WO2018196450A1 - 移动机器人在工作区域内的角度修正方法及移动机器人 - Google Patents

移动机器人在工作区域内的角度修正方法及移动机器人 Download PDF

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Publication number
WO2018196450A1
WO2018196450A1 PCT/CN2018/073881 CN2018073881W WO2018196450A1 WO 2018196450 A1 WO2018196450 A1 WO 2018196450A1 CN 2018073881 W CN2018073881 W CN 2018073881W WO 2018196450 A1 WO2018196450 A1 WO 2018196450A1
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WO
WIPO (PCT)
Prior art keywords
mobile robot
angle
obstacle
edge
straight line
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PCT/CN2018/073881
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English (en)
French (fr)
Inventor
刘好新
杨锴
丁璜
郑卓斌
Original Assignee
广东宝乐机器人股份有限公司
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Application filed by 广东宝乐机器人股份有限公司 filed Critical 广东宝乐机器人股份有限公司
Priority to JP2019541140A priority Critical patent/JP6881723B2/ja
Priority to EP18790839.7A priority patent/EP3552532B1/en
Priority to ES18790839T priority patent/ES2912345T3/es
Publication of WO2018196450A1 publication Critical patent/WO2018196450A1/zh
Priority to US16/460,965 priority patent/US11106210B2/en

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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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • 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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Definitions

  • the invention belongs to the field of mobile robots, and particularly relates to a mobile robot with an angle correction function and an angle correction method of the mobile robot in a work area.
  • Existing mobile robots use the principle of inertial navigation to measure their own angles. After the mobile robot works for a period of time, the mobile robot may not be accurate in its own angle due to the cumulative error, which affects the working area of the mobile robot. Recharge efficiency and coverage efficiency.
  • the prior art solution realizes correcting the angle of the mobile robot by identifying a surrounding environment feature point (such as a feature point on the ceiling or an artificially set mark) by installing a camera on the mobile robot; or by working in the work area
  • the boundary sets the beacon, and the mobile robot adjusts its posture and angle after detecting the signal from the beacon.
  • One of the objects of the present invention is to overcome the deficiencies in the background art and to provide an angle correction method for a mobile robot in a work area.
  • the solution of the method of the present invention is as follows:
  • a method for correcting an angle of a mobile robot in a work area comprising:
  • the travel angle is corrected to a corresponding coordinate axis direction.
  • the step of correcting the traveling angle to the corresponding coordinate axis direction based on the traveling angle and the Cartesian coordinate system further includes:
  • the traveling angle is corrected to the corresponding coordinate axis direction.
  • the long straight line is a straight line or an approximate straight line whose length is greater than a certain preset value.
  • the method further includes:
  • the step of acquiring a long straight line of the edge of the obstacle that the mobile robot first finds for the first time further includes:
  • the mobile robot moves linearly until it encounters an obstacle and walks along the edge of the obstacle;
  • the edge of the obstacle is taken as the long straight line.
  • the step of using the edge of the obstacle as the obtained long straight line further includes:
  • the mobile robot is controlled to move linearly after the mobile robot is operated for a predetermined time t0 or a predetermined distance d0 until an obstacle is encountered and walks along the edge of the obstacle.
  • the step of using the edge of the obstacle as the obtained long straight line further includes:
  • the step of using the edge of the obstacle as the obtained long straight line further includes:
  • the step of establishing a Cartesian coordinate system based on the long straight line further includes:
  • the rectangular coordinate system is established with the moving robot as the origin, the AO direction of the long straight line as the positive direction of the X axis, the left vertical direction perpendicular to the AO direction of the long straight line, or the right vertical direction as the positive direction of the Y axis.
  • the step of acquiring the traveling angle when the mobile robot searches for a long straight line to the edge of the obstacle again includes:
  • the mobile robot moves linearly until it encounters an obstacle and walks along the edge of the obstacle;
  • the step of using the angle A1 as the walking angle further includes:
  • the mobile robot is controlled to move linearly after the mobile robot is operated for a predetermined time t1 or a predetermined distance d1 until an obstacle is encountered and walks along the edge of the obstacle.
  • the step of correcting the traveling angle to the corresponding coordinate axis direction based on the traveling angle and the Cartesian coordinate system further includes:
  • the current angle of the mobile robot is corrected to the direction of the corresponding coordinate axis.
  • the step of correcting the current angle of the mobile robot to the direction of the corresponding coordinate axis further includes:
  • the mobile robot is controlled to move linearly after the mobile robot is operated for a predetermined time t2 or a predetermined distance d2 until an obstacle is encountered and walks along the edge of the obstacle.
  • the second object of the present invention is to overcome the deficiencies in the background art and provide a mobile robot with an angle correction function.
  • the specific scheme of the mobile robot of the present invention is as follows:
  • a mobile robot including a controller, a drive system, an angle sensor, an edge sensor, a distance sensor, and a memory,
  • the edge sensor is configured to detect an obstacle edge in the work area and move the mobile robot along the edge of the obstacle;
  • the controller is configured to: detect whether there is a long straight line at the edge of the obstacle according to the received information of the edge sensor, establish a rectangular coordinate system with the first detected long straight line as a reference, and obtain a moving angle of the mobile robot when the long straight line is detected again When the angle difference between the angle and a coordinate axis direction of the Cartesian coordinate system is less than a certain preset value, the moving robot travel angle is corrected to a corresponding coordinate axis direction, wherein the long straight line is defined as a length greater than a certain pre- a straight line or an approximate straight line of values;
  • the drive system is used to drive the movement of the mobile robot
  • the angle sensor is configured to acquire a traveling angle of the mobile robot in real time
  • the distance sensor is configured to acquire a walking distance of the mobile robot
  • the memory is configured to store Cartesian coordinate system information and respective preset values.
  • the angle sensor is a gyroscope or an electronic compass
  • the edge sensor is an infrared sensor
  • the distance sensor is an odometer.
  • the mobile robot is a sweeping robot.
  • the technical solution disclosed by the present invention utilizes a long straight line of an obstacle edge in a working area of a mobile robot as a reference to adjust its traveling angle.
  • the solution of the present invention is low in cost, easy to implement, and has good implementation effect, and can be used for coverage path planning of a mobile robot. .
  • FIG. 1 is a flowchart of a method for correcting an angle of a mobile robot in a work area according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for obtaining a long straight line of an obstacle edge that a mobile robot first finds according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for obtaining a travel angle when a mobile robot searches for a long straight line to an edge of an obstacle again according to an embodiment of the present invention
  • FIG. 4 is a flowchart of a method for correcting a traveling angle to a corresponding coordinate axis direction according to an embodiment of the present invention
  • FIG. 5 is a hardware configuration diagram of a cleaning robot according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a trajectory of a mobile robot in a work area according to an embodiment of the present invention.
  • FIG. 1 is a flowchart of a method for correcting an angle of a mobile robot in a work area according to an embodiment of the present invention.
  • an angle correction method of a mobile robot in a work area may include the following steps S100 to S400.
  • Step S100 Acquire a long straight line of the edge of the obstacle that the mobile robot first finds.
  • the angle information is initialized (for example, the forward direction is regarded as 0°), and the linear motion is forwardly moved in the direction of starting, since the working area is limited.
  • obstacles including walls, tables, sofas, etc.
  • the sweeping robot mobile robot is controlled to move along the edge of the obstacle.
  • the long straight line is a straight line or an approximate straight line whose length is greater than a certain preset value.
  • Step S200 Establish a Cartesian coordinate system based on the long straight line.
  • the rectangular coordinate system is established with the mobile robot as the origin, the AO direction of the long line as the positive direction of the X axis, the left vertical direction or the vertical direction perpendicular to the AO direction of the long line as the positive direction of the Y axis.
  • the Cartesian coordinate system is then stored to the memory.
  • Step S300 Acquire a traveling angle when the mobile robot searches for a long straight line to the edge of the obstacle again.
  • the linear motion starts until an obstacle is encountered, and then The angle of travel is obtained by detecting the edge of the obstacle by an infrared sensor and moving along the edge of the obstacle.
  • Step S400 Correct the traveling angle to the corresponding coordinate axis direction based on the traveling angle and the Cartesian coordinate system.
  • Step S300 and step S400 are repeated until the mobile robot completes the work in the work area.
  • FIG. 2 is a flowchart of a method for obtaining a long straight line of an obstacle edge that is first searched by a mobile robot according to an embodiment of the present invention.
  • the method of acquiring the long straight line of the obstacle edge that the mobile robot first finds may include the following steps S110 to S150.
  • Step S110 The mobile robot moves linearly until it encounters an obstacle and walks along the edge of the obstacle.
  • the angle information is initialized (for example, the forward direction is regarded as 0°), and the linear motion is forwardly moved in the direction of starting, since the working area is limited, Linear motion must encounter obstacles (including walls and tables, sofas, etc.) after a period of time.
  • the sweeping robot uses infrared sensors to detect the edge of the obstacle and keep detecting the edge of the obstacle, so that the sweeping robot walks along the edge of the obstacle.
  • Step S120 The walking angle of the mobile robot is acquired multiple times within the predetermined time T0.
  • the sweeping robot acquires the walking angle of the sweeping robot at a fixed frequency (eg, 100 Hz) for a plurality of times through the gyroscope at a predetermined time T0 (eg, 2 seconds to 5 seconds) and transmits it to the controller.
  • a fixed frequency eg, 100 Hz
  • T0 e.g, 2 seconds to 5 seconds
  • Step S130 Based on the walking angles of the plurality of mobile robots, it is determined whether the plurality of walking angle values are near A0 and the amount of change is less than the threshold D0.
  • the controller determines, by calculation, whether the plurality of walking angle data is located near A0 (A0 is generally an average value of the plurality of angle values), and the difference from A0 is less than a threshold D0 (1 in this embodiment). °).
  • Step S140 If yes, the obstacle edge is the obtained long straight line.
  • the sweeping robot travels along the long straight line of the angle value A0 (the angle with respect to the start of the sweeping robot) during the T0 period; the obstacle line is the obtained long straight line.
  • Step S150 If not, the mobile robot is controlled to move linearly after the mobile robot runs for a predetermined time t0 or a predetermined distance d0 until an obstacle is encountered and walks along the edge of the obstacle.
  • the cleaning robot walks along a non-long straight line during the T0 time period, and the cleaning robot operates for a period of time t0 (such as 10 to 20 seconds) or a predetermined distance d0 (such as 5 meters to 10) according to the cleaning program. After the meter), the process returns to step S110.
  • the sweeping robot travels along the obstacle for more than the preset value (such as 10 seconds) or the running rotation angle is greater than the preset value (such as 180°). Then, the walking along the edge of the obstacle is stopped, and the process returns to step S110 to prevent the sweeping robot from moving multiple times along the edge of the obstacle or circulating in the trapped area.
  • the preset value such as 10 seconds
  • the running rotation angle is greater than the preset value (such as 180°).
  • FIG. 3 is a flowchart of a method for obtaining a travel angle when a mobile robot searches for a long straight line to an edge of an obstacle again according to an embodiment of the present invention.
  • the method of acquiring the traveling angle when the mobile robot searches for the long straight line to the edge of the obstacle again may include the following steps S310 to S350.
  • Step S310 The mobile robot moves linearly until it encounters an obstacle and walks along the edge of the obstacle.
  • the cleaning robot establishes the Cartesian coordinate system, according to the cleaning program for a period of time (such as 10 to 20 seconds) or walking a predetermined distance (such as 5 meters to 10 meters), the linear motion starts until an obstacle is encountered, and then The edge of the obstacle is detected by an infrared sensor and moved along the edge of the obstacle.
  • a period of time such as 10 to 20 seconds
  • a predetermined distance such as 5 meters to 10 meters
  • Step S320 The walking angle of the mobile robot is acquired multiple times within the predetermined time T1.
  • this step S320 is basically the same as step S120, that is, whether there is a long straight line at the edge of the current obstacle.
  • the cleaning robot acquires the walking angle of the cleaning robot at a fixed frequency (100 Hz) for a predetermined time T1 (for example, 2 seconds to 5 seconds) by the gyroscope and transmits it to the controller.
  • Step S330 Determine whether the plurality of walking angles are near the angle A1 and the amount of change is less than the threshold D1 based on the walking angles of the plurality of the robots.
  • the controller determines whether the plurality of walking angle data is located near A1 (A1 is generally an average value of the plurality of angle values), and the difference from A1 is less than a threshold D1 (1 in this embodiment). °).
  • Step S340 If yes, the angle A1 is taken as the walking angle.
  • the cleaning robot travels along the long straight line of the angle value A1 (relative to the Cartesian coordinate system created in step S13) in the T1 period, that is, A1 is the sweeping robot traveling angle.
  • Step S350 If not, the mobile robot is controlled to move linearly after the mobile robot runs for a predetermined time t1 or a predetermined distance d1 until an obstacle is encountered and walks along the edge of the obstacle.
  • the cleaning robot walks along a non-long straight line during the T1 time period, and the cleaning robot operates for a period of time t1 (eg, 10 to 20 seconds) or a predetermined distance d1 (eg, 5 meters to 10) according to the cleaning procedure. After the meter), the process returns to step S310.
  • FIG. 4 is a flowchart of a method for correcting a traveling angle to a corresponding coordinate axis direction according to an embodiment of the present invention.
  • the method of correcting the traveling angle to the corresponding coordinate axis direction may include the following steps S410 to S440.
  • Step S410 Acquire an angle difference Dx + , Dx - , Dy + , Dy - between the walking angle A1 and the positive and negative directions of the x-axis and the positive and negative directions of the y-axis in the rectangular coordinate system based on the walking angle A1.
  • the controller calculates an angle A1 and the positive direction of x-axis difference Dx +, A1 and x-axis negative direction angle difference Dx -, A1 and the positive direction of the y-axis and the angular difference Dy + A1 and the positive y-axis direction, Angle difference Dy - .
  • Step S420 It is judged whether Dx + , Dx - , Dy + , Dy - is smaller than the threshold D2.
  • Step S430 If yes, the current angle of the mobile robot is corrected to the direction of the corresponding coordinate axis.
  • Dx + is less than the threshold D2
  • the current running direction of the cleaning robot is corrected to the positive x-axis direction of the coordinate system
  • Dx - is smaller than the threshold D2
  • the current running direction of the cleaning robot is corrected to the negative x-axis direction of the coordinate system
  • Dy + Less than the threshold D2
  • the current running direction of the cleaning robot is corrected to the positive direction of the y axis of the coordinate system
  • Dy - is smaller than the threshold D2
  • the current running direction of the cleaning robot is corrected to the negative direction of the y axis of the coordinate system.
  • Step S440 If not, the mobile robot is controlled to move linearly after the mobile robot runs for a predetermined time t2 or a predetermined distance d2 until an obstacle is encountered and walks along the edge of the obstacle.
  • Dx + , Dx - , Dy + , and Dy - are not less than D2
  • the long straight line itself is not parallel to the coordinate axes of the coordinate system, and cannot be used as a reference for correcting the sweeping robot, and the sweeping robot is in accordance with the cleaning procedure.
  • walking t2 for example, 10 to 20 seconds
  • walking a predetermined distance d2 for example, 5 meters to 10 meters
  • FIG. 5 is a hardware configuration diagram of a cleaning robot according to an embodiment of the present invention; the cleaning robot in this embodiment includes a controller 10 and a driving system. 20.
  • An angle sensor 30 (gyroscope in this embodiment), a distance sensor 50 (an odometer in this embodiment), an edge sensor 40, and a memory 60.
  • the edge sensor 40 is used for detecting the edge of the obstacle in the working area and moving the mobile robot along the edge of the obstacle.
  • an infrared sensor is used, which is installed on the side of the sweeping robot for detecting the edge of the obstacle in the working area.
  • the long straight line is defined as a straight line or an approximate straight line whose length is greater than a preset value (such as 0.5 m to 2 m); the controller 10 is configured to: detect whether the edge of the obstacle exists according to the information of the received edge sensor Straight line, the first straight line is used as a reference to establish a Cartesian coordinate system. When the long line is detected again, the angle of the moving robot is obtained and the angle difference between the angle and a coordinate axis of the Cartesian coordinate system is smaller than a preset.
  • a preset value such as 0.5 m to 2 m
  • the value of the mobile robot is corrected to the corresponding coordinate axis direction when the value is used (for example, 5° to 10°); the angle sensor 30 is used to acquire the traveling angle of the mobile robot in real time, and is specifically a gyroscope or an electronic device in this embodiment.
  • the distance sensor 50 is used to acquire the walking distance of the mobile robot, which is an odometer in this embodiment; the memory 60 Cartesian coordinate system for storing information and a predetermined preset value and each of the cleaning program, the memory may be separate memories, or may be integrated in the controller memory.
  • the drive system 20 is used to drive the movement of the mobile robot.
  • FIG. 6 is a schematic diagram of a trajectory of a mobile robot in a working area according to an embodiment of the present invention.
  • the working area of the cleaning robot is substantially rectangular, and the working area includes an elliptical obstacle B1 (such as a table) and a rectangular obstacle B2 (such as a sofa).
  • an elliptical obstacle B1 such as a table
  • a rectangular obstacle B2 such as a sofa
  • the sweeping robot M starts from point P0 and then moves linearly to point P1, at which point table A1 is detected; the sweeping robot moves to the left side along table B1 (the left or right side of the sweeping robot can be moved along the obstacle by an algorithm)
  • the point P1 to point P2 in the process of the sweeping robot moving along the table A1 is a curved path (in the meantime, there is no long straight line at the edge of the table B1).
  • the cleaning robot When the cleaning robot reaches the point P2, it has traveled along the table B1 for a predetermined time, a predetermined distance or a predetermined rotation angle, thus stopping moving along the table B2, and moving forward in a straight line in the current direction until moving to the point P3, detecting at the point P3 Go to the edge of the wall and then sweep the robot to move along the edge of the wall.
  • a long straight line is detected between point P3 and point P4.
  • a rectangular coordinate system is established with reference to the long straight line: the point P4 is taken as the origin, and the current direction of the sweeping robot is the positive direction of the x-axis, and the sweeping of the vertical line is perpendicular to the long straight line.
  • the left direction of the robot establishes a Cartesian coordinate system for the positive direction of the y-axis.
  • the sweeping robot cleans according to the cleaning program until the sofa B2 is detected at the point P5, and the sweeping robot starts moving along the sofa B2.
  • a long straight line is detected between point P5 and point P6.
  • the angle of the long straight line obtained from the gyroscope is approximately 150° (relative to the rectangular coordinate system established at point P4), and then the long straight angle angle and the rectangular coordinate system are calculated.
  • the angular difference in the direction of the coordinate axis, the minimum angular difference Dx - is about 30 °, which is much larger than the set threshold (1 °).
  • the long straight line itself is not parallel to the coordinate axes of the coordinate system, so the current sweeping robot is not The angle of the traveling direction is corrected, and the sweeping robot moves forward in a straight line in the current direction at the point P6 until the edge of the wall is detected at the point P7, and then the sweeping robot moves along the edge of the wall.
  • a long straight line is detected between the point P7 and the point P8.
  • the angle of the long straight line obtained from the gyroscope is 89.5°, and the angle difference between the long straight line direction and the positive direction of the y-axis of the rectangular coordinate system is 0.5°. It is smaller than the set threshold (1°), and the direction of the sweeping robot at the point P8 is corrected to 90° at this time.

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
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Abstract

一种移动机器人在工作区域内的角度修正方法，包括：获取移动机器人首次寻找到的障碍物边缘的长直线；基于所述长直线建立直角坐标系；获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度；基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向。还揭示了一种可进行角度修正的移动机器人。

Description

移动机器人在工作区域内的角度修正方法及移动机器人 技术领域
本发明属于移动机器人领域，尤其是涉及具有角度修正功能的移动机器人以及移动机器人在工作区域内的角度修正方法。
背景技术
现有的移动机器人(如扫地机器人)使用惯性导航原理测量自身角度，在移动机器人工作一段时间后，会因累计误差原因，导致移动机器人对获取的自身角度不准确，影响移动机器人的在工作区域内的回充效率及覆盖效率。
针对上述问题，现有技术方案通过在移动机器人上安装摄像机，通过识别周围环境特征点(如天花板上的特征点或人为设置的标记)来实现对移动机器人自身角度的纠正；或者通过在工作区域边界设置信标，移动机器人在检测到信标发出的信号后调整自身位姿及角度。
但上述方式需额外提供的零部件来实现，增加了移动机器人的成本，控制也较为复杂。
发明内容
本发明的目的之一在于克服背景技术中的缺陷，提供一种移动机器人在工作区域内的角度修正方法，本发明方法的方案如下：
一种移动机器人在工作区域内的角度修正方法，包括：
获取移动机器人首次寻找到的障碍物边缘的长直线；
基于所述长直线建立直角坐标系；
获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度；
基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向。
进一步地，所述基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向的步骤还包括：
当所述行进角度与直角坐标系的坐标轴方向的角度差值小于某一预设值时将行进角度修正为对应的坐标轴方向。
进一步地，所述长直线为长度大于某一预设值的直线或近似直线。
进一步地，所述基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向之后还包括：
重复获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度的步骤以及基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向的步骤，直到移动机器人完成该工作区域内的工作。
进一步地，所述获取移动机器人首次寻找到的障碍物边缘的长直线的步骤还包括：
移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走；
预定时间T0内多次获取移动机器人的行走角度；
基于多个所述移动机器人的行走角度，判断多个行走角度值是否在A0附近且变化量小于阈值D0；
如果是，则以障碍物边缘为获取到的长直线。
进一步地，所述如果是，则以障碍物边缘为获取到的长直线的步骤还包括：
如果否，则在移动机器人运行预定时间t0或预定距离d0后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
进一步地，所述如果是，则以障碍物边缘为获取到的长直线的步骤后还包括：
获取移动机器人沿障碍物行走的时间；
基于所述移动机器人沿障碍物行走的时间，判断移动机器人沿障碍物行走的时间是否大于预定值；
如果是则停止沿障碍物边缘行走并控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
进一步地，所述如果是，则以障碍物边缘为获取到的长直线的步骤还包括：
获取移动机器人沿障碍物行走的旋转角度；
基于所述移动机器人沿障碍物行走的旋转角度，判断移动机器人沿障碍物行走的旋转角度是否大于预定值；
如果是则停止沿障碍物边缘行走并控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
进一步地，所述基于所述长直线建立直角坐标系的步骤还包括：
以移动机器人为原点、以长直线的AO方向为X轴正方向、以长直线的AO方向垂直的左垂直方向或右垂直方向为Y轴正方向建立直角坐标系。
进一步地，所述获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度的步骤还包括：
移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走；
预定时间T1内多次获取移动机器人的行走角度；
基于多个所述机器人的行走角度，判断多个行走角度是否在角度A1附近且变化量小于阈值D1；
如果是，则将角度A1作为行走角度。
进一步地，所述如果是，则将角度A1作为行走角度的步骤还包括：
如果否，则在移动机器人运行预定时间t1或预定距离d1后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
进一步地，所述基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向的步骤还包括：
基于所述行走角度A1，获取行走角度A1与直角坐标系x轴正负方向、y轴正负方向的角度差Dx +、Dx -、Dy +、Dy -；
判断Dx +、Dx -、Dy +、Dy -是否小于阈值D2；
如果是，则将移动机器人当前角度修正为对应坐标轴的方向。
进一步地，所述如果是，则将移动机器人当前角度修正为对应坐标轴的方向的步骤还包括：
如果否，则在移动机器人运行预定时间t2或预定距离d2后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
本发明的目的之二在于克服背景技术中的缺陷，提供一种具有角度修正功能的移动机器人，本发明移动机器人的具体方案如下：
一种移动机器人，包括控制器、驱动***、角度传感器、沿边传感器、距离传感器和存储器，
所述沿边传感器用于检测工作区域内的障碍物边缘并使移动机器人沿障碍物边缘运动；
所述控制器用于：根据接收到的沿边传感器的信息检测障碍物边缘是否 存在长直线，以首次检测到的长直线作为参考建立直角坐标系，在再次检测到长直线时获取移动机器人行进角度并在该角度与直角坐标系的某一坐标轴方向的角度差值小于某一预设值时将移动机器人行进角度修正为对应的坐标轴方向，其中，所述长直线定义为长度大于某一预设值的直线或近似直线；
所述驱动***用于驱动移动机器人运动；
所述角度传感器用于实时获取移动机器人的行进角度；
所述距离传感器用于获取移动机器人的行走距离；
所述存储器用于存储直角坐标系信息及各预设值。
进一步地，所述角度传感器为陀螺仪或电子罗盘；
所述沿边传感器为红外传感器；
所述距离传感器为里程计。
进一步地，所述移动机器人为扫地机器人。
本发明公开的技术方案利用移动机器人的工作区域内的障碍物边缘的长直线作为参考以调整其行进角度，本发明方案成本低、容易实施且实施效果好，可用于移动机器人的覆盖式路径规划。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种移动机器人在工作区域内的角度修正方法的流程图；
图2为本发明实施例提供的获取移动机器人首次寻找到的障碍物边缘的长直线的方法流程图；
图3为本发明实施例提供的获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度的方法流程图；
图4为本发明实施例提供的将行进角度修正为对应的坐标轴方向的方法流程图；
图5为本发明实施例的清洁机器人的硬件构成图；
图6为本发明实施例中的移动机器人在工作区域内的轨迹示意图。
具体实施方式
下面将结合附图和具体实施例对本发明技术方案进行清楚、完整地描述，显然，这里所描述的实施例仅仅是发明的一部分实施例，而不是全部的实施例。基于本发明描述的具体实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明权利要求所限定的保护范围内。
请参阅图1，图1为本发明实施例提供的一种移动机器人在工作区域内的角度修正方法的流程图。
如图1所示，一种移动机器人在工作区域内的角度修正方法可以包括以下步骤S100至S400。
步骤S100：获取移动机器人首次寻找到的障碍物边缘的长直线。
具体的，扫地机器人(移动机器人)在工作区域内开机启动后，初始化角度信息(如将前进方向视为0°)，并以启动时的方向直线向前运动，由于工作区域是有限的，在直线运动一段时间内后必然碰到障碍物(包括墙及桌 子、沙发等家具)，控制扫地机器人(移动机器人)沿障碍物边缘移动。检测障碍物的边缘的长直线。其中所述长直线为长度大于某一预设值的直线或近似直线。
步骤S200：基于所述长直线建立直角坐标系。
具体的，以移动机器人为原点、以长直线的AO方向为X轴正方向、以长直线的AO方向垂直的左垂直方向或右垂直方向为Y轴正方向建立直角坐标系。然后将该直角坐标系储存至存储器。
步骤S300：获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度。
具体的，扫地机器人在建立了直角坐标系后，按清扫程序工作一段时间(如10至20秒)或行走预定距离(如5米至10米)后，开始直线运动直到碰到障碍物，然后通过红外传感器检测障碍物边缘并沿障碍物边缘运动，获取行进角度。
步骤S400：基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向。
具体的，当所述行进角度与直角坐标系的坐标轴方向的角度差值小于某一预设值时将行进角度修正为对应的坐标轴方向。重复步骤S300以及步骤S400，直到移动机器人完成该工作区域内的工作。
请参阅图2，图2为本发明实施例提供的获取移动机器人首次寻找到的障碍物边缘的长直线的方法流程图。
如图2所示，获取移动机器人首次寻找到的障碍物边缘的长直线的方法可以包括以下步骤S110至S150。
步骤S110：移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
具体的，扫地机器人(移动机器人)在工作区域内开机启动后，初始化角度信息(如将前进方向视为0°)，并以启动时的方向直线向前运动，由于工作区域是有限的，在直线运动一段时间内后必然碰到障碍(包括墙及桌子、沙发等家具)，扫地机器人用红外传感器检测障碍物边缘并保持探测障碍物边缘，使扫地机器人沿障碍物边缘行走。
步骤S120：预定时间T0内多次获取移动机器人的行走角度。
具体的，扫地机器人通过陀螺仪在预定时间T0(如2秒至5秒)内以固定频率(如100Hz)多次采集扫地机器人的行走角度并传输给控制器。
步骤S130：基于多个所述移动机器人的行走角度，判断多个行走角度值是否在A0附近且变化量小于阈值D0。
具体的，控制器通过计算，判断该多个行走角度数据是否位于A0(A0一般为该多个角度值的平均值)附近，且与A0的差值都小于阈值D0(本实施例中为1°)。
步骤S140：如果是，则以障碍物边缘为获取到的长直线。
具体的，如果满足上述条件，则认为扫地机器人在T0时间段是沿着角度值A0(相对扫地机器人启动时的角度)的长直线行走的；以障碍物边缘为获取到的长直线。
步骤S150：如果否，则在移动机器人运行预定时间t0或预定距离d0后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
具体的，如果不满足上述条件，则认为扫地机器人在T0时间段沿非长直线行走，扫地机器人按清扫程序工作一段时间t0(如10至20秒)或行走预定距离d0(如5米至10米)后，返回步骤S110。
为提高扫地机器人第一次寻找障碍边缘的长直线效率，扫地机器人在沿 障碍物行走的时间大于预设值(如10秒)或行走的旋转角度大于预设值(如180°)，如果是则停止沿障碍物边缘行走，并返回步骤S110，避免扫地机器人沿障碍物边缘多次运动或在受困区域内循环运动。
请参阅图3，图3为本发明实施例提供的获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度的方法流程图。
如图3所示，获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度的方法可以包括以下步骤S310至S350。
步骤S310：移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
具体的，扫地机器人在建立了直角坐标系后，按清扫程序工作一段时间(如10至20秒)或行走预定距离(如5米至10米)后，开始直线运动直到碰到障碍物，然后通过红外传感器检测障碍物边缘并沿障碍物边缘运动。
步骤S320：预定时间T1内多次获取移动机器人的行走角度。
具体的，此步骤S320与步骤S120基本相同，即检测当前障碍物边缘是否存在长直线。具体地，扫地机器人通过陀螺仪在预定时间T1(如2秒至5秒)内以固定频率(100Hz)多次采集扫地机器人的行走角度并传输给控制器。
步骤S330：基于多个所述机器人的行走角度，判断多个行走角度是否在角度A1附近且变化量小于阈值D1。
具体的，控制器通过计算，判断该多个行走角度数据是否位于A1(A1一般为该多个角度值的平均值)附近，且与A1的差值都小于阈值D1(本实施例中为1°)。
步骤S340：如果是，则将角度A1作为行走角度。
具体的，如果满足上述条件，则认为扫地机器人在T1时间段是沿着角度值A1(相对步骤S13中创建的直角坐标系)的长直线行走的，即A1为扫地 机器人行进角度。
步骤S350：如果否，则在移动机器人运行预定时间t1或预定距离d1后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
具体的，如果不满足上述条件，则认为扫地机器人在T1时间段沿非长直线行走，扫地机器人按清扫程序工作一段时间t1(如10至20秒)或行走预定距离d1(如5米至10米)后，返回步骤S310。
请参阅图4，图4为本发明实施例提供的将行进角度修正为对应的坐标轴方向的方法流程图。
如图4所示，将行进角度修正为对应的坐标轴方向的方法可以包括以下步骤S410至S440。
步骤S410：基于所述行走角度A1，获取行走角度A1与直角坐标系x轴正负方向、y轴正负方向的角度差Dx +、Dx -、Dy +、Dy -。
具体的，控制器分别计算A1与x轴正方向的角度差Dx +、A1与x轴负方向的角度差Dx -、A1与y轴正方向的角度差Dy +以及A1与y轴正方向的角度差Dy -。
步骤S420：判断Dx +、Dx -、Dy +、Dy -是否小于阈值D2。
具体的，通过比较Dx +、Dx -、Dy +、Dy -与阈值D2(本实施例中为1°)的大小，
步骤S430：如果是，则将移动机器人当前角度修正为对应坐标轴的方向。
具体的，如果Dx +、Dx -、Dy +、Dy -之一小于阈值D2，则认为长直线应当与对应的直角坐标系的坐标轴平行，扫地机器人因累计误差导致该角度差，需进行自身角度修正。如果Dx +小于阈值D2，则将扫地机器人当前运行方向修正为坐标系的x轴正方向；如果Dx -小于阈值D2，则将扫地机器人当前运 行方向修正为坐标系的x轴负方向；如果Dy +小于阈值D2，则将扫地机器人当前运行方向修正为坐标系的y轴正方向；如果Dy -小于阈值D2，则将扫地机器人当前运行方向修正为坐标系的y轴负方向。
步骤S440：如果否，则在移动机器人运行预定时间t2或预定距离d2后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
具体的，如果Dx +、Dx -、Dy +、Dy -都不小于D2，则认为长直线本身与坐标系的各坐标轴方向并不平行，不能作为修正扫地机器人的参考，扫地机器人按清扫程序行走t2(如10至20秒)或行走预定距离d2(如5米至10米)后返回步骤S310。
本实施例中的移动机器人以扫地机器人为例进行说明，如图5所示，图5为本发明实施例的清洁机器人的硬件构成图；本实施例中的扫地机器人包括控制器10、驱动***20、角度传感器30(本实施例中为陀螺仪)、距离传感器50(本实施例中为里程计)、沿边传感器40和存储器60。其中，沿边传感器40用于检测工作区域内的障碍物边缘并使移动机器人沿障碍物边缘运动，本实施例中采用红外传感器，安装在扫地机器人侧边，用于检测工作区域内的障碍物边缘的长直线，长直线定义为长度大于某一预设值(如0.5米至2米)的直线或近似直线；控制器10用于：根据接收到的沿边传感器的信息检测障碍物边缘是否存在长直线，以首次检测到的长直线作为参考建立直角坐标系，在再次检测到长直线时获取移动机器人角度并在该角度与直角坐标系的某一坐标轴方向的角度差值小于某一预设值时(如5°至10°)将移动机器人角度修正为对应的坐标轴方向；所述角度传感器30用于实时获取移动机器人的行进角度，本实施例中具体为陀螺仪，也可以采用电子罗盘；所述距离传感器50用于获取移动机器人的行走距离，本实施例中为里程计；所 述存储器60用于存储直角坐标系信息及各预设值以及预设的清扫程序，存储器可为独立的存储器，也可以为集成在控制器的存储器。所述驱动***20用于驱动移动机器人运动。
下面结合图6对本发明的实施过程进行完整的描述，图6为本发明实施例中的移动机器人在工作区域内的轨迹示意图。
如图6所示，扫地机器人的工作区域为大致呈矩形，工作区域内包括椭圆形障碍物B1(如桌子)以及矩形障碍物B2(如沙发)。
扫地机器人M从点P0出发，然后直线运动至点P1，此时检测到桌子A1；扫地机器人的以左侧沿桌子B1运动(可通过算法可使扫地机器人的左侧或右侧沿障碍运动)，扫地机器人沿桌子A1运动的过程中的点P1至点P2为路径为弧形(在此期间认为桌子B1边缘不存在长直线)。
当扫地机器人到达点P2时，已沿桌子B1行走了预定时间、预定距离或预定旋转角度，因此停止沿桌子B2运动，并以当前方向直线向前运动直到运动至点P3，在点P3处检测到墙边缘，然后扫地机器人沿墙边缘运动。
在点P3和点P4之间检测到了长直线，此时以该长直线为参考建立直角坐标系：即以点P4为原点，以扫地机器人当前方向为x轴正方向，垂直于长直线的扫地机器人左侧方向为y轴正方向建立直角坐标系。扫地机器人按清扫程序进行清扫，直到在点P5检测到沙发B2，扫地机器人开始沿沙发B2运动。
在点P5和点P6之间检测到了长直线，此时从陀螺仪获取该长直线的角度大致为150°(相对点P4处建立的直角坐标系)，然后计算长直线角度与直角坐标系各坐标轴方向的角度差，其最小角度差Dx -为大约30°，远大于设定的阈值(1°)，认为该长直线本身与坐标系各坐标轴方向都不平行，因 此不对扫地机器人当前行进方向的角度进行修正，扫地机器人在点P6时以当前方向直线向前运动直到在点P7检测到墙边缘，然后扫地机器人沿墙边缘运动。
在点P7和点P8之间检测到长直线，此时从陀螺仪处获取长直线的角度为89.5°，该长直线方向与直角坐标系的y轴正方向之间的角度差为0.5°，小于设定的阈值(1°)，此时将扫地机器人在点P8处的方向修正为90°。
如此循环，直到扫地机器人完成在该矩形区域的工作。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (16)

  1. 一种移动机器人在工作区域内的角度修正方法，其特征在于，包括：
    获取移动机器人首次寻找到的障碍物边缘的长直线；
    基于所述长直线建立直角坐标系；
    获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度；
    基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向。
  2. 根据权利要求1所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向的步骤还包括：
    当所述行进角度与直角坐标系的坐标轴方向的角度差值小于某一预设值时将行进角度修正为对应的坐标轴方向。
  3. 根据权利要求1所述的移动机器人在工作区域内的角度修正方法，其特征在于，
    所述长直线为长度大于某一预设值的直线或近似直线。
  4. 根据权利要求1所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向之后还包括：
    重复获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度的步骤以及基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向的步骤，直到移动机器人完成该工作区域内的工作。
  5. 根据权利要求1所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述获取移动机器人首次寻找到的障碍物边缘的长直线的步骤还 包括：
    移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走；
    预定时间T0内多次获取移动机器人的行走角度；
    基于多个所述移动机器人的行走角度，判断多个行走角度值是否在A0附近且变化量小于阈值D0；
    如果是，则以障碍物边缘为获取到的长直线。
  6. 根据权利要求5所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述如果是，则以障碍物边缘为获取到的长直线的步骤还包括：
    如果否，则在移动机器人运行预定时间t0或预定距离d0后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
  7. 根据权利要求6所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述如果是，则以障碍物边缘为获取到的长直线的步骤后还包括：
    获取移动机器人沿障碍物行走的时间；
    基于所述移动机器人沿障碍物行走的时间，判断移动机器人沿障碍物行走的时间是否大于预定值；
    如果是则停止沿障碍物边缘行走并控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
  8. 根据权利要求2所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述如果是，则以障碍物边缘为获取到的长直线的步骤还包括：
    获取移动机器人沿障碍物行走的旋转角度；
    基于所述移动机器人沿障碍物行走的旋转角度，判断移动机器人沿障碍物行走的旋转角度是否大于预定值；
    如果是则停止沿障碍物边缘行走并控制移动机器人直线运动直到遇到障 碍物并沿障碍物边缘行走。
  9. 根据权利要求4所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述基于所述长直线建立直角坐标系的步骤还包括：
    以移动机器人为原点、以长直线的AO方向为X轴正方向、以长直线的AO方向垂直的左垂直方向或右垂直方向为Y轴正方向建立直角坐标系。
  10. 根据权利要求1所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述获取移动机器人再次寻找到障碍物边缘的长直线时的行进角度的步骤还包括：
    移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走；
    预定时间T1内多次获取移动机器人的行走角度；
    基于多个所述机器人的行走角度，判断多个行走角度是否在角度A1附近且变化量小于阈值D1；
    如果是，则将角度A1作为行走角度。
  11. 根据权利要求10所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述如果是，则将角度A1作为行走角度的步骤还包括：
    如果否，则在移动机器人运行预定时间t1或预定距离d1后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
  12. 根据权利要求1所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述基于所述行进角度以及直角坐标系，将行进角度修正为对应的坐标轴方向的步骤还包括：
    基于所述行走角度A1，获取行走角度A1与直角坐标系x轴正负方向、y轴正负方向的角度差Dx +、Dx -、Dy +、Dy -；
    判断Dx +、Dx -、Dy +、Dy -是否小于阈值D2；
    如果是，则将移动机器人当前角度修正为对应坐标轴的方向。
  13. 根据权利要求12所述的移动机器人在工作区域内的角度修正方法，其特征在于，所述如果是，则将移动机器人当前角度修正为对应坐标轴的方向的步骤还包括：
    如果否，则在移动机器人运行预定时间t2或预定距离d2后控制移动机器人直线运动直到遇到障碍物并沿障碍物边缘行走。
  14. 一种移动机器人，其特征在于，包括控制器(10)、驱动***(20)、角度传感器(30)、沿边传感器(40)、距离传感器(50)和存储器(60)，
    所述沿边传感器(40)用于检测工作区域内的障碍物边缘并使移动机器人沿障碍物边缘运动；
    所述控制器(10)用于：根据接收到的沿边传感器的信息检测障碍物边缘是否存在长直线，以首次检测到的长直线作为参考建立直角坐标系，在再次检测到长直线时获取移动机器人行进角度并在该角度与直角坐标系的某一坐标轴方向的角度差值小于某一预设值时将移动机器人行进角度修正为对应的坐标轴方向，其中，所述长直线定义为长度大于某一预设值的直线或近似直线；
    所述驱动***(20)用于驱动移动机器人运动；
    所述角度传感器(30)用于实时获取移动机器人的行进角度；
    所述距离传感器(50)用于获取移动机器人的行走距离；
    所述存储器(60)用于存储直角坐标系信息及各预设值。
  15. 根据权利要求14所述的移动机器人，其特征在于：
    所述角度传感器(30)为陀螺仪或电子罗盘；及/或
    所述沿边传感器(40)为红外传感器；及/或
    所述距离传感器(50)为里程计。
  16. 根据权利要求14所述的移动机器人，其特征在于：
    所述移动机器人为扫地机器人。
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