CN112394721A - Regression method, device and system for automatic garbage consignment robot - Google Patents
Regression method, device and system for automatic garbage consignment robot Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a regression method, a device and a system of an automatic garbage consignment robot, wherein the method comprises the following steps: detecting the current position of the automatic garbage consignment robot, and judging whether the current position is in a preset working area or not; if the current position of the automatic garbage consignment robot is in a preset working area, regressing according to a regression mode in the working area; and if the current position of the automatic garbage consignment robot is not in the preset working area, identifying the moving direction returning to the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area according to the moving direction. According to the method provided by the embodiment of the invention, when the automatic garbage consignment robot is outside the preset working area, the automatic garbage consignment robot can be controlled to automatically return to the preset working area without manual movement of a user, so that the method is simple, convenient and more intelligent, and the use experience of the user is improved.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a regression method, a device and a system of an automatic garbage consignment robot.
Background
At present, for an automatic garbage consignment robot for automatic garbage consignment limited to work in a preset working area, when the automatic garbage consignment robot is outside the preset working area, the automatic garbage consignment robot cannot automatically return because the automatic garbage consignment robot does not have a function of automatically returning to the preset working area, and at the moment, a user needs to manually move the automatic garbage consignment robot to the preset working area, so that time and labor are consumed, user experience is seriously affected, and improvement is needed.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a regression method for an automatic garbage consignment robot, which can control the automatic garbage consignment robot to automatically return to a preset working area, does not need to manually move by a user, is simple, convenient and more intelligent, and improves the user experience.
A second object of the invention is to propose a return device for an automatic refuse consignment robot.
A third object of the present invention is to provide a regression system for automatic refuse consignment robot.
In order to achieve the above object, a first embodiment of the present invention provides a regression method for automatic garbage consignment of an automatic garbage consignment robot, including: detecting the current position of the automatic garbage consignment robot and judging whether the current position of the automatic garbage consignment robot is in a preset working area or not; if the current position of the automatic garbage consignment robot is in the preset working area, regressing according to a regression mode in the working area; and if the current position of the automatic garbage consignment robot is not in the preset working area, identifying the moving direction returning to the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area according to the moving direction.
According to the regression method for the automatic garbage consignment robot, when the automatic garbage consignment robot is located outside the preset working area, the automatic garbage consignment robot can be controlled to automatically return to the preset working area, manual movement of a user is not needed, the method is simple, convenient and more intelligent, and the use experience of the user is improved.
In addition, the regression method for automatic trash consignment of the automatic trash consignment robot according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the identifying the moving direction returning to the preset working area includes: detecting whether a guide signal of the preset working area exists or not; if the guide signal exists, determining the moving direction according to the guide signal, and controlling the automatic garbage consignment robot to return to the preset working area; and if the guide signal does not exist, acquiring the current position information of the automatic garbage consignment robot, determining the moving direction according to the position relation between the current position information and the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area.
Further, in an embodiment of the present invention, if the guiding signal exists, determining the moving direction according to the guiding signal, and controlling the automatic garbage consignment robot to return to the preset working area, further includes: detecting signal strengths of the pilot signals in a plurality of directions; and controlling the automatic garbage consignment robot to return to the preset working area along the direction with the maximum signal intensity.
Further, in an embodiment of the present invention, the detecting whether there is a pilot signal of the preset working area further includes: and if the current position of the automatic garbage consignment robot is not in the preset working area, controlling the automatic garbage consignment robot to rotate for 360 degrees, and detecting whether a guide signal of the preset working area exists in real time in the rotating process.
Further, in an embodiment of the present invention, if the guiding signal exists, determining the moving direction according to the guiding signal, and controlling the automatic garbage consignment robot to return to the preset working area further includes: judging whether the signal intensity of the guide signals in the multiple directions meets a preset condition or not; and if the preset condition is not met, controlling the automatic garbage consignment robot to return to the preset working area according to the relation between the current position information and the preset working area fixed point position.
Further, in an embodiment of the present invention, obtaining current position information of the automatic garbage consignment robot, determining the moving direction according to a position relationship between the current position information and the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area further includes: determining the moving direction according to the relation between the robot and the fixed point position by setting the position of a preset point, and controlling the automatic garbage consignment robot to return to the preset working area; or, the moving direction is determined according to the relation between the robot and the region direction by setting the region direction of the working region, and the automatic garbage consignment robot is controlled to return to the preset working region.
Further, in an embodiment of the present invention, the controlling the automatic garbage consignment robot to return to the preset work area by setting a preset point position, determining the moving direction according to a relationship between the robot and the preset point position, further includes: acquiring a magnetic force angle read by the automatic garbage consignment robot at a preset point position; and controlling the automatic garbage consignment robot to return to the preset working area according to the magnetic force angle.
Further, in an embodiment of the present invention, the determining the moving direction according to a relationship between the robot and the fixed point position by setting a preset point position, and controlling the automatic garbage consignment robot to return to the preset work area further includes: acquiring the position of the preset point by a preset positioning technology; and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the connecting line of the current position of the automatic garbage consignment robot and the preset position.
Further, in an embodiment of the present invention, the controlling the automatic garbage consignment robot to return to the preset work area by setting an area orientation of the work area and determining the moving direction according to a relation between the robot and the area orientation further includes: detecting the area direction of the set working area through an electronic compass; and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the area azimuth of the set working area.
Further, in an embodiment of the present invention, the controlling the automatic garbage consignment robot to return to the preset working area along the direction of the area orientation of the preset working area further includes: and controlling the automatic garbage consignment robot to continuously rotate to detect a guide signal in the process that the automatic garbage consignment robot moves along the direction of the area azimuth of the set working area, and controlling the automatic garbage consignment robot to return to the preset working area according to the guide signal when the guide signal is detected.
Further, in an embodiment of the present invention, the method further includes: detecting the returning time length of the automatic garbage consignment robot; and when the regression duration is greater than a preset threshold value, sending an alarm signal to a preset terminal.
In order to achieve the above object, a second embodiment of the present invention provides a returning device for an automatic garbage consignment robot, including: the first detection module is used for detecting the current position of the automatic garbage consignment robot and judging whether the current position is in a preset working area or not; the regression module is used for performing regression according to a regression mode in the working area if the current position of the automatic garbage consignment robot is in the preset working area; and the control module is used for identifying the moving direction returning to the working area if the current position of the automatic garbage consignment robot is not in the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area according to the moving direction.
The returning device for the automatic garbage consignment robot, provided by the embodiment of the invention, can control the automatic garbage consignment robot to automatically return to the preset working area when the automatic garbage consignment robot is outside the preset working area, does not need to be moved manually by a user, is simple, convenient and more intelligent, and improves the use experience of the user.
In addition, the regression method for automatic trash consignment of the automatic trash consignment robot according to the above embodiment of the present invention may further have the following additional technical features: further, in one embodiment of the present invention, the control module includes: the first detection unit is used for detecting whether a guide signal of the preset working area exists or not; the first control unit is used for determining the moving direction according to the guide signal and controlling the automatic garbage consignment robot to return to the preset working area if the guide signal exists; and the second control unit is used for acquiring the current position information of the automatic garbage consignment robot if the guide signal does not exist, determining the moving direction according to the position relation between the current position information and the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area.
Further, in one embodiment of the present invention, the control module includes: a second detection unit for detecting signal strengths of the pilot signals in a plurality of directions; and the third control unit is used for controlling the automatic garbage consignment robot to return to the preset working area along the direction with the maximum signal intensity.
Further, in an embodiment of the present invention, the first detecting unit is further configured to control the automatic garbage consignment robot to rotate 360 degrees when the current position of the automatic garbage consignment robot is not within the preset working area, and detect whether a guiding signal of the preset working area exists in real time during the rotation process.
Further, in an embodiment of the present invention, the control module further includes: the judging unit is used for judging whether the signal intensity of the guide signals in the multiple directions meets a preset condition or not; and the fourth control unit is used for controlling the automatic garbage consignment robot to return to the preset working area according to the relation between the current position information and the preset fixed point position of the working area when the preset condition is not met.
Further, in an embodiment of the present invention, the control module further includes: the fifth control unit is used for determining the moving direction according to the relation between the robot and the fixed point position by setting the preset point position and controlling the automatic garbage consignment robot to return to the preset working area; or the sixth control unit is used for determining the moving direction according to the relation between the robot and the region direction by setting the region direction of the working region and controlling the automatic garbage consignment robot to return to the preset working region.
Further, in an embodiment of the present invention, the fifth control unit is further configured to obtain a magnetic force angle read by the automatic garbage consignment robot when the automatic garbage consignment robot is at a preset position; and controlling the automatic garbage consignment robot to return to the preset working area according to the magnetic force angle.
Further, in an embodiment of the present invention, the fifth control unit is further configured to obtain the preset point position through a preset positioning technique, and control the automatic garbage consignment robot to return to the preset work area along a direction of a connection line between the current position of the automatic garbage consignment robot and the preset point position.
Further, in an embodiment of the present invention, the sixth control unit is further configured to detect a zone azimuth of the set working zone through an electronic compass; and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the area azimuth of the set working area.
Further, in an embodiment of the present invention, the sixth control unit is further configured to control the automatic garbage consignment robot to continuously rotate to detect a guiding signal during the process that the automatic garbage consignment robot moves along the direction of the area orientation of the set working area, and control the automatic garbage consignment robot to return to the preset working area according to the guiding signal when the guiding signal is detected.
Further, in an embodiment of the present invention, the method further includes: the second detection module is used for detecting the returning time length of the automatic garbage consignment robot; and the alarm module is used for sending an alarm signal to a preset terminal when the regression duration is greater than a preset threshold value.
In order to achieve the above object, a third embodiment of the present invention provides a regression system for an automatic garbage consignment robot, including: the movable assembly is used for driving the automatic garbage consignment robot to move; the signal generation module is used for generating a guide signal for guiding the movable component to drive the automatic garbage consignment robot to move; the guiding line is used for guiding the automatic garbage consignment robot to move, and two ends of the guiding line are respectively and electrically connected to the signal generating module so as to generate a guiding signal around the guiding line; the return device for an automatic garbage consignment robot as described in the above embodiments.
According to the return system of the automatic garbage consignment robot, when the automatic garbage consignment robot is located outside the preset working area, the automatic garbage consignment robot can be controlled to automatically return to the preset working area, manual movement of a user is not needed, the return system is simple, convenient and intelligent, and the use experience of the user is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a regression method for automated garbage consignment of an automated garbage consignment robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a current position and a parking position according to an embodiment of the present invention;
FIG. 3 is a flow diagram of a regression method for automated garbage consignment of an automated garbage consignment robot according to one embodiment of the present invention;
FIG. 4 is a flow chart of a regression method for automated garbage consignment of an automated garbage consignment robot according to another embodiment of the present invention;
fig. 5 is a schematic structural view of a return device for an automatic garbage consignment robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a regression system of an automatic garbage consignment robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method, an apparatus, and a system for returning an automatic garbage consignment robot according to an embodiment of the present invention will be described with reference to the accompanying drawings, and first, a returning method for an automatic garbage consignment robot according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flow chart of a regression method for automated garbage consignment of an automated garbage consignment robot according to an embodiment of the present invention.
As shown in fig. 1, the return method for the automatic garbage consignment robot includes the steps of:
in step S101, the current position of the automatic garbage consignment robot is detected, and whether the current position is within a preset work area is determined.
The automatic garbage consignment robot may be an integrated intelligent garbage can or a robot for consigning the garbage can, and is not limited specifically herein. The preset working area can be understood as an area allowing the robot and the garbage can to walk, store or recover, once the automatic garbage consignment robot is outside the preset working area, the automatic garbage consignment robot cannot carry out garbage consignment work, and normal garbage consignment work can be carried out only by returning to the preset working area.
It should be noted that, in the embodiment of the present invention, an area within a certain range may be identified by a magnetic signal, a map, or a mark as a preset working area, for example, a magnetic signal is generated by setting a magnetic stripe, and since the automatic garbage consignment robot may move along the magnetic stripe or offset the magnetic stripe by a certain distance, an area at a certain distance from the magnetic stripe may be used as the preset working area; for another example, a region with a preset size may be set as a preset working region through a map; of course, there are many ways to set the preset working area, and no further description is given for avoiding redundancy. In addition, the shape of the preset working area may be a rectangle, a ring or other shapes, and those skilled in the art may set the preset working area according to the actual situation, which is not specifically limited herein.
In step S102, if the current position of the automatic garbage consignment robot is within the preset working area, the robot regresses according to the regression mode within the working area.
Taking an integrated intelligent garbage can as an example to introduce a regression mode in a working area, for example, when a garbage recovery task is completed, a garbage stop point is automatically returned so as to facilitate a user to use the garbage can; for another example, if the intelligent trash can needs to be charged, the trash can be controlled to return to the charging station for charging. Of course, the regression models in the working area include many types, and are not described herein to avoid redundancy.
In step S103, if the current position of the automatic garbage consignment robot is not within the preset working area, the moving direction returning to the preset working area is identified, and the automatic garbage consignment robot is controlled to return to the preset working area according to the moving direction.
It can be understood that, when the automatic garbage consignment robot is outside the working area, in order to ensure that the automatic garbage consignment robot can work normally, the automatic garbage consignment robot needs to be controlled to automatically return to the working area, therefore, in order to ensure that the automatic garbage consignment robot can return, the moving direction returning to the preset working area needs to be identified, so that the automatic garbage consignment robot can walk towards the preset working area, and the automatic garbage consignment robot is prevented from walking towards the direction not in the preset working area, for example, walking towards a road, and the reliability of returning is further improved.
Further, in an embodiment of the present invention, identifying a moving direction returning to a preset working area includes: detecting whether a guide signal of a preset working area exists or not; if the guide signal exists, determining the moving direction according to the guide signal, and controlling the automatic garbage consignment robot to return to a preset working area; and if the guide signal does not exist, acquiring the current position information of the automatic garbage consignment robot, determining the moving direction according to the position relation between the current position information and the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area.
In an embodiment of the present invention, detecting whether there is a pilot signal of a preset working area further includes: and if the current position of the automatic garbage consignment robot is not in the preset working area, controlling the automatic garbage consignment robot to rotate for 360 degrees, and detecting whether a guide signal of the preset working area exists in real time in the rotating process.
The manner in which the automated trash shipping robot automatically returns from outside the work area to within the work area will be described in detail below.
And when the automatic garbage consignment robot is outside the working area, if the guide signal can be detected, controlling the automatic garbage consignment robot to automatically return according to the guide signal. It should be noted that, the closer to the preset working area, the stronger the signal can be detected, so the automatic garbage consignment robot can move into the working area according to the signal intensity.
Use the intelligent garbage bin of integral type as an example, when accomplishing rubbish recovery operation, because the uncertainty of retrieving, there is certain skew probably in the position that the garbage bin retrieved with rubbish recovery point, in case be in outside presetting the work area, present garbage bin can't the auto-regress to the work area in, and then also can't realize the auto-regress to rubbish stop point when accomplishing the recovery operation, lead to the unable normal use garbage bin of user, can normal use in order to guarantee the garbage bin, when the garbage bin is in outside presetting the work area, often need the user to manually remove it to presetting the work area in, waste time and energy, reduce user and use experience. The garbage can return to the position near the guide signal through detecting the guide signal by means of a sensor and the like, and then the garbage can person is controlled to move along the guide line to return to the garbage stopping point according to the guide signal through real-time detection and matched movement actions, so that the garbage can does not need to be moved manually by a user, is simple, convenient and more intelligent, and improves the use experience of the user.
Further, in an embodiment of the present invention, if there is a guiding signal, determining a moving direction according to the guiding signal, and controlling the automatic garbage consignment robot to return to the preset work area, further includes: detecting signal strengths of the pilot signals in a plurality of directions; and controlling the automatic garbage consignment robot to return to the preset working area along the direction with the maximum signal intensity.
It can be understood that the direction with the largest signal intensity is the closest direction of the automatic garbage consignment robot to the preset working area, and the regression of the automatic garbage consignment robot is controlled according to the direction with the largest signal intensity, so that the regression time can be effectively shortened, the regression energy consumption is reduced, and the reliability of the regression of the automatic garbage consignment robot is improved.
For example, as shown in fig. 2 and 3, after the intelligent trash can is recycled, whether the trash can is outside the preset working area is detected, and if the trash can is inside the preset working area, the intelligent trash can is controlled to move along the guide line according to the guide signal. If the intelligent garbage bin is outside the preset working area, the intelligent garbage bin rotates for one circle to detect whether the maximum signal intensity value exists, if the maximum signal intensity value exists and is larger than a certain threshold value, the intelligent garbage bin rotates to the direction of the maximum signal intensity value, and then the intelligent garbage bin advances according to the direction of the maximum signal intensity value.
Further, in an embodiment of the present invention, if there is a guiding signal, determining a moving direction according to the guiding signal, and controlling the automatic garbage consignment robot to return to the preset work area, further includes: judging whether the signal intensity of the guide signals in multiple directions meets a preset condition or not; and if the preset condition is not met, controlling the automatic garbage consignment robot to return to the preset working area according to the relation between the current position information and the preset fixed point position of the working area.
The preset condition can be understood as that the signal intensity reaches a certain value, so that the automatic garbage consignment robot can be controlled to return to the preset working area according to the detected signal. If the preset condition is not met, the strength of the guide signal is too weak or the guide signal cannot be detected, namely the automatic garbage consignment robot cannot be controlled to return to the preset working area according to the detected signal, and at the moment, the automatic garbage consignment robot is controlled to return to the preset working area according to the relationship between the current position information and the preset fixed point position of the working area. The automatic garbage consignment robot is controlled to return to the preset working area according to the relationship between the current position information and the preset fixed point position of the working area, which will be described in detail below and will not be described herein.
In order to provide the detailed description of the automatic garbage consignment robot returning controlled by the guiding signal, in an embodiment of the present invention, if the guiding signal does not exist, the method includes the steps of obtaining current position information of the automatic garbage consignment robot, determining a moving direction according to a position relationship between the current position information and a preset working area, and returning the automatic garbage consignment robot to the preset working area, including: the moving direction is determined according to the relation between the robot and the fixed point position by setting the preset point position, and the automatic garbage consignment robot is controlled to return to the preset working area; or, the moving direction is determined according to the relation between the robot and the region direction by setting the region direction of the working region, and the automatic garbage consignment robot is controlled to return to the preset working region.
The manner in which the automated trash holding robot may be controlled to return in the absence of a pilot signal will be described in detail below.
The first control mode is as follows: determining the moving direction according to the relation between the robot and the fixed point position, and controlling the automatic garbage consignment robot to return to a preset working area, wherein the method specifically comprises the following steps:
the embodiment of the invention can be implemented by 1) a magnetic mode; 2) and determining the position of a preset point by a positioning mode and the like, and controlling the automatic garbage consignment robot to return according to the relation between the robot and the position of the fixed point.
Specifically, 1) magnetic system
In an embodiment of the present invention, the method for controlling the automatic garbage consignment robot to return to the preset working area by setting a preset point position and determining a moving direction according to a relationship between the robot and the preset point position further includes: acquiring a magnetic force angle read by the automatic garbage consignment robot at a preset point position; and controlling the automatic garbage consignment robot to return to a preset working area according to the magnetic force angle control.
It can be understood that the embodiment of the invention can record the magnetic force angle of the automatic garbage consignment robot at the preset point position through the magnetometer. Because the magnetometer can measure the absolute angle, the magnetic force angle is recorded when the automatic garbage consignment robot is parked at a certain point of the boundary; when the magnetic force is outside the working area, the magnetic force can be moved into the working area according to the original magnetic force angle.
For example, taking the intelligent trash can as an example, as shown in fig. 2 and 3, after the recovery of the intelligent trash can is completed, whether the trash can is outside the preset work area is detected, and if the trash can is inside the preset work area, the intelligent trash can is controlled to move along the guide line according to the guide signal. If the intelligent garbage bin is out of the preset working area, the intelligent garbage bin rotates by one circle to detect whether the signal intensity maximum value exists, if the signal intensity maximum value does not exist, the maximum intensity of the guide signal cannot be detected or the guide signal cannot be detected, the target direction is obtained according to the magnetic force angle a measured by the magnetometer when the intelligent garbage bin is parked at the point B, then the robot rotates to the magnetic force angle a and moves backwards, or rotates to the angle (a + 180)% 360 and moves forwards. The Inertial Measurement Unit (IMU) may measure the rotation angle of the body, so that the embodiment of the present invention may detect whether the rotation angle reaches the target angle, that is, whether the rotation angle reaches the magnetic force angle a, by using the IMU.
2) Positioning mode
In an embodiment of the present invention, the method for controlling the automatic garbage consignment robot to return to the preset working area by setting a preset point position and determining a moving direction according to a relationship between the robot and the preset point position further includes: acquiring a preset point position through a preset positioning technology; and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the connecting line of the current position of the automatic garbage consignment robot and the preset position.
The preset positioning technology may be a positioning technology such as a GPS (global positioning System), an ultrasonic wave, or an Ultra Wideband (UWB). The absolute position of the automatic garbage consignment robot can be measured through a GPS, so that the self orientation of the automatic garbage consignment robot can be obtained; the relative position of the self-moving robot can be obtained by means of UWB or ultrasonic positioning and the like, and the self-moving direction can be obtained by running a certain distance from the self-moving robot.
For example, as shown in fig. 2 and 4, when the intelligent trash can is at the point B, the position point of the point B is obtained by using positioning technologies such as GPS, ultrasonic waves or UWB. After the intelligent garbage can is recycled, due to the recycling uncertainty, the position of the recycled garbage can possibly deviates from the initial calibration recycling position to a certain extent, and therefore whether the garbage can is outside the preset working area needs to be judged, and if the garbage can is outside the preset working area, the current position information of the garbage can, namely the position information of the C point, is further detected. And then, controlling the self-moving robot to rotate to the direction of a connecting line between the point B and the point C, and controlling the self-moving robot to move to a preset working area along the direction BC so as to finish regression.
The second control mode is as follows: determining the moving direction according to the relation between the robot and the area azimuth, and controlling the automatic garbage consignment robot to return to a preset working area, wherein the method specifically comprises the following steps:
in one embodiment of the invention, the automatic garbage consignment robot is controlled to return to the preset working area by setting the area orientation of the working area and determining the moving direction according to the relation between the robot and the area orientation, and the method further comprises the steps of detecting the area orientation of the set working area through an electronic compass; and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the area azimuth of the set working area.
The automatic garbage consignment robot is controlled to continuously rotate to detect a guide signal in the process that the automatic garbage consignment robot moves along the direction of the area azimuth of the set working area, and when the guide signal is detected, the automatic garbage consignment robot is controlled to return to the preset working area according to the guide signal.
It can be understood that the embodiment of the invention controls the automatic garbage consignment robot to walk along the region direction by detecting the region position of the set working region through the electronic compass, thereby effectively preventing the automatic garbage consignment robot from walking on the road and rotating while walking to further detect the guide quotation marks. If the guide signal can be detected, controlling the automatic garbage consignment robot to return to a preset working area according to the guide signal; if the signal is not found after the first preset time, stopping the machine for alarming, alarming in an acoustic alarming mode or an optical alarming mode or a combination mode, wherein the specific limitation is not needed, the optical alarming can be light alarming or the like, the acoustic alarming can be buzzer alarming or voice alarming or the like, and informing the user in an app or short message mode or the like. The first preset time period is less than or equal to the regression time period, and those skilled in the art may specifically set the first preset time period according to actual situations, and is not specifically limited herein.
Further, in an embodiment of the present invention, the method of an embodiment of the present invention further includes: detecting the returning time length of the automatic garbage consignment robot; and when the regression duration is greater than a preset threshold value, sending an alarm signal to a preset terminal.
It can be understood that after the self-moving robot moves for a certain time, whether the self-moving robot returns to the preset working area is detected, if the self-moving robot does not return to the preset working area, whether the moving time is greater than a preset threshold value is further judged, and if the moving time is not greater than the preset threshold value, the self-moving robot continues to move for returning; if the threshold value is larger than the preset threshold value, stopping the machine to alarm, and informing the user through the modes of app or short messages and the like. The alarm mode is similar to the above-mentioned alarm mode in which no signal alarm is found after exceeding the first preset duration, and is not described herein again to avoid redundancy.
The preset threshold value can be set by a person skilled in the art according to actual conditions, and of course, the preset threshold value can also be generated according to actual conditions of the automatic garbage consignment robot, for example, the movable time length of the automatic garbage consignment robot is generated according to the electric quantity of the automatic garbage consignment robot, and a value of the second preset time length smaller than the movable time length is used as the preset threshold value, so that the automatic garbage consignment robot is effectively prevented from being shut down before sending an alarm signal, that is, the automatic garbage consignment robot can be effectively ensured to send an alarm signal to a user when being shut down, the reliability and intelligence of the automatic garbage consignment robot are further improved, and the use experience of the user is improved.
According to the regression method for the automatic garbage consignment robot, when the automatic garbage consignment robot is located outside the preset working area, the automatic garbage consignment robot is controlled to return to the preset working area according to the guide signal, when the guide signal is not detected, the automatic garbage consignment robot is controlled to return to the preset working area according to the position relation between the current position information and the preset working area, walking to the road can be effectively prevented, and the automatic garbage consignment robot is stopped and alarmed when the regression duration is larger than a certain value, so that the automatic garbage consignment robot can be controlled to automatically return to the preset working area without manual movement of a user when the automatic garbage consignment robot is located outside the preset working area, the method is simple, convenient and more intelligent, and the use experience of the user is improved.
Next, a return device for an automatic garbage consignment robot according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 5 is a schematic structural diagram of a return device for an automatic garbage consignment robot according to an embodiment of the present invention.
As shown in fig. 5, the return apparatus 100 for an automatic garbage consignment robot includes: a first detection module 110, a regression module 120, and a control module 130.
The first detecting module 110 is configured to detect a current position of the automatic garbage consignment robot, and determine whether the current position is within a preset working area. The regression module 120 is configured to perform regression according to a regression mode in a working area if the current position of the automated garbage consignment robot is within a preset working area. The control module 130 is configured to identify a moving direction returning to the working area if the current position of the automatic garbage consignment robot is not within the preset working area, and control the automatic garbage consignment robot to return to the preset working area according to the moving direction. The device 100 of the embodiment of the invention can control the automatic garbage consignment robot to automatically return to the preset working area without manual movement of a user when the automatic garbage consignment robot is outside the preset working area, is simple, convenient and more intelligent, and improves the use experience of the user.
Further, in one embodiment of the present invention, the control module 130 includes: the device comprises a first detection unit, a first control unit and a second control unit.
The first detection unit is used for detecting whether a guide signal of a preset working area exists or not. The first control unit is used for determining the moving direction according to the guide signal if the guide signal exists, and controlling the automatic garbage consignment robot to return to the preset working area. And the second control unit is used for acquiring the current position information of the automatic garbage consignment robot if the guide signal does not exist, determining the moving direction according to the position relation between the current position information and the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area.
Further, in one embodiment of the present invention, the control module 130 includes: a second detection unit and a third control unit. The second detection unit is used for detecting the signal intensity of the guide signals in multiple directions. And the third control unit is used for controlling the automatic garbage consignment robot to return to the preset working area along the direction with the maximum signal intensity.
Further, in an embodiment of the present invention, the first detecting unit is further configured to control the automatic garbage consignment robot to rotate 360 degrees when the current position of the automatic garbage consignment robot is not within the preset working area, and detect whether a guiding signal of the preset working area exists in real time during the rotation.
Further, in an embodiment of the present invention, the control module 130 further includes: a judging unit and a fourth control unit.
The judging unit is used for judging whether the signal intensity of the guide signals in the multiple directions meets a preset condition or not. And the fourth control unit is used for controlling the automatic garbage consignment robot to return to the preset working area according to the relation between the current position information and the preset fixed point position of the working area when the preset condition is not met.
Further, in one embodiment of the present invention, the control module 130 further comprises: a fifth control unit or a sixth control unit.
The fifth control unit is used for controlling the automatic garbage consignment robot to return to the preset working area according to the relation between the robot and the fixed point position by setting the preset point position. Or the sixth control unit is used for controlling the automatic garbage consignment robot to return to the preset working area according to the relation between the robot and the area direction by setting the area direction of the working area.
Further, in an embodiment of the present invention, the fifth control unit is further configured to obtain a magnetic force angle read by the automatic garbage consignment robot at a preset position; and controlling the automatic garbage consignment robot to return to a preset working area according to the magnetic force angle.
Further, in an embodiment of the present invention, the fifth control unit is further configured to obtain a preset point position through a preset positioning technique, and control the automatic garbage consignment robot to return to the preset work area along a direction connecting the current position of the automatic garbage consignment robot and the preset point position.
Further, in an embodiment of the present invention, the sixth control unit is further configured to detect a zone orientation of the set working zone through an electronic compass; and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the area azimuth of the set working area.
Further, in an embodiment of the present invention, the sixth control unit is further configured to control the automatic garbage consignment robot to continuously rotate to detect the guiding signal during the movement of the automatic garbage consignment robot along the direction of the area orientation of the set working area, and control the automatic garbage consignment robot to return to the preset working area according to the guiding signal when the guiding signal is detected.
Further, in an embodiment of the present invention, the apparatus 100 of an embodiment of the present invention further includes: the second detection module and the alarm module. The second detection module is used for detecting the returning time length of the automatic garbage consignment robot. The alarm module is used for sending an alarm signal to a preset terminal when the regression duration is greater than a preset threshold value.
It should be noted that the foregoing explanation of the embodiment of the regression method for automatic garbage consignment robot is also applicable to the regression device for automatic garbage consignment robot of this embodiment, and the details are not repeated here.
According to the regression device for the automatic garbage consignment robot, when the automatic garbage consignment robot is located outside the preset working area, the automatic garbage consignment robot is controlled to return to the preset working area according to the guide signal, when the guide signal is not detected, the automatic garbage consignment robot is controlled to return to the preset working area according to the position relation between the current position information and the preset working area, walking to the road can be effectively prevented, and the automatic garbage consignment robot is stopped and alarmed when the regression duration is larger than a certain value, so that the automatic garbage consignment robot can be controlled to automatically return to the preset working area without manual movement of a user when the automatic garbage consignment robot is located outside the preset working area, the device is simple, convenient and more intelligent, and the use experience of the user is improved.
In addition, as shown in fig. 6, an embodiment of the present invention further provides a regression system of an automatic garbage consignment robot, where the regression system 10 of the automatic garbage consignment robot includes: a regression device 100 (not specifically identified in the figures) for automated garbage consignment robot, a movable component 200, a signal generation module 300 and a guideline 400.
Wherein, the movable assembly 200 is used for driving the automatic garbage consignment robot to move. The signal generating module 300 is used for generating a guiding signal for guiding the movable component to drive the automatic garbage consignment robot to move, the guide line 400 is used for guiding the automatic garbage consignment robot to move, and two ends of the guide line are respectively and electrically connected to the signal generating module 300 so as to generate the guiding signal around the guide line.
According to the regression system of the automatic garbage consignment robot provided by the embodiment of the invention, when the automatic garbage consignment robot is outside the preset working area, the automatic garbage consignment robot is controlled to return to the preset working area according to the guide signal, when the guide signal is not detected, the automatic garbage consignment robot is controlled to return to the preset working area according to the position relation between the current position information and the preset working area, the automatic garbage consignment robot can be effectively prevented from walking on a road, and the automatic garbage consignment robot is stopped and alarmed when the returning time is greater than a certain value, so that the automatic garbage consignment robot can be controlled to automatically return to the preset working area without manual movement of a user when the automatic garbage consignment robot is outside the preset working area, and the system is simple, convenient and more intelligent, and improves the use experience of the user.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (23)
1. A regression method for automated trash consignment robots, comprising:
detecting the current position of the automatic garbage consignment robot and judging whether the current position of the automatic garbage consignment robot is in a preset working area or not;
if the current position of the automatic garbage consignment robot is in the preset working area, regressing according to a regression mode in the working area; and
and if the current position of the automatic garbage consignment robot is not in the preset working area, identifying the moving direction returning to the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area according to the moving direction.
2. The method of claim 1, wherein the identifying a direction of movement back into the preset work area comprises:
detecting whether a guide signal of the preset working area exists or not;
if the guide signal exists, determining the moving direction according to the guide signal, and controlling the automatic garbage consignment robot to return to the preset working area;
and if the guide signal does not exist, acquiring the current position information of the automatic garbage consignment robot, determining the moving direction according to the position relation between the current position information and the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area.
3. The method of claim 2, wherein if the guidance signal is present, determining the moving direction according to the guidance signal, and controlling the automated garbage consignment robot to return to the preset work area further comprises:
detecting signal strengths of the pilot signals in a plurality of directions;
and controlling the automatic garbage consignment robot to return to the preset working area along the direction with the maximum signal intensity.
4. The method of claim 3, wherein the detecting whether the pilot signal of the preset working area exists further comprises:
and if the current position of the automatic garbage consignment robot is not in the preset working area, controlling the automatic garbage consignment robot to rotate for 360 degrees, and detecting whether a guide signal of the preset working area exists in real time in the rotating process.
5. The method of claim 3, wherein if the guidance signal is present, determining the moving direction according to the guidance signal, and controlling the automated garbage consignment robot to return to the preset work area further comprises:
judging whether the signal intensity of the guide signals in the multiple directions meets a preset condition or not;
and if the preset condition is not met, determining the moving direction according to the relation between the current position information and a preset fixed point position of a working area, and controlling the automatic garbage consignment robot to return to the preset working area.
6. The method of claim 2, wherein obtaining current position information of the automated garbage consignment robot, determining the moving direction according to a position relationship between the current position information and the preset working area, and controlling the automated garbage consignment robot to return to the preset working area further comprises:
determining the moving direction according to the relation between the robot and the fixed point position by setting the position of a preset point, and controlling the automatic garbage consignment robot to return to the preset working area; or
And determining the moving direction according to the relation between the robot and the region azimuth by setting the region azimuth of the working region, and controlling the automatic garbage consignment robot to return to the preset working region.
7. The method of claim 6, wherein the controlling the automated garbage consignment robot to return to the preset work area by setting a preset point location and determining the moving direction according to a relationship between the robot and the preset point location further comprises:
acquiring a magnetic force angle read by the automatic garbage consignment robot at a preset point position;
and controlling the automatic garbage consignment robot to return to the preset working area according to the magnetic force angle.
8. The method of claim 6, wherein the controlling the automated garbage consignment robot to return to the preset work area by setting a preset point position and determining the moving direction according to the relationship between the robot and the fixed point position further comprises:
acquiring the position of the preset point by a preset positioning technology;
and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the connecting line of the current position of the automatic garbage consignment robot and the preset position.
9. The method of claim 6, wherein the automatic garbage consignment robot is controlled to return to the preset working area by setting a regional orientation of the working area and determining the moving direction according to a relation between the robot and the regional orientation, and further comprising:
detecting the area direction of the set working area through an electronic compass;
and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the area azimuth of the set working area.
10. The method of claim 9, wherein the controlling the automated garbage consignment robot to return to within the preset work area in a direction of an area orientation of the preset work area further comprises:
and controlling the automatic garbage consignment robot to continuously rotate to detect a guide signal in the process that the automatic garbage consignment robot moves along the direction of the area azimuth of the set working area, and controlling the automatic garbage consignment robot to return to the preset working area according to the guide signal when the guide signal is detected.
11. The method of any one of claims 1-10, further comprising:
detecting the returning time length of the automatic garbage consignment robot;
and when the regression duration is greater than a preset threshold value, sending an alarm signal to a preset terminal.
12. A return device for an automated trash consignment robot, comprising:
the first detection module is used for detecting the current position of the automatic garbage consignment robot and judging whether the current position is in a preset working area or not;
the regression module is used for performing regression according to a regression mode in the working area if the current position of the automatic garbage consignment robot is in the preset working area;
and the control module is used for identifying the moving direction returning to the working area if the current position of the automatic garbage consignment robot is not in the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area according to the moving direction.
13. The apparatus of claim 12, wherein the control module comprises:
the first detection unit is used for detecting whether a guide signal of the preset working area exists or not;
the first control unit is used for determining the moving direction according to the guide signal and controlling the automatic garbage consignment robot to return to the preset working area if the guide signal exists;
and the second control unit is used for acquiring the current position information of the automatic garbage consignment robot if the guide signal does not exist, determining the moving direction according to the position relation between the current position information and the preset working area, and controlling the automatic garbage consignment robot to return to the preset working area.
14. The apparatus of claim 13, wherein the control module comprises:
a second detection unit for detecting signal strengths of the pilot signals in a plurality of directions;
and the third control unit is used for controlling the automatic garbage consignment robot to return to the preset working area along the direction with the maximum signal intensity.
15. The apparatus of claim 14, wherein the first detecting unit is further configured to control the automatic garbage consignment robot to rotate 360 degrees when the current position of the automatic garbage consignment robot is not within the preset working area, and detect whether a guide signal of the preset working area exists in real time during the rotation.
16. The apparatus of claim 14, wherein the control module further comprises:
the judging unit is used for judging whether the signal intensity of the guide signals in the multiple directions meets a preset condition or not;
and the fourth control unit is used for controlling the automatic garbage consignment robot to return to the preset working area according to the relation between the current position information and the preset fixed point position of the working area when the preset condition is not met.
17. The apparatus of claim 13, wherein the control module further comprises:
the fifth control unit is used for determining the moving direction according to the relation between the robot and the fixed point position by setting the preset point position and controlling the automatic garbage consignment robot to return to the preset working area; or
And the sixth control unit is used for determining the moving direction according to the relation between the robot and the region direction by setting the region direction of the working region and controlling the automatic garbage consignment robot to return to the preset working region.
18. The apparatus of claim 17, wherein the fifth control unit is further configured to obtain a magnetic force angle read by the automatic garbage consignment robot at a preset position; and controlling the automatic garbage consignment robot to return to the preset working area according to the magnetic force angle.
19. The apparatus of claim 17, wherein the fifth control unit is further configured to obtain the preset point position through a preset positioning technique, and control the automatic garbage consignment robot to return to the preset working area along a direction connecting the current position of the automatic garbage consignment robot and the preset point position.
20. The apparatus of claim 17, wherein the sixth control unit is further configured to detect a zone orientation of the set work zone via an electronic compass; and controlling the automatic garbage consignment robot to return to the preset working area along the direction of the area azimuth of the set working area.
21. The apparatus of claim 20, wherein the sixth control unit is further configured to control the automatic garbage consignment robot to continuously rotate to detect a guide signal during the automatic garbage consignment robot moves in the direction of the zone orientation of the set work zone, and to control the automatic garbage consignment robot to return to the preset work zone according to the guide signal when the guide signal is detected.
22. The apparatus of any one of claims 12-21, further comprising:
the second detection module is used for detecting the returning time length of the automatic garbage consignment robot;
and the alarm module is used for sending an alarm signal to a preset terminal when the regression duration is greater than a preset threshold value.
23. A regression system for an automated garbage consignment robot, comprising:
the movable assembly is used for driving the automatic garbage consignment robot to move;
the signal generation module is used for generating a guide signal for guiding the movable component to drive the automatic garbage consignment robot to move;
the guiding line is used for guiding the automatic garbage consignment robot to move, and two ends of the guiding line are respectively and electrically connected to the signal generating module so as to generate a guiding signal around the guiding line; and
the return device for an automated trash consignment robot according to any one of claims 12-21.
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| CN201910765130.7A CN112394721A (en) | 2019-08-19 | 2019-08-19 | Regression method, device and system for automatic garbage consignment robot |
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Application publication date: 20210223 |