WO2019080156A1

WO2019080156A1 - Robot moving method and device and robot

Info

Publication number: WO2019080156A1
Application number: PCT/CN2017/109185
Authority: WO
Inventors: 向勇阳; 许仿珍
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2017-10-24
Filing date: 2017-11-02
Publication date: 2019-05-02
Also published as: CN107796403A

Abstract

Disclosed in the invention are a robot moving method, a device and a robot. The method comprises the following steps: detecting a position of an obstacle by using an obstacle detector; and adjusting a moving path according to the position of the obstacle to avoid the obstacle. Provided is the embodiment of the invention is a robot moving method. By detecting the position of the obstacle before moving or during moving and adjusting the moving path according to the position of the obstacle to avoid the obstacle, flexible adjustment of the moving path according to the current environment is realized, and the phenomenon that the robot stops moving because the robot collides with the obstacle or the robot is blocked by the obstacle is avoided. Therefore, the flexibility and the intelligence level of robot movement are improved, and the service efficiency and the service quality are improved.

Description

Robot moving method, device and robot

Technical field

The present invention relates to the field of robot technology, and in particular to a method, device and robot for moving a robot.

Background technique

With the development of robotics, robots are gradually being applied to everyday life. For example, service robots that are used in service industries (such as restaurants) have emerged. The existing service robot mainly provides serving service, and the robot mainly moves back and forth between the kitchen window and the dining table, and the moving route is preset by the control personnel. However, when encountering a more complicated environment, such as when an obstacle occurs on the moving route of the robot, the robot may collide with the obstacle or stop moving until the obstacle disappears, thereby affecting service efficiency and service quality.

Therefore, how to improve the intelligence level of service robots and improve the flexibility of mobility is a technical problem that needs to be solved urgently.

Summary of the invention

The main object of the present invention is to provide a method, device and robot for moving a robot, which aims to improve the flexibility and intelligence level of the robot movement, thereby improving service efficiency and service quality.

To achieve the above objective, an embodiment of the present invention provides a method for moving a robot, where the method includes the following steps:

Using an obstacle detector to detect the location of the obstacle;

The movement route is adjusted according to the position of the obstacle to avoid the obstacle.

Optionally, the step of detecting the location of the obstacle by using the obstacle detector further includes:

Taking a photo at a position that is aligned with the obstacle;

Identifying the obstacle and/or pinpointing the obstacle based on the photo of the obstacle.

Optionally, the obstacle detector is an ultrasonic detector, an infrared detector or a laser detector.

Optionally, when the obstacle detector is an ultrasonic detector, the step of detecting the position of the obstacle by using the obstacle detector comprises:

Transmitting an ultrasonic signal through a transmitting unit of the ultrasonic detector;

Receiving an ultrasonic echo signal through a receiving unit of the ultrasonic probe;

Calculating an interval between transmitting the ultrasonic signal to receiving the ultrasonic echo signal;

The distance between the robot and the obstacle is calculated based on the interval time and the propagation speed of the ultrasonic wave.

Optionally, the obstacle detector comprises at least two groups, each set of obstacle detectors being disposed at different longitudinal positions of the robot.

Optionally, each set of obstacle detectors includes at least two obstacle detectors that are oriented differently.

Optionally, the method further includes:

Obtaining a location of the service object by a sound source localization technology based on a microphone array;

Moving toward the server object or in the direction of the server object according to the location of the service object.

Optionally, the obtaining, by the sound source localization technology based on the microphone array, the location of the service object includes:

Acquiring a sound signal emitted by the service object through the microphone array;

The sound source is positioned by the microphone array to obtain the location of the service object.

Optionally, the performing sound source localization of the sound signal by using the microphone array includes:

Calculating a delay of the two microphones in the microphone array receiving the sound emitted by the service object;

Calculating a positional parameter of the sound source according to the time delay and a distance between the two microphones in the microphone array, the positional parameter of the sound source determining a location of the service object.

Optionally, the position parameter of the sound source includes a polar coordinate of the sound source, and an angle between a polar axis of the polar coordinate system and an x-axis or a y-axis of the rectangular coordinate system, the rectangular coordinate system and the pole The origin of the coordinate system coincides.

The embodiment of the invention simultaneously provides a mobile device for a robot, the device comprising:

An obstacle detection module for detecting an obstacle position by using an obstacle detector;

a route adjustment module, configured to adjust a movement route according to a position of the obstacle to avoid the obstacle.

Optionally, the device further includes:

a photographing module for photographing a position of the obstacle;

a first processing module, configured to identify the obstacle and/or accurately locate according to a photo of the obstacle The obstacle.

Optionally, when the obstacle detector is an ultrasonic detector, the obstacle detection module includes:

a signal transmitting unit, configured to transmit an ultrasonic signal through a transmitting unit of the ultrasonic detector;

a signal receiving unit, configured to receive an ultrasonic echo signal through a receiving unit of the ultrasonic probe;

a time calculation unit, configured to calculate an interval between transmitting the ultrasonic signal and receiving the ultrasonic echo signal;

The distance calculation unit is configured to calculate the distance between the robot and the obstacle according to the interval time and the propagation speed of the ultrasonic wave.

Optionally, the device further includes:

a location acquisition module, configured to acquire a location of the service object by using a sound source localization technology based on a microphone array;

And a second processing module, configured to move toward the server object or to the server object according to the location of the service object.

Optionally, the location obtaining module includes:

An acquisition unit, configured to collect, by using a microphone array, a sound signal sent by a service object;

And a positioning unit, configured to perform sound source localization on the sound signal by using the microphone array to obtain a location of the service object.

Optionally, the positioning unit includes:

a delay calculation subunit, configured to calculate a delay of the sounds emitted by the two microphones in the microphone array received by the sound source;

a location calculation subunit, configured to calculate a location parameter of the sound source according to the time delay and a distance between the two microphones in the microphone array, where the location parameter of the sound source determines a location of the service object.

Embodiments of the present invention also provide a robot including a memory, a processor, and at least one application stored in the memory and configured to be executed by the processor, the application being configured to execute The aforementioned method of moving the robot.

A method for moving a robot provided by an embodiment of the present invention, before or during the movement The position of the obstacle is detected, and the moving route is adjusted according to the position of the obstacle to avoid the obstacle, thereby realizing the flexible adjustment of the moving route according to the current environment, avoiding collision with the obstacle or stopping the movement due to the obstacle blocking. Thereby improving the flexibility and intelligence level of robot movement, thereby improving service efficiency and service quality. Further, by obtaining the location of the service object, automatically moving to the service object or moving to the service object, the service is automatically provided for the service object, and the control personnel are not required to manually send the control instruction, thereby further improving the intelligence level of the robot.

DRAWINGS

1 is a flow chart showing a first embodiment of a method of moving a robot of the present invention;

2 is a specific flow chart of detecting the position of an obstacle by using an ultrasonic detector in the embodiment of the present invention;

Figure 3 is a flow chart showing a second embodiment of the moving method of the robot of the present invention;

4 is a schematic diagram of a coordinate system for a sound source positioning structure in an embodiment of the present invention;

Figure 5 is a block diagram showing the first embodiment of the mobile device of the robot of the present invention;

Figure 6 is a block diagram of the obstacle detection module of Figure 5;

Figure 7 is a block diagram showing a second embodiment of the mobile device of the robot of the present invention;

Figure 8 is a block diagram showing a third embodiment of the mobile device of the robot of the present invention;

9 is a block diagram of a position acquisition module of FIG. 8;

Figure 10 is a block diagram of the positioning unit of Figure 9;

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

Detailed ways

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

The singular forms "a", "the", "the" and "the" It will be further understood that the phrase "comprising", used in the <Desc/Clms Page number> However, it is not excluded that one or more other features, integers, steps, operations, components, components, and/or combinations thereof are present. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element. Further, "connected" or "coupled" as used herein may include either a wireless connection or a wireless coupling. The phrase "and/or" used herein includes all or any one and all combinations of one or more of the associated listed.

Those skilled in the art will appreciate that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs, unless otherwise defined. It should also be understood that terms such as those defined in a general dictionary should be understood to have meaning consistent with the meaning in the context of the prior art, and will not be idealized or excessive unless specifically defined as here. The formal meaning is explained.

Referring to FIG. 1, a first embodiment of a method for moving a robot according to the present invention is proposed. The method includes the following steps:

S11. Detecting the position of the obstacle by using an obstacle detector.

S12. Adjust the movement route according to the position of the obstacle to avoid the obstacle.

In step S11, the robot detects the position of the obstacle using an obstacle detector before or during the movement. The robot can set up one or more obstacle detectors.

Optionally, the obstacle detector comprises at least two groups, each set of obstacle detectors being disposed at different longitudinal positions of the robot. The different longitudinal positions are the upper and lower parts, the upper, middle and lower parts, or are divided into more parts in the longitudinal direction. For example, two sets of obstacle detectors can be provided at the head (upper part) and the leg (lower part) of the robot, so that both the upper and lower obstacles can be detected.

Each set of obstacle detectors has at least one obstacle detector, preferably at least two obstacle detectors oriented differently, so as to achieve a more precise positioning of the obstacle. For example, each group includes three obstacle detectors, which can be arranged along the left, center, and right lines, or in a triangular arrangement, each facing in a different direction.

The obstacle detectors are, for example, ultrasonic detectors, infrared detectors, laser detectors, and the like.

Taking the obstacle detector as an ultrasonic detector as an example, the specific process of the robot using the ultrasonic detector to detect the position of the obstacle is shown in FIG. 2, and includes the following steps:

S111. Send an ultrasonic signal through a transmitting unit of the ultrasonic detector.

In the embodiment of the invention, the robot is provided with an ultrasonic detector, and the ultrasonic detector comprises a transmitting unit and a receiving unit. The robot transmits an ultrasonic signal through a transmitting unit of the ultrasonic probe.

S112. Receive an ultrasonic echo signal through a receiving unit of the ultrasonic probe.

When the ultrasonic signal encounters an obstacle, the ultrasonic echo signal is reflected to the robot, and the robot receives the ultrasonic echo signal through the receiving unit of the ultrasonic probe.

S113. Calculate an interval between transmitting the ultrasonic signal and receiving the ultrasonic echo signal.

The robot calculates an interval at which the transmitting unit transmits the ultrasonic signal to the receiving unit to receive the ultrasonic return signal reflected by the obstacle. In a specific implementation, when the transmitting unit transmits the ultrasonic signal, the timer is started, and when the receiving unit receives the ultrasonic echo signal, the timer stops counting, and when the counting time of the reading timer is obtained, the interval time is obtained. This interval is the time it takes for the ultrasound to travel back and forth between the robot and the obstacle.

S114. Calculate the distance between the robot and the obstacle according to the interval time and the propagation speed of the ultrasonic wave.

The robot calculates the distance between the robot and the obstacle according to the formula D=ct/2, where D is the distance, c is the propagation speed of the ultrasonic wave, and t is the aforementioned interval time, that is, the time it takes for the ultrasonic wave to travel back and forth between the robot and the obstacle. Based on the relative distance between the two, the robot can determine the position of the obstacle.

When the ultrasonic detector includes a plurality of different orientations, a more precise positioning of the obstacle can be achieved according to the distance detected by each ultrasonic detector and the arrangement relationship of the respective ultrasonic detectors.

Those skilled in the art can understand that the principle of detecting the position of the obstacle by the infrared detector, the laser detector and the ultrasonic detector is similar, and the present invention will not be repeated.

Further, when the position of the obstacle is detected, the robot can also take a picture of the position of the obstacle and identify the obstacle and/or pinpoint the obstacle based on the photo of the obstacle. Thereby, the positioning accuracy of the obstacle is further improved.

In step S12, when the position of the obstacle is detected, the robot re-plans the entire movement route, or changes part of the movement route (such as moving to an area without an obstacle next to it) to avoid the obstacle and avoid collision with the obstacle or Stop moving because the obstacle blocks the road. Thereby improving the flexibility and intelligence level of robot movement, thereby improving service efficiency and service quality.

Further, as shown in FIG. 3, in the second embodiment of the method for moving the robot of the present invention, before step S11, the following steps are further included:

S09. Acquire a location of the service object by using a sound source localization technology based on the microphone array.

S10. Move to the server object according to the location of the service object.

In this embodiment, when the robot receives the service request of the service object, the location of the service object is obtained by the sound source localization technology based on the microphone array. When receiving a call with a key name such as "waiter" or "xiaowo", the robot determines that the customer calling the key name is the service object.

In step S09, the robot collects the sound signal sent by the service object through the microphone array, and passes The microphone array performs sound source localization on the sound signal to obtain the location of the service object.

The robot can locate the sound source by the delay method: first calculate the delay of the two microphones in the microphone array receiving the sound from the service object; then calculate the sound according to the delay and the distance between the two microphones in the microphone array. The location parameter of the source, the location parameter of the sound source determines the location of the service object. In fact, the sound source described herein specifically refers to the mouth of the service object, and the position of the sound source is the position of the head of the service object, specifically the position of the mouth.

Optionally, the positional parameter of the sound source includes a polar coordinate of the sound source, and an angle between a projection of the polar axis of the polar coordinate system on the horizontal plane and an X-axis or a Y-axis of the Cartesian coordinate system.

And the Cartesian coordinate system coincides with the origin of the polar coordinate system, and the polar coordinates include the polar diameter r and the polar angle θ.

As shown in FIG. 4, it is assumed that the microphone array includes four microphones of P1, P2, P3, and P4, and four microphones are sequentially connected to form a square with a side length L, and the sound source is S. A Cartesian coordinate system is constructed based on a square. The Cartesian coordinate system includes x, y, and z axes, and the origin o is in a square. The vertical line is drawn from the sound source S to the xy plane, and the origin o is used as the pole point O. The ray passing through the intersection of the perpendicular line and the xy plane from the pole point O is taken as the X-axis, and the z-axis is taken as the Y-axis, and a polar coordinate system is constructed. Where OX is the polar axis, the angle between OX and OS is the polar angle θ, and the length of the OS is the polar diameter r, that is, the polar coordinate of the sound source S is (r, θ). At the same time, the angle between OX and the x-axis or y-axis is

Thus, the positional parameters r, θ and

Then the position of the sound source S is determined. Therefore, just calculate r, θ and

The positioning of the sound source S is achieved.

In the specific implementation, the position parameters r, θ of the sound source S can be calculated in the following manner.

First, calculate the delay between the two microphones receiving the sound from the sound source:

x _i (n)=a _i s(n-τ _i )+w _i (n) (1)

x _j (n)=a _j s(n-τ _j )+w _j (n) (2)

R _ij (τ)=E[x _i (n)x _j (n-τ)] (3)

Where x(n) is the signal received by the microphone, s(n) is the signal from the sound source, w(n) is the background noise, α is the acoustic propagation attenuation signal (generally 1), and τ is the sound source from the sound source To the propagation time of the microphone, R is the autocorrelation function and E is the mathematical expectation. According to formulas (1)-(3), we get:

R _ij (τ)=E[a _i a _j s(n-τ _i )s(n-τ _j -τ)]=a _i a _j R _ss (τ-(τ _i -τ _j )) (4)

According to formula (4), when τ=τ _i -τ _j =τ _ij , R _ij (τ) has a maximum value, and τ _ij at this time is obtained, that is, the sounds of the two microphones received by the sound source are calculated. The delay, that is, the delay of the sound source reaching the two microphones. As shown in FIG. 4, the delay of the sound source S reaching the microphones P1 and P2 is calculated as τ ₂₁ , the delays of reaching the microphones P1 and P3 are τ ₃₁ , and the delays of reaching the microphones P1 and P4 are τ ₄₁ .

Then, in conjunction with Figure 4, there are the following geometric equations:

x ² +y ² +z ² =r ² (5)

z=r sinθ (11)

Wherein, r ₁ , r ₂ , r ₃ , and r ₄ are distances between the sound source S and the microphones P1, P2, P3, and P4, respectively; r is a distance between the sound source S and the pole point O of the polar coordinate system, that is, a polar diameter; θ is the angle between the polar axis OX and the OS in the polar coordinate system, that is, the polar angle;

It is the angle between the polar axis OX of the polar coordinate system and the x-axis or the y-axis in the Cartesian coordinate system; L is the side length of the square formed by the four microphones sequentially connected, C is the sound propagation speed, and x, y, z are The position coordinates of the sound source S in the Cartesian coordinate system. According to formulas (5)-(14), you can get:

Where r is the polar diameter of the polar coordinates and θ is the polar angle of the polar coordinates.

The angle between the polar axis OX of the polar coordinate system and the x-axis or the y-axis of the Cartesian coordinate system, τ ₄₁ , τ ₃₁ , τ ₂₁ are the delays of the sounds of the two microphones receiving the sound source, and L is four microphones. The length of the side of the square formed by the sequential connection, and C is the propagation speed of the sound. Thus, according to the formulas (15)-(16), the positional parameters r, θ of the sound source S can be calculated.

Realize the positioning of the sound source S and obtain the location of the service object.

In step S10, when the location of the service object is acquired, the location of the service object is automatically moved to the service object direction. Of course, if the service object is around, there is no need to move, and only the service object is required. Thereby realizing the service for the service object automatically, without the need for the control personnel to manually send Control instructions further improve the level of intelligence of the robot.

The method for moving a robot according to an embodiment of the present invention adjusts the position of the obstacle before or during the movement, and adjusts the movement route according to the position of the obstacle to avoid the obstacle, thereby realizing flexible adjustment of the movement route according to the current environment, thereby avoiding Stop moving with obstacles or blocking obstacles. Thereby improving the flexibility and intelligence level of robot movement, thereby improving service efficiency and service quality.

Further, by obtaining the location of the service object, automatically moving to the service object or moving to the service object, the service is automatically provided for the service object, and the control personnel are not required to manually send the control instruction, thereby further improving the intelligence level of the robot.

Referring to FIG. 5, a first embodiment of a mobile device for a robot of the present invention is proposed. The device includes an obstacle detection module 10 and a route adjustment module 20, wherein the obstacle detection module 10 is configured to detect the position of the obstacle by using an obstacle detector. The route adjustment module 20 is configured to adjust the movement route according to the position of the obstacle to avoid the obstacle.

The obstacle detection module 10 uses the obstacle detector to detect the position of the obstacle before or during the movement. The robot can set up one or more obstacle detectors.

Taking the obstacle detector as an example of the ultrasonic detector, the ultrasonic detector includes a transmitting unit and a receiving unit. At this time, the obstacle detecting module 10 includes a signal transmitting unit 11, a signal receiving unit 12, a time calculating unit 13 and a distance calculating unit 14, wherein: the signal transmitting unit 11 is configured to transmit an ultrasonic signal through a transmitting unit of the ultrasonic probe; the signal receiving unit 12 is configured to receive the ultrasonic echo signal through the receiving unit of the ultrasonic probe; the time calculating unit 13, The interval time for calculating the transmitted ultrasonic signal to the received ultrasonic echo signal; the distance calculating unit 14 is configured to calculate the distance between the robot and the obstacle according to the interval time and the propagation speed of the ultrasonic wave.

In a specific implementation, the time calculating unit 13 starts a timer when the transmitting unit transmits the ultrasonic signal, When the receiving unit receives the ultrasonic echo signal, the time calculating unit 13 controls the timer to stop timing, and reads the timer time of the timer to obtain an interval time. This interval is the time it takes for the ultrasound to travel back and forth between the robot and the obstacle.

The distance calculation unit 14 calculates the distance between the robot and the obstacle according to the formula D=ct/2, where D is the distance, c is the propagation speed of the ultrasonic wave, and t is the aforementioned interval time, that is, the ultrasonic wave travels between the robot and the obstacle. time. Based on the relative distance between the two, the obstacle detector can determine the position of the obstacle.

When the ultrasonic detector includes a plurality of different orientations, the obstacle detector can achieve more accurate positioning of the obstacle according to the distance detected by each ultrasonic detector and the arrangement relationship of the respective ultrasonic detectors.

When the position of the obstacle is detected, the route adjustment module 20 re-plans the entire movement route, or changes part of the movement route (such as moving to an area without an obstacle next to it) to avoid the obstacle and avoid collision with the obstacle or cause The obstacle stops and stops moving. Thereby improving the flexibility and intelligence level of robot movement, thereby improving service efficiency and service quality.

Further, as shown in FIG. 7, in the second embodiment of the mobile device of the robot of the present invention, the device further includes a photographing module 30 and a first processing module 40, wherein: the photographing module 30 is configured to detect an obstacle In the position, the photo is taken at the position of the obstacle; the first processing module 40 is configured to identify the obstacle according to the photo of the obstacle and/or to accurately locate the obstacle. Thereby, the positioning accuracy of the obstacle is further improved.

Further, as shown in FIG. 8, in the third embodiment of the mobile device of the robot of the present invention, the device further includes a location acquisition module 50 and a second processor module, wherein: the location acquisition module 50 is configured to pass the microphone array The sound source localization technology acquires the location of the service object; the second processing module 60 is configured to move toward the server object or to the server object according to the location of the service object.

In this embodiment, when the location obtaining module 50 receives the service request of the service object, the location of the service object is obtained by the sound source localization technology based on the microphone array. When receiving a call of a key name such as "waiter" or "xiaowo", the location acquisition module 50 determines that the customer calling the key name is the service object.

As shown in FIG. 9, the location acquisition module 50 includes an acquisition unit 51 and a positioning unit 52, wherein: the acquisition unit 51 is configured to collect a sound signal sent by the service object through the microphone array, and the positioning unit 52 is configured to use the microphone array to pair the sound signal. Perform sound source localization to get the location of the service object.

The positioning unit 52 can locate the sound source by the time delay method. At this time, the positioning unit 52 includes a delay calculation sub-unit 521 and a position calculation sub-unit 522, as shown in FIG. 10, wherein: the delay calculation sub-unit 521 uses Calculating a time delay of the sounds emitted by the two microphones in the microphone array; the position calculation sub-unit 522 is configured to calculate the position of the sound source according to the delay and the distance between the two microphones in the microphone array The parameter, the position parameter of the sound source determines the location of the service object. In fact, the sound source described herein specifically refers to the mouth of the service object, and the position of the sound source is the position of the head of the service object, specifically the position of the mouth.

Thus, the positional parameters r, θ and

The positioning of the sound source S is achieved.

In a specific implementation, the positioning unit 52 can calculate the position parameters r, θ of the sound source S in the following manner.

x _i (n)=a _i s(n-τ _i )+w _i (n) (1)

x _j (n)=a _j s(n-τ _j )+w _j (n) (2)

R _ij (τ)=E[x _i (n)x _j (n-τ)] (3)

According to the formula (4), when τ=τ _i -τ _j =τ _ij , R _ij (τ) has a maximum value, and the delay calculation sub-unit 521 finds τ _ij at this time, that is, two microphones are calculated. The delay to the sound emitted by the sound source, that is, the delay of the sound source reaching the two microphones. As shown in FIG. 4, the delay calculation sub-unit 521 calculates that the delay of the sound source S reaching the microphones P1 and P2 is τ ₂₁ , the delay of reaching the microphones P1 and P3 is τ ₃₁ , and the delays of reaching the microphones P1 and P4. For τ ₄₁ .

x ² +y ² +z ² =r ² (5)

z=r sinθ (11)

The angle between the polar axis OX of the polar coordinate system and the x-axis or the y-axis of the Cartesian coordinate system, τ ₄₁ , τ ₃₁ , τ ₂₁ are the delays of the sounds of the two microphones receiving the sound source, and L is four microphones. The length of the side of the square formed by the sequential connection, and C is the propagation speed of the sound. Thus, the position calculation sub-unit 522 can calculate the positional parameters r, θ of the sound source S according to the formulas (15) - (16).

After the location of the service object is obtained, the second processing module 60 controls the robot to automatically move to the service object according to the location of the service object. Of course, if the service object is around, there is no need to move, and only the head of the robot is rotated. Or the body can be oriented to the client. Thereby, the automatic service for the service object is realized, and the control personnel are not required to send the control instruction, thereby further improving the intelligence level of the robot.

In other embodiments, the imaging module 30 and the first processing module 40 of FIG. 8 may also be omitted to form a new embodiment.

The moving device of the robot according to the embodiment of the present invention adjusts the moving route according to the position of the obstacle to avoid the obstacle by detecting the position of the obstacle before or during the moving, thereby achieving flexible adjustment of the moving route according to the current environment, thereby avoiding Stop moving with obstacles or blocking obstacles. Thereby improving the flexibility and intelligence level of robot movement, thereby improving service efficiency and service quality.

The present invention also proposes a robot comprising a memory, a processor and at least one application stored in the memory and configured to be executed by the processor, the application being configured to perform a method of moving the robot. The method of moving the robot includes the steps of: detecting an obstacle position by using an obstacle detector, and adjusting a movement route according to the position of the obstacle to avoid the obstacle. The method for moving the robot described in this embodiment is the method for moving the robot according to the above embodiment of the present invention, and details are not described herein again.

Those skilled in the art will appreciate that the present invention includes apparatus that is directed to performing one or more of the operations described herein. These devices may be specially designed and manufactured for the required purposes, or may also include known devices in a general purpose computer. These devices have computer programs stored therein that are selectively activated or reconfigured. Such computer programs may be stored in a device (eg, computer) readable medium or in any type of medium suitable for storing electronic instructions and coupled to a bus, respectively, including but not limited to any Types of disks (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory) , EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card. That is, the readable medium includes a form that can be read by a device (eg, a computer) Any medium that stores or transmits information.

Those skilled in the art will appreciate that each block of the block diagrams and/or block diagrams and/or flow diagrams and combinations of blocks in the block diagrams and/or block diagrams and/or flow diagrams can be implemented by computer program instructions. . Those skilled in the art will appreciate that these computer program instructions can be implemented by a general purpose computer, a professional computer, or a processor of other programmable data processing methods, such that the processor is executed by a computer or other programmable data processing method. The blocks of the disclosed structure and/or block diagrams and/or flow diagrams or blocks specified in the various blocks.

Those skilled in the art can understand that the steps, measures, and solutions in the various operations, methods, and processes that have been discussed in the present invention may be alternated, changed, combined, or deleted. Further, other steps, measures, and schemes of the various operations, methods, and processes that have been discussed in the present invention may be alternated, modified, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and solutions in the prior art having various operations, methods, and processes disclosed in the present invention may also be alternated, changed, rearranged, decomposed, combined, or deleted.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims

A method for moving a robot, comprising the steps of:

Using an obstacle detector to detect the location of the obstacle;

The movement route is adjusted according to the position of the obstacle to avoid the obstacle.
The method of moving a robot according to claim 1, wherein the step of detecting the position of the obstacle by using the obstacle detector further comprises:

Taking a photo at a position that is aligned with the obstacle;

Identifying the obstacle and/or pinpointing the obstacle based on the photo of the obstacle.
The method of moving a robot according to claim 1, wherein the obstacle detector is an ultrasonic detector, an infrared detector, or a laser detector.
The method of moving a robot according to claim 3, wherein when the obstacle detector is an ultrasonic probe, the step of detecting the position of the obstacle by using the obstacle detector comprises:

Transmitting an ultrasonic signal through a transmitting unit of the ultrasonic detector;

Receiving an ultrasonic echo signal through a receiving unit of the ultrasonic probe;

Calculating an interval between transmitting the ultrasonic signal to receiving the ultrasonic echo signal;

The distance between the robot and the obstacle is calculated based on the interval time and the propagation speed of the ultrasonic wave.
The method of moving a robot according to claim 1, wherein the obstacle detector comprises at least two groups, each set of obstacle detectors being disposed at different longitudinal positions of the robot.
The method of moving a robot according to claim 5, wherein each of the obstacle detectors comprises at least two obstacle detectors facing different directions.
The method of moving a robot according to claim 1, wherein the method further comprises:

Obtaining a location of the service object by a sound source localization technology based on a microphone array;

Moving toward the server object or in the direction of the server object according to the location of the service object.
The method for moving a robot according to claim 7, wherein the obtaining the location of the service object by the sound source localization technology based on the microphone array comprises:

Acquiring a sound signal emitted by the service object through the microphone array;

The sound source is positioned by the microphone array to obtain the location of the service object.
The method for moving a sound source according to claim 8, wherein the performing sound source localization of the sound signal by the microphone array comprises:

Calculating a delay of the two microphones in the microphone array receiving the sound emitted by the service object;

Calculating a positional parameter of the sound source according to the time delay and a distance between the two microphones in the microphone array, the positional parameter of the sound source determining a location of the service object.
The method of moving a robot according to claim 9, wherein the positional parameter of the sound source comprises a polar coordinate of the sound source, and a polar axis of the polar coordinate system and an x-axis or a y-axis of the rectangular coordinate system An angle, the Cartesian coordinate system coincides with an origin of the polar coordinate system.
A mobile device for a robot, comprising:

An obstacle detection module for detecting an obstacle position by using an obstacle detector;

a route adjustment module, configured to adjust a movement route according to a position of the obstacle to avoid the obstacle.
The mobile device of the robot according to claim 11, wherein the device further comprises:

a photographing module for photographing a position of the obstacle;

And a first processing module, configured to identify the obstacle according to the photo of the obstacle and/or accurately locate the obstacle.
The mobile device of the robot according to claim 11, wherein the obstacle detector is an ultrasonic detector, an infrared detector or a laser detector.
The mobile device of the robot according to claim 13, wherein when the obstacle detector is an ultrasonic probe, the obstacle detecting module comprises:

a signal transmitting unit, configured to transmit an ultrasonic signal through a transmitting unit of the ultrasonic detector;

a signal receiving unit, configured to receive an ultrasonic echo signal through a receiving unit of the ultrasonic probe;

a time calculation unit, configured to calculate an interval between transmitting the ultrasonic signal and receiving the ultrasonic echo signal;

The distance calculation unit is configured to calculate the distance between the robot and the obstacle according to the interval time and the propagation speed of the ultrasonic wave.
The mobile device of claim 11, wherein the obstacle detector comprises at least two groups, each set of obstacle detectors being disposed at different longitudinal positions of the robot.
A mobile device for a robot according to claim 15, wherein each of the obstacle detectors comprises at least two obstacle detectors facing different directions.
The mobile device of the robot according to claim 11, wherein the device further comprises:

a location acquisition module, configured to acquire a location of the service object by using a sound source localization technology based on a microphone array;

And a second processing module, configured to move toward the server object or to the server object according to the location of the service object.
The mobile device of the robot according to claim 17, wherein the location acquisition module comprises:

An acquisition unit, configured to collect, by using a microphone array, a sound signal sent by a service object;

And a positioning unit, configured to perform sound source localization on the sound signal by using the microphone array to obtain a location of the service object.
The mobile device of the robot according to claim 18, wherein the positioning unit comprises:

a delay calculation subunit, configured to calculate a delay of the sounds emitted by the two microphones in the microphone array received by the sound source;

a location calculation subunit, configured to calculate a location parameter of the sound source according to the time delay and a distance between the two microphones in the microphone array, where the location parameter of the sound source determines a location of the service object.
A robot comprising a memory, a processor and at least one application stored in the memory and configured to be executed by the processor, wherein the application is configured to perform claim 1 The method of moving the robot.