WO2021208352A1 - 遍历方法、系统，机器人及可读存储介质 - Google Patents

遍历方法、系统，机器人及可读存储介质 Download PDF

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Publication number
WO2021208352A1
WO2021208352A1 PCT/CN2020/115888 CN2020115888W WO2021208352A1 WO 2021208352 A1 WO2021208352 A1 WO 2021208352A1 CN 2020115888 W CN2020115888 W CN 2020115888W WO 2021208352 A1 WO2021208352 A1 WO 2021208352A1
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Prior art keywords
angle
rule
rotation
robot
time
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PCT/CN2020/115888
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English (en)
French (fr)
Inventor
朱绍明
陈泓
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苏州科瓴精密机械科技有限公司
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Priority to EP20931687.6A priority Critical patent/EP4137904A4/en
Priority to US17/768,602 priority patent/US20240122100A1/en
Publication of WO2021208352A1 publication Critical patent/WO2021208352A1/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
    • G05D1/0212—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
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • A01D75/185—Avoiding collisions with obstacles
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers

Definitions

  • the present invention relates to the field of intelligent control, in particular to a traversal method, system, robot and readable storage medium.
  • Low repetition rate and high coverage rate are the goals pursued by mobile robots such as ergodic robots such as vacuuming, mowing and swimming pool cleaning.
  • the lawn mower robot uses the lawn enclosed by the electronic boundary as the work area; in practical applications, there are still rockery, flowers, fountains and other obstacles around the work area and in the lawn;
  • the grass has not been cut for a long time, especially when a certain area is large and square, the middle part of the lawn has a high probability of missing cutting, and manual removal is required.
  • the purpose of the present invention is to provide a traversal method, system, robot and readable storage medium.
  • an embodiment of the present invention provides a traversal method, the method includes: driving a robot to walk in a predetermined pattern in a work area and work synchronously;
  • the first rule is: starting from the turning mark position of the road, rotate clockwise or counterclockwise, rotate for the first time according to the first angle, continue to run according to the predetermined pattern for the first time, and then follow the previous After rotating in the same direction of rotation once and rotating for the second time according to the second angle, it continues to operate in the predetermined mode for a second time, and the first angle is different from the second angle.
  • the first angle and the second angle are one of a large angle and a small angle to each other, the large angle is an obtuse angle, and the small angle is an acute angle.
  • the value range of the large angle is ⁇ [120°, 170°]
  • the value range of the small angle is ⁇ [20°, 80°].
  • the adjustment robot when each road encounters a turn sign, the adjustment robot cycles through successively calling the first rule and the second rule to continue working, and after the execution of the called first rule or the second rule is completed, the robot is adjusted to return To the predetermined mode;
  • the second rule is: starting from the turning mark position of the road, rotating clockwise or counterclockwise, after the first rotation according to one of the first angle or the second angle, continue to operate according to the predetermined mode For the first time, after performing the second rotation according to the same rotation direction as the previous rotation, according to the other of the first angle or the second angle, continue to run according to the predetermined pattern for the second time, the first angle It is different from the second angle, and the rotation directions of the first rule and the second rule are one of clockwise rotation and counterclockwise rotation.
  • the method further includes:
  • At least one time length is acquired randomly from a preset time, and the acquired time length is assigned to the first time and/or the second time, wherein the time set includes a number of known The length of time.
  • the method further includes:
  • an angle value is randomly obtained from the preset first rotation angle as the first angle
  • an angle value is randomly obtained from the preset second rotation angle as the second angle.
  • Both a rotation angle set and the second rotation angle set store several angle values, and the angle values stored in the first rotation angle set and the angle values stored in the second rotation angle set are different from each other.
  • an embodiment of the present invention provides a robot, including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the traversal method as described above when the computer program is executed. .
  • an embodiment of the present invention provides a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned traversal method are realized.
  • an embodiment of the present invention provides a traversal system, the system includes: a driving module for driving the robot to walk in a predetermined pattern in the work area and work synchronously;
  • the rule adjustment module is used to adjust the robot to continue to work according to a predetermined first rule when encountering a turn mark on each road, and to adjust the robot to return to the predetermined mode after the execution of the first rule is completed;
  • the first rule is: starting from the turning mark position of the road, rotate clockwise or counterclockwise, rotate for the first time according to the first angle, continue to run according to the predetermined pattern for the first time, and then follow the previous After rotating in the same direction of rotation once and rotating for the second time according to the second angle, it continues to operate in the predetermined mode for a second time, and the first angle is different from the second angle.
  • the rule adjustment module is also used to adjust the robot to cycle by successively calling the first rule and the second rule to continue working when it encounters a turn mark on each road, and when the first or second rule is called After the execution of the rule is completed, adjust the robot to return to the predetermined mode;
  • the second rule is: starting from the turning mark position of the road, rotating clockwise or counterclockwise, after the first rotation according to one of the first angle or the second angle, continue to operate according to the predetermined mode For the first time, after performing the second rotation according to the same rotation direction as the previous rotation, according to the other of the first angle or the second angle, continue to run according to the predetermined pattern for the second time, the first angle It is different from the second angle, and the rotation directions of the first rule and the second rule are one of clockwise rotation and counterclockwise rotation.
  • the traversal method, system, robot and readable storage medium of the present invention drive the robot to rotate according to different angles set randomly and continue to work after the robot encounters a turn mark on the road, without affecting the work efficiency of the robot.
  • the traversal method, system, robot and readable storage medium of the present invention drive the robot to rotate according to different angles set randomly and continue to work after the robot encounters a turn mark on the road, without affecting the work efficiency of the robot.
  • Fig. 1 is a schematic diagram of the structure of the lawn mower robot system of the present invention
  • FIG. 2 is a schematic flowchart of a traversal method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a traversal method provided by a preferred embodiment of the present invention.
  • Fig. 4 is a schematic diagram of modules of a traversal system provided by an embodiment of the present invention.
  • the robot system of the present invention can be a lawn mower robot system, a sweeping robot system, a snow sweeper system, a leaf suction system, a golf course ball picker system, etc. Each system can automatically walk in the work area and perform corresponding tasks.
  • the robot system is taken as an example of a lawn mower robot system for specific description. Accordingly, the working area may be a lawn.
  • the lawn mower robot system of the present invention includes: a lawn mower robot (RM), a charging station 20 and a boundary line 30.
  • RM lawn mower robot
  • the lawn mower robot includes a main body 10, a walking unit and a control unit provided on the main body 10.
  • the walking unit includes: a driving wheel 111, a driven wheel 113, and a motor for driving the driving wheel 111;
  • the motor can be a brushless motor with a reduction box and a Hall sensor; after the motor is started, it can be driven by the reduction box
  • the driving wheel 111 travels, and by controlling the speed and direction of the two wheels, it can realize forward and backward running in a straight line, turning in place, and arc running;
  • the passive wheel 113 can be a universal wheel, which is usually set to One or two, which mainly play the role of supporting balance.
  • the control unit includes at least: a status sensor 115 and a data storage 117.
  • the status sensor is used to obtain various information obtained during the walking robot walking along the line patrol path when the walking robot is walking along the line patrol path, for example: The signal strength of the electromagnetic boundary on the line path; the control unit is also used to determine the specific position of the walking robot based on the received signal, for example: to determine whether the robot encounters a corner on the road; the data memory is used to store the walking robot walking along the line-following path Various information obtained in the process, the data storage is for example: EPROM, Flash or SD card, etc.
  • the lawn mower robot further includes: a working mechanism for work, and a power supply; in this embodiment, the working mechanism is a lawn mower blade, and various sensors used to sense the walking state of the walking robot, such as : Dumping, lifting off the ground, collision sensors, geomagnetism, gyroscopes, etc., which are not detailed here.
  • the charging station 20 is usually set on the boundary line. On the one hand, it is used to provide power for automatic charging of the lawn mower robot. On the other hand, it generates an encoded pulse signal that is transmitted along the boundary line 30 connected to the charging station, thereby generating alternating magnetic fields on both sides of the boundary line. , The boundary line 30 surrounds the lawn 40 to form a working area. After the boundary line 30 encloses the lawn, a whole work area can be formed. In addition, there are usually pools, flowers and other obstacles that need to prevent the lawn mower robot from entering the work area. ⁇ 50.
  • an implementation of the present invention provides a traversal method.
  • the method includes the following steps: drive the robot to walk in a predetermined pattern in the work area and work synchronously; when each road encounters a turning mark, adjust the robot according to a predetermined first rule Continue to work, and after the execution of the first rule is completed, adjust the robot to return to the predetermined mode; take the turning mark position of the road as the starting point, rotate clockwise or counterclockwise, after the first rotation at the first angle, continue to follow
  • the predetermined mode continues to run for a first period of time, and then in the same direction of rotation as the previous rotation, and after a second rotation at a second angle, it continues to run in the predetermined mode for a second period of time.
  • the two angles are different.
  • the turning mark includes: the inner and outer boundaries of the working area, and obstacles in the working area.
  • an electronic map covering the working area is established, and the turning mark is marked on the electronic map; in another embodiment of the present invention, the robot passes through the The sensor searches for the surrounding environment in real time, and judges whether there are obstacles on the travel path in real time by means of touch sensing, electromagnetic signal strength, etc., and if so, the obstacle position is marked with a turning mark; of course, in other embodiments of the present invention, it is also There are many ways to determine the turn indicator, and I won’t go into further details here.
  • the method further includes: when each road encounters a turn mark, adjusting the robot to cycle successively invoking the first rule and the second rule to continue working, and when the first rule or the second rule is called After the execution of the second rule is completed, adjust the robot to return to the predetermined mode;
  • the second rule is: starting from the turning mark position of the road, rotating clockwise or counterclockwise, after the first rotation according to one of the first angle or the second angle, continue to operate according to the predetermined mode For the first time, after performing the second rotation according to the same rotation direction as the previous rotation, according to the other of the first angle or the second angle, continue to run according to the predetermined pattern for the second time, the first angle It is different from the second angle, and the rotation directions of the first rule and the second rule are one of clockwise rotation and counterclockwise rotation.
  • the robot in order to facilitate the rotation of the robot, under normal circumstances, when the robot encounters a turn sign, the robot is first driven to make a short backward movement, and then the steering operation is performed according to a predetermined rule.
  • the first angle and the second angle are one of a large angle and a small angle to each other, the large angle is an obtuse angle, and the small angle is an acute angle.
  • the value range of the large angle is ⁇ [120°, 170°]
  • the value range of the small angle is ⁇ [20°, 80°].
  • the method further includes: when each road encounters a turn mark, randomly acquiring an angle value from the preset first rotation angle as the first angle, and randomly acquiring an angle value from the preset second rotation angle as the first angle.
  • a second angle wherein the first rotation angle set and the second rotation angle set both store several angle values, and the angle values stored in the first rotation angle set and the angle values stored in the second rotation angle set are different from each other .
  • the first rotation angle set includes specific angle values of one of several small angles or large angle values
  • the second rotation angle set includes the other one of several small angle values and large angles.
  • the specific angle value when the road encounters a turn sign, a small angle value and a large angle value are randomly obtained from the first rotation angle set and the second rotation angle set, and the obtained small angle value and large angle value are randomly obtained Configured to the first angle and the second angle.
  • a fixed small angle value and a large angle value can also be set, and each time the road encounters a turn sign, the fixed small angle value is assigned to the first angle and the second angle.
  • the method further includes: when each road encounters a turn mark, randomly acquiring at least one time length from a preset time, and assigning the acquired time length to the first time and/or the first time and/or the first time. Two time, wherein the time set includes several known time lengths.
  • the time set preset by the system includes multiple time lengths, for example: the time set includes: 5 minutes, 10 minutes, 15 minutes, 20 minutes, 25 minutes; when the road encounters a turn sign, the current time is randomly obtained
  • the time length of is 5 minutes.
  • 5 minutes can be assigned to the first time and the second time simultaneously, or 5 minutes can be assigned to one of the first time or the second time, and then query the time set again, and re Obtain a length of time and assign it to the first time and the other for the second time.
  • a fixed length of time can also be set, and each time the road encounters a turn sign, the fixed length of time is assigned to the first time and/or the second time, and no further steps will be made here. The details.
  • the adjustment robot when each road encounters a turn sign, the adjustment robot cycles through successively calling the first rule and the second rule to continue working, and after the called first rule or second rule is executed, the adjustment robot returns to the Predetermined mode; for example: the first rule is called when the first road meets a turn sign, the second rule is called when the second road meets a turn sign, the first rule is called repeatedly when the third road meets a turn sign, and so on;
  • the rotation angles obtained randomly are: (120°, 60°), (-120°, -60°), (150°, 70°), (-150°, -70°), (50°) , 140°), (-50°, -140°), the first time and the second time are both 5 minutes; in this specific example, a positive angle indicates a counterclockwise rotation, a negative angle indicates a clockwise rotation, a singular serial number and The angle values in the same set of brackets correspond to the first rule, and the even-numbered angle values in the same set of brackets correspond to the
  • the robot After each first rotation, continue to work according to the current path for 5 minutes and then perform the second rotation After every second rotation, after working continuously for 5 minutes in accordance with the previous path, it is indicated that the current rule call is completed, and the robot is turned back to the predetermined mode to continue working.
  • the direction, angle, and duration of the rule can be specifically set as required; in addition, during the rule call process, if the road encounters a corner again, or the robot returns to charging, or the robot fails When a situation occurs, it means that the current rule execution is complete.
  • Traversing the work area as described above can ensure that the border area, the middle part of the work area, and the lawn in the special work area (such as multiple work areas connected by narrow passages) will be effectively traversed, solving random walking Mowing causes the problem of low mowing efficiency caused by missed mowing and repeated mowing.
  • a robot including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the traversal method described above when the computer program is executed by the processor.
  • a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned traversal method are realized.
  • a traversal system As shown in FIG. 4, a traversal system is provided.
  • the system includes a driving module 100 and a rule adjustment module 200.
  • the driving module 100 is used to drive the robot to walk in a predetermined pattern in the work area and to work synchronously; the rule adjustment module 200 is used to adjust the robot to continue to work according to a predetermined first rule when it encounters a turn mark on each road, and execute it in the first rule After completion, adjust the robot to return to the predetermined mode; take the road turning mark position as the starting point, rotate clockwise or counterclockwise, rotate at the first angle for the first time, and continue to run in the predetermined mode for the first time , And then according to the same rotation direction as the previous rotation, after the second rotation according to the second angle, continue to operate according to the predetermined pattern for a second time, and the first angle is different from the second angle.
  • the rule adjustment module 200 is specifically configured to adjust the robot to cycle to successively call the first rule and the second rule to continue working when it encounters a turn mark on each road, and executes the first rule or the second rule that is called After completion, adjust the robot to return to the predetermined mode;
  • the second rule is: starting from the road turning mark position, rotating clockwise or counterclockwise, performing the first rotation according to one of the first angle or the second angle, and continuing to operate according to the predetermined mode For the first time, after the second rotation according to the same rotation direction as the previous rotation, according to the other of the first angle or the second angle, continue to run according to the predetermined pattern for the second time, the first angle It is different from the second angle, and the rotation directions of the first rule and the second rule are one of clockwise rotation and counterclockwise rotation.
  • the robot in order to facilitate the rotation of the robot, under normal circumstances, when the robot encounters a turn sign, the robot is first driven to make a short backward movement, and then the steering operation is performed according to a predetermined rule.
  • the first angle and the second angle are one of a large angle and a small angle to each other, the large angle is an obtuse angle, and the small angle is an acute angle.
  • the value range of the large angle is ⁇ [120°, 170°]
  • the value range of the small angle is ⁇ [20°, 80°].
  • the system further includes a storage module 300 for storing a preset first rotation angle set and a second rotation angle set, the first rotation angle set and the second rotation angle set
  • the rotation angle set stores a number of angle values, and the angle values stored in the first rotation angle set and the angle values stored in the second rotation angle set are different from each other; the rule adjustment module 200 is also used for randomly automatically
  • the preset first rotation angle collectively acquires one angle value as the first angle, and randomly acquires one angle value collectively from the preset second rotation angle as the second angle.
  • the storage module 300 is also used to store a preset time set, the time set includes a number of known time lengths; the rule adjustment module 200 is also used to randomly At least one time length is collected from the preset time, and the acquired time length is assigned to the first time and/or the second time.
  • the traversal method, system, robot, and readable storage medium of the present invention drive the robot to rotate according to different angles set randomly and continue to work after the robot encounters a turn mark on the road, without affecting the work efficiency of the robot
  • the probability of the robot entering a special area is improved, and the robot's behavior mode is optimized to increase its traversability and traversal efficiency.
  • 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 can 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

一种遍历方法、系统，机器人及可读存储介质，驱动机器人在工作区域内按预定模式行走并同步工作；每路遇转弯标识，调整机器人按照预定的第一规则继续工作，并在第一规则执行完成后，调整机器人回到预定模式；第一规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度第一次旋转后、继续按照预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第二角度第二次旋转后、继续按照预定模式持续运行第二时间，第一角度与第二角度不同。遍历方法有利于提高机器人的遍历性及遍历效率。

Description

遍历方法、系统，机器人及可读存储介质 技术领域
本发明涉及智能控制领域，尤其涉及一种遍历方法、系统，机器人及可读存储介质。
背景技术
低重复率、高覆盖率是遍历式机器人如吸尘、割草及泳池清洗等移动机器人追求的目标。
以移动机器人为智能割草机器人为例，割草机器人以电子边界围住的草坪为工作区域；实际应用中，工作区域的四周及草坪内还存在假山、花丛、喷泉等障碍物；由于割草机器人随机遍历作业的方法以及草坪的复杂多样，特别是如带有狭窄通道或障碍物的草坪，割草机机器人随机进入狭窄通道中及障碍物附近的草坪概率小，即遍历性差，从而导致草坪有些地方的草长期没有被割掉，特别是某一区域较大且为方形时草坪中间部分漏割的几率很高，需要人工辅助清除。
为了解决这个问题，在不改变随机模式情况下，多种方法已经在使用：例如：通过人为设定不同距离、增加导线缠绕圈数来作为出发点，该种遍历方式需要增加额外成本；让割草机器人从离开充电站后沿电子边界前行不同距离而进入草坪，该种方式绕边界走需要空行走，而且长期重复行走会留下车辙破坏草坪；如此，现有技术中的遍历方法均匀分布随机运行重复率过高，割草效率较低。
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遍历方法、系统，机器人及可读存储介质。
为了实现上述发明目的之一，本发明一实施方式提供一种遍历方法，所述方法包括：驱动机器人在工作区域内按预定模式行走并同步工作；
每路遇转弯标识，调整机器人按照预定的第一规则继续工作，并在第一规则执行完成后，调整机器人回到所述预定模式；
所述第一规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第二角度第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同。
作为本发明一实施方式的进一步改进，所述第一角度和所述第二角度互为大角度和小角度中的一种，所述大角度为钝角，所述小角度为锐角。
作为本发明一实施方式的进一步改进，所述大角度的取值范围为∈[120°，170°]，所述小角度的取值范围∈[20°，80°]。
作为本发明一实施方式的进一步改进，每路遇转弯标识时，调整机器人循环相继调用第一规则和第二规则继续工作，并在调用的第一规则或第二规则执行完成后，调整机器人回到所述预定模式；
所述第二规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度或第二角度其中之一进行第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第一角度或第二角度其中另一进行第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同，且所述第一规则和第二规则的旋转方向互为顺时针旋转和逆时针旋转其中之一。
作为本发明一实施方式的进一步改进，所述方法还包括：
每路遇转弯标识时，随机自预设的时间集中获取至少一个时间长度，并将该获取的时间长度指定给第一时间和/或第二时间,其中，所述时间集中包括若干个已知的时间长度。
作为本发明一实施方式的进一步改进，所述方法还包括：
每路遇转弯标识时，随机自预设的第一旋转角度集中获取一个角度值作为第一角度，随机自预设的第二旋转角度集中获取一个角度值作为第二角度，其 中，所述第一旋转角度集和所述第二旋转角度集均存储若干角度值，且第一旋转角度集存储的角度值与第二旋转角度集存储的角度值互不相同。
为了实现上述发明目的之一，本发明一实施方式提供一种机器人，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现如上所述遍历方法的步骤。
为了实现上述发明目的之一，本发明一实施方式提供一种可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如上所述遍历方法的步骤。
为了实现上述发明目的另一，本发明一实施方式提供一种遍历系统，所述系统包括：驱动模块，用于驱动机器人在工作区域内按预定模式行走并同步工作；
规则调整模块，用于在每路遇转弯标识，调整机器人按照预定的第一规则继续工作，并在第一规则执行完成后，调整机器人回到所述预定模式；
所述第一规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第二角度第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同。
作为本发明一实施方式的进一步改进，所述规则调整模块还用于在每路遇转弯标识时，调整机器人循环相继调用第一规则和第二规则继续工作，并在调用的第一规则或第二规则执行完成后，调整机器人回到所述预定模式；
所述第二规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度或第二角度其中之一进行第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第一角度或第二角度其中另一进行第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同，且所述第一规则和第二规则的旋转方向互为顺时针旋转和逆时针旋转其中之一。
与现有技术相比，本发明的遍历方法、系统，机器人及可读存储介质，在机器人路遇转弯标识后，驱动机器人按照随机设置的不同角度旋转后再继续工作，在不影响机器人工作效率的前提下，提升机器人进入特殊区域的概率，进而通过优化机器人行为模式从而达到增加其遍历性和遍历效率的目的。
附图说明
图1是本发明割草机器人系统的结构示意图；
图2是本发明一实施方式提供的遍历方法的流程示意图；
图3是本发明较佳实施方式提供的遍历方法的流程示意图；
图4是本发明一实施方式提供的遍历系统的模块示意图。
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。
本发明的机器人系统可以是割草机器人系统，扫地机器人系统、扫雪机系统、吸叶机系统，高尔夫球场拾球机系统等，各个系统可以自动行走于工作区域并进行相对应的工作，本发明具体示例中，以机器人系统为割草机器人系统为例做具体说明，相应的，所述工作区域可为草坪。
如图1所示，本发明的割草机器人系统包括：割草机器人(RM)、充电站20、边界线30。
所述割草机器人包括：本体10，设置于本体10上的行走单元、控制单元。所述行走单元包括：主动轮111、被动轮113以及用于驱动主动轮111的电机；所述电机可为带减速箱和带霍尔传感器的无刷电机；电机启动后，可通过减速箱带动主动轮111行走，并通过控制两个轮的速度、方向便可以实现前进与后退直线运行、原地转弯及圆弧运行等行驶动作；所述被动轮113可为万向轮，其通常设置为1个或者2个，其主要起支撑平衡的作用。
所述控制单元至少包括：状态传感器115和数据存储器117，状态传感器 用于在行走机器人沿巡线路径行走过程中，获取行走机器人沿巡线路径行走过程中获得的各种信息，例如：获取巡线路径上的电磁边界信号强度；所述控制单元还用于通过接收到的信号判断行走机器人的具体位置，例如：判断机器人是否路遇转角；数据存储器用于存储机器行走机器人沿巡线路径行走过程中获得的各种信息，所述数据存储器例如：EPROM、Flash或SD卡等。
进一步的，所述割草机器人还包括：用于工作的工作机构，及供电电源；在本实施例中，工作机构为割草刀盘，用于感应行走机器人的行走状态的各种传感器，例如：倾倒、离地、碰撞传感器、地磁、陀螺仪等，在此未一一具体赘述。
充电站20通常设置在边界线上,一方面用于提供电源以便割草机器人自动充电，另外一方面产生编码脉冲信号沿连接充电站的边界线30传输，从而在边界线两侧产生交变磁场，边界线30围住草坪40四周形成工作区域，边界线30圈合草坪后，可以形成一整块的工作区域，另外，工作区域内通常还设置水池、花丛等需要防止割草机器人进入的障碍物50。
结合图2所示，本发明一实施提供的遍历方法，所述方法包括以下步骤：驱动机器人在工作区域内按预定模式行走并同步工作；每路遇转弯标识，调整机器人按照预定的第一规则继续工作，并在第一规则执行完成后，调整机器人回到所述预定模式；以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第二角度第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同。
所述转弯标识包括：工作区域的内、外边界，工作区域内的障碍物。本发明一可实现方式中，在驱动机器人工作之前，建立覆盖工作区域的电子地图，所述电子地图中标记所述转弯标识；本发明另一实施方式中，机器人行进过程中，通过其上的传感器实时探寻周边环境，并通过触碰感知、电磁信号强弱等方式实时判断行进路径上是否具有障碍物，若是，则将障碍物位置标记转弯标 识；当然，在本发明其他实施方式中，还有多种方式可以确定转弯标识，在此不做进一步的赘述。
本发明较佳实施方式中，结合图3所示，所述方法还包括：每路遇转弯标识时，调整机器人循环相继调用第一规则和第二规则继续工作，并在调用的第一规则或第二规则执行完成后，调整机器人回到所述预定模式；
所述第二规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度或第二角度其中之一进行第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第一角度或第二角度其中另一进行第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同，且所述第一规则和第二规则的旋转方向互为顺时针旋转和逆时针旋转其中之一。
需要说明的是，为了便于机器人旋转，通常情况下，当机器人路遇转弯标识时，首先驱动机器人做一小段后退运动，之后再按照预定的规则进行转向运行。
较佳的，所述第一角度和所述第二角度互为大角度和小角度中的一种，所述大角度为钝角，所述小角度为锐角。
本发明具体实施方式中，所述大角度的取值范围为∈[120°，170°]，所述小角度的取值范围∈[20°，80°]。
进一步的，所述方法还包括：每路遇转弯标识时，随机自预设的第一旋转角度集中获取一个角度值作为第一角度，随机自预设的第二旋转角度集中获取一个角度值作为第二角度，其中，所述第一旋转角度集和所述第二旋转角度集均存储若干角度值，且第一旋转角度集存储的角度值与第二旋转角度集存储的角度值互不相同。
在该实施方式中，例如系统中预先设定第一旋转角度集包括若干小角度或大角度值其中之一的具体角度值，第二旋转角度集包括若干小角度值和大角度其中另一的具体角度值，当路遇转弯标识时，当前次自第一旋转角度集和第二 旋转角度集分别随机获取一个小角度值和一个大角度值，并将获取的小角度值和大角度值随机配置给第一角度和第二角度。
当然，在本发明其他实施方式中，也可以设定一固定的小角度值和大角度值，每次路遇转弯标识时，均将该固定小角度值赋值给第一角度和第二角度其中之一，将固定大角度赋值给第一角度和第二角度其中另一，在此不做进一步的赘述。
本发明较佳实施方式中，所述方法还包括：每路遇转弯标识时，随机自预设的时间集中获取至少一个时间长度，并将该获取的时间长度指定给第一时间和/或第二时间，其中，所述时间集中包括若干个已知的时间长度。
在该实施方式中，系统预设的时间集包括多个时间长度，例如：时间集包括：5分钟、10分钟、15分钟、20分钟、25分钟；当路遇转弯标识时，当前次随机获得的时间长度为5分钟，相应的，可以将5分钟同步赋值给第一时间和第二时间，也可以将5分钟赋值给第一时间或第二时间其中之一，之后再次查询时间集，重新获得一时间长度赋值给第一时间和第二时间另一。
当然，在本发明其他实施方式中，也可以设定一固定时间长度，每次路遇转弯标识时，均将该固定时间长度赋值给第一时间和/或第二时间，在此不做进一步的赘述。
本发明一具体示例中，每路遇转弯标识时，调整机器人循环相继调用第一规则和第二规则继续工作，并在调用的第一规则或第二规则执行完成后，调整机器人回到所述预定模式；例如：第一次路遇转弯标识时调用第一规则，第二路遇转弯标识则调用第二规则，第三次路遇转弯标识时重复调用第一规则，如此往复；在该具体示例中，随机获取的旋转角度依次为：(120°，60°)，(-120°，-60°)，(150°，70°)，(-150°，-70°)，(50°，140°)，(-50°，-140°)，第一时间和第二时间均为5分钟；在该具体示例中，正角度标识逆时针旋转，负角度标识顺时针旋转，单数序号且处于同一组括号内的角度值对应第一规则，偶数序号且处于同一组括号内的角度值对应第二规则，每第一次旋转后，按照 当前路径持续工作5分钟后进行第二次的旋转，每第二次旋转后，按照前路径持续工作5分钟后，标识当前的规则调用完成，将机器人转回到预定的模式进行继续工作。需要说明的是，在实际应用中，旋转的方向、角度、规则持续的时间均可以根据需要具体设定；另外，在规则调用过程中，若重新路遇转角、或机器人返回充电、或机器人故障等情况发生时，均表示当前的规则执行完成。
如上述方式遍历工作区域，可以保证边界区域、工作区域的的中间部分，以及特殊的工作区域(例如由狭窄通道连接的多个工作区域)中的草坪均会被有效的遍历，解决了随机行走割草造成漏割和重复割草而导致的割草效率较低的问题。
本发明一实施方式中，还提供一种机器人，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现上述所述遍历方法的步骤。
本发明一实施方式中，还提供一种可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述所述遍历方法的步骤。
结合图4所示，提供一种遍历系统，所述系统包括：驱动模块100和规则调整模块200。
驱动模块100用于驱动机器人在工作区域内按预定模式行走并同步工作；规则调整模块200用于在每路遇转弯标识时，调整机器人按照预定的第一规则继续工作，并在第一规则执行完成后，调整机器人回到所述预定模式；以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第二角度第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同。
本发明较佳实施方式中，规则调整模块200具体用于在每路遇转弯标识时，调整机器人循环相继调用第一规则和第二规则继续工作，并在调用的第一规则或第二规则执行完成后，调整机器人回到所述预定模式；
所述第二规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度或第二角度其中之一进行第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第一角度或第二角度其中另一进行第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同，且所述第一规则和第二规则的旋转方向互为顺时针旋转和逆时针旋转其中之一。
需要说明的是，为了便于机器人旋转，通常情况下，当机器人路遇转弯标识时，首先驱动机器人做一小段后退运动，之后再按照预定的规则进行转向运行。
较佳的，所述第一角度和所述第二角度互为大角度和小角度中的一种，所述大角度为钝角，所述小角度为锐角。
本发明具体实施方式中，所述大角度的取值范围为∈[120°，170°]，所述小角度的取值范围∈[20°，80°]。
进一步的，本发明较佳实施方式中，所述系统还包括存储模块300，用于存储预设的第一旋转角度集和第二旋转角度集，所述第一旋转角度集和所述第二旋转角度集均存储若干角度值，且第一旋转角度集存储的角度值与第二旋转角度集存储的角度值互不相同；规则调整模块200还用于在每路遇转弯标识时，随机自预设的第一旋转角度集中获取一个角度值作为第一角度，随机自预设的第二旋转角度集中获取一个角度值作为第二角度。
本发明较佳实施方式中，存储模块300还用于存储预设的时间集，所述时间集中包括若干个已知的时间长度；规则调整模块200还用于在每路遇转弯标识时，随机自预设的时间集中获取至少一个时间长度，并将该获取的时间长度指定给第一时间和/或第二时间。
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，上述描述的系统和模块的具体工作过程，可以参考前述方法实施方式中的对应过程，在此不再赘述。
综上所述，本发明的遍历方法、系统，机器人及可读存储介质，在机器人路遇转弯标识后，驱动机器人按照随机设置的不同角度旋转后再继续工作，在不影响机器人工作效率的前提下，提升机器人进入特殊区域的概率，进而通过优化机器人行为模式从而达到增加其遍历性和遍历效率的目的。
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 (10)

  1. 一种遍历方法，其特征在于，所述方法包括：
    驱动机器人在工作区域内按预定模式行走并同步工作；
    每路遇转弯标识，调整机器人按照预定的第一规则继续工作，并在第一规则执行完成后，调整机器人回到所述预定模式；
    所述第一规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第二角度第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同。
  2. 根据权利要求1所述的遍历方法，其特征在于，所述第一角度和所述第二角度互为大角度和小角度中的一种，所述大角度为钝角，所述小角度为锐角。
  3. 根据权利要求2所述的遍历方法，其特征在于，所述大角度的取值范围为∈[120°，170°]，所述小角度的取值范围∈[20°，80°]。
  4. 根据权利要求1所述的遍历方法，其特征在于，所述方法还包括：每路遇转弯标识时，调整机器人循环相继调用第一规则和第二规则继续工作，并在调用的第一规则或第二规则执行完成后，调整机器人回到所述预定模式；
    所述第二规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度或第二角度其中之一进行第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第一角度或第二角度其中另一进行第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同，且所述第一规则和第二规则的旋转方向互为顺时针旋转和逆时针旋转其中之一。
  5. 根据权利要求1所述的遍历方法，其特征在于，所述方法还包括：每路遇转弯标识时，随机自预设的时间集中获取至少一个时间长度，并将该获取的时间长度指定给第一时间和/或第二时间，其中，所述时间集中包括若干个已知的时间长度。
  6. 根据权利要求1所述的遍历方法，其特征在于，所述方法还包括：
    每路遇转弯标识时，随机自预设的第一旋转角度集中获取一个角度值作为第一角度，随机自预设的第二旋转角度集中获取一个角度值作为第二角度，其中，所述第一旋转角度集和所述第二旋转角度集均存储若干角度值，且第一旋转角度集存储的角度值与第二旋转角度集存储的角度值互不相同。
  7. 一种机器人，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1-6中任一项所述遍历方法的步骤。
  8. 一种可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1-6中任一项所述遍历方法的步骤。
  9. 一种遍历系统，其特征在于，所述系统包括：
    驱动模块，用于驱动机器人在工作区域内按预定模式行走并同步工作；
    规则调整模块，用于在每路遇转弯标识，调整机器人按照预定的第一规则继续工作，并在第一规则执行完成后，调整机器人回到所述预定模式；
    所述第一规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第二角度第二次旋转后、继续按照所述预定模式持续运行第二时间，所述第一角度与第二角度不同。
  10. 根据权利要求9所述的遍历系统，其特征在于，所述规则调整模块还用于在每路遇转弯标识时，调整机器人循环相继调用第一规则和第二规则继续工作，并在调用的第一规则或第二规则执行完成后，调整机器人回到所述预定模式；
    所述第二规则为：以路遇转弯标识位置为起点，顺时针旋转或逆时针旋转、按照第一角度或第二角度其中之一进行第一次旋转后、继续按照所述预定模式持续运行第一时间，之后按照与前一次旋转相同的旋转方向、按照第一角度或第二角度其中另一进行第二次旋转后、继续按照所述预定模式持续运行第二时 间，所述第一角度与第二角度不同，且所述第一规则和第二规则的旋转方向互为顺时针旋转和逆时针旋转其中之一。
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