WO2020088461A1 - Control method and system for walking robot - Google Patents
Control method and system for walking robot Download PDFInfo
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- WO2020088461A1 WO2020088461A1 PCT/CN2019/114040 CN2019114040W WO2020088461A1 WO 2020088461 A1 WO2020088461 A1 WO 2020088461A1 CN 2019114040 W CN2019114040 W CN 2019114040W WO 2020088461 A1 WO2020088461 A1 WO 2020088461A1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/12—Mowers combined with apparatus performing additional operations while mowing with soil-working implements, e.g. ploughs
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Definitions
- the invention relates to the field of intelligent control, in particular to a control method and processing system of a walking robot.
- the object of the present invention is to provide a control method and system for a walking robot.
- the method specifically includes: dividing the starting interval into a plurality of sub-intervals; and selecting at least one starting point corresponding to the sub-interval in each sub-interval.
- "dividing the starting interval into multiple sub-intervals according to the ordered sequence” specifically includes: dividing the starting interval into multiple sub-intervals according to the ordered sequence, so that the length relationship between the sub-intervals is For example, at least one of the arithmetic sequence, the geometric sequence, the equal sum sequence, the Fibonacci sequence, the group sequence, the period sequence, and the step sequence.
- the method further includes: automatically acquiring a frequency value corresponding to each starting point in the current line-travel route; the frequency value is the number of consecutive departures of the walking robot at the same starting point.
- the method further includes: acquiring the state attributes of the walking robot in real time, the state attributes including: at least one of the battery pack power, the continuous working duration, and the continuous working walking distance; If the power of the battery pack of the walking robot is less than the preset power threshold, and / or the continuous working duration is greater than the preset working duration threshold, and / or the continuous walking distance is greater than the preset continuous walking distance threshold, the walking robot is driven Return to the base station.
- the position value and / or frequency value of the starting point are newly determined.
- FIG. 4 is a schematic flow chart of acquiring a position value corresponding to each starting point in any non-narrow area in an embodiment of the present invention
- FIG. 8 is a schematic structural view of a walking route of a walking robot in a specific example of the present invention.
- FIG. 10 is a schematic diagram of a work flow of a control system of a walking robot in an embodiment of the present invention.
- the walking robot of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the work area to perform grass cutting and vacuuming work.
- the walking robot is used as a lawn mower as an example for specific description
- the working area may be a lawn.
- the base station is connected to a boundary line arranged along the peripheral side of the working area.
- the base station transmits a pulse code signal to the boundary line
- the pulse code signal is transmitted within the boundary line to form a magnetic field near the boundary line and generate an electromagnetic signal.
- the control unit includes at least a status sensor, which is used to acquire various information obtained by the walking robot along the patrol route, for example: acquiring the electromagnetic signal strength on the patrol route; in this specific embodiment, the status sensor includes The boundary line sensor will be described in detail in the following content; the data storage is used to store various information obtained by the robot walking along the line patrol path, such as EPROM, Flash or SD card. There are various types of information obtained by the walking robot walking along the patrol route, which will be described in further detail below.
- a method for controlling a walking robot includes:
- At least one line patrol mode and one operation mode are configured for the walking robot; in the line patrol mode, the walking robot can be driven from the initial point, walk along the line patrol path for one week, and record the line patrol The perimeter of the path, the strength of the electromagnetic signal actually received by the walking robot, etc.
- the walking robot may also be driven from the initial point and reach a specific starting point along the line patrol path to enter the work mode.
- the walking robot can be driven to walk along a straight line or a curve in the working area and cut grass. When the walking robot reaches a certain posture (such as encountering a boundary line), it turns to enter the direction of the working area. In the work mode, you can also drive the walking robot to walk along the boundary line and cut the grass.
- the boundary line sensor detects the electromagnetic signal actually received on the walking robot.
- the method further includes: S3, dividing the area formed by the current patrol route into at least one narrow area formed by at least one narrow channel, and at least two connected at both ends of the at least one narrow area Non-narrow area.
- the step S4 specifically includes: S41, acquiring a critical point formed between a narrow area and a non-narrow area, and the position value corresponding to each critical point; In the extending direction of the line path, the critical points formed are the critical point P 1 , the critical point P 2 , the critical point P 3 , and the critical point P 4.
- the position values corresponding to each critical point are L P1 , L P2 , L P3 , L P4 ; S42, obtain the perimeter of each non-narrowed area according to the position value corresponding to each critical point; or obtain the perimeter of each non-narrowed area according to the obtained position value corresponding to the critical point and the perimeter of the route path; S43 .According to the perimeter of each non-narrow area, the position value corresponding to each starting point in the non-narrow area is independently obtained.
- step S41 after determining the position of the narrow passage, the walking robot can automatically identify the critical point, that is, the position of the critical point can be determined.
- the present invention places the critical point in the extending direction of the patrol path (ie, direction D1) ) Is represented by the critical point P 1 , the critical point P 2 , the critical point P 3 , and the critical point P 4 according to the order of arrival; in other embodiments of the present invention, the coil can also be manually laid at the corresponding position of the critical point The method increases the accuracy of identifying the critical point, which will not be described in detail here.
- the present invention describes a specific example to facilitate understanding;
- the line-traveling path starts from the initial point (base station position in this embodiment), extends in the direction of arrow D1, and returns To the end of the initial point;
- the working area includes the non-narrow area A, the non-narrow area B, and the narrow area C that divides the working area into the non-narrow area A and the non-narrow area B;
- the walking robot After walking along the boundary line (that is, the patrol route) for one week, the perimeter of the patrol route is obtained as l sum , and the critical points formed by the non-narrow area A and the narrow area C in the extension direction of the patrol route are P 1 and Critical point P 4 , the order of the critical points formed by the non-narrow area B and the narrow area C in the extending direction of the line-travel path is P 2 and the critical point P 3 , and the position values corresponding to each critical point in the extending direction of the line
- the present invention describes a specific example to facilitate understanding.
- the perimeter of the current non-narrowed area A is accumulated from the initial point along the extension direction of the route, when the critical point is reached At P 1 , stop accumulating the perimeter of the current non-stenosis area A.
- stop accumulating the perimeter of the current non-stenosis area A When reaching P 4 , continue to accumulate the perimeter of the current non-stenosis area A until returning to the initial point; that is, the perimeter of the non-stenosis area A is equal to the patrol line The sum of the length from the initial point to P 1 and the length from P 4 to the initial point in the extending direction of the path.
- the circumference of the current non-stenosis area B starts to accumulate until after reaching P 3 , the accumulation of the current non-stenosis area B's circumference is stopped; that is The perimeter of the non-narrow area B is equal to the length of P 2 to P 3 in the extending direction of the line-tracing path.
- the starting point L S may be any point on the current line-tracking path.
- the step S432 specifically includes: dividing the departure interval into a plurality of sub-intervals; selecting at least one departure point corresponding to the sub-interval in each sub-interval respectively.
- the departure interval is divided into multiple sub-intervals according to an ordered sequence, so that the length relationship between the sub-intervals is represented as an equidistance sequence, At least one of the proportional sequence, the equal sum sequence, the Fibonacci sequence, the group sequence, the period sequence, the step sequence, etc.
- n can be preset, or the length of each sub-interval can be specified, and the formula Obtain the number n of subintervals, where intD () is a rounding function down.
- the step S432 specifically includes: obtaining at least one starting point in a random or pseudo-random manner within the starting interval.
- the first departure interval is selected according to the first preset length, and the first one is randomly selected in the first departure interval Departure point; in turn take the selected departure point as the starting point, divide at least one second departure interval according to the second preset length, and randomly select the next departure point within the second departure interval until the entire departure interval is traversed.
- the first preset length and the second preset length are both length preset constant values, and their sizes can be specifically set according to the length of the departure interval, for example: according to the length ratio corresponding to the departure interval, the This will not be described in detail; the departure interval is divided into a first departure interval and at least one second departure interval according to the first preset length, the second preset length, and the position of the selected departure point.
- the two departure intervals are only distinguished according to the second preset length, and the true length is not specifically limited. Since each departure point is selected in a random or pseudo-random manner, when the second departure interval exceeds one, each second The length of the departure interval may vary.
- the first starting point is within the range defined by the starting point S and the first preset length, and its specific position within the range can be arbitrarily specified, or it can be determined by a random or pseudo-random algorithm, and the next starting point is on the previous The position of the starting point is selected within the starting interval defined by the second preset length.
- the method further includes: S5. Before reaching a preset condition, only the walking robot is allowed to select to enter the work mode at the starting point belonging to the same non-narrow area, and the walking robot is prohibited from entering The narrow area.
- the frequency value corresponding to each starting point in the current line patrol route is automatically obtained; the frequency value is the number of consecutive departures from the same starting point.
- the frequency value corresponding to each starting point can be specified arbitrarily, and can also be obtained according to a certain rule.
- the frequency value of each starting point is configured to be equal within the preset frequency threshold range; or within the preset frequency threshold range, according to the distance between each starting point and its adjacent previous starting point on the patrol route The distance difference above is positively related to configuring the frequency value corresponding to each starting point; or within the preset frequency threshold range, randomly configuring any frequency value for each starting point.
- the frequency threshold range is usually a numerical range, the minimum value is 1, the maximum value is M, and M is a positive integer; under normal circumstances, it can be specifically set according to the size of the work area and the length relationship between adjacent starting points, for example: When the obtained starting points are equidistantly set, the frequency values corresponding to the starting points are usually set to be equal. When the distance between adjacent starting points is greater, the frequency values of adjacent starting points are correspondingly set to be larger; of course You can also set the total frequency value, and then assign the frequency value in proportion to the position value corresponding to the starting point, which will not be described in detail here.
- the method further includes: establishing a memory list for storing each starting point and its corresponding position value and frequency value; by querying the memory list, obtaining the position value corresponding to each starting point Sum frequency value.
- the walking robot is driven to work in the current non-narrow area until a preset condition is reached, and then passes through the narrow area and enters the next non-narrow area to complete the work.
- the walking robot is only allowed to enter the working state at the starting point belonging to the current non-narrow area, and the walking robot is prohibited from entering the narrow area.
- the working order of the walking robot is slightly adjusted corresponding to the different positions of the starting point.
- all the starting points in the current non-narrow area are on the same continuous line of patrol in the direction of the extension of the line of patrol, so that during the work, they continue to walk along the line of patrol, ie All starting points on the non-narrow area A and the non-narrow area B can be traversed separately.
- the first preferred embodiment obtains the perimeter of each non-narrowed area according to the position value corresponding to each critical point, which is more applicable to all starting points on the non-narrowed area, and extends in the direction of the patrol route. It is on the same continuous line of patrol route.
- the starting point on the current non-narrow area is on two consecutive line patrol paths in the extending direction of the line patrol path.
- the walking robot does not complete the work of the current non-narrow area A, it needs to be avoided It enters the narrow area.
- the walking robot accidentally enters the narrow area, it needs to return to the current non-narrow area A. After traversing all the starting points of the narrow area A, it then passes through the narrow area and enters the non-narrow area B.
- the second preferred embodiment obtains the perimeter of each non-narrowed area according to the position value corresponding to each critical point, which is more suitable for the starting point on the non-narrowed area and is located at 2 On a continuous line of patrol route.
- the walking direction of the robot can be adjusted to reach another boundary line corresponding to the current boundary line, and then Then adjust the walking direction of the robot to make it return to the current non-narrow area and continue to work.
- control method of the walking robot of the present invention further includes: acquiring the state attributes of the walking robot in real time, the state attributes including: at least one of the battery pack power, the continuous working duration, and the continuous working walking distance; according to the walking robot State attribute to determine whether to execute the regression mode.
- the walking robot If the power of the battery pack of the walking robot is less than the preset power threshold, and / or the continuous working duration is greater than the preset working duration threshold, and / or the continuous walking distance is greater than the preset continuous walking distance threshold, the walking robot is driven Perform regression mode.
- the walking robot finds the position of the base station, and returns to the base station for charging, and after charging is completed, returns to the position where the return mode was executed and continues to work.
- the position value and / or frequency value of the starting point is re-determined, which helps avoid The problem of grass abrasion is caused by too many steering turns in the same position.
- the starting point position value and / or frequency value may also be re-determined according to other preset conditions, including but not limited to cumulative working time, cumulative working walking distance, cumulative charging times, whether it is specific The number of times of booting, etc.
- the boundary line starts from the initial point, extends in the direction of arrow D1, and returns to the end of the initial point; line1 is the inner parallel line of the boundary line located on the lawn, and line2 is the outer parallel line of the boundary line located on the edge of the lawn.
- the distance between the two from the boundary line is generally a body, and the distance between the inner boundary line1 can be appropriately widened; the walking robot can travel within the range between line1 and line2 on both sides of the boundary line; and it can be executed in a certain order: as in Move to the left once, move to the right one wheel wide position next time, and move to the next wheel wide position again. When reaching the extreme position on the right, turn to the left and drive back and forth from the charging station. A random or other method is used to drive the walking robot between the boundary lines line1 and line2 to achieve the purpose of protecting the lawn.
- the control system of the walking robot includes: a configuration module 100, a patrol module 200, an area division module 300, a control processing module 400 and a storage module 500.
- the patrol module 200 is used to drive the walking robot from the initial point, walk along the patrol route for one week, record the circumference of the patrol route and confirm the position of the narrow passage on the patrol route.
- the configuration module 100 transmits a pulse-coded signal along the patrol route through a signal generating device provided in the base station to generate an electromagnetic signal on the patrol route.
- the patrol module 200 is used to drive the walking robot to walk along the extension direction of the patrol line path, record the strength of the electromagnetic signal actually received by the walking robot, and confirm the narrow channel on the patrol path according to the strength of the electromagnetic signal actually received by the walking robot s position.
- the area dividing module 300 is used to divide the area formed by the current patrol route into at least one narrow area formed by at least one narrow passage, and at least two non-narrow areas connected at both ends of the at least one narrow area. .
- the control processing module 400 is used to: obtain the position value corresponding to each departure point in each non-narrow area according to the recorded perimeter of the tour route; the position value is the length of the current departure point from the initial point on the tour route.
- control processing module 400 is specifically used to: obtain the critical point formed between the narrow area and the non-narrow area, and the position value corresponding to each critical point; wherein, along the extension direction of the patrol path, form The order of critical points is critical point P 1 , critical point P 2 , critical point P 3 , critical point P 4 , and the corresponding position values of each critical point are L P1 , L P2 , L P3 , L P4 in sequence; according to each critical point Obtain the perimeter of each non-narrowed area according to the corresponding position value; or obtain the perimeter of each non-narrowed area according to the obtained position value corresponding to the critical point and the perimeter of the route path; S43, according to the perimeter of each non-narrowed area Long independently obtains the position value corresponding to each starting point in the non-narrow area.
- control processing module 400 is specifically used to obtain the perimeter of each non-narrow area using an accumulation algorithm, that is, to determine whether the initial point is on the current non-narrow area, and if so, to extend along the route direction, from the initial accumulation point on the perimeter of the current non-narrow region and reach the critical point P 1, stopping the accumulation of non-narrow region of the circumference of this, when P 4 reaches the critical point, the current continues to accumulate non narrow circumferential area Long until it returns to the initial point; if not, the current perimeter of the non-narrow area is the length from the critical point P 2 to the critical point P 3 along the extension direction of the route.
- an accumulation algorithm that is, to determine whether the initial point is on the current non-narrow area, and if so, to extend along the route direction, from the initial accumulation point on the perimeter of the current non-narrow region and reach the critical point P 1, stopping the accumulation of non-narrow region of the circumference of this, when P 4 reaches the critical point, the current continues to accumulate non narrow circumferential area
- control processing module 400 is specifically configured to divide the departure interval into a plurality of sub-intervals; at least one departure point corresponding to the sub-interval is selected in each sub-interval.
- the control processing module 400 divides the departure interval into multiple sub-intervals.
- the departure interval is divided into multiple sub-intervals according to an ordered sequence, so that the length relationship between the sub-intervals is, for example, Arithmetic series, isometric series, equal sum series, Fibonacci series, grouping series, periodic series, step series and so on.
- control processing module 400 is also used to obtain at least one starting point in a random or pseudo-random manner within the starting interval.
- control processing module 400 selects the first starting interval according to the first preset length from the position value L S of the starting point S in the starting interval, and randomly selects the first starting interval Set the first starting point; take the selected starting point as the starting point in sequence, divide at least one second starting interval according to the second preset length, and randomly select the next starting point within the second starting interval until the entire starting point is traversed Interval.
- control processing module 400 is further configured to drive the walking robot to walk along the line-tracking path to traverse each starting point on each non-narrow area, and reach each starting point within the same non-narrow area according to the corresponding position value At this time, the walking robot is driven into a working state; wherein, before the work of each narrow area is completed, the walking robot is prevented from entering the narrow area.
- control processing module 400 if the control processing module 400 confirms that a walking robot enters the narrow region by accident through a boundary line of the narrow region, it can adjust the walking direction of the robot to reach another corresponding to the current boundary line after entering the narrow region A boundary line, and then adjust the walking direction of the robot to make it return to the current non-narrow area and continue to work.
- control processing module 400 automatically obtains the frequency value corresponding to each starting point in the current patrol route; the frequency value is the number of consecutive departures from the same starting point; only the walking is allowed until the preset conditions are reached
- the robot chooses to enter the work mode at the starting point belonging to the same non-narrow area, and prohibits the walking robot from entering the narrow area.
- At least one memory list is set in the storage module 500; the memory list is used to store each starting point and its corresponding position value and frequency value, and generate a position value sequence table according to the frequency value.
- the disclosed system, system, and method may be implemented in other ways.
- the system implementation described above is only schematic.
- the division of the modules is only a division of logical functions.
- there may be other divisions for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, systems or modules, and may be in electrical, mechanical or other forms.
- each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module.
- the above integrated modules can be implemented in the form of hardware, or in the form of hardware plus software function modules.
- the above integrated modules implemented in the form of software function modules may be stored in a computer-readable storage medium.
- the above software function modules are stored in a storage medium, and include several instructions to enable a computer system (which may be a personal computer, a server, or a network system, etc.) or a processor (processor) to perform the methods described in the various embodiments of the present application. Partial steps.
- the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .
- ST2 The robot enters the line patrol mode, starts from the initial point, walks along the boundary line and returns to the initial point after going around the boundary line once, and records the circumference of the boundary line and the position of the narrow area.
- ST6 The robot starts from the initial point and walks along the boundary line to the starting point corresponding to the starting sequence number of the non-narrow area again in the patrol mode.
- ST7 The robot turns from the starting point away from the boundary line, enters the non-narrow area and starts mowing, that is, enters the operation mode from the line patrol mode.
- ST8 The robot maintains the operation mode and performs mowing operations in the work area.
- the judgment condition is whether the cumulative working time in the non-narrow area reaches a threshold; in some embodiments, the judgment condition is whether the cumulative working walking distance in the non-narrow area reaches one Threshold. If yes, execute ST13, if no, execute ST14.
- the judgment condition here may be a single condition, or a combination of multiple conditions, including but not limited to the conditions listed above in the form of examples.
- ST15 The system is shut down and the work is ended.
- the robot is usually located in the base station in a stored state, and the power of the robot and / or base station is automatically or artificially cut off.
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Abstract
Description
Claims (19)
- 一种行走机器人的控制方法,包括:A control method of a walking robot, including:S1:提供一闭合的巡线路径,所述巡线路径为行走机器人所在工作区域的边界线形成的闭合回路;S1: Provide a closed line-tracking path, which is a closed loop formed by the boundary line of the working area where the walking robot is located;S2:驱动所述行走机器人从初始点出发、沿巡线路径行走一周,记录巡线路径的周长以及确认巡线路径上狭窄通道的位置;S2: driving the walking robot from the initial point, walking along the patrol route for one week, recording the circumference of the patrol route and confirming the position of the narrow channel on the patrol route;S3:将当前巡线路径形成的区域划分为由至少一个狭窄通道形成的至少一个狭窄区域,以及连接在至少一个所述狭窄区域两端的至少两个非狭窄区域;S3: Divide the area formed by the current patrol route into at least one narrow area formed by at least one narrow passage, and at least two non-narrow areas connected at both ends of the at least one narrow area;S4:根据记录的巡线路径周长获取每个所述非狭窄区域中各个出发点对应的位置值;所述出发点设置在所述巡线路径上,且每个所述非狭窄区域中包括至少一个所述出发点;所述位置值等于当前出发点距离所述初始点在巡线路径上的长度值;S4: Obtaining the position value corresponding to each departure point in each of the non-narrow areas according to the recorded perimeter of the tour route; the departure point is set on the tour route and each of the non-narrow areas includes at least The starting point; the position value is equal to the length value of the current starting point from the initial point on the line-tracking path;S5:在达到预设条件之前,仅允许所述行走机器人选择在属于同一所述非狭窄区域中的所述出发点处进入作业模式,且禁止所述行走机器人进入所述狭窄区域。S5: Before reaching the preset condition, only the walking robot is allowed to select to enter the work mode at the starting point belonging to the same non-narrow area, and the walking robot is prohibited from entering the narrow area.
- 根据权利要求1所述的行走机器人的控制方法,其特征在于,所述初始点设置在基站位置。The method for controlling a walking robot according to claim 1, wherein the initial point is set at a base station position.
- 根据权利要求2所述的行走机器人的控制方法,其特征在于,所述预设条件为累计工作时长、累计工作行走的路程、电池包的电量中的至少一种。The control method of a walking robot according to claim 2, wherein the preset condition is at least one of cumulative working time, cumulative working walking distance, and battery pack power.
- 根据权利要求2所述的行走机器人的控制方法,其特征在于,所述方法还包括:The method for controlling a walking robot according to claim 2, wherein the method further comprises:S21:向边界线发射信号,以在所述边界线周围产生电磁信号;S21: Send a signal to the boundary line to generate an electromagnetic signal around the boundary line;S22:驱动所述行走机器人沿巡线路径的延伸方向行走过程中,记录行走机器人实际接收到电磁信号的强度;S22: During driving the walking robot to walk along the extension direction of the patrol line path, record the intensity of the electromagnetic signal actually received by the walking robot;S23:根据行走机器人实际接收到的电磁信号的强度确认巡线路径上狭窄通道的位置。S23: According to the strength of the electromagnetic signal actually received by the walking robot, confirm the position of the narrow channel on the line patrol path.
- 根据权利要求2所述的行走机器人的控制方法,其特征在于,“根据记录的巡线路径周长获取每个非狭窄区域中各个出发点对应的位置值”具体包括:The method for controlling a walking robot according to claim 2, wherein "acquiring the position value corresponding to each starting point in each non-narrow area according to the recorded perimeter of the line-traveling route" specifically includes:S41:获取狭窄区域与非狭窄区域之间形成的临界点,以及各个临界点对应的位置值;其中,沿巡线路径的延伸方向,形成的临界点顺序为临界点P 1、临界点P 2、临界点P 3、临界点P 4,各个临界点对应的位置值依次为L P1、L P2、L P3、L P4; S41: Obtain the critical point formed between the narrow area and the non-narrow area, and the position value corresponding to each critical point; where, along the extending direction of the line-tracking path, the critical points are formed in the order of critical point P 1 and critical point P 2 , Critical point P 3 , critical point P 4 , and the corresponding position values of each critical point are L P1 , L P2 , L P3 , and L P4 in sequence;S42:根据各个临界点对应的位置值获取各个非狭窄区域的周长;或根据获得的临界点所对应的位置值以及巡线路径的周长获得各个非狭窄区域的周长;S42: Obtain the perimeter of each non-narrow area according to the position value corresponding to each critical point; or obtain the perimeter of each non-narrow area according to the obtained position value corresponding to the critical point and the perimeter of the line-travel path;S43:根据每个非狭窄区域的周长独立获取该非狭窄区域中各个出发点对应的位置值。S43: Acquire the position value corresponding to each starting point in the non-narrow area independently according to the perimeter of each non-narrow area.
- 根据权利要求5所述的行走机器人的控制方法,其特征在于,“根据获得的临界点所对应的位置值以及巡线路径的周长获得各个非狭窄区域的周长”具体包括:The control method of a walking robot according to claim 5, characterized in that "obtaining the perimeter of each non-narrow area according to the obtained position value corresponding to the critical point and the perimeter of the line-traveling path" specifically includes:判断所述初始点是否在当前非狭窄区域上,Determine whether the initial point is on the current non-narrow area,若是,则当前非狭窄区域的周长l A=l sum-(L P4-L P1); If yes, the current perimeter of the non-narrow area l A = l sum- (L P4- L P1 );若否,则当前非狭窄区域的周长l A=L P3-L P2,其中,l sum表示巡线路径的周长,l A表示当前非狭窄区域的周长。 If not, the perimeter of the current non-narrow area l A = L P3- L P2 , where l sum represents the perimeter of the line-travel path, and l A represents the perimeter of the current non-narrow area.
- 根据权利要求5所述的行走机器人的控制方法,其特征在于,“根据各个临界点对应的位置值获取各个非狭窄区域的周长”具体包括:The control method of a walking robot according to claim 5, characterized in that "acquiring the perimeter of each non-narrow area according to the position value corresponding to each critical point" specifically includes:采用累加算法获得各个非狭窄区域的周长,即Use the accumulation algorithm to obtain the perimeter of each non-narrow area, namely判断所述初始点是否在当前非狭窄区域上,Determine whether the initial point is on the current non-narrow area,若是,沿巡线路径的延伸方向,自初始点开始累加当前非狭窄区域的周长,并在到达临界点P 1时,停止累加当前非狭窄区域的周长,当到达临界点P 4时,继续累加当前非狭窄区域的周长,直至返回至初始点; If it is, along the extension direction of the patrol route, the perimeter of the current non-narrow area is accumulated from the initial point, and when the critical point P 1 is reached, the perimeter of the current non-narrow area is stopped. When the critical point P 4 is reached, Continue to accumulate the circumference of the current non-narrow area until it returns to the initial point;若否,当前非狭窄区域的周长为沿巡线路径的延伸方向临界点P 2至临界点P 3之间的长度。 If not, the current perimeter of the non-narrow area is the length from the critical point P 2 to the critical point P 3 along the extending direction of the route.
- 根据权利要求5至7任一项所述的行走机器人的控制方法,其特征在于,“根据每个非狭窄区域的周长独立获取该非狭窄区域中各个出发点对应的位置值”具体包括:The control method of a walking robot according to any one of claims 5 to 7, characterized in that "acquiring the position value corresponding to each starting point in the non-narrow area independently according to the perimeter of each non-narrow area" specifically includesS431:依照非狭窄区域的周长l A获得起始点S的位置值L S、终点E的位置值L E和沿巡线路径从起始点S到终点E之间的出发区间的线长l SE;所述出发区间为依照巡线路径行走的轨迹,出发点均在所述出发区间内选取;则l SE=L E-L S,L S=x·l A,L E=y·l A,l SE≤l A,其中,x<y,x∈[0,1),y∈(0,1]; S431: obtaining the starting point position value S L S in accordance with the circumferential length of the non-narrow region l A, the value of the position of the end point E and L E along the transmission line path from the start point S to the starting interval between the end point E of the line length l SE The starting interval is a trajectory that follows the patrol route, and the starting points are all selected within the starting interval; then l SE = L E- L S , L S = x · l A , L E = y · l A , l SE ≤ l A , where x <y, x∈ [0,1), y∈ (0,1];S432:在出发区间内选取至少1个出发点。S432: Select at least one starting point in the starting interval.
- 根据权利要求8所述的行走机器人的控制方法,其特征在于,所述方法还包括:The method for controlling a walking robot according to claim 8, wherein the method further comprises:判断所述初始点是否处于当前非狭窄区域上,Determine whether the initial point is on the current non-narrow area,若是,则将初始点设置为当前非狭窄区域的起始点S;If yes, set the initial point to the starting point S of the current non-narrow area;若否,则将临界点P 3设置为当前非狭窄区域的起始点S。 If not, the critical point P 3 is set as the starting point S of the current non-narrow area.
- 根据权利要求8所述的行走机器人的控制方法,其特征在于,所述方法具体包括:The method for controlling a walking robot according to claim 8, wherein the method specifically comprises:将出发区间划分为多个子区间;Divide the starting interval into multiple sub-intervals;分别在每个子区间中选取对应于该子区间的至少1个出发点。At least one starting point corresponding to the sub-interval is selected in each sub-interval.
- 根据权利要求10所述的行走机器人的控制方法,其特征在于,“将出发区间划分为多个子区间”具体包括:The method for controlling a walking robot according to claim 10, wherein "dividing the starting interval into a plurality of sub-intervals" specifically includes:将出发区间按照有序数列划分为多个子区间。The starting interval is divided into multiple sub-intervals according to the ordered sequence.
- 根据权利要求11所述的行走机器人的控制方法,其特征在于,“将出发区间按照有序数列划分为多个子区间”具体包括:The method for controlling a walking robot according to claim 11, wherein "dividing the starting interval into multiple sub-intervals according to an ordered sequence" specifically includes:将出发区间按照有序数列划分为多个子区间,使子区间之间的长度关系呈例如等差数列、等比数列、等和数列、斐波那契数列、分群数列、周期数列、阶差数列至少其中之一。The starting interval is divided into multiple sub-intervals according to the ordered sequence, so that the length relationship between the sub-intervals is, for example, the arithmetic sequence, the geometric sequence, the equal sum sequence, the Fibonacci sequence, the group sequence, the period sequence, the order sequence At least one of them.
- 根据权利要求8所述的行走机器人的控制方法,其特征在于,“在出发区间内选取至少1个出发点”具体包括:The method for controlling a walking robot according to claim 8, wherein "selecting at least one starting point in the starting interval" specifically includes:在出发区间内按照随机或伪随机的方式获得至少1个出发点。At least one starting point is obtained in a random or pseudo-random manner within the starting interval.
- 根据权利要求13所述的行走机器人的控制方法,其特征在于,所述方法具体包括:The method for controlling a walking robot according to claim 13, wherein the method specifically comprises:在出发区间内,自起始点S的位置值L S开始,按照第一预设长度选取第一出发区间,并在该第一出发区间内随机选定第1个出发点; In the departure interval, starting from the position value L S of the starting point S, the first departure interval is selected according to the first preset length, and the first departure point is randomly selected in the first departure interval;依次以选定的出发点为起始点,按照第二预设长度划分至少1个第二出发区间,并在该第二出发区间内随机选定下一个出发点,直至遍历整个出发区间。Taking the selected starting point as the starting point in sequence, at least one second starting interval is divided according to the second preset length, and the next starting point is randomly selected within the second starting interval until the entire starting interval is traversed.
- 根据权利要求5所述的行走机器人的控制方法,其特征在于,所述方法还包括:The method for controlling a walking robot according to claim 5, wherein the method further comprises:自动获取当前巡线路径中各个出发点对应的频数值;所述频数值为所述行走机器人在同一出发点连续出发的次数。Automatically obtain the frequency value corresponding to each starting point in the current patrol route; the frequency value is the number of times the walking robot continuously starts at the same starting point.
- 根据权利要求15所述的行走机器人的控制方法,其特征在于,所述方法还包括:The method for controlling a walking robot according to claim 15, wherein the method further comprises:在预设频数阈值范围内,配置每个出发点的频数值相等;Within the preset frequency threshold range, configure the frequency value of each starting point to be equal;或在预设频数阈值范围内,按照各个出发点距离其相邻的上一出发点在巡线路径上的距离差正相关于配 置各个出发点对应的频数值;Or within the preset frequency threshold range, according to the distance difference between each starting point and its adjacent previous starting point on the patrol route, it is positively related to configuring the frequency value corresponding to each starting point;或在预设频数阈值范围内,对各个出发点随机配置任一频数值。Or, within the preset frequency threshold range, randomly configure any frequency value for each starting point.
- 根据权利要求2所述的行走机器人的控制方法,其特征在于,所述方法还包括:The method for controlling a walking robot according to claim 2, wherein the method further comprises:实时获取行走机器人的状态属性,所述状态属性包括:电池包的电量、连续工作时长以及连续工作行走的路程至少其中之一;Real-time acquisition of the state attributes of the walking robot, the state attributes including: at least one of the battery pack power, the duration of continuous working, and the distance of continuous working walking;若行走机器人电池包的电量小于预设电量阈值,和/或连续工作时长大于预设的工作时长阈值,和/或连续行走的路程大于预设的连续行走的路程阈值,则驱动所述行走机器人返回至所述基站。If the power of the battery pack of the walking robot is less than the preset power threshold, and / or the continuous working duration is greater than the preset working duration threshold, and / or the continuous walking distance is greater than the preset continuous walking distance threshold, the walking robot is driven Return to the base station.
- 根据权利要求1所述的行走机器人的控制方法,其特征在于,当所述行走机器人达到预设情况时,重新确定出发点的位置值和/或频数值。The method for controlling a walking robot according to claim 1, wherein when the walking robot reaches a preset condition, the position value and / or frequency value of the starting point are newly determined.
- 一种行走机器人的控制系统,其特征在于,所述系统包括:A control system for a walking robot, characterized in that the system includes:配置模块,用于提供一闭合的巡线路径,所述巡线路径为行走机器人所在工作区域的边界线形成的闭合回路;The configuration module is used to provide a closed line patrol path, which is a closed loop formed by the boundary line of the working area where the walking robot is located;巡查模块,用于驱动所述行走机器人从初始点出发、沿巡线路径行走一周,记录巡线路径的周长以及确认巡线路径上狭窄通道的位置;The patrol module is used to drive the walking robot from the initial point, walk along the patrol route for one week, record the circumference of the patrol route and confirm the position of the narrow channel on the patrol route;区域划分模块,用于将当前巡线路径形成的区域划分为由至少一个狭窄通道形成的至少一个狭窄区域,以及连接在至少一个所述狭窄区域两端的至少两个非狭窄区域;An area dividing module, configured to divide the area formed by the current patrol route into at least one narrow area formed by at least one narrow passage, and at least two non-narrow areas connected at both ends of the at least one narrow area;控制处理模块,用于根据记录的巡线路径周长获取每个所述非狭窄区域中各个出发点对应的位置值;所述出发点设置在所述巡线路径上,且每个所述非狭窄区域中包括至少一个所述出发点;所述位置值等于当前出发点距离所述初始点在巡线路径上的长度值;A control processing module, configured to obtain the position value corresponding to each departure point in each of the non-narrow areas according to the recorded perimeter of the tour route; the departure point is set on the tour route and each of the non-narrow areas Includes at least one of the starting points; the position value is equal to the length value of the current starting point from the initial point on the line-tracking path;在达到预设条件之前,仅允许所述行走机器人选择在属于同一所述非狭窄区域中的所述出发点处进入工作状态,且禁止所述行走机器人进入所述狭窄区域。Before reaching the preset condition, only the walking robot is allowed to choose to enter the working state at the starting point belonging to the same non-narrow area, and the walking robot is prohibited from entering the narrow area.
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