CN206021080U - Robot - Google Patents
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- CN206021080U CN206021080U CN201621042225.4U CN201621042225U CN206021080U CN 206021080 U CN206021080 U CN 206021080U CN 201621042225 U CN201621042225 U CN 201621042225U CN 206021080 U CN206021080 U CN 206021080U
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- robot
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- barrier
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Abstract
This utility model embodiment provides a kind of robot, and the robot includes：Avoidance detection means, for detecting robot dead ahead, in front of left side, in front of right side with the presence or absence of barrier and the distance and bearing angle of robot and barrier；There is no barrier when avoidance detection means detects dead ahead, when there is barrier in front of left side front and right side, controller is when determining that the first distance and/or second distance are less than predetermined threshold value, according to the first distance, first party parallactic angle, second distance and second party parallactic angle calculate the 3rd distance between left side barrier and right side barrier, and when the 3rd distance is more than the pre-set dimension parameter of robot, robot is made to move on by controlling driving means, wherein, first distance and first party parallactic angle are corresponding with left side barrier, second distance and second party parallactic angle are corresponding with right side barrier.By the program so that robot ambulation space is big, utilization rate is high.
Description
Technical field
This utility model embodiment is related to field of artificial intelligence, more particularly to a kind of robot.
Background technology
With the development of science and technology, artificial intelligence robot is more and more applied in the middle of all trades and professions, to substitute biography
The labour force of system.
Robot needs avoiding obstacles during traveling, and conventional Obstacle Avoidance includes at present：Testing machine
Device people and the distance of barrier, when the distance for detecting is less than predeterminable range, controls robot and stop movement.
In practical application, consider for factors such as robot ambulation safeties, in general, the setting of above-mentioned predeterminable range
Value is generally large, so that the walking space of robot is relatively limited, reduces the utilization rate of robot.
Content of the invention
This utility model embodiment provides a kind of robot, in order to solve the setting value of avoidance distance in prior art compared with
Greatly, so that the problem of the walking limited space of robot.
This utility model embodiment provides a kind of robot, including：Controller, driving means and it is arranged on the machine
Avoidance detection means with man-machine；
The avoidance detection means, for detecting robot dead ahead, whether there is barrier in front of left side, in front of right side
And the distance and bearing angle of robot and barrier；
There is no barrier when avoidance detection means detects robot dead ahead, in front of in front of left side and right side, there is barrier
When hindering thing, the detect first distance, first party parallactic angle, second distance, second party parallactic angle are sent to the controller, its
In, the first distance and first party parallactic angle corresponding with left side barrier, second distance and second party parallactic angle corresponding with right side barrier；
The controller, when determining that first distance and/or the second distance are less than predetermined threshold value, according to described
First distance, the first party parallactic angle, the second distance and the second party parallactic angle calculate left side barrier and right side obstacle
The 3rd distance between thing, and when the described 3rd distance is more than the pre-set dimension parameter of the robot, described by control
Driving means make the robot move on.
The robot that this utility model embodiment is provided, when robot determines that dead ahead does not have barrier, in front of left side
During with there is barrier in front of right side, according to the first distance corresponding with left side barrier and first party parallactic angle, and with right side
The corresponding second distance of barrier and second party parallactic angle calculate the 3rd distance between left side barrier and right side barrier, and
Move on when the 3rd distance is more than the pre-set dimension parameter of robot, as long as the distance that is, between left and right sides barrier allows machine
Device people pass through, and just control robot moves ahead, and reduces the undue restriction in the walking space to robot, improves the profit of robot
With rate.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are
Some embodiments of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work,
Can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is a kind of structural representation of robot that this utility model embodiment one is provided；
Fig. 2 is an actual scene schematic diagram corresponding with embodiment illustrated in fig. 1；
Fig. 3 is a kind of structural representation of robot that this utility model embodiment two is provided；
Fig. 4 is an actual scene schematic diagram corresponding with embodiment illustrated in fig. 3；
Fig. 5 is another actual scene schematic diagram corresponding with embodiment illustrated in fig. 3.
Specific embodiment
Purpose, technical scheme and advantage for making this utility model embodiment is clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described to the technical scheme in this utility model embodiment, it is clear that retouched
The embodiment that states is a part of embodiment of this utility model, rather than whole embodiments.Enforcement in based on this utility model
Example, the every other embodiment obtained under the premise of creative work is not made by those of ordinary skill in the art are belonged to
The scope of this utility model protection.
When robot is run into than default avoidance during traveling apart from spaces such as little passageway, doorways, even if
The space has redundancy to allow robot to pass through, and robot can also be parked in original place and not readvance.At this time, if nobody is by machine
People pushes away forward, then robot will be stagnated there always.Not only reduce robot utilization rate, and waste of manpower and when
Between.
Fig. 1 is a kind of structural representation of robot that this utility model embodiment one is provided, as shown in figure 1, robot
100 include controller 1, driving means 3 and the avoidance detection means 2 being arranged on the robot fuselage.
Avoidance detection means 2, for detecting 100 dead ahead of robot, whether there is barrier in front of left side, in front of right side
And the distance and bearing angle of robot and barrier.
Specifically, avoidance detection means 2 can include sonac, infrared ray sensor, laser sensor and radar
Sensor etc., this utility model embodiment are not limited.
There is no barrier when avoidance detection means 2 detects 100 dead ahead of robot, deposit in front of left side and in front of right side
In barrier, the detect first distance, first party parallactic angle, second distance, second party parallactic angle are sent to controller 1, its
In, the first distance and first party parallactic angle corresponding with left side barrier, second distance and second party parallactic angle corresponding with right side barrier.
Controller 1 is both less than predetermined threshold value determining the first distance and second distance, or determine the first distance or
When one in second distance is less than predetermined threshold value, according to the first distance, first party parallactic angle, second distance and second party parallactic angle meter
The 3rd distance between left side barrier and right side barrier is calculated, and is joined more than the pre-set dimension of robot 100 in the 3rd distance
During number, robot 100 is made to move on by controlling driving means 3；Wherein described predetermined threshold value can be according to 100 machine of robot
The factor such as body size and walking environment is arranged.
Specifically, Fig. 2 is an actual scene schematic diagram corresponding with embodiment illustrated in fig. 1, as shown in Fig. 2 robot 100
There is barrier the left and right sides, and fault avoidnig device 2 is arranged on the dead ahead of robot fuselage, in 100 traveling process of robot, or
When person robot 100 will be transformed into travel condition by resting state, avoidance detection means 2 is to 100 surrounding L distance of robot
Spatial dimension detected, judge 100 dead ahead of robot, in front of in front of left side and right side with the presence or absence of barrier, work as machine
When there is barrier in 100 dead ahead L distance ranges of people, the preceding object thing information for detecting is sent to controller 1, so that
Controller 1 makes 100 stop motion of robot or remains stationary by controlling driving means 3.
There is no barrier when avoidance detection means 2 detects dead ahead in 100 front L distance ranges of robot, before left side
When there is barrier in front of side and right side, detect first between robot 100 and left front barrier apart from L1 and first party
Second distance L2 and second party parallactic angle α 2 between parallactic angle α 1, and robot 100 and right front barrier, and will detect
First sends to controller 1 apart from L1, first party parallactic angle α 1, second distance L2, second party parallactic angle α 2.
When controller 1 is when determining that first is both greater than apart from L1 and second distance L2 or is equal to predetermined threshold value, by control
Driving means 3 make robot 100 move on.
When controller 1 is determining that first is both less than predetermined threshold value apart from L1 and second distance L2, or determine first away from
When one in L1 or second distance L2 is less than the predetermined threshold value, according to first apart from L1, first party parallactic angle α 1, second
Apart from L2 and second party parallactic angle α 2 calculate between left side barrier and right side barrier the 3rd apart from L3, and the 3rd apart from L3
More than robot 100 pre-set dimension parameter when, by control driving means 3 make robot 100 move on, in the 3rd distance
When L3 is less than or equal to the pre-set dimension parameter of robot 100, robot 100 is made to halt by controlling driving means 3.Its
In, pre-set dimension parameter can be the thickness of leaning to one side of the transverse width, or robot of robot.
The robot that this utility model embodiment is provided, when determination dead ahead does not have barrier, in front of left side and right side
When there is barrier in front, according to the first distance corresponding with left side barrier and first party parallactic angle, and with right side barrier
Corresponding second distance and second party parallactic angle calculate the 3rd distance between left side barrier and right side barrier, and the 3rd
Distance moves on when being more than the pre-set dimension parameter of robot.In this programme, as long as the distance between left and right sides barrier is allowed
Robot passes through, and just control robot moves ahead, will not be as prior art in, when determining distance of the robot apart from side barrier
Robot is just controlled less than certain larger threshold value to stop moving ahead so that the walking space of robot is not too limited, and is improve
The utilization rate of robot.
Fig. 3 is a kind of structural representation of robot that this utility model embodiment two is provided, as shown in figure 3, in Fig. 1 institutes
On the basis of showing embodiment, avoidance detection means 2 includes：First sensor 21, second sensor 22,3rd sensor 23.
First sensor 21, for detecting 100 dead ahead of robot with the presence or absence of barrier and robot 100 and obstacle
The distance and bearing angle of thing.
The second sensor 22, for detecting that front is with the presence or absence of barrier and robot 100 on the left of robot 100
Distance and bearing angle with barrier.
The 3rd sensor 23, for detecting that front is with the presence or absence of barrier and robot 100 on the right side of robot 100
Distance and bearing angle with barrier.
Specifically, first sensor 21, second sensor 22 and 3rd sensor 23 can include sonac, infrared
Line sensor, laser sensor or radar sensor, the present embodiment are not limited；
By the barrier in front of in front of different sensor difference robot measurement dead aheads, left side and right side, improve
The speed of measurement and precision, are that controller is accurately judged within the most short time and to be provided the foundation.
There is no barrier when first sensor 21 detects 100 dead ahead of robot, second sensor 22 and the 3rd is passed
Sensor 23 is detected when there is barrier in front of left side front and right side respectively, and second sensor 22 and 3rd sensor 23 are distinguished
Detect first distance, first party parallactic angle, second distance, second party parallactic angle are sent to controller 1, wherein, the first distance
Corresponding with left side barrier with first party parallactic angle, second distance and second party parallactic angle corresponding with right side barrier.
Alternatively, now, first sensor 21 can also send the instruction for indicating to be not detected by barrier to controller 1
Signal.
The subsequent processes of controller 1, embodiment shown in Figure 1, repeat no more.
Fig. 4 is an actual scene schematic diagram corresponding with embodiment illustrated in fig. 3, as shown in Figure 4：
First sensor 21, positioned at the dead ahead of 100 fuselage of robot, be preferably placed at 100 fuselage of robot vertical in
On line, for detecting in 100 dead ahead L ' distance ranges of robot with the presence or absence of barrier and robot 100 and barrier
Distance and bearing angle.
Second sensor 22, in front of the left side of 100 fuselage of robot, for detecting whether front deposits on the left of robot
In barrier and robot with left side barrier apart from L1 ' and orientation angles α 1 '.
3rd sensor 23, in front of the right side of 100 fuselage of robot, for detecting whether front deposits on the right side of robot
In barrier and robot with right side barrier apart from L2 ' and orientation angles α 2 '.
There is no barrier when first sensor 21 is detected in 100 dead ahead L ' distance ranges of robot, the second sensing
Device 22 and 3rd sensor 23 are detected when there is barrier in front of left side front and right side respectively, second sensor 22 and the 3rd
Sensor 23 is sent detect first apart from L1 ', first party parallactic angle α 1 ', second distance L2 ', second party parallactic angle α 2 ' respectively
To controller 1.
Controller 1 is determining first apart from L1 ' and second distance L2 ' both greater than or when being equal to predetermined threshold value, by controlling
Driving means 3 make robot 100 move on.
Controller 1 determine first apart from L1 ' and second distance L2 ' be both less than predetermined threshold value, or determination first away from
When one in L1 ' and second distance L2 ' is less than predetermined threshold value, calculate apart from L1 ' and first party parallactic angle α 1 ' according to first
Left side barrier on the left of 100 fuselage of robot apart from S1, and calculated according to second distance L2 ' and second party parallactic angle α 2 '
Right side barrier on the right side of 100 fuselage of robot apart from S2, S1 add S2 along with robot set in advance width S, i.e.,
The 3rd between 100 left side barrier of robot and right side barrier is obtained apart from L3 ', is more than machine the 3rd apart from L3 '
During the pre-set dimension parameter of people 100, controller 1 makes robot 100 move on by controlling driving means 3；In the 3rd distance
When L3 ' is less than the pre-set dimension parameter of robot 100, controller 1 makes robot 100 halt by controlling driving means 3.
Fig. 5 is another actual scene schematic diagram corresponding with embodiment illustrated in fig. 3, as shown in Figure 5：
First sensor 21, positioned at the dead ahead of 100 fuselage of robot, be preferably placed at 100 fuselage of robot vertical in
On line, for detecting in 100 dead ahead L ' distance ranges of robot with the presence or absence of barrier and robot 100 and barrier
Distance and bearing angle.
Second sensor 22, in front of the left side of 100 fuselage of robot, for detecting whether front deposits on the left of robot
In barrier and robot with left side barrier apart from L1 ' and orientation angles α 1 '.
3rd sensor 23, in front of the right side of 100 fuselage of robot, for detecting whether front deposits on the right side of robot
In barrier and robot with right side barrier apart from L2 ' and orientation angles α 2 '.
There is no barrier when first sensor 21 is detected in 100 dead ahead L ' distance ranges of robot, the second sensing
Device 22 and 3rd sensor 23 are detected when there is barrier in front of left side front and right side respectively, second sensor 22 and the 3rd
Sensor 23 is sent detect first apart from L1 ', first party parallactic angle α 1 ', second distance L2 ', second party parallactic angle α 2 ' respectively
To controller 1.
Controller 1 is determining first apart from L1 ' and second distance L2 ' both greater than or when being equal to predetermined threshold value, by controlling
Driving means 3 make robot 100 move on；
Controller 1 determine first apart from L1 ' and second distance L2 ' be both less than predetermined threshold value, or determination first away from
When one in L1 ' and second distance L2 ' is less than predetermined threshold value, calculate apart from L1 ' and first party parallactic angle α 1 ' according to first
Left side barrier on the left of 100 fuselage of robot apart from S1, and calculated according to second distance L2 ' and second party parallactic angle α 2 '
Right side barrier on the right side of 100 fuselage of robot apart from S2, the width S of robot set in advance deducts S1 plus S2, i.e.,
The 3rd between 100 left side barrier of robot and right side barrier is obtained apart from L3 ', is more than machine the 3rd apart from L3 '
During the pre-set dimension parameter of people 100, controller 1 makes robot 100 move on by controlling driving means 3；In the 3rd distance
When L3 ' is less than the pre-set dimension parameter of robot 100, controller 1 makes robot 100 stop continuing by controlling driving means 3
Advance.
Alternatively, the 3rd apart from L3 ' more than robot 100 pre-set dimension parameter when, controller 1 by control drive
Device 3 makes 100 Easy abeadl of robot.
By the distance in robot and barrier less than predetermined threshold value but more than robot pre-set dimension parameter when, control
Robot Easy abeadl processed, be conducive to the travel condition for adjusting robot in time, it is to avoid because robot ambulation excessive velocities are led
The problem for having little time avoidance for causing occurs, safe so as to ensure that using for robot.
Further, controller 1 be additionally operable to compare determine first apart from L1 ' and unequal second distance L2 ' when, pass through
Control driving means 3 make robot 100 move to the left or to the right so that first is equal apart from L1 ' and second distance L2 '.
By adjusting the distance of robot and arranged on left and right sides barrier, robot is made between the barrier of the left and right sides
Center position is advanced, and further avoid robot and collides with both sides barrier, has ensured the safe handling of robot.
Specifically, referring to Fig. 4 or Fig. 5, the pre-set dimension parameter includes the transverse width S of robot 100 and/or leans to one side
Thickness d.
Using the transverse width of robot and/or thickness of leaning to one side as pre-set dimension parameter, ensure robot not with both sides
On the basis of barrier collides, walking space that can farthest between Use barriers thing further increases machine
The utilization rate of device people.
Further, the robot that this utility model embodiment is provided also includes transfer, and controller 1 is additionally operable to the
Three apart from L3 ' be more than transverse width S when, control driving means 3, make robot 100 just march forward；It is less than apart from L3 ' the 3rd
Transverse width S and more than lean to one side thickness d when, control driving means 3 and transfer make robot 100 lean to one side to advance.
By taking scene shown in Fig. 5 as an example, controller 1 compare determine first apart from L1 ' and unequal second distance L2 ' when,
Robot 100 is made to move right by controlling driving means 3 so that first is equal apart from L1 ' and second distance L2 '；Assume the
Three apart from L3 ' less than robot 100 transverse width S and thickness d of leaning to one side more than robot 100, then the control of controller 1 drives
Device 3 and transfer make robot 100 lean to one side to advance with by both sides barrier.
By arranging transfer, allow the robot to less than its own transverse width but row more than its thickness of leaning to one side
Walk in space and advance, further increase the utilization rate of robot.
Device embodiment described above is only that schematically the wherein described unit illustrated as separating component can
To be or may not be physically separate, as the part that unit shows can be or may not be physics list
Unit, you can be located at a place, or can also be distributed on multiple NEs.Which is selected according to the actual needs can
In some or all of module realizing the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Mode by software plus required general hardware platform is realizing, naturally it is also possible to by hardware.Such understanding is based on, on
State the part that technical scheme substantially contributes prior art in other words to embody in the form of software product, should
Computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some fingers
Order is used so that a computer equipment (can be personal computer, server, or network equipment etc.) executes each enforcement
Method described in some parts of example or embodiment.
Finally it should be noted that：Above example only in order to the technical solution of the utility model to be described, rather than a limitation；
Although being described in detail to this utility model with reference to the foregoing embodiments, it will be understood by those within the art that：
Which still can be modified to the technical scheme described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, do not make the essence of appropriate technical solution depart from each embodiment technology of this utility model
The spirit and scope of scheme.
Claims (6)
1. a kind of robot, it is characterised in that include：Controller, driving means and it is arranged on the robot fuselage
Avoidance detection means；
The avoidance detection means, for detecting robot dead ahead, in front of left side, in front of right side with the presence or absence of barrier and
Robot and the distance and bearing angle of barrier；
There is no barrier when avoidance detection means detects robot dead ahead, in front of left side and there is barrier in front of right side
When, the detect first distance, first party parallactic angle, second distance, second party parallactic angle are sent to the controller, wherein,
One distance and first party parallactic angle are corresponding with left side barrier, and second distance and second party parallactic angle are corresponding with right side barrier；
The controller, when determining that first distance and/or the second distance are less than predetermined threshold value, according to described first
Distance, the first party parallactic angle, the second distance and the second party parallactic angle calculate left side barrier and right side barrier it
Between the 3rd distance, and when the described 3rd distance is more than the pre-set dimension parameter of the robot, by controlling the driving
Device makes the robot move on.
2. robot according to claim 1, it is characterised in that the avoidance detection means include first sensor,
Two sensors and 3rd sensor；
The first sensor, for detecting robot dead ahead with the presence or absence of barrier and the distance of robot and barrier
And orientation angles；
The second sensor, for detect on the left of robot front with the presence or absence of barrier and robot and barrier away from
From and orientation angles；
The 3rd sensor, for detect on the right side of robot front with the presence or absence of barrier and robot and barrier away from
From and orientation angles.
3. robot according to claim 1, it is characterised in that the controller, is additionally operable to by controlling the driving
Device makes robot Easy abeadl.
4. robot according to claim 1, it is characterised in that the controller, is additionally operable to determine described the comparing
When one distance and the unequal second distance, the robot is made to move to the left or to the right by controlling the driving means,
So that first distance and the second distance are equal.
5. robot according to claim 1, it is characterised in that the pre-set dimension parameter includes the horizontal stroke of the robot
To width and/or thickness of leaning to one side.
6. robot according to claim 5, it is characterised in that also include：Transfer；
The controller, is additionally operable to, when the described 3rd distance is more than the transverse width, control the driving means, make described
Robot just marches forward；The described 3rd distance less than the transverse width and more than described lean to one side thickness when, control the drive
Dynamic device and the transfer, make the robot lean to one side to advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621042225.4U CN206021080U (en) | 2016-09-07 | 2016-09-07 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621042225.4U CN206021080U (en) | 2016-09-07 | 2016-09-07 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206021080U true CN206021080U (en) | 2017-03-15 |
Family
ID=58259046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621042225.4U Withdrawn - After Issue CN206021080U (en) | 2016-09-07 | 2016-09-07 | Robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206021080U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272425A (en) * | 2016-09-07 | 2017-01-04 | 上海木爷机器人技术有限公司 | Barrier-avoiding method and robot |
| CN110989631A (en) * | 2019-12-30 | 2020-04-10 | 科沃斯机器人股份有限公司 | Self-moving robot control method, device, self-moving robot and storage medium |
| CN111624991A (en) * | 2019-11-11 | 2020-09-04 | 深圳市荣盛智能装备有限公司 | Method for driving fire-fighting robot in narrow lane |
-
2016
- 2016-09-07 CN CN201621042225.4U patent/CN206021080U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272425A (en) * | 2016-09-07 | 2017-01-04 | 上海木爷机器人技术有限公司 | Barrier-avoiding method and robot |
| CN106272425B (en) * | 2016-09-07 | 2018-12-18 | 上海木木机器人技术有限公司 | Barrier-avoiding method and robot |
| CN111624991A (en) * | 2019-11-11 | 2020-09-04 | 深圳市荣盛智能装备有限公司 | Method for driving fire-fighting robot in narrow lane |
| CN110989631A (en) * | 2019-12-30 | 2020-04-10 | 科沃斯机器人股份有限公司 | Self-moving robot control method, device, self-moving robot and storage medium |
| CN110989631B (en) * | 2019-12-30 | 2022-07-12 | 科沃斯机器人股份有限公司 | Self-moving robot control method, device, self-moving robot and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee after: Shanghai wood wood robot technology Co., Ltd. Address before: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee before: Shanghai Muye Robot Technology Co., Ltd. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170315 Effective date of abandoning: 20181218 |