CN108873889A - Intelligent mobile equipment and its controlling of path thereof, computer readable storage medium - Google Patents
Intelligent mobile equipment and its controlling of path thereof, computer readable storage medium Download PDFInfo
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- CN108873889A CN108873889A CN201810456379.5A CN201810456379A CN108873889A CN 108873889 A CN108873889 A CN 108873889A CN 201810456379 A CN201810456379 A CN 201810456379A CN 108873889 A CN108873889 A CN 108873889A
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- 238000003860 storage Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims abstract description 12
- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical compound Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 description 18
- 238000004140 cleaning Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 238000010408 sweeping Methods 0.000 description 6
- 230000001186 cumulative effect Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000032696 parturition Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- Aviation & Aerospace Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention provides a kind of Intelligent mobile equipment and its controlling of path thereof, computer readable storage medium.The equipment includes the first gyroscope and the second gyroscope, the method includes：The Intelligent mobile equipment is controlled to be moved to bend zig-zag path；In the Intelligent mobile equipment operational process, the first data around first direction that first gyroscope detects are obtained, and obtain the second data and third data around second direction and third direction that second gyroscope detects；The movement routine of the Intelligent mobile equipment is controlled according to first data, second data and the third data, wherein the first direction, the second direction and the third direction form rhombic system.It can be seen that the Intelligent mobile equipment in the embodiment of the present invention includes the first gyroscope and the second gyroscope simultaneously, it can be respectively used to the angle control to different directions, so that it is determined that the movement routine of Intelligent mobile equipment.
Description
Technical field
The present invention relates to robotic technology field, relate more specifically to a kind of Intelligent mobile equipment and its path clustering side
Method, computer readable storage medium.
Background technique
Automatic cleaning robot is also referred to as automatic cleaning equipment, sweeping robot etc., can move in the room automatically
To complete floor cleaning work.And how to carry out path planning makes it efficiently completely realize the basis of floor-cleaning work.
Sweeping robot can be used inertial navigation mode and carry out path planning, such as can form the cleaning road of bow font
Diameter is to be parallel to each other and be spaced a series of equal routes.However, with the passage of sweeping robot runing time, due to
Cumulative errors, the cleaning path of bow font can gradually become not precisely, such as shift；In addition, being transported in sweeping robot
During row, may artificially be interrupted etc. reasons be flipped it is mobile with position, after this its clean path may also can
Gradually become not precisely.It is not comprehensive to will lead to purging zone in this way, the situations such as drain sweep occurs.
Summary of the invention
The present invention is proposed in view of the above problem.The present invention provides a kind of Intelligent mobile equipment and its path clusterings
Method, computer readable storage medium, while including the first gyroscope and the second gyroscope, the two combination can determine intelligent sliding
The movement routine of dynamic equipment.
According to an aspect of the invention, there is provided a kind of controlling of path thereof of Intelligent mobile equipment, the equipment packet
The first gyroscope and the second gyroscope are included, the method includes：
The Intelligent mobile equipment is controlled to be moved to bend zig-zag path；
In the Intelligent mobile equipment operational process, obtain that first gyroscope detects around the of first direction
One data, and obtain the second data and third data around second direction and third direction that second gyroscope detects；
The movement of the Intelligent mobile equipment is controlled according to first data, second data and the third data
Path,
Wherein, the first direction, the second direction and the third direction form rhombic system.
It is described to be controlled according to first data, second data and the third data as a kind of implementation
The movement routine of the Intelligent mobile equipment, including：
Obtain the rotational angle of the Intelligent mobile equipment that first gyroscope detects around the first direction, control
It makes the Intelligent mobile equipment to move in plane of the second direction with the third direction along predefined paths, wherein institute
The plane for stating second direction and the third direction is the plane of motion of the Intelligent mobile equipment, the first direction perpendicular to
The plane.
It is described to be controlled according to first data, second data and the third data as a kind of implementation
The movement routine of the Intelligent mobile equipment, including：
After the Intelligent mobile equipment is interrupted in original movement routine, the institute that first gyroscope detects is obtained
State the intelligent mobile that Intelligent mobile equipment is detected around the first rotational angle, second gyroscope of the first direction
Second rotational angle of the equipment around the second direction and the third rotational angle around the third direction, and according to described
One rotational angle, second rotational angle and third rotational angle control are moved along predefined paths.
As a kind of implementation, the Intelligent mobile equipment is interrupted in original movement routine, including：The intelligence
Mobile device is reversed or is moved into the other positions except original path.
As a kind of implementation, first gyroscope is high-precise uniaxial gyroscope, and second gyroscope is three
Axis gyroscope.
As a kind of implementation, the detection range of the single axis gyroscope is -400 degree to 400 degree；The three axis accelerometer
The detection range of instrument is -1000 degree to 1000 degree per seconds.
According to a further aspect of the invention, a kind of Intelligent mobile equipment is provided, including：
First gyroscope, for detecting institute during the Intelligent mobile equipment carries out mobile to bend zig-zag path
State first data of the Intelligent mobile equipment around first direction；
Second gyroscope, for detecting institute during the Intelligent mobile equipment carries out mobile to bend zig-zag path
Intelligent mobile equipment is stated around the second data and third data of second direction and third direction；
Processor, for controlling the intelligent sliding according to first data, second data and the third data
The movement routine of dynamic equipment,
Wherein, the first direction, the second direction and the third direction form rhombic system.
As a kind of implementation, second gyroscope is located on the fuselage center line of the Intelligent mobile equipment, described
First gyroscope is located at the side of second gyroscope.
As a kind of implementation, first gyroscope is high-precise uniaxial gyroscope, and second gyroscope is three
Axis gyroscope.
As a kind of implementation, the detection range of the single axis gyroscope is -400 degree to 400 degree；The three axis accelerometer
The detection range of instrument is -1000 degree to 1000 degree per seconds.
According to a further aspect of the present invention, a kind of computer readable storage medium is provided, computer program is stored thereon with,
The computer program realizes the method for path clustering described in above-mentioned aspect or any implementation when being executed by processor
Step.
It can be seen that Intelligent mobile equipment in the embodiment of the present invention includes the first gyroscope and the second gyroscope simultaneously,
It can be respectively used to the angle control to different directions, so that it is determined that the movement routine of Intelligent mobile equipment.Specifically, the first top
Spiral shell instrument can be three-axis gyroscope, and the second gyroscope can be high-precise uniaxial gyroscope, and such single axis gyroscope may insure
The moving direction of Intelligent mobile equipment, three-axis gyroscope can determine that Intelligent mobile equipment is not flipped, the two combine to
Guarantee that Intelligent mobile equipment remains that bow zig-zag path is mobile in moving process.
Detailed description of the invention
The embodiment of the present invention is described in more detail below with reference to attached drawing, above-mentioned and other mesh of the invention
, feature and advantage will be apparent.Attached drawing is used to that the embodiment of the present invention is further explained, which is constituted
Part of specification, and be used to explain the present invention together with the embodiment of the present invention, it is not construed as limiting the invention.Attached
In figure, identical appended drawing reference typically represents the same or similar component or step.
Fig. 1 is a schematic diagram of Intelligent mobile equipment；
Fig. 2 is a schematic diagram for bending font move mode；
Fig. 3 is schematic diagram of the Intelligent mobile equipment along a kind of situation of bow word path sending deviation；
Fig. 4 is schematic diagram of the Intelligent mobile equipment along another situation of bow word path sending deviation；
Fig. 5 is a schematic diagram of the Intelligent mobile equipment of the embodiment of the present invention；
Fig. 6 is a schematic diagram of coordinate system defined in the embodiment of the present invention.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, this is described in detail below with reference to accompanying drawings
The example embodiment of invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than of the invention
Whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.It is sent out based on described in the present invention
Bright embodiment, those skilled in the art's obtained all other embodiment in the case where not making the creative labor all are answered
It falls under the scope of the present invention.
Intelligent mobile equipment in the embodiment of the present invention, for example, automatic cleaning robot, or it is referred to as sweeper
Device people etc..It is as shown in Figure 1 a schematic diagram of Intelligent mobile equipment 10.The Intelligent mobile equipment 10 may include 11 He of fuselage
Wheel 12.
Illustratively, Intelligent mobile equipment 10 can also include alignment sensor 13, the sensitive information of alignment sensor 13
For determining the posture of Intelligent mobile equipment 10.Wherein, alignment sensor 13 can be following any：It is light mouse sensor, inner
Journey sensor or gyro sensor.Wherein, the posture of Intelligent mobile equipment 10 may include following at least one：Angle, shifting
Dynamic cumulative distance, head direction.
Illustratively, Intelligent mobile equipment 10 can also include steep cliff (Cliff) sensor 14, when transmitting tube launches letter
Number, it cannot be received pipe reception in time, will be judged as that distance is remote, that is, steep cliff, such as step, prevent from intelligence in this way
Energy mobile device 10 is mobile to step, prevents Intelligent mobile equipment 10 from falling.Optionally, steep cliff sensor 14 can be symmetrical arranged
At the front periphery of Intelligent mobile equipment.
Illustratively, Intelligent mobile equipment 10 can also include odometer sensor (odograph, ODO), be used to sense
The mileage travelled of wheel 12.It is understood that ODO (not shown in figure 1) can be connect with wheel 12.
Illustratively, Intelligent mobile equipment 10 can also include coiling property (Gyro), be used to test Intelligent mobile equipment
10 angle when driving.Furthermore it is also possible to include magnetic compass (Compass), the absolute South Pole arctic is defined, so as to right
The angle that Gyro is tested is corrected.
Illustratively, Intelligent mobile equipment 10 can also include light mouse 15, can use in conjunction with ODO, light mouse 15 can be with
Photo is constantly shot to the ground, and the image by compareing on piece carries out analyzing and determining whether Intelligent mobile equipment 10 moves.ODO can
To determine that Intelligent mobile equipment 10 is mobile by mileage, but when wheel 12 skids, wheel 12 does not stall dynamic, ODO survey at this time
The mileage of amount is continuously increased, but because 12 original place of wheel is skidded, the image that light mouse 15 shoots is constant, then can determine this
When ODO location data inaccuracy, switch to light mouse 15 positioning to correct location data.
Illustratively, Intelligent mobile equipment 10 can also include light sensation (Light touch) sensor 16, can be set
Before fuselage to, and be arranged between buffering (bumper) and fuselage, can along fuselage be arranged several groups Light touch biography
Sensor 16, several groups light touch sensor 16 can sense barrier from all directions, when sensing barrier,
Intelligent mobile equipment 10 can be made to slow down in a certain distance from barrier, or along obstacle in a certain distance from barrier
Object is mobile.
Illustratively, Intelligent mobile equipment 10 further includes round brush, for cleaning ground in moving process；It further include electricity
Pond, for providing electric power for Intelligent mobile equipment 10 on the move.It illustratively, can also include WIFI module, for connecting
To family WIFI, and communicated with the smart phone etc. for being connected to the same family WIFI.
It should be noted that Fig. 1 is only a schematic diagram of Intelligent mobile equipment 10, those skilled in the art can be on this basis
Quantity or construction to its hardware etc. carry out variation appropriate, and the present invention does not limit this.
For Intelligent mobile equipment in moving process, one of more common move mode is to move road along bow font
Diameter, this move mode are：It moves along first movement direction to form first path；Encounter barrier backward and first movement
Vertical the second moving direction offset in direction, is then moved again along the direction contrary with first movement to form the second tunnel
Diameter；Continue to deviate to the second moving direction after encountering barrier again, then move again along first movement direction to form third
Path, and so on.Wherein, the distance between every two adjacent path is equal to the first pre-determined distance.Illustratively, the movement
Mode can be referred to as bow font cladding process.
Referring to Fig. 2, it is assumed that Intelligent mobile equipment 10 is moved from O point along first movement direction (in Fig. 2 from left to right)
It is dynamic to form first path (being denoted as 1).After encountering barrier 101, to the offset of the second moving direction (in Fig. 2 from upper past
Under), after deviating certain distance, along the direction (from the right side turning left in Fig. 2) contrary with first movement the second tunnel of mobile formation
Diameter (is denoted as 2), and the distance between path 2 and path 1 are equal to the first pre-determined distance (being denoted as H).Encounter barrier 102 it
Afterwards, it is deviated to the second moving direction, after deviating certain distance, moves to be formed third path (being denoted as 3) along first movement direction, and
The distance between path 3 and path 2 are equal to H.It after encountering barrier 103, is deviated to the second moving direction, deviates a spacing
From rear, move to form the 4th path (being denoted as 4) along the direction contrary with first movement, and between path 4 and path 3 away from
From equal to H.It after encountering barrier 104, is deviated to the second moving direction, after deviating certain distance, along first movement direction
It is mobile to form the 5th path (being denoted as 5), and the distance between path 5 and path 4 are equal to H.After encountering barrier 105, to
The offset of second moving direction after deviating certain distance, moves to form the 6th path (note along the direction contrary with first movement
For 6), and the distance between path 6 and path 5 are equal to H.After this, it is similar to encounter the mobile situation of barrier, here no longer
It enumerates one by one.
Referring to Fig. 2, encounters barrier and deviated to the second moving direction, can be referred to：It encounters after barrier along barrier
Surface it is mobile to the second moving direction, until mobile distance the vertical component of the second moving direction be equal to first it is default away from
Until H.It is understood that encountering path when barrier is deviated can be straight line or broken line or curve etc., the road of the offset
Diameter is related with the surface shape of the barrier encountered.
When automatic cleaning robot is cleaned in the room, the barrier that is encountered can for wall, furniture (table,
Chair, bed etc.), pet, kinsfolk etc..Wherein, the first pre-determined distance H can be related with the size of automatic cleaning robot, tool
Body, H can be equal to the round brush distance of automatic cleaning robot.For example, H=15 centimetres (cm).
Illustratively, first movement direction can be a direction (such as X-direction or -X direction) for coordinate system, and second is mobile
Direction can be the other direction (such as Y-direction or -Y direction) of coordinate system.Wherein, first movement direction can be parallel with wall
(or vertical), alternatively, first movement direction can be angled with wall.For the convenience of subsequent descriptions, the present invention is implemented
Example can define orthogonal coordinate system Oxyz, can be right-handed system or left-handed system, and (i.e. by the direction of advance of Intelligent mobile equipment
The direction of its head) it is defined as X-direction.
During Intelligent mobile equipment is moved (such as sweeping robot is cleaned) along bow zig-zag path, meeting
Deviate the bow vee path V originally set due to various reasons.Two kinds of possible situations are exemplified below：
The first situation：In Intelligent mobile equipment moving process, over time, due to cumulative errors, road
The deflection of certain angle may occur for diameter.Referring to Fig. 3, the intelligent mobile that location A is moved along path 6 should be located at originally
Equipment reaches B location due to deflection.At this point, if Intelligent mobile equipment continues to be moved according to bow zig-zag path, it can extremely
Cause the partial region between route 5 and route 6 that can not cover less, such as when sweeping robot cleans, not can be carried out thoroughly
It cleans.Even due to the superposition of error, in continuing to move at this moment, the region that can not be covered can be gradually increased.
Second situation：In Intelligent mobile equipment moving process, prompt information (or error message report may be issued
It is alert) to carry out manual intervention, such as dirt box is for clearance, removes peripheral obstacle etc..Subsequent user needs the intelligent mobile
Equipment is overturn can be with intelligent movable mobile device so that it restores normal to clear up dirt box or user.Reference Fig. 4,
Intelligent mobile equipment issues prompt information (or error message warning) when reaching location A, after user intervenes, intelligent mobile
The position that equipment is put back to ground again may be in B location, and its direction is it can also happen that variation.At this point, if intelligent mobile
Equipment continues to be moved according to bow zig-zag path, and may result in the partial region between location A to B location can not cover
Lid.Moreover, because the fuselage that user intervention may result in Intelligent mobile equipment shifts, after route not can guarantee
Bend font.
It is understood that illustratively illustrating Intelligent mobile equipment with circle in location A and B location in Fig. 3 or Fig. 4, wherein
The small triangle of round side indicates its heading.
Although should be understood that, the foregoing describe two kinds of situations that path deviations occur, both of these case is only schematic
, the embodiment of the present invention alsos relate to other various situations, such as in Intelligent mobile equipment moving process, certain families
Member (such as children, pet) may interfere it, and the deflection of certain angle may occur for its path at this time.Here
No longer enumerate one by one.
The embodiment of the invention provides a kind of Intelligent mobile equipments, and an orientation sensing is increased on the basis of Fig. 1
Device, as shown in figure 5, Intelligent mobile equipment 10 includes the first alignment sensor 131 and the second alignment sensor 132.In order to describe
Convenience, be below the first gyroscope 131, the second alignment sensor 132 with the first alignment sensor 131 be the second gyroscope
It is illustrated for 132.
Referring to Fig. 5, the second gyroscope 132 can be located on the fuselage center line of Intelligent mobile equipment 10, the first gyroscope 131
Positioned at the side of the second gyroscope 132.
Illustratively, certain preset distance, such as 5cm be can have between the first gyroscope 131 and the second gyroscope 132
Or other values.Line between first gyroscope 131 and the midpoint of the second gyroscope 132 can be vertical with fuselage center line.
Wherein, if assuming, direction of advance when Intelligent mobile equipment is mobile is front, and fuselage center line can refer to its left side
The axis of symmetry of right two sides.The center of second gyroscope 132 is located on the axis of symmetry.First gyroscope 131 can be located at should
The left or right side of the axis of symmetry, it is appreciated that although Fig. 5 shows the right side that the first gyroscope 131 can be located at the second gyroscope 132
Side, but this figure should not be construed as limiting, the first gyroscope 131 can also be located at the left side of the second gyroscope 132.
In the embodiment of the present invention, the first gyroscope 131 can be single axis gyroscope, and the second gyroscope 132 can be three axis
Gyroscope.It is understood that three-axis gyroscope can detecte the angle in three directions, referring to orthogonal coordinate system OXYZ shown in fig. 6, three
Axis gyroscope can detecte around X-axis, angle around Y-axis and about the z axis.Single axis gyroscope can detecte the angle in a direction,
Referring to orthogonal coordinate system OXYZ shown in fig. 6, single axis gyroscope can detecte angle about the z axis.Wherein, relative to intelligent mobile
For equipment, the plane that X-axis and Y-axis are constituted can be the plane (such as ground) of its movement, and Z-direction can be direction of appearing,
I.e. perpendicular to the direction on ground.In the embodiment of the present invention, the first gyroscope 131 can be high-precise uniaxial gyroscope, i.e., first
The precision of gyroscope 131 is higher than the precision of the second gyroscope 132, in this way, the first gyroscope 131 can be accurately detected around Z
The rotation angle of axis, and then the moving direction of Intelligent mobile equipment in the horizontal plane can be controlled based on this more accurately.
Optionally, the angle detection range of the single axis gyroscope in the embodiment of the present invention can be -400 degree to 400 degree, three
The angle detection range of axis gyroscope can be -1000 degree to 1000 degree per seconds.It should be noted that single axis gyroscope and three-axis gyroscope
Detection range can be greater or lesser, the present invention does not limit this.
Referring to Fig. 6, when angle change about the z axis occurs, the direction of Intelligent mobile equipment can shift, such as originally
It can become that there is certain angle with X-axis along the moving direction of X-axis.When occurring around the angle offset of X-axis, Intelligent mobile equipment
The left and right sides can be uneven, be easy to cause the round brush of equipment fault (such as certain side is seriously worn) and the left and right sides that can also exert oneself
Unevenly, it is not thorough side to the cleaning on ground.When occurring around the angle offset of Y-axis, the front and back two of Intelligent mobile equipment
Side can be uneven, be easy to cause equipment fault and may will affect the processing accuracy etc. of other interior arrangements.
It is available during Intelligent mobile equipment is moved along bow font as shown in Figure 2 in the embodiment of the present invention
The Intelligent mobile equipment that first gyroscope 131 detects around first direction the first data, and obtain the second gyroscope 132 detection
Second data of the Intelligent mobile equipment arrived around second direction and the third data around third direction.And then it can be according to described the
The movement routine of one data, second data and third data control Intelligent mobile equipment.
In conjunction with Fig. 6, first direction, second direction and third direction can be three directions of orthogonal coordinate system, in conjunction with figure
6, first direction can be Z-direction, and second direction and third direction can be X-direction and Y direction respectively.Namely
It says, the plane of second direction and third direction composition can refer to the plane (such as ground) where when Intelligent mobile equipment is mobile,
First direction can be perpendicular to the plane.Wherein, the first data, the second data and third data can be angle information.
Specifically, Intelligent mobile equipment is in plane (i.e. X/Y plane) moving process, available single axis gyroscope detection
The rotation angle (rotational angle i.e. about the z axis) arrived, and then it can be controlled based on this and moved along the predefined paths in X/Y plane
It is dynamic, such as predefined paths are first movement direction as shown in Figure 2 or second moving direction etc..It can be seen that high-precision by this
Single axis gyroscope is spent, can be improved the accuracy of Intelligent mobile equipment bow word walking.
It is alternatively possible to obtain the angle change about the z axis of single axis gyroscope detection, and then intelligence can control according to this
The moving direction of mobile device.Alternatively, it is alternatively possible to obtain single axis gyroscope detection angle change about the z axis, simultaneously will
Three-axis gyroscope angle change about the z axis detected is as reference, to control the moving direction of Intelligent mobile equipment.
Specifically, after Intelligent mobile equipment is interrupted in original movement routine, available single axis gyroscope is detected
The first rotational angle (rotational angle i.e. about the z axis), obtain the second rotational angle for detecting of three-axis gyroscope and third turn
Dynamic angle (i.e. around the rotational angle of X-axis and around the rotational angle of Y-axis), and according to the first rotational angle, the second rotational angle and
The control of third rotational angle is moved along predefined paths.Wherein, predefined paths can be the path of bow font in edge in X/Y plane, such as scheme
First movement direction or the second moving direction etc. shown in 2.It can be seen that in such a case it is possible in conjunction with single axis gyroscope and
Control of the three-axis gyroscope information realization detected to movement routine.
Wherein, Intelligent mobile equipment is interrupted in original movement routine to refer to：Intelligent mobile equipment be reversed or
The other positions being moved into except original path.For example, as described in conjunction with figure 4 the case where.
Specifically, after Intelligent mobile equipment is reversed and is put back to ground again, available single axis gyroscope detection
To rotation angle (rotational angle i.e. about the z axis), obtain the flip angle that detects of three-axis gyroscope and pitch angle (i.e. around
The rotational angle of X-axis and rotational angle around Y-axis), and then can be based on this shifting of control Intelligent mobile equipment in X/Y plane
Dynamic path simultaneously controls Intelligent mobile equipment around the repositioning of X-axis and Y-axis, it is avoided to be flipped.
It is alternatively possible to obtain three-axis gyroscope detection around X-axis and around the angle change of Y-axis, and then can be with according to this
The flip angle and pitch angle for controlling Intelligent mobile equipment avoid it that the danger of front and back overturning or left and right overturning occurs.It can manage
A possibility that solving, being reversed due to Intelligent mobile equipment is smaller, and the precision of three-axis gyroscope can be lower than single axis gyroscope
Precision, can be avoided in this way using high-cost three-axis gyroscope, reduce hardware cost.Also, pass through the three-axis gyroscope
It can ensure the reorientation correctness after Intelligent mobile equipment is reversed.
The embodiment of the invention also provides a kind of controlling of path thereof of Intelligent mobile equipment comprising：Control the intelligence
Energy mobile device is moved with bending zig-zag path；In the Intelligent mobile equipment operational process, first gyro is obtained
The first data around first direction that instrument detects, and obtain that second gyroscope detects around second direction and third party
To the second data and third data；The intelligence is controlled according to first data, second data and the third data
The movement routine of energy mobile device, wherein the first direction, the second direction and the third direction form rhombic system.
For example, first direction, second direction and third direction are respectively Z, X and Y-direction.
It can be seen that the Intelligent mobile equipment in the embodiment of the present invention includes simultaneously three-axis gyroscope and single axis gyroscope.
During its plane motion, ensure that its mobile route does not shift using single axis gyroscope.Occur three because of reversion at it
When maintenance and operation is moved, corrected in conjunction with three-axis gyroscope.In this way, the detection information of three-axis gyroscope and single axis gyroscope is combined,
The accuracy of bow word walking is improved, while ensuring that robot is reversed or by the reorientation correctness after movement, it is ensured that its
It can walk on by original path, to improve its intelligence.
In addition, the embodiment of the invention also provides another Intelligent mobile equipment, including the first gyroscope, the second gyro
Instrument, memory, processor and it is stored in the computer program run on the memory and on the processor, processor is held
Realized when row described program it is aforementioned shown in controlling of path thereof the step of.
In addition, being stored thereon with computer program the embodiment of the invention also provides a kind of computer storage medium.Work as institute
When stating computer program and being executed by processor, may be implemented it is aforementioned shown in controlling of path thereof the step of.For example, the computer
Storage medium is computer readable storage medium.
Computer storage medium for example may include the storage card of smart phone, the storage unit of tablet computer, personal meter
The hard disk of calculation machine, read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM), the read-only storage of portable compact disc
Any combination of device (CD-ROM), USB storage or above-mentioned storage medium.Computer readable storage medium can be one
Or any combination of multiple computer readable storage mediums, such as a computer readable storage medium includes for randomly giving birth to
At the computer-readable program code of action command sequence, another computer readable storage medium includes for carrying out face
The computer-readable program code of activity recognition.
Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary
, and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein
And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims
Within required the scope of the present invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (11)
1. a kind of controlling of path thereof of Intelligent mobile equipment, which is characterized in that the equipment includes the first gyroscope and second
Gyroscope, the method includes：
The Intelligent mobile equipment is controlled to be moved to bend zig-zag path；
In the Intelligent mobile equipment operational process, the first number around first direction that first gyroscope detects is obtained
According to, and obtain the second data and third data around second direction and third direction that second gyroscope detects；
The mobile road of the Intelligent mobile equipment is controlled according to first data, second data and the third data
Diameter,
Wherein, the first direction, the second direction and the third direction form rhombic system.
2. the method according to claim 1, wherein it is described according to first data, second data and
The third data control the movement routine of the Intelligent mobile equipment, including：
The rotational angle of the Intelligent mobile equipment that first gyroscope detects around the first direction is obtained, institute is controlled
It states Intelligent mobile equipment to move in plane of the second direction with the third direction along predefined paths, wherein described
The plane of two directions and the third direction is the plane of motion of the Intelligent mobile equipment, and the first direction is perpendicular to described
Plane.
3. the method according to claim 1, wherein it is described according to first data, second data and
The third data control the movement routine of the Intelligent mobile equipment, including：
After the Intelligent mobile equipment is interrupted in original movement routine, the intelligence that first gyroscope detects is obtained
The Intelligent mobile equipment that energy mobile device is detected around the first rotational angle, second gyroscope of the first direction
The second rotational angle around the second direction and the third rotational angle around the third direction, and according to described first turn
Dynamic angle, second rotational angle and third rotational angle control are moved along predefined paths.
4. according to the method described in claim 3, it is characterized in that, the Intelligent mobile equipment is beaten in original movement routine
It is disconnected, including：The Intelligent mobile equipment is reversed or is moved into the other positions except original path.
5. method according to claim 1 to 4, which is characterized in that first gyroscope is that high-precision is single
Axis gyroscope, second gyroscope are three-axis gyroscope.
6. according to the method described in claim 5, it is characterized in that, the detection range of the high-precise uniaxial gyroscope is -400
Degree is to 400 degree；The detection range of the three-axis gyroscope is -1000 degree to 1000 degree per seconds.
7. a kind of Intelligent mobile equipment, which is characterized in that including：
First gyroscope, for detecting the intelligence during Intelligent mobile equipment carries out mobile to bend zig-zag path
First data of the energy mobile device around first direction；
Second gyroscope, for detecting the intelligence during Intelligent mobile equipment carries out mobile to bend zig-zag path
Second data and third data of the energy mobile device around second direction and third direction；
Processor is set for controlling the intelligent mobile according to first data, second data and the third data
Standby movement routine,
Wherein, the first direction, the second direction and the third direction form rhombic system.
8. equipment according to claim 7, which is characterized in that second gyroscope is located at the Intelligent mobile equipment
On fuselage center line, first gyroscope is located at the side of second gyroscope.
9. equipment according to claim 7 or 8, which is characterized in that first gyroscope is high-precise uniaxial gyroscope,
Second gyroscope is three-axis gyroscope.
10. equipment according to claim 9, which is characterized in that the detection range of the high-precise uniaxial gyroscope be-
400 degree to 400 degree；The detection range of the three-axis gyroscope is -1000 degree to 1000 degree per seconds.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of any one of claims 1 to 6 the method is realized when being executed by processor.
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| CN201810456379.5A CN108873889A (en) | 2018-05-14 | 2018-05-14 | Intelligent mobile equipment and its controlling of path thereof, computer readable storage medium |
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| CN201810456379.5A CN108873889A (en) | 2018-05-14 | 2018-05-14 | Intelligent mobile equipment and its controlling of path thereof, computer readable storage medium |
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