WO2020228263A1 - Procédé de commande pour robot automoteur et système de robot automoteur - Google Patents

Procédé de commande pour robot automoteur et système de robot automoteur Download PDF

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Publication number
WO2020228263A1
WO2020228263A1 PCT/CN2019/115674 CN2019115674W WO2020228263A1 WO 2020228263 A1 WO2020228263 A1 WO 2020228263A1 CN 2019115674 W CN2019115674 W CN 2019115674W WO 2020228263 A1 WO2020228263 A1 WO 2020228263A1
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Prior art keywords
point
self
boundary line
mobile robot
control method
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PCT/CN2019/115674
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English (en)
Chinese (zh)
Inventor
任雪
崔江伟
袁立超
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Suzhou Cleva Precision Machinery and Technology Co Ltd
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Suzhou Cleva Precision Machinery and Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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

Definitions

  • the invention relates to the field of intelligent control, in particular to a control method of a self-moving robot and a self-moving robot system.
  • random mowing is a main low-cost method for mowing robots. That is, the robot moves forward in a delineated range such as an electronic boundary until it encounters an obstacle or boundary, rotates a random angle, and then continues to move forward until it encounters an obstacle or boundary again, and then does the same processing, and so on.
  • the lawn mower robot completes its task or detects that its battery is low, it will look for the nearest boundary line and return to charge along the boundary line.
  • the boundary lines of the obstacles and the boundary of the working area use wires, when the lawnmower robot encounters the wires around the obstacle, it will often mistake it for the wires located at the boundary of the working area and continue to walk along the wires.
  • the wire surrounding the obstacle often forms a closed circle with a small radius, which causes the mower to fall into an endless loop of walking around the closed circle when performing the return.
  • An object of the present invention is to provide a control method for a self-moving robot capable of quickly identifying a working area.
  • Another object of the present invention is to provide a self-moving robot system capable of quickly identifying a working area.
  • the present invention provides a control method of a self-moving robot, which includes the following steps:
  • the self-mobile robot walks to the boundary line and adjusts to the posture of walking along the boundary line;
  • step S3. Repeat step S2 until the number of times the preset condition is reached is greater than the preset value, and record the current position point as the second point;
  • S5. Determine whether the current boundary line is the target boundary line according to whether the calculated distance is less than the threshold.
  • the current position point is recorded as the first point and the timing is started, and in the step S3, the timing is interrupted when the second point is recorded.
  • the above steps S2 to S5 are repeated, and the steps S2 to S5 are repeated. If the self-mobile robot detects a preset event, trigger Interrupt, jump out of the loop of steps S2 to S5.
  • the number of times the self-mobile robot reaches the preset condition reaches a preset value, and the current position point every time the preset condition is reached is recorded as the first One point, get multiple first points, and calculate the distance between each first point and the second point.
  • the distance between any first point and the second point is less than the threshold, and the current boundary line is determined as the target boundary line.
  • the distance between a preset number of first points and second points is less than a threshold, and the current boundary line is determined to be the target boundary line.
  • the average value of the sum of the distances between the multiple first points and the second points is less than a threshold, and the current boundary line is determined as the target boundary line.
  • the mobile robot rotates at a preset angle and then moves forward in a straight line, leaving the current boundary line until it reaches another part of the boundary line, and then repeats the above process. Steps S1 to S5.
  • the preset condition is a preset time interval.
  • the preset condition is that the wheel speeds of the driving wheels on both sides of the mobile robot are different.
  • the self-mobile robot is in the return charging mode.
  • adjusting the posture to walk along the boundary line includes turning the heading of the self-mobile robot toward the direction of returning to the base station, so that all The front and back direction of the mobile robot is parallel to the extension direction of the boundary line.
  • the self-mobile robot is in the working mode, and the self-mobile robot, according to the judgment result in step S5, if the target boundary line is a preset working boundary line, the self-mobile robot walks along the boundary line for a full circle And perform work tasks at the same time.
  • adjusting the posture to walk along the boundary line includes turning the heading of the self-mobile robot toward the side with a larger angle between the current traveling direction and the boundary line.
  • calculating the distance between the first point and the second point includes:
  • the parameters for calculating the second point include:
  • calculating the parameters of the second point further includes:
  • S415 Calculate the parameters of the reference circle center according to the parameters of the first point
  • S416 Calculate the parameters of the second point according to the parameters of the center of the circle.
  • Is the x direction parameter of the first point The first point is the y-direction parameter, ⁇ i is the angle of the first point parameter, R i is the radius from the track of the mobile robot, dir i is from track direction of the mobile robot, ⁇ i is the angular velocity from the mobile robot; [Delta] t i is the time interval for the self-mobile robot to travel from the first point to the second point, Is the x direction parameter of the reference circle center, Is the y direction parameter of the reference circle center, Is the reference circle center angle parameter, Is the x-direction parameter of the current position point, Is the y direction parameter of the current position point, ⁇ i+1 is the angle parameter of the second point, and ⁇ d is the distance between the first point and the second point.
  • the present invention also relates to a self-moving robot system, including a self-moving robot and a boundary line defining a working area.
  • the self-moving robot has a walking module that drives the self-moving robot and a control module connected to the walking module.
  • the module includes a driving wheel that moves within the range defined by the boundary line, the control module is used to control the walking module to make the self-mobile robot walk, and the control module includes:
  • the patrol unit is used to control the self-mobile robot to the boundary line and adjust the pose to walk along the boundary line, and then control the self-mobile robot to walk along the boundary line, record the current position point that reaches the preset condition within the preset number of times as the first point, and When the number of times the preset condition is reached is greater than the preset value, the current position point is recorded as the second point;
  • the calculation unit is configured to calculate the parameters of the second point based on the parameters of the first point that reaches the preset condition at least once and the walking parameters of the self-mobile robot, and calculate the first point based on the parameters of the first point and the parameters of the second point The distance from the second point;
  • the pushing unit controls whether the self-mobile robot leaves the current boundary line according to whether the calculated distance is less than the threshold.
  • control module further includes a timing unit for timing the self-mobile robot from the first point to the second point.
  • the preset condition is a preset time interval.
  • the driving wheels include two, which are respectively located on two sides of the self-moving robot, and the preset condition is that the wheel speeds of the two driving wheels are different.
  • the beneficial effect of the present invention by calculating the distance between the first point and the second point, and controlling the walking of the self-mobile robot according to the comparison result of the calculated distance and the threshold, thereby avoiding the self-mobile robot from following the boundary line of the island Cycle walking ensures that the self-moving robot automatically works more reliably.
  • Fig. 1 is a schematic diagram of a self-moving robot in a preferred embodiment of the present invention
  • Figure 2 is a schematic diagram of a self-moving robot system in a preferred embodiment of the present invention
  • Figure 3 is a first control flow chart of the self-moving robot in the preferred embodiment of the present invention.
  • Fig. 4 is a sub-flow chart of step S2 in Fig. 3;
  • FIG. 5 is a sub-flow chart of step S3 in FIG. 3;
  • FIG. 6 is a sub-flow chart of step S5 in FIG. 3;
  • FIG. 7 is a detailed flowchart of the self-mobile robot charging and returning to the edge mode in a preferred embodiment of the present invention.
  • FIG. 8 is a flowchart of calculating a second point parameter by a mobile robot in a preferred embodiment of the present invention.
  • Fig. 9 is a second control flow chart of the self-moving robot in the preferred embodiment of the present invention.
  • the self-moving robot of the present invention may be an automatic lawn mower, or an automatic vacuum cleaner, etc., which automatically walks in the work area to cut grass and vacuum dust.
  • the self-mobile robot is an example of a lawn mower.
  • the working area may be a lawn.
  • the self-moving robot is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment, etc., suitable for unattended equipment.
  • the self-moving robot is a lawn mower 100, which includes: a body, a walking module arranged on the body, a limit detection module, Energy module and control module.
  • the lawn mower also includes a work module, which is used to perform specific tasks of the lawn mower.
  • the work module includes a lawn mower blade, a cutting motor, etc., and may also include a mowing height adjustment mechanism and other components that optimize or adjust the mowing effect. .
  • the walking module is used to drive the lawn mower to walk and turn in the working area, and it is usually composed of a wheel set installed on the lawn mower and a drive motor that drives the wheel set to travel.
  • the walking module includes two driving wheels 21 located on both sides of the rear of the fuselage and two universal wheels 31 located on the front of the fuselage.
  • the boundary detection module is used to detect the relative position relationship between the lawn mower and the boundary line, which may specifically include one or more of the distance, angle, and the inner and outer directions of the boundary line.
  • the composition and principle of the limit detection module can be various, such as infrared, ultrasonic, collision detection, magnetic induction, etc., and the location and number of sensors and corresponding signal generating devices are also diverse.
  • the energy module is used to provide energy for various tasks of the lawn mower. It includes a rechargeable battery and a charging connection structure.
  • the charging connection structure is usually a charging electrode sheet that can be exposed outside the lawn mower.
  • the control module is used to control the automatic walking and working of the lawn mower. It is electrically connected with the walking module and the limit detection module. It is the core component of the lawn mower. Its functions include controlling the working module to start or stop, generating a walking path and Control the walking module according to the walking, judge the power of the energy module and instruct the lawn mower to return to the base station to automatically dock and charge and so on.
  • the control module usually includes a single-chip microcomputer and memory and other peripheral circuits.
  • the above-mentioned lawn mower also includes various sensors for sensing the walking state of the lawn mower, such as: tipping, ground-off, collision sensors, etc., which will not be detailed here.
  • the lawn mower 100 and the boundary line defining its working area constitute a self-mobile robot system
  • the self-mobile robot system also includes a base station 200.
  • the base station can be located inside or outside the work area, and connected to the mains or other power supply system for the lawn mower to return to charge.
  • the base station can transmit pulse code signals along the boundary line to form an electromagnetic signal near the boundary line.
  • the control module can control the operation of the drive motor according to the change of the electromagnetic signal near the boundary line and the difference between the internal and external signals obtained by the state sensor of the boundary line, so that When the lawn mower detects the boundary line, it turns to avoid it and smoothly returns to the base station for charging along the boundary line.
  • the boundary line includes a peripheral boundary line 310 that defines the internal working area and an island boundary line 320 that defines an obstacle 330.
  • the boundary detection module includes two boundary line sensors 40 located at the front of the body. When the distance between the two lines of the island is less than a certain value When the machine cannot correctly identify the boundary signal, the fixed value is related to the characteristics of the boundary signal and the characteristics of the boundary line sensor. As a special case, when S is less than the distance L between two boundary line sensors, the machine cannot correctly identify the boundary signal. Therefore, when the machine starts from a certain point on the island and starts to walk along the boundary, it cannot get out of the island.
  • the control method of the lawn mower in the specific embodiment of the present invention will be described in detail below, specifically a method for quickly identifying the working area when the lawn mower is walking.
  • the method for the lawn mower to identify the working area includes the following steps:
  • the lawnmower walks to the boundary line and adjusts to the position of walking along the boundary line;
  • the above steps are used for the lawn mower to execute the edge mode, which can quickly determine whether the current boundary line is the target boundary line.
  • the target boundary line is the island boundary line in this embodiment, so as to prevent the lawn mower from walking along the island boundary line. Case.
  • step S2 specifically includes the following sub-steps:
  • step S3 specifically includes the following sub-steps:
  • step S32 Determine whether the preset condition is reached, and if the preset condition is not reached, continue to perform step S31;
  • step S5 specifically includes the following sub-steps:
  • the lawn mower can be controlled differently according to the determination results of the above steps.
  • the lawn mower meets the return charging conditions, such as detecting that the battery power is lower than the preset value, or the current work plan is completed, it enters the return charging mode along the boundary.
  • the lawn mower executes the work along the edge, it is determined that the currently walking boundary line is the boundary line where the work needs to be performed, and then it starts to walk one week along the boundary line and cut the grass.
  • the lawn mower executes the regressive charging mode along the boundary limit. At this time, it is necessary to quickly find the nearest boundary line.
  • the method for the lawn mower to walk to the boundary line in the above step S1 may be to perform straight-line walking until the boundary line is reached.
  • the front and rear direction of its fuselage may be at an angle to the boundary line, and the position of the lawn mower needs to be adjusted.
  • the adjustment of the position in the above step S1 is to make the heading of the robot turn toward the direction of returning to the base station.
  • the direction of returning to the base station is the direction of docking with the base station.
  • the top of the base station 200 is the charging direction.
  • the direction of turning is the direction of docking with the base station.
  • step S1 specifically includes: S11, lawn mower Walking to the boundary line, preferably walking in a straight line, can quickly find the boundary line; S12, judge whether the lawn mower reaches the boundary line, if it does not reach the boundary line, proceed to step S11; S13, if the boundary line is reached, adjust the position Posture, that is, the lawn mower is adjusted so that the front and rear direction of its body is roughly parallel to the boundary line.
  • the lawnmower needs to be recharged, so its posture adjustment includes turning the lawnmower toward the direction of recharging. The front and back of the lawnmower is roughly parallel to the boundary line, forming a posture that walks along the boundary line. So that the heading is towards the direction of return,
  • step S31 is specifically walking along the boundary line and recording the linear velocity of the left wheel and the linear velocity of the right wheel; correspondingly, the preset condition in step S32 is that the linear velocity of the left wheel is different from the linear velocity of the right wheel.
  • step S33 If it is detected that the linear velocity of the left wheel is different from the linear velocity of the right wheel, the timing is interrupted and the current position point is recorded as the second point Pi +1 .
  • the robot walks along the boundary line and records the linear velocity of the revolver And right wheel linear velocity If or If there is a change, the current position is recorded as Pi +1 (i is a positive integer), and the timing is interrupted; if with No change means that the curvature of the track remains the same, and no new points are recorded.
  • the preset event may be detection of docking with the base station for charging.
  • the preset event can be the detection of a return signal and confirming that it has reached the vicinity of the base station, then the above determination cycle can be jumped out; another special case, when the signal sent by the base station is detected, the above determination cycle can be jumped out; As a special case, when the preset identifier of the base station is detected, the above determination cycle can be jumped out. In this embodiment, until the robot detects that it is connected to the base station for charging, it triggers an interruption and executes the charging action.
  • the preset condition in step S3 is that the wheel speeds of the driving wheels on both sides of the lawn mower are different.
  • the preset condition may also be a preset time interval.
  • the edge working mode of the lawn mower robot that is, the robot walks along the boundary line for one week and simultaneously mows the lawn.
  • the lawn mower will follow the judgment result in step S5, such as the current boundary line is the preset working boundary line, for example, the preset working boundary line is the island boundary line, and the lawn mower walks along the island boundary line Mowing the grass in one week at the same time; if the preset working boundary line is the outer boundary line, the lawn mower walks along the outer boundary line for a week and cuts the grass at the same time.
  • the mower when cutting grass along the border line, the mower does not need to turn its heading toward the direction of returning to the base station when it reaches the border line to turn. It can turn its heading toward the side with a larger angle between the current direction of travel and the border line to avoid The turning angle of the lawn mower is too large to save turning time.
  • a preset time can be set to walk along the boundary line before judging whether the preset condition is reached, such as recording After the first point, walk along the boundary line for 10-30 seconds, and then judge whether the preset conditions are reached.
  • steps S3 and S4 it is possible to limit the number of times the lawn mower reaches a preset condition to reach a preset value, where the preset value is an integer greater than 1, that is to say The lawn mower needs to reach the preset conditions many times, and record the current position point each time the preset conditions are reached as the second point, get multiple second points, calculate the distance between the first point and each second point, you can It is calculated every time a second point is recorded, or it can be calculated after all the second points are recorded.
  • the calculated distance is less than the threshold value, it can also be divided into multiple cases, as long as any second point and the first
  • the distance between the points ⁇ d i is less than the threshold, that is, the current boundary line is determined to be the target boundary line; in other solutions, the distance between the preset number of second points and the first point is less than the threshold, and the current boundary line is determined to be the target boundary
  • the critical ratio or a specified critical value
  • the critical ratio is 100% (or the critical value is 30)
  • all ⁇ d are required When all i are less than the threshold, it is judged as an island.
  • the average value of the sum of the distances between the multiple second points and the first point is less than the threshold, and the current boundary line is determined to be the target boundary line, that is, the average value If it is less than the threshold, it is judged as an island.
  • the distance calculated by the above two ways of avoiding misjudgment is less than the threshold value, and the control of the lawn mower is the same as the previous solution, and will not be repeated here.
  • step S4 the specific process of calculating the distance ⁇ d between the first point and the second point in step S4 is shown, wherein the parameters for calculating the second point Pi +1 in step S41 can be used according to the judgment result of the wheel speed difference Different calculation methods.
  • step S41 comprises: S411, is calculated from a first point to a second point P i P i + 1 difference in wheel speed, angular velocity, the linear velocity of the center of mass, the radius of track; S412, determines whether the wheel speed difference is equal to zero; S413, wheel in a first speed difference parameter calculation parameters of point P i P i + 1 of the second point is equal to zero; S414, calculates the wheel speed difference is not equal to zero from a first point P i to point P i + 1 of the second angular velocity, the centroid line speed, track radius; S415,, according to the parameters of the first calculation of the reference point P of the center O i of the parameter i; S416, parameters of the second point P i + 1 is calculated according to the parameter with reference to the center O i.
  • mower to travel from a first time point to a second point P i P i + 1 is the interval ⁇ t i; mower traveling from the first point to the process of the second point P i P i + 1 of ,
  • the linear velocity of the revolver is The linear velocity of the right wheel is
  • W car which can be considered as the walking parameters of the lawn mower.
  • the first known point parameter P i of among them Is the x direction parameter of the known point, Is the y direction parameter of the known point, and ⁇ i is the angle parameter of the known point.
  • the above calculation method it can be quickly determined whether the current boundary line is an island boundary line, and regardless of the shape of the island boundary line, the above algorithm can be used to meet the needs of different users, and the setting operation is convenient, and the memory is small. The processing speed is faster.
  • the present invention also provides a self-moving robot system, including a self-moving robot and a boundary line defining a working area.
  • the self-moving robot is a lawn mower in this embodiment, and has the ability to drive the lawn mower to work.
  • the walking module includes a driving wheel that moves within the range defined by the boundary line.
  • the control module is used to control the walking module to make the self-mobile robot walk.
  • the control module includes:
  • the patrol unit is used to control the self-mobile robot to the boundary line and adjust it to a pose that walks along the boundary line. Repeated execution controls the self-mobile robot to walk along the boundary line and records the current position as the first point when the preset conditions are reached, until it reaches the preset The number of conditions reaches the preset value, and the current position point is recorded as the second point;
  • Timing unit used for timing the lawn mower from the first point to the second point
  • the calculation unit is configured to calculate the parameters of the second point according to the parameters of the first point and the walking parameters of the self-mobile robot, and calculate the first point that reaches the preset condition at least once based on the parameters of the first point and the parameters of the second point The distance from the second point;
  • the pushing unit controls whether the lawn mower leaves the current boundary line according to whether the calculated distance is less than the threshold.
  • the lawn mower When the lawn mower is under low power and needs to go home, if the calculated distance is less than the threshold, the lawn mower will be controlled to leave the current boundary line.
  • the lawn mower can rotate in place by a preset angle and then move forward in a straight line, leaving the current boundary line , Until it reaches the other part of the boundary line, so that it can be recognized as soon as possible that the lawn mower is on the boundary line of the island, without spending too much time and saving power.
  • the current boundary line is the island boundary line.
  • the lawn mower walks along the island boundary line for a week and performs work tasks at the same time, such as cutting grass. If the current boundary line is the outer boundary line, the self-mobile robot walks along the outer boundary line for a full circle and performs work tasks at the same time.
  • the lawn mower executes the working mode along the boundary line, it can cut the grass on the boundary of the isolated island and ensure that the boundary of the isolated island is not over-cut.
  • the lawnmower By calculating the distance between the first point and the second point, and controlling the walking of the lawnmower according to the comparison result of the calculated distance and the threshold, the lawnmower is prevented from walking along the boundary line of the island and ensures the cutting The automatic operation of the grass machine is more reliable.
  • the method for the lawn mower to identify the working area includes the following steps:
  • the lawn mower walks to the boundary line and adjusts to the position of walking along the boundary line;
  • step S3' Repeat step S2' until the number of times the preset condition is reached reaches the preset value, and record the current position point as the second point;
  • S5' Determine whether the current boundary line is the target boundary line according to whether the calculated distance is less than the threshold.
  • the above steps are used for the lawn mower to execute the edge mode, which can quickly and accurately determine whether the current boundary line is the target boundary line.
  • the target boundary line is the island boundary line in this embodiment, so as to avoid the lawn mower from following the island boundary line.
  • step S3' the timing is interrupted when the second point is recorded.
  • step S3' the timing is interrupted when the second point is recorded.
  • the preset value k can be set to 30, that is, the lawn mower needs to record 30 first points, and the second point is the point recorded for the 31st time.
  • the distance between a preset number of first points and second points may be less than the threshold, that is, there is a critical ratio (or a designated critical value), as long as the number of ⁇ d i is less than the threshold, it is determined as An island, for example, when the critical ratio is 100% (or the critical value is 30), it is required that all ⁇ d i are less than the threshold before it is judged as an island.
  • the average If it is less than the threshold, that is, the average value of the sum of the distances between the first points and the second points is less than the threshold, it is determined as an island.
  • the control is the same as the control method of the first lawn mower.
  • the preset condition can be a preset time interval or the wheel speed of the driving wheels on both sides of the lawn mower. different.
  • the specific method of adjusting the posture to walk along the boundary line can also refer to the first lawn mower control method.
  • the calculation of the distance between the first point and the second point can also refer to the calculation steps in the first lawn mower control method, which will not be repeated here.
  • This embodiment also relates to a lawn mower system, including a lawn mower and a boundary line defining a working area.
  • the lawn mower has a walking module that drives it and a control module connected to the walking module.
  • the walking module is included on the boundary line.
  • the control module is used to control the walking module to make the mower walk.
  • the control module includes: a patrol unit, which is used to control the self-mobile robot to the boundary line and adjust it to the position of walking along the boundary line, and then control The self-mobile robot walks along the boundary line, records the current position point that meets the preset conditions within the preset times as the first point, and records the current position point as the second point when the preset conditions are reached more than the preset value; the calculation unit , Used to calculate the parameters of the second point based on the parameters of the first point that reaches the preset condition at least once and the walking parameters of the self-mobile robot, and calculate the first point and the second point based on the parameters of the first point and the second point The distance between two points; the pushing unit controls whether the self-moving robot leaves the current boundary line according to whether the calculated distance is less than the threshold.
  • a patrol unit which is used to control the self-mobile robot to the boundary line and adjust it to the position of walking along the boundary line, and then control The self-mobile robot walks along the boundary line, records the current position point that meets the preset conditions
  • the control module also includes a timing unit for timing the lawn mower from the first point to the second point.
  • the distance between at least one first point and the second point is calculated, and the walking of the lawn mower is controlled according to the comparison result of the calculated distance and the threshold, thereby avoiding mowing.
  • the machine circulates along the boundary line of the island, which ensures that the mower automatically works more reliably.

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé de commande d'un robot automoteur comprenant les étapes suivantes : S1, lorsque le robot automoteur marche sur une ligne de frontière, le réglage du robot à une pose de marche le long de la ligne de frontière ; S2, la marche le long de la ligne de frontière, et lorsqu'une condition prédéfinie est remplie, l'enregistrement du point de position actuel en tant que premier point ; S3, la répétition de l'étape S2 jusqu'à ce que le nombre de fois où la condition prédéfinie correspond à la condition prédéfinie soit supérieur à une valeur prédéfinie, l'enregistrement du point de position actuel en tant que second point ; S4, le calcul de la distance entre le premier point et le second point qui remplit la condition prédéfinie au moins une fois ; et S5, la détermination si la ligne de frontière actuelle est une ligne de frontière cible selon une situation si oui ou non la distance calculée est inférieure à une valeur seuil. La distance entre le premier point et le second point est calculée, et la marche du robot automoteur est commandée en fonction du résultat de comparaison entre la distance calculée et la valeur seuil, le robot automoteur est ainsi empêché de marcher de manière circulaire le long de la ligne de frontière d'un îlot, ce qui permet de garantir le travail automatique du robot automoteur de manière plus fiable.
PCT/CN2019/115674 2019-05-15 2019-11-05 Procédé de commande pour robot automoteur et système de robot automoteur Ceased WO2020228263A1 (fr)

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