CN109048895B - Tour method and tour robot - Google Patents
Tour method and tour robot Download PDFInfo
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- CN109048895B CN109048895B CN201810893311.3A CN201810893311A CN109048895B CN 109048895 B CN109048895 B CN 109048895B CN 201810893311 A CN201810893311 A CN 201810893311A CN 109048895 B CN109048895 B CN 109048895B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The application discloses a moving method and a device, wherein the method comprises the following steps: according to the Xth tour sequence of at least three fixed point locations on a preset map, sequentially connecting the at least three fixed point locations through curves to form an Xth tour path, wherein the shape of the tour path is a smooth closed graph, the X tour sequence is different from the tour sequence from the X-1 to the first, and the value of X is a positive integer; the tour is performed along the Xth tour route by taking the extending direction of the Xth tour route as the orientation, and the service area covered by the tour robot can be improved by the method.
Description
Technical Field
The application relates to the technical field of electric control, in particular to a tour method and a tour robot.
Background
In the prior art, when a robot patrols among fixed points, the robot always performs circle-running tour according to a fixed tour path in a mechanical mode, and the tour mode cannot completely cover the path between any two fixed points, so that the service area covered by the robot is relatively small.
Disclosure of Invention
The application mainly aims to provide a tour method and a tour robot so as to improve a service area covered by the tour robot.
In order to achieve the above object, the present application provides a moving method, including:
according to the Xth tour sequence of at least three fixed point locations on a preset map, sequentially connecting the at least three fixed point locations through curves to form an Xth tour path, wherein the shape of the tour path is a smooth closed graph, the X tour sequence is different from the tour sequence from the X-1 to the first, and the value of X is a positive integer;
and taking the extending direction of the X-th tour route as the orientation, and tour along the X-th tour route.
Optionally, the, according to an xth tour order of at least three fixed point locations on a preset map, sequentially connecting the at least three fixed point locations through a curve to form an xth tour path, includes:
and (3) utilizing a Bezier curve principle, sequentially connecting the at least three fixed point positions through curves in a channel corresponding to the X tour sequence in the preset map to form an X tour path taking the moving width of the tour robot as the tour width.
Optionally, the navigating along the xth tour path with the extending direction of the xth tour path as the orientation includes:
and patrolling along the tour route by taking the tangential direction of the shape of the Xth tour route as the orientation.
Optionally, the method further comprises:
when the tour along the Xth tour path cannot reach the nth fixed point, waiting for a specified time at the current position, wherein the nth fixed point is a fixed point to which the tour robot will reach, and the value of n is a positive integer greater than 1;
if the nth fixed point position cannot be reached within the specified time, connecting the current position of the tour robot with the (n + 1) th fixed point position through a curve to form a tour path between the current position and the (n + 1) th fixed point position, wherein the (n + 1) th fixed point position is a fixed point position which is to be reached next after the nth fixed point position is passed;
and when other fixed point positions behind the nth fixed point position cannot reach, sending alarm information.
Optionally, the specified duration is determined by the following formula:
t＝f(T,N)；
and T is the specified duration, T is a preset tour cycle, and N is the number of other fixed point positions after the nth fixed point position.
In order to achieve the above object, the present application provides an inspection robot comprising:
the route forming unit is used for sequentially connecting the at least three fixed point positions through curves according to an Xth tour sequence of the at least three fixed point positions on a preset map to form an Xth tour route, wherein the shape of the tour route is a smooth closed graph, the X tour sequences are different from the X-1 to the first tour sequence, and the value of X is a positive integer;
and the tour unit is used for tour along the X tour path by taking the extending direction of the X tour path as the orientation.
Optionally, when the path forming unit is configured to, according to an xth tour order of at least three fixed point locations on a preset map, sequentially connect the at least three fixed point locations through a curve to form an xth tour path, specifically:
and (3) utilizing a Bezier curve principle, sequentially connecting the at least three fixed point positions through curves in a channel corresponding to the X tour sequence in the preset map to form an X tour path taking the moving width of the tour robot as the tour width.
Optionally, when the tour unit is configured to tour along the xth tour route with the extending direction of the xth tour route as the orientation, specifically, the tour unit is configured to:
and patrolling along the tour route by taking the tangential direction of the shape of the Xth tour route as the orientation.
Alternatively,
the tour unit is further configured to wait for a specified duration at the current position when the tour along the xth tour path cannot reach an nth fixed point, where the nth fixed point is a fixed point to which the tour robot will reach, and a value of n is a positive integer greater than 1;
the path forming unit is further configured to, if the nth fixed point cannot be reached within the specified duration, connect the current position of the tour robot and the (n + 1) th fixed point by a curve to form a tour path between the current position and the (n + 1) th fixed point, where the (n + 1) th fixed point is a next fixed point to be reached after passing through the nth fixed point;
the tour robot further includes:
and the alarm unit is used for sending alarm information when other fixed point positions behind the nth fixed point position cannot reach the nth fixed point position.
Optionally, the specified duration is determined by the following formula:
t＝f(T,N)；
and T is the specified duration, T is a preset tour cycle, and N is the number of other fixed point positions after the nth fixed point position.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the application, the tour robot sequentially connects at least three fixed point positions through curves according to an Xth tour sequence of the at least three fixed point positions on a preset map to form an Xth tour path, wherein the shape of the tour path is a smooth closed graph, the X tour sequence is different from the tour sequence from the (X-1) th to the first tour sequence, and the value of X is a positive integer; the tour robot can tour the route between every two fixed points in the three fixed points, so that the tour robot can completely cover the route between any two fixed points, the service area covered by the tour robot is larger, and the tour route formed is a smooth closed graph, so that the tour route is smoother at the fixed points, and the tangent included angle of the tour route on two sides of the fixed point is smaller at the same fixed point compared with the prior art, so that the tour robot takes the extending direction of the tour route as the orientation, when the tour is performed along the tour route, the adjusting angle is relatively small when the advancing direction is adjusted at the fixed point, further, because the tour route is a smooth closed image, and the tour robot tours in the direction of the extending direction of the tour route, the direction of the tour robot can be adjusted in real time when the tour robot does not reach the fixed point, so that the adjusting angle is relatively small when the tour robot adjusts the advancing direction at the fixed point, the adjusting angle is relatively small when the tour robot adjusts the angle when steering according to the method in the application through the two aspects, and further, the tour robot can quickly complete steering at the fixed point, thereby being beneficial to improving the moving efficiency of the tour robot, and when the tour robot steers at the fixed point, the steering action of the tour robot is relatively smooth and natural, the gesture of the tour robot during steering is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic flow chart of a tour method provided in the present application;
FIG. 2 is a schematic view of a tour path provided herein;
FIG. 3 is a schematic illustration of another tour route provided herein;
fig. 4 is a schematic structural diagram of an inspection robot provided in the present application;
fig. 5 is a schematic structural diagram of another tour robot provided in the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "second" and the like in the description and claims of the present application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic flow chart of a tour method provided in the present application, and as shown in fig. 1, the tour method includes the following steps:
101. according to the Xth tour sequence of at least three fixed point locations on a preset map, the at least three fixed point locations are sequentially connected through curves to form an Xth tour path, wherein the shape of the tour path is a smooth closed graph, the X tour sequence is different from the X-1 to the first tour sequence, and the value of X is a positive integer.
102. And taking the extending direction of the X-th tour route as the orientation, and tour along the X-th tour route.
For example, fig. 2 is a schematic diagram of a tour route provided in the present application, and as shown in fig. 2, the preset map includes four fixed points, where the four fixed points are: a point, B point, C point and D point, these four fixed point positions are arranged in this passageway that can pass through in presetting the map to this map of presetting is the map of the corridor of hotel, and above-mentioned four fixed point positions are arranged in the corridor, and the tour order with these four fixed point positions is: point a → point B → point C → point D, for example, the four fixed points are connected in sequence by a curve, that is, point a and point B, point B and point C, point C and point D and point a are connected in sequence by a curve, and the curve mentioned above is located in a corridor between two fixed points, as shown in fig. 2, the dotted line is a corridor and is realized as a curve, the positional relationship between the corridor and the curve is as shown in fig. 2, after the four fixed points are connected by a curve, a tour path can be formed, and then the tour robot tours along the tour path with the extending direction of the tour path as the orientation, wherein the direction of the tour robot extending direction of the tour path means that the direction of the tour robot corresponds to the direction of the tour robot at the position as the advancing direction of the tour robot.
In the process of tour through the route shown in fig. 2, a tour route for the next tour is generated, and when the next tour route is generated, the determined tour order may be: point a → point C → point D → point B, the formed tour path is as shown in fig. 3, fig. 3 is a schematic view of another tour path provided by the present application, the tour path shown in fig. 3 can be formed in a manner that reference is made to the method for forming the tour path shown in fig. 2, after the tour path shown in fig. 2 is completed, the tour robot returns to point a, then the tour path shown in fig. 3 continues to tour, and so on, until all tour paths that can be formed by the four fixed points are completed.
When the number of fixed points is n, the number of tour routes included m is (n-1)! If the unreachable tour route is included, the determined tour route cannot pass through, for example, the tour sequence of the determined tour route is as follows: point a → point C → point D → point B, if the tour route cannot be directly hit from point a to point C, the tour route is an unreachable tour route and needs to be removed; if the repeated tour routes are included, the repeated tour routes also need to be removed, and when the total number of the repeated tour routes and the unreachable tour routes is h, the number of the final tour routes is l ═ f (m, h).
After the number of the final tour routes is determined, tour orders capable of forming tour routes are determined, the tour orders are numbered, and before tour of tour routes according to one tour order is finished, the tour orders of the next number are processed to form a next tour route.
In the application, the tour robot sequentially connects at least three fixed point positions through curves according to an Xth tour sequence of the at least three fixed point positions on a preset map to form an Xth tour path, wherein the shape of the tour path is a smooth closed graph, the X tour sequence is different from the tour sequence from the (X-1) th to the first tour sequence, and the value of X is a positive integer; the tour robot can tour the route between every two fixed points in the three fixed points, so that the tour robot can completely cover the route between any two fixed points, the service area covered by the tour robot is larger, and the tour route formed is a smooth closed graph, so that the tour route is smoother at the fixed points, and the tangent included angle of the tour route on two sides of the fixed point is smaller at the same fixed point compared with the prior art, so that the tour robot takes the extending direction of the tour route as the orientation, when the tour is performed along the tour route, the adjusting angle is relatively small when the advancing direction is adjusted at the fixed point, further, because the tour route is a smooth closed image, and the tour robot tours in the direction of the extending direction of the tour route, the direction of the tour robot can be adjusted in real time when the tour robot does not reach the fixed point, so that the adjusting angle is relatively small when the tour robot adjusts the advancing direction at the fixed point, the adjusting angle is relatively small when the tour robot adjusts the angle when steering according to the method in the application through the two aspects, and further, the tour robot can quickly complete steering at the fixed point, thereby being beneficial to improving the moving efficiency of the tour robot, and when the tour robot steers at the fixed point, the steering action of the tour robot is relatively smooth and natural, the gesture of the tour robot during steering is improved.
In a possible embodiment, in executing step 101, the at least three fixed points may be sequentially connected by a curve in a channel corresponding to the xth tour order in the preset map by using a bezier curve principle, so as to form an xth tour path with the moving width of the tour robot being the tour width.
Taking the tour route shown in fig. 2 as an example, when the tour robot tours in the corridor according to the tour route, in order to make the tour robot travel according to a certain route, the tour width of the tour robot, i.e. the width of the tour robot, needs to be determined so that the tour robot can pass through the corridor smoothly.
In one possible embodiment, in step 102, the tour is performed along the tour route with the tangential direction of the shape of the xth tour route as the orientation.
Taking the tour path shown in fig. 2 as an example, when the tour robot tours according to the tour path, the tangent direction of the shape of the tour path at the position of the tour robot is taken as the orientation, so as to achieve the purpose of adjusting the orientation angle of the tour robot in real time, and in the above scheme, the tour robot can have different orientation angles at different positions, so that the tour robot can travel to the next fixed point without adjusting the orientation angle to a greater extent when reaching the fixed point, thereby being beneficial to improving the moving efficiency of the tour robot.
In a possible embodiment, when the tour cannot reach the nth fixed point along the xth tour path, waiting for a specified time at the current position, where the nth fixed point is a fixed point to be reached by the tour robot, and the value of n is a positive integer greater than 1; if the nth fixed point position cannot be reached within the specified time, connecting the current position of the tour robot with the (n + 1) th fixed point position through a curve to form a tour path between the current position and the (n + 1) th fixed point position, wherein the (n + 1) th fixed point position is a fixed point position which is to be reached next after the nth fixed point position is passed; and when other fixed point positions behind the nth fixed point position cannot reach, sending alarm information.
Taking the tour route shown in fig. 2 as an example, when the tour robot is in the process from point a to point B, if the tour route between point a and point B is blocked by an obstacle, the tour robot cannot continue to travel, at this time, a tour route can be re-planned from the corridor between points a and B, that is, the tour robot continues to travel in the original corridor, but the travel route in the corridor changes, the re-planned route may be a new tour route in which the moving width of the tour robot is the tour width, the new tour route enables the tour robot to avoid the obstacle, so as to achieve the purpose of continuing to tour, and before the tour route is re-planned, the tour robot needs to determine whether a width capable of enabling the tour robot to pass through exists in the corridor currently located, and if the width exists, the tour route is re-planned.
When the width which can enable the tour robot to pass through does not exist in the corridor where the tour robot currently exists, the tour robot needs to wait for a specified time length, if the tour robot detects that the obstacle is removed in the specified time length, the tour robot continues to travel according to the original tour route, if the tour robot cannot reach the point B in the specified time length, namely the obstacle is not removed in the specified time length, and the corridor does not have the width which can be passed by the tour robot, the tour robot determines the corridor which reaches the point C from the current position, then the current position and the point C are connected through a curve, so that a tour route between the current position and the point C is formed in the corridor, and then the tour robot travels according to the tour route planned again.
If no corridor capable of directly passing through exists between the current position C point, determining whether a corridor capable of directly passing through exists between the current position C point and the D point, if so, replanning a path to form a tour path between the current position and the D point, wherein a tour path forming method between the current position and the D point is the same as a tour path forming method between the current position and the C point, and details are not repeated here.
If no corridor which can be directly passed through exists between the current position and the point D, namely the tour robot cannot reach the point C and the point D from the current position, alarm information is sent to an administrator of the tour robot so as to manually intervene the tour robot, the type and the content of the alarm information can be set according to actual needs, and no specific limitation is made here.
In one possible embodiment, the specified time period can be determined by the following formula:
t＝f(T,N)；
and the T is the specified duration, the T is a preset tour cycle, and the N is the number of other fixed point positions behind the nth fixed point position.
Taking fig. 2 as an example, when the tour robot is in the process from point a to point B, if the tour path between point a and point B is blocked by an obstacle, N is equal to 2.
It should be noted that the specified time length may also be set according to actual needs and actual environments, and is not specifically limited herein.
It should be noted again that the length of the tour cycle may be determined according to the length of the tour route and the tour speed of the tour robot, and the length of the tour cycle is not specifically limited herein.
Fig. 4 is a schematic structural diagram of an inspection robot provided in the present application, and as shown in fig. 4, the inspection robot includes:
the route forming unit 41 is configured to sequentially connect, according to an xth tour order of at least three fixed point locations on a preset map, the at least three fixed point locations through a curve to form an xth tour route, where the tour route is in a smooth closed graph, the xth tour order is different from the xth tour order from the xth-1 to the xth, and a value of X is a positive integer;
and a tour unit 42 configured to tour along the xth tour route with the extending direction of the xth tour route as an orientation.
In a possible embodiment, when the path forming unit 41 is configured to sequentially connect, according to an xth tour order of at least three fixed points on a preset map, the at least three fixed points through a curve to form an xth tour path, specifically:
and (3) utilizing a Bezier curve principle, sequentially connecting the at least three fixed point positions through curves in a channel corresponding to the X tour sequence in the preset map to form an X tour path taking the moving width of the tour robot as the tour width.
In a possible embodiment, when the tour unit 42 is used to tour along the xth tour route with the extending direction of the xth tour route as the orientation, it is specifically used to:
and patrolling along the tour route by taking the tangential direction of the shape of the Xth tour route as the orientation.
In a possible embodiment, fig. 5 is a schematic structural diagram of another tour robot provided by the present application, as shown in fig. 5,
the tour unit 42 is further configured to wait for a specified duration at the current position when the tour along the xth tour path cannot reach an nth fixed point, where the nth fixed point is a fixed point to which the tour robot will reach, and a value of n is a positive integer greater than 1;
the path forming unit 41 is further configured to, if the nth fixed point cannot be reached within the specified time, connect the current position of the tour robot and the (n + 1) th fixed point by a curve to form a tour path between the current position and the (n + 1) th fixed point, where the (n + 1) th fixed point is a fixed point that is to be reached next after passing through the nth fixed point;
the tour robot further includes:
and the alarm unit 43 is configured to send alarm information when any other fixed point location after the nth fixed point location cannot be reached.
In one possible embodiment, the specified duration is determined by the following formula:
t＝f(T,N)；
and T is the specified duration, T is a preset tour cycle, and N is the number of other fixed point positions after the nth fixed point position.
The specific manner in which each unit of the cruise robot performs the operation in the above-described embodiments has been described in detail in the embodiments related to the method, and will not be described in detail here.
In the application, the tour robot sequentially connects at least three fixed point positions through curves according to an Xth tour sequence of the at least three fixed point positions on a preset map to form an Xth tour path, wherein the shape of the tour path is a smooth closed graph, the X tour sequence is different from the tour sequence from the (X-1) th to the first tour sequence, and the value of X is a positive integer; the tour robot can tour the route between every two fixed points in the three fixed points, so that the tour robot can completely cover the route between any two fixed points, the service area covered by the tour robot is larger, and the tour route formed is a smooth closed graph, so that the tour route is smoother at the fixed points, and the tangent included angle of the tour route on two sides of the fixed point is smaller at the same fixed point compared with the prior art, so that the tour robot takes the extending direction of the tour route as the orientation, when the tour is performed along the tour route, the adjusting angle is relatively small when the advancing direction is adjusted at the fixed point, further, because the tour route is a smooth closed image, and the tour robot tours in the direction of the extending direction of the tour route, the direction of the tour robot can be adjusted in real time when the tour robot does not reach the fixed point, so that the adjusting angle is relatively small when the tour robot adjusts the advancing direction at the fixed point, the adjusting angle is relatively small when the tour robot adjusts the angle when steering according to the method in the application through the two aspects, and further, the tour robot can quickly complete steering at the fixed point, thereby being beneficial to improving the moving efficiency of the tour robot, and when the tour robot steers at the fixed point, the steering action of the tour robot is relatively smooth and natural, the gesture of the tour robot during steering is improved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (6)
1. A method of mobility, the method comprising:
according to the Xth tour sequence of at least three fixed point locations on a preset map, sequentially connecting the at least three fixed point locations through curves to form an Xth tour path, wherein the shape of the tour path is a smooth closed graph, the X tour sequence is different from the tour sequence from the X-1 to the first, and the value of X is a positive integer;
taking the extending direction of the X-th tour path as the orientation, and tour along the X-th tour path;
the tour is performed along the xth tour route by taking the extending direction of the xth tour route as the orientation, and the tour route method comprises the following steps:
patrolling along the patrolling path by taking the tangential direction of the shape of the Xth patrolling path as the direction;
the method further comprises the following steps:
when the tour along the Xth tour path cannot reach the nth fixed point, waiting for a specified time at the current position, wherein the nth fixed point is a fixed point to which the tour robot will reach, and the value of n is a positive integer greater than 1;
if the nth fixed point position still cannot be reached within the specified time, connecting the current position of the tour robot with the (n + 1) th fixed point position through a curve to form a tour path between the current position and the (n + 1) th fixed point position, wherein the (n + 1) th fixed point position is a fixed point position which is to be reached next after the nth fixed point position is passed;
and when other fixed point positions behind the nth fixed point position cannot reach, sending alarm information.
2. The method according to claim 1, wherein the connecting the at least three fixed point locations sequentially by curves according to an xth tour order of the at least three fixed point locations on the preset map to form an xth tour path comprises:
and (3) utilizing a Bezier curve principle, sequentially connecting the at least three fixed point positions through curves in a channel corresponding to the X tour sequence in the preset map to form an X tour path taking the moving width of the tour robot as the tour width.
3. The method of claim 1, wherein the specified duration is determined by the formula:
t＝f(T,N)；
and T is the specified duration, T is a preset tour cycle, and N is the number of other fixed point positions after the nth fixed point position.
4. An inspection robot, comprising:
the route forming unit is used for sequentially connecting the at least three fixed point positions through curves according to an Xth tour sequence of the at least three fixed point positions on a preset map to form an Xth tour route, wherein the shape of the tour route is a smooth closed graph, the X tour sequences are different from the X-1 to the first tour sequence, and the value of X is a positive integer;
the tour unit is used for tour along the X tour path by taking the extending direction of the X tour path as the direction;
when the tour unit is used for tour along the xth tour route with the extending direction of the xth tour route as the orientation, specifically, the tour unit is used for:
patrolling along the patrolling path by taking the tangential direction of the shape of the Xth patrolling path as the direction;
the tour unit is further configured to wait for a specified duration at the current position when the tour along the xth tour path cannot reach an nth fixed point, where the nth fixed point is a fixed point to which the tour robot will reach, and a value of n is a positive integer greater than 1;
the path forming unit is further configured to, if the nth fixed point location cannot be reached within the specified duration, connect the current position of the tour robot and the (n + 1) th fixed point location through a curve to form a tour path between the current position and the (n + 1) th fixed point location, where the (n + 1) th fixed point location is a fixed point location that is to be reached next after passing through the nth fixed point location;
the tour robot further includes:
and the alarm unit is used for sending alarm information when other fixed point positions behind the nth fixed point position cannot reach the nth fixed point position.
5. The tour robot according to claim 4, wherein when the path forming unit is configured to connect, according to an xth tour order of at least three fixed points on a preset map, the at least three fixed points sequentially through a curve to form an xth tour path, it is specifically configured to:
and (3) utilizing a Bezier curve principle, sequentially connecting the at least three fixed point positions through curves in a channel corresponding to the X tour sequence in the preset map to form an X tour path taking the moving width of the tour robot as the tour width.
6. The cruise robot according to claim 4, wherein the specified time period is determined by the following formula:
t＝f(T,N)；
and T is the specified duration, T is a preset tour cycle, and N is the number of other fixed point positions after the nth fixed point position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810893311.3A CN109048895B (en) | 2018-08-07 | 2018-08-07 | Tour method and tour robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810893311.3A CN109048895B (en) | 2018-08-07 | 2018-08-07 | Tour method and tour robot |
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| Publication Number | Publication Date |
|---|---|
| CN109048895A CN109048895A (en) | 2018-12-21 |
| CN109048895B true CN109048895B (en) | 2021-12-21 |
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