CN207189673U - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN207189673U CN207189673U CN201721079044.3U CN201721079044U CN207189673U CN 207189673 U CN207189673 U CN 207189673U CN 201721079044 U CN201721079044 U CN 201721079044U CN 207189673 U CN207189673 U CN 207189673U
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Abstract
A kind of self-movement robot, including robot body (10) and the control unit being arranged on the robot body, the robot body also includes multilayer cartographic information harvester (20), obstacle information for Collecting operation environment different height, control unit is used to receive and handle the obstacle information of different height, and establishes multilayer map；Wherein, the multilayer cartographic information harvester includes multiple range sensors, and the height residing for multiple range sensors is different.The utility model is by setting multilayer map harvester, it is ensured that self-movement robot is unimpeded in complex environment, safe and efficient walking, while reduces the storage capacity and amount of calculation of control unit, and production cost is reduced in the case where ensureing avoidance.
Description
Technical field
A kind of self-movement robot is the utility model is related to, belongs to small household appliances manufacturing technology field.
Background technology
With artificial intelligence technology research extensively and profoundly, research of the China to self-movement robot is just progressively goed deep into, right
The requirement of self-movement robot also more and more higher, but existing self-movement robot independence is performed under complex environment, can
When requiring higher task by property, weaker to environment sensing ability and bad to the avoidance effect of track route, integrated level is not
It is high.Further, since self-movement robot has certain altitude, it can not meet its use by the two-dimensional map for generating traditional
Need, for example, two-dimensional map can not effectively mark the barrier of different height, avoidance effect is poor, and generates three-dimensional map institute
The data volume and amount of calculation that need are again bigger, it is necessary to specially set three-dimensional information harvester and the fast center of the speed of service
Processor could establish corresponding model, add the cost of self-movement robot.
Utility model content
Technical problem to be solved in the utility model is in view of the shortcomings of the prior art, there is provided a kind of from mobile machine
People, by setting multilayer map harvester, it is ensured that self-movement robot is unimpeded in complex environment, safe and efficient row
Walk, while reduce the storage capacity and amount of calculation of control unit, production cost is reduced in the case where ensureing avoidance.
Technical problem to be solved in the utility model is achieved by the following technical solution：
The utility model provides a kind of self-movement robot, including robot body and is arranged on the robot body
Control unit, the robot body also includes multilayer cartographic information harvester, for Collecting operation environment different height
Obstacle information, control unit is used to receive and handle the obstacle information of different height, and establishes multilayer map；Wherein,
The multilayer cartographic information harvester includes multiple range sensors, and the height residing for multiple range sensors is different.
Specifically, the multilayer map includes multiple two-dimensional maps, each two-dimensional map corresponds to the barrier of different height
Information.
Or the multilayer map also includes a two-dimentional barrier map, the two-dimentional barrier Map Generalization is more
The obstacle information of individual different height.
In order to distinguish the barrier of different height, the obstacle information of the different height is differently marked in two dimension
On barrier map.
In order to optimize the function of multilayer cartographic information harvester, the multilayer cartographic information harvester include first away from
From sensor and second distance sensor, first range sensor and second distance sensor are respectively used to gather its place
The obstacle information of height, the first range sensor are arranged on robot body top, and second distance sensor is arranged on machine
Human body bottom, wherein, the finding range of the finding range ＞ second distance sensors of the first range sensor.
Preferably, the finding range of first range sensor is more than 2 times of second distance sensor instrument distance scope.
In order to further optimize the function of multilayer cartographic information harvester, the multilayer cartographic information harvester also wraps
Include the 3rd range sensor being arranged between the first range sensor and second distance sensor, and the 3rd Distance-sensing
The finding range of device is between the finding range of the first range sensor and second distance sensor.
Preferably, first range sensor is laser range finder, and second distance sensor is ultrasonic range finder, the
Three range sensors are infrared range-measurement system.
In summary, the utility model is by setting multilayer map harvester, it is ensured that self-movement robot is in complexity
Unimpeded in environment, safe and efficient walking, while reduce the storage capacity and amount of calculation of control unit, ensureing the situation of avoidance
Under reduce production cost.
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is described in detail.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model self-movement robot.
Embodiment
Fig. 1 is the structural representation of the utility model self-movement robot.As shown in figure 1, the utility model provides one kind
Self-movement robot (such as air purifying robot, sweeping robot), including robot body 10 and it is arranged on the machine
Control unit (not shown) on human body 10, the robot body 10 include multilayer cartographic information harvester 20,
Obstacle information for Collecting operation environment different height.The multilayer cartographic information harvester 20 is electrical with control unit
Connection, the obstacle information collected is sent to control unit, control unit receives and handles the barrier letter of different height
Breath, multilayer map is established according to obstacle information.The multilayer map includes multiple two-dimensional maps, and each two-dimensional map is corresponding not
Level obstacle information.Or the multilayer map includes a two-dimentional barrier map, control unit can be by difference
The obstacle information of height is labeled on the two-dimentional barrier map with different modes (pattern, color, letter etc.), i.e. institute
State the obstacle information of the multiple different heights of two-dimentional barrier Map Generalization.
The robot body 10 also includes the components such as walking unit 11, detection unit and functional unit.The walking is single
Member 11 can be by motor, driving wheel and driven wheels into for driving self-movement robot to walk；Detection unit is used to detect certainly
Operating environment and manipulating object of mobile robot etc., and detection signal is sent to control unit, to facilitate control unit
Self-movement robot is controlled to perform different functions, specifically, the detection unit includes a variety of different sensors such as ultrasonic wave
The environment information acquisition device such as rangefinder, laser range finder, infrared range-measurement system, also comprising crash sensor, code-disc, gyroscope etc.
Detect the sensor of robot self-operating state；Functional unit can be polytype, for example, when functional unit includes cleaning
During component, self-movement robot can perform cleaning, and when functional unit includes mechanical arm, self-movement robot can be with
The functions such as carrying, crawl are realized, when functional unit includes air purifier, self-movement robot can purify air, this reality
With the new type for being not intended to limit functional unit.
The multilayer cartographic information harvester 20 includes multiple range sensors, residing for plurality of range sensor
Height is different, and the range sensor includes ultrasonic range finder 22, infrared range-measurement system 23 and laser range finder 21 etc..
Specifically, multilayer cartographic information harvester 20 can include the first range sensor and second distance senses
Device, the first range sensor are arranged on the top of robot body 10, and second distance sensor is arranged on the bottom of robot body 10,
Wherein, the finding range ＞ second distance sensors of the first range sensor, it is preferred that the ranging of first range sensor
Scope is more than 2 times of second distance sensor instrument distance scope.First range sensor and second distance the sensor difference
For the obstacle information of height where gathering it, i.e., described first range sensor and second distance sensor are respectively used to obtain
The first height barrier thing information and the second height barrier thing information are taken, described control unit receives and handles the obstacle of different height
Thing information (the first height barrier thing information and the second height barrier thing information), the two-dimensional map of level where correspondence establishment
(the first level information two-dimensional map and the second level information two-dimensional map).
Further, multilayer cartographic information harvester 20 also includes being arranged on the first range sensor and second distance passes
The 3rd range sensor between sensor, the finding range of the 3rd range sensor is between the first range sensor and second distance
Between the finding range of sensor.Preferably, as shown in figure 1, the first range sensor is laser range finder 21, second distance passes
Sensor is ultrasonic range finder 22, and the 3rd range sensor is infrared range-measurement system 23.
In the present embodiment, the finding range of laser range finder 21 is 3m-8m, it is preferred that it is one to set quantity.Laser Measuring
Distance meter 21 includes LASER Discharge Tube, reception pipe, motor and process chip etc., and under motor driven, laser range finder 21 passes through certainly
Turn the object in the range of 360 ° around measurement, while it is also equipped with the function of auxiliary positioning, because it is arranged on robot body
10 tops, the visual field is preferable, and the positioning of self-movement robot in the present embodiment is completed by laser range finder 21, can also
Using other sensors such as code-disc or gyroscope on self-movement robot etc. come auxiliary positioning, another aspect laser range finder 21
Barrier maximum height be can also confirm that to judge whether self-movement robot can pass through furniture as desk.Specifically,
Height (the machine of height (the distance between laser range finder 21 and operation surface) ＞ robot bodies 10 residing for laser range finder 21
The maximum height of the distance between the peak of device human body 10 and operation surface, i.e. self-movement robot) 4/5.Specifically,
Laser range finder 21 can be arranged on the top surface of robot body 10, because laser range finder 21 is when measuring barrier,
There is ranging working height range L in the vertical direction itself, laser range finder 21 actually launches the spindle of a small angle
Body light beam (being usually 1 ° -3 °) so that the laser range finder can be at least detected positioned at self-movement robot top surface and robot
The barrier of height between body height, prevents self-movement robot top surface or laser range finder from colliding barrier.Therefore, swash
The ranging working height range L of the height-laser range finder of height ＞ robot bodies 10 residing for optar 21.Preferably,
The height ＞ 40cm of robot body 10, the altitude range residing for laser range finder 21 are 50cm-60cm.According to statistics, it is indoor most
The height (such as tea table, seats, vase) of the short and small article of number is generally lower than 50cm, by the height residing for laser range finder 21
Control can effectively circumvent the stop of above-mentioned barrier between 50cm-60cm, improve laser range finder 21 and establishing map
When efficiency, it needs the traversal walking in the fraction region of operating environment to can obtain the contour line of whole operating environment
Figure.The method that laser range finder positioned and established the two-dimensional map of height where it is prior art, such as patent document
CN101809461A and CN 200610053690.2 is disclosed using laser range sensor to build the technical side of figure and positioning
Case, it will not be repeated here.
The ultrasonic range finder 22 includes 3 ultrasonic transmitters 221 and 2 ultrasonic receivers 222, and this practicality is new
Type is not intended to limit quantity and the position of transmitter and receiver, and those skilled in the art can be adjusted according to being actually needed.
The characteristic of the ultrasonic range finder 22 is that measurement angle is wide, and the barrier in operating environment is typically all on ground, institute
The leak detection of barrier can be reduced as far as possible to be arranged on bottom；In addition, ultrasonic range finder 22 is to glass, (such as office has very
More glass walls) etc. the low material Effect on Detecting of infrared reflectivity it is good, ultrasonic range finder 22 is arranged on robot body 10
Bottom, self-movement robot is enabled to find various barriers (such as Foot of chair and sofa leg) in time when walking, so as to
Collision free.Specifically, the height (the distance between ultrasonic range finder 22 and operation surface) residing for ultrasonic range finder 22
The 1/5 of the height of ＜ robot bodies 10.Method of two-dimensional map of height is where ultrasonic range finder positions and established it
Prior art, patent document CN104536447A and CN201510363054.9 disclose to carry out building figure and positioning using ultrasonic wave
Technical scheme, will not be repeated here.
You need to add is that (do not show in figure provided with barriers between the ultrasonic transmitter and ultrasonic receiver
Go out), barriers are arranged on the outer surface of self-movement robot body, are connect for separating the ultrasonic transmitter and ultrasonic wave
The continuous surface between device is received, plays anti-crosstalk effect.Preferably, barriers include being arranged on ultrasonic transmitter 221 and ultrasound
A plurality of groove between ripple receiver 222.Barriers include but is not limited to groove or raised line, can also be intensive salient point or
Person's pit, or one section of isolation flexible glue etc..
Because the accuracy of detection of ultrasonic range finder 22 is relatively low, detecting distance is relatively short (1m or so), and Laser Measuring
Although the accuracy of detection of distance meter 21 and detecting distance are higher, its cost is also very high, therefore, the He of laser range finder 21 in the present embodiment
Infrared range-measurement system 23 is additionally provided between ultrasonic range finder 22, the detecting distance of infrared range-measurement system 23 is 1.2m.Infrared range-measurement system
23 setting, the perfect detection range of detection unit 20, self-movement robot is because detecting not when avoiding the occurrence of special-shaped barrier
To and the problem of collide.In order to not collided when ensureing self-movement robot work, the setting number of infrared range-measurement system 23
Measure The more the better, but consider edge effect and production cost, the setting quantity of the infrared range-measurement system 23 there are 5, wherein 3
Individual infrared range-measurement system 23 is arranged in a manner of parallel to operation surface below laser range finder 21, in 3 infrared range-measurement systems 23
Other 2 infrared range-measurement systems 23 are sequentially provided with positioned at the lower section of infrared range-measurement system 23 of centre.Specifically, residing for infrared range-measurement system 23
Height (the distance between infrared range-measurement system 23 and operation surface) be the height of robot body 10 1/3-2/3.Infrared distance measurement
Method of two-dimensional map of height is prior art where instrument 23 positions and established it, be will not be repeated here.From the foregoing,
5 two-dimensional maps are established in the present embodiment respectively, for forming multilayer map.
In other words, in the present embodiment, self-movement robot can at least be established and store 3 two-dimensional maps, i.e. laser
Rangefinder 21, ultrasonic range finder 22 and infrared range-measurement system 23 correspond to 1 two-dimensional map respectively, and each two-dimensional map is to that should survey
The obstacle information of height where gathering it away from sensor.Wherein, because the finding range of laser range finder 21 is larger, it is being made
The obstacle that can obtain height residing for the profile diagram and laser rangefinder of operating environment is explored in simple walking in industry environment
Thing information.And the finding range of ultrasonic range finder 22 and infrared range-measurement system 23 is relatively small, it is attached that it is only capable of collection walking process
The obstacle information of near field.But the renewal of the obstacle information collected during by traveling through walking or repeatedly walking, ultrasound
Ripple rangefinder 22 and infrared range-measurement system 23 also can finally obtain the obstacle information of its height of the correspondence of whole operating environment.
Table 1 shows that self-movement robot completes work when different height sets different distance sensor in experiment
Collision frequency.The height of self-movement robot employed in experiment is 60cm, and the numeral 21 in table is represented in corresponding height
There is provided laser range finder 21, numeral 22 represents is provided with ultrasonic range finder 22 in corresponding height, and numeral 23 is represented corresponding
Highly it is provided with infrared range-measurement system 23.From table 1 it follows that position sets different range sensors at various height
When, self-movement robot completes the collision frequency difference that work is undergone, and self-movement robot does not pass through in the experiment of serial number 1
What successive collision has just smoothly completed work.
Table 1
The characteristics of taking full advantage of different distance sensor using the detection unit 20 of the structure of sequence number 1, can almost detect
The obstacle frequently encountered to daily life, avoids the problem of self-movement robot collides when walking.
The utility model is not intended to limit the specific set location and height of range sensor, and those skilled in the art can be with
It is designed according to being actually needed.
Preferably, in order to facilitate working sensor, sensor can be arranged on rotary components (such as above-mentioned motor),
Enable the sensor to rotate around the periphery of robot body 10, or, robot body 10 can be arranged on rotary components,
Robot body 10 is rotated in place, i.e., can be not when self-movement robot is in the random site of operating environment
The obstacle information of large range of operating environment is obtained in the case of movement.
A kind of traveling method applied to self-movement robot as described above, methods described bag is also disclosed in the utility model
Include：
Step 1：The obstacle information of Collecting operation environment different height；
Step 2：The obstacle information of different height is handled, establishes multilayer map；
Step 3：The walking path of self-movement robot is planned according to multilayer map.
Wherein, plan that the walking path of self-movement robot can be planned walking automatically by self-movement robot in step 3
Walking path is planned in path by user.
Wherein, the self-movement robot plans that walking path includes automatically：By the barrier of the different height in multilayer map
Hinder thing information to take union, obtain all obstacle informations of operating environment, or, the walkable region in multilayer map is taken
Occur simultaneously, obtain the walkable region information of operating environment.After walkable region information or all obstacle informations is obtained, control
The walking path of unit planning self-movement robot processed, so that self-movement robot will not touch with barrier in the process of walking
Hit.
A kind of side of the display distribution of obstacles applied to self-movement robot as described above is also disclosed in the utility model
Method, methods described include：
The obstacle information of Collecting operation environment different height, establishes multilayer map；
The obstacle information of different height in multilayer map is differently marked, and is sent to user terminal and shows
Show.
Specifically, the distribution of the barrier of the different height of operating environment is known in order to facilitate user, can also will be upper
Obstacle information corresponding to the multilayer map stated is shown in user terminal (such as mobile phone, tablet personal computer, remote control or display
Deng) on, facilitate user to watch or participate in manually the planning of the walking path of self-movement robot.In order to distinguish the barrier of different height
Hinder thing, the barrier of the different height in multilayer map is differently marked, such as different colours, different pattern, different words
Mother is marked.For example, represent that laser range finder, infrared range-measurement system, ultrasonic range finder measure respectively with yellow, green, blue
Height, in, short barrier.Or directly by above-mentioned two-dimentional barrier map denotation on the subscriber terminal.
The course of work of self-movement robot is as follows in the utility model：
First, self-movement robot gathers different height in operating environment by multilayer cartographic information harvester 20
Obstacle information, multilayer cartographic information harvester 20 send it to control unit after information is gathered, control unit according to
The two-dimensional map of the obstacle information of the multiple corresponding different heights of obstacle information generation including different height, planning are certainly mobile
Perform walking after the walking path of robot, so as to avoid self-movement robot in the process of walking with the barrier in operating environment
Thing is hindered to collide.
The utility model is by setting multilayer map harvester, it is ensured that self-movement robot is smooth in complex environment
Logical, safe and efficient walking, while reduce the storage capacity and amount of calculation of control unit, reduced in the case where ensureing avoidance
Production cost.
Claims (8)
1. a kind of self-movement robot, including robot body (10) and the control unit being arranged on the robot body,
Characterized in that, the robot body also includes multilayer cartographic information harvester (20), it is different for Collecting operation environment
The obstacle information of height, control unit is used to receive and handle the obstacle information of different height, and establishes multilayer map；
Wherein, the multilayer cartographic information harvester includes multiple range sensors, the height residing for multiple range sensors
It is different.
2. self-movement robot as claimed in claim 1, it is characterised in that the multilayer map includes multiple two-dimensional maps,
Each two-dimensional map corresponds to the obstacle information of different height.
3. self-movement robot as claimed in claim 1, it is characterised in that the multilayer map includes a two-dimentional barrier
Map, the two-dimentional barrier Map Generalization obstacle information of multiple different heights.
4. self-movement robot as claimed in claim 3, it is characterised in that the obstacle information of the different height is different
Mode is marked on two-dimentional barrier map.
5. self-movement robot as claimed in claim 1, it is characterised in that multilayer cartographic information harvester (20) bag
The first range sensor and second distance sensor are included, first range sensor and second distance sensor are respectively used to adopt
The obstacle information of height where collecting it, the first range sensor are arranged on robot body (10) top, second distance sensing
Device is arranged on robot body bottom, wherein, the ranging model of the finding range ＞ second distance sensors of the first range sensor
Enclose.
6. self-movement robot as claimed in claim 5, it is characterised in that the finding range of first range sensor is
More than 2 times of second distance sensor instrument distance scope.
7. self-movement robot as claimed in claim 5, it is characterised in that the multilayer cartographic information harvester (20) is also
Including the 3rd range sensor being arranged between the first range sensor and second distance sensor, and the 3rd distance passes
The finding range of sensor is between the finding range of the first range sensor and second distance sensor.
8. self-movement robot as claimed in claim 7, it is characterised in that first range sensor is laser range finder
(21), second distance sensor is ultrasonic range finder (22), and the 3rd range sensor is infrared range-measurement system (23).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721079044.3U CN207189673U (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721079044.3U CN207189673U (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
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| CN207189673U true CN207189673U (en) | 2018-04-06 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019037668A1 (en) * | 2017-08-25 | 2019-02-28 | 科沃斯机器人股份有限公司 | Self-moving robot and travel method thereof, and obstacle distribution display method |
| CN109620059A (en) * | 2018-11-16 | 2019-04-16 | 深圳市赛领未来科技有限公司 | For indoor cleaning and service robot and air navigation aid |
| CN109901583A (en) * | 2019-03-21 | 2019-06-18 | 创泽智能机器人股份有限公司 | A kind of robot barrier analyte detection and path adjust system |
| CN110861107A (en) * | 2019-12-03 | 2020-03-06 | 北京海益同展信息科技有限公司 | Service robot, display control method thereof, controller, and storage medium |
| WO2021121079A1 (en) * | 2019-12-18 | 2021-06-24 | 京东数科海益信息科技有限公司 | Control device of lifting platform for detection device and detection device |
-
2017
- 2017-08-25 CN CN201721079044.3U patent/CN207189673U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019037668A1 (en) * | 2017-08-25 | 2019-02-28 | 科沃斯机器人股份有限公司 | Self-moving robot and travel method thereof, and obstacle distribution display method |
| CN109426248A (en) * | 2017-08-25 | 2019-03-05 | 科沃斯机器人股份有限公司 | The method of self-movement robot and its traveling method, display distribution of obstacles |
| CN109620059A (en) * | 2018-11-16 | 2019-04-16 | 深圳市赛领未来科技有限公司 | For indoor cleaning and service robot and air navigation aid |
| CN109901583A (en) * | 2019-03-21 | 2019-06-18 | 创泽智能机器人股份有限公司 | A kind of robot barrier analyte detection and path adjust system |
| CN110861107A (en) * | 2019-12-03 | 2020-03-06 | 北京海益同展信息科技有限公司 | Service robot, display control method thereof, controller, and storage medium |
| CN110861107B (en) * | 2019-12-03 | 2020-12-22 | 北京海益同展信息科技有限公司 | Service robot, display control method thereof, controller, and storage medium |
| WO2021121079A1 (en) * | 2019-12-18 | 2021-06-24 | 京东数科海益信息科技有限公司 | Control device of lifting platform for detection device and detection device |
| US11933452B2 (en) | 2019-12-18 | 2024-03-19 | Jingdong Technology Information Technology Co., Ltd. | Control device of lifting platform for detection device and detection device |
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