is irregular, a narrow passage exists in the working area, and when the mowing robot finishes a working task or detects that the electric quantity of the mowing robot is low, a nearest boundary line is searched and returns to charge along the boundary line; take as an example a lawn of at least two sub-areas of the working area connected by at least one narrow channel: usually, the charging stations are one and are arranged in one of the subareas.
As shown in fig. 1, the subarea a and the subarea B are connected by a narrow passage C, the charging station P is arranged on the boundary line of the subarea a, the mowing robot starts from the charging station P and works in the subarea a, and for the mowing robot with a random path, the probability of entering the subarea B through the narrow passage C is very small, so that the subarea a is fully traversed after a certain time; while sub-region B is rarely processed; however, for a large-area working area and robot return charging, the problems of insufficient working area traversal and repeated work also occur.
Disclosure of Invention
In order to solve the above-described problems, an object of the present invention is to provide a method and a system for controlling a walking robot.
In order to achieve one of the above objects, one embodiment of the present invention provides a method for controlling a walking robot, the method including: s1, counting the temporary turning angle count value and the turning angle count value in each first period; the corner count value is used for representing the sum of the number of corners passed by the robot in the line patrol state in each first period, and the same corner is counted once; the temporary turning angle count value is used for representing the sum of the number of turning angles which are passed by the robot when the robot starts from an initial point, enters a line patrol state and travels along a line patrol path in each second period; the second periods are sub-periods of the first periods, and each of the first periods comprises at least one of the second periods; the line patrol path is a closed loop formed by a boundary line of a working area where the robot is located; and S2, determining a work starting point according to the size relationship between the temporary turning angle count value and the turning angle count value, driving the robot to leave the line patrol path and enter a work area at the work starting point, and changing the line patrol state of the robot into a work state.
As a further improvement of an embodiment of the present invention, the length of the first period is defined as a time when the traversal rate of the walking robot in the working area reaches a preset value; the length of the second period is defined as a charging period of the walking robot.
As a further improvement of an embodiment of the present invention, a length of the first period is defined as a time interval between two adjacent triggering of the first event by the walking robot; the length of the second period is defined as a time interval between two adjacent triggering of the second event by the walking robot.
As a further improvement of an embodiment of the present invention, step S1 specifically includes: initializing both the corner temporary count value and the corner count value to zero before the start of each first period or after the end of each first period; only the corner temporary count value is initialized to zero before the start of each second period or after the end of each second period.
As a further improvement of an embodiment of the present invention, step S1 specifically includes: and when the robot walks along the line patrol path in the line patrol state, accumulating the temporary counting values of the corners once when the robot passes through one corner.
As a further improvement of an embodiment of the present invention, when both the passing corner and the additional condition are satisfied, the temporary count value of the corner is once accumulated.
As a further improvement of an embodiment of the present invention, the additional condition is that a distance between the current corner and the adjacent previous corner is not less than or greater than a preset minimum distance.
As a further improvement of an embodiment of the present invention, in each of the first periods, the corner count value is modified to be equal to the corner temporary count value every time the corner temporary count value and the corner count value satisfy a first preset numerical relationship.
As a further improvement of an embodiment of the present invention, the first preset numerical relationship is defined such that the corner temporary count value is larger than the corner count value.
As a further improvement of an embodiment of the present invention, step S1 further includes: freezing the corner temporary count value and the corner count value in the process that the robot returns to the initial point from a working area.
As a further improvement of an embodiment of the present invention, step S2 specifically includes: in each first period, the robot is in a line patrol state, and if the temporary corner count value and the corner count value meet a second preset numerical relationship, the current position of the robot is determined as a work starting point.
As a further improvement of an embodiment of the present invention, the second preset numerical relationship is defined such that the corner temporary count value is equal to the corner count value.
As a further improvement of an embodiment of the present invention, step S1 further includes: when the robot is in the line patrol state, the included angle formed by the robot passing through the connected line patrol path on the line patrol path is in the range of [45 degrees, 135 degrees ], and the line patrol path is defined as the corner.
Another embodiment of the present invention provides a walking robot system, including: the counting unit is used for counting the temporary turning angle counting value and the turning angle counting value in each first period; the corner count value is used for representing the sum of the number of corners passed by the robot in the line patrol state in each first period, and the same corner is counted once; the temporary turning angle count value is used for representing the sum of the number of turning angles which are passed by the robot when the robot starts from an initial point, enters a line patrol state and travels along a line patrol path in each second period; the second periods are sub-periods of the first periods, and each of the first periods comprises at least one of the second periods; the line patrol path is a closed loop formed by a boundary line of a working area where the robot is located; and the configuration processing unit is used for determining a work starting point according to the magnitude relation between the corner temporary count value and the corner count value, driving the robot to leave the line patrol path and enter a work area at the work starting point, and changing the line patrol state of the robot into a work state.
Compared with the prior art, the control method and the control system of the walking robot can plan the work starting point according to the corner position of the work area, facilitate the robot to approximately and uniformly reach different areas, save labor cost, improve the traversability of the walking robot in the work area and improve work efficiency.
Drawings
FIG. 1 is a schematic diagram of a working area with a narrow passage according to the background of the invention;
fig. 2 is a schematic flowchart of a control method of a walking robot in a first embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of a work area in one particular example of the invention;
fig. 4 is a flowchart illustrating a control method of a walking robot according to a preferred embodiment of the present invention;
fig. 5 is a flowchart illustrating a control method of a walking robot in a second embodiment of the present invention;
fig. 6 is a block diagram schematically illustrating a walking robot system according to a first embodiment of the present invention;
fig. 7 is a block diagram schematically illustrating a walking robot system provided in a second embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
The walking robot of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks within a work area to perform works such as mowing, vacuum cleaning, etc. In the specific example of the present invention, a walking robot is taken as an example of a lawn mower, and accordingly, the working area may be a lawn. Of course, the walking robot is not limited to the lawn mower and the vacuum cleaner, but may be other devices such as a spraying device, a snow removing device, a monitoring device, and the like suitable for unattended operation.
As shown in fig. 1, in a preferred embodiment of the present invention, the walking robot is a lawnmower, which includes: the device comprises a machine body, a walking module, a boundary detection module, an energy module and a control module, wherein the walking module, the boundary detection module, the energy module and the control module are arranged on the machine body. In addition, the mower also comprises a working module which is used for executing specific working tasks of the mower, and the working module comprises a mowing blade, a cutting motor and the like, and also can comprise a mowing height adjusting mechanism and other components for optimizing or adjusting mowing effect.
The walking module is used for driving the mower to walk and steer in a working area and generally comprises a wheel set arranged on the mower and a driving motor for driving the wheel set to walk.
The boundary detection module is used for detecting the relative position relationship between the mower and the boundary line, and the relative position relationship may specifically include one or more of a distance, an angle and an inner and outer direction of the boundary line. The boundary detection module can be of various compositions and principles, such as infrared type, ultrasonic type, collision detection type, magnetic induction type and the like, and the arrangement positions and the number of the sensors and the corresponding signal generating devices are also various.
The energy module is used for providing energy for various operations of the mower and comprises a rechargeable battery and a charging connection structure, wherein the charging connection structure is a charging electrode plate which can be exposed out of the mower.
The control module is used for controlling the automatic walking and working of the mower, is electrically connected with the walking module and the boundary detection module, is a core component of the mower, and executes the following partial or all functions, including controlling the working module to start or stop working, generating a walking path, controlling the walking module to judge the electric quantity of the energy module according to walking, and timely instructing the mower to return to a base station for automatic butt joint charging and the like. The control module typically includes a single-chip microcomputer and memory as well as other peripheral circuits.
The lawn mower further comprises various sensors for sensing the walking state of the lawn mower, such as: the sensors for tilting, lifting off the ground, collision, etc. are not described in detail herein.
Wherein the lawn mower and a boundary line defining a working area thereof constitute a walking robot system, which further includes a base station. The base station may be located inside or outside the work area and connected to the utility or other power supply system for recharging the mower. The base station can transmit pulse coding signals to the boundary line to form electromagnetic signals near the boundary line, and the control module can control the driving motor to operate according to the change of the electromagnetic signals near the boundary line and the boundary line signals acquired by the state sensor, so that the mower can turn to avoid or smoothly walk along the boundary line in time when detecting the boundary line and smoothly returns to the base station for charging.
The charging interface of the mower is usually positioned at the front part of the machine, and when the mowing robot needs to be charged, the boundary line is searched, the head is adjusted to move forward towards the charging interface of the charging station, and the head reaches the charging station and is in butt joint with the charging station to realize charging. According to the position relation between the charging station and the boundary line, the directions of departure along the line and return along the line can be the same or opposite in the process that the robot walks along the boundary line and returns to the charging station for charging.
In a specific application environment of the present invention, the working area (lawn) may be a whole non-narrow area, or may be at least one narrow area formed by at least one narrow channel, and at least two non-narrow areas connected to two ends of at least one narrow area; the working area can be a concave polygon or a convex polygon, and the shape and the size of the working area can be changed without influencing the traversal of all working areas of the robot by setting a working starting point.
As shown in fig. 2, a first embodiment of the present invention provides a method for controlling a walking robot, including: s1, counting the temporary turning angle count value and the turning angle count value in each first period; the corner count value is used for representing the sum of the number of corners passed by the robot in the line patrol state in each first period, and the same corner is counted once; the temporary turning angle count value is used for representing the sum of the number of turning angles which are passed by the robot when the robot starts from an initial point, enters a line patrol state and travels along a line patrol path in each second period; the second periods are sub-periods of the first periods, and each of the first periods comprises at least one of the second periods; the line patrol path is a closed loop formed by the boundary line of the working area where the robot is located. Wherein the initial point is a position of the walking robot when charging in the base station. The line patrol state refers to a state in which the mower travels along a boundary line, but the mower mechanism is normally not operated.
And S2, determining a work starting point according to the size relationship between the temporary turning angle count value and the turning angle count value, driving the robot to leave the line patrol path and enter a work area at the work starting point, and changing the line patrol state of the robot into a work state. The working state refers to a state that the mower walks in a working area and performs mowing operation.
In some embodiments, the length of the first period is defined as a time when a traversal rate of the walking robot in the working area reaches a preset value; the length of the second period is defined as a charging period of the walking robot. Wherein the traversal rate refers to the ratio of the area of the lawn which is already trimmed by the mower to the total area of the working area in one period. Illustratively, according to parameters such as the working width and the traveling speed of the lawn mower, the working time T required for completing one traversal (reaching a specified traversal rate, usually not less than 90%) for a lawn of a specific area can be obtained through simulation calculation or actual measurement1Then T will be1Defined as the length of the first period.
In other embodiments, the length of the first period is defined as a time interval between two adjacent triggering of the first event by the walking robot; the length of the second period is defined as a time interval between two adjacent triggering of a second event by the walking robot; wherein the frequency of occurrence of the first event is greater than the frequency of occurrence of the second event. Illustratively, the first event is completion of the nth (N ∈ N)*) And in the daily work plan, the second event is returning to the base station for charging.
In a preferred embodiment of the present invention, step S1 specifically includes: initializing both the corner temporary count value and the corner count value to zero before the start of each first period or after the end of each first period; only the corner temporary count value is initialized to zero before the start of each second period or after the end of each second period.
In the specific implementation mode of the invention, the working area is usually large, in each first period, the robot enters a line patrol state from an initial point, walks along a line patrol path, enters a working state when reaching a planned working starting point, leaves the line patrol path and enters the working area; when the robot works in a working area and reaches a preset traversal rate, expressing a first period; in the first period, if the robot has a fault, is called back by a user in an auxiliary mode or leaves a working area after reaching a preset condition, when the robot enters a line patrol state from an initial point again and walks along a line patrol path, the temporary count value of the corner needs to be counted again.
In a specific example of the present invention, during the operation of the robot in the working area, the state attribute of the walking robot can be obtained in real time, where the state attribute includes: at least one of the electric quantity of the battery pack, the continuous working time and the continuous walking distance; and judging whether to execute a regression mode according to the state attribute of the walking robot. And if the electric quantity of the battery pack of the walking robot is smaller than a preset electric quantity threshold value, and/or the continuous working time length is larger than or equal to a preset working time length threshold value, and/or the continuous walking path is larger than or equal to a preset continuous walking path threshold value, driving the walking robot to execute a regression mode. And in the regression mode, the walking robot searches the position of the base station, returns to the base station, enters a charging state for charging, enters a line patrol mode from an initial point after charging is finished, walks along a line patrol path, continues to monitor each parameter value, searches a work starting point and enters a work area.
Accordingly, step S1 further includes: freezing the corner temporary count value and the corner count value in the process that the robot returns to the initial point from a working area. Therefore, the temporary turning angle counting value and the turning angle counting value are prevented from being changed in the regression process, and the calculation accuracy is guaranteed.
The initial point is an initial starting point in the process that the walking robot walks for one circle along the line patrol path. In the embodiment of the present invention, the walking robot usually starts from the base station and walks along the patrol route for one circle and then returns to the base station, so that the position of the base station can be used as an initial point. In the preferred embodiment of the present invention, the following method can be used for counting the temporary corner count value and the corner count value; correspondingly, step S1 specifically includes: and when the robot walks along the line patrol path in the line patrol state, accumulating the temporary counting values of the corners once when the robot passes through one corner. In this embodiment, the accumulation is exemplarily adding 1 on the basis of the original value. In other embodiments, the accumulation may be based on the original value and an arbitrary number. In particular, in some embodiments, the corner temporary count value is accumulated once when both the passing corner and the additional condition are satisfied. Illustratively, the additional condition is that a distance between the current corner and the adjacent last corner is not less than or greater than a preset minimum distance. The walking robot can judge whether the additional condition is satisfied by a method of timing or mileage.
Further, step S1 specifically includes: and in each first period, modifying the corner count value to be equal to the corner temporary count value every time the corner temporary count value and the corner count value meet a first preset numerical value relationship. In the present embodiment, the first preset numerical relationship is exemplarily defined such that the corner temporary count value is greater than the corner count value.
In the returning process of the robot, the data of the temporary turning angle count value and the data of the turning angle count value are frozen, namely the numerical values of the data are not changed any more, and the temporary turning angle count value is initialized every time the robot reenters the initial point; thus, the above-described embodiment can accurately record the rotational angle temporary count value and the rotational angle count value.
In a preferred embodiment of the present invention, step S1 further includes: and if the included angle of the route meeting and routing route on the routing route is in the range of [45 degrees and 135 degrees ], defining the routing route as the corner.
In the specific embodiment of the invention, as shown in fig. 3, for a working area with a narrow passage, the boundary line at the joint of the sub-area a and the narrow passage inevitably has an obvious corner within a very short length, and when the robot walks along the line, the robot can judge the angle rotated by the heading of the mowing robot by using the difference between the left and right wheel speeds, and further judge whether a corner passes; in the figure, the robot walks along the boundary line, the traveling direction is downward when the robot is at the position I, and the traveling direction is leftward when the robot reaches the position II, namely, a corner of approximately 90 degrees exists between the positions I and II; in the specific implementation mode of the invention, the position (I) and the position (II) can be determined by fixed mileage, and the position (I) and the position (II) can also be determined by fixed time intervals; in the present embodiment, if 45 ° < included angle < 135 °, it is considered that the robot has passed through one rotation angle, and at this time, the rotation angle provisional count value is incremented by 1. In other embodiments of the present invention, the robot may also use a sensor and other various methods to detect the rotation angle and/or the angle of the rotation angle, which are not described in detail herein.
In a preferred embodiment of the present invention, as shown in fig. 4, the step S2 specifically includes: in each first period, the robot is in a line patrol state, and if the temporary corner count value and the corner count value meet a second preset numerical relationship, the current position of the robot is determined as a work starting point.
In a preferred embodiment of the present invention, if a special area exists in the working area, when the working starting point is in the special area, the working starting point is skipped and the robot is driven to leave the route and enter the working area when entering the next starting point. Such as narrow passages or areas that the robot does not need to enter. Since the narrow passage is represented as a very small or very narrow area, the narrow passage can be ignored, or the mowing work of the narrow passage can be completed by synchronous work when the walking robot walks along the line patrol path.
The implementation mode can ensure that the robot can enter the working area from different working starting points at each time, so that the robot can be ensured to traverse more fully when working in the working area.
For convenience of understanding, continuing to refer to fig. 3 as an example, the example takes the base station position as an initial point, and in an initial state, the values of the temporary rotation angle count value and the rotation angle count value are both 0; the robot firstly walks along the line patrol path from the initial point, and when the robot passes through a first corner A1, the temporary counting value of the corner is accumulated to be 1, and the value of the temporary counting value is 1; the temporary corner count value is larger than the corner count value under the current position, so that the corner count value is modified to be equal to the temporary corner count value, namely the corner count value is assigned to be 1; taking the current position as a working starting point of the robot advancing at this time, and driving the robot to leave the line patrol path and enter a working area at the working starting point; in the working process of the robot, the robot returns to the base station when the returning condition is met, at the moment, the temporary turning angle count value is restored to be an initial value of 0, and the turning angle count value is kept unchanged and still remains to be 1; further, the robot starts from the base station again and travels along the line patrol path, and when the robot passes through a first corner A1, the temporary count value of the corner is accumulated to be 1, and the value of the temporary count value is 1; at this time, if the robot starts from the current position once, the robot is judged not to meet the starting condition, and thus the robot is driven to continue to travel along the routing path, and when the robot passes through a second corner a2, the temporary count value of the corner is accumulated to be 1, and the value is 2; when the current position is lower, the corner temporary count value is larger than the corner count value, so that the corner count value is modified to be equal to the corner temporary count value, namely the corner count value is assigned to be 2; taking the current position as a working starting point of the robot advancing at this time, and driving the robot to leave the line patrol path and enter the working area again at the working starting point; and the operation is continued until the work is finished. In the working process of the working area of the robot, if the robot needs to return to the base station, the returning path may be the same as or opposite to the direction in which the robot enters the route patrol path, and the specific returning mode may be set as required, which is not further described herein.
When the robot finishes charging and enters the line patrol path from the initial point again, the temporary corner count value is restored to the initial value and is 0, the corner count value is kept unchanged and is 2, further, after the robot passes through a first corner A1, the temporary corner count value is accumulated to be 1, the numerical value is adjusted to be 1, the temporary corner count value is less than the corner count value, at the moment, the robot continues to walk along the line patrol path, when the robot passes through a second corner A2, the temporary corner count value continues to be accumulated to be 1, the setting is adjusted to be 2, at the moment, the temporary corner count value is the corner count value, the current position is taken as the working starting point of the robot traveling at the moment, and the robot is driven to leave the line patrol path and enter a subregion B at the working starting point; and when the sub-area B finishes mowing and passes through the next corner, continuously judging according to the process until a first period is finished.
To sum up, the control method of the walking robot in the first embodiment plans the work starting point according to the corner position of the work area, so that the robot can reach different areas approximately and uniformly, and when the robot does not complete work and returns, the robot can continue to work last time when working again, thereby avoiding repeated work, saving labor cost, improving the traversability of the walking robot in the work area, and improving work efficiency.
Referring to fig. 5, a method for controlling a walking robot according to a second embodiment of the present invention includes:
m1, providing a closed circuit path with known boundary coordinates, wherein the circuit path is a closed loop formed by the boundary line of the working area where the walking robot is located;
m2, dividing the line patrol path to divide the working area into a plurality of sub-areas, and obtaining the corresponding boundary coordinates of each sub-area on the line patrol path to form a plurality of sub-area boundary coordinate chains;
m3, traversing each sub-region boundary coordinate chain, acquiring a coordinate point which is in each sub-region and has the minimum distance along the line from the initial point, and taking the coordinate point as the working starting point of each sub-region;
m4, in each first period, the robot is driven to start from the initial point and walk along the routing path, and when the starting point of the work is reached, the robot is driven to leave the routing path and enter the working area.
For step M1, there are various ways to obtain the boundary coordinates on the patrol path, such as: driving the robot to travel for a circle along the line patrol path, roughly obtaining the coordinates of the robot relative to the charging station by using a wheel speed calculation and inertial speed navigation device, and taking the coordinates as boundary coordinates; or the boundary coordinates can be obtained by means of GPS positioning, grid calculation, user-assisted boundary coordinate specification and the like. It should be noted that, in the present embodiment, the accuracy of the boundary coordinates does not affect the final planning result, so that if only the rough boundary coordinates are known, the method can also meet the planning requirement.
In a specific embodiment of the present invention, step M1 specifically includes: and driving the robot to walk for a circle along the line patrol path from the initial point, acquiring the coordinate of the current position of the robot at intervals of preset time and/or preset length, and taking the acquired coordinate as the boundary coordinate on the line patrol path.
For step M2, partitioning the work area is prior art and may be done in a number of ways, for example: if the working area is provided with a narrow channel, dividing the working area into a plurality of normal working sub-areas separated by the narrow channel; or a path division mode is adopted, namely the working area is divided into a plurality of sub-areas according to the number of boundary coordinates or the perimeter of the line patrol path; or the working area is divided into a plurality of sub-areas according to the area of the working area, and the specific implementation manners thereof are various and will not be further described herein. It should be noted that after the working area is divided into a plurality of sub-areas, each sub-area corresponds to a different boundary coordinate on the route patrol path, and further, a boundary coordinate chain corresponding to each sub-area is formed by obtaining the boundary coordinate corresponding to each sub-area on the route patrol path.
In this embodiment, the setting of the initial point is the same as that of the first embodiment, and further description thereof is omitted.
For step M3, in a preferred embodiment of the present invention, the step M3 specifically includes: and traversing each sub-region boundary coordinate chain from the initial point along the extension direction of the routing path, and taking the first boundary coordinate point traversed on each sub-region as the working starting point of each sub-region along the extension direction of the routing path.
In an implementation mode, each work starting point can be found by adopting a mode of walking distance and/or walking time in the process of driving the robot to walk along the routing path, and after the work starting point is found, the robot is driven to enter a work area to carry out mowing work.
In a specific embodiment of the present invention, the step M3 specifically includes: acquiring the number of boundary coordinates from the initial point to each sub-region and each boundary coordinate on the line patrol path, and expressing the minimum line distance from the initial point to each sub-region as Sa；
Wherein (x)i，yi) Represents any boundary point coordinate, i is 0, 1, 2, and n is 1, n represents the number of boundary coordinates from the initial point to any sub-area, and the value of n includes the initial point, and the coordinate of the initial point is (x)0，y0) The coordinate of the work starting point is (x)n，yn)。
Correspondingly, the step M4 specifically includes: in each first period, the robot is driven to start from the initial point and walk along the patrol path, and the robot walks along the patrol path by a distance SaAnd then, driving the robot to leave the line patrol path and enter a working area.
In an implementation manner of the present invention, the sensor further includes: the mileage sensor is used for recording the running distance of the walking robot; the mileage sensor may also be a speedometer, an inertial sensor, a hall or photoelectric sensor, or the like.
Further, in consideration of inaccuracy of the boundary coordinates, the step M4 further includes: walking distance S along the driving robotaThen, the robot is driven to continue walking along the line and walk in advanceAnd when the correction time and/or the preset correction distance are/is set, driving the robot to leave the line patrol path and enter a working area. It should be noted that the preset correction time is a time threshold, the size of which can be specified specifically according to needs, and the preset correction distance is a length threshold, the size of which can also be specified specifically according to needs; in practical application, if a rough mode is adopted to calculate the boundary coordinates, the mode can be adopted to correct the actual working starting point; in the calibration process, the robot may continue to travel along the route patrol path or turn back to travel along the route patrol path according to a specific application scenario within a preset calibration time and/or a preset calibration distance, which is not further described herein.
In another preferred embodiment of the present invention, the step M3 specifically includes: according to the minimum linear distance S from the initial point to each sub-areaaAnd the average speed v of the robot walking along the line, the minimum time of the robot walking from the initial point to each subregion is represented as ta；
Step M4 specifically includes: in each first period, the robot is driven to start from the initial point and walk along the patrol path, and the robot walks along the patrol path for time taAnd then, driving the robot to leave the line patrol path and enter a working area.
In an implementation mode of the invention, the robot can be further provided with a time counter for recording the walking time of the robot.
Further, in consideration of inaccuracy of the boundary coordinates, the step M4 further includes: walking along the driving robot for time taAnd then, driving the robot to continue to walk along the line, and driving the robot to leave the line patrol path and enter a working area when the preset correction time and/or the preset correction distance are/is walked.
In a preferred embodiment of the present invention, in order to traverse the working area more uniformly, the method further includes: acquiring preset working times of the robot in each subregion in a first period according to the area of each subregion
Wherein A isaRepresenting the area of any one of the sub-regions, m is the number of sub-regions,
k is the sum of the areas of all the sub-areas, and the charging times of the robot in each first period are calculated;
and when the robot enters the working area at each working starting point and the working times in each working area reach the preset working times, the robot is confirmed to finish working.
The preset working times may also be understood as the number of times that the walking robot starts continuously at the same working starting point of each sub-region, and in other embodiments of the present invention, the corresponding preset working times of each sub-region may also be arbitrarily specified as needed or obtained according to other rules, which is not further described herein.
The area of the working area can be obtained in various ways, for example: and dividing the working area into a plurality of triangles, respectively calculating the areas, and finally accumulating.
The control method of the walking robot in the second embodiment divides the working area into a plurality of sub-areas, and plans the working starting point of each sub-area according to the distance from each sub-area to the initial point, so that the robot can reach different areas approximately and uniformly.
As shown in fig. 6, a first embodiment of the present invention provides a walking robot system including: a statistics unit 100 and a configuration processing unit 200.
The counting unit 100 is configured to count a temporary corner count value and a corner count value in each first period; the temporary turning angle count value is used for representing the sum of the number of turning angles encountered by the robot on the line patrol path after the robot enters the line patrol path from the same initial point each time; the line patrol path is a closed loop formed by a boundary line of a working area where the robot is located; in each first period, the robot enters a line patrol path at least once; the corner count value is used for representing the sum of the number of corners traversed by the robot on the route patrol path and in the working state, and the same corner is counted once;
the configuration processing unit 200 is configured to determine a work starting point according to the magnitude relationship between the corner temporary count value and the corner count value, and drive the robot to leave the route patrol route and enter the work area at the work starting point.
In a specific embodiment of the present invention, the statistical unit 100 is configured to execute step S1 involved in the method for controlling a walking robot provided in the first embodiment, and the processing unit 200 is configured to execute step S2, which is not further described herein.
Referring to fig. 7, a second embodiment of the present invention provides a walking robot system including: coordinate establishing unit 300, area dividing unit 400, processing unit 500 and control output unit 600.
The coordinate establishing unit 300 is configured to provide a closed circuit path with known boundary coordinates, the circuit path being a closed loop formed by a boundary line of a working area where the walking robot is located; the area dividing unit 400 is configured to divide the route patrol path to divide the working area into a plurality of sub-areas, and obtain boundary coordinates of each sub-area on the route patrol path to form a plurality of sub-area boundary coordinate chains; the processing unit 500 is configured to traverse the boundary coordinate chain of each sub-region, obtain a coordinate point having a minimum distance along the line from the initial point in each sub-region, and use the coordinate point as a working starting point of each sub-region; the control output unit 600 is used for driving the robot to start from the initial point and travel along the routing path in each first cycle, and driving the robot to leave the routing path and enter the working area when reaching the working starting point.
In a specific embodiment of the present invention, the coordinate establishing unit 300 is configured to execute step M1 related to the control method of the walking robot provided in the second embodiment, the area dividing unit 400 is configured to execute step M2, the processing unit 500 is configured to execute step M3, and the control output unit 600 is configured to execute step M4, which will not be further described herein.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed modules, systems and methods may be implemented in other manners. The above-described system embodiments are merely illustrative, and the division of the modules into only one logical functional division may be implemented in practice in other ways, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, that is, may be located in one place, or may also be distributed on a plurality of network modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional module in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or 2 or more modules may be integrated into one module. The integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.
Claims (6)
1. A method for controlling a walking robot, comprising:
s1, counting the temporary turning angle count value and the turning angle count value in each first period;
the corner count value is used for representing the sum of the number of corners passed by the robot in the line patrol state in each first period, and the same corner is counted once;
the temporary turning angle count value is used for representing the sum of the number of turning angles which are passed by the robot when the robot starts from an initial point, enters a line patrol state and travels along a line patrol path in each second period; the second periods are sub-periods of the first periods, and each of the first periods comprises at least one of the second periods; the line patrol path is a closed loop formed by a boundary line of a working area where the robot is located;
s2, in each first period, the robot is in a line patrol state, if the temporary corner count value and the corner count value meet a second preset numerical relationship, the current position of the robot is determined as a working starting point, the robot is driven to leave the line patrol path to enter a working area at the working starting point, and the robot is changed from the line patrol state to the working state; the second preset numerical relationship is defined as that the corner temporary count value is equal to the corner count value;
wherein the length of the first period is defined as the time when the traversal rate of the walking robot in the working area reaches a preset value; a length of the second period is defined as a charging period of the walking robot; or, the length of the first period is defined as a time interval between two adjacent triggering of the first event by the walking robot; the length of the second period is defined as a time interval between two adjacent triggering of a second event by the walking robot;
wherein, step S1 specifically includes: initializing both the corner temporary count value and the corner count value to zero before the start of each first period or after the end of each first period; initializing only the corner temporary count value to zero before the start of each second period or after the end of each second period;
step S1 specifically includes: accumulating the temporary counting values of the corners once when the robot passes through one corner in the process of walking along the line patrol path in the line patrol state;
in each first period, when the corner temporary count value and the corner count value meet a first preset numerical value relationship, modifying the corner count value to be equal to the corner temporary count value; the first preset numerical relationship is defined as the corner temporary count value being greater than the corner count value.
2. The method of controlling a walking robot as claimed in claim 1, wherein the temporary counting value of the turning angle is accumulated once when the passing turning angle and the additional condition are satisfied simultaneously.
3. The method for controlling a walking robot according to claim 2, wherein the additional condition is that the distance between the current turning angle and the adjacent previous turning angle is not less than or greater than a preset minimum distance.
4. The method for controlling a walking robot of claim 1, wherein the step S1 further comprises: freezing the corner temporary count value and the corner count value in the process that the robot returns to the initial point from a working area.
5. The method for controlling a walking robot of claim 1, wherein the step S1 further comprises: when the robot is in the line patrol state, the included angle formed by the robot passing through the connected line patrol path on the line patrol path is in the range of [45 degrees, 135 degrees ], and the line patrol path is defined as the corner.
6. A walking robotic system, characterized in that the system comprises:
the counting unit is used for counting the temporary turning angle counting value and the turning angle counting value in each first period; the corner count value is used for representing the sum of the number of corners passed by the robot in the line patrol state in each first period, and the same corner is counted once; the temporary turning angle count value is used for representing the sum of the number of turning angles which are passed by the robot when the robot starts from an initial point, enters a line patrol state and travels along a line patrol path in each second period; the second periods are sub-periods of the first periods, and each of the first periods comprises at least one of the second periods; the line patrol path is a closed loop formed by a boundary line of a working area where the robot is located;
the configuration processing unit is used for determining the current position of the robot as a working starting point if the temporary corner count value and the corner count value meet a second preset numerical value relationship in each first period and the robot is in a line patrol state, driving the robot to leave the line patrol path at the working starting point to enter a working area, and changing the line patrol state of the robot into the working state;
wherein the length of the first period is defined as the time when the traversal rate of the walking robot in the working area reaches a preset value; a length of the second period is defined as a charging period of the walking robot; or, the length of the first period is defined as a time interval between two adjacent triggering of the first event by the walking robot; the length of the second period is defined as a time interval between two adjacent triggering of the second event by the walking robot.
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| PCT/CN2019/121307 WO2021008058A1 (en) | 2018-10-31 | 2019-11-27 | Walking robot control method and system |
| PCT/CN2019/121314 WO2021008059A1 (en) | 2018-10-31 | 2019-11-27 | Walking robot control method and system |
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| CN201910638761.2A Active CN111198558B (en) | 2018-10-31 | 2019-07-16 | Control method and system of walking robot |
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| CN201910638761.2A Active CN111198558B (en) | 2018-10-31 | 2019-07-16 | Control method and system of walking robot |
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| CN111796598A (en) * | 2020-07-16 | 2020-10-20 | 苏州科瓴精密机械科技有限公司 | Automatic walking equipment, control method and system thereof and storage medium |
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| CN113467479B (en) * | 2021-08-05 | 2023-08-15 | 南京苏美达智能技术有限公司 | Method for adjusting working path in working area and automatic walking equipment |
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| WO2021008058A1 (en) | 2021-01-21 |
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| CN111198558B (en) | 2021-11-26 |
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| CN111123905B (en) | 2022-08-26 |
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| CN111198559A (en) | 2020-05-26 |
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Effective date of registration: 20230602 Address after: 215000 No. 8 Ting Rong Street, Suzhou Industrial Park, Jiangsu, China Patentee after: Suzhou Cleva Precision Machinery & Technology Co.,Ltd. Patentee after: SKYBEST ELECTRIC APPLIANCE (SUZHOU) Co.,Ltd. Address before: 215000 Huahong street, Suzhou Industrial Park, Jiangsu 18 Patentee before: Suzhou Cleva Precision Machinery & Technology Co.,Ltd. |
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