CN112256014A - A method and robot system for finding a specific anchor point - Google Patents
A method and robot system for finding a specific anchor pointDownload PDFInfo
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- CN112256014A CN112256014ACN201910606823.1ACN201910606823ACN112256014ACN 112256014 ACN112256014 ACN 112256014ACN 201910606823 ACN201910606823 ACN 201910606823ACN 112256014 ACN112256014 ACN 112256014A
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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
- 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
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
- 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
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
Translated fromChinese
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a method for searching a specific anchor point.
Background
A robot is an automated device that is capable of autonomously performing related tasks in a particular environment. For a mobile robot, in order to ensure that the robot can complete related work safely and efficiently, the robot generally needs to be positioned in real time.
In the absolute positioning mode, at least three fixed positions are selected in a working environment to place positioning anchor points, the distance between the anchor points is measured, and a positioning coordinate system consisting of the anchor points is established by utilizing a relation of side length and angle in a triangle. And installing a label node on the mobile robot, measuring the distance between the mobile robot and each anchor point in a positioning coordinate system, and determining the position of the robot according to the space coordinate relationship. Because the area that each anchor point can cover is all limited, in order to enlarge the working coverage area of the robot, more positioning anchor points are generally required to be distributed at different positions in the working area, and then the real-time positioning of the robot is realized.
In order to realize the real-time positioning of the robot in the coordinate system, the anchor point must be in a reliable working state, and the continuous power supply of a reliable power supply is a basic requirement for realizing the aim. At present, the power supply mode at the outdoor anchor point is generally a scheme of supplying power by combining solar energy and a rechargeable anchor point battery. Because solar energy power supply is greatly influenced by weather, anchor point installation position, climate, illumination conditions and the like, automatic balance of electric quantity required by normal work of an anchor point cannot be maintained, and manual charging is sometimes required. In order to ensure that the anchor point power supply is normally powered to ensure normal work, the electric quantity of the anchor point power supply system needs to be monitored in real time, and when the electric quantity is insufficient, the anchor point power supply system can guide a user to find the anchor point battery and carry out manual charging operation on the anchor point battery when the anchor point power supply system cannot normally supply power. In existing various outdoor anchor point positioning systems, anchor points are generally sealed based on waterproofing requirements and therefore cannot be directly distinguished from the appearance. In addition, because the work area of the outdoor robot is usually large, the installation of the anchor points is relatively scattered, and it is difficult to accurately find the corresponding anchor points by using a manual mode.
Disclosure of Invention
In order to solve the technical problems in the background art, the technical scheme provided by the invention is as follows:
a method of finding a specific anchor point, comprising:
s1: detecting anchor point electric quantity;
s2: and moving the robot to a preset electric quantity anchor point.
Specifically, the method for detecting the electric quantity of the anchor point comprises the following steps:
s11: periodically collecting anchor point electric quantity;
s12: and judging whether the collected electric quantity is lower than a threshold value, if so, entering the step S2, and if not, returning to the step S11.
Specifically, the method for moving the robot to the predetermined electric quantity anchor point comprises the following steps:
s21: acquiring a robot coordinate and a coordinate of a preset electric quantity anchor point;
s22: planning a safety path according to the coordinates of the robot and the coordinates of the preset electric quantity anchor points;
s23: the robot moves to a preset electric quantity anchor point according to a safe path.
The invention also provides a robot system, which comprises a robot and an anchor point, wherein the anchor point comprises an anchor point battery, an electric quantity acquisition module, an anchor point signal transmission module and an anchor point signal generator, the robot comprises a robot control module, a driving module, a robot signal transmission module and an anchor point signal receiver, signals sent by the anchor point signal generator can be received by the anchor point signal receiver for positioning, the electric quantity acquisition module is used for acquiring the electric quantity of the anchor point battery, the anchor point signal transmission module is used for sending electric quantity information to the robot signal transmission module, and when the robot control module judges that the electric quantity of the battery is within a preset anchor point range, the driving module is controlled to move the robot to the anchor point.
Furthermore, in order to enable the robot to move to a path of a specific anchor point without barriers and accurately collect the electric quantity of the anchor point battery, in an optimized scheme of the invention, the robot further comprises equipment capable of being used for detecting barriers and an inertial navigation system, wherein the inertial navigation system comprises a mileometer and a gyroscope, an anchor point signal generator and an anchor point signal transmission module are integrated to adopt an anchor point UWB module, an anchor point signal receiver and a robot signal transmission module are integrated to adopt a robot UWB module, the electric quantity collection module comprises an AD conversion module and a voltage collection connecting wire, the battery is provided with two discharge electrodes, the input end of the anchor point AD conversion module is electrically connected with the two discharge electrodes of the anchor point battery through the voltage collection connecting wire, and the two discharge electrodes of the anchor point battery are electrically connected with an electric component of the anchor point.
The invention also provides a robot system, which comprises a robot and an anchor point, wherein the anchor point comprises an anchor point battery, an electric quantity acquisition module, an anchor point control module, an anchor point signal transmission module and an anchor point signal generator; the robot includes robot control module, robot signal transmission module, robot drive module, anchor point signal receiver, the signal that anchor point signal generator sent can be received by anchor point signal receiver and be used for the location, electric quantity collection module is used for gathering anchor point battery power, anchor point control module is when anchor point battery power is located the predetermined range, control anchor point signal transmission module with information transmission to robot signal transmission module, robot control module control drive module makes the robot remove to this anchor point.
Furthermore, in order to enable the robot to move to a path of a specific anchor point without barriers and accurately collect the electric quantity of the anchor point battery, in an optimized scheme of the invention, the robot further comprises equipment capable of being used for detecting barriers and an inertial navigation system, wherein the inertial navigation system comprises a mileometer and a gyroscope, an anchor point signal generator and an anchor point signal transmission module are integrated to adopt an anchor point UWB module, an anchor point signal receiver and a robot signal transmission module are integrated to adopt a robot UWB module, the electric quantity collection module comprises an AD conversion module and a voltage collection connecting wire, the battery is provided with two discharge electrodes, the input end of the anchor point AD conversion module is electrically connected with the two discharge electrodes of the anchor point battery through the voltage collection connecting wire, and the two discharge electrodes of the anchor point battery are electrically connected with an electric component of the anchor point.
The invention also provides a robot system, which comprises a robot, an anchor point and a server, wherein the anchor point comprises an anchor point battery, an electric quantity acquisition module, an anchor point signal transmission module and an anchor point signal generator, the robot comprises a robot control module, a robot signal transmission module, a driving module and an anchor point signal receiver, the server comprises a server signal transmission module and a server control module, signals sent by the anchor point signal generator can be received by the anchor point signal receiver for positioning, the electric quantity acquisition module is used for acquiring the electric quantity of the anchor point battery, the anchor point signal transmission module sends the electric quantity information of the anchor point battery to the server signal transmission module, when the electric quantity of the anchor point battery is within a preset range, the control server signal transmission module transmits signals to the robot signal transmission module, and the robot control module controls the driving module to move the robot to the anchor point.
Furthermore, in order to enable the robot to move to a path of a specific anchor point without barriers and accurately collect the electric quantity of the anchor point battery, in an optimized scheme of the invention, the robot further comprises equipment capable of being used for detecting barriers and an inertial navigation system, wherein the inertial navigation system comprises a mileometer and a gyroscope, an anchor point UWB module is adopted by an anchor point signal generator, a robot UWB module is adopted by an anchor point signal receiver, the electric quantity collection module comprises an AD conversion module and a voltage collection connecting wire, the anchor point battery is provided with two discharge electrodes, the input end of the AD conversion module is electrically connected with the two discharge electrodes of the anchor point battery through the voltage collection connecting wire, and the two discharge electrodes of the anchor point battery are electrically connected with an electric component of the anchor point.
Further, in order to simplify the signal transceiving mode, in an optimized scheme of the present invention, the anchor signal transmission module is integrated with the anchor UWB module, the robot signal transmission module is integrated with the robot UWB module, and the service signal transmission module is a server UWB module.
The invention has the beneficial effects that: the mobile robot automatically determines the position of the specific anchor point, the burden of a user is reduced, the user is timely reminded when the electric quantity of the anchor point reaches the preset electric quantity, and the reliability of the whole set of system is higher.
Description of the drawings:
in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a control flow diagram of the present invention;
FIG. 2 is a control flow chart of step S1 according to the present invention;
FIG. 3 is a control flow chart of step S2 according to the present invention;
FIG. 4 is a diagram of a first embodiment of hardware functional modules according to the present invention;
FIG. 5 is a diagram of a second embodiment of hardware functional modules of the present invention;
FIG. 6 is a diagram of a third embodiment of hardware functional modules according to the present invention;
FIG. 7 is a diagram illustrating an anchor point location coordinate system according to an embodiment of the present invention;
FIG. 8 is a first schematic diagram of a path generation for a robot in an embodiment of the present invention;
FIG. 9 is a second schematic diagram of the path generation of a robot in an embodiment of the present invention;
FIG. 10 is a schematic diagram illustrating attitude adjustment of a robot according to an embodiment of the present invention;
fig. 11 is a schematic diagram of the robot approaching the pointing anchor point according to the embodiment of the present invention.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. For convenience of explanation, the present embodiment uses directional terms such as left, right, inner, and outer, but this does not limit the scope of the present invention.
The robot of the method of the invention comprises: the inertial navigation system comprises a milemeter and a gyroscope. The inertial navigation system can remember the coordinates of the starting point and the walking path, construct a coordinate system and calculate and plan the walking route at the same time. The odometer is used for obtaining the walking distance of the mobile robot, and the gyroscope is used for obtaining the walking angle of the mobile robot and correcting the traveling route of the mobile robot to prevent the mobile robot from deviating.
In addition, the robot further comprises a power module, a walking module, a sensor module, a control module, a storage module and a functional module. The power module is a rechargeable anchor point battery and is used for providing electric energy for the mobile robot during working; the walking module comprises a driving motor and walking wheels and is used for enabling the mobile robot to move in a working area; the sensor module is used for receiving the environmental information of the working area and feeding the environmental information back to the control module; the control module is used for controlling the movement of the mobile robot according to the information fed back by the sensor module; the storage module is used for storing a control program of the mobile robot and sensor information acquired from the outside; the function module refers to a specific function of the mobile robot, such as a mowing module of the mobile robot.
In order to safely and efficiently complete the mowing task, the robot working outdoors, such as a mowing robot, is also provided with at least three fixed-position placing and positioning anchor points. As shown in fig. 4 to 6, each anchor point and robot is equipped with a UWB module, and hereinafter, the applicant basically describes the method in conjunction with a mobile robot system composed of one or more of a robot, an anchor point, a server, and the like, as a hardware device (i.e., an execution body) implementing the method of finding a specific anchor point; meanwhile, other possible hardware forms are also explained as required.
As shown in fig. 4, the first robot system: the robot comprises a robot and an anchor point, wherein the anchor point comprises ananchor point battery 110, an electricquantity collection module 120, an anchor pointsignal transmission module 130 and an anchor point signal generator, the robot comprises arobot control module 210, adriving module 220, a robotsignal transmission module 230 and an anchor point signal receiver 240, the anchor point signal generator and the anchor pointsignal transmission module 130 are integrated to adopt an anchorpoint UWB module 151, and the anchor point signal receiver 240 and the robotsignal transmission module 230 are integrated to adopt arobot UWB module 241.
In the first type of system, the first system,
s11: periodically collecting anchor point electric quantity;
the anchorbattery collection module 120 periodically collects power of theanchor battery 110, and then transmits power information of theanchor battery 110 to therobot UWB module 241 through theanchor UWB module 151.
S12: judging whether the collected electric quantity is lower than a threshold value, if so, entering the step S2, and if not, returning to the step S11;
therobot UWB module 241 transmits the received power information to therobot control module 210, and therobot control module 210 determines whether the power is lower than a threshold, if so, S21 is entered, and if not, the step S11 is returned;
s21: acquiring a robot coordinate and a coordinate of a preset electric quantity anchor point;
s22: planning a safety path according to the coordinates of the robot and the coordinates of the preset electric quantity anchor points;
namely, therobot control module 210 plans the safety path according to the robot coordinates and the coordinates of the predetermined electric quantity anchor point.
S23: the robot moves to a preset electric quantity anchor point according to a safe path;
therobot control module 210 controls thedriving module 220 to move the robot to a predetermined power anchor point along a safe path.
As shown in fig. 5, the second robot system includes a robot and an anchor point, where the anchor point includes ananchor point battery 110, an electricquantity collection module 120, an anchorpoint control module 140, an anchor pointsignal transmission module 130, and an anchor point signal generator; the robot comprises arobot control module 210, a robotsignal transmission module 230, adriving module 220 and an anchor point signal receiver 240, wherein the anchor point signal generator and the anchor pointsignal transmission module 130 are integrated by adopting an anchorpoint UWB module 151, and the anchor point signal receiver 240 and the robotsignal transmission module 230 are integrated by adopting arobot UWB module 241.
In the second type of system, the first system,
s11: periodically collecting anchor point electric quantity;
the anchorbattery collection module 120 periodically collects power from theanchor battery 110,
s12: judging whether the collected electric quantity is lower than a threshold value, if so, entering the step S2, otherwise, returning to the step S11;
the anchorpoint control module 140 determines whether the collected electric quantity is lower than a threshold value, if so, the anchorpoint UWB module 151 is used to send the low electric quantity information to therobot UWB module 241, and then S21 is entered, if not, the step S11 is returned to;
s21: acquiring a robot coordinate and a coordinate of a preset electric quantity anchor point;
s22: planning a safety path according to the coordinates of the robot and the coordinates of the preset electric quantity anchor points;
namely, therobot control module 210 plans the safety path according to the robot coordinates and the coordinates of the predetermined electric quantity anchor point.
S23: the robot moves to a preset electric quantity anchor point according to a safe path;
therobot control module 210 controls thedriving module 220 to move the robot to a predetermined power anchor point along a safe path.
As shown in fig. 6, the third robot system includes a robot, an anchor point, and a server, where the anchor point includes ananchor point battery 110, an electricquantity collection module 120, an anchor pointsignal transmission module 130, and an anchor point signal generator, the robot includes arobot control module 210, a robotsignal transmission module 230, adriving module 220, and an anchor point signal receiver 240, the server includes a serversignal transmission module 310 and aserver control module 320, the anchorpoint UWB module 151 adopted by the anchor point signal generator, and the anchor point signal receiver 240 adopts arobot UWB module 241.
In the third type of system, it is preferred that,
s11: periodically collecting anchor point electric quantity;
the anchorbattery collection module 120 periodically collects the power of theanchor battery 110.
S12: judging whether the collected electric quantity is lower than a threshold value, if so, entering the step S2, and if not, returning to the step S11;
the anchorsignal transmission module 130 sends the power information of theanchor battery 110 to the serversignal transmission module 310, theserver control module 320 determines whether the power is lower than the threshold, if so, sends an instruction instructing the robot to move to the target anchor to the robotsignal transmission module 230 through the serversignal transmission module 310, and if not, returns to step S11.
S21: acquiring a robot coordinate and a coordinate of a preset electric quantity anchor point;
namely, therobot control module 210 plans the safety path according to the robot coordinates and the coordinates of the predetermined electric quantity anchor point.
S23: the robot moves to a preset electric quantity anchor point according to a safe path;
therobot control module 210 controls thedriving module 220 to move the robot to a predetermined power anchor point along a safe path.
It should be noted that the signals transmitted between the robotsignal transmission module 230, the serversignal transmission module 310 and the anchorsignal transmission module 130 may be any signals, such as 5G, wifi, or UWB signals. If the signals transmitted between them are UWB signals, the anchorsignal transmission module 130 may be integrated with theanchor UWB module 151, the robotsignal transmission module 230 is integrated with therobot UWB module 241, and the servicesignal transmission module 310 is a server UWB module.
In other words, thepower collection module 120 collects the power of theanchor battery 110, and then therobot control module 210, theanchor control module 140, or therobot control module 320 respectively determines whether the power is within a predetermined range, and if so, therobot control module 210 commands thedriving module 220 to move the robot to the anchor. The difference is the difference in the information transmission process between each other due to the difference in the main body of the judgment process.
Theanchor UWB modules 151 of each anchor may communicate with each other, so that the distance between the anchors may be measured, and a positioning coordinate system composed of the anchors may be established using a relation of side length and angle in the triangle. Therobot UWB module 241 and theanchor UWB module 151 communicate with each other to measure the distance between the robot and each anchor point in the coordinate system, and then determine the position of the robot in the coordinate system according to a spatial coordinate relationship and an algorithm, such as a multidimensional scaling (multidimensional scaling) algorithm. Because the area that each anchor point can cover is all limited, in order to enlarge the working coverage area of the robot, more positioning anchor points are generally required to be distributed at different positions in the working area, and then the real-time positioning of the robot is realized.
At least three positioning anchors are arranged at predetermined positions in a working area of the robot, and the height of each positioning anchor and the height of a label node on the robot are set to be at the same horizontal level. In this embodiment, the positioning anchor point uses an Ultra Wide Band (UWB), and uses a pulse signal and a mobile tag node on the robot to perform contactless bidirectional wireless data transmission to achieve the purpose of identification and positioning. Of course, the positioning anchor point may also be a laser transmitter, and a laser signal detection device is installed on the robot.
The method for mutual communication between each anchor point and the robot and establishing the coordinate system belongs to the prior art, and is not described in detail herein.
Thus, the user does not need to place a UWB anchor at a particular location, as the system automatically determines the location of the UWB anchor at initialization. The method for searching the specific anchor point is provided by the invention, so that a user can more conveniently and quickly find the specific anchor point.
The illustrated embodiment is described in detail with respect to a first system, and so on,
as shown in fig. 1-3, a method of finding a specific anchor point includes:
s11: periodically collecting anchor point electric quantity;
the anchorbattery collection module 120 periodically collects the power of theanchor battery 110, for example, every 20 minutes, and then sends the anchor battery power information to therobot UWB module 241 through theanchor UWB module 151.
The electricquantity collection module 120 comprises an AD conversion module and a voltage collection connecting line, theanchor point battery 110 is provided with two discharge electrodes, the input end of the AD conversion module is electrically connected with the two discharge electrodes of theanchor point battery 110 through the voltage collection connecting line, and the two discharge electrodes of theanchor point battery 110 are electrically connected with the power utilization component of the anchor point.
S12: judging whether the collected electric quantity is lower than a threshold value, if so, entering the step S2, otherwise, returning to the step S11;
therobot UWB module 241 transmits the received power information to therobot control module 210, and therobot control module 210 determines whether the power is lower than a threshold, sets a threshold of low power, for example, 10% of the total power, if yes, proceeds to S21, otherwise, returns to step S11;
s21: acquiring a robot coordinate and a coordinate of a preset electric quantity anchor point;
more than three anchor points are set in the working area of the robot or near the boundary or the boundary, the anchor points have the same height, and are provided with anchorpoint UWB modules 151, the distance between the anchor points can be measured by each anchorpoint UWB module 151 after the anchor points are set, and an anchor point positioning coordinate system is established by using the relation between the side length and the angle of the triangle, so as to determine the coordinates of each anchor point in the coordinate system, as shown in fig. 7, the area is provided with 5 anchor points, and the coordinates of the 5 anchor points are (X1Y 1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5), wherein (X1, Y1) is the origin of coordinates.
Therobot UWB module 241 communicates with theanchor UWB module 151, and detects distances between the robot and a plurality of anchors by time differences of signals propagating between the UWB modules, thereby determining a position of the robot in the established coordinate system, as shown in fig. 7, and coordinates of therobot 6 are (X6, Y6).
S22: planning a safety path according to the coordinates of the robot and the coordinates of the preset electric quantity anchor points;
namely, therobot control module 210 plans the safety path according to the robot coordinates and the coordinates of the predetermined electric quantity anchor point.
The coordinates of the robot are known as (X6, Y6) in step S21, and a safe navigation path is generated with (X6, Y6) as the start point and the coordinates of the power-down anchor point (X5, Y5) as the end point.
As shown in fig. 8, the generated route is preferably a straight line, and the start point and the end point are connected by a straight line as a default at the time of generation. The robot body is also equipped with equipment which can be used for detecting obstacles, such as an ultrasonic range finder, a laser radar, an infrared range finder and the like, and as shown in fig. 9, if obstacles such as flower beds, trees and the like are detected on a straight path, the path is re-planned, and a path avoiding the obstacles is generated.
S23: the robot moves to a preset electric quantity anchor point according to a safe path;
As shown in fig. 10, the posture of the robot is random when the power shortage anchor point is detected, and after the path is generated, the robot adjusts the posture according to the direction of the path so that the front end of the robot faces the extending direction of the path, and if there is no obstacle on the straight line connecting the starting point and the ending point, the front end of the robot faces the target anchor point at this time.
The robot moves to a target anchor point along the generated path and gradually approaches the anchor point;
as shown in fig. 11, the robot follows the safe navigation path generated in step S22, and the robot tip is always kept facing the extending direction of the path during traveling. And taking out the anchor point for charging the battery until the user is guided to successfully find the anchor point.
The second system is different from the first system in that the main body implementing step S2 is not the robot but the anchor point, and the anchor point control module 240 determines whether the battery level is at the threshold value, and transmits a signal to the robot only when the battery level is at the threshold value.
The third system is different from the first system in that the main body implementing step S2 is not a robot but a server, and after the anchor point transmits a signal to the server, theservice control module 320 determines whether the battery power is at a threshold, and only when the battery power is at the threshold, the server transmits the signal to the robot.
Compared with the prior art, the invention has the beneficial effects that: the robot automatically determines the position of the specific anchor point, the burden of a user is reduced, the user is timely reminded when the electric quantity of the anchor point is insufficient, and the reliability of the whole set of system is higher.
Those of ordinary skill in the art will understand that: the invention is not to be considered as limited to the specific embodiments thereof, but is to be understood as being modified in all respects, all changes and equivalents that come within the spirit and scope of the invention.
Claims (10)
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Cited By (2)
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| CN114545437A (en)* | 2022-01-27 | 2022-05-27 | 华南师范大学 | Human intrusion detection method and security system based on lidar |
| CN116074732A (en)* | 2021-10-29 | 2023-05-05 | 比亚迪股份有限公司 | UWB system, UWB anchor point module, UWB main control module and vehicle |
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