TWI735889B - Self-propelled device moving method and self-propelled device implementing the moving method - Google Patents

Abstract

The present invention is a method for moving a self-propelled device and a self-propelled device for executing the method; the method for moving the self-propelled device includes: making a self-propelled device plan a first map information in a work space The first movement path is used to move the first movement path; the first movement path forms a closed curve contour with the same starting point and the end point; when the self-propelled device is moved along the first movement path, the first map information Update to a second map information; after the self-propelled device completes the movement of the first movement path, the self-propelled device plans a second movement path based on the second map information; the second movement path forms a starting point and A closed curve contour with the same end point and within the curve contour range of the first movement path; the self-propelled device is moved inward from the first movement path a predetermined distance to the second movement path and uses the second movement path Move the path to move.

Description

Self-propelled device moving method and self-propelled device implementing the moving method

The present invention relates to a method for moving a self-propelled device and a self-propelled device that executes the method, in particular to a method for moving a self-propelled device that automatically moves on a work surface in a work space to perform preset tasks according to a specific path and Self-propelled device that performs the method.

The conventional self-propelled device automatically moves on the work surface to perform preset tasks. Since the self-propelled device mostly adopts a rechargeable design, its working time is limited. Therefore, the self-propelled device has a variety of preset moving methods. The purpose is Improve the working efficiency of self-propelled devices in a limited time.

US Patent No. US6809490 "Method and system for multi-mode coverage for an autonomous robot" has revealed multiple coverage modes for automatic robots, including: obstacle following mode, random bounce mode and point coverage (spot coverage) mode...and other coverage modes, the three are used interactively to increase the coverage efficiency of the automatic robot in a specific area; among them, the spot coverage mode is that the automatic robot starts to move in an outer spiral from a starting point in the working space until After the automatic robot touches an obstacle (wall) in the workspace, it switches to the obstacle follow mode. In order to increase the coverage of the point coverage mode, the user usually places the automatic robot in the empty space approximately in the center of the workspace. At this point, delaying the time when the automatic robot touches the obstacle can make the spiral movement outside the automatic robot get a larger coverage area.

Chinese Patent No. CN102083352B "Application of Positioning, Position Control and Navigation System for Robot-enabled Mobile Products" also discloses a variety of robot movement methods, including a contour following method, this method is that the robot follows obstacles or After establishing the map... etc. to determine the edge contour of the working space, use the edge contour of the working space as the criterion for the robot to follow, and move spirally within the edge contour until the robot reaches the center of the working space.

However, the conventional technology does not consider the appearance of temporary obstacles. Take the work space of a factory or store as an example, there may be temporary obstacles such as people, carts... etc. temporarily staying in the work space at any time; if In the conventional point coverage mode, when the robot encounters such temporary obstacles, the robot will directly leave the point coverage mode and switch to the obstacle following mode. This will reduce the coverage of the outer spiral movement of the robot and reduce the self-propelled type. The working efficiency of the device; and if in the conventional contour following method, take Figure 1 as an example, when the edge contour of the working space H has been determined to be a rectangle, the original movement path of the robot R is preset from point X1→point X2→ Point X3→point X4→point X5→point X6→point X7→point X8→point X9→point X10→point X11→point X12→point X13→point X14→point X15→point X16→point X17→point X18→point X19 →point X20→point X21→point X22→point X23→point X24→point X25→point X26→point X27; but because the temporary obstacle appears after the robot determines the edge contour of the working space, when the robot is in the preset position When encountering these temporary obstacles on the moving path, take Figure 2 as an example. The robot will first dodge the temporary obstacle O, and then continue to move on the original preset moving path after evading the temporary obstacle O. The movement path of the robot R will be changed to Y1→point Y2→point Y3→point Y4→point Y5→point Y6→point Y7→point Y8→point Y9→point Y10→point Y11→point Y12→point Y13→point Y14→point Y15→point Y16→point Y17→point Y18→point Y19→point Y20→point Y21→point Y22→point Y23→point Y24→point Y25→point Y26→point Y27→point Y28→point Y29→point Y30→point Y31→ Point Y32 → Point Y33 → Point Y34 → Point Y35; although the robot can dodge when encountering a temporary obstacle in the preset movement path, when encountering the temporary obstacle, the robot will pause at the temporary obstacle In front of the object, the size and shape of the temporary obstacle are judged by a variety of algorithms, and finally the moving direction is gradually adjusted to slowly dodge over the temporary obstacle. Not only can it not move smoothly, it will also take extra waiting time and reduce The working efficiency of the self-propelled device.

The purpose of the present invention is to provide a method for moving a self-propelled device that can improve work efficiency.

Another object of the present invention is to provide a self-propelled device that can improve work efficiency.

A method for moving a self-propelled device according to the object of the present invention includes: making a self-propelled device plan a first movement path according to a first map information of a work space and move along the first movement path; the first movement The path forms a closed curve contour with the same starting point and end point; when the self-propelled device moves along the first movement path, the first map information is updated to a second map information; the self-propelled device completes the first movement path After a movement path is moved, the self-propelled device is made to plan a second movement path according to the second map information; the second movement path forms a closed curve contour with the same starting point and end point and is on the curve of the first movement path Within the contour range; make the self-propelled device move a preset distance inward from the first movement path to the second movement path and move along the second movement path.

A self-propelled cleaning device according to another object of the present invention includes: a self-propelled cleaning device for executing the method for moving the self-propelled device.

The self-propelled device moving method and the self-propelled device implementing the method according to the embodiment of the present invention can detect the current environment of the work space in real time, create the latest map information, and then refer to the latest map information plan The latest movement path can improve the working efficiency of the self-propelled device.

A1: point

A2: point

A3: point

A4: point

A5: point

A1': point

A2': point

A3': point

A4': point

A5': point

A6': point

A7': point

A8': point

A9': point

A10': point

A11': point

A12': point

A13': point

B1: point

B2: point

B3: point

B4: point

B5: point

B1': point

B2': point

B3': point

B4': point

B5': point

B6': point

B7': point

B8': point

B9': point

B10': point

B11': point

B12': point

B13': point

C1: point

C2: point

C3: point

C4: point

C5: point

C6: point

C7: point

C8: point

C9: point

C10: point

C11: point

C12: point

C13: point

F: work surface

H: Work space

H1: Sub-workspace

H2: Sub-workspace

L1: The first moving path

L1': the first moving path

L2: Second moving path

L2': second moving path

L3: Third moving path

O: Temporary obstacle

O1: Obstacle

O2: Obstacle

R: Self-propelled device

R1: body

R2: drive unit

R21: Front guide wheel

R22: Rear guide wheel

R23: drive wheel

R3: Cleaning unit

R31: Vacuum cleaner

R32: Brushing mechanism

R33: Liquid suction mechanism

R4: Map building unit

R41: Sensor

R42: processor

R5: Control unit

S1: Steps to create map information

S2: Planning the moving path steps

S3: Steps to update map information

S4: Coverage judgment step

T1: First map information

T2: Second map information

T3: Third map information

T2': second map information

T3': third map information

T4': Fourth map information

W: working width

X1: point

X2: point

X3: point

X4: dot

X5: dot

X6: dot

X7: dot

X8: dot

X9: dot

X10: dot

X11: dot

X12: dot

X13: dot

X14: dot

X15: dot

X16: dot

X17: dot

X18: dot

X19: dot

X20: dot

X21: dot

X22: dot

X23: point

X24: dot

X25: dot

X26: dot

X27: dot

Y1: point

Y2: point

Y3: point

Y4: point

Y5: point

Y6: point

Y7: point

Y8: point

Y9: point

Y10: point

Y11: point

Y12: point

Y13: point

Y14: point

Y15: point

Y16: point

Y17: point

Y18: point

Y19: point

Y20: point

Y21: point

Y22: point

Y23: point

Y24: point

Y25: point

Y26: point

Y27: point

Y28: point

Y29: point

Y30: point

Y31: point

Y32: point

Y33: point

Y34: point

Y35: point

Z: Wall

Figure 1 shows the movement path of a conventional self-propelled device in a work space with no obstacles in a contour-following method.

Fig. 2 is the movement path of the conventional self-propelled device in the working space with temporary obstacles by the contour following method.

Fig. 3 is a schematic diagram of a self-propelled device in an embodiment of the present invention.

Fig. 4 is a schematic diagram of the self-propelled device on the working surface in the embodiment of the present invention.

Fig. 5 is a schematic diagram of a working space in an embodiment of the present invention.

Fig. 6 is a flowchart of a method for moving a self-propelled device in an embodiment of the present invention.

FIG. 7 is a schematic diagram of the first map information of the working space in the embodiment of the present invention.

FIG. 8 is a schematic diagram of planning a first movement path using the first map information in an embodiment of the present invention.

FIG. 9 is a schematic diagram of the second map information of the working space in the embodiment of the present invention.

FIG. 10 is a schematic diagram of planning a second movement path using the second map information in an embodiment of the present invention.

FIG. 11 is a schematic diagram of the third map information of the working space in the embodiment of the present invention.

Fig. 12 is a schematic diagram of the self-propelled device covering all areas of the working space in the embodiment of the present invention.

FIG. 13 is a schematic diagram of the first map information of the working space in the embodiment of the present invention.

14 is a schematic diagram of the first movement path of the self-propelled device actually moving when an obstacle suddenly appears in the workspace after the first map information has been established in the embodiment of the present invention.

FIG. 15 is a schematic diagram of the second map information of the working space in the embodiment of the present invention.

FIG. 16 is a schematic diagram of planning a second movement path using the second map information in an embodiment of the present invention.

FIG. 17 is a schematic diagram of the third map information of the working space in the embodiment of the present invention.

FIG. 18 is a schematic diagram of planning a third movement path using the third map information in an embodiment of the present invention.

FIG. 19 is a schematic diagram of the fourth map information of the working space in the embodiment of the present invention.

Fig. 20 is a schematic diagram of the self-propelled device covering all areas of the working space in the embodiment of the present invention.

Please refer to Figures 3 and 4, the self-propelled device moving method of the embodiment of the present invention can be achieved by using a self-propelled device R that can automatically move for cleaning as shown in the figure, which is provided with: a body R1, which has A working width W; a driving unit R2, located at the bottom of the body R1, can drive the body R1 to automatically move on a working surface F to perform forward, backward, rotating... etc. actions; the driving unit R2 is provided with a front guide wheel R21 , A rear guide wheel R22 and two drive wheels R23, the front guide wheel R21 and the rear guide wheel R22 Separately arranged on the front and rear sides of the body R1, the two driving wheels R23 are arranged on both sides of the roughly middle of the body R1; a cleaning unit R3 is arranged at the bottom of the body R1, which can be cleaned when the body R1 is moving The working surface F; the cleaning unit R3 is provided with a suction mechanism R31, a scrubbing mechanism R32 and a liquid suction mechanism R33, the suction mechanism R31 is arranged on the front side of the body R1, the liquid suction mechanism R33 is arranged on the back side of the body R1 , The scrubbing mechanism R32 is arranged between the dust suction mechanism R31 and the liquid suction mechanism R33; a map creation unit R4 can detect obstacles encountered by the body R1 when automatically moving on the working surface F, etc. Environmental characteristics, and record the map information of these environmental characteristics to create a workspace; the map creation unit R4 is equipped with a plurality of sensors R41 and a processor R42, the sensor R41 can be a LIDAR sensor, ultrasonic sensor, infrared Sensors, vision sensors... one or a combination of several; the environmental feature information detected by the sensor R41 will be processed into map information by the processor R42; a control unit R5 can perform various data calculations and execute automatic The various functions of the walking device R are controlled and the movement path of the self-propelled device R can be planned by referring to the map information of the map creation unit R4.

Please refer to FIG. 5, the self-propelled device moving method of the embodiment of the present invention can be illustrated by using one of the indoor working spaces H, such as factories, stores, etc., as shown in the figure. The working space H may be formed by four walls Z A rectangular space surrounded by the self-propelled device R can move in the working space H for cleaning operations.

Please refer to Figures 4, 5, and 6, in the implementation of the embodiment of the present invention, the following steps are performed, a map information creation step S1: when the self-propelled device R enters an unknown workspace H, the workspace H will be created The map information; the map information can be obtained by the user to remotely control the self-propelled device R to move in the workspace H while the map creation unit R4 detects the environmental characteristics of the workspace H; or While making the self-propelled device R move randomly, The map creation unit R4 is obtained by detecting the environmental characteristics of the workspace H; or an external terminal device (not shown) transmits preset known map information to the map creation unit R4 of the self-propelled device R; A planning movement path step S2: the control unit R5 of the self-propelled device R refers to the map information, and uses the edge contour of the map information to plan the default movement path of the self-propelled device R; a step S3 of updating map information : The self-propelled device R moves along the preset moving path, and at the same time, the map creation unit R4 detects the real-time environmental features of the workspace H and updates the map information; a coverage determination step S4: the self-propelled device R After the walking device R moves along the preset movement path, it will be judged whether there is still an area in the working space H that the self-propelled device R does not cover (moves through); if so, return to the planning movement path step S2 , Continue to plan the next preset movement path with the updated map information; if not, stop and continue moving.

For the implementation of the embodiment of the present invention, please refer to FIGS. 7 and 8. When the self-propelled device R enters the workspace H, it will create a first map information T1 for the workspace H, and the first map information T1 Wherein, the marked grid area is the area where obstacles prevent the self-propelled device R from moving through, and the unmarked grid area (blank area) is the area where the self-propelled device R can plan a preset movement path; The self-propelled device R refers to the first map information T1, and plans a first movement path L1 (point A1→point A2→ Point A3→point A4→point A5) and move along the first movement path L1; wherein, because the first map information T1 has a closed edge contour, the first movement path L1 is also a closed or slightly closed curve contour.

Please refer to Figures 8 and 9, when the self-propelled device R moves along the first movement path L1, the self-propelled device R detects the real-time environmental characteristics of the working space H and updates the first map information T1 Is the second map information T2; in the embodiment using FIG. 8 as the working space H, since the working space H has not changed in any way, the difference between the first map information T1 and the second map information T2 is only The second map information T2 is marked with a 45-degree diagonal line to theoretically cover the area of the self-propelled device R when it moves along the first moving path L1, and the width of the diagonal area is approximately equal to that of the body R1 (FIG. 3) Working width W (Figure 3), where the self-propelled device R may change the moving path due to the appearance of temporary obstacles when moving along the pre-planned moving path, so the covered area is planned in advance The theoretical movement path is marked instead of the actual movement path of the self-propelled device R.

Please refer to Figures 9 and 10, because there is still an area not covered by the self-propelled device R in the second map information T2, the self-propelled device R will refer to the second map information T2 and use the second map information T2 Plan a second moving path L2 (point B1→point B2→point B3→point B4→point B5) of the edge contour (the junction of the oblique line area and the blank area); please refer to Figure 8, 10, the self-propelled device R Move inward a predetermined distance from point A5 of the first movement path L1, and start the movement of the second movement path L2 after reaching the point B1 of the second movement path L2. The length of the second movement path L2 is shorter than the length of the second movement path L2. The length of the first movement path L1 and the curve contour of the second movement path L2 are within the range of the curve contour of the first movement path L1; wherein the second movement path L2 is planned to make the self-propelled device R in The area covered by the second moving path L2 when moving and the area covered by the self-propelled device R when moving on the first moving path L1 partially overlap, and because the second map information T2 has a closed edge contour , So the second moving path L2 is also a closed or slightly closed curved contour.

10 and 11, when the self-propelled device R moves along the second movement path L2, the self-propelled device R continues to update the second map information T2 to a third map information T3; In the embodiment using FIG. 10 as the working space H, since the working space H has not changed in any way, the difference between the second map information T2 and the third map information T3 is only that the third map information T3 has a value of -45 The diagonal line marks the area covered by the self-propelled device R when it moves along the second moving path L2.

Please refer to FIG. 12, the self-propelled device R moves sequentially from the outside to the inside in the working space H by several moving paths until it covers (moves through) all areas of the working space H.

Please refer to Figures 13 and 14, if the self-propelled device R suddenly appears obstacles O1 and O2 in the workspace H after the first map information T1 is created, the self-propelled device R will still refer to the first map information The first moving path L1 of T1 (point A1→point A2→point A3→point A4→point A5) moves and dodges when encountering obstacles O1 and O2, so in fact, the self-propelled device R uses another A moving path L1' (point A1'→point A2'→point A3'→point A4'→point A5'→point A6'→point A7'→point A8'→point A9'→point A10'→point A11'→ Point A12'→point A13') to move.

14 and 15, when the self-propelled device R moves along the first movement path L1', the self-propelled device R detects the real-time environmental characteristics of the working space H and sends the first map information T1 Update to the second map information T2'; among them, because of the sudden occurrence of obstacles O1 and O2 in the workspace H, the difference between the first map information T1 and the second map information T2' is only in the second map information T2 The 45-degree diagonal line marks the area covered by theoretically the self-propelled device R when it moves along the first movement path L1, and also marks the obstacles O1 and O2 as grid areas.

Please refer to Figures 15 and 16, the self-propelled device R refers to the second map information T2' and plans a second movement path L2' based on the edge contour of the second map information T2' (point B1'→point B2'→ Point B3'→point B4'→point B5'→point B6'→point B7'→point B8'→point B9'→point B10'→point B11'→point B12'→point B13'); please refer to Figure 14. 16. The self-propelled device R moves inward a predetermined distance from the point A13' of the first movement path L1' to the point B1' of the second movement path L2', and then starts the movement of the second movement path L2' , The length of the second movement path L2' is shorter than the length of the first movement path L1' and the curve contour of the second movement path L2' is within the curve contour range of the first movement path L1'; wherein, the first movement path L1' The second movement path L2' is planned so that the area covered by the self-propelled device R when the second movement path L2' moves and the area covered by the self-propelled device R when the first movement path L1 moves There is a partial overlap, and because the second map information T2' has a closed edge contour, the second moving path L2' is also a closed or slightly closed curved contour.

16 and 17, when the self-propelled device R moves along the second movement path L2', the self-propelled device R continues to update the second map information T2' to the third map information T3' ; Among them, because the workspace H has not changed, the difference between the second map information T2' and the third map information T3' is only that the third map information T3' marks the self with a -45-degree diagonal line The area covered by the walking device R when it moves along the second moving path L2'.

17 and 18, the self-propelled device R refers to the third map information T3', and plans a third movement path L3 based on the edge contour of the third map information T3' (point C1→point C2→point C3→ Point C4→point C5→point C6→point C7→point C8→point C9→point C10→point C11→point C12→point C13); please refer to Figure 16, 18, the self-propelled device R follows the second movement path The point B13 of L2' moves inward a predetermined distance to the point C1 of the third movement path L3 and then starts the movement of the third movement path L3, the length of the third movement path L3 is shorter than the second movement path L2 'Length and the curve contour of the third movement path L3 is within the curve contour range of the second movement path L2'; wherein the third movement path L3 is planned to make the self-propelled device R in the third There is a partial overlap between the area covered by the moving path L3 and the area covered by the self-propelled device R during the second moving path L2', and because the third map information T3' has a closed edge contour, Therefore, the third moving path L3 is also a closed or slightly closed curved contour.

Please refer to Figures 19 and 20. If the area covered by the self-propelled device R can divide the working space H into two or more uncovered sub-working spaces H1 and H2, the self-propelled device R will first be relative to the distance The sub-workspace H1 that is closer to the end point of the previous movement path is planned for the movement path, and after the sub-workspace H1 is completely covered by the self-propelled device R, the sub-workspace that is next to the end point of the previous movement path is targeted H2 plan the moving path until the self-propelled device R covers all areas of the working space H; if there is still a small part of the uncovered area, but the space of the small part of the uncovered area is not large enough for the self-propelled device R When entering, these areas may not be included in the coverage judgment.

The self-propelled device moving method according to the embodiment of the present invention and the self-propelled device implementing the method, the self-propelled device R can detect the current environment of the working space H in real time, create the latest map information, and then refer to the latest map Information planning the latest movement path can improve the work efficiency of the self-propelled device.

However, the above are only preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the description of the invention, All are still within the scope of the invention patent.

S1: Steps to create map information

S2: Planning the moving path steps

S3: Steps to update map information

S4: Coverage judgment step

Claims (9)

A method for moving a self-propelled device includes: making a self-propelled device plan a first movement path according to a first map information of a work space and move along the first movement path; the first movement path forms a starting point and A closed curve contour with the same ending point; when the self-propelled device is moved along the first movement path, the first map information is updated to a second map information; the self-propelled device completes the first movement path After moving, make the self-propelled device plan a second movement path according to the second map information; the second movement path forms a closed curve contour with the same starting point and end point and is within the curve contour range of the first movement path; The self-propelled device is moved inward from the first movement path by a predetermined distance to the second movement path and moves along the second movement path. According to the method for moving the self-propelled device described in claim 1, wherein the first moving path is planned with reference to the edge contour of the first map information. For example, the self-propelled device moving method described in item 1 of the scope of patent application, wherein, after the self-propelled device moves along the second movement path, it will be judged whether there is any self-propelled device that has not moved past in the working space.的区。 The area. For example, the self-propelled device moving method described in item 3 of the scope of patent application, wherein, if the working space has more than two areas that the self-propelled device does not move through, the self-propelled device will first move the closer distance The planning of the third movement path is carried out in the area. According to the self-propelled device moving method described in claim 1, wherein the length of the first moving path is greater than the length of the second moving path. For example, the self-propelled device moving method described in claim 1, wherein the first map information is controlled by a user of the self-propelled device to move in the work space by a map of the self-propelled device Obtained by the establishment unit to detect the environmental characteristics of the workspace. As described in the first item of the scope of patent application, the first map information is transmitted from an external terminal device to a map creation unit of the self-propelled device. A self-propelled device includes: a self-propelled device for executing the method for moving the self-propelled device according to any one of items 1 to 7 of the scope of patent application. For example, the self-propelled device described in item 8 of the scope of patent application, wherein a cleaning unit is provided at the bottom of a body of the self-propelled device.

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