WO2020155715A1 - Robot mobile, procédé de commande de rotation associé, système de commande et système d'exploitation de robot mobile - Google Patents

Robot mobile, procédé de commande de rotation associé, système de commande et système d'exploitation de robot mobile Download PDF

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Publication number
WO2020155715A1
WO2020155715A1 PCT/CN2019/115076 CN2019115076W WO2020155715A1 WO 2020155715 A1 WO2020155715 A1 WO 2020155715A1 CN 2019115076 W CN2019115076 W CN 2019115076W WO 2020155715 A1 WO2020155715 A1 WO 2020155715A1
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WIPO (PCT)
Prior art keywords
walking robot
limit
path
walking
along
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PCT/CN2019/115076
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English (en)
Chinese (zh)
Inventor
朱绍明
高娟
袁立超
任雪
宗畅
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苏州科瓴精密机械科技有限公司
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Publication of WO2020155715A1 publication Critical patent/WO2020155715A1/fr

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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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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 walking robot and its steering control method, control system and walking robot working system.
  • the lawn mower robot takes the automatic working equipment as an example of a lawn mower robot.
  • the lawn mower robot uses electronic boundaries to surround the lawn and obstacles such as rockeries and fountains in the lawn, and perform random mowing operations on the lawn within the electronic boundaries.
  • the lawn mower robot uses electronic boundaries to surround the lawn and obstacles such as rockeries and fountains in the lawn, and perform random mowing operations on the lawn within the electronic boundaries.
  • random mowing is a major low-cost method for mowing robots. That is, the robot moves forward in a delineated range such as an electronic boundary until it encounters an obstacle or boundary, rotates a random angle, and then continues to move forward until it encounters an obstacle or boundary again, and then does the same process, and so on.
  • a delineated range such as an electronic boundary
  • rotates a random angle and then continues to move forward until it encounters an obstacle or boundary again, and then does the same process, and so on.
  • the purpose of the present invention is to provide a walking robot suitable for various working area conditions.
  • Another object of the present invention is to provide a walking robot working system suitable for various working area conditions.
  • Another object of the present invention is to provide a steering control method of a walking robot suitable for various working area conditions.
  • Another object of the present invention is to provide a control system for a walking robot suitable for various working area conditions.
  • the present invention provides a method for walking and working within a working range defined by boundaries, including: a body; a walking module, installed on the body, the walking module drives a walking robot to walk and turn ,
  • the walking module includes the driving motor of the wheel set and the driving wheel set;
  • the limit detection module is installed in the body to detect the position relationship between the walking robot and the limit;
  • the energy module is installed in the body to provide energy for the walking robot;
  • control Module which is electrically connected to the walking module and the limit detection module;
  • the walking robot drives to the limit along the first travel path and reaches the preset relative position relationship, then turns to travel along the second travel path, and when the walking robot reaches the preset relative position In the positional relationship, the control module controls the walking module to turn back and turn along the preset curved path, so that after the turning is completed, it travels along the second travel path.
  • the walking robot has a central axis.
  • the central axis divides the walking robot into two sides, namely the left side and the right side.
  • the body has a longitudinal central axis.
  • the body is divided into two sides by the central axis, namely the left side and the right side.
  • the boundary detection module includes And the boundary sensing element on the right side.
  • the distances from the left and right sides of the walking robot to the boundary detected by the two positions of the walking robot are equal, and the The walking robot faces the opposite direction.
  • the preset curved path includes at least a circular arc path.
  • the central angle of the at least one arc path is greater than 180 degrees.
  • the first travel path and the second travel path have a first included angle, and the sum of the first included angle and the central angle of the at least one arc path is equal to 360 degrees .
  • the angle between the first travel path and the limit is less than 75 degrees.
  • the distance from one of the left and right sides to the limit is The first threshold
  • the walking robot is in the first posture toward the limit; on the preset curved path, when the distance from the other of the left and right sides to the limit reaches the second threshold, and The walking robot is in a second posture facing away from the limit, and the walking robot walks along the second travel path.
  • the first travel path and the second travel path have a first included angle, and the sum of the first included angle and the preset curved path through the central angle is greater than or Less than 360 degrees.
  • the second threshold is equal to the length of the body of the walking robot.
  • the angle between the first travel path and the limit is greater than or equal to 75 degrees.
  • the second threshold is greater than the first threshold or the first threshold and the second threshold are equal.
  • the body has a longitudinal central axis.
  • the body is divided into two sides by the central axis, namely the left side and the right side.
  • the boundary detection module includes When reaching the preset relative positional relationship with the boundary sensing element on the right side, if the left and right sides are similarly close to the boundary, the walking robot randomly retreats to both sides or fixes to one side along a preset curved path. .
  • the central angle that the walking robot turns along the preset curved path is an obtuse angle.
  • the distance from the left and right sides to the limit is set as a first threshold, and the walking robot is facing the limit
  • the distance from one of the left and right sides to the limit reaches a second threshold, and the walking robot is in a second posture facing away from the limit, The walking robot walks along the second travel path, and the second threshold is greater than the first threshold.
  • the walking robot is an automatic lawn mower
  • the automatic lawn mower includes a cutting assembly located below the machine body and a cutting motor that drives the cutting assembly to cut.
  • the control module is electrically connected, and the control module controls the cutting motor to stop when the walking module retreats along a preset curved path.
  • the walking robot includes a working mode and a narrow passage mode.
  • the working mode, the first travel path and the second travel path are at an angle; the narrow passage mode, the first travel path Parallel to the second travel path.
  • the preset curved path in the working mode includes a circular arc path;
  • the preset curved path in the narrow passage mode includes two circular arc paths, and the center of the two circular arc paths They are respectively located on both sides of the preset curved path.
  • the central angles of the two arc paths are equal.
  • the walking robot in the narrow passage mode, retreats along the preset curved path and turns before traveling along the second travel path, the walking robot retreats along the second travel path to the preset After the relative positional relationship, travel along the second travel path.
  • the walking robot is an automatic lawn mower, and further includes a cutting assembly located below the machine body and a cutting motor that drives the cutting assembly to cut.
  • the first travel path and the second travel The distance between the paths is less than or equal to the diameter of the cutting assembly.
  • the walking robot includes a narrow passage passing mode and a narrow passage working mode, and a ground condition sensor is installed on the body.
  • a ground condition sensor is installed on the body.
  • the walking robot executes the narrowing according to the signal of the ground condition sensor.
  • Area passing mode or narrow area working mode When the walking robot executes the narrow area passing mode, the walking path of the walking robot in the narrow area includes at least a section parallel to the narrow area or along the narrow area. The path of the boundary.
  • the present invention provides a robot working system, which includes a boundary for limiting the working range of the robot working system, and also includes the walking robot described in any of the foregoing embodiments.
  • the present invention provides a steering control method of a walking robot, which includes the following steps:
  • the walking robot drives to the limit along the first travel path
  • the walking robot monitors the relationship between itself and the boundary
  • the walking robot When the preset relative position relationship between the walking robot and the limit is reached, the walking robot turns backward along the preset curved path, and then travels along the second travel path.
  • the walking robot has a central axis.
  • the central axis divides the walking robot into two sides, namely the left side and the right side.
  • the walking robot will reverse clockwise and turn; if the right side is closer to the limit, the walking robot will reverse clockwise and turn.
  • the walking robot has a central axis.
  • the central axis divides the walking robot into two sides, namely the left side and the right side.
  • the walking robot follows a preset curve. During the process of turning backward and turning the path, the distances from the left side and the right side detected in the two positions to the limit are equal, and the directions of the walking robot are opposite at the two positions.
  • the preset curved path includes at least one arc path.
  • the central angle of the at least one arc path is greater than 180 degrees.
  • the first travel path and the second travel path have a first included angle, and the sum of the first included angle and the central angle that the preset curved path turns back is equal to 360 degrees.
  • the angle between the first travel path and the limit is less than 75 degrees.
  • one of the left and right sides is set to reach the preset relative position
  • the walking robot is in the first posture toward the limit; when the other one of the left and right reaches the limit
  • the walking robot walks along the second travel path.
  • the first travel path and the second travel path have a first included angle, and the sum of the first included angle and the central angle of the at least one arc path is greater than or less than 360 degrees.
  • the second threshold is equal to the length of the body of the walking robot.
  • the angle between the first travel path and the limit is greater than or equal to 75 degrees.
  • the second threshold is greater than the first threshold or the first threshold and the second threshold are equal.
  • the walking robot has a longitudinal central axis.
  • the walking robot is divided into two sides by the central axis, namely the left side and the right side.
  • the boundary detection module includes The boundary sensing elements on the left and right sides.
  • the central angle that the walking robot turns along the preset curved path is an obtuse angle.
  • the distance from the left and right sides to the limit is a first threshold, and the walking robot is in a position facing the limit.
  • the walking robot is an automatic lawn mower, and further includes a cutting assembly located below it and a cutting motor that drives the cutting assembly to perform cutting.
  • the cutting motor is electrically connected to the control module.
  • the steering control method further includes the following step: when the walking module turns backward along a preset curved path, the control module controls the cutting motor to stop.
  • the walking robot includes a working mode and a narrow passage mode
  • the steering control method further includes making the first travel path and the second travel path at an angle in the work mode; In the mode, the first travel path is parallel to the second travel path.
  • the preset curved path in the working mode includes a circular arc path;
  • the preset curved path in the narrow passage mode includes two circular arc paths, and the center of the two circular arc paths They are respectively located on both sides of the preset curved path.
  • the central angles of the two arc paths are equal.
  • making the first travel path parallel to the second travel path in the narrow passage mode includes that the walking robot retreats along a preset curved path, turns, and travels along the second travel path Previously, the walking robot retreated along the second travel path to a preset relative position relationship and then traveled along the second travel path.
  • the walking robot is an automatic lawn mower, and further includes a cutting assembly located below it and a cutting motor that drives the cutting assembly to cut, and the steering control method further includes making the The distance between the first travel path and the second travel path is less than or equal to the diameter of the cutting assembly.
  • the walking robot further includes a narrow passage passing mode and a narrow passage working mode
  • a ground condition sensor is installed on the walking robot
  • the steering control method further includes when entering a narrow area Execute the narrow area passing mode or the narrow area working mode according to the signal of the ground condition sensor.
  • the walking path of the walking machine in the narrow area includes at least one section parallel to the narrow area. Boundary or a path along the boundary of the narrow area.
  • the present invention provides a control system for a walking robot, the control system comprising:
  • the configuration module is used to provide a closed loop formed by the boundary of the working area where the walking robot is located;
  • the boundary detection module is used to detect the positional relationship between the walking robot and the boundary
  • the control processing module is used to control the walking robot to drive to the limit along the first travel path. According to the preset relative position relationship between the walking robot and the limit, control the walking robot to retreat and turn along the preset curved path, and then move along the second path The path travels.
  • the limit detection module includes a left limit detection sensor and a right limit detection sensor located on both sides of the walking robot, and when the preset relative position relationship is reached, If the left limit detection sensor is closer to the limit, control the walking robot to reverse clockwise and turn; if the right limit detection sensor is closer to the limit, control the walking robot to reverse clockwise and turn.
  • the boundary detection module includes a left boundary detection sensor and a right boundary detection sensor located on both sides of the walking robot, and the walking robot moves backward and turns along a preset curved path. In the process, the distances from the left boundary detection sensor and the right boundary detection sensor detected by the two positions to the boundary are equal, and the directions of the walking robot at the two positions are opposite.
  • the preset curved path includes at least one arc path.
  • one of the left limit detection sensor and the right limit detection sensor is set to reach the
  • the distance from one of the left boundary detection sensor and the right boundary detection sensor to the boundary is a first threshold
  • the walking robot is in a first posture toward the boundary
  • the second threshold is greater than the first threshold
  • the limit detection module includes a left side limit detection sensor and a right side limit detection sensor located on both sides of the walking robot.
  • the walking robot randomly retreats to both sides or fixes to one side along a preset curved path.
  • the walking robot, the walking robot working system, the steering control method and the control system of the walking robot of the present invention are suitable for ordinary working areas and working areas with narrow passages, and make the walking robot work in the process ,
  • the walking robot can achieve uniform mowing in all working areas, and has the same or similar working path, simple calculation, small system load, and improved work efficiency.
  • Figure 1 is a schematic diagram of a walking robot in a preferred embodiment of the present invention
  • FIG. 2 is a schematic diagram of path selection of the walking robot in the first embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the way in which the walking robot in Fig. 1 realizes a circular arc path;
  • FIG. 4 is a schematic diagram of path selection of the walking robot in the second embodiment of the present invention.
  • FIG. 5 is a schematic diagram of path selection of a walking robot in the third embodiment of the present invention.
  • FIG. 6 is a schematic diagram of path selection of the walking robot in the fourth embodiment of the present invention.
  • FIG. 7 is a schematic diagram of path selection of a walking robot in the fifth embodiment of the present invention.
  • FIG. 8 is a schematic diagram of path selection of the walking robot in the sixth embodiment of the present invention.
  • FIG. 9 is a schematic diagram of path selection of the walking robot in the seventh embodiment of the present invention.
  • FIG. 10 is a schematic diagram of path selection of the walking robot in the eighth embodiment of the present invention.
  • Fig. 11 is a schematic diagram of path selection of the walking robot in the ninth 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 for mowing and vacuuming.
  • the walking robot is an example of a lawn mower.
  • the work area can be a lawn.
  • the walking robot is not limited to automatic lawn mowers and automatic vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment, etc., suitable for unattended equipment.
  • a walking robot in a preferred embodiment of the present invention, includes a body, a walking module provided on the body, a limit detection module, an energy module, and a control module.
  • the walking robot also includes a working module, which is used to perform specific tasks of the walking robot. If the walking robot is an automatic vacuum cleaner, the working module includes a vacuum motor, a dust suction port, a vacuum tube, a vacuum chamber, a dust collector, etc.
  • the walking module is used to drive the walking robot to walk and turn in the working area, and it is usually composed of a wheel set installed on the walking robot and a driving motor for the driving wheel set to walk.
  • the wheel set includes a driving wheel connected to a walking motor and an auxiliary wheel mainly acting as an auxiliary support.
  • the driving motor is specifically a motor, and the motor may be a brushless motor with a reduction box.
  • the drive wheel can be driven to walk through the gearbox, and the rotation speed of the drive wheel can be controlled.
  • the auxiliary wheel may be a universal wheel, which mainly plays a role of supporting balance.
  • the number of driving wheels is two, located at the rear of the walking robot, each driving wheel is connected with a driving motor, and the number of auxiliary wheels is one or two, located at the front of the walking robot.
  • the boundary detection module is used to detect the relative position relationship between the walking robot and the boundary, which may include one or more of the distance, angle, and the inner and outer directions of the boundary.
  • the composition and principle of the limit detection module can be various, such as infrared, ultrasonic, collision detection, magnetic induction, etc., and the location and number of sensors and corresponding signal generating devices are also diverse, and The path planning method is related, so the details will be described below in conjunction with specific embodiments and path planning methods.
  • the energy module is used to provide energy for various tasks of the walking robot. It includes a rechargeable battery and a charging connection structure.
  • the charging connection structure is usually a charging electrode sheet that can be exposed outside the walking robot.
  • the control module is used to control the automatic walking and work of the walking robot. It is electrically connected with the walking module and the limit detection module. It is the core component of the walking robot. Its functions include controlling the working module to start or stop, generate a walking path and control walking According to the walking, the module judges the power of the energy module and instructs the automatic walking equipment to return to the base station for automatic docking and charging.
  • the control module usually includes a single chip microcomputer, a memory and other peripheral circuits.
  • the above-mentioned walking robot also includes various sensors for sensing the walking state of the walking robot, such as: tipping, grounding, collision sensors, etc., which are not described in detail here.
  • the walking robot and the boundary that defines its working area constitute a robot working system, which also includes a base station.
  • Boundary is a collective term for boundaries and barriers.
  • the boundary is the periphery of the entire working area, which is usually connected end to end to close the working area.
  • the boundary can be physical or electronic, and a virtual boundary signal, such as an electromagnetic signal or an optical signal, can be sent by the boundary signal generator.
  • Obstacles are parts or areas that cannot be walked on within the working range. Obstacles can also be physical or electronic.
  • the virtual boundary signal and the virtual obstacle signal can be the same signal or different signals, which are selected by specific requirements.
  • the base station is usually located within the working range, often beside or on the boundary, and is connected to the mains or other power supply system for the walking robot to return to charging.
  • the base station can transmit pulse code signals along the boundary line to form an electromagnetic signal near the boundary line
  • the control module can control the operation of the motor according to the strength change of the electromagnetic signal near the boundary line and the difference between the signals inside and outside the boundary line obtained by the state sensor , So as to make the walking robot turn in time when detecting the boundary line and smoothly pass through the narrow area.
  • the following describes the path planning method of the walking robot when the boundary line is detected and when passing through the narrow area in the specific embodiments of the present invention.
  • the robot working system is a robot mowing system.
  • the robotic lawnmower system includes: a robotic lawnmower 100 as a walking robot and a boundary line system.
  • the robotic lawnmower 100 includes a body 10, a controller 30, a pair of driving wheels 21 arranged on the body, a pair of walking motors 25 that drive the two driving wheels respectively, at least one driven wheel 23, a cutting assembly 41, and a driving cutting assembly 41 cutting motor 43, boundary line sensor, etc.
  • a robotic lawnmower 100 includes a body 10, a controller 30, a pair of driving wheels 21 arranged on the body, a pair of walking motors 25 that drive the two driving wheels respectively, at least one driven wheel 23, a cutting assembly 41, and a driving cutting assembly 41 cutting motor 43, boundary line sensor, etc.
  • the boundary line sensor is configured as a left sensor (LS) and a right sensor (RS) that are symmetrically arranged about the central axis of the body; a pair of driving wheels 21 are arranged at the rear of the body 10 and are active
  • the axis of the wheel 21 is collinear with the reference axis AR (axis of reference).
  • the position of the reference point PR refers to the position of the robot, where the reference point PR is the intersection of the reference axis AR and the central axis of the body.
  • the boundary line system includes a base station (not shown in the figure) and a closed boundary line BL (boundary line) electrically connected to the base station.
  • the BL defines the inside of the closed working area in and the outside of the working area out.
  • the signal generator in the base station sends a signal to the BL, the boundary line sensor detects the signal, and the controller adjusts the robot's posture and walking path according to the signal.
  • the boundary line is preferably arranged at a distance from the actual physical boundary of the area to be mowed. This is because the boundary is a virtual signal of a non-physical entity and cannot physically block the robot lawnmower, which leaves a distance for the robot lawnmower to move inertially, allowing the robot lawnmower to still be able to move outward after detecting the boundary line Move a certain distance without leaving the real working range.
  • the working area may be a whole non-narrow area, or it may be at least one narrow area formed by at least one narrow channel, and at least two non-narrow areas connected at both ends of the at least one narrow area. Narrow area.
  • any position where the robot advances in a straight line along the first travel path T12 and operates within the work area is denoted as C1.
  • the robot moves from C1 to BL to reach C2.
  • C2 position is the position of the robot lawn mower when any boundary line sensor reaches the boundary line.
  • the C2 position is the position of the robot lawn mower when any boundary line sensor and the boundary line reach a preset relative position relationship, reaching the preset
  • the relative position relationship includes any boundary line sensor reaching the boundary line and having a preset distance to the boundary line.
  • the robot lawnmower travels to the boundary line BL along the first travel path T12. During this period, the robot lawnmower monitors the relationship between itself and the boundary line BL. When the robot lawnmower reaches the C2 position, it will move back while facing T12 and the boundary. The obtuse angle between the lines BL is turned back along a preset curved path to reach the C5 position, and the center angle of the circle is ⁇ . That is to say, when the C2 position is reached, if the left side is closer to the boundary line, the robot lawn mower will turn counterclockwise; if the right side is closer to the boundary line, the robot lawn mower will turn back clockwise.
  • ⁇ can be a fixed value or a variable value.
  • the preferred value of ⁇ is greater than the central angle of C2-C4 to change the walking direction of the robot lawnmower to a greater extent.
  • the operation of the cutting assembly can be restricted. For example, the controller controls the cutting motor to shut down and stop when the robot lawnmower is retreating.
  • the path C2-C5 is a circular arc path, including a first part T23 from C2 to C3, a second part T34 from C3 to C4, and a third part T45 from C4 to C5.
  • the three parts are constructed as concentric arc paths with the same radius.
  • the preset curved path that is, the backward path (C2 to C5), is not necessarily a strict arc, but may also be an ellipse or other curve, and may also include at least one arc path, no matter what kind of curve, As long as the central angle of the circle retreated from C2-C5 meets the preset value.
  • the central angle of the arc path of C2-C5 is greater than 180 degrees, and the positions of C2 and C5 are the tangent points of the arc path with the first travel path T12 and the second travel path T56, respectively, to realize the robot lawnmower Greater steering.
  • C6 is equivalent to C1.
  • the magnitude of ⁇ can be controlled by the radius of the backward arc path (C2 ⁇ C5), which can be controlled according to the wheel speed difference between the two driving wheels.
  • Equipped with Hall sensors, photoelectric sensors or even encoders in the driving wheels of the robot lawnmower to feed back the wheel speed to control and ensure that it can walk along a straight line or an arc path.
  • the radius of the driving wheel 21 of the robotic lawnmower is r, the wheel spacing is L, and the rotation speeds of the two driving wheels at a certain moment are n1 and n2 respectively, and the linear velocity v and the rotation angular velocity ⁇ along the direction of the nose are respectively:
  • the time t required for the left and right wheel speeds n1 and n2 are respectively:
  • n1 (R-L/2)2 ⁇ r
  • n2 (R+L/2)2 ⁇ r
  • Another method different from the embodiment in Fig. 4 can be used to control the turning of the robotic lawnmower. .
  • the robot lawn mower reaches the preset relative position relationship along the first travel path T12. It retreats along the arc paths T23, T34 and T45, passing through two critical positions C3 and C4.
  • the robot lawn mower reaches the position C5
  • the distance between the side boundary line sensor and the boundary line BL reaches a threshold, and the robotic lawnmower walks along the second travel path T56.
  • a virtual line VL virtual line parallel to the boundary line BL with a distance of 1 is defined.
  • the robotic lawnmower reaches the position C5
  • the boundary line sensor far away from the boundary line BL is located on the virtual line VL.
  • the robot cuts The lawn mower is in the first posture towards the boundary line BL; on the preset curve path, when the distance from the boundary line sensor on the right to the boundary line reaches the second threshold, that is, the position C5, and the robot lawn mower is at the back of the boundary line In the second posture of the BL, the robot lawn mower starts from the position C5 to walk along the second travel path T56, where the second threshold value 1 is greater than the first threshold value.
  • the first travel path T12 and the second travel path T56 have a first included angle ⁇ , and the sum of the first included angle ⁇ and the central angle of the arc path is greater than 360 degrees.
  • the second threshold is approximately equal to the length of one body of the robotic lawnmower.
  • BL and VL can be made collinear, because the robot is partially outside the boundary line is allowed.
  • the preferred fifth embodiment of the present invention adopts the same method as the embodiment of Fig. 5 to control the turning of the robotic lawnmower, so as to avoid the situation that the robot is outside the boundary as a whole.
  • the first travel path T12 and the second travel path T56 have a first included angle ⁇ , and the sum of the first included angle ⁇ and the central angle of the arc path is less than 360 degrees.
  • the angle between the first travel path T12 and the boundary line BL is less than 75 degrees
  • the first travel path T12 and The first included angle ⁇ between the second travel paths T56 is equal to 90 degrees
  • the sum of the first included angle ⁇ and the central angle of the arc path is equal to 360 degrees, that is, the central angle that the robot lawn mower has turned back along the preset curved path ⁇ is equal to 270 degrees.
  • the value based on ⁇ is preferably greater than the central angle of C2-C4, that is, the value of ⁇ needs to be greater than 180 degrees.
  • the value of ⁇ can be randomly generated or changed according to a preset rule, such as the following The value of ⁇ for a turn is increased by 5 degrees relative to the previous turn.
  • the robot lawnmower can randomly move back to the two sides or fixed to one side after reaching the C2 position along the first travel path T12, until it reaches C5 position, and then walk along the second travel path T56 or the second travel path T56'. That is to say, when the preset relative position relationship is reached, if the left and right sides are similarly close to the limit, the robotic lawnmower will randomly turn to the sides or fixed to one side along the preset curved path.
  • the central angles that are turned during the backward turning arc paths C2 to C5 are preferably obtuse angles.
  • the first included angle ⁇ between the first travel path T12 and the second travel path T56 may be equal to the central angle ⁇ of the arc path, and the sum of the first included angle ⁇ and the central angle of the arc path is less than 360 degree.
  • ⁇ can be a certain value, it can also be generated according to a certain rule or randomly during different turning processes. For example, the value of ⁇ in the next turning is increased by 5 degrees relative to the value of the previous turning to ensure that the path will not be repeated.
  • the robot lawnmower can retreat along the arc path to the two sides or fixed to one side randomly along the first travel path T12 to the position C2, and the first
  • the backward steering method is the same as that of the third embodiment in Figure 5, until it reaches the position C5, and then walks along the second travel path T56 or the second travel path T56', so that the same algorithm can be used. Can meet different conditions.
  • the distance from the left and right to the boundary line is the first threshold, and the first threshold may be zero, and the robot lawn mower is in the first posture toward the boundary line BL;
  • the robot lawnmower moves along the second path The path T56 or the second travel path T56' travels.
  • the second threshold is greater than the first threshold.
  • a method of quickly passing through a narrow passage can be obtained after appropriate adjustment.
  • the robotic lawnmower when the robotic lawnmower judges to enter the narrow passage, switches from the normal working mode to the narrow passage mode.
  • the robot lawnmower judges whether to enter a narrow passage for example, it can pass through the number of times of reaching the boundary within a certain time or distance, and according to the change characteristics of the boundary line signal.
  • the preset curved path preferably includes a circular arc path.
  • the first travel path is parallel to the second travel path.
  • the preset curved path preferably includes two arc paths. In other words, the robotic lawnmower moves along an inclined parallel path in a narrow passage.
  • the robotic lawnmower advances in a straight line along the first travel path Tab, that is, travels in a straight line from the Ca position to the Cb position; when the preset relative position relationship is reached, the control module controls the walking module to follow the preset curved paths Tbc and Tcd Turn back so that after the turn is completed, follow the second travel path Tab'.
  • the movement of the robot lawnmower from position Cb to position Cc is toward the direction of the obtuse angle between the path of the robot lawnmower and the boundary line BL2, retreating along the arc path, and the center angle of the backward rotation is ⁇ 1;
  • the direction of the machine from position Cc to position Cd is opposite to the direction from position Cb to position Cc, and retreats along an arc path of the same radius.
  • the preferred robotic lawnmower moves back and turns along the preset curved path and before traveling along the second travel path, the robotic lawnmower follows the second travel path Treatment and travel along the second travel path after reaching the preset relative position relationship.
  • the robot lawn mower reaches the position Cd, it retreats in a straight line along the second travel path Tab' until the specific boundary line sensor reaches the position of the boundary line BL1, that is, the position Ce; and then proceeds along the second travel path Tab' to the position Cd, where Cd
  • Cd The position is equivalent to the next Ca position, and continue along the Ca position to Cb along a straight line. In this way, the mowing work can be fully completed in the narrow passage.
  • the radius values of ⁇ 1, ⁇ 2 and the two arc paths Tbc and Tcd so that two adjacent ones
  • the distance between parallel paths is less than or equal to the diameter of the cutting assembly. If the cutting assembly includes a cutter head, the distance between two adjacent parallel paths is less than or equal to the diameter of the cutter head. In this way, even mowing can be achieved in the narrow passage.
  • the robot lawn mower includes a narrow passage mode and a narrow passage working mode.
  • a ground condition sensor is installed on the body. When entering a narrow area, it executes the narrow area passage mode or the narrow area working mode according to the signal of the ground condition sensor.
  • the robotic lawnmower implements a narrow area passing mode, and the walking path of the robotic lawnmower in the narrow area includes at least a path parallel to or along the boundary of the narrow area. That is to say, when entering a narrow area, it is judged according to the signal of the ground condition sensor to directly pass the narrow area or mowing in the narrow area.
  • the present invention also includes a control system for a walking robot, which can be applied to any walking robot that works within a limited range.
  • the control system includes:
  • the configuration module is used to provide a closed loop formed by the boundary of the working area where the walking robot is located;
  • the boundary detection module is used to detect the positional relationship between the walking robot and the boundary
  • the control processing module is used to control the walking robot to drive to the limit along the first travel path. According to the preset relative position relationship between the walking robot and the limit, control the walking robot to retreat and turn along the preset curved path, and then move along the second path The path travels.
  • the composition and general functions of its various modules are similar to the above-mentioned walking robot, so I will not repeat them here.
  • the technical solution of the present invention reduces one stop action and improves Improve walking efficiency. Compared with the direct forward steering method, the technical solution of the present invention is more adaptable.
  • the disclosed walking robot and the control system of the walking robot can be implemented in other ways.
  • the system implementation described above is only illustrative.
  • the division of modules is only a logical function division.
  • there may be other division methods for example, multiple modules or components can be combined or integrated into another.
  • a system or some features can be ignored or not implemented.
  • the functional modules in the various embodiments 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-mentioned integrated modules can be implemented in the form of hardware or in the form of hardware plus software functional modules.
  • the walking robot and the control system of the walking robot in any of the above embodiments work according to the following steps.
  • the walking robot drives to the limit along the first travel path
  • the walking robot monitors the relationship between itself and the boundary
  • the walking robot When the preset relative position relationship between the walking robot and the limit is reached, the walking robot turns backward along the preset curved path, and then travels along the second travel path.
  • the walking robot when the preset relative position relationship is reached, if the left side is closer to the limit, the walking robot will reverse clockwise and turn; if the right side is closer to the limit, the walking robot will reverse clockwise and turn.
  • the angle of the first travel path with respect to the limit is any angle, when the walking robot moves backwards along the preset curved path, the distances from the left and right sides of the two positions to the limit are equal, and The orientation of the walking robot in the two positions is opposite.
  • the preset curved path includes at least one arc path.
  • the central angle of the at least one arc path is greater than 180 degrees, and it is preferably applicable when the included angle of the first travel path with respect to the limit is less than 75 degrees.
  • the walking robot retreats and turns along the preset curve path, when one of the left and right sides reaches the preset relative position relationship, one of the left and right sides
  • the distance to the limit is the first threshold, and the walking robot is in the first posture toward the limit; when the distance from the other of the left and right sides to the limit reaches the second threshold, and the walking robot is in the second posture facing away from the limit,
  • the walking robot walks along the second travel path, and the second threshold is greater than the first threshold.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Harvester Elements (AREA)

Abstract

Robot mobile destiné à se déplacer et à fonctionner dans une plage de fonctionnement délimitée par une limite. Le robot comprend : un corps principal (10) ; un module de déplacement installé sur le corps principal (10), entraînant le robot mobile à se déplacer et tourner, et comprenant un ensemble de roues et un moteur d'entraînement entraînant l'ensemble de roues à se déplacer ; un module de détection de limite installé sur le corps principal (10) et détectant une relation de position entre le robot mobile et la limite ; un module d'énergie installé sur le corps principal (10) et utilisé pour fournir de l'énergie au robot mobile ; et un module de commande connecté électriquement au module de déplacement et au module de détection de limite, le robot mobile se déplaçant le long d'un premier trajet de déplacement (T12) vers la limite, et effectuant une opération de rotation lorsqu'une condition de relation de position relative prédéfinie est satisfaite, de façon à se déplacer le long d'un second trajet de déplacement (T56). Lorsque le robot mobile satisfait la condition de relation de position relative prédéfinie, le module de commande commande le module de déplacement pour qu'il se déplace vers l'arrière le long d'un trajet incurvé prédéfini pour effectuer l'opération de rotation, de telle sorte que le robot se déplace le long du second trajet de déplacement (T56) après que l'opération de rotation a été achevée. L'invention concerne en outre un système d'exploitation de robot mobile et un procédé de commande de rotation pour un robot mobile.
PCT/CN2019/115076 2019-01-31 2019-11-01 Robot mobile, procédé de commande de rotation associé, système de commande et système d'exploitation de robot mobile WO2020155715A1 (fr)

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CN112882476A (zh) * 2021-01-26 2021-06-01 佛山市光华智能设备有限公司 用于控制agv车体转向的控制方法及控制装置
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