CN112190184B - Robot automatic return method and device and electronic equipment - Google Patents
Robot automatic return method and device and electronic equipment Download PDFInfo
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- CN112190184B CN112190184B CN202011034290.3A CN202011034290A CN112190184B CN 112190184 B CN112190184 B CN 112190184B CN 202011034290 A CN202011034290 A CN 202011034290A CN 112190184 B CN112190184 B CN 112190184B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention is suitable for the technical field of robot control, and provides a robot automatic return method, a device and electronic equipment, wherein the method comprises the following steps: determining a forward condition and a rotation direction for an initial receiving condition of a positioning signal transmitted in a near field area by a signal transmitting device according to a receiver on the robot; the robot is controlled to rotate in the rotating direction in situ, and when the receiving conditions of the positioning signals of a left receiver and a near field region on the robot meet the advancing condition, the robot is controlled to rotate to the left in the advancing process; when the left receiver receives a positioning signal transmitted in the return area by the signal transmitting device, the robot is controlled to rotate to the left in situ; when the front receiver on the robot receives the positioning signal of the return area, the robot is in butt joint with the signal transmitting device based on the signal butt joint of the front receiver and the signal transmitting device. The robot return process does not involve complex algorithms such as positioning navigation and the like, and the efficiency and the precision of the robot return control are effectively improved.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to an automatic robot return method, an automatic robot return device and electronic equipment.
Background
Cleaning work can be accomplished to clean type robot under the condition of unmanned monitoring, when guaranteeing the house health, can also improve user's life convenience, and cleaning type robot is low excessively or this cleans when ending at in-process battery power cleaning, need get back to the base that charges to guarantee to clean the normal use of robot. In order to increase the intelligence of the sweeping robot, the sweeping robot is generally required to automatically find the position of the charging base and return to the base for charging.
At present, the cleaning robot is provided with a positioning sensor and is provided with functions of positioning, mapping, navigation and the like, so that the cleaning robot can find a charging base to charge.
However, the algorithm for positioning and navigating the cleaning robot is complex and has low precision, so that the cleaning robot cannot be quickly and accurately positioned and navigated to return to the charging base for charging.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for robot automatic return, and an electronic device, so as to solve the problem that a cleaning robot in the prior art cannot be quickly and accurately positioned and navigated to return to a signal transmitting apparatus for charging.
A first aspect of an embodiment of the present invention provides a robot automatic return method, including:
determining a forward condition and a rotation direction for an initial receiving condition of a positioning signal transmitted in a near field area by a signal transmitting device according to a left receiver, a right receiver and a front receiver on the robot;
controlling the robot to rotate towards the rotating direction in situ, and controlling the robot to rotate to the left in the advancing process when the receiving conditions of the positioning signals of the left receiver and the near field region meet the advancing condition;
when the left receiver receives the positioning signal transmitted in the return area by the signal transmitting device, the robot is controlled to rotate to the left originally;
and when the front receiver receives the positioning signal of the return area, the robot is in butt joint with the signal transmitting device based on the signal butt joint of the front receiver and the signal transmitting device.
A second aspect of an embodiment of the present invention provides a robot automatic return apparatus, including:
the condition determining module is used for determining a forward condition and a rotating direction for an initial receiving condition of a positioning signal transmitted in a near field area by the signal transmitting device according to a left receiver, a right receiver and a front receiver on the robot;
the advancing module is used for controlling the robot to rotate towards the rotating direction in situ, and controlling the robot to rotate to the left in the advancing process when the receiving conditions of the positioning signals of the left receiver and the near field region meet the advancing condition;
the rotating module is used for controlling the robot to rotate to the left originally when the left receiver receives the positioning signal transmitted in the return area by the signal transmitting device;
and the return module is used for completing the butt joint of the robot and the signal transmitting device based on the signal butt joint of the front receiver and the signal transmitting device when the front receiver receives the positioning signal of the return area.
A third aspect of embodiments of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to the first aspect when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect when executing the computer program.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
determining the advancing condition and the rotating direction of the robot according to the initial receiving condition of the positioning signal transmitted by the signal transmitting device received by the robot in the near field area, then controlling the robot to rotate in situ according to the rotating direction, controlling the advancing direction of the robot based on the signal receiving condition between the left receiver and the positioning signal in the near field area, and turning left to approach a return area in the advancing process of the robot, controlling the robot to turn left in situ when the left receiver receives the positioning signal in the return area, then completing the return of the robot based on the signal butt joint of the front receiver on the robot and the signal transmitting device, wherein the robot does not involve complex algorithms such as positioning navigation and the like in the process of returning to the signal transmitting device from the initial position, only controlling the motion of the robot according to the signal receiving condition between the robot and the signal transmitting device, and the control algorithm and the process are simple, the efficiency and the precision of the robot return control are effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of an automatic robot return method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic robot returning device provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of an electronic device provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of a positioning signal coverage area of a signal transmitting device according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a robot and a receiving range of a signal receiver thereof according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the advancing direction of the robot in the embodiment of the present invention
FIG. 7 is a diagram illustrating a first application scenario provided by an embodiment of the present invention;
fig. 8 is a schematic diagram of a second application scenario provided in the embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
It should be understood that the robot automatic return method provided by the embodiment of the present invention can be applied to various robots, for example, an industrial control robot, for example, a geographic mapping robot, for example, a fire-fighting robot, for example, a sweeping robot, and also can be other types of robots that need to be positioned and returned for charging, which is not listed in this application. In the following embodiments, a floor sweeping robot is taken as an example for further explanation. The signal transmitting device may be a separate transmitting device for transmitting signals, or may be a charging device including a function of transmitting signals.
It should be noted that the method provided by the embodiment of the present invention is applied to a scenario where the robot is located in a near field region and returns to the signal transmitting apparatus. In other words, the technical solution provided by the embodiment of the present invention is applied back to the signal transmitting apparatus after it is known that the robot is located in the near field area. And controlling the robot to rotate leftwards or rightwards in the advancing process, wherein the direction reference standard of the robot is the advancing direction of the robot, namely, the left rotation towards the advancing direction of the robot is the leftwards, and the right rotation towards the advancing direction of the robot is the rightwards.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 1, an embodiment of the present invention provides an automatic robot return method, including the following steps:
Specifically, when the robot receives only the positioning signal transmitted in the near field area by the signal transmitting device, it is indicated that the robot is in the near field area; and when the robot only receives the positioning signal transmitted in the near field area by the signal transmitting device after rotating for one circle in place, the robot is indicated to be in the near field area.
Specifically, the near field region is a circular region with the signal transmitting device as a center of circle, and the signal transmitting device transmits a signal with a certain frequency or a certain coding mode to the near field region with the signal transmitting device as the center of circle, so as to obtain a positioning signal of the near field region. The robot receiving the signal can determine the position corresponding to the signal transmitted by the signal transmitting device by identifying the coding mode or the signal frequency of the signal.
Specifically, the initial reception situation may be understood as a signal reception situation of the left receiver, the right receiver, and the front receiver on the robot when the robot starts to return, and is not a signal reception situation after the robot performs in-place rotation for detecting a signal.
In this embodiment, the robot is a sweeping robot, the signal transmitting device is a charging device of the sweeping robot, and the charging device is configured with a signal transmitter. In this embodiment, the signal transmitting device is a charging device of the cleaning robot, the charging device includes a charging base, and when the electric quantity of the robot is detected to be lower than the preset electric quantity, the robot is controlled to return to the signal transmitting device.
Referring to fig. 5, the left receiver 540 and the right receiver 530 are symmetrically disposed at both sides of a center line b of the robot 500 in the forward direction such that a connection line of the left receiver 540 and the right receiver 530 is perpendicular to the center line b of the robot 500 in the forward direction, so that the left receiver 540 and the right receiver 530 receive signals transmitted to the sides of the robot 500 when the robot 500 moves.
Optionally, the left and right receivers have an acceptance angle in the range of 24 ° to 50 °. For example, the left receiver 540 shown in FIG. 5 has a 45 degree acceptance angle and the right receiver 530 has a 28 degree acceptance angle.
Optionally, the center of the robot points to the extension line of the line segment of the side receiver, and the angle range of the side line of the receiving angle of the side receiver close to the front receiver is 12-25 degrees, the angle to the side line away from the front receiver is in the range of 12 deg. -25 deg., e.g., the center e of fig. 5 points to the extension of the line segment d of the right receiver 530, the angle of the edge of the right receiver 530 near the center right receiver 510 is 14 °, the angle of the edge of the center right receiver 510 away from the center right receiver is 14 °, the center e points to the extension of the line segment c of the left receiver 540, the angle close to the middle left receiver 520 and the angle away from the edge of the middle left receiver 520 from the acceptance angle of the left receiver 540 are 20 degrees, and the angle away from the edge of the middle left receiver 520 is 25 degrees, preferably, the extension line of the line segment of which the center of the robot points to the side receiver bisects the acceptance angle of the side receiver, for example, the extension of the line segment d shown in fig. 5 with the center e pointing to the right receiver 530 bisects the receiving angle of the right receiver 530.
Optionally, referring to fig. 5, a central angle between the left receiver 540, the right receiver 530 and the center e of the robot ranges from 130 ° to 133 °, and the central angle is toward the advancing direction of the robot.
Alternatively, referring to fig. 5, the acceptance angle of the left receptor 540 deviates from the extension of the side line of the front receptor and passes through the right receptor 530.
Referring to fig. 6, the receiving angle of the left receiver 540 is close to the edge of the middle left receiver 520, and controls the advancing direction of the robot 500 according to the receiving condition between the positioning signal of the near field region transmitted by the signal transmitting device. The right receiver 530 and the left receiver 540 are similar to each other, that is, the forward direction of the robot 500 is controlled by the receiving condition between the side line of the right receiver 530 close to the middle right receiver 510 and the positioning signal transmitted by the signal transmitting device.
In one embodiment, the 2 front receivers are respectively a middle left receiver and a middle right receiver, the middle left receiver and the middle right receiver are symmetrical about a center line of the robot along the advancing direction, and receiving lines of the middle left receiver and the middle right receiver which are close to each other are parallel.
Referring to fig. 5, the middle right receiver 510 and the middle left receiver 520 are symmetrically disposed at two sides of the front end of the center line b of the robot 500 along the forward direction, which is close to the middle, and the connection line of the middle left receiver 520 and the middle right receiver 510 is perpendicular to the center line b of the robot 500 along the forward direction. Although the middle right receiver 510 is located at the right side of the center line b of the robot 500 in the forward direction and the middle left receiver 520 is located at the left side of the center line b of the robot 500 in the forward direction, the middle right receiver 510 and the middle left receiver 520 can receive a signal toward the forward direction of the robot 500 since they are close to the middle of the robot 500, and thus, the middle right receiver 510 and the middle left receiver 520 may be referred to as front receivers.
In order to ensure that the robot 500 and the signal transmitting device do not deviate greatly in the docking process, the distance between the middle left receiver 510 and the middle right receiver 520 should not be too large, and optionally, the central angle between the middle left receiver 510, the middle right receiver 520 and the center e of the robot ranges from 11 degrees to 13 degrees, and the central angle faces the advancing direction of the robot.
Optionally, the angles of the receiving angles of the middle left receiver 520 and the middle right receiver 510 are kept consistent, and meanwhile, the receiving lines of the middle left receiver 520 and the middle right receiver 510 close to each other are parallel, so that the accurate docking of the robot and the signal transmitting device is ensured, and the robot can be ensured to return to the signal transmitting device in a straight line.
Alternatively, the angular ranges of the receiving angles of the middle left receiver 520 and the middle right receiver 510 may be 12 ° to 25 °, for example, the receiving angle of the middle left receiver 520 is 14 ° and the receiving angle of the middle right receiver 510 is 14 ° as shown in fig. 5.
In one embodiment, the initial reception case includes: the left receiver on the robot can only receive the positioning signal transmitted in the near field area by the signal transmitting device; the direction of rotation is to the left; the advancing conditions include: the left receiver does not just receive the positioning signal of the near field region.
Specifically, when the left receiver on the robot receives the positioning signal of the near field area, the robot only knows that the robot is relatively close to the signal transmitting device, but does not know the advancing direction of the robot, and the positioning signal of the near field area which can not be just received by the left receiver is close to the side line of the front receiver through the receiving angle of the left receiver, and is in butt joint with the positioning signal of the near field area, so that the advancing direction of the robot is ensured. It should be understood that the advancing direction of the robot can be controlled by reasonably setting the receiving angle of the left receiver close to the borderline position of the front receiver.
It should be noted that the left receiver is only a pre-determined receiver for performing a preliminary estimation of the position of the robot, and obviously, the left receiver may be replaced by a right receiver. In other words, the default robot is on the right side of the center line of the return zone along the direction away from the signal transmitting device, and correspondingly, in order to realize that the receiving angle of the left receiver is close to the side line of the front receiver and interface with the positioning signal of the near field region, the rotating direction should be left.
In one embodiment, the initial reception case includes: the left receiver on the robot does not receive the positioning signal transmitted in the near field area by the signal transmitting device; the rotation direction is rightward; the advancing conditions include: the left receiver just receives the positioning signal of the near field region.
Specifically, the robot does not receive the positioning signal of the near field region transmitted by the signal transmitting device, or the right receiver and the front receiver receive the positioning signal of the near field region transmitted by the signal transmitting device.
Specifically, when the left receiver on the robot cannot receive the positioning signal of the near field area, it is reasonable to think that the advancing direction of the robot may greatly deviate from the return area, and the robot may not receive the positioning signal of the return area, resulting in a failure of return. It should be understood that the advancing direction of the robot can be controlled by reasonably setting the receiving angle of the left receiver close to the borderline position of the front receiver.
It should be noted that, the left receiver after the left turn of the robot just cannot receive the positioning signal of the near field region, and the left receiver after the right turn of the robot just receives the positioning signal of the near field region, and the advancing direction of the robot is consistent.
And 102, controlling the robot to rotate in the original direction of the rotation, and controlling the robot to rotate to the left in the advancing process when the receiving conditions of the positioning signals of the left receiver and the near field region meet the advancing condition.
In the embodiment, the advancing direction of the robot is determined by controlling the robot to rotate in the rotating direction in situ according to the receiving condition between the left receiver and the positioning signal of the near field region, complex algorithms such as positioning navigation and the like are not involved, the control algorithm and the process are simple, and the efficiency and the precision of the robot return control are effectively improved.
Considering that the robot satisfies the forward condition is based on the reception condition of the positioning signal between the robot and the signal transmitting device, it is necessary to control the robot to rotate in place until the robot rotates to the left during the forward process to approach the return area until the reception conditions of the positioning signal of the left receiver and the near field area on the robot satisfy the forward condition. It should be understood that the robot is controlled to rotate in situ, the rotation speed of the robot is a preset speed, and the preset speed should not be too large, so as to ensure that the receiving situation between the left receiver on the robot and the positioning signal of the near field region can be known in real time.
In the case of initial reception, when the robot does not know its own position, the robot needs to be controlled to rotate the detection positioning signal, and if the rotation direction of the detection positioning signal matches the rotation direction in the present embodiment, the robot continues to rotate in this direction until the reception conditions of the positioning signals of the left receiver and the near field region satisfy the forward condition, and if the rotation direction of the detection positioning signal is opposite to the rotation direction in the present embodiment, the robot is controlled to stop rotating and rotate in the rotation direction in the present embodiment.
Referring to fig. 6, to ensure that the left receiver 540 of the robot 500 is able to receive the positioning signal of the return field 450 and is able to return to the return field 450, the robot 500 turns left in the forward direction.
In one embodiment, when the robot encounters an obstacle, the robot is controlled to rotate to the left as it is; when the right receiver just receives the positioning signal of the near field area, controlling the robot to rotate to the right in the advancing process, wherein the left receiver and the right receiver are positioned on two sides of the center line of the robot in the advancing direction; and when the right receiver receives a positioning signal transmitted in a return area by the signal transmitting device, the robot is controlled to rotate to the right in situ, the signal butt joint based on the front receiver and the signal transmitting device is executed, and the butt joint of the robot and the signal transmitting device is completed.
In this embodiment, when the robot encounters an obstacle during the forward movement, it is determined that the forward direction of the robot is wrong, and at this time, the robot is controlled to rotate in place to the left until the right receiver just receives the positioning signal of the near field region, so as to implement the forward direction turning of the robot, and ensure that the robot is moving forward toward the return region. Obviously, the left receiver and the right receiver are located on both sides of the direction line of the robot along the advancing direction, thereby ensuring that the advancing direction of the robot is adjusted when the left receiver makes a pre-judgment error on the advancing direction of the robot.
In this embodiment, the signal reflecting means is provided with an obstacle at the back of the return area, for example a wall behind the signal emitting means.
Specifically, when the right receiver just receives a positioning signal of a near field area, the robot is controlled to turn right in the advancing process to be close to a return area, then when the right receiver receives the positioning signal transmitted by the signal transmitting device in the return area, the robot is controlled to rotate in place to the right so that the advancing direction of the robot faces the signal transmitting device, and then the robot is in butt joint with the signal transmitting device based on signal butt joint of the front receiver and the signal transmitting device to complete butt joint of the robot and the signal transmitting device.
And 103, controlling the robot to rotate to the left originally when the left receiver receives the positioning signal transmitted in the return area by the signal transmitting device.
When the left receiver receives the positioning signal transmitted in the return area by the signal transmitting device, the forward direction is correct, and meanwhile, the left receiver of the robot is positioned in the return area. Specifically, the robot is controlled to rotate to the left in place, so that the advancing direction of the robot faces to the signal transmitting device, and then the docking of the robot and the signal transmitting device is completed based on the signal docking of the front receiver and the signal transmitting device.
Specifically, referring to fig. 4 and 5, if the positioning signals of the return area 450 are the positioning signals of the middle left area 420 and the middle right area 440 that are overlapped, the left receiver 540 controls the robot to turn left when receiving the positioning signals of the middle left area 420 and the middle right area 440 at the same time; or, when the left receiver 540 receives the positioning signal of the middle-right area 440, the robot is controlled to turn left; or, when the right receiver 530 receives the positioning signal of the middle left area 420 and the positioning signal of the middle right area 440 at the same time, the robot is controlled to turn right; or, when the right receiver 530 receives the positioning signal of the middle left area 420, the robot is controlled to turn right.
And 104, when the front receiver receives the positioning signal of the return area, completing the butt joint of the robot and the signal transmitting device based on the signal butt joint of the front receiver and the signal transmitting device.
In one embodiment, the center line of the return area is opposite to the signal transmitting device, and the positioning signals of the return area comprise overlapped first positioning signals and second positioning signals.
Optionally, when there is only one front receiver, when the front receiver on the robot receives the first positioning signal and the second positioning signal at the same time, the robot is controlled to move forward to the signal transmitting device in a straight line, and at this time, the front receiver is located on a center line of the robot along the moving direction.
Optionally, when the middle left receiver receives the first positioning signal and the second positioning signal at the same time, and the middle right receiver receives the first positioning signal and the second positioning signal at the same time, the robot is controlled to move straight.
Specifically, when the middle left receiver receives the first positioning signal and the second positioning signal at the same time, and the middle right receiver receives the first positioning signal and the second positioning signal at the same time, it indicates that the center of the current robot is aligned with the center of the signal transmitting device, and the robot is controlled to move straight.
It should be noted that, considering that the robot approaches the signal transmitting device in the near-field area, the advancing speed of the robot in the near-field area should not be too fast in order to ensure accurate docking between the robot and the signal transmitting device.
In one embodiment, when only the middle left receiver receives the first positioning signal and the second positioning signal at the same time, the robot is controlled to turn left to be close to the center line of the return area in the straight process.
Specifically, when only the middle-left receiver receives the first positioning signal and the second positioning signal simultaneously, the fact that the middle of the robot is not aligned with the middle of the signal transmitting device indicates that the robot is inclined to the right in the advancing process, the robot is controlled to rotate to the left in the advancing process of the robot, namely, an angular speed rotating to the left is added when the robot advances, so that the robot is corrected, and the center of the robot is aligned with the center of the signal transmitting device gradually.
In one embodiment, when only the middle-right receiver receives the first positioning signal and the second positioning signal at the same time, the robot is controlled to turn right to be close to the center line of the return area in the straight process.
Similarly, when only the middle-right receiver receives the first positioning signal and the second positioning signal simultaneously, the current robot is deviated to the left when moving forward, the robot is controlled to rotate to the right when the robot moves forward, namely, an angular velocity rotating to the right is added when the robot moves forward, so that the robot is corrected, and the center of the robot is aligned with the center of the signal transmitting device gradually.
In the embodiment, during the advancing process of the robot, the positioning signals received by the middle left receiver and the middle right receiver are compared in real time, so that the deviation angle of the robot is adjusted in real time until the robot is in butt joint with the signal transmitting device.
It should be understood that, in the embodiment, the robot is controlled to rotate to the left or to the right during the forward process, and the rotation amplitude is a preset angle, for example, the robot is controlled to rotate to the right during the forward process by a preset angle, and the robot is controlled to rotate to the left during the forward process by a preset angle. For example, the preset angle is 1 °, 3 °, 5 °, which is not listed in this embodiment, so that the angle can be finely adjusted in the advancing direction of the robot after comparing the number of the received positioning signals at each time, and the robot can adjust to the center line accurately aligned to the central area, and then accurately return to the base for charging. In addition, in each embodiment, the robot is controlled to rotate leftwards or rightwards in the advancing process, the direction reference standard is the advancing direction of the robot, namely, the left rotation in the advancing direction of the robot is the leftwards, and the left rotation in the advancing direction of the robot is the rightwards.
In one embodiment, when the middle left receiver and the middle right receiver simultaneously receive the positioning signals of the signal areas positioned at two sides of the return area, the robot is controlled to move straight.
Specifically, when the middle left receiver and the middle right receiver simultaneously receive the positioning signals of the signal areas positioned on the two sides of the return area, the fact that the center of the robot is aligned with the center of the signal transmitting device currently is indicated, and at the moment, the robot is controlled to move straight.
In particular, the signal area may be understood as a signal coverage area, i.e. a signal emitting device emitting a signal to form signal areas on both sides of the return area, respectively.
Referring to fig. 4 and 5, when the middle left receiver 520 on the robot 500 receives the positioning signal of the middle left area 440 and the middle right receiver 510 receives the positioning signal of the middle right area 430, the robot 500 is controlled to move straight. Correspondingly, the signal zones on both sides of the return zone 450 are the mid-left zone 440 and the mid-right zone 430.
It is noted that when the initial reception situation includes reception of the positioning signal of the return area transmitted by the signal transmitting device, docking of the robot and the signal transmitting device is completed based on the front receiver and the signal transmitting device on the robot. As a possible case, when the front receiver receives the positioning signal of the return area, the robot is controlled to advance, and meanwhile, the robot and the signal transmitting device are docked based on the signal docking between the front receiver and the signal transmitting device on the robot. As another possible case, when the left receiver or the right receiver receives the positioning signal of the return area, the robot is controlled to rotate in place until the front receiver receives the positioning signal of the return area, the robot is controlled to move forward, and meanwhile, the docking of the robot and the signal transmitting device is completed based on the signal docking between the front receiver and the signal transmitting device on the robot.
Referring to fig. 4 and 5, the signal transmitting apparatus 400 transmits signals outwards in a sector and a circle with its center as a circle center, the signal coverage area of the signal transmitting apparatus 400 is a positioning signal coverage area, the positioning signal coverage area includes a near field area 460, and a right side area 410, a middle right area 430, a return area 450, a middle left area 440, and a left side area 420 which are adjacent in sequence, the near field area 460 is circular with a base as a center, has a radius of 86cm, and decreases in radius when being overlapped with other signals, and is 65 cm. Each signal coverage area is coded differently to distinguish signals in different areas, for example, different infrared signals are coded as: l ═ 1, C _ L ═ 2, C _ R ═ 4, R ═ 8, Near ═ 16; wherein L is a left area, C _ L is a middle left area, C _ R is a middle right area, R is a right area, and Near is a Near field area. Specifically, the first positioning signal of the return area may be the positioning signal of the middle left area 440, and the second positioning signal may be the positioning signal of the middle right area 430, in other words, the return area 450 is a signal overlapping area of the positioning signal of the left area 420 and the positioning signal of the right area 410, and the left area 420 and the right area 410 are located at two sides of the return area 450, so when the front receiver of the robot is docked with the signal emitting device, the middle left receiver receives the positioning signal of the left area 420, and when the middle right receiver receives the positioning signal of the right area 410, it is stated that the center of the robot 500 is aligned with the center of the signal emitting device 400, and the robot may be controlled to go straight.
Referring to fig. 7, when the left receiver 540 receives only the positioning signals of the near field region 460, and the right receiver 530, the middle left receiver 520, and the middle right receiver 510 do not receive the positioning signals of the right side region 410, the middle right region 430, the middle left region 440, and the left side region 420, the robot 500 is controlled to turn left in place until the left receiver 540 does not just receive the positioning signal of the near field area 460, the robot 500 is controlled to turn left during the advancing process, the robot 500 touches an obstacle, the robot 500 moves backward for a certain distance and rotates left in place until the right receiver 530 just receives the positioning signal of the near field area 460, the robot 500 is controlled to rotate right in the forward process, until the right receiver 540 just receives the positioning signal of the return area 450, the robot 500 is controlled to rotate right in place, at this time, the robot 500 is controlled to return to the signal transmission device 400 according to the return control method at the return area 450.
Referring to fig. 7, when the left receiver 540, the right receiver 530, the middle left receiver 520, and the middle right receiver 510 do not receive the positioning signals of the right zone 410, the middle right zone 430, the middle left zone 440, and the left zone 420, the robot 500 is controlled to turn right in place until the left receiver 540 just receives the positioning signal of the near field area 460, the robot 500 is controlled to turn left during the forward process, and then the docking of the robot 500 and the signal transmitting apparatus 400 is completed according to the same return method as the scenario shown in fig. 6. As another possible scheme, the robot 500 is controlled to turn left in place until the left receiver 540 just receives the positioning signal of the near field area 460, the robot 500 is controlled to turn right in place until the left receiver 540 just receives the positioning signal of the near field area 460, the robot 500 is controlled to turn left in the forward process, and then the docking of the robot 500 and the signal transmitting device 400 is completed according to the same return method as the scenario shown in fig. 6.
It should be noted that when the left receiver on the robot 500 is in the separation area between the right area 410 and the middle right area 430, or in the separation area between the middle left area 440 and the left area 420, the robot 500 can only receive the positioning signal of the near field area 460, and the docking between the robot 500 and the signal transmitting device 400 can also be completed by the return method provided by the embodiment of the present invention.
In one embodiment, the determining of the advancing condition and the rotating direction according to the left receiver, the right receiver and the front receiver on the robot for the initial receiving condition of the positioning signal emitted by the signal emitting device in the near field area is performed when the historical position of the signal emitting device cannot be acquired.
In this embodiment, when the robot does not know the position of the robot, or the robot only knows that the robot is in the near field area, the robot cannot know the accurate position of the robot. Therefore, the robot can move towards the signal coverage area with accurate positioning information according to the pre-established map and the recorded historical position of the signal transmitting device, and it should be understood that the recorded historical position of the signal transmitting device is an approximate position rather than an accurate position in the embodiment, so that the robot can be close to the signal transmitting device but cannot accurately return to the signal transmitting device. Therefore, the robot moves toward the position of the signal transmitting device according to the pre-established map and the recorded historical position of the signal transmitting device, so that the robot approaches the signal transmitting device and can receive the signal of the signal transmitting device after entering the signal coverage area. And after receiving the signal, determining a positioning signal coverage area where the robot is located according to the signal, controlling the robot to return to the signal transmitting device according to a return control step in the return area when the robot is in the return area, controlling the robot to return to the return area firstly when the robot is in the near field area, and controlling the robot to return to the signal transmitting device according to a return control step in the return area.
However, when the historical position of the signal transmitting device cannot be acquired, the robot needs to be controlled to return to the return area according to the steps 101 to 103, and then the robot is controlled to return to the signal transmitting device according to the return control step of the return area.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Based on the same concept as the method embodiment of the present invention, referring to fig. 2, an embodiment of the present invention further provides an automatic robot returning device, including:
a condition determining module 201, configured to determine, according to a left receiver, a right receiver, and a front receiver on the robot, a forward condition and a rotation direction for an initial receiving condition of a positioning signal transmitted in a near field region by a signal transmitting apparatus;
a forward module 202, configured to control the robot to rotate in the original direction toward the rotation direction, and when the receiving conditions of the positioning signals of the left receiver and the near field region meet the forward condition, control the robot to rotate to the left in a forward process;
the rotating module 203 is used for controlling the robot to rotate to the left originally when the left receiver receives the positioning signal transmitted in the return area by the signal transmitting device;
a returning module 204, configured to complete the docking between the robot and the signal transmitting device based on the signal docking between the front receiver and the signal transmitting device when the front receiver receives the positioning signal of the returning area.
In one embodiment, further comprising: the obstacle collision processing module, the advancing rotating module and the returning execution module; wherein the content of the first and second substances,
the obstacle collision processing module is used for controlling the robot to rotate to the left originally when the robot collides with an obstacle;
the forward rotation module is used for controlling the robot to rotate to the right in the forward process when the right receiver just receives the positioning signal of the near field area, and the left receiver and the right receiver are positioned on two sides of the center line of the robot along the forward direction;
and the return execution module is used for controlling the robot to rotate to the right in situ when the right receiver receives the positioning signal transmitted in the return area by the signal transmitting device, executing the signal butt joint based on the front receiver and the signal transmitting device and finishing the butt joint of the robot and the signal transmitting device.
In one embodiment, the initial reception case includes: the left receiver on the robot can only receive the positioning signal transmitted in the near field area by the signal transmitting device;
the direction of rotation is to the left;
the advancing conditions include: the left receiver does not just receive the positioning signal of the near field region.
In one embodiment, the initial reception case includes: the left receiver on the robot does not receive the positioning signal transmitted in the near field area by the signal transmitting device;
the rotation direction is rightward;
the advancing conditions include: the left receiver just receives the positioning signal of the near field region.
In one embodiment, further comprising: a prejudgment module; wherein the content of the first and second substances,
the prejudging module is configured to execute the condition determining module 201 when the historical position of the signal transmitting apparatus cannot be obtained.
In one embodiment, the center line of the return area is opposite to the signal transmitting device, and the positioning signals of the return area comprise overlapped first positioning signals and second positioning signals;
the 2 front receivers are respectively a middle left receiver and a middle right receiver, the middle left receiver and the middle right receiver are symmetrical with the center line of the robot along the advancing direction, and receiving lines of the middle left receiver and the middle right receiver which are close to each other are parallel.
In one embodiment, the return module 204 includes: the device comprises a straight line judging unit, a left turn judging unit and a right turn judging unit; wherein the content of the first and second substances,
the straight-going judging unit is used for controlling the robot to go straight when the middle left receiver receives the first positioning signal and the second positioning signal at the same time, and the middle right receiver receives the first positioning signal and the second positioning signal at the same time, or the middle left receiver and the middle right receiver receive the positioning signals of the signal areas positioned at two sides of the return area at the same time;
the left-turn judging unit is used for controlling the robot to turn left to be close to the central line of the return area in the straight-going process when only the middle-left receiver receives the first positioning signal and the second positioning signal simultaneously;
and the right turn judging unit is used for controlling the robot to turn right to be close to the central line of the return area in the straight process when only the middle-right receiver simultaneously receives the first positioning signal and the second positioning signal.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device is deployed on the sweeping robot, and in some embodiments, the electronic device is the sweeping robot. On the hardware level, the electronic device includes a processor 301 and a memory 302 storing execution instructions, and optionally further includes an internal bus 303 and a network interface 304. The Memory 302 may include a Memory 3021, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory 3022 (e.g., at least 1 disk Memory); the processor 301, the network interface 304, and the memory 302 may be connected to each other by an internal bus 303, and the internal bus 303 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like; the internal bus 303 may be divided into an address bus, a data bus, a control bus, etc., which is indicated by a single double-headed arrow in fig. 3 for ease of illustration, but does not indicate only a single bus or a single type of bus. Of course, the electronic device may also include hardware required for other services. When the processor 301 executes execution instructions stored by the memory 302, the processor 301 performs the method in any of the embodiments of the present invention and at least for performing the method as shown in fig. 1.
In a possible implementation manner, the processor reads corresponding execution instructions from the nonvolatile memory to the memory and then runs the corresponding execution instructions, and corresponding execution instructions can also be obtained from other equipment, so that the robot automatic return device is formed on a logic level. The processor executes the execution instructions stored in the memory, so that the robot automatic return method provided by any embodiment of the invention is realized through the executed execution instructions.
The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Embodiments of the present invention further provide a computer-readable storage medium, which includes an execution instruction, and when a processor of an electronic device executes the execution instruction, the processor executes a method provided in any one of the embodiments of the present invention. The electronic device may specifically be the electronic device shown in fig. 3; the execution instruction is a computer program corresponding to the robot automatic return device.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention 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 still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A robot automatic return method is applied to a scene that a robot returns to a signal transmitting device in a near field area, and comprises the following steps:
determining a forward condition and a rotation direction for an initial receiving condition of a positioning signal transmitted in a near field area by a signal transmitting device according to a left receiver, a right receiver and a front receiver on the robot; the left receiver and the right receiver are symmetrically arranged on two sides of a center line of the robot along the advancing direction, and a central angle between the center of the robot and the center of the left receiver and the center of the right receiver faces the advancing direction of the robot;
controlling the robot to rotate towards the rotating direction in situ, and controlling the robot to rotate to the left in the advancing process when the receiving conditions of the positioning signals of the left receiver and the near field region meet the advancing condition;
when the left receiver receives the positioning signal transmitted in the return area by the signal transmitting device, the robot is controlled to rotate to the left originally;
when the front receiver receives the positioning signal of the return area, the robot is in butt joint with the signal transmitting device based on signal butt joint of the front receiver and the signal transmitting device;
the central line of the return area is over against the signal transmitting device, and the positioning signals of the return area comprise a first positioning signal and a second positioning signal which are overlapped; the front receiver comprises a middle left receiver and a middle right receiver, the middle left receiver and the middle right receiver are symmetrical with a center line of the robot along the advancing direction, and receiving lines of the middle left receiver and the middle right receiver which are close to each other are parallel;
the docking of the robot with the signal transmitting device is completed based on the signal docking between the front receiver on the robot and the signal transmitting device, and comprises:
when the middle left receiver receives the first positioning signal and the second positioning signal at the same time, and the middle right receiver receives the first positioning signal and the second positioning signal at the same time, or when the middle left receiver and the middle right receiver receive the positioning signals of the signal areas positioned at two sides of the return area at the same time, the robot is controlled to move straight;
when only the middle left receiver receives the first positioning signal and the second positioning signal at the same time, controlling the robot to turn left to be close to the center line of the return area in the straight running process;
and when only the middle right receiver receives the first positioning signal and the second positioning signal at the same time, controlling the robot to turn right to be close to the center line of the return area in the straight running process.
2. The method of claim 1, wherein the controlling the robot after the forward process turns to the left further comprises:
when the robot touches an obstacle, the robot is controlled to rotate to the left in an original way;
when the right receiver just receives the positioning signal of the near field area, controlling the robot to rotate to the right in the advancing process, wherein the left receiver and the right receiver are positioned on two sides of the center line of the robot in the advancing direction;
and when the right receiver receives a positioning signal transmitted in a return area by the signal transmitting device, the robot is controlled to rotate to the right in situ, the signal butt joint based on the front receiver and the signal transmitting device is executed, and the butt joint of the robot and the signal transmitting device is completed.
3. The method of claim 1, wherein the initial reception situation comprises: the left receiver on the robot can only receive the positioning signal transmitted in the near field area by the signal transmitting device;
the direction of rotation is to the left;
the advancing conditions include: the left receiver does not just receive the positioning signal of the near field region.
4. The method of claim 1, wherein the initial reception situation comprises: the left receiver on the robot does not receive the positioning signal transmitted in the near field area by the signal transmitting device;
the rotation direction is rightward;
the advancing conditions include: the left receiver just receives the positioning signal of the near field region.
5. The method of claim 1, further comprising:
when the historical position of the signal transmitting device cannot be acquired, determining the advancing condition and the rotating direction according to the left receiver, the right receiver and the front receiver on the robot and the initial receiving condition of the positioning signal transmitted in the near field area by the signal transmitting device.
6. The utility model provides a robot recharging device sweeps floor, its characterized in that, uses the robot to be located the scene that the near-field district returned to signal emission device, includes:
the condition determining module is used for determining a forward condition and a rotating direction for an initial receiving condition of a positioning signal transmitted in a near field area by the signal transmitting device according to a left receiver, a right receiver and a front receiver on the robot; the left receiver and the right receiver are symmetrically arranged on two sides of a center line of the robot along the advancing direction, and a central angle between the center of the robot and the center of the left receiver and the center of the right receiver faces the advancing direction of the robot;
the advancing module is used for controlling the robot to rotate towards the rotating direction in situ, and controlling the robot to rotate to the left in the advancing process when the receiving conditions of the positioning signals of the left receiver and the near field region meet the advancing condition;
the rotating module is used for controlling the robot to rotate to the left originally when the left receiver receives the positioning signal transmitted in the return area by the signal transmitting device;
the return module is used for completing the butt joint of the robot and the signal transmitting device based on the signal butt joint of the front receiver and the signal transmitting device when the front receiver receives the positioning signal of the return area;
the central line of the return area is over against the signal transmitting device, and the positioning signals of the return area comprise a first positioning signal and a second positioning signal which are overlapped; the front receiver comprises a middle left receiver and a middle right receiver, the middle left receiver and the middle right receiver are symmetrical with a center line of the robot along the advancing direction, and receiving lines of the middle left receiver and the middle right receiver which are close to each other are parallel;
the return module includes:
the straight-going judging unit is used for controlling the robot to go straight when the middle left receiver simultaneously receives the first positioning signal and the second positioning signal, and the middle right receiver simultaneously receives the first positioning signal and the second positioning signal, or the middle left receiver and the middle right receiver simultaneously receive the positioning signals of the signal areas positioned at two sides of the return area;
a left turn judging unit, configured to control the robot to turn left to approach a center line of the return area in a straight traveling process when only the middle-left receiver receives the first positioning signal and the second positioning signal at the same time;
and the right turn judging unit is used for controlling the robot to turn right to be close to the central line of the return area in the straight process when only the middle-right receiver simultaneously receives the first positioning signal and the second positioning signal.
7. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 5 are implemented when the computer program is executed by the processor.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| KR100656701B1 (en) * | 2004-10-27 | 2006-12-13 | 삼성광주전자 주식회사 | Robot cleaner system and Method for return to external charge apparatus |
| CN103507067B (en) * | 2012-06-15 | 2016-01-20 | 华硕电脑股份有限公司 | Robot device and guiding robot return the method for base station |
| CN104298234B (en) * | 2013-11-13 | 2017-02-08 | 沈阳新松机器人自动化股份有限公司 | Dual-booting robot self-charging method |
| CN103948354B (en) * | 2014-05-05 | 2016-03-09 | 苏州爱普电器有限公司 | A kind of robot for cleaning floor and control method thereof |
| TWI665068B (en) * | 2018-02-06 | 2019-07-11 | 世擘股份有限公司 | Automatic cleaning device and automatic charging method |
| CN109730590B (en) * | 2019-01-30 | 2023-08-25 | 深圳银星智能集团股份有限公司 | Cleaning robot and method for automatically returning and charging same |
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