CN106338285A - Marching auxiliary method and system, and robot - Google Patents
Marching auxiliary method and system, and robot Download PDFInfo
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- CN106338285A CN106338285A CN201610657390.9A CN201610657390A CN106338285A CN 106338285 A CN106338285 A CN 106338285A CN 201610657390 A CN201610657390 A CN 201610657390A CN 106338285 A CN106338285 A CN 106338285A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The invention discloses a robot marching auxiliary method; when a robot marches, the robot is positioned and judged, if the robot is located in a safe area in a prior map, the robot moves in a normal marching mode at the relatively fast moving speed; if the robot is located in an unsafe area in the prior map, the robot moves in a cautious marching mode at the relatively slow moving speed. Therefore, in the premise of unchanged response speed of a robot detector, the prior map subjected to area partition processing in advance is used, the area type of the current position where the robot is located is determined, the robot is allowed to move in the safe area at the relatively fast speed and move in the unsafe area at the relatively slow moving speed, classification processing of different moving speeds is adopted for the map areas, and the technical problem of relatively slow moving speed of the robot in the prior art is solved. In addition, the invention also discloses a robot marching auxiliary system and the robot comprising the system; the moving speed of the robot is increased, and the system and robot have the same technical effects as the method.
Description
Technical field
The present invention relates to the technical field that robot positions immediately, particularly to a kind of traveling householder methods, system and machine
Device people.
Background technology
With the raising of scientific and technological progress and people's living standard, increasing work to be served as by robot, people
It also is intended to robot can quickly move thus more quickly completing work.
The moving range of robot is limited by landform, for example steep cliff, glass, wall etc., and prior art is using installation detection
The detection sensor of the barriers such as glass, steep cliff is faster to evade the restriction of these landform, robot translational speed, senses to detecting
The response speed requirement of device is higher, and the response speed of the detection sensor of prior art has the upper limit, the therefore machine on market
The translational speed of device people is typically relatively slow.
In sum, how in the case of using existing detection sensor, the translational speed improving robot is mesh
The front problem needing to solve.
Content of the invention
In view of this, it is an object of the invention to provide a kind of traveling householder methods, system and robot, utilize warp in advance
Cross the priori map of region division process, determine the area type residing for robot current location, be i.e. safety zone and non-security
Region, is made robot be advanced with comparatively faster speed in safety zone, and advances at relatively slow speeds non-security, with
Reach the purpose of the translational speed improving robot.Its concrete scheme is as follows:
A kind of robot traveling householder methods, comprising:
According to priori map, judge the area type of current robot present position, wherein, described priori map is in advance
Divide, through area type, the map processing, and, the area type on described priori map includes safety zone and non-security
Region；
If it is determined that presently described robot is located at safety zone, then described robot is controlled to advance with normal traveling mode；
If it is determined that presently described robot is located at insecure area, then control described robot with careful traveling mode row
Enter；
Wherein, the corresponding translational speed of described normal traveling mode is more than the corresponding mobile speed of described careful traveling mode
Degree.By implementing this inventive embodiments, can determine that robot is current using the priori map first passing through region division process in advance
Area type residing for position, i.e. safety zone and insecure area, make robot in safety zone with comparatively faster speed
Advance, and advance at relatively slow speeds non-security, to reach the purpose of the translational speed improving robot.
Preferably, methods described also includes:
Under described normal traveling mode or careful traveling mode, travel zone is detected.Real by implementing this invention
Apply example, can detect whether surrounding changes, thus knowing the information related to surrounding.
Preferably, the described step that travel zone is detected includes:
Front emission detection signal to described travel zone；
If receiving the reflected signal that barrier reflects, the x time calculating described detectable signal is anti-with described
Time difference between the time of reception penetrating signal；
Calculated with the spread speed of signal according to described time difference and draw corresponding obstacle distance.By implementing this invention
Embodiment, can calculate the distance between robot and barrier, simultaneously according to the difference returning everywhere from blocking surfaces
The time difference of reflected signal, calculates the distance everywhere apart from blocking surfaces, thus can acquired disturbance thing shape.
Preferably, methods described also includes:
According to the result of detection that described travel zone is detected, described priori map is updated, obtains new
Priori map.By implementing this inventive embodiments, priori map can be updated, thus keeping the reliability of priori map
Property.
Preferably, methods described also includes:
When updating described priori map, region that is having barrier and cannot passing through is set to insecure area.
By implementing this inventive embodiments, when updating priori map, region can be divided, when being again positioned at this in robot
During region, normal traveling mode can be selected to advance or careful traveling mode advanced, thus carrying according to the area type dividing
The safety of high robot.
The invention also discloses a kind of robot traveling aid system, comprising:
Location determination module, for according to priori map, judging the area type of current robot present position, wherein,
Described priori map is that the pre- area type that first passes through divides the map processing, and, the area type bag on described priori map
Include safety zone and insecure area；
First performing module, for judging that presently described robot is located at safety zone when described location determination module, then
Described robot is controlled to advance with normal traveling mode；
Second performing module, for judging that presently described robot is located at safety zone when described location determination module, then
Described robot is controlled to advance with careful traveling mode；
Wherein, the translational speed of described normal traveling mode is higher than the translational speed of described careful traveling mode.By reality
Apply this inventive embodiments, location determination module can determine robot using the priori map first passing through region division process in advance
Area type residing for current location, i.e. safety zone and insecure area, the first performing module control machine in safety zone
Device people is advanced with comparatively faster speed, and controls robot to go at relatively slow speeds in non-security interior second performing module
Enter, to reach the purpose of the translational speed improving robot.
Preferably, described system also includes:
Detecting module, for, under described normal traveling mode or careful traveling mode, detecting to travel zone.Logical
Cross and implement this inventive embodiments, robot, during advancing, can detect whether surrounding changes, thus knowing
The information related to surrounding.
Preferably, described detecting module includes:
Signal transmitter unit, for the front emission detection signal of described travel zone；
Signal receiving unit, runs into, for receiving, the reflected signal that barrier reflects；
Computing unit, for calculating between the x time of described detectable signal and the time of reception of described reflected signal
Time difference, and described obstacle distance is drawn according to the spread speed calculating of described time difference and signal.By implementing this invention
Embodiment, can calculate the distance between robot and barrier, simultaneously according to the difference returning everywhere from blocking surfaces
The time difference of reflected signal, calculates the distance everywhere apart from blocking surfaces, thus can acquired disturbance thing shape.
Preferably, described system also includes:
Map rejuvenation module, for the result of detection according to described detecting module, is updated to described priori map, obtains
To new priori map.By implementing this inventive embodiments, map rejuvenation module can be updated to priori map, thus protecting
Hold the reliability of priori map.
Preferably, described system also includes:
Region division module, for when described map rejuvenation module updates described priori map, having barrier
And the region that cannot pass through is set to insecure area.By implementing this inventive embodiments, region division module can be on ground
Figure update module update priori map when region is divided, when being again positioned at this region in robot, can according to draw
The area type dividing, selects normal traveling mode to advance or careful traveling mode is advanced, thus improving the safety of robot.
The invention also discloses a kind of robot, including aforementioned disclosed system.
The invention discloses a kind of robot traveling householder methods, robot will be built by sensor scans such as laser radars
Vertical map partitioning is safety zone and insecure area two class, or the region traveling across is divided into peace according to distribution of obstacles
Region-wide and insecure area two class, and the map dividing is saved as priori map, when robot advances, to itself
Carrying out location determination, if being located at the safety zone of priori map, being moved with the comparatively faster normal traveling mode of translational speed；
If being positioned the insecure area of priori map, moved with the careful traveling mode that translational speed is relatively slow.It can be seen that, this
Bright on the premise of robot probe's device response speed is constant, using first pass through in advance region division process priori map, determine
Area type residing for robot current location, i.e. safety zone and insecure area, make robot in safety zone with very fast
Speed move, moved with slower speed in insecure area, move fast classification and process using different for map area, solve
Robot translational speed slower technical problem in prior art, improves the translational speed of robot on the whole, reaches
More preferable effect.In addition, the invention also discloses a kind of robot advance system and the robot with this system, improve
The translational speed of robot, has technique effect same as mentioned above.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing providing obtains other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of robot traveling householder methods disclosed in the embodiment of the present invention；
Fig. 2 is a kind of schematic flow sheet of specific robot traveling householder methods disclosed in the embodiment of the present invention；
Fig. 3 is that a kind of structural diagrams of robot traveling aid system disclosed in the embodiment of the present invention are intended to；
Fig. 4 is that a kind of structural diagrams of specific robot traveling aid system disclosed in the embodiment of the present invention are intended to.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
The embodiment of the invention discloses a kind of robot traveling householder methods, as shown in figure 1, include below step s1 extremely
S4:
Step s1: obtain the positional information of current robot present position.
Step s2: according to priori map, judge the area type of current robot present position, wherein, above-mentioned a priori
Figure is to first pass through area type in advance to divide the map processing, and, the area type on priori map includes safety zone and non-
Safety zone.
It is understood that before the area type to current robot present position judges, needing to obtain and work as
The positional information of front robot present position and above-mentioned priori map.
Wherein, the embodiment of the present invention can by global satellite positioning or wifi location technology (wifi, that is,
Wireless-fidelity, Wireless Fidelity) etc. location technology robot is positioned, to obtain position residing for current robot
The positional information put.
In addition, the embodiment of the present invention specifically can obtain above-mentioned priori map in the following way: robot uses thunder
Reach the detection sensors such as laser scanning peripheral region, cartographic model is set up according to scanning result, by comparing calculation robot certainly
Body parameter and the parameter of cartographic model, divide safety zone and insecure area.Alternatively, it is also possible to by being pointed in robot
The mode that the memorizer in portion is read out to obtain above-mentioned priori map it is to be understood that this acquisition modes need in advance
Priori map is stored in the memorizer of robot interior.Certainly, the present invention can also using other modes to obtain on
State priori map, for example, it is possible to by way of reading data from high in the clouds obtaining above-mentioned priori map it is to be understood that
This acquisition modes need in advance priori map to be uploaded to above-mentioned high in the clouds.
Step s3: if it is determined that currently above-mentioned robot is located at safety zone, then control above-mentioned robot with normal traveling mould
Formula is advanced.
It is understood that safety zone mentioned here, it is can be light with comparatively faster speed for robot
The region that pine passes through, such as level land, light grade road surface.Such region, per capita can be with comparatively faster speed for all machines
Degree passes through.
Need it is further noted that different machines people adopts different driver parts, such as crawler belt, wheel etc., and drive
Also by sizes specification, these factors all can affect the division of safety zone to dynamic component.Therefore for adopting different driving
The robot of part, or the robot using different size specification driver part, its safety zone can be using different dividing regions
Domain.
Step s4: if it is determined that currently above-mentioned robot is located at insecure area, then control above-mentioned robot to advance with careful
Pattern is advanced.
Wherein, the corresponding translational speed of above-mentioned normal traveling mode is more than the corresponding mobile speed of above-mentioned careful traveling mode
Degree.
It is understood that insecure area is divided into deathtrap and zone of ignorance.Deathtrap is to there is robot no
The region of the barrier that method is passed through, or unexpected region, such as steep cliff, mud can occur when robot is passed through with fast speed
Ground, continuous hard shoulder etc..
As described above, when robot adopts different driver parts, such as crawler belt, wheel etc., or when robot is adopted
With different size specification driver part, for example, larger wheels, there is the wheel of anti-skidding lines, now, danger on some ordinary meanings
Danger zone domain is not deathtrap for some type machine people, and for example some mud grounds are with respect to the robot using track drive not
It is deathtrap.Therefore, for without robot, its deathtrap can be using different zonings.
Region outside robot is located at priori map, i.e. zone of ignorance, due to the barrier in map area not
Understand, robot can scan traveling at relatively slow speeds, to ensure its safety.
In the embodiment of the present invention, robot will be peace by the map partitioning that the scanning of the detection sensors such as laser radar is set up
Region-wide and insecure area two class, or the region traveling across is divided into safety zone and non-security district according to distribution of obstacles
Domain two class, and the map dividing is saved as priori map, when robot advances, location determination is carried out to itself, if
Positioned at the safety zone of priori map, then moved with the comparatively faster normal traveling mode of translational speed；If being positioned a priori
The insecure area of figure, then moved with the relatively slow careful traveling mode of translational speed.For example, robot passes through ultrasound wave thunder
Reach scanning surrounding and build map, be calculated length and the distance of wall by ultrasonic reflections, and this barrier is located
Area marking is insecure area, when robot localization is in the safety zone of clear, higher using translational speed
Normal traveling mode moves, and when being located close to wall, that is, is positioned insecure area, and now robot adopts and prior art phase
As translational speed move compared with low velocity, that is, adopt careful traveling mode to move.
It should be noted that the detection sensor of robot includes but is not limited to laser, ultrasound wave, infrared sensor.
Additionally need and further illustrate, if the map that robot no stores in advance, or robot is located at priori map
Outside region, then robot is insecure area according to location determination, is moved using careful traveling mode, and according to robot
In traveling, the region of scanning is set up and is updated to priori map.
It can be seen that, the embodiment of the present invention on the premise of robot probe's device response speed is constant, using first passing through region in advance
Divide the priori map processing, determine the area type residing for robot current location, that is, safety zone and insecure area, make
Robot is moved with speed faster in safety zone, is moved with slower speed in insecure area, adopts for map area
Move fast classification process with different, solve the slower technical problem of robot translational speed in prior art, improve on the whole
The translational speed of robot, has reached more preferable effect.
The embodiment of the invention discloses a kind of specific robot traveling householder methods, with respect to a upper embodiment, this reality
Apply example and technical scheme has been made with further instruction and optimization.Specific:
In a upper embodiment, if it is determined that going out current robot to be located at safety zone, then control robot with normal traveling mould
Formula is advanced, if it is determined that going out current robot to be located at insecure area, then controls robot to advance with careful traveling mode.Further
, shown in Figure 2, the present embodiment can also include:
Step s5: under above-mentioned normal traveling mode or careful traveling mode, travel zone is detected.
In the embodiment of the present invention, under normal traveling mode or careful traveling mode, the detection sensor of robot is all protected
Hold work, to detect whether surrounding changes.For example, when robot localization is in safety zone, because environment becomes
More, scan new barrier using the detection sensor of the robot of normal traveling mode movement to occur, then by this barrier
Update a priori in figure, be changed to careful traveling mode simultaneously and move.
Specifically, in above-mentioned steps s5, the process that robot is detected to travel zone includes below step s51 extremely
s53；Wherein,
Step s51: to the front emission detection signal of above-mentioned travel zone；
Step s52: if receiving the reflected signal that barrier reflects, calculate the x time of above-mentioned detectable signal
The time difference and time of reception of above-mentioned reflected signal between；
Step s53: calculated with the spread speed of signal according to above-mentioned time difference and draw corresponding obstacle distance.
In the embodiment of the present invention, detection sensor forwards emission detection signal, and receive detectable signal and run into barrier
The reflected signal returning, wherein, it is past that the time difference between detectable signal x time and the reflected signal time of reception is signal
Return the time difference of distance between barrier, the half of this time difference is multiplied by the spread speed of signal, as detection sensor
Distance with barrier.Meanwhile, the time difference according to the different reflected signals returning everywhere from blocking surfaces, calculate away from
From blocking surfaces everywhere with a distance from, thus can acquired disturbance thing shape.
It is understood that the detectable signal in the embodiment of the present invention includes but is not limited to ultrasound wave, laser, infrared ray.
Further, shown in Figure 2, after above-mentioned steps s5, can also include:
Step s6: according to the result of detection that above-mentioned travel zone is detected, above-mentioned priori map is updated, obtains
To new priori map.
When updating above-mentioned priori map, the region having barrier and cannot pass through is set to insecure area.
In the embodiment of the present invention, robot by detecting to travel zone, by the Obstacle Position detecting formerly
Test in map and be labeled as insecure area, thus keeping to priori map rejuvenation, to improve the standard adopting traveling mode after positioning
Really property.
The embodiment of the invention also discloses a kind of robot traveling aid system, as shown in figure 3, include location determination module
11st, the first performing module 12 and the second performing module 13；Wherein,
Location determination module 11, for according to priori map, judging the area type of current robot present position, its
In, above-mentioned priori map is that the pre- area type that first passes through divides the map processing, and, the area type on priori map includes
Safety zone and insecure area；
The embodiment of the present invention can be by the location technology such as global satellite positioning or wifi location technology to machine
People is positioned, to obtain the positional information of current robot present position.
In addition, in the embodiment of the present invention, priori map can obtain in the following way: robot uses LIDAR etc.
Detection sensor scans peripheral region, sets up cartographic model according to scanning result, by comparing calculation robot inherent parameters and
The parameter of cartographic model, divides safety zone and insecure area.Alternatively, it is also possible to the storage by being pointed to robot interior
The mode that device is read out to obtain above-mentioned priori map it is to be understood that this acquisition modes need in advance will a priori
Figure is stored in the memorizer of robot interior.Certainly, the present invention can also be obtained using other modes above-mentioned a priori
Figure, for example, it is possible to obtain above-mentioned priori map it is to be understood that this acquisition by way of reading data from high in the clouds
Mode needs in advance priori map to be uploaded to above-mentioned high in the clouds.
When above-mentioned location determination module 11, first performing module 12, for judging that currently above-mentioned robot is located at place of safety
Domain, then control above-mentioned robot to advance with normal traveling mode；
When above-mentioned location determination module 11, second performing module 13, for judging that currently above-mentioned robot is located at place of safety
Domain, then control above-mentioned robot to advance with careful traveling mode；
Wherein, the translational speed of above-mentioned normal traveling mode is higher than the translational speed of above-mentioned careful traveling mode.
In the embodiment of the present invention, robot will be peace by the map partitioning that the scanning of the detection sensors such as laser radar is set up
Region-wide and insecure area two class, or the region traveling across is divided into safety zone and non-security district according to distribution of obstacles
Domain two class, and the map dividing is saved as priori map, when robot advances, by location determination module 11 to certainly
Body carries out location determination, if location determination module 11 judges robot localization in the safety zone of priori map, the first execution
Module 12 is moved with the comparatively faster normal traveling mode of translational speed；If location determination module 11 judges robot localization in elder generation
Test the insecure area of map, then the second performing module 13 is moved with the relatively slow careful traveling mode of translational speed.For example,
Robot scans surrounding by ultrasonic radar and builds map, by ultrasonic reflections be calculated the length of wall with away from
From, and this barrier region is labeled as insecure area, no hinder when robot is positioned at by location determination module 11
When hindering in the safety zone of thing, then the first performing module 12 works, and now robot adopts the higher normal traveling of translational speed
Motion of defect modes, when location determination module 11 is located close to wall, that is, is positioned insecure area, then switches to the second performing module
13 work, robot is moved compared with low velocity using the translational speed similar to prior art, that is, adopt careful traveling mode to move.
It can be seen that, the embodiment of the present invention on the premise of robot probe's device response speed is constant, using first passing through region in advance
Divide the priori map processing, determine the area type residing for robot current location, i.e. safety zone and insecure area, if
Location determination module is positioned at safety zone, the first performing module work, and robot is then moved with speed faster；If positioning is sentenced
Disconnected module is positioned at insecure area, the second performing module work, and robot is then moved with slower speed, the embodiment of the present invention
Move fast classification process for map area using different, the slower technology of robot translational speed in prior art that solves is asked
Topic, improves the translational speed of robot on the whole, has reached more preferable effect.
The embodiment of the invention also discloses a kind of specific robot traveling aid system, with respect to a upper embodiment, this
Embodiment has made further instruction and optimization to technical scheme.As shown in figure 4, specific:
Disclosed in the embodiment of the present invention, system can further include:
Detecting module 14, for, under above-mentioned normal traveling mode or careful traveling mode, visiting to the region advanced
Survey.
Specifically, above-mentioned detecting module 14 includes signal transmitter unit 141, signal receiving unit 142 and computing unit
143；Wherein,
Signal transmitter unit 141, for the front emission detection signal of above-mentioned travel zone；
Signal receiving unit 142, for receiving the reflected signal that barrier reflects；
Computing unit 143, for calculating above-mentioned detectable signal x time and between the time of reception of above-mentioned reflected signal
Time difference, and calculated according to the spread speed of above-mentioned time difference and signal and draw above-mentioned obstacle distance.
In the embodiment of the present invention, if there is obstacle in signal transmitter unit 141 forwards emission detection signal in travel zone
Thing, signal receiving unit 142 then receives the reflected signal that detectable signal runs into barrier return, wherein, during detectable signal transmitting
Carve the as detectable signal of the time difference and the reflected signal time of reception between and travel to and fro between distance between detecting module and barrier
Time difference, the half of this time difference is multiplied by the spread speed of signal by computing unit 143, obtain detecting module and barrier away from
From.Meanwhile, the time difference according to the different reflected signals returning everywhere from blocking surfaces, calculates apart from blocking surfaces
Distance everywhere, thus acquired disturbance thing shape.
It is understood that the signal that the signal transmitter unit in the embodiment of the present invention is launched is including but not limited to ultrasonic
Ripple, laser, infrared ray.
Further, system disclosed in the embodiment of the present invention can also include:
Map rejuvenation module 15, for the result of detection according to above-mentioned detecting module 14, is carried out more to above-mentioned priori map
Newly, obtain new priori map.
In order that the new priori map of location determination module pair judges, so that it is determined that the region residing for robot is
No for safety zone, system disclosed in the embodiment of the present invention also includes:
Region division module 16, for when above-mentioned map rejuvenation module 15 updates above-mentioned priori map, having obstacle
Thing and the region that cannot pass through is set to insecure area.
In the embodiment of the present invention, map rejuvenation module 15 and then during to priori map rejuvenation corresponding contents, region division mould
The Obstacle Position that detecting module is detected by block 16 a priori in figure in the updated is labeled as insecure area, fixed to improve
The accurate positioning of position judge module is fixed, so that the first performing module 12 or the second performing module 13 are on the ground navigating to renewal
Correct gait of march is executed during graph region.
The embodiment of the invention also discloses a kind of robot, include above-mentioned robot traveling aid system.With regard to above-mentioned
The detailed configuration of robot traveling aid system refers to corresponding contents disclosed in previous embodiment.
Last in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation are made a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.And, term " inclusion ", "comprising" or its any other variant meaning
Covering comprising of nonexcludability, so that including a series of process of key elements, method, article or equipment not only include that
A little key elements, but also include other key elements being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element being limited by sentence " including ... ", not
Also there is other identical element in including the process of described key element, method, article or equipment in exclusion.
Above a kind of traveling householder methods provided by the present invention, system and robot are described in detail, herein
In apply specific case the principle of the present invention and embodiment be set forth, the explanation of above example is only intended to help
Assistant's solution method of the present invention and its core concept；Simultaneously for one of ordinary skill in the art, according to the think of of the present invention
Think, all will change in specific embodiments and applications, in sum, it is right that this specification content should not be construed as
The restriction of the present invention.
Claims (11)
1. a kind of robot traveling householder methods are it is characterised in that include:
According to priori map, judge the area type of current robot present position, wherein, described priori map is to first pass through in advance
Area type divides the map processing, and, the area type on described priori map includes safety zone and insecure area；
If it is determined that presently described robot is located at safety zone, then described robot is controlled to advance with normal traveling mode；
If it is determined that presently described robot is located at insecure area, then described robot is controlled to advance with careful traveling mode；
Wherein, the corresponding translational speed of described normal traveling mode is more than the corresponding translational speed of described careful traveling mode.
2. method according to claim 1 is it is characterised in that also include:
Under described normal traveling mode or described careful traveling mode, travel zone is detected.
3. method according to claim 2 is it is characterised in that the described step that travel zone is detected includes:
Front emission detection signal to described travel zone；
If receiving the reflected signal that barrier reflects, calculate the x time of described detectable signal and described reflection letter
Number the time of reception between time difference；
Calculated with the spread speed of signal according to described time difference and draw corresponding obstacle distance.
4. method according to claim 3 is it is characterised in that also include:
According to the result of detection that described travel zone is detected, described priori map is updated, obtains new priori
Map.
5. method according to claim 4 is it is characterised in that also include:
When updating described priori map, region that is having barrier and cannot passing through is set to insecure area.
6. a kind of robot traveling aid system is it is characterised in that include:
Location determination module, for according to priori map, judging the area type of current robot present position, wherein, described
Priori map is that the pre- area type that first passes through divides the map processing, and, the area type on described priori map includes pacifying
Region-wide and insecure area；
First performing module, for judging that presently described robot is located at safety zone when described location determination module, then controls
Described robot is advanced with normal traveling mode；
Second performing module, for judging that presently described robot is located at insecure area when described location determination module, then controls
Make described robot to advance with careful traveling mode；
Wherein, the corresponding translational speed of described normal traveling mode is more than the corresponding translational speed of described careful traveling mode.
7. system according to claim 6 is it is characterised in that also include:
Detecting module, for, under described normal traveling mode or described careful traveling mode, detecting to travel zone.
8. system according to claim 7 is it is characterised in that described detecting module includes:
Signal transmitter unit, for the front emission detection signal of described travel zone；
Signal receiving unit, for receiving the reflected signal that barrier reflects；
Computing unit, for calculating the time between the x time of described detectable signal and the time of reception of described reflected signal
Difference, and corresponding obstacle distance is drawn with the spread speed calculating of signal according to described time difference.
9. system according to claim 8 is it is characterised in that also include:
Map rejuvenation module, for the result of detection according to described detecting module, is updated to described priori map, obtains new
Priori map.
10. system according to claim 9 is it is characterised in that also include:
Region division module, for when described map rejuvenation module updates described priori map, having barrier and nothing
The region that method is passed through is set to insecure area.
A kind of 11. robots are it is characterised in that include the system as described in any one of claim 6-10.
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| CN201610657390.9A CN106338285A (en) | 2016-08-11 | 2016-08-11 | Marching auxiliary method and system, and robot |
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| CN201610657390.9A CN106338285A (en) | 2016-08-11 | 2016-08-11 | Marching auxiliary method and system, and robot |
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| CN201610657390.9A Pending CN106338285A (en) | 2016-08-11 | 2016-08-11 | Marching auxiliary method and system, and robot |
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| CN109947111A (en) * | 2019-04-04 | 2019-06-28 | 肖卫国 | A kind of automatic transporting trolley control method for movement, device and automatic transporting trolley |
| CN110338708A (en) * | 2019-06-21 | 2019-10-18 | 华为技术有限公司 | A kind of the cleaning control method and equipment of sweeping robot |
| CN112684803A (en) * | 2021-03-11 | 2021-04-20 | 上海擎朗智能科技有限公司 | Control method and device for mobile robot, mobile robot and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107121680A (en) * | 2017-03-06 | 2017-09-01 | 国网浙江省电力公司衢州供电公司 | A kind of optical cable distance to the ground intelligent monitoring prior-warning device and method |
| CN109947111A (en) * | 2019-04-04 | 2019-06-28 | 肖卫国 | A kind of automatic transporting trolley control method for movement, device and automatic transporting trolley |
| CN110338708A (en) * | 2019-06-21 | 2019-10-18 | 华为技术有限公司 | A kind of the cleaning control method and equipment of sweeping robot |
| CN112684803A (en) * | 2021-03-11 | 2021-04-20 | 上海擎朗智能科技有限公司 | Control method and device for mobile robot, mobile robot and storage medium |
| CN112684803B (en) * | 2021-03-11 | 2021-06-11 | 上海擎朗智能科技有限公司 | Control method and device for mobile robot, mobile robot and storage medium |
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