CN106338996A - Safe control method and system for mobile robot - Google Patents

Abstract

The invention discloses a safe control method and system for a mobile robot, wherein the method comprises the following steps: S100) obtaining the working environment map information of a robot; S200) obtaining the current position information about the robot's travel in the working environment map information; S300) using the current position information as a reference to obtain the position information of its surrounding obstacles; and S400) controlling the travel mode of the robot based on the position information of its surrounding obstacles. The method and the system are designed with the object of finding out the obstacles that are closest to the robot in real time and making the robot respond differently to the obstacles so the robot is more like a human in terms of logic thinking and becomes more intelligent with the result that the working safety of the robot is increased.

Description

A kind of method and system of mobile robot security control

Technical field

The present invention relates to intelligent robot control field, more particularly to a kind of method of mobile robot security control and System.

Background technology

In recent years, with the fast development of mobile robot, the demand of the job security to robot for the people is increasingly Height, therefore when robot runs into barrier, has more, finer and smoother control strategy, will be development trend from now on, It is robot safety and intelligentized important guarantee.

Traditional mobile robot is the control strategy being detoured using chance barrier, but this kind of strategy is excessively inflexible.This year Occur in that some take corresponding control strategy according to the state of barrier, such as etc. stop, keep in obscurity, enriching robot and run into barrier Hinder control strategy during thing.But, these methods are all control strategies when barrier on the route of planning, for not Barrier on route, robot does not have any reaction, so can have a problem that, that is, barrier has been away from robot Close, but not on route, robot can keep original speed (may be very high) directly to pass through, and this is to its side Dynamic barrier (as people etc.) is to have certain potential safety hazard.

Content of the invention

The present invention provides a kind of method and system of mobile robot security control, and its purpose is sought in real time Look for the barrier near robot periphery, make different reactions accordingly so as to more accord with for different barrier robots Close the thinking logic of people, more intelligent, the job security of very Gao Liao robot.

The technical scheme that the present invention provides is as follows:

A kind of method of mobile robot security control, comprising: step s100 obtains the working environment map letter of robot Breath；Step s200 obtains the current location information that robot advances in described working environment cartographic information；Step s300 is with machine On the basis of the described current location information of device people, obtain the positional information of periphery barrier；Step s400 is according to acquisition described week The positional information of side barrier controls the traveling mode of robot.

In the present invention, in 360 degree of deathtrap centered on robot, find in real time near machine The barrier of device people's periphery, different according to the attribute of barrier, control robot to advance on route in a different manner；This The control strategy after hindering is being met by the bright robot that compared with prior art enriches, and has different anti-for different barrier robots Should, more meet the thinking logic of people, more intelligent, improve the job security of robot.

Preferably, described step s300 also includes: step s310 obtains the positional information of current barrier；Step s320 is sentenced Disconnected current position state on robot operating path for the described current barrier, when described current barrier is not in described work When on route, execution step s330；Step s330 when described current barrier attribute be dynamic barrier when, execution step s340；Step s340 obtains the positional distance between robot and described dynamic barrier；Step s350 judges robot with institute Whether the positional information obtaining periphery barrier on the basis of stating current location information terminates, and when finished, robot marches to down One point of location information, execution step s200；Otherwise, execution step s300.

In the present invention, by the positional information disturbance in judgement thing of disturbance in judgement thing, whether the line is busy, judges when the line is busy The positional information of emerging dynamic barrier, calculates barrier by the vector method seeking the minimum range a little arriving line segment of mathematics Distance and robot between；The inventive method achieves the attribute that automatic identification barrier is capable of in robot, that is, static or dynamic State, makes the method for the present invention more rigorous, robot can be helped to process using different control modes during advancing prominent The event of sending out, ensures that robot being capable of normal work.

Preferably, described step s340 includes: step s341 is by polygon for robot mapping of a set onto another profile diagram；

Step s342 calculates the length of side distance between multiple sides of described profile diagram and described dynamic barrier；Step s343 The length of side distance of minimum is obtained from robot with multiple length of side distances of described dynamic barrier, and the length of side by described minimum Distance is set to the first distance between robot and described dynamic barrier；Step s344 is from the periphery dynamic barrier obtaining In described first distance compare further, described dynamic barrier minimum for the described first distance is set to dangerous barrier Hinder thing, and described the first minimum distance is set to second distance, execution step s350.

In the present invention, robot is mapped to the shape that polygon profile diagram has taken into full account robot, more conforms to reality Border, it is to avoid robot is regarded as the defect of a point；Pass through to calculate the meter of distance between dynamic barrier and each bar side simultaneously Calculate, employ a kind of fast algorithm of the minimum range to robot profile for barrier, the convenient feelings in consideration robot profile Under condition, solve barrier to the distance of robot, when making robot meet barrier in the course of the work, quick reply can be made and arrange Apply so as to run more safe and reliable.

Preferably, described step s400 includes: step s411 judges to work as institute according to the second distance of described dangerous obstacles When to state barrier be to enter in dangerous fence coverage, execution step s412；Step s412 is adjusted according to the grade of dangerous fence coverage The gait of march of section robot.

In the present invention, according to different hazardous area grades, robot gait of march is divided, make robot at place When different hazardous area grade, there are different gait of march；For example: during the closer to dynamic barrier, the gait of march of robot is got over Little it is ensured that robot can safely avoid obstacle；In addition, when dynamic barrier is away from deathtrap, it is possible to achieve all Even acceleration；The method of the present invention is slowed down by avoidance, keeps higher gait of march away from during barrier, improves robot Work efficiency.

Preferably, described step s400 also includes: when judge described barrier be in robot work route on when sentence Disconnected execution step s421；Step s421 robot completes the work in described working environment cartographic information according to avoidance rule.

In the present invention, include the judgement of dynamic barrier and static-obstacle thing from whole detection, solve robot and advance Control method problem, when compensate for traditional robot and only there is barrier on the route that it is cooked up, just can be around Go or wait and stop, and for the barrier on non-route, the defect of the deficiency of not corresponding control strategy.

Preferably, described Obstacle Position model includes: the Obstacle Position in described working environment map is (x_a, y_a)； Robot location in described working environment map is (x₀, y₀)；

Distance between l-- robot and barrier；The distance between θ -- the robot and barrier angle with x-axis.

Preferably, obtain the minimum range between the side of robot profile diagram and described dynamic barrier be described first away from From model include:

λ -- eigenvalue (0≤λ≤1)；

If the two of a line bc of robot profile diagram end points are b (x_b, y_b)、c(x_c, y_c), a (x_a, y_a) put as obstacle Object point；D (x is obtained on bc side_d, y_d) point, it is the point of the minimum range between dynamic barrier described in bc back gauge.

In the present invention, during minimum range between the side of calculating robot's profile diagram and dynamic barrier, introduce one Quadratic equation with one unknown with regard to λ and 0≤λ≤1, solve to this quadratic equation with one unknown, judge minima by eigenvalue, make this Bright control algolithm is easy, quick, and amount of calculation is little.

Preferably, included according to the gait of march model that the grade of described danger fence coverage adjusts robot:

$v_n=\frac{r_n}{r_1}*v_1$

r₁-- the greatest danger fence coverage value, r_n-- enter the distance between fence coverage inner machine people and dynamic disorder, v₁--r₁Corresponding maximum travel speed, v_n--r_nCorresponding gait of march；Wherein, r₁≥r_n.

In the present invention, implement uniformly to accelerate the control system with even retardation, when the wheel of dynamic barrier and robot When certain of wide in figure is on one side near, and distance more hour, robot is taken to slow down, according to the deathtrap grade of setting, accordingly Safe speed changing step by step, no matter dynamic barrier is people or animal in the map territory through the present invention When, ensure its safety.

A kind of system of mobile robot security control, cartographic information acquiring unit, obtain the building ring condition of robot Figure information；Robot location's information acquisition unit, is electrically connected with described cartographic information acquisition module, obtains in described cartographic information In the working environment cartographic information of robot that unit obtains, obtain the current location information that robot advances；Barrier obtains Unit, is electrically connected with described robot location's information acquisition unit, the machine being obtained with described robot location's information acquisition unit On the basis of the described current location information of device people, obtain the positional information of periphery barrier；Robot control unit, with described barrier Thing acquiring unit is hindered to electrically connect, the information control machine of the described periphery barrier being obtained according to described obstacle information acquiring unit The traveling mode of device people.

In the present invention, in 360 degree of deathtrap centered on robot, find in real time near machine The barrier of device people's periphery, different according to the attribute of barrier, control robot to advance on route in a different manner；This The control strategy after hindering is being met by the bright robot that compared with prior art enriches, and has different anti-for different barrier robots Should, more meet the thinking logic of people, more intelligent, improve the job security of robot.

Preferably, described obstacle information acquiring unit includes: current Obstacle Position acquisition module, obtains current obstacle The positional information of thing；Current Obstacle Position judge module, is electrically connected with described current Obstacle Position acquisition module, judges institute State current position state on robot operating path for the current barrier；Barrier attributive judgment module, with described current barrier Hinder object location judge module to electrically connect, judge described current barrier not in institute according to described current Obstacle Position judge module When stating on operating path, judge the attribute of described current barrier；Positional distance acquisition module, with described barrier attributive judgment Module electrically connects, and when judging described current barrier attribute for dynamic barrier according to barrier attributive judgment module, obtains machine Positional distance between device people and described dynamic barrier；Barrier obtains judge module, obtains with described positional distance respectively Module, described robot location's information acquisition unit, described barrier acquiring unit, described robot control unit's electrical connection, Judge that robot is obtained the positional information of periphery barrier on the basis of described current location information and whether terminates, when finished, Obtain robot and march to the next position information, at the end of not, continue to obtain the barrier of periphery.

In the present invention it is achieved that the attribute of automatic identification barrier is capable of in robot, that is, either statically or dynamically, by multiple Method recursion judges the positional information of emerging dynamic barrier, makes the method for the present invention more rigorous, can help machine Device people processes accident using different control modes during advancing, and ensures that robot being capable of normal work.

Preferably, described positional distance acquisition module includes: robot mapping submodule, by many for robot mapping of a set onto another edge profile Figure；The length of side apart from calculating sub module, is electrically connected with described robot mapping submodule 341, calculates described robot and map submodule Length of side distance between multiple sides of described profile diagram of block mapping and described dynamic barrier；Length of side distance versus module, with The described length of side electrically connects apart from calculating sub module, according to the described length of side apart from calculating sub module from robot and described dynamic disorder Obtain the length of side distance of minimum in the multiple length of sides distance of thing, and by described minimum length of side distance be set to robot with described The first distance between dynamic barrier；Second distance acquisition submodule, respectively with described length of side distance versus module, described barrier Thing is hindered to obtain judge module electrical connection, described first distance from the periphery dynamic barrier obtaining is compared further, Described dynamic barrier minimum for described first distance is set to dangerous obstacles, and described the first minimum distance is arranged For second distance, and judge that described periphery barrier obtains and whether terminate.

In the present invention, robot is mapped to the shape that polygon profile diagram has taken into full account robot, more conforms to reality Border, it is to avoid robot is regarded as the defect of a point；Pass through to calculate the meter of distance between dynamic barrier and each bar side simultaneously Calculate, employ a kind of fast algorithm of the minimum range to robot profile for barrier, the convenient feelings in consideration robot profile Under condition, solve barrier to the distance of robot, when making robot meet barrier in the course of the work, quick reply can be made and arrange Apply so as to run more safe and reliable.

Preferably, described robot control unit includes: dangerous warning judging submodule, according to described dangerous obstacles Second distance judges whether enter in dangerous fence coverage when described barrier；Gait of march regulates and controls submodule, when described danger When warning judging submodule judges that robot enters in dangerous fence coverage, the grade according to dangerous fence coverage adjusts robot Gait of march.

In the present invention, according to different hazardous area grades, robot gait of march is divided, make robot at place When different hazardous area grade, there are different gait of march；For example: during the closer to dynamic barrier, the gait of march of robot is got over Little it is ensured that robot can safely avoid obstacle；In addition, when dynamic barrier is away from deathtrap, it is possible to achieve all Even acceleration；The method of the present invention is slowed down by avoidance, keeps higher gait of march away from during barrier, improves robot Work efficiency.

Preferably, described robot control unit includes: avoidance obstacle submodule, judges mould according to current Obstacle Position Block judges that robot completes in described work according to avoidance rule when described barrier is on the route being in robot work Work in Environmental Map Information.

In the present invention, include the judgement of dynamic barrier and static-obstacle thing from whole detection, and robot advances Control method, when compensate for traditional robot and only there is barrier on the route that it is cooked up, just can detour or wait and stop, And for the barrier on non-route, the deficiency of not corresponding control strategy.

Preferably, described Obstacle Position model includes: the Obstacle Position in described working environment map is (x_a, y_a)； Robot location in described working environment map is (x₀, y₀)；

Distance between l-- robot and barrier；The distance between θ -- the robot and barrier angle with x-axis.

In the present invention, try to achieve the position coordinateses of barrier by the conversion method of vectorial coordinate, make the system of the present invention Run more accurate, reliable.

Preferably, obtain the minimum range between the side of robot profile diagram and described dynamic barrier be described first away from From model include:

λ -- eigenvalue (0≤λ≤1)；

If two end points of bc are b (x between a fragment position of robot profile diagram_b, y_b)、c(x_c, y_c), a (x_a, y_a) point For obstacle object point；D (x is obtained on bc side_d, y_d) point, it is the point of the minimum range between dynamic barrier described in bc back gauge.

In the present invention, during minimum range between the side of calculating robot's profile diagram and dynamic barrier, introduce one With regard to λ quadratic equation with one unknown and 0≤λ≤1, to this quadratic equation with one unknown solve, minima is judged by eigenvalue, makes this Bright control algolithm is easy, quick, and amount of calculation is little.

Preferably, included according to the gait of march model that the grade of described danger fence coverage adjusts robot:

$v_n=\frac{r_n}{r_1}*v_1$

r₁-- the greatest danger fence coverage value, r_n-- enter the distance between fence coverage inner machine people and dynamic disorder, v₁--r₁Corresponding maximum travel speed, v_n--r_nCorresponding gait of march；Wherein, r₁≥r_n.

In the present invention, implement uniformly to accelerate the control system with even retardation, when the wheel of dynamic barrier and robot When certain of wide in figure is on one side near, and distance more hour, robot is taken to slow down, according to the deathtrap grade of setting, accordingly Safe speed changing step by step, no matter dynamic barrier is people or animal in the map territory through the present invention When, ensure its safety.

Compared with prior art, the present invention provides a kind of method and system of mobile robot security control, at least brings A kind of following technique effect:

In the present invention, that is, when dynamic barrier in robot periphery (not on the route of planning), robot slows down Slow transit through it is achieved that the tactful supplement that detours is hindered to existing chance；By to dynamic barrier to robot profile The fast solution method of minimum distance, to be calculated using the method that vectorial thought and quadratic equation with one unknown solve；And according to The distance away from robot for the barrier dynamically adjusts the speed of robot, can work as dynamic barrier (as people etc.) using the present invention During close robot, even if not on the route of planning, the distance that robot also can be according to barrier away from its profile, make corresponding Deceleration, passed through with certain safe speed, compensate for there is obstacle on the route that traditional robot only cooks up at it During thing, just can detour or wait and stop, and for the barrier on non-route, the problem of the deficiency of not corresponding control strategy.

Brief description

Below by the way of clearly understandable, preferred implementation is described with reference to the drawings, to a kind of mobile robot safety The method and system characteristic, technical characteristic, advantage and its implementation that control are further described.

Fig. 1 is a kind of flow chart of one embodiment of method of present invention mobile robot security control；

Fig. 2 is a kind of flow chart of another embodiment of method of present invention mobile robot security control；

Fig. 3 is a kind of flow chart of another embodiment of method of present invention mobile robot security control；

Fig. 4 is a kind of structure chart of one embodiment of system of present invention mobile robot security control；

Fig. 5 is a kind of structure chart of another embodiment of system of present invention mobile robot security control；

Fig. 6 is a kind of structure chart of another embodiment of system of present invention mobile robot security control；

Fig. 7 is a kind of schematic diagram of another embodiment of method of present invention mobile robot security control；

Fig. 8 is a kind of schematic diagram of another embodiment of method of present invention mobile robot security control；

Fig. 9 is the vectorial coordinate figure of position between barrier and robot in the present invention.

Specific embodiment

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, brief description will be compareed below The specific embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings Accompanying drawing, and obtain other embodiments.

For making simplified form, each in figure only schematically show part related to the present invention, and they do not represent It is as the practical structures of product.In addition, so that simplified form readily appreciates, there is identical structure or function in some in figures Part, only symbolically depicts one of, or has only marked one of.Herein, " one " not only represents " only this " is it is also possible to represent the situation of " more than one ".

Distance measuring sensor is adopted, barrier is to the quick calculation method of robot profile minimum distance, grid in the present invention The dynamic barrier method of discrimination of map contrast, based on the safe speed dynamic control method of distance, realizes robot periphery and goes out The logic that during existing dynamic barrier, robot slows down.In mobile robot field, the method is the existing benefit meeting barrier control logic Fill so that the control strategy after barrier is met by robot is abundanter, more meet the thinking logic of people, very high job security.

The present invention provides an a kind of embodiment of the method for mobile robot security control, with reference to shown in Fig. 1；Including: Step s100 obtains the working environment cartographic information of robot；Step s200 obtains robot in described working environment cartographic information The current location information of middle traveling；Step s300, on the basis of the described current location information of robot, obtains periphery barrier Positional information；Step s400 controls the traveling mode of robot according to the positional information obtaining described periphery barrier.

Specifically, initialized before robot work first in this embodiment, including the control system in robot Static layer grating map is inputted in system；The environmental information of purging zone is only comprised, such as the static-obstacle such as wall, tables and chairs in map Thing, the grid that these static-obstacle things occupy indicates specific cost value, and the region of non-barrier indicates another specific generation It is worth.Each grid can be for 5cm × 5cm it is assumed that the region cleaning can be 10m × 10m, then the grating map creating is 200 × 200 specification, in addition, the specification size of corresponding grid can arbitrarily be arranged in map,；Robot is in the grid of walking The position coordinateses of robot itself are obtained in real time in map, after obstacle article coordinate of being reentried based on the position coordinateses of itself, See whether it is existing barrier on map, or emerging barrier, different according to the classification of the barrier obtaining, then Control the gait of march of robot according to corresponding control mode.If, not illustrating it is the dynamic barrier occurring later；Root It is used for controlling the gait of march of robot according to the speed of control algolithm output, can be triggered this after barrier enters deathtrap The module of invention, subscribes to the speed of control algolithm, by this speed controlling below safe speed, then issues robot so that machine Device people passes through the dynamic barrier of its periphery with safe speed.

In the present invention, in 360 degree of deathtrap centered on robot, find in real time near machine The barrier of device people's periphery, different according to the attribute of barrier, control robot to advance on route in a different manner；This The control strategy after hindering is being met by the bright robot that compared with prior art enriches, and has different anti-for different barrier robots Should, more meet the thinking logic of people, more intelligent, improve the job security of robot.

Preferably, described step s300 also includes: step s310 obtains the positional information of current barrier；Step s320 is sentenced Disconnected current position state on robot operating path for the described current barrier, when described current barrier is not in described work When on route, execution step s330；Step s330 when described current barrier attribute be dynamic barrier when, execution step s340；Step s340 obtains the positional distance between robot and described dynamic barrier；Step s350 judges robot with institute Whether the positional information obtaining periphery barrier on the basis of stating current location information terminates, and when finished, robot marches to down One point of location information, execution step s200；Otherwise, execution step s300.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, with reference to shown in Fig. 2；? The current location point of robot ambulation detect obstacle position information that periphery exists namely on map coordinate position, work as detection During to barrier, it is first determined whether taking the track route of robot, it is to enter avoidance etc. and stop logic, otherwise sentence further Disconnected barrier state, the barrier now detecting includes Environment Obstacles thing and dynamic barrier, and Environment Obstacles thing is on map The barrier having existed, such as going up the seat emphasized in an embodiment, wall or refuse receptacle etc. is static-obstacle thing, leads to Cross the cost value of coordinate in grating map to check, be then Environment Obstacles thing if there is corresponding cost value, otherwise, if inspection Coordinate on map for the barrier measuring unmarked corresponding cost value, then be dynamic barrier be emerging obstacle Thing；It is also likely to be to be moved into the static-obstacle thing come that emerging barrier is likely to be dynamic barrier, and unification here is considered as Dynamic barrier (can also be rebuild static map and to solve this problem) after moving into static-obstacle thing, and static-obstacle thing is not sent out Raw movement, dynamic barrier is mobile, without occurring on the route that robot works, judges it is when as dynamically hindering When hindering thing, because dynamic barrier moves, one affecting the work of robot, and two carry out dynamic barrier if child For ensureing his safety, robot is taken corresponding measure automatically, now calculates and is separated by between dynamic barrier and robot Distance, preserved, be further continued for judging that robot in current position with the barrier of the range scans periphery of a week 360 is No end, continues to scan on acquisition barrier when being not over, otherwise, a circle end of scan, then utilize nearest dynamic barrier Separated by a distance and robot between, the distance according to distance is taken corresponding traveling control mode and is carried out next survey to robot Pilot scans barrier.

In the present invention, by the positional information disturbance in judgement thing of disturbance in judgement thing, whether the line is busy, when not having to sentence when the line is busy The positional information of disconnected emerging dynamic barrier, calculates barrier by the vector method a little arriving line segment beeline of asking of mathematics Distance and robot between；The inventive method achieves the attribute that automatic identification barrier is capable of in robot, that is, static or dynamic State, makes the method for the present invention more rigorous, robot can be helped to process using different control modes during advancing prominent The event of sending out, ensures that robot being capable of normal work.

Preferably, described step s340 includes: step s341 is by polygon for robot mapping of a set onto another profile diagram；

Step s342 calculates the length of side distance between multiple sides of described profile diagram and described dynamic barrier；Step s343 The length of side distance of minimum is obtained from robot with multiple length of side distances of described dynamic barrier, and the length of side by described minimum Distance is set to the first distance between robot and described dynamic barrier；Step s344 is from the periphery dynamic barrier obtaining In described first distance compare further, described dynamic barrier minimum for the described first distance is set to dangerous barrier Hinder thing, and described the first minimum distance is set to second distance, execution step s350.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, with reference to shown in Fig. 3；Respectively Individual according to positional information get dynamic barrier not in robot course when, robot top profile view is mapped in In current position o point information, mapping graph can be mapped to 4 sides, 5 sides, or more polygon, then calculating mapping rear profile Each bar side of the profile diagram of mapping of distance between the every a line of in figure and dynamic barrier, each dynamic barrier and robot Compare, calculate length of side distance, obtain minima from length of side distance and be l₁, the position according to robot place further Put the dynamic barrier in the range of 360 ° of o spot scan one week, ask for l respectively₁, by each l₁Compare, select minimum l₁If It is set to l₂；l₂Represent is barrier the most dangerous, according to l₂Size to judge whether enter risk range in.For example, the present invention Take into full account the shape of robot, that is, the minimum range away from robot profile has come disturbance in judgement object distance robot with barrier How far, introduce a kind of method away from robot profile minimum range for quick calculating barrier.With reference to shown in Fig. 7 it is assumed that at this In embodiment, robot is simplified to a rectangle r, b3 is a grid shared by barrier, barrier away from robot away from From, i.e. the minimum range of b3 to r profile, the minimum range asking b3 to arrive each edge can be converted into, then therefrom find minima.

In the present invention, robot is mapped to the shape that polygon profile diagram has taken into full account robot, more conforms to reality Border, it is to avoid robot is regarded as the defect of a point；Pass through to calculate the meter of distance between dynamic barrier and each bar side simultaneously Calculate, employ a kind of fast algorithm of the minimum range to robot profile for barrier, the convenient feelings in consideration robot profile Under condition, solve barrier to the distance of robot, when making robot meet barrier in the course of the work, quick reply can be made and arrange Apply so as to run more safe and reliable.

Preferably, described step s400 includes: step s411 judges to work as institute according to the second distance of described dangerous obstacles When to state barrier be to enter in dangerous fence coverage, execution step s412；Step s412 is adjusted according to the grade of dangerous fence coverage The gait of march of section robot.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, in the present embodiment, ginseng Examine and combine shown in Fig. 7 shown in Fig. 3, dangerous fence coverage includes how far for dynamic disorder object distance robot, with reference to Fig. 7 institute Show, more intuitively it is assumed that middle b2 is barrier, r₁It is deathtrap maximum radius, 1,2,3 is 3 positions in deathtrap, r₁、r₂、r₃It is the minimum range of the dynamic disorder object distance robot on correspondence position, the position between barrier and robot For r₁When, now the gait of march of robot is by original v₀Decelerate to v₁, r₂When be decelerated to v₂；r₃When be decelerated to v₃；In Fig. 7 In, only three regions are set, multiple deathtraps can also be set step by step, the equidistant region of the deathtrap setting in Fig. 7, The region of Unequal distance can also be arranged to, as the case may be in real time depending on.If dynamic barrier is when deathtrap is withdrawn, The gait of march of robot can be improved, when that is, dynamic barrier is gradually distance from robot recently, the present invention is to robot in good time The dynamics of speed limit will be gradually reduced, then the speed of robot just can gradually be added up by control algolithm module.

In the present invention, according to different hazardous area grades, robot gait of march is divided, make robot at place When different hazardous area grade, there are different gait of march；For example: during the closer to dynamic barrier, the gait of march of robot is got over Little it is ensured that robot can safely avoid obstacle；In addition, when dynamic barrier is away from deathtrap, it is possible to achieve all Even acceleration；The method of the present invention is slowed down by avoidance, keeps higher gait of march away from during barrier, improves robot Work efficiency.

Preferably, described step s400 also includes: when judge described barrier be in robot work route on when sentence Disconnected execution step s421；Step s421 robot completes the work in described working environment cartographic information according to avoidance rule.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, with reference to shown in Fig. 3；Sentence Disconnected robot o spot scan to barrier be on the operating path of robot ambulation when, barrier now is probably dynamic State barrier is also likely to be the static-obstacle thing being moved to, even dynamic barrier be also possible to stand in always motionless on route Become static-obstacle thing, when stopping some seconds for dynamic barrier Shi Xian etc., if dynamic barrier is motionless always, carry out avoidance, Get around；If static-obstacle thing is then directly around going, dynamic, static-obstacle thing the judgement in the case of this kind and corresponding Control strategy disclosed in other patents.

In the present invention, include the judgement of dynamic barrier and static-obstacle thing from whole detection, solve robot and advance Control method problem, when compensate for traditional robot and only there is barrier on the route that it is cooked up, just can be around Go or wait and stop, and for the barrier on non-route, the defect of the deficiency of not corresponding control strategy.

Preferably, described Obstacle Position model includes: the Obstacle Position in described working environment map is (x_a, y_a)； Robot location in described working environment map is (x₀, y₀)；

Distance between l-- robot and barrier；The distance between θ -- the robot and barrier angle with x-axis.

Preferably, obtain the minimum range between the side of robot profile diagram and described dynamic barrier be described first away from From model include:

λ -- eigenvalue (0≤λ≤1)；

If two end points of robot profile diagram side length b c are b (x_b, y_b)、c(x_c, y_c), a (x_a, y_a) put as barrier Hinder object point；D (x is obtained on bc side_d, y_d) point, it is the point of the minimum range between dynamic barrier described in bc back gauge.

In the present invention, with reference to shown in Fig. 8, shown in model reference Fig. 9 of the first distance；Side in calculating robot's profile diagram During minimum range and dynamic barrier between, introduce one with regard to λ quadratic equation with one unknown and 0≤λ≤1, to this unitary two Equation of n th order n solves, and judges minima by eigenvalue, and the control algolithm making the present invention is easy, fast, and amount of calculation is little.

Preferably, included according to the gait of march model that the grade of described danger fence coverage adjusts robot:

$v_n=\frac{r_n}{r_1}*v_1$

r₁-- the greatest danger fence coverage value, r_n-- enter the distance between fence coverage inner machine people and dynamic disorder, v₁--r₁Corresponding maximum travel speed, v_n--r_nCorresponding gait of march；Wherein, r₁≥r_n.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, with reference to shown in Fig. 7, first First initialize maximum safe speed v₁, when dynamic barrier is in 1 position, then speed reducing ratio is r₁/r₁, in the peace of 1 position Full speed degree is r₁/r₁*v₁, normally run, when control algolithm, the speed sending and be more than this speed, then reducing to this speed is r_n/r₁*v₁, Otherwise constant.Similar, when 2 position, safe speed is v to dynamic barrier₂=r₂/r₁*v₁；Barrier, when 3 position, is pacified Full speed degree is v₃=r₃/r₁*v₁, according to the deathtrap grade of setting, corresponding safe speed is changing step by step.

In the present invention, implement uniformly to accelerate the control system with even retardation, when the wheel of dynamic barrier and robot When certain of wide in figure is on one side near, i.e. distance more hour, take robot to slow down, according to the deathtrap grade of setting, accordingly Safe speed changing step by step, no matter dynamic barrier is people or animal in the map territory through the present invention When, ensure its safety.

The invention provides a kind of strategy of mobile robot security control and method, that is, when robot periphery is not (on rule On the route drawn) when dynamic barrier, robot slows down and slow transits through, and is that existing barrier of meeting detours a benefit of strategy Fill.Method includes: a kind of fast solution method of the minimum distance to robot profile for barrier, that is, adopt vector thought and The method that quadratic equation with one unknown solves is calculating.A kind of dynamic disorder object detecting method of contrast grating map, that is, obtain and clean The grating map in region, the coordinate of the barrier that distance measuring sensor is detected is contrasted with up-to-date grating map, if grid Barrier is not labeled as on lattice map, then explanation is dynamic barrier.And the distance away from robot is dynamic according to barrier The speed of adjustment robot.When can work as the close robot of dynamic barrier (as people etc.) using the present invention, even if not in planning Route on, the distance that robot also can be according to barrier away from its profile, make corresponding deceleration, led to certain safe speed Cross, when compensate for traditional robot and only there is barrier on the route that it is cooked up, just can detour or wait and stop, and for Barrier on non-route, the deficiency of not corresponding control strategy.

The present invention also provides an a kind of embodiment of the system of mobile robot security control, cartographic information acquiring unit 100, obtain the working environment cartographic information of robot；Robot location's information acquisition unit 200, is obtained with described cartographic information Module 100 electrically connects, and in the working environment cartographic information of the robot that described cartographic information acquiring unit 100 obtains, obtains The current location information that robot advances；Barrier acquiring unit 300, with described robot location's information acquisition unit 200 electricity Connect, on the basis of the described current location information of the robot that described robot location's information acquisition unit 200 obtains, obtain The positional information of periphery barrier；Robot control unit 400, electrically connect with described barrier acquiring unit 300, according to described The information of the described periphery barrier that obstacle information acquiring unit 300 obtains controls the traveling mode of robot.

Specifically, initialized before robot work first in this embodiment, with reference to shown in Fig. 4；Including utilization Cartographic information acquiring unit 100 obtains the cartographic information of robot work, and two cartographic informations are in the control system of robot Input static layer grating map；The environmental information of purging zone is only comprised, such as the static-obstacle thing such as wall, tables and chairs in map, this The grid that a little static-obstacle things occupy indicates specific cost value, and the region of non-barrier indicates another specific cost value. Each grid can for 5cm × 5cm it is assumed that the region cleaning can be 10m × 10m, then the grating map creating for 200 × 200 specification, in addition, the specification size of corresponding grid can arbitrarily be arranged in map；After this map building, using robot Location information acquiring unit 200 obtains the position coordinateses of real-time robot in the grating map of walking of robot itself, with Reentry based on the position coordinateses of itself after obstacle article coordinate, see that whether it is existing barrier on map, or newly go out Existing barrier, different according to the classification of the barrier obtaining, control the traveling speed of robot further according to corresponding control mode Degree.If, not illustrating it is the dynamic barrier occurring later；It is used for controlling robot according to the speed of control algolithm output Gait of march, can trigger the module of the present invention after barrier enters deathtrap, subscribe to the speed of control algolithm, by this speed Degree controls below safe speed, then issues robot so that robot passes through the dynamic barrier of its periphery with safe speed.

In the present invention, in 360 ° of deathtrap centered on robot, find in real time near machine The barrier of device people's periphery, different according to the attribute of barrier, control robot to advance on route in a different manner；This The control strategy after hindering is being met by the bright robot that compared with prior art enriches, and has different anti-for different barrier robots Should, more meet the thinking logic of people, more intelligent, improve the job security of robot.

Preferably, described obstacle information acquiring unit 300 includes: current Obstacle Position acquisition module 310, obtains and works as The positional information of front barrier；Current Obstacle Position judge module 320, with described current Obstacle Position acquisition module 310 Electrical connection, judges current position state on robot operating path for the described current barrier；Barrier attributive judgment module 330, electrically connect with described current Obstacle Position judge module 320, sentenced according to described current Obstacle Position judge module 320 When disconnected described current barrier is not on described operating path, judge the attribute of described current barrier；Positional distance obtains mould Block 340, is electrically connected with described barrier attributive judgment module 330, is judged described current according to barrier attributive judgment module 330 When barrier attribute is dynamic barrier, obtain the positional distance between robot and described dynamic barrier；Barrier obtains Judge module 350, respectively with described positional distance acquisition module 340, described robot location's information acquisition unit 200, described Barrier acquiring unit 300, described robot control unit 400 electrically connects, and judges that robot with described current location information is Whether the positional information that benchmark obtains periphery barrier terminates, and when finished, obtains robot and marches to the next position information, when At the end of not, continue to obtain the barrier of periphery.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, with reference to shown in Fig. 5；? The current location point of robot ambulation detect obstacle position information that periphery exists namely on map coordinate position, work as detection During to barrier, it is first determined whether taking the track route of robot, it is to enter avoidance etc. and stop logic, otherwise sentence further Disconnected barrier state, the barrier now detecting includes Environment Obstacles thing and dynamic barrier, and Environment Obstacles thing is on map The barrier having existed, such as going up the seat emphasized in an embodiment, wall or refuse receptacle etc. is static-obstacle thing, leads to Cross the cost value of coordinate in grating map to check, be then Environment Obstacles thing if there is corresponding cost value, otherwise, if inspection Coordinate on map for the barrier measuring unmarked corresponding cost value, then be dynamic barrier be emerging obstacle Thing；It is also likely to be to be moved into the static-obstacle thing come that emerging barrier is likely to be dynamic barrier, and unification here is considered as Dynamic barrier (can also be rebuild static map and to solve this problem) after moving into static-obstacle thing, and static-obstacle thing is not sent out Raw movement, dynamic barrier is mobile, without occurring on the route that robot works, judges it is when as dynamically hindering When hindering thing, because dynamic barrier moves, one affecting the work of robot, and two carry out dynamic barrier if child For ensureing his safety, robot is taken corresponding measure automatically, now calculates and is separated by between dynamic barrier and robot Distance, preserved, be further continued for judging that robot in current position with the barrier of the range scans periphery of a week 360 is No end, continues to scan on acquisition barrier when being not over, otherwise, a circle end of scan, then utilize nearest dynamic barrier Separated by a distance and robot between, the distance according to distance is taken corresponding traveling control mode and is carried out next survey to robot Pilot scans barrier.

The distance measuring sensor installed at about 30cm above robot in barrier acquisition module 310 in the present embodiment (as laser sensor, it can achieve 360 ° 6 meters in the range of laser ranging scanning；Also include other detection means simultaneously, survey Take barrier, the installation site of sensor can make corresponding adjustment with the suitability) the detection all obstacle position informations of periphery Namely on map coordinate position, according to coordinate position calculate robot advance direction on barrier and robot between Distance, obtain and robot current location between distance minimum be set to the first barrier, sentenced according to the first barrier attribute Then disconnected module 320 judges that the first barrier is the barrier having existed on map, such as goes up in an embodiment and emphasizes Seat, wall or refuse receptacle etc. i.e. Environment Obstacles thing, checked by the cost value of coordinate in grating map, if deposited It is then Environment Obstacles thing in corresponding cost value, otherwise, be that emerging barrier includes dynamic barrier and static-obstacle thing； Machine man-hour, the barrier that distance measuring sensor detects, is not barrier in static layer grating map, then explanation is Purging zone is actively or passively entered, system is considered as dynamic barrier here after building figure；If dynamic barrier also will be further Judgement, judge dynamic barrier whether on the route of robot ambulation, if avoidance is carried out on route, both around driving into OK, or wait dynamic barrier to pass through to be walked again, obtain the obstacle on robot direct of travel in described positional information Object location information；When the route do not advanced in robot, the positional distance between calculating robot and dynamic barrier.

In the present invention, by the positional information disturbance in judgement thing of disturbance in judgement thing, whether the line is busy, when not having to sentence when the line is busy The positional information of disconnected emerging dynamic barrier, calculates barrier by the vector method a little arriving line segment minimum range of asking of mathematics Distance and robot between；The inventive method achieves the attribute that automatic identification barrier is capable of in robot, that is, static or dynamic State, makes the method for the present invention more rigorous, robot can be helped to process using different control modes during advancing prominent The event of sending out, ensures that robot being capable of normal work.

In the present invention it is achieved that the attribute of automatic identification barrier is capable of in robot, that is, either statically or dynamically, by multiple Method recursion judges the positional information of emerging dynamic barrier, makes the method for the present invention more rigorous, can help machine Device people processes accident using different control modes during advancing, and ensures that robot being capable of normal work.

Preferably, described positional distance acquisition module 340 includes: robot mapping submodule 341, will be many for robot mapping of a set onto another Edge profile figure；

The length of side apart from calculating sub module 342, is electrically connected with described robot mapping submodule 341, calculates described robot Length of side distance between multiple sides of described profile diagram of mapping submodule 341 mapping and described dynamic barrier；Length of side distance Contrast module 343, is electrically connected apart from calculating sub module 342 with the described length of side, according to the described length of side apart from calculating sub module 342 from Obtain the length of side distance of minimum in multiple length of sides distances of robot and described dynamic barrier, and by the described minimum length of side away from With a distance from first being set between robot and described dynamic barrier；Second distance acquisition submodule 344, respectively with described Length of side distance versus module 343, described barrier obtains judge module 350 and electrically connects, from the periphery dynamic barrier obtaining Described first distance compare further, described dynamic barrier minimum for the described first distance is set to dangerous obstacles Thing, and described the first minimum distance is set to second distance, and judge whether described periphery barrier acquisition terminates.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, combines Fig. 7 with reference to Fig. 6 Shown；According to positional information get dynamic barrier not in robot course when, robot top profile view is reflected Penetrate in current position o point information, mapping graph can be mapped to 4 sides, 5 sides, or more polygon, after then calculating mapping Every distance between a line and dynamic barrier in profile diagram, each dynamic barrier is each with the profile diagram of the mapping of robot Comparing in bar side, calculates length of side distance, obtains minima and be l from length of side distance₁, it is located according to robot further 360 ° of position o spot scan one week in the range of dynamic barrier, ask for l respectively₁, by each l₁Compare, select minimum l₁It is set to l₂；l₂Represent is barrier the most dangerous, according to l₂Size to judge whether enter risk range in.For example, originally Invention has taken into full account the shape of robot, that is, with the minimum range away from robot profile for the barrier come disturbance in judgement object distance machine People is how far, introduces a kind of method away from robot profile minimum range for quick calculating barrier.With reference to shown in Fig. 7 it is assumed that In the present embodiment robot is simplified to a rectangle r, b3 is a grid shared by barrier, and barrier is away from robot Distance, i.e. the minimum range of b3 to r profile, the minimum range asking b3 to arrive each edge can be converted into, then therefrom find minima.

In the present invention, robot is mapped to the shape that polygon profile diagram has taken into full account robot, more conforms to reality Border, it is to avoid robot is regarded as the defect of a point；Pass through to calculate the meter of distance between dynamic barrier and each bar side simultaneously Calculate, employ a kind of fast algorithm of the minimum range to robot profile for barrier, the convenient feelings in consideration robot profile Under condition, solve barrier to the distance of robot, when making robot meet barrier in the course of the work, quick reply can be made and arrange Apply so as to run more safe and reliable.

Preferably, described robot control unit 400 includes: dangerous warning judging submodule 411, according to described dangerous barrier The second distance hindering thing judges whether enter in dangerous fence coverage when described barrier；Gait of march regulates and controls submodule 412, when When described dangerous warning judging submodule 411 judges that robot enters in danger fence coverage, according to dangerous fence coverage etc. The gait of march of level regulation robot.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, in the present embodiment, danger Dangerous fence coverage include how far for dynamic disorder object distance robot, with reference to shown in Fig. 7, more directly perceived it is assumed that in Fig. 7 b2 be Barrier, r₁It is deathtrap maximum radius, 1,2,3 is 3 positions in deathtrap, r₁、r₂、r₃It is on correspondence position The minimum range of dynamic disorder object distance robot, the position between barrier and robot is r₁When, the now row of robot Enter speed by original v₀Decelerate to v₁, r₂When be decelerated to v₂；r₃When be decelerated to v₃；In the figure 7, only three regions are set, also may be used To arrange multiple deathtraps step by step, the equidistant region of the deathtrap setting in Fig. 7 is it is also possible to be arranged to the area of Unequal distance Domain, depending on specifically asking in real time.If dynamic barrier is when deathtrap is withdrawn, the traveling of robot can be improved in good time Speed, that is, the distance change of dynamic disorder object distance robot is remote, and the present invention weakens to the speed limit of robot, and control algolithm module is just Speed gradually can be added up.Work as l₂Size is close to r₁When, show dynamic barrier already close to robot, robot to be reminded Make corresponding control measure, when dynamic barrier becomes remote with respect to the distance of robot, i.e. l₂-r₁When difference becomes big, robot Slowly recover normal work speed.

In the present invention, according to different hazardous area grades, robot gait of march is divided, make robot at place When different hazardous area grade, there are different gait of march；For example: during the closer to dynamic barrier, the gait of march of robot is got over Little it is ensured that robot can safely avoid obstacle；In addition, when dynamic barrier is away from deathtrap, it is possible to achieve all Even acceleration；The method of the present invention is slowed down by avoidance, keeps higher gait of march away from during barrier, improves robot Work efficiency.

Preferably, described robot control unit 400 includes: avoidance obstacle submodule 421, according to current Obstacle Position Judge module 320 judges that robot completes according to avoidance rule when described barrier is on the route being in robot work Work in described working environment cartographic information.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, with reference to shown in Fig. 6；Sentence Disconnected robot o spot scan to barrier be on the operating path of robot ambulation when, barrier now is probably dynamic State barrier is also likely to be the static-obstacle thing being moved to, even dynamic barrier be also possible to stand in always motionless on route Become static-obstacle thing, when stopping some seconds for dynamic barrier Shi Xian etc., if dynamic barrier is motionless always, carry out avoidance, Get around；If static-obstacle thing is then directly around going, dynamic, static-obstacle thing the judgement in the case of this kind and corresponding Control strategy disclosed in other patents.

In the present invention, include the judgement of dynamic barrier and static-obstacle thing from whole detection, and robot advances Control method, when compensate for traditional robot and only there is barrier on the route that it is cooked up, just can detour or wait and stop, And for the barrier on non-route, the deficiency of not corresponding control strategy.

Preferably, described Obstacle Position model includes: the Obstacle Position in described working environment map is (x_a, y_a)； Robot location in described working environment map is (x₀, y₀)；

Distance between l-- robot and barrier；The distance between θ -- the robot and barrier angle with x-axis.

In the present embodiment, with reference to shown in Fig. 8, shown in model reference Fig. 9 of the first distance；Range finding using robot passes Sensor is tested, and two distance measuring sensors are laser sensor, (x_a, y_a) it is Obstacle Position point, (x₀, y₀) for institute of robot It is 3.1 distance measuring sensors in location point, 3.2 is light beam l, and 3.3 is the angle theta of light beam and x-axis, and 3.4 is light beam terminal (x_a, y_a) i.e. Obstacle Position point (x_a, y_a)；Obtain the position of robot, i.e. (x according to vectorial coordinate_a, y_a)；Length l of light beam, light Bundle and the angle theta of x-axis.

In the present invention, try to achieve the position coordinateses of barrier by the conversion method of vectorial coordinate, make the system of the present invention Run more accurate, reliable.

Preferably, obtain the minimum range between the side of robot profile diagram and described dynamic barrier be described first away from From model include:

λ -- eigenvalue (0≤λ≤1)；

If the two of a line bc of robot profile diagram end points are b (x_b, y_b)、c(x_c, y_c), a (x_a, y_a) put as obstacle Object point；D (x is obtained on bc side_d, y_d) point, it is the point of the minimum range between dynamic barrier described in bc back gauge, with reference to Fig. 8 Shown.

In the present invention, during minimum range between the side of calculating robot's profile diagram and dynamic barrier, introduce one With regard to λ quadratic equation with one unknown and 0≤λ≤1, to this quadratic equation with one unknown solve, minima is judged by eigenvalue, makes this Bright control algolithm is easy, quick, and amount of calculation is little.

Preferably, included according to the gait of march model that the grade of described danger fence coverage adjusts robot:

$v_n=\frac{r_n}{r_1}*v_1$

r₁-- the greatest danger fence coverage value, r_n-- enter the distance between fence coverage inner machine people and dynamic disorder, v₁--r₁Corresponding maximum travel speed, v_n--r_nCorresponding gait of march；Wherein, r₁≥r_n.

Specifically, the present embodiment is the another embodiment providing on the basis of above example, with reference to shown in Fig. 7；First First initialize maximum safe speed v₁, when dynamic barrier is in 1 position, then speed reducing ratio is r₁/r₁, in the peace of 1 position Full speed degree is r₁/r₁*v₁R1/r1*v1, normally runs, when control algolithm, the speed sending and is more than this speed, then reducing to this speed is r_n/r₁*v₁, otherwise constant.Similar, when 2 position, safe speed is v to dynamic barrier₂=r₂/r₁*v₁；Barrier is at 3 When putting, safe speed is v₃=r₃/r₁*v₁, according to the deathtrap grade of setting, corresponding safe speed is becoming step by step Change.

In the present invention, implement uniformly to accelerate the control system with even retardation, when the wheel of dynamic barrier and robot When certain of wide in figure is on one side near, i.e. distance more hour, take robot to slow down, according to the deathtrap grade of setting, accordingly Safe speed changing step by step, no matter dynamic barrier is people or animal in the map territory through the present invention When, ensure its safety.

It should be noted that above-described embodiment all can independent assortment as needed.The above is only the preferred of the present invention Embodiment it is noted that for those skilled in the art, in the premise without departing from the principle of the invention Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (16)

1. a kind of method of mobile robot security control is it is characterised in that include:

Step s100 obtains the working environment cartographic information of robot；

Step s200 obtains the current location information that robot advances in described working environment cartographic information；

Step s300, on the basis of the described current location information of robot, obtains the positional information of periphery barrier；

Step s400 controls the traveling mode of robot according to the positional information obtaining described periphery barrier.

2. the method for mobile robot security control according to claim 1 is it is characterised in that described step s300 is also wrapped Include:

Step s310 obtains the positional information of current barrier；

Step s320 judges current position state on robot operating path for the described current barrier, when described current obstacle When thing is not on described operating path, execution step s330；

Step s330 when judging the attribute of described current barrier for dynamic barrier, execution step s340；

Step s340 obtains the positional distance between robot and described dynamic barrier；

Step s350 judges that robot is obtained the positional information of periphery barrier on the basis of described current location information and whether ties Bundle, when finished, robot marches to the next position information point, execution step s200；Otherwise, execution step s300.

3. the method for mobile robot security control according to claim 2 is it is characterised in that described step s340 bag Include:

Step s341 is by polygon for robot mapping of a set onto another profile diagram；

Step s342 calculates the length of side distance between multiple sides of described profile diagram and described dynamic barrier；

Step s343 obtains the length of side distance of minimum from multiple length of sides distances of described dynamic barrier and robot, and by institute The length of side distance stating minimum is set to the first distance between robot and described dynamic barrier；

Step s344 from obtain periphery dynamic barrier described first distance compare further, by described first away from It is set to dangerous obstacles from minimum described dynamic barrier, and described the first minimum distance is set to second distance, Execution step s350.

4. the method for mobile robot security control according to claim 3 is it is characterised in that described step s400 bag Include:

According to the second distance of described dynamic barrier, step s411 judges that when described dynamic barrier be into dangerous fence coverage When interior, execution step s412；

Step s412 adjusts the gait of march of robot according to the grade of dangerous fence coverage.

5. the method for mobile robot security control according to claim 2 is it is characterised in that described step s400 is also wrapped Include:

Judge execution step s421 when judging that described barrier is on the route of robot work；

Step s421 robot completes the work in described working environment cartographic information according to avoidance rule.

6. the method for mobile robot security control according to claim 1 is it is characterised in that described Obstacle Position mould Type includes:

Obstacle Position in described working environment map is (x_a, y_a)；

Robot location in described working environment map is (x₀, y₀)；

$\begin{array}{c}{x}_a=x_0+l\cos \mathrm{\θ}\\ y_b=y_0+l\sin \mathrm{\θ}\end{array};$

Distance between l-- robot and barrier；The distance between θ -- the robot and barrier angle with x-axis.

7. the method for mobile robot security control according to claim 3 is it is characterised in that obtain robot profile diagram Side and described dynamic barrier between minimum range be that the model of described first distance includes:

λ -- eigenvalue (0≤λ≤1)；

If two end points of bc are b (x between a fragment position of robot profile diagram_b, y_b)、c(x_c, y_c), a (x_a, y_a) put as barrier Hinder object point；D (x is obtained on bc side_d, y_d) point, it is the point of the minimum range between dynamic barrier described in bc back gauge.

8. the method for mobile robot security control according to claim 4 is it is characterised in that guard against according to described danger The gait of march model that the grade of scope adjusts robot includes:

$v_n=\frac{r_n}{r_1}*v_1$

r₁-- the greatest danger fence coverage value, r_n-- enter the distance between fence coverage inner machine people and dynamic disorder, v₁--r₁ Corresponding maximum travel speed, v_n--r_nCorresponding gait of march；

Wherein, r₁≥r_n.

9. a kind of system of mobile robot security control is it is characterised in that include:

Cartographic information acquiring unit, obtains the working environment cartographic information of robot；

Robot location's information acquisition unit, is electrically connected with described cartographic information acquisition module, obtains single in described cartographic information In the working environment cartographic information of robot that unit obtains, obtain the current location information that robot advances；

Barrier acquiring unit, is electrically connected with described robot location's information acquisition unit, is obtained with described robot location's information On the basis of taking the described current location information of robot that unit obtains, obtain the positional information of periphery barrier；

Robot control unit, is electrically connected with described barrier acquiring unit, is obtained according to described obstacle information acquiring unit Described periphery barrier information control robot traveling mode.

10. the system of mobile robot security control according to claim 9 is it is characterised in that described barrier obtains Unit includes:

Current Obstacle Position acquisition module, obtains the positional information of current barrier；

Current Obstacle Position judge module, is electrically connected with described current Obstacle Position acquisition module, judges described current barrier Hinder current position state on robot operating path for the thing；

Barrier attributive judgment module, is electrically connected with described current Obstacle Position judge module, according to described current barrier When position judging module judges that described current barrier is not on described operating path, judge the attribute of described current barrier；

Positional distance acquisition module, is electrically connected with described barrier attributive judgment module, is sentenced according to barrier attributive judgment module When the described current barrier attribute that breaks is dynamic barrier, obtain the positional distance between robot and described dynamic barrier；

Barrier obtains judge module, respectively with described positional distance acquisition module, described robot location's information acquisition unit, Described barrier acquiring unit, described robot control unit's electrical connection, judge robot with described current location information as base Whether the accurate positional information obtaining periphery barrier terminates, and when finished, obtains robot and marches to the next position information, when not At the end of, continue to obtain the barrier of periphery.

The system of 11. mobile robot security controls according to claim 10 is it is characterised in that described positional distance obtains Delivery block includes:

Robot mapping submodule, by polygon for robot mapping of a set onto another profile diagram；

The length of side apart from calculating sub module, is electrically connected with described robot mapping submodule, calculates described robot mapping submodule Length of side distance between multiple sides of described profile diagram of mapping and described dynamic barrier；

Length of side distance versus module, is electrically connected apart from calculating sub module with the described length of side, calculates submodule according to described length of side distance Block obtains the length of side distance of minimum from robot with multiple length of side distances of described dynamic barrier, and the side by described minimum Distance is set to the first distance between robot and described dynamic barrier；

Second distance acquisition submodule, respectively with described length of side distance versus module, described barrier obtains judge module and is electrically connected Connect, described first distance from the periphery dynamic barrier obtaining is compared further, by the described first distance minimum Described dynamic barrier is set to dangerous obstacles, and described the first minimum distance is set to second distance, and judges institute State periphery barrier and obtain and whether terminate.

The system of 12. mobile robot security controls according to claim 10 is it is characterised in that described robot controls Unit includes:

According to the second distance of described dynamic barrier, dangerous warning judging submodule, judges whether described barrier enters danger In fence coverage；

Gait of march regulates and controls submodule, when described dangerous warning judging submodule judges that robot enters in dangerous fence coverage When, the grade according to dangerous fence coverage adjusts the gait of march of robot.

The system of 13. mobile robot security controls according to claim 10 is it is characterised in that described robot controls Unit includes:

Avoidance obstacle submodule, judges be in robot work when described barrier according to current Obstacle Position judge module Route on when, robot completes the work in described working environment cartographic information according to avoidance rule.

The system of 14. mobile robot security controls according to claim 9 is it is characterised in that described Obstacle Position Model includes:

Obstacle Position in described working environment map is (x_a, y_a)；

Robot location in described working environment map is (x₀, y₀)；

$\begin{array}{c}{x}_a=x_0+l\cos \mathrm{\θ}\\ y_b=y_0+l\sin \mathrm{\θ}\end{array};$

Distance between l-- robot and barrier；The distance between θ -- the robot and barrier angle with x-axis.

The system of 15. mobile robot security controls according to claim 12 is it is characterised in that obtain robot profile Minimum range between the side of figure and described dynamic barrier is that the model of described first distance includes:

λ -- eigenvalue (0≤λ≤1)；

If two end points of bc are b (x between a fragment position of robot profile diagram_b, y_b)、c(x_c, y_c), a (x_a, y_a) put as barrier Hinder object point；D (x is obtained on bc side_d, y_d) point, it is the point of the minimum range between dynamic barrier described in bc back gauge.

The system of 16. mobile robot security controls according to claim 14 is it is characterised in that warn according to described danger The gait of march model guarding against the grade regulation robot of scope includes:

$v_n=\frac{r_n}{r_1}*v_1$

r₁-- the greatest danger fence coverage value, r_n-- enter the distance between fence coverage inner machine people and dynamic disorder, v₁--r₁ Corresponding maximum travel speed, v_n--r_nCorresponding gait of march；

Wherein, r₁≥r_n.