CN107305382A - A kind of self-navigation robot and automatic navigation method - Google Patents
A kind of self-navigation robot and automatic navigation method Download PDFInfo
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- CN107305382A CN107305382A CN201610252595.9A CN201610252595A CN107305382A CN 107305382 A CN107305382 A CN 107305382A CN 201610252595 A CN201610252595 A CN 201610252595A CN 107305382 A CN107305382 A CN 107305382A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000004888 barrier function Effects 0.000 claims abstract description 38
- 230000000052 comparative effect Effects 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of self-navigation robot and automatic navigation method, including：Robot body；Range finder module, is arranged on inside the robot body, for measuring the distance between the self-navigation robot and barrier；Comparison module, is arranged on inside the robot body, for comparing the distance and predetermined threshold value, and produces comparative result；Control module, controls the robot body to turn to according to the comparative result.The present invention, which is solved, to be needed indoor environment map being previously stored in robot, the problem of guiding machine is voluntarily walked.Voluntarily navigated reaching, while anticollision purpose, greatly save cost.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly to a kind of self-navigation robot and automatic navigation method.
Background technology
In the prior art, easily frame is bumped against when automatic walking robot is moved in the environment.Even the robot for having anti-collision is also to realize environmental data to be input in robot.So not only need to realize measuring environment data and produce extra cost.It is also required to carry out storage environment data to produce extra cost in robot interior installation note memory block simultaneously.
The content of the invention
The present invention provides a kind of self-navigation robot and method, and solving needs indoor environment map being previously stored in robot, the problem of guiding machine is voluntarily walked.Reach that robot voluntarily navigates, while anticollision purpose, greatly save cost.
Its robot includes：Robot body；Range finder module, is arranged on inside the robot body, for measuring the distance between the self-navigation robot and barrier；Comparison module, is arranged on inside the robot body, for comparing the distance and predetermined threshold value, and produces comparative result；Control module, controls the robot body to turn to according to the comparative result.
Above-mentioned self-navigation robot, in addition to alarm module, the range finder module further comprise：RF transmitter, for launching infrared ray；Infrared receiver, the bounce-back infrared ray for rebounding after barrier is run into for receiving the infrared ray of RF transmitter transmitting.
Above-mentioned self-navigation robot, in addition to alarm module, the range finder module further comprise：Acoustic emission apparatus, for around sending sound wave；Acoustic receiver device, the bounce-back sound wave for rebounding after barrier is run into for receiving the sound wave that the acoustic emission apparatus is sent.
Above-mentioned self-navigation robot, in addition to alarm module, are arranged on the robot interior, and when the distance is less than the predetermined threshold value, alarm module produces warning message.
Above-mentioned self-navigation robot, in addition to：
Communication module, is arranged on inside the robot body, and when the distance is less than the predetermined threshold value, the communication module sends the warning message.
Above-mentioned self-navigation robot, in addition to：Mobile terminal, the mobile terminal is used to receive the warning message that the communication module is sent.
Above-mentioned self-navigation robot, the mobile terminal also includes：
Handover module, for switching the self-navigation robot according to the control campaign of the control module or controlling the self-navigation robot motion manually.
Above-mentioned self-navigation robot, the mobile terminal also includes：
Display module, track route and travel region for showing the self-navigation robot.
Above-mentioned self-navigation robot, the mobile terminal also includes：
Division module, for dividing block according to the track route and the travel region；
Selecting module, for selecting the division block；
The robot is taken action in the division block.
Above-mentioned self-navigation robot, the robot body periphery is provided with buffer unit.
The present invention also provides a kind of robot automatic navigation method, including：
The distance between current robot and surrounding environment barrier information is obtained by the range unit of robot；
The range information and predetermined threshold value are compared and a comparative result is produced；
The robot movement is controlled according to the comparative result.
Above-mentioned robot automatic navigation method, obtains the distance between current robot and surrounding environment barrier information by the range unit of robot and further comprises：The distance between current robot and surrounding environment barrier information is obtained by infrared transmitting device and infrared receiver.
Above-mentioned robot automatic navigation method, obtains the distance between current robot and surrounding environment barrier information by the range unit of robot and further comprises：The distance between current robot and surrounding environment barrier information is obtained by acoustic emission apparatus and acoustic receiver device.
Above-mentioned robot automatic navigation method, controls the robot movement to further comprise according to the comparative result：When range information is less than predetermined threshold value, the robot is controlled to turn to.
Above-mentioned robot automatic navigation method, in addition to the anticollision robot is switched according to the control campaign of the control module by handover module or the anticollision robot motion is controlled manually.
Above-mentioned robot automatic navigation method, track route and the travel region of the anticollision robot are shown by display module.
Above-mentioned robot automatic navigation method, block is divided by division module according to the track route and the travel region；The division block is selected by selecting module；The robot is taken action in the division block.
Above-mentioned robot automatic navigation method, buffer unit is provided with robot body periphery.
Above-mentioned robot automatic navigation method, spring is provided with robot body periphery.
Above-mentioned robot automatic navigation method, air bag is provided with robot body periphery.
Self-navigation robot provided in the present invention, can measure the distance between robot and barrier simply by range finder module, when distance is less than preset value, with regard to being turned to.Without environmental map is previously stored in robot.While reaching robot anticollision purpose, cost is greatlyd save.
Brief description of the drawings
Fig. 1 is the schematic diagram according to the self-navigation robot in one embodiment of the invention.
Embodiment
To solve that indoor environment map must be previously stored in robot, the problem of guided robot is voluntarily walked.Voluntarily navigated with reaching, while anticollision purpose, greatly save cost.
This patent proposes a kind of self-navigation robot machine application method.
Fig. 1 is the schematic diagram according to the self-navigation robot in one embodiment of the invention.Fig. 1 is refer to, in the present embodiment, self-navigation robot, including：Robot body 1, range finder module 2, comparison module 3 and control module 4.Wherein range finder module 2 is arranged on inside the robot body, for measuring the distance between the self-navigation robot 100 and barrier.Comparison module 3 is arranged on inside the robot body, for comparing the distance and predetermined threshold value, and produces comparative result.Control module 4 controls the robot body to turn to according to the comparative result.
For example, when robot starts to move indoor, the distance between the real-time robot measurement of range finder module and peripheral obstacle, while comparison module is compared, and produce comparative result in real time to the distance with a predetermined threshold value.When the comparative result is less than such as 10 centimetres, the control machine people of control module 4 turns to, towards the motion of another direction until comparative result is again less than 10 centimetres.
As one kind selection, in the embodiment of the application one, range finder module further comprises：RF transmitter, for launching infrared ray；Infrared receiver, the bounce-back infrared ray for rebounding after barrier is run into for receiving the infrared ray of RF transmitter transmitting.
For example, when robot starts to move indoor, RF transmitter launches infrared ray to surrounding in real time.Infrared receiver real-time reception runs into the return infrared ray after barrier.The distance between current robot and surrounding environment barrier can be drawn with receiving the time difference by ultrared transmission.Comparison module compares the distance and predetermined threshold value in real time, and when comparative result is less than such as 10 centimetres, the control machine people of control module 4 turns to, towards the motion of another direction until comparative result is again less than 10 centimetres.
As one kind selection, in the embodiment of the application one, range finder module further comprises：Acoustic emission apparatus, for around sending sound wave；Acoustic receiver device, the bounce-back sound wave for rebounding after barrier is run into for receiving the sound wave that the acoustic emission apparatus is sent.
For example, when robot starts to move indoor, acoustic emission apparatus launches sound wave to surrounding in real time.Acoustic receiver device real-time reception runs into the return sound wave after barrier.The distance between current robot and surrounding environment barrier can be drawn with receiving the time difference by the transmission of sound wave.Comparison module compares the distance and predetermined threshold value in real time, and when comparative result is less than such as 10 centimetres, the control machine people of control module 4 turns to, towards the motion of another direction until comparative result is again less than 10 centimetres.
As one kind selection, in the embodiment of the application one, in addition to alarm module, the robot interior is arranged on, when the distance is less than the predetermined threshold value, alarm module produces warning message.
As one kind selection, in the embodiment of the application one, in addition to：Communication module, is arranged on inside the robot body, and when the distance is less than the predetermined threshold value, the communication module sends the warning message.
As one kind selection, in the embodiment of the application one, in addition to：Mobile terminal, the mobile terminal is used to receive the warning message that the communication module is sent.
As one kind selection, in an embodiment of the present invention, the mobile terminal also includes：Handover module, for switching the self-navigation robot according to the control campaign of the control module or controlling the self-navigation robot motion manually.
For example, when robot narrow space by complicated, although using the method for robot automatically walk finally, it can pass through, needs take a substantial amount of time.Now, for needing guidance machine people's Quick air to cross the small space.Therefore, robot is switched to by manual control by handover module, for control machine people by the small space after, then switch to automatic mode.
As one kind selection, in an embodiment of the present invention, the mobile terminal also includes：Display module, track route and travel region for showing the self-navigation robot.
As one kind selection, in an embodiment of the present invention, the mobile terminal also includes：Division module, for dividing block according to the track route and the travel region；Selecting module, for selecting the division block；The robot is taken action in the division block.
For example, when the artificial family's sweeping robot of machine, user is not intended to robot, and all space is moved indoors.Such as it is not intended to move in toilet, in order to avoid the influence of moisture robot circuit of toilet；Or be not intended to move in child room, fallen down with avoiding child from stepping down in when walking in robot；Or avoid intentional gate open wide and robot motion to outdoor loss situation.Now, indoor space is thought to be divided into several blocks by user by division module, in the space for selecting to need sweeping robot to move by selecting module.When sweeping robot, which is reached, needs the edge of space, auto-steering.
As one kind selection, in an embodiment of the present invention, the robot body periphery is provided with buffer unit.
For example, it is to avoid the situation that robot bumps against barrier and damaged when control module fails or manually controls occurs, set buffer unit to collide the impulsive force brought to reduce around robot, extend robot service life.
In one embodiment of the invention, robot automatic navigation method, including：
S1：The distance between current robot and surrounding environment barrier information is obtained by the range unit of robot；
S2：The range information and predetermined threshold value are compared and a comparative result is produced；
S3：The robot movement is controlled according to the comparative result.
For example, when robot motion, the distance between robot and barrier are obtained by range unit, and by the distance and predetermined threshold value（Such as 10 centimetres）It is compared.When distance is less than 10 centimetres, control machine people turns to.
As one kind selection, in an embodiment of the present invention, the distance between current robot and surrounding environment barrier information is obtained by the range unit of robot and further comprised：The distance between current robot and surrounding environment barrier information is obtained by infrared transmitting device and infrared receiver.
For example, when robot motion, infrared ray is launched by infrared transmitting device, receiving above-mentioned infrared ray by infrared ray receiving device runs into the infrared ray for rebounding after barrier.Pass through the distance between the time difference calculating robot of Infrared emitting and receiving and barrier.When distance is less than 10 centimetres, control machine people turns to.
As one kind selection, in an embodiment of the present invention, the distance between current robot and surrounding environment barrier information is obtained by the range unit of robot and further comprised：The distance between current robot and surrounding environment barrier information is obtained by acoustic emission apparatus and acoustic receiver device.
As one kind selection, in an embodiment of the present invention, the robot movement is controlled to further comprise according to the comparative result：When range information is less than predetermined threshold value, the robot is controlled to turn to.
For example, when robot motion, sound wave is launched by acoustic emission apparatus, receiving above-mentioned sound wave by sound wave receiving device runs into the sound wave for rebounding after barrier.Pass through the distance between acoustic emission and the time difference calculating robot received and barrier.When distance is less than 10 centimetres, control machine people turns to.
As one kind selection, in an embodiment of the present invention, in addition to the anticollision robot is switched according to the control campaign of the control module by handover module or the anticollision robot motion is controlled manually.
For example, when robot narrow space by complicated, although using the method for robot automatically walk finally, it can pass through, needs take a substantial amount of time.Now, for needing guidance machine people's Quick air to cross the small space.Therefore, robot is switched to by manual control by handover module, for control machine people by the small space after, then switch to automatic mode.
Track route and the travel region of the anticollision robot are shown by display module.
As one kind selection, in an embodiment of the present invention, block is divided according to the track route and the travel region by division module；The division block is selected by selecting module；The robot is taken action in the division block.
For example, when the artificial family's sweeping robot of machine, user is not intended to robot, and all space is moved indoors.Such as it is not intended to move in toilet, in order to avoid the influence of moisture robot circuit of toilet；Or be not intended to move in child room, fallen down with avoiding child from stepping down in when walking in robot；Or avoid intentional gate open wide and robot motion to outdoor loss situation.Now, indoor space is thought to be divided into several blocks by user by division module, in the space for selecting to need sweeping robot to move by selecting module.When sweeping robot, which is reached, needs the edge of space, auto-steering.
As one kind selection, in an embodiment of the present invention, buffer unit is provided with robot body periphery.
For example, it is to avoid the situation that robot bumps against barrier and damaged when control module fails or manually controls occurs, set buffer unit to collide the impulsive force brought to reduce around robot, extend robot service life.
As one kind selection, in an embodiment of the present invention, the buffer unit is spring.
As one kind selection, in an embodiment of the present invention, the buffer unit is air bag.
Self-navigation robot provided in the present invention, can measure the distance between robot and barrier simply by range finder module, when distance is less than preset value, with regard to being turned to.Without environmental map is previously stored in robot.While anticollision purpose is reached, cost is greatlyd save.
In several embodiments provided herein, it should be understood that disclosed method, device and equipment, it can realize by another way.For example, device embodiment described above is only schematical, for example, the division of the unit, it is only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.Another, it, by some communication interfaces, the INDIRECT COUPLING or communication connection of device or unit, can be electrical, machinery or other forms that shown or discussed coupling or direct-coupling or communication connection each other, which can be,.
The unit illustrated as separating component can be or may not be physically separate, and the part shown as unit can be or may not be physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.In addition, each functional unit in each of the invention embodiment can be integrated in a processing unit or unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized using in the form of SFU software functional unit and as independent production marketing or in use, can be stored in a computer read/write memory medium.Understood based on such, the part or the part of the technical scheme that technical scheme substantially contributes to prior art in other words can be embodied in the form of software product, the computer software product is stored in a storage medium, including some orders are to cause a computer equipment（Can be personal computer, server, or network equipment etc.）Perform all or part of step of each embodiment methods described of the invention.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage（ROM, Read-Only Memory）, random access memory（RAM, Random Access
Memory）, magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.A variety of modifications to these embodiments be will be apparent for those skilled in the art, and generic principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the most wide scope consistent with features of novelty with principles disclosed herein.
Claims (20)
1. a kind of self-navigation robot, it is characterised in that including：
Robot body；
Range finder module, is arranged on inside the robot body, for measuring the distance between the self-navigation robot and barrier；
Comparison module, is arranged on inside the robot body, for comparing the distance and predetermined threshold value, and produces comparative result；
Control module, controls the robot body to turn to according to the comparative result.
2. self-navigation robot as claimed in claim 1, it is characterised in that the range finder module further comprises：
RF transmitter, for launching infrared ray；
Infrared receiver, the bounce-back infrared ray for rebounding after barrier is run into for receiving the infrared ray of RF transmitter transmitting.
3. self-navigation robot as claimed in claim 1, it is characterised in that the range finder module further comprises：
Acoustic emission apparatus, for around sending sound wave；
Acoustic receiver device, the bounce-back sound wave for rebounding after barrier is run into for receiving the sound wave that the acoustic emission apparatus is sent.
4. self-navigation robot as claimed in claim 1, it is characterised in that also including alarm module, is arranged on the robot interior, when the distance is less than the predetermined threshold value, alarm module produces warning message.
5. self-navigation robot as claimed in claim 4, it is characterised in that also include：
Communication module, is arranged on inside the robot body, and when the distance is less than the predetermined threshold value, the communication module sends the warning message.
6. self-navigation robot as claimed in claim 5, it is characterised in that also include：Mobile terminal, the mobile terminal is used to receive the warning message that the communication module is sent.
7. self-navigation robot as claimed in claim 6, it is characterised in that the mobile terminal also includes：
Handover module, for switching the self-navigation robot according to the control campaign of the control module or controlling the self-navigation robot motion manually.
8. self-navigation robot as claimed in claim 6, it is characterised in that the mobile terminal also includes：
Display module, track route and travel region for showing the self-navigation robot.
9. self-navigation robot as claimed in claim 8, it is characterised in that the mobile terminal also includes：
Division module, for dividing block according to the track route and the travel region；
Selecting module, for selecting the division block；
The robot is taken action in the division block.
10. self-navigation robot as claimed in claim 1, it is characterised in that the robot body periphery is provided with buffer unit.
11. a kind of robot automatic navigation method, it is characterised in that including：
The distance between current robot and surrounding environment barrier information is obtained by the range unit of robot；
The range information and predetermined threshold value are compared and a comparative result is produced；
The robot movement is controlled according to the comparative result.
12. robot automatic navigation method as claimed in claim 11, it is characterised in that obtain the distance between current robot and surrounding environment barrier information by the range unit of robot and further comprise：The distance between current robot and surrounding environment barrier information is obtained by infrared transmitting device and infrared receiver.
13. robot automatic navigation method as claimed in claim 11, it is characterised in that obtain the distance between current robot and surrounding environment barrier information by the range unit of robot and further comprise：The distance between current robot and surrounding environment barrier information is obtained by acoustic emission apparatus and acoustic receiver device.
14. robot automatic navigation method as claimed in claim 11, it is characterised in that control the robot movement to further comprise according to the comparative result：When range information is less than predetermined threshold value, the robot is controlled to turn to.
15. robot automatic navigation method as claimed in claim 11, it is characterised in that also including switching the anticollision robot according to the control campaign of the control module by handover module or controlling the anticollision robot motion manually.
16. robot automatic navigation method as claimed in claim 11, it is characterised in that track route and the travel region of the anticollision robot are shown by display module.
17. robot automatic navigation method as claimed in claim 16, it is characterised in that block is divided according to the track route and the travel region by division module；The division block is selected by selecting module；The robot is taken action in the division block.
18. robot automatic navigation method as claimed in claim 11, it is characterised in that be provided with buffer unit in robot body periphery.
19. robot automatic navigation method as claimed in claim 18, it is characterised in that be provided with spring in robot body periphery.
20. robot automatic navigation method as claimed in claim 18, it is characterised in that be provided with air bag in robot body periphery.
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| CN201610252595.9A CN107305382A (en) | 2016-04-21 | 2016-04-21 | A kind of self-navigation robot and automatic navigation method |
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| CN109144058A (en) * | 2018-08-14 | 2019-01-04 | 上海常仁信息科技有限公司 | A kind of automated navigation system and method for robot |
| CN109298711A (en) * | 2018-09-26 | 2019-02-01 | 北京洪泰同创信息技术有限公司 | Intelligentized Furniture, transmitter and intelligentized Furniture control system |
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