WO2021008058A1 - 行走机器人的控制方法及系统 - Google Patents

行走机器人的控制方法及系统 Download PDF

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Publication number
WO2021008058A1
WO2021008058A1 PCT/CN2019/121307 CN2019121307W WO2021008058A1 WO 2021008058 A1 WO2021008058 A1 WO 2021008058A1 CN 2019121307 W CN2019121307 W CN 2019121307W WO 2021008058 A1 WO2021008058 A1 WO 2021008058A1
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Prior art keywords
robot
count value
line
corner
temporary
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PCT/CN2019/121307
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English (en)
French (fr)
Inventor
袁立超
陈泓
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苏州科瓴精密机械科技有限公司
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Publication of WO2021008058A1 publication Critical patent/WO2021008058A1/zh

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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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas

Definitions

  • the invention relates to the field of intelligent control, in particular to a control method and control system of a walking robot.
  • random mowing is a main low-cost method for mowing robots. That is, the robot moves forward within a delineated area such as an electronic boundary, and enters the work area in a random manner to mow the grass.
  • the above control method can meet the needs of mowing; however, usually the work area is larger, the work area is irregular in shape, there are narrow passages in the work area, and when the mowing robot completes its work When task or when it detects that its own battery is low, it will find the nearest boundary line and return to charge along the boundary line; take the lawn of at least two sub-regions connected by at least one narrow channel as an example: usually there is one charging station and Set in one of the sub-regions.
  • the sub-area A and the sub-area B are connected by a narrow passage C
  • the charging station P is set on the boundary of the area sub-area A
  • the lawn mower robot starts working in the sub-area A after starting from the charging station P.
  • the probability of entering the sub-area B through the narrow passage C is very small, which will cause the sub-area A to be fully traversed after a certain time; while the sub-area B is rarely processed; and for the area Larger working areas and robots returning to charging will also have problems with insufficient traversal of the working area and duplication of work.
  • the purpose of the present invention is to provide a control method and control system for a walking robot.
  • an embodiment of the present invention provides a control method of a walking robot, the method includes: S1, in each first cycle, counting the temporary count value of the turning angle and the turning angle count; the turning angle The count value is used to characterize the sum of the number of corners that the robot passes during the line-following state in each first cycle, and the same corner is counted once; the temporary count value of corners is used to characterize the robot from The sum of the number of corners passed when starting from the initial point, entering the line-following state, and walking along the line-following path; the second period is a subperiod of the first period, and each first period includes at least one The second cycle; the line-following path is a closed loop formed by the boundary of the working area where the robot is located; S2, according to the relationship between the temporary count value of the corner and the count value of the corner, determine the starting point of work, and drive the robot to leave at the starting point of work The line-following path enters the work
  • the length of the first cycle is defined as the time when the traversal rate of the walking robot in the working area reaches a preset value; the length of the second cycle is defined as the walking The charging cycle of the robot.
  • the length of the first cycle is defined as the time interval between two adjacent first events triggered by the walking robot; the length of the second cycle is defined as the walking robot The time interval between two consecutive triggers of the second event.
  • step S1 specifically includes: before the beginning of each first cycle or after the end of each first cycle, initializing both the temporary rotation angle count value and the rotation angle count value to zero; Before the start of the second cycle or after the end of each second cycle, only the temporary rotation angle count value is initialized to zero.
  • step S1 specifically includes: in the process of the robot walking along the line-following path in the line-following state, each time the robot passes a corner, the temporary count value of the corner is accumulated once.
  • the additional condition is that the distance between the current corner and the adjacent previous corner is not less than or greater than the preset minimum distance.
  • the rotation angle count value is modified It is equal to the temporary count value of the turning angle.
  • the first preset numerical relationship is defined as the temporary count value of the rotation angle is greater than the count value of the rotation angle.
  • step S1 further includes: freezing the temporary rotation angle count value and the rotation angle count value while the robot returns from the working area to the initial point.
  • step S2 specifically includes: in each first cycle, and the robot is in the line-following state, if the temporary turning angle count value and the turning angle count value meet the second preset In the case of numerical relationship, the current position of the robot is determined as the starting point of work.
  • the second preset numerical relationship is defined as the temporary count value of the rotation angle equal to the count value of the rotation angle.
  • step S1 also includes: in the line-following state, the robot is on the line-following path, and the included angle of the line-following path is [45°, 135° ] Is within the range, then the line-following path is defined as the corner.
  • a walking robot system including: a statistical unit, configured to count the temporary turning angle count value and the turning angle count value in each first cycle; the turning angle count value is used to characterize each first cycle The sum of the number of corners that the robot passes during the line-following state within a week, the same corners are counted once; the temporary count value of the corners is used to indicate that the robot starts from the initial point and enters the line-following state in each second cycle The sum of the number of corners passed when walking along the patrol route; the second period is a sub-period of the first period, and each of the first periods includes at least one of the second periods; the patrol The line path is a closed loop formed by the boundary line of the working area where the robot is located; the processing unit is configured to determine the working starting point according to the relationship between the temporary turning angle count value and the turning angle count value, and driving the robot to leave the line-following path at the working starting point In the working area, the robot changes from the line-following state to the working state.
  • control method and system of the walking robot of the present invention plan the starting point of work according to the corner position of the working area, which is beneficial for the robot to reach different areas roughly uniformly, saving labor costs, and improving the traversal of the walking robot in the working area. Improve work efficiency.
  • Fig. 1 is a structural schematic diagram of a working area with a narrow passage provided by the background technology of the present invention
  • FIG. 2 is a schematic flowchart of a control method of a walking robot in the first embodiment of the present invention
  • Figure 3 is a schematic diagram of the structure of a working area in a specific example of the present invention.
  • FIG. 4 is a schematic flow chart of a control method of a walking robot in a preferred implementation manner in the first embodiment of the present invention
  • FIG. 5 is a schematic flowchart of a control method of a walking robot in a second embodiment of the present invention.
  • FIG. 6 is a schematic diagram of modules of the walking robot system provided by the first embodiment of the present invention.
  • Fig. 7 is a schematic diagram of modules of the walking robot system provided in the second 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 tasks such as mowing and vacuuming.
  • the walking robot is taken as an example of a lawn mower for specific description. Accordingly, the working area may be a lawn.
  • the walking robot is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment, etc., suitable for unattended equipment.
  • the walking robot is a lawn mower, which includes a body, a walking module arranged on the body, a limit detection module, an energy module, and a control module.
  • the lawn mower also includes a work module, which is used to perform specific tasks of the lawn mower.
  • the work module includes a lawn mower blade, a cutting motor, etc., and may also include a mowing height adjustment mechanism and other components that optimize or adjust the mowing effect. .
  • the walking module is used to drive the lawn mower to walk and turn in the working area, and it is usually composed of a wheel set installed on the lawn mower and a drive motor that drives the wheel set to travel.
  • the boundary detection module is used to detect the relative position relationship between the lawn mower and the boundary line, which may specifically include one or more of the distance, angle, and the inner and outer directions of the boundary line.
  • 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.
  • the energy module is used to provide energy for various tasks of the lawn mower, and 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 lawn mower.
  • the control module is used to control the automatic walking and working of the lawn mower. It is electrically connected with the walking module and the limit detection module. It is the core component of the lawn mower. It performs some or all of the following functions, including controlling the work module to start or stop , Generate a walking path and control the walking module to follow the walking, determine the power of the energy module and instruct the lawnmower to return to the base station in time to automatically dock and charge, etc.
  • the control module usually includes a single-chip microcomputer, a memory, and other peripheral circuits.
  • the above-mentioned lawn mower also includes various sensors for sensing the walking state of the lawn mower, such as: tipping, ground-off, collision sensors, etc., which will not be detailed here.
  • the lawn mower and the boundary line defining its working area constitute a walking robot system, which also includes a base station.
  • the base station can be located inside or outside the work area, and connected to the mains or other power supply system for the lawn mower to return to charge.
  • the base station can transmit a pulse code signal to the boundary line to form an electromagnetic signal near the boundary line.
  • the control module can control the operation of the driving motor according to the change of the electromagnetic signal near the boundary line and the boundary line signal obtained by the state sensor, thereby making the cutting
  • the grass machine detects the boundary line, it turns to avoid or smoothly walks along the boundary line, and smoothly returns to the base station for charging.
  • the charging interface of the lawn mower is usually located in the front of the machine. When the lawn mower needs to be charged, it looks for the boundary line and adjusts the head toward the charging port of the charging station to reach the charging station and dock with the charging station for charging. According to the positional relationship between the charging station and the boundary line, when the robot walks along the boundary line and returns to the charging station for charging, the starting and returning directions along the line may be the same or opposite.
  • 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 one narrow area connected to both ends of the narrow area. At least two non-narrow areas; the working area can be a concave polygon or a convex polygon.
  • the change of the shape and size of the working area will not affect the traversal of the robot's working area.
  • the control method of a walking robot includes: S1, in each first period, counting the temporary count value of the turning angle and the turning angle count; the turning angle count is used To characterize the sum of the number of corners that the robot passes during the line-following state in each first cycle, the same corners are counted once; the temporary count of corners is used to characterize that the robot starts from the initial point in each second cycle
  • the second period is a subperiod of the first period, and each first period includes at least one second Period;
  • the line-following path is a closed loop formed by the boundary line of the working area where the robot is located.
  • the initial point is the position of the walking robot during charging in the base station.
  • the line-following state refers to a state where the lawn mower is walking along the boundary line, but the lawn mower mechanism is usually not working.
  • the working state refers to the state in which the lawn mower is walking in the working area and performing the mowing operation.
  • the length of the first cycle is defined as the time when the traversal rate of the walking robot in the work area reaches a preset value; the length of the second cycle is defined as the charging cycle of the walking robot .
  • the traversal rate refers to the ratio of the area of grass that has been trimmed by the lawn mower to the total area of the work area in a cycle.
  • T 1 the working time is T 1 , then T 1 is defined as the length of the first cycle.
  • the length of the first period is defined as the time interval between two adjacent first events triggered by the walking robot; the length of the second period is defined as the length of two adjacent walking robots.
  • the first event is completion of the nth (n ⁇ N * ) day work plan, and the second event is returning to the base station for charging.
  • step S1 specifically includes: before the beginning of each first period or after the end of each first period, initializing both the temporary rotation angle count value and the rotation angle count value to zero; Before the start or after the end of each second period, only the temporary corner count value is initialized to zero.
  • the working area is usually large.
  • the robot enters the line-following state from the initial point, and the robot walks along the line-following path, and enters the working state when it reaches the planned work starting point, and leaves follow the route and enter the work area; when the robot reaches the preset traversal rate in the work area, it is expressed as a first cycle; in the first cycle, if the robot itself fails, the user assists the recall, or reaches the preset conditions to leave After the working area, when entering the line inspection state again from the initial point and walking along the line inspection path, the temporary count value of the corner needs to be re-stated.
  • the state attributes of the walking robot can be obtained in real time, and the state attributes include at least one of the power of the battery pack, the duration of continuous work, and the distance of continuous walking; According to the state attribute of the walking robot, it is judged whether to execute the regression mode. If the power of the battery pack of the walking robot is less than the preset power threshold, and/or the continuous working time is greater than or equal to the preset working time threshold, and/or the continuous walking distance is greater than or equal to the preset continuous walking distance threshold, drive The walking robot executes a regression mode.
  • the walking robot finds the location of the base station, returns to the base station, enters the charging state for charging, and after charging is completed, enters the line patrol mode from the initial point and walks along the line patrol path, continues to monitor various parameter values, and finds the starting point of work Enter the work area.
  • step S1 further includes: freezing the temporary turning angle count value and the turning angle count value during the process of the robot returning from the working area to the initial point. In order to avoid changing the temporary count value of the corner and the value of the corner count during the regression process, to ensure the accuracy of the calculation.
  • the initial point is the starting point of departure when the walking robot walks a week along the line-following path.
  • the walking robot usually starts from the base station and returns to the base station after walking along the line inspection path for a week. In this way, the position of the base station can be used as the initial point.
  • the following methods can be used for the temporary count value of the corner and the count value of the corner; correspondingly, step S1 specifically includes: each time the robot passes through a corner while walking along the patrol path in the patrol state, The temporary count value of the rotation angle is accumulated once.
  • the accumulation is exemplarily adding 1 to the original value. In other embodiments, the accumulation can also be adding any number to the original value.
  • the temporary count value of the corner when the passing corner and the additional conditions are met at the same time, the temporary count value of the corner will be accumulated once.
  • the additional condition is that the distance between the current corner and the adjacent previous corner is not less than or greater than the preset minimum distance. The walking robot can judge whether the additional conditions are met by timing or mileage.
  • step S1 specifically includes: in each of the first periods, whenever the temporary rotation angle count value and the rotation angle count value meet a first preset numerical relationship, modifying the rotation angle count value to The temporary count values of the rotation angles are equal.
  • the first preset numerical relationship is exemplarily defined as the temporary turning angle count value being greater than the turning angle count value.
  • the temporary corner count value and the data of the corner count value are frozen, that is, their values no longer change, and each time the robot re-enters the initial point, the temporary corner count value is initialized; so, the above The embodiment can accurately record the temporary count value and the count value of the rotation angle.
  • step S1 also includes: if the angle between the road meeting and the patrol path is within the range of [45°,135°] on the patrol path, then define the patrol path Is the corner.
  • the boundary line at the junction of the sub-area A and the narrow passage must have an obvious corner within a short length.
  • the robot walks along the line
  • the speed difference between the left and right wheels is used to determine the angle that the lawn mower robot has turned, and then whether it has passed a corner; in this figure, the robot walks along the boundary line, and the direction of travel at position 1 is downward, and reaches the position
  • the direction of travel at 2 is to the left, that is, there is an approximately 90° turning angle between positions 12; in the specific embodiment of the present invention, a fixed mileage can be used to determine the position 1 and position 2, or a fixed time interval can be used to determine the position 1 and position 2; in this embodiment, if 45° ⁇ the included angle ⁇ 135°, it is considered that the robot has passed a corner, and at this time, the temporary count value of the corner is accumulated by 1.
  • the robot may also detect the rotation angle and/
  • the step S2 specifically includes: in each first cycle, and the robot is in the line-following state, if the temporary count value of the turning angle and the turning angle When the count value meets the second preset numerical relationship, the current position of the robot is determined as the starting point of the work.
  • the starting point is skipped and the robot is driven to leave the line-following path and enter the work area when entering the next starting point.
  • This special area is for example a narrow passage or an area where the robot does not need to enter. Since the narrow passage is expressed as the area is very small or very narrow, it can be ignored for the narrow passage, or when the walking robot is walking along the patrol path, the synchronous work can complete the mowing of the narrow passage.
  • the foregoing embodiments can ensure that the robot can enter the work area from a different work starting point each time, so that it can ensure that the robot traverses more fully when working in the work area.
  • the turning angle count value is assigned as 1; the current position is taken as the starting point of the robot's work, and the robot is driven to leave the line-following path and enter the work area at the starting point of the work; during the working process of the robot, it returns to the base station when the return conditions are met.
  • the temporary corner count value is restored to the initial value of 0, and the corner count value remains unchanged, which is still 1.
  • the robot starts again from the base station and walks along the patrol path. When passing the first corner A1, the temporary corner count value is accumulated 1, its value is 1. At this time, suppose that because the robot has already set off from the current position, it is judged that it does not meet the starting conditions. In this way, the robot will be driven to continue walking along the patrol path.
  • the temporary corner count value is accumulated by 1, and its value is 2.
  • the corner count value is modified to be equal to the temporary corner count value, that is, the corner count value is assigned to 2;
  • the current position is taken as the starting point of the robot's work.
  • the robot is driven to leave the line-following path and enter the work area again; this continues until the end of the work.
  • its return path can be the same as or opposite to the direction it entered the line patrol path.
  • the specific return method can be set according to needs, which will not be further described here.
  • the control method of the walking robot of the first embodiment above plans the starting point of work according to the corner position of the work area, which is beneficial for the robot to reach different areas roughly uniformly, and to ensure that the robot returns again when the robot returns without completing work.
  • the last job can be continued during work, avoiding duplication of work, saving labor costs, and improving the traversability of the walking robot in the work area, and improving work efficiency.
  • the second embodiment of the present invention provides a method for controlling a walking robot, and the method includes:
  • M1 providing a closed line-following path with known boundary coordinates, the line-following path being a closed loop formed by the boundary line of the working area where the walking robot is located;
  • M2 Divide the line-following path to divide the work area into multiple sub-areas, and obtain the corresponding boundary coordinates of each sub-area on the line-following path to form several sub-area boundary coordinate chains;
  • M3 Traverse the boundary coordinate chain of each sub-area, obtain the coordinate point with the smallest distance along the line from the initial point in each sub-area, and use it as the working starting point of each sub-area;
  • M4 In each first cycle, drive the robot to start from the initial point and walk along the line patrol path, and when it reaches the working starting point, drive the robot to leave the line patrol path and enter the work area.
  • step M1 there are many ways to obtain the boundary coordinates on the patrol route, for example: drive the robot to walk a circle along the patrol route, use wheel speed calculation and inertial navigation device to roughly obtain the coordinates of the robot relative to the charging station , Use them as boundary coordinates; or use GPS positioning, grid calculation, user-assisted boundary coordinate designation, etc. to obtain boundary coordinates.
  • the accuracy of the boundary coordinates does not affect the final planning result.
  • the method can also meet the planning requirements.
  • step M1 specifically includes: driving the robot to walk a circle along the patrol path from the initial point, and obtaining the coordinates of the current position of the robot every preset time interval and/or every preset length The coordinates of is used as the boundary coordinates on the patrol path.
  • partitioning the working area is the prior art, which can be partitioned in a variety of ways, for example: if there is a narrow passage in the working area, the working area is divided into a number of normal working subdivisions formed by the narrow passage. Area; or use the path division method, that is, divide the work area into several sub-areas according to the number of boundary coordinates or the perimeter of the patrol route; or divide the work area into several sub-areas according to the area of the work area. There are many ways to implement it, so I won’t go into details here.
  • each sub-area corresponds to a different boundary coordinate on the line-following path, and further, the corresponding boundary coordinates of each sub-area on the line-following path will be obtained to form each sub-area.
  • the boundary coordinate chain corresponding to the area.
  • the setting of the initial point is the same as the above-mentioned first embodiment, and will not be further described here.
  • the step M3 specifically includes: traversing the boundary coordinate chain of each sub-area along the extension direction of the patrol path starting from the initial point, and moving along the extension direction of the patrol path in each subregion The first boundary coordinate point traversed on the area is used as the starting point of each sub-area.
  • the walking distance and/or walking time can be used to find each starting point of work, and after finding the starting point of work, the robot is driven to enter the work area to mow grass jobs.
  • the step M3 specifically includes: acquiring the number of boundary coordinates from the initial point to each sub-region and each boundary coordinate on the line-following path, and then the minimum along the line from the initial point to each sub-region distance is expressed as S a;
  • M4 comprises the step of: in each of the first period, driving the robot from the initial point of departure and the travel path along the transmission line, and the robot walks along the distance S a, away from the robot drive transmission line path into the work area.
  • the senor further includes: a mileage sensor, which is used to record the travel distance of the walking robot; the mileage sensor may also be an odometer, an inertial sensor, a Hall sensor, or a photoelectric sensor.
  • the further step M4 driving the robot to walk along the distance S a, drive the robot to continue to travel along, and walking preset correction time and / or a preset distance correction , And then drive the robot to leave the patrol path and enter the work area.
  • the preset correction time is a time threshold, and its size can be specified as required
  • the preset correction distance is a length threshold, and its size can also be specified as required; in practical applications, if Using a rough method to calculate the boundary coordinates, you can use this method to correct the actual starting point of work; and in the correction process, the robot can be adjusted according to the specific application scene within the preset calibration time and/or preset calibration distance.
  • the patrol route continues to walk, or walks back and forth along the patrol route, so I won’t go into further details here.
  • the step M3 comprises: the minimum distance S along the line to the initial point and each sub-area of a robot along the travel average velocity v, the walking robot from the initial point to each of the sub- The minimum time of the area is expressed as t a ;
  • Step M4 specifically includes: in each first cycle, drive the robot to start from the initial point and walk along the line-following path, and drive the robot to leave the line-following path and enter the work area after the robot walks along the line t a .
  • a time counter can also be set on the robot to record the walking time of the robot.
  • the step M4 further includes: after the robot is driven to walk along the line for a time t a , the robot is driven to continue to walk along the line, and when the preset correction time and/or the preset correction distance are walked , And then drive the robot to leave the patrol path and enter the work area.
  • the method further includes: obtaining a preset number of times of work of the robot in each sub area in a first cycle according to the area of each sub area
  • a a represents the area of any subregion
  • m is the number of subregions
  • Is the sum of the areas of all sub-regions
  • k is the number of charging times of the robot in each first cycle
  • the above-mentioned preset work times can also be understood as the number of times the walking robot continuously starts from the same work starting point in each subregion.
  • the corresponding preset work times for each subregion can also be arbitrarily designated as needed. Or get it according to other rules, so I won’t go into further details here.
  • the area of the above-mentioned work area can be obtained in many ways, for example: divide the work area into a number of triangles, find the areas separately, and finally add them up.
  • the control method of the walking robot of the second embodiment described above divides the working area into multiple sub-areas, and plans the working starting point of each sub-area according to the distance between each sub-area and the initial point, which is beneficial for the robot to reach different areas roughly uniformly.
  • the obtained starting point of work is corrected to more accurately ensure that the robot traverses each sub-area, save labor costs, and improve the traversal of the walking robot in the working area Improve work efficiency.
  • the walking robot system provided by the first embodiment of the present invention includes: a statistical unit 100 and a configuration processing unit 200.
  • the statistical unit 100 is used to count the temporary turning angle count value and the turning angle count value in each first period; the temporary turning angle count value is used to represent that the robot enters the line-following path from the same initial point every time, and then goes on the line-following path.
  • the sum of the number of corners encountered; the line-following path is a closed loop formed by the boundary of the working area where the robot is located; in each first cycle, the robot enters the line-following path at least once; the turning angle count is used to characterize each In the first cycle, the total number of corners that the robot has traversed on the patrol path and in the working state, the same corners are counted once;
  • the configuration processing unit 200 is used to determine the working starting point according to the size relationship between the temporary turning angle count value and the turning angle count value, and driving the robot to leave the line-following path and enter the working area at the working starting point.
  • the statistical unit 100 is used to execute step S1 involved in the control method of the walking robot provided in the first embodiment, and the configuration processing unit 200 is used to execute step S2, which will not be further described here. .
  • the walking robot system provided by the second embodiment of the present invention includes: a coordinate establishing unit 300, an area dividing unit 400, a processing unit 500 and a control output unit 600.
  • the coordinate establishing unit 300 is used to provide a closed line-following path with known boundary coordinates, and the line-following path is a closed loop formed by the boundary of the working area where the walking robot is located;
  • the area dividing unit 400 is used to divide the line-following path , To divide the work area into multiple sub-areas, and obtain the corresponding boundary coordinates of each sub-area on the patrol path to form several sub-area boundary coordinate chains;
  • the processing unit 500 is used to traverse the boundary coordinate chains of each sub-area to obtain The coordinate point in each sub-area with the smallest distance along the line from the initial point is taken as the starting point of each sub-area;
  • the control output unit 600 is used to drive the robot to start from the initial point and follow the line patrol path in each first cycle Walk, and when arriving at the starting point of work, drive the robot to leave the patrol path and enter the work area.
  • the coordinate establishing unit 300 is used to perform step M1 involved in the walking robot control method provided in the second embodiment
  • the area dividing unit 400 is used to perform step M2
  • the processing unit 500 is used to perform In step M3
  • the control output unit 600 is used to execute step M4, which will not be further described here.
  • modules described as separate components may or may not be physically separate, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed to multiple network modules, Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of this embodiment.
  • 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.

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Abstract

一种行走机器人的控制方法及系统，包括：(S1)在每个第一周期内，统计转角临时计数值和转角计数值；转角计数值用于表征每个第一周期内，机器人在巡线状态时经过的转角(A1、A2)的数量之和，相同转角(A1、A2)统计一次；转角临时计数值用于表征在每个第二周期内，机器人从初始点(P)出发、进入巡线状态、沿巡线路径行走时经过的转角(A1、A2)的数量之和；(S2)根据转角临时计数值和转角计数值的大小关系，确定工作出发点，并在工作出发点处驱动机器人离开巡线路径进入工作区域，机器人从巡线状态变为工作状态。有益效果：提升行走机器人在工作区域内的遍历性，提高工作效率。

Description

行走机器人的控制方法及系统 技术领域
本发明涉及智能控制领域，尤其涉及一种行走机器人的控制方法及控制系统。
背景技术
随着科学技术的不断进步，各种自动工作设备已经开始慢慢的走进人们的生活，例如：自动吸尘机器人、自动割草机器人等。这种自动工作设备具有行走装置、工作装置及自动控制装置，从而使得自动工作设备能够脱离人们的操作，在一定范围内自动行走并执行工作，在自动工作设备的储能装置能量不足时，其能够自动返回充电站装置进行充电，然后继续工作。
现有技术中，随机割草是割草机器人低成本的一个主要方式。即机器人在圈定范围如电子边界内向前运动，并采用随机的方式进入工作区域进行割草。
对于面积较小且为一个规则形状的工作区域时，上述控制方式可以满足割草需求；然而，通常工作区域较大，工作区域形状不规则，工区区域存在狭窄通道，以及当割草机器人完成工作任务或者检测到自身电量低的时候，会寻找最近的边界线，并沿着边界线回归充电；以工作区域由至少一个狭窄通道连接的至少两个子区域的草坪为例：通常充电站为一个且设置在其中一个子区域内。
如图1所示的情况，子区域A和子区域B由狭窄通道C连接，充电站P设置在区域子区域A的边界线上，割草机器人从充电站P出发后在子区域A中工作，对于随机路径的割草机器人，通过狭窄通道C进入子区域B的概率很小，就会导致一定时间以后，子区域A得到了充分的遍历；而子区域B却很少被处理；而对于面积较大的工作区域以及机器人回归充电，也同样会存在工作区域 遍历不充分、以及重复工作的问题发生。
发明内容
为解决上述技术问题，本发明的目的在于提供一种行走机器人的控制方法及控制系统。
为了实现上述发明目的之一，本发明一实施方式提供一种行走机器人的控制方法，所述方法包括：S1，在每个第一周期内，统计转角临时计数值和转角计数值；所述转角计数值用于表征每个第一周期内，机器人在巡线状态时经过的转角的数量之和，相同转角统计一次；所述转角临时计数值用于表征在每个第二周期内，机器人从初始点出发、进入巡线状态、沿巡线路径行走时经过的转角的数量之和；所述第二周期为所述第一周期的子周期，且每个所述第一周期包括至少一个所述第二周期；所述巡线路径为机器人所在工作区域的边界线形成的闭合回路；S2，根据转角临时计数值和转角计数值的大小关系，确定工作出发点，并在工作出发点处驱动机器人离开所述巡线路径进入工作区域，所述机器人从所述巡线状态变为工作状态。
作为本发明一实施方式的进一步改进，所述第一周期的长度定义为所述行走机器人在所述工作区域的遍历率达到预设值的时间；所述第二周期的长度定义为所述行走机器人的充电周期。
作为本发明一实施方式的进一步改进，所述第一周期的长度定义为所述行走机器人相邻两次触发第一事件之间的时间间隔；所述第二周期的长度定义为所述行走机器人相邻两次触发第二事件之间的时间间隔。
作为本发明一实施方式的进一步改进，步骤S1具体包括：在每个第一周期开始之前或每个第一周期结束之后，将转角临时计数值和转角计数值均初始化为零；在每个第二周期开始之前或每个第二周期结束之后，仅将转角临时计 数值初始化为零。
作为本发明一实施方式的进一步改进，步骤S1具体包括：机器人在巡线状态沿巡线路径行走过程中，每通过一个转角，对所述转角临时计数值进行一次累加。
作为本发明一实施方式的进一步改进，当同时满足通过转角和附加条件时，才会对所述转角临时计数值进行一次累加。
作为本发明一实施方式的进一步改进，所述附加条件为当前转角与相邻的上一转角之间的距离不小于或大于预设的最小距离。
作为本发明一实施方式的进一步改进，在每个所述第一周期内，每当所述转角临时计数值与所述转角计数值满足第一预设数值关系时，将所述转角计数值修改为与所述转角临时计数值相等。
作为本发明一实施方式的进一步改进，所述第一预设数值关系定义为所述转角临时计数值大于所述转角计数值。
作为本发明一实施方式的进一步改进，步骤S1还包括：在所述机器人从工作区域返回所述初始点的过程中，冻结所述转角临时计数值和所述转角计数值。
作为本发明一实施方式的进一步改进，步骤S2具体包括：在每个第一周期内，且所述机器人为巡线状态，若所述转角临时计数值与所述转角计数值满足第二预设数值关系时，将机器人的当前位置确定为工作出发点。
作为本发明一实施方式的进一步改进，所述第二预设数值关系定义为所述转角临时计数值等于所述转角计数值。
作为本发明一实施方式的进一步改进，步骤S1还包括：处于所述巡线状态时，所述机器人在所述巡线路径上，经过相接巡线路径的夹角处于 [45°，135°]范围内，则将该巡线路径处定义为所述转角。
本发明另一实施方式提供了一种行走机器人系统，包括：统计单元，用于在每个第一周期内，统计转角临时计数值和转角计数值；所述转角计数值用于表征每个第一周期内，机器人在巡线状态时经过的转角的数量之和，相同转角统计一次；所述转角临时计数值用于表征在每个第二周期内，机器人从初始点出发、进入巡线状态、沿巡线路径行走时经过的转角的数量之和；所述第二周期为所述第一周期的子周期，且每个所述第一周期包括至少一个所述第二周期；所述巡线路径为机器人所在工作区域的边界线形成的闭合回路；配置处理单元，根据转角临时计数值和转角计数值的大小关系，确定工作出发点，并在工作出发点处驱动机器人离开所述巡线路径进入工作区域，所述机器人从所述巡线状态变为工作状态。
与现有技术相比，本发明行走机器人的控制方法及系统，根据工作区域的转角位置规划工作出发点，利于机器人大致均匀地到达不同的区域，节省人力成本，提升行走机器人在工作区间内的遍历性，提高工作效率。
附图说明
图1是本发明背景技术提供的带有狭窄通道的工作区域的结构示意图；
图2是本发明第一实施方式中行走机器人的控制方法的流程示意图；
图3是本发明一具体示例中工作区域的结构示意图；
图4是本发明第一实施方式中较佳实现方式的行走机器人的控制方法的流程示意图；
图5是本发明第二实施方式中行走机器人的控制方法的流程示意图；
图6是本发明第一实施方式提供的行走机器人系统的模块示意图；
图7是本发明第二实施方式中提供的行走机器人系统的模块示意图。
具体实施方式
以下将结合附图所示的各实施方式对本发明进行详细描述。但这些实施方式并不限制本发明，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
本发明的行走机器人可以是自动割草机，或者自动吸尘器等，其自动行走于工作区域之内以进行割草、吸尘等工作。本发明具体示例中，以行走机器人为割草机为例做具体说明，相应的，所述工作区域可为草坪。当然，行走机器人不限于割草机和吸尘器，也可以为其它设备，如喷洒设备、除雪设备、监视设备等等适合无人值守的设备。
如图1所示，在本发明的一较佳实施方式中，行走机器人为割草机，割草机包括：机体，设置于机体上的行走模块、界限侦测模块、能量模块以及控制模块。另外，割草机还包括工作模块，其用于执行割草机的具体工作任务，工作模块包括割草刀片、切割马达等，也可能包括割草高度调节机构等优化或调整割草效果的部件。
行走模块用于带动割草机在工作区域内行走和转向，通常由安装在割草机上的轮组和驱动轮组行走的驱动马达组成。
界限侦测模块用于侦测割草机和边界线之间的相对位置关系，具体可能包括距离、角度、边界线内外方位中的一种或几种。界限侦测模块的组成和原理可以为多种，如可以为红外线式、超声波式、碰撞检测式，磁感应式等等，其传感器和对应的信号发生装置的设置位置和数量也是多样的。
能量模块用于为割草机的各项工作提供能量，其包括可充电电池和充电连接结构，充电连接结构通常为可露出于割草机外的充电电极片。
控制模块用于控制割草机自动行走和工作，与行走模块和界限侦测模块 电性连接，是割草机的核心部件，它执行的以下部分或全部功能，包括控制工作模块启动工作或停止、生成行走路径并控制行走模块依照行走、判断能量模块的电量并及时指令割草机返回基站自动对接充电等等。控制模块通常包括单片机和存储器以及其它外围电路。
上述割草机还包括用于感应割草机的行走状态的各种传感器，例如：倾倒、离地、碰撞传感器等，在此不做具体赘述。
其中，割草机和限定其工作区域的边界线构成了行走机器人系统，该行走机器人系统还包括基站。基站可以位于工作区域内侧或者外侧，和市电或其它电能提供系统连接，供割草机返回充电。基站可以向边界线发射脉冲编码信号，以在边界线附近形成电磁信号，控制模块可根据边界线附近电磁信号的变化以及其通过状态传感器获取到的边界线信号来控制驱动马达运行，从而使割草机在侦测到边界线时及时转向避开或顺利地沿着边界线行走，并顺利返回基站充电。
割草机的充电接口通常位于机器前部，割草机器人需要充电时，寻找边界线并调整机头朝向充电站充电口的方向前进，到达充电站并与充电站对接实现充电。根据充电站与边界线的位置关系，机器人沿边界线行走并返回至充电站进行充电过程中，其沿线出发和沿线回归的方向可能相同也可能相反。
本发明的具体应用环境中，所述工作区域(草坪)可能为一整块非狭窄区域，也可能是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；所述工作区域可以为凹多边形、凸多边形，在本发明中，通过对工作出发点的设定，工作区域形状、大小的变换不会影响机器人都工作区域的遍历。
如图2所示，本发明第一实施提供的行走机器人的控制方法，所述方法包 括：S1，在每个第一周期内，统计转角临时计数值和转角计数值；所述转角计数值用于表征每个第一周期内，机器人在巡线状态时经过的转角的数量之和，相同转角统计一次；所述转角临时计数值用于表征在每个第二周期内，机器人从初始点出发、进入巡线状态、沿巡线路径行走时经过的转角的数量之和；所述第二周期为所述第一周期的子周期，且每个所述第一周期包括至少一个所述第二周期；所述巡线路径为机器人所在工作区域的边界线形成的闭合回路。其中，所述初始点为行走机器人在基站内充电时的位置。所述巡线状态是指割草机沿边界线行走、但割草机机构通常是不工作的状态。
S2，根据转角临时计数值和转角计数值的大小关系，确定工作出发点，并在工作出发点处驱动机器人离开所述巡线路径进入工作区域，所述机器人从所述巡线状态变为工作状态。所述工作状态是指割草机在工作区域内行走并执行割草作业的状态。
在一些实施例中，所述第一周期的长度定义为所述行走机器人在所述工作区域的遍历率达到预设值的时间；所述第二周期的长度定义为所述行走机器人的充电周期。其中，所述遍历率指的是，在一个周期内，割草机已修剪过的草地面积与工作区域总面积的比值。示例性地，根据割草机的工作宽度、行进速度等参数，可以通过模拟计算或实测，获知针对特定面积的草坪，完成一次遍历(达到指定遍历率，通常为不小于90％)所需的工作时间为T 1，则将T 1定义为第一周期的长度。
在另一些实施例中，所述第一周期的长度定义为所述行走机器人相邻两次触发第一事件之间的时间间隔；所述第二周期的长度定义为所述行走机器人相邻两次触发第二事件之间的时间间隔；其中，所述第一事件的发生频率大于所述第二事件的发生频率。示例性地，所述第一事件为完成第n(n∈N *)个日工作 计划，所述第二事件为返回基站充电。
本发明较佳实施方式中，步骤S1具体包括：在每个第一周期开始之前或每个第一周期结束之后，将转角临时计数值和转角计数值均初始化为零；在每个第二周期开始之前或每个第二周期结束之后，仅将转角临时计数值初始化为零。
本发明具体实施方式中，工作区域通常较大，在每个第一周期内，自初始点开始进入巡线状态，机器人沿巡线路径行走，并在到达规划的工作出发点时进入工作状态，离开巡线路径并进入工作区域；机器人在工作区域内工作达到预设的遍历率时，表示为一个第一周期；在该第一周期内，若机器人自身故障、用户辅助召回或者达到预设条件离开工作区域后，当再次自初始点进入巡线状态沿巡线路径行走，需要重新统计转角临时计数值。
本发明一具体示例中，机器人在工作区域内工作的过程中，可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行走的路程至少其中之一；根据行走机器人的状态属性，判断是否执行回归模式。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或等于预设的工作时长阈值，和/或连续行走的路程大于或等于预设的连续行走的路程阈值，则驱动所述行走机器人执行回归模式。回归模式下，行走机器人查找基站位置，并返回至基站，进入充电状态进行充电，并在充电完成后，自初始点进入巡线模式沿巡线路径行走，继续监测各个参数值，及查找工作出发点进入工作区域。
相应的，步骤S1还包括：在所述机器人从工作区域返回所述初始点的过程中，冻结所述转角临时计数值和所述转角计数值。，以避免回归过程中，更改转角临时计数值和转角计数值的数值，保证计算的准确性。
所述初始点为行走机器人沿巡线路径行走一周过程中的起始出发点。本发明具体实施方式中，行走机器人通常由基站出发沿巡线路径行走一周后回到基站，如此，可将基站的位置作为初始点。本发明较佳实施方式中，对于转角临时计数值和转角计数值统计可采用下述方法；相应的，步骤S1具体包括：机器人在巡线状态沿巡线路径行走过程中，每通过一个转角，对所述转角临时计数值进行一次累加。在本实施例中，所述累加示例性地是在原数值的基础上加1。在其他实施例中，所述累加也可以是在原数值的基础上加上任意数。特别地，在一些实施例中，当同时满足通过转角和附加条件时，才会对所述转角临时计数值进行一次累加。示例性地，所述附加条件为当前转角与相邻的上一转角之间的距离不小于或大于预设的最小距离。行走机器人可以通过计时或计里程的方法来判断是否满足附加条件。
进一步的，步骤S1具体包括：在每个所述第一周期内，每当所述转角临时计数值与所述转角计数值满足第一预设数值关系时，将所述转角计数值修改为与所述转角临时计数值相等。在本实施例中，所述第一预设数值关系示例性地定义为所述转角临时计数值大于所述转角计数值。
由于机器人在回归过程中，对转角临时计数值和转角计数值的数据进行冻结，即其数值不再变化，且在机器人每次重新进入初始点时，均对转角临时计数值初始化；如此，上述实施方式可以精确记录转角临时计数值和转角计数值。
本发明一较佳实施方式中，步骤S1还包括：若在巡线路径上，路遇相接巡线路径的夹角处于[45°,135°]范围内，则将该巡线路径处定义为所述转角。
本发明具体实施方式中，结合图3所示，对于具有狭窄通道的工作区域，在子区域A与狭窄通道连接处的边界线必然在很短的长度内具有一个明显的转角，当机器人沿线行走时，其可以利用左右轮速差来判断割草机器人航向转过 的角度，进而判断是否通过了一个转角；该图示中，机器人沿边界线行走，在位置①时的行进方向向下，到达位置②时的行进方向向左，即在位置①②之间存在一个大致90°的转角；本发明具体实施方式中，可以用固定里程来确定位置①和位置②，也可以用固定时间间隔来确定位置①和位置②；在本实施方式中，若45°＜夹角＜135°，则认为机器人通过了一个转角，此时，将转角临时计数值累加1。在本发明的其他实施例中，机器人也可采用传感器等多种方式检测转角和/或转角的角度，在此不做详细赘述。
本发明一较佳实施方式中，结合图4所示，所述步骤S2具体包括：在每个第一周期内，且所述机器人为巡线状态，若所述转角临时计数值与所述转角计数值满足第二预设数值关系时，将机器人的当前位置确定为工作出发点。
本发明一较佳实施方式中，若工作区域内存在特殊区域，在工作出发点处于特殊区域时，略过该出发点并在进入下一个出发点时再驱动机器人离开巡线路径进入工作区。该特殊区域例如狭窄通道，或者是机器人不需要进入的区域。由于狭窄通道表示为区域非常小或者非常狭窄，如此，对于狭窄通道可忽略不计，或者在行走机器人沿巡线路径行走时，同步工作即可完成对狭窄通道的割草工作。
上述实施方式可以保证机器人每次均可以自不同的工作出发点进入工作区，如此，保证机器人在工作区工作时遍历更加充分。
为了便于理解，继续结合图3所示为例，该示例以基站位置为初始点，初始状态下，转角临时计数值和转角计数值的数值均为0；机器人首次自初始点沿巡线路径行走，在经过第一个转角A1时，转角临时计数值累加1，其数值为1；当前位置下，转角临时计数值＞转角计数值，如此，将转角计数值修改为与转角临时计数值相等，即转角计数值赋值为1；并将当前位置作为本次机 器人行进的工作出发点，在工作出发点处驱动机器人离开巡线路径进入工作区域；机器人工作过程中，满足回归条件回归到基站，此时，转角临时计数值恢复为初始值0，转角计数值保持不变，依然为1；进一步的，机器人再次从基站出发并沿巡线路径行走，当经过第一个转角A1时，转角临时计数值累加1，其数值为1；此时，假设因为机器人从当前位置已经出发过一次，故判断其不满足出发条件，如此，会驱动机器人沿巡线路径继续行走，在经过第二个转角A2时，转角临时计数值累加1，其数值为2；当前位置下，转角临时计数值＞转角计数值，如此，将转角计数值修改为与转角临时计数值相等，即转角计数值赋值为2；并将当前位置作为本次机器人行进的工作出发点，在工作出发点处驱动机器人离开巡线路径再次进入工作区域；如此继续，直至工作结束。机器人工作区域工作过程中，若需要返回到基站，其回归路径可以与其进入巡线路径的方向相同也可以相反，其具体回归方式可根据需要进行设定，在此不做进一步的赘述。
当机器人充电完成并再次自初始点进入巡线路径后，其转角临时计数值恢复到初始值，为0，转角计数值保持不变，其值为2，进一步的，当机器人经过第一转角A1后，转角临时计数值累加为1，其数值调整为1，转角临时计数值＜转角计数值，此时，机器人继续沿巡线路径行走，当经过第二个转角A2时，转角临时计数值继续累加为1，其设置调整为2，此时，转角临时计数值＝转角计数值，将当前位置作为本次机器人行进的工作出发点，在工作出发点处驱动机器人离开巡线路径进入子区域B；当对子区域B完成割草工作，并经过下一个转角时，继续按照上述流程进行判断，直至一个第一周期结束。
综上所述，上述第一实施方式的行走机器人的控制方法根据工作区域的转角位置规划工作出发点，利于机器人大致均匀地到达不同的区域，且在机器人 在未完成工作而回归时，保证机器人再次工作时可以接续上次工作，避免重复工作，节省人力成本，且提升行走机器人在工作区间内的遍历性，提高工作效率。
结合图5所示，本发明第二实施方式提供的行走机器人的控制方法，所述方法包括：
M1，提供一边界坐标已知的闭合的巡线路径，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；
M2，对巡线路径进行划分，以将工作区域划分为多个子区域，并获得每一子区域在巡线路径上对应的边界坐标，以形成若干个子区域边界坐标链；
M3，遍历各个子区域边界坐标链，获取每个子区域中距离初始点具有最小沿线距离的坐标点，将其作为每个子区域的工作出发点；
M4，在每个第一周期内，驱动机器人自初始点出发并沿巡线路径行走，并在到达工作出发点时，驱动机器人离开巡线路径进入工作区。
对于步骤M1，获取巡线路径上的边界坐标的方式具有多种，例如：驱动机器人沿巡线路径行走一圈，利用轮速计算、惯速导航装置，粗略地获得机器人相对于充电站的坐标，将其作为边界坐标；或是采用GPS定位、栅格计算、用户辅助边界坐标的指定等方式均可以获得边界坐标。需要说明的是，本实施方式中，边界坐标的精确度不会影响最终的规划结果，如此，若仅已知粗略的边界坐标，则该方法同样可以满足规划需求。
本发明一具体实施方式中，步骤M1具体包括：驱动机器人自初始点沿巡线路径行走一圈，每间隔预设时间和/或每间隔预设长度，获取机器人当前位置的坐标，并将获得的坐标作为巡线路径上的边界坐标。
对于步骤M2，对工作区域进行分区为现有技术，其可以采用多种方式进行 分区，例如：若工作区域内具有狭窄通道，则将工作区域划分为由狭窄通道分隔形成的若干个正常工作子区域；或采用路径划分方式，即按照边界坐标的个数，或巡线路径的周长将工作区域划分为若干子区域；或按照工作区域的面积将工作区域拆分为若干个子区域，其具体实现方式有多种，在此不做进一步的赘述。需要说明的，将工作区域划分为若干子区域后，每个子区域在巡线路径上均对应不同的边界坐标，进一步的，将获得每一子区域在巡线路径上对应的边界坐标形成每个子区域对应的边界坐标链。
对于本实施方式中，初始点的设定与上述第一实施方式相同，在此不做进一步的赘述。
对于步骤M3，本发明一较佳实施方式中，所述步骤M3具体包括：自初始点开始沿巡线路径延伸方向遍历各个子区域边界坐标链，沿巡线路径延伸方向，将在每一子区域上遍历到的第一个边界坐标点作为每个子区域的工作出发点。
本发明可实现方式中，在驱动机器人沿巡线路径行走过程中，可采用行走路程和/或行走时间的方式找到各个工作出发点，并在找到工作出发点后，驱动机器人进入到工作区域进行割草工作。
本发明一具体实施方式中，所述步骤M3具体包括：在巡线路径上获取初始点至每个一子区域的边界坐标个数及各个边界坐标，则初始点至每一子区域的最小沿线距离表示为S a；
Figure PCTCN2019121307-appb-000001
其中，(x i，y i)表示任一边界点坐标，i＝0，1，2，…，n-1，n表示初始点至任一子区域的边界坐标个数，n的值包括初始点，初始点的坐标为(x 0，y 0)， 工作出发点的坐标为(x n，y n)。
相应的，步骤M4具体包括：在每个第一周期内，驱动机器人自初始点出发并沿巡线路径行走，并在机器人沿线行走距离S a后，驱动机器人离开巡线路径进入工作区。
本发明一可实现方式中，所述传感器还包括：里程传感器，用于记录行走机器人的行驶距离；所述里程传感器也可为里程计、惯性传感器、霍尔或光电传感器等。
进一步的，考虑到边界坐标的不准确性，所述步骤M4还包括：在驱动机器人沿线行走距离S a后，驱动机器人继续沿线行走，并在行走预设校正时间和/或预设校正距离时，再驱动机器人离开巡线路径进入工作区。需要说明的是，所述预设校正时间为一时间阈值，其大小可以根据需要具体指定，所述预设校正距离为一长度阈值，其大小也是可以根据需要具体指定；在实际应用中，若采用较为粗略的方式计算边界坐标，则可以采用该种方式对实际的工作出发点进行校正；而在校正过程中，机器人在预设校正时间和/或预设校正距离内，可根据具体应用场景沿巡线路径继续行走，或沿巡线路径折返行走，在此不做进一步的赘述。
本发明另一较佳实施方式中，所述步骤M3具体包括：根据初始点至每一子区域的最小沿线距离S a及机器人沿线行走的平均速度v，则机器人自初始点行走至每一子区域的最少时间表示为t a；
Figure PCTCN2019121307-appb-000002
步骤M4具体包括：在每个第一周期内，驱动机器人自初始点出发并沿巡线路径行走，并在机器人沿线行走时间t a后，驱动机器人离开巡线路径进入工作区。
本发明一可实现方式中，机器人上还可设置时间计数器，用于记录机器人的行走时间。
进一步的，考虑到边界坐标的不准确性，所述步骤M4还包括：在驱动机器人沿线行走时间t a后，驱动机器人继续沿线行走，并在行走预设校正时间和/或预设校正距离时，再驱动机器人离开巡线路径进入工作区。
本发明一较佳实施方式中，为了对工作区域做更均匀的遍历，所述方法还包括：根据每个子区域的面积获取一个第一周期内、机器人在每个子区域内的预设工作次数
Figure PCTCN2019121307-appb-000003
其中，A a表示任一个子区域的面积，m为子区域的数量，
Figure PCTCN2019121307-appb-000004
为所有子区域的面积之和，k为机器人在每个第一周期内的充电次数；
当确认机器人在每个工作出发点进入工作区，且在每个工作区工作的次数均达到预设工作次数时，确认机器人工作完成。
上述预设工作次数也可以理解为所述行走机器人在每个子区域的同一工作出发点连续出发的次数，本发明其他实施方式中，每个子区域的对应的预设工作次数也可以根据需要任意指定，或按照其他规则进行获取，在此不做进一步的赘述。
上述工作区域的面积可通过多种方式获得，例如：将工作区域划分为若干个三角形，分别求面积，最后累加。
上述第二实施方式的行走机器人的控制方法，将工作区域划分为多个子区域，并根据各个子区域距离初始点的距离规划各个子区域的工作出发点，利于机器人大致均匀地到达不同的区域，进一步的，考虑到粗略方式获得的边界坐标的不确定性，对获得的工作出发点进行校正，以更为精确的保证机器人遍历 每一子区域，节省人力成本，且提升行走机器人在工作区间内的遍历性，提高工作效率。
如图6所示，本发明第一实施方式提供的行走机器人系统，其包括：统计单元100和配置处理单元200。
统计单元100用于在每个第一周期内，统计转角临时计数值和转角计数值；所述转角临时计数值用于表征机器人每次自同一初始点进入巡线路径后，在巡线路径上路遇转角的数量之和；所述巡线路径为机器人所在工作区域的边界线形成的闭合回路；每个第一周期内，机器人至少一次进入巡线路径；所述转角计数值用于表征每个第一周期内，机器人在巡线路径上、且在工作状态下路遇已遍历的转角的数量之和，相同转角统计一次；
配置处理单元200用于根据转角临时计数值和转角计数值的大小关系，确定工作出发点，并在工作出发点处驱动机器人离开巡线路径进入工作区。
本发明具体实施方式中，所述统计单元100用于执行上述第一实施方式提供的行走机器人的控制方法中涉及的步骤S1，配置处理单元200用于执行步骤S2，在此不做进一步的赘述。
结合图7所示，本发明第二实施方式提供的行走机器人系统，其包括：坐标确立单元300，区域划分单元400，处理单元500以及控制输出单元600。
坐标确立单元300用于提供一边界坐标已知的闭合的巡线路径，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；区域划分单元400用于对巡线路径进行划分，以将工作区域划分为多个子区域，并获得每一子区域在巡线路径上对应的边界坐标，以形成若干个子区域边界坐标链；处理单元500用于遍历各个子区域边界坐标链，获取每个子区域中距离初始点具有最小沿线距离的坐标点，将其作为每个子区域的工作出发点；控制输出单元600用 于在每个第一周期内，驱动机器人自初始点出发并沿巡线路径行走，并在到达工作出发点时，驱动机器人离开巡线路径进入工作区。
本发明具体实施方式中，所述坐标确立单元300用于执行上述第二实施方式提供的行走机器人的控制方法中涉及的步骤M1，区域划分单元400用于执行步骤M2，处理单元500用于执行步骤M3，控制输出单元600用于执行步骤M4，在此不做进一步的赘述。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统的具体工作过程，可以参考前述方法实施方式中的对应过程，在此不再赘述。
在本申请所提供的几个实施方式中，应该理解到，所揭露的模块，系统和方法，均可以通过其它的方式实现。以上所描述的系统实施方式仅仅是示意性的，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上，可以根据实际的需要选择其中的部分或者全部模块来实现本实施方式方案的目的。
另外，在本申请各个实施方式中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以2个或2个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用硬件加软件功能模块的形式实现。
最后应说明的是：以上实施方式仅用以说明本申请的技术方案，而非对其 限制；尽管参照前述实施方式对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施方式所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施方式技术方案的精神和范围。

Claims (14)

  1. 一种行走机器人的控制方法，其特征是，所述方法包括：
    S1，在每个第一周期内，统计转角临时计数值和转角计数值；
    所述转角计数值用于表征每个第一周期内，机器人在巡线状态时经过的转角的数量之和，相同转角统计一次；
    所述转角临时计数值用于表征在每个第二周期内，机器人从初始点出发、进入巡线状态、沿巡线路径行走时经过的转角的数量之和；所述第二周期为所述第一周期的子周期，且每个所述第一周期包括至少一个所述第二周期；所述巡线路径为机器人所在工作区域的边界线形成的闭合回路；
    S2，根据转角临时计数值和转角计数值的大小关系，确定工作出发点，并在工作出发点处驱动机器人离开所述巡线路径进入工作区域，所述机器人从所述巡线状态变为工作状态。
  2. 根据权利要求1所述的行走机器人的控制方法，其特征是，所述第一周期的长度定义为所述行走机器人在所述工作区域的遍历率达到预设值的时间；所述第二周期的长度定义为所述行走机器人的充电周期。
  3. 根据权利要求1所述的行走机器人的控制方法，其特征是，所述第一周期的长度定义为所述行走机器人相邻两次触发第一事件之间的时间间隔；所述第二周期的长度定义为所述行走机器人相邻两次触发第二事件之间的时间间隔。
  4. 根据权利要求1～3任意一项所述的行走机器人的控制方法，其特征是，步骤S1具体包括：在每个第一周期开始之前或每个第一周期结束之后，将转角临时计数值和转角计数值均初始化为零；在每个第二周期开始之前或每个第二周期结束之后，仅将转角临时计数值初始化为零。
  5. 根据权利要求1～3任意一项所述的行走机器人的控制方法，其特征是，步骤 S1具体包括：机器人在巡线状态沿巡线路径行走过程中，每通过一个转角，对所述转角临时计数值进行一次累加。
  6. 根据权利要求5所述的行走机器人的控制方法，其特征是，当同时满足通过转角和附加条件时，才会对所述转角临时计数值进行一次累加。
  7. 根据权利要求6所述的行走机器人的控制方法，其特征是，所述附加条件为当前转角与相邻的上一转角之间的距离不小于或大于预设的最小距离。
  8. 根据权利要求5所述的行走机器人的控制方法，其特征是，在每个所述第一周期内，每当所述转角临时计数值与所述转角计数值满足第一预设数值关系时，将所述转角计数值修改为与所述转角临时计数值相等。
  9. 根据权利要求8所述的行走机器人的控制方法，其特征是，所述第一预设数值关系定义为所述转角临时计数值大于所述转角计数值。
  10. 根据权利要求1～3任意一项所述的行走机器人的控制方法，其特征是，步骤S1还包括：在所述机器人从工作区域返回所述初始点的过程中，冻结所述转角临时计数值和所述转角计数值。
  11. 根据权利要求1～3任意一项所述的行走机器人的控制方法，其特征是，步骤S2具体包括：在每个第一周期内，且所述机器人为巡线状态，若所述转角临时计数值与所述转角计数值满足第二预设数值关系时，将机器人的当前位置确定为工作出发点。
  12. 根据权利要求11所述的行走机器人的控制方法，其特征是，所述第二预设数值关系定义为所述转角临时计数值等于所述转角计数值。
  13. 根据权利要求1～3任意一项所述的行走机器人的控制方法，其特征是，步骤S1还包括：处于所述巡线状态时，所述机器人在所述巡线路径上，经过相接巡线路径的夹角处于[45°，135°]范围内，则将该巡线路径处定义为所述转角。
  14. 一种行走机器人系统，其特征在于，所述系统包括：
    统计单元，用于在每个第一周期内，统计转角临时计数值和转角计数值；
    所述转角计数值用于表征每个第一周期内，机器人在巡线状态时经过的转角的数量之和，相同转角统计一次；所述转角临时计数值用于表征在每个第二周期内，机器人从初始点出发、进入巡线状态、沿巡线路径行走时经过的转角的数量之和；所述第二周期为所述第一周期的子周期，且每个所述第一周期包括至少一个所述第二周期；所述巡线路径为机器人所在工作区域的边界线形成的闭合回路；
    配置处理单元，根据转角临时计数值和转角计数值的大小关系，确定工作出发点，并在工作出发点处驱动机器人离开所述巡线路径进入工作区域，所述机器人从所述巡线状态变为工作状态。
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