The content of the invention
In view of this, it is an object of the invention to provide a kind of robot and its air navigation aid, system, equipment, can makeObtain robot and navigation walking is carried out on the body surface of no frame.Its concrete scheme is as follows：
In a first aspect, the invention discloses a kind of robot navigation method, including：
When the edge of robot along support object moves, first position sensor group and second are obtained in real time respectivelyThe positional information that sensor group detects is put, obtains the first real-time position information and the second real-time position information；Wherein, describedOne position sensor group and the second place sensor group are placed in the shortest with the Edge Distance of the robotOn on the outside of one chassis；
According to first real-time position information and second real-time position information, to the direct of travel of the robotCorrection processing is carried out, so that the first real-time position information is the external location information at the edge after correction is handled every time, andAnd second real-time position information be the edge internal location informa.
Optionally, first position sensor group and second place sensing are equipped with two outsides on the robot chassisDevice group.
Optionally, the first position sensor group includes a position sensor or multiple position sensors；DescribedTwo position sensor groups include a position sensor or multiple position sensors.
Optionally, it is described according to first real-time position information and second real-time position information, to the machineThe direct of travel of people carries out correction processing, so that the first real-time position information is the outside at the edge after correction is handled every timePositional information, and the second real-time position information be the edge internal location informa the step of, including：
When the internal location informa that the first real-time position information is the edge, then the robot is controlled to edge outsideOffset；
When the external location information that the second real-time position information is the edge, then the robot is controlled to edge inner sideOffset.
Optionally, the robot navigation method, further includes：
The robot is utilized respectively to be placed in the third place sensor group of front end in advance and be placed in rear end in advance4th position sensor group come detect it is described support object edge；
When any sensor group in the third place sensor group and the 4th position sensor group detects instituteThe edge of support object is stated, then controls the robot to carry out being moved away from marginal operation.
Optionally, any sensor worked as in the third place sensor group and the 4th position sensor groupGroup detects the edge of the support object, then the step of controlling the robot to carry out being moved away from marginal operation, including：
When any sensor group in the third place sensor group and the 4th position sensor group detects instituteThe edge of support object is stated, then the edge is determined as object edge, and controls the robot to carry out being moved away from edge behaviour in real timeMake, so that the front end of the robot is kept towards with the line segment extending direction in the object edge after being moved away from edgeUnanimously, and ensure during marginal operation is moved away from, when the third place sensor group detects the side of the support objectEdge, then drive the robot to be moved rearwards, when the 4th position sensor group detect it is described support object edge, thenThe robot is driven to move forward.
Optionally, the robot navigation method, further includes：
After edge is moved away from, judge whether the location of presently described robot is that standard starts position, ifIt is then to start the edge movement that the robot continues on the support object, if it is not, then the position to the robotIt is finely adjusted, until the position of the robot starts position for standard；
Wherein, when the robot, which is in the standard, starts position, the first real-time position information is the support pairAs the external location information at edge, the second real-time position information is the internal location informa of the support target edges, and instituteState the edge that the 4th position sensor group detects the support object.
Second aspect, the invention discloses a kind of Algorithms of Robots Navigation System, including：
Position information acquisition module, for when edge of the robot along support object moves, obtaining the in real time respectivelyThe positional information that one position sensor group and second place sensor group detect, obtains the first real-time position information and second in factWhen positional information；Wherein, the first position sensor group and the second place sensor group are placed in the robotA chassis shortest with the Edge Distance on the outside of on；
Direction correcting module, for according to first real-time position information and second real-time position information, to instituteThe direct of travel for stating robot carries out correction processing, so that the first real-time position information is the edge after correction processing every timeExternal location information, and the second real-time position information be the edge internal location informa.
The third aspect, the invention discloses a kind of robot navigation's equipment, including first position sensor group, the second placeSensor group, memory and processor；Wherein, the processor is by performing the computer program being stored in the memoryRealize following steps：
When the edge of robot along support object moves, the first position sensor group and institute are obtained in real time respectivelyThe positional information that second place sensor group detects is stated, obtains the first real-time position information and the second real-time position information；ItsIn, the first position sensor group and the second place sensor group be placed in the robot with the edge away fromOn on the outside of a shortest chassis；
According to first real-time position information and second real-time position information, to the direct of travel of the robotCorrection processing is carried out, so that the first real-time position information is the external location information at the edge after correction is handled every time, andAnd second real-time position information be the edge internal location informa.
Fourth aspect, the invention also discloses a kind of robot, including foregoing disclosed robot navigation's equipment.
As it can be seen that the present invention has disposed first position sensor group and the on the outside of a chassis nearest apart from edge in advanceTwo position sensor groups, can be according to above-mentioned two position sensor group when the edge of robot along support object movesThe real-time position information detected, correction processing is carried out to the method for advance of robot, so that first after correction processing is realWhen positional information and the second real-time position information be respectively support target edges external location information and internal location informa.PressConstantly the direct of travel of robot is corrected according to above-mentioned correction mode, robot may finally be caused to reach branchThe edge in support face carries out operation, and can avoid slipping from the edge of supporting surface and drop, that is, so that robot existsDo not have to carry out navigation walking on the body surface of frame.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, completeSite preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative workEmbodiment, belongs to the scope of protection of the invention.
Shown in Figure 1 the embodiment of the invention discloses a kind of robot navigation method, this method includes：
Step S11：When the edge of robot along support object moves, first position sensor group is obtained in real time respectivelyThe positional information detected with second place sensor group, obtains the first real-time position information and the second real-time position information；ItsIn, first position sensor group and second place sensor group are placed in a chassis shortest with Edge Distance for robotOn outside.
It is understood that if robot is only along clockwise or only along counterclockwise in the edge progress of support objectWhen mobile, then the present embodiment only can be equipped with first position on the outside of a robot chassis shortest with Edge Distance and senseDevice group and second place sensor group.Certainly, if robot both may be along clockwise may also be along supporting counterclockwiseWhen the edge of object is moved, then current embodiment require that being equipped with first position sensing on two outsides on robot chassisDevice group and second place sensor group.
In the present embodiment, the real-time position information that first position sensor group detects can be specifically support target edgesExternal location information or internal location informa.The real-time position information detected by first position sensor group, can be trueMake whether first position sensor group is the outside edges region for being located at support object, or in the edge of support objectPortion region.Similarly, the real-time position information that the second place sensor group in the present embodiment detects can be specifically support pairAs the external location information or internal location informa at edge.The real-time position information detected by second place sensor group,It can determine whether second place sensor group is the outside edges region for being located at support object, or positioned at support objectEdge interior zone.
In addition, it is necessary to, it is noted that in the present embodiment, in above-mentioned first position sensor group and second place sensor groupAny sensor group in, a position sensor can be only included, when the real-time position information that the position sensor detectsTo support the external location information of target edges, then it can directly judge corresponding position sensor group positioned at the edge of support objectPerimeter, similarly, when the real-time position information that the position sensor detects to support the internal location informa of target edges,It then can directly judge edge interior zone of the corresponding position sensor group positioned at support object.
Certainly, in order to lift navigation accuracy, error situation, the present embodiment first position sensor group and the second place are reducedIn any sensor group in sensor group, multiple position sensors can also be included, also, above-mentioned multiple position sensors canTo be distributed on the straight line parallel with the crawler body side of robot, naturally it is also possible to needed according to practical application in track bottomAbove-mentioned multiple position sensors are reasonably distributed on the outside of disk.
In the present embodiment, when any of the above-described position sensor group includes multiple position sensors, phase can be gotThe multigroup real-time position information answered, in above-mentioned multigroup real-time position information, if real-time position information is support target edgesThe group number of external location information be more than the half of total group number, then can be determined that corresponding position sensor group positioned at support objectOutside edges region, if real-time position information be greater than or equal to for the group number of the internal location informa of support target edges it is totalThe half of group number, then can be determined that edge interior zone of the corresponding position sensor group positioned at support object.
In addition, the position sensor in the present embodiment can be range sensor or Boolean value output sensor, includingBut it is not limited to ultrasonic distance sensor, close switch, optoelectronic switch and 3D laser radars.
It is further noted that the supporting surface that object is supported in the present embodiment can be that plane can also be curved surface,Either rectangular surfaces or the irregular face of rule, do not limit it more specifically herein.
Step S12：According to the first real-time position information and the second real-time position information, the direct of travel of robot is carried outCorrection is handled, so that the first real-time position information is the external location information at edge after correction is handled every time, and second is realWhen positional information be edge internal location informa.
It is above-mentioned according to the first real-time position information and the second real-time position information in a kind of embodiment, to machineThe direct of travel of device people carries out correction processing, so that the first real-time position information is the outer position at edge after correction is handled every timeConfidence cease, and the second real-time position information be edge internal location informa the step of, can specifically include：
When the internal location informa that the first real-time position information is edge, then robot is controlled to edge lateral offset；WhenSecond real-time position information is the external location information at edge, then controls robot to edge offset inboard.
As it can be seen that the present invention has disposed first position sensor group and the on the outside of a chassis nearest apart from edge in advanceTwo position sensor groups, can be according to above-mentioned two position sensor group when the edge of robot along support object movesThe real-time position information detected, correction processing is carried out to the method for advance of robot, so that first after correction processing is realWhen positional information and the second real-time position information be respectively support target edges external location information and internal location informa.PressConstantly the direct of travel of robot is corrected according to above-mentioned correction mode, robot may finally be caused to reach branchThe edge in support face carries out operation, and can avoid slipping from the edge of supporting surface and drop, that is, so that robot existsDo not have to carry out navigation walking on the body surface of frame.
On the basis of previous embodiment, the embodiment of the present invention has made further optimization and explanation.Specifically：
Shown in Figure 2, the robot navigation method in the present embodiment, can also include：
Step S21：Be utilized respectively robot be placed in advance front end the third place sensor group and in advance be placed in afterThe 4th position sensor group at end supports the edge of object to detect；
Step S22：When any sensor group in the third place sensor group and the 4th position sensor group detects branchThe edge of object is supportted, then controls robot to carry out being moved away from marginal operation.
It is understood that the third place sensor group and the 4th position sensor group in the present embodiment can be wrapped onlyA position sensor is included, if the position sensor detects the edge of support object, can directly judge corresponding positionPut the edge that sensor group has detected support object.Certainly, in order to lift detection accuracy, they can also include multiple positionsSensor is put, in addition, if above-mentioned the third place sensor group or the 4th position sensor group include multiple position sensors,In this case, for any position sensor group, if detecting the sensor number of support target edges in the sensor groupAmount reaches predetermined threshold value, then can determine that the sensor group has detected the edge of support object, otherwise judge the sensor group alsoDo not detect the edge of support object.In order to improve the security of robot, avoid robot from slipping and drop, can will be above-mentioned pre-If threshold value is set as smaller numerical value as far as possible, such as is set to 1.
In the present embodiment, the above-mentioned any sensor group worked as in the third place sensor group and the 4th position sensor group is visitedThe step of measuring the edge of support object, then controlling robot to carry out being moved away from marginal operation, can specifically include：
When any sensor group in the third place sensor group and the 4th position sensor group detects support objectEdge, then be determined as object edge by the edge, and real time control machine device people carries out being moved away from marginal operation, so that being moved away from edgeAfter robot front end towards being consistent with the line segment extending direction in object edge, and ensure be moved away from marginal operationDuring, when the third place sensor group detects the edge of support object, then driving robot is moved rearwards, when the 4th positionSensor group detects the edge of support object, then drives robot to move forward.
Further, the robot navigation method in the present embodiment, can also include：
After edge is moved away from, judge whether the location of current robot is that standard starts position, if it is,Start the edge movement that robot continues on support object, if it is not, then being finely adjusted to the position of robot, until machineThe position of people starts position for standard；
Wherein, when robot, which is in standard, starts position, the first real-time position information is the outside of support target edgesPositional information, the second real-time position information is supports the internal location informa of target edges, and the 4th position sensor group is visitedMeasure the edge of the support object.
In the present embodiment, position passes in the first position sensor group and second place sensor group at left and right sides of robotThe quantity of sensor may each be 1, specific as shown in Figure 3.In Fig. 3, supporting object is double glass photovoltaic arrays, robot close to doubleThe side of glass photovoltaic array left side edge is equipped with first position sensor group A1 and second place sensor group B1, robotSide away from double glass photovoltaic array left side edges is equipped with second place sensor group A2 and second place sensor group B2, machineThe front end of device people is equipped with the third place sensor group M, and the rear end of robot is equipped with the 4th position sensor group N.
In Fig. 3, the position relationship between first position sensor group A1 and second place sensor group B1 has certainFeature, that is, the position relationship between first position sensor group A1 and second place sensor group B1 is characterized in firstSensor group A1 and second place sensor group B1 are put respectively positioned at pair both sides of the left side edge of glass photovoltaic arrays.Work as robotCleaning chassis when being deviated to the left in moving process, B1 sensors leave double glass photovoltaic array surfaces, can produce at this timeRaw corresponding correction trigger signal, is rectified a deviation, (angular dimension is by journey for low-angle of turning right with control cleaning chassis according to intrinsic programSequence is set), untill B1 is located at the surface on double glass photovoltaic array surfaces again；Cleaning the situation that chassis deviates to the right is alsoSimilar, A1 sensors, to positioned at the surface of double glass photovoltaic arrays, produce at this time never positioned at the surface of double glass photovoltaic arraysRaw another correction trigger signal, is turned left low-angle with control cleaning chassis, until A1 sensors are positioned at double glass photovoltaic arraysSurface.In the above example, position sensor position is characterized in fixation across sideline arrangement.Clean the biography on the right side of chassisWhat sensor arrangement considered is corresponding same sideline, and chassis is returned toward movement, therefore the position sensor of robot both sides can be oppositeChassis central axes are arranged symmetrically.
Certainly, in the present embodiment, in the first position sensor group and second place sensor group at left and right sides of robotThe quantity of position sensor can also be 2, specifically as shown in Figure 4 and Figure 5.In Fig. 4 and Fig. 5, supporting object is double glass photovoltaic battle arraysRow, robot is equipped with first position sensor group and second place sensing close to the side of double glass photovoltaic array left side edgesDevice group, wherein, first position sensor group includes laterally distributed position sensor A11, A12, second place sensor groupIncluding laterally distributed position sensor B11, B12, the front end of robot is equipped with the third place sensor group M, robotRear end is equipped with the 4th position sensor group N.In Fig. 5, when robot causes sensor B11 to be triggered to deviation on the outside of edge,Robot control system, which can not be done, interferes, and just controls robot to deviate inwardly until sensor B12 is triggered, similarly, whenRobot to deviate on the inside of edge cause the sensors A 12 to be triggered when, robot control system, which can not be done, interferes, until sensingDevice A11, which is triggered, just controls robot to deviate laterally,
Furthermore, it is contemplated that there was only a position sensor or institute in first position sensor group and second place sensor groupWhen some position sensors is laterally distributed, easily there is walking error so that robot, which slips, to drop, as shown in Figure 6.InstituteWith in the present embodiment, can also make includes multiple position sensings in first position sensor group and second place sensor groupDevice, and every group of sensor is in genesis analysis, namely be distributed each along direction of travel, it is specific as shown in Figure 7, it is possible to understand thatIt is that sensor is bigger along the mounting distance of direction of travel in Fig. 7, deflection angle when correction triggers is just smaller, so as to significantly dropThe possibility of low walking error.
In addition, when robot moves forward at the edge of double glass photovoltaic arrays, if the position sensor group of front end reachesDirectly over the edge of double glass photovoltaic arrays, then cornering operation can be triggered.Detailed process may be referred to shown in Fig. 8, in Fig. 8, whenAfter cleaning robot is put on double glass photovoltaic arrays with the side posture parallel with double glass photovoltaic array end long side A, cleaning machineDevice people moves forward, and until sensor detects marginal point d, original place bends to right 90 °, and angle of turn can pass through crawler bodyThe control of turning machine producing linear, retract, by the sensor-triggered of cleaning robot rear end, find the double of cleaning robot rear endGlass photovoltaic array edge A, if the sensor on the cleaning robot left side does not trigger at this time, cleaning robot is forward to moving to leftDynamic, until triggering left sensor, after the double glass photovoltaic array edge B for finding left side, low-angle adjusts cleaning robot to the rightVehicle body, and retract, at double glass photovoltaic array end d, the sensor on the left of cleaning robot with afterbody is all in triggering at this timeState, illustrates that cleaning robot is in place by setting.Start cleaning robot, moved with straight manner forward, in moving processConstantly rectified a deviation along side edge B according to the real-time position information that sensor detects, to ensure that track route is straight line as far as possible, directlySensor to front end is triggered, point of arrival e positions；Original place is turned right 90 °, and straight forward, until front end sensor againIt is secondary to be triggered, f points are reached, original place bends to right 90 ° again；Continue straight forward, along D sides, visited again by position sensorThe real-time position information measured keeps the route accuracy of straight trip over long distances, final to arrive at starting point marginal point g, at this time cleaning robotPeople's front end sensors trigger.90 ° of pivot turn to the right again, cleaning robot left side side is with being originally placed double glass photovoltaics at this timePosture on array is consistent, parallel with double glass photovoltaic array edge A.Patch A sides move forward to point d, and it is double so to complete a lineThe cleaning process of glass photovoltaic array plate face.Above flow is a kind of embodiment, according to different navigation modes, double glass photovoltaic battle arraysRow specification, cleaning area of bed, cleaning process are also different.
Correspondingly, the embodiment of the invention also discloses a kind of Algorithms of Robots Navigation System, shown in Figure 9, which includes：
Position information acquisition module 11, for when edge of the robot along support object moves, obtaining in real time respectivelyThe positional information that first position sensor group and second place sensor group detect, obtains the first real-time position information and secondReal-time position information；Wherein, first position sensor group and second place sensor group be placed in robot with edge away fromOn on the outside of a shortest chassis；
Direction correcting module 12, for according to the first real-time position information and the second real-time position information, to robotDirect of travel carries out correction processing, so that the first real-time position information is believed for the external position at edge after correction processing every timeBreath, and the internal location informa that the second real-time position information is edge.
The corresponding contents disclosed in previous embodiment are may be referred on the more specifical course of work of above-mentioned modules,No longer repeated herein.
Correspondingly, the embodiment of the invention also discloses a kind of robot navigation's equipment, including first position sensor group,Two position sensor groups, memory and processor；Wherein, processor is by performing the computer program reality preserved in memoryExisting following steps：
When the edge of robot along support object moves, first position sensor group and second are obtained in real time respectivelyThe positional information that sensor group detects is put, obtains the first real-time position information and the second real-time position information；Wherein, firstPut sensor group and second place sensor group is placed on the outside of a chassis shortest with Edge Distance for robot；
According to the first real-time position information and the second real-time position information, the direct of travel of robot is carried out at correctionReason so that every time after correction processing the first real-time position information be edge external location information, and the second real time positionInformation is the internal location informa at edge.
The corresponding contents disclosed in previous embodiment are may be referred on the more specifical implementation procedure of above-mentioned processor,This is no longer repeated.
In addition, the invention also discloses a kind of robot, including foregoing disclosed robot navigation's equipment.Wherein, it is above-mentionedRobot is specifically as follows the robot for cleaning photovoltaic array, also, above-mentioned photovoltaic array for tracing type photovoltaic array orDouble glass photovoltaic arrays.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be with it is otherThe difference of embodiment, between each embodiment same or similar part mutually referring to.For dress disclosed in embodimentFor putting, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is referring to method partExplanation.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein descriptionAnd algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware andThe interchangeability of software, generally describes each exemplary composition and step according to function in the above description.TheseFunction is performed with hardware or software mode actually, application-specific and design constraint depending on technical solution.SpecialtyTechnical staff can realize described function to each specific application using distinct methods, but this realization should notThink beyond the scope of this invention.
Can directly it be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processorCapable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), memory, read-only depositReservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technologyIn any other form of storage medium well known in field.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to byOne entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operationBetween there are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant meaningCovering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include thatA little key elements, but also including other elements that are not explicitly listed, or further include for this process, method, article orThe intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arrangedExcept also there are other identical element in the process, method, article or apparatus that includes the element.
A kind of robot provided by the present invention and its air navigation aid, system, equipment are described in detail above, thisSpecific case is applied in text to be set forth the principle of the present invention and embodiment, the explanation of above example is only intended toHelp to understand method and its core concept of the invention；Meanwhile for those of ordinary skill in the art, the think of according to the present inventionThink, in specific embodiments and applications there will be changes, in conclusion this specification content should not be construed as pairThe limitation of the present invention.