CN106292654B - Method and device for drawing regional map - Google Patents
Method and device for drawing regional map Download PDFInfo
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- CN106292654B CN106292654B CN201510297011.5A CN201510297011A CN106292654B CN 106292654 B CN106292654 B CN 106292654B CN 201510297011 A CN201510297011 A CN 201510297011A CN 106292654 B CN106292654 B CN 106292654B
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Abstract
The invention provides a method and a device for drawing a regional map, which can not only draw regional boundary map information but also obtain layout information in regional boundaries through movement in the moving process of a moving device, thereby being beneficial to the feasibility of path planning of the moving device. The invention discloses a method for drawing a regional map, wherein a signal source is arranged at the boundary of a region, and the method comprises the following steps: the moving device determines the direction of the current strongest signal and then moves according to the direction; when moving to the point of the first boundary of the area, the motion device moves along the first boundary in a fixed bypassing direction from the point until returning to the point, and the distance between the motion device and the nearest boundary of the area is kept constant at a first preset value in the moving process; the motion device records the coordinates of the passed points during movement to get a map of the area.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a method and a device for drawing a regional map.
Background
When the robot enters a new environment, the layout information of the new environment is completely unknown, and then it is very difficult for the robot to plan its own moving path according to the specific layout information of the new environment.
The moving path of the robot in the prior art mainly comes from the following two types:
programming the cruise solution: the cruise path of the robot is written in advance by a designer through programming software, then the written path program is stored in the robot, and finally the robot finishes cruise by itself through a loading program.
Manually controlling cruise: and manually observing the layout of the surrounding environment, and then controlling the robot to cruise by using the remote controller.
Therefore, in the prior art, path information of a robot is usually stored in the robot in advance by a designer, or the path of the robot is artificially planned according to the environment, but in real life, because the layout of each indoor where the robot is located is very different, if cruising is performed according to a set scheme, the robot cannot perform effective path planning, and therefore, how to acquire the indoor layout information is an important precondition for robot path planning.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for drawing a regional map, which enable a motion apparatus to draw boundary map information of a region during a moving process, and also obtain layout information within a boundary of the region through moving, thereby facilitating feasibility of path planning of the motion apparatus.
To achieve the above object, according to one aspect of the present invention, there is provided a method of drawing an area map.
The invention discloses a method for drawing a regional map, wherein a signal source is arranged at the boundary of a region, and the method comprises the following steps: the moving device determines the direction of the current strongest signal and then moves according to the direction; when moving to the point of the first boundary of the area, the motion device moves along the first boundary in a fixed bypassing direction from the point until returning to the point, and the distance between the motion device and the nearest boundary of the area is kept constant at a first preset value in the moving process; the motion device records the coordinates of the passed points during movement to get a map of the area.
Optionally, the method further comprises: the motion device moves in a mode of keeping the distance from the nearest regional boundary as a second preset value, and the second preset value is larger than the first preset value; in the moving process, when encountering an obstacle, the moving device moves along the boundary of the obstacle until the distance from the nearest area boundary is recovered to a second preset value, and then continues to move in a mode of keeping the distance from the nearest area boundary to the second preset value; the motion device records the coordinates of the passed points during movement to get a map within the region boundary.
Optionally, the method further comprises moving the motion device from a first preset point to a second preset point according to a mapping mode; the map drawing mode is as follows: the motion device calculates a first included angle between a connecting line of the two points and the horizontal direction according to the coordinate of the first preset point and the coordinate of the second preset point, and moves to the second preset point from the first preset point along a straight line according to the first included angle; and in the moving process, when an obstacle is encountered, the moving device moves along the boundary of the obstacle, and when the point of intersection of the boundary of the obstacle and the straight line is reached, the moving device continues to move along the straight line from the point until the second preset point is reached.
Optionally, the method further comprises moving the motion device from the first preset point to the second preset point in the non-mapping mode: the non-mapping mode is as follows: the motion device moves transversely or longitudinally from the first preset point until the abscissa or ordinate of the motion device is the same as the abscissa or ordinate of the second preset point, and then moves continuously along the longitudinal direction or the transverse direction until the second preset point is reached; during movement, when the motion device encounters an obstacle: the movement device moves along the boundary of the obstacle and judges whether the movement device moves to a point with the same abscissa or ordinate of a second preset value in the movement process; if so, judging whether the mobile robot can move longitudinally or transversely, if so, moving longitudinally or transversely to a second preset point, if not, continuing to move along the boundary of the obstacle until moving to another point which is the same as the abscissa or ordinate of the second preset point, and then moving longitudinally or transversely to the second preset point from the another point; otherwise, the movement means continue to move along the boundary of the obstacle until the ordinate or abscissa of the point on the boundary of the obstacle is the same as the ordinate or abscissa of the first preset point, then continue to move in the transverse or longitudinal direction until the abscissa or ordinate of the second preset point is the same, then continue to move in the longitudinal or transverse direction until the second preset point is reached.
According to another aspect of the present invention, there is provided an apparatus for mapping an area.
The invention relates to a device for drawing a regional map, wherein a signal source is arranged at the boundary of a region, and the device is characterized by comprising: the motion control module is arranged in the motion device and used for determining the direction of the current strongest signal and then controlling the motion device to move according to the direction; when moving to the point of the first boundary of the area, controlling the motion device to move along the first boundary from the point in a fixed bypassing direction until returning to the point, and controlling the motion device to keep the distance from the nearest boundary of the area to be a first preset value during the moving process; and the recording module is arranged in the motion device and used for recording the coordinates of points passed by the motion device in the moving process so as to obtain the map of the area.
Optionally, the motion control module is further configured to: controlling the movement device to move in a mode of keeping the distance between the movement device and the nearest zone boundary as a second preset value, wherein the second preset value is larger than the first preset value; when the moving device meets an obstacle in the moving process, the moving device is controlled to move along the boundary of the obstacle until the distance between the nearest area boundary and the boundary of the area returns to a second preset value, and then the moving device is controlled to continue to move in a mode of keeping the distance between the nearest area boundary and the boundary of the area to be the second preset value; the recording module is also used for recording the coordinates of the point where the motion device passes through in the moving process so as to obtain a map in the regional boundary.
Optionally, the motion control module is further configured to control the motion device to move from a first preset point to a second preset point according to a mapping mode; the map drawing mode is as follows: the motion device calculates a first included angle between a connecting line of the two points and the horizontal direction according to the coordinate of the first preset point and the coordinate of the second preset point, and moves to the second preset point from the first preset point along a straight line according to the first included angle; and in the moving process, when an obstacle is encountered, the moving device moves along the boundary of the obstacle, and when the point of intersection of the boundary of the obstacle and the straight line is reached, the moving device continues to move along the straight line from the point until the second preset point is reached.
Optionally, the motion control module is further configured to control the motion device to move from a first preset point to a second preset point according to a non-mapping mode; the non-mapping mode is as follows: the motion device moves transversely or longitudinally from the first preset point until the abscissa or ordinate of the motion device is the same as the abscissa or ordinate of the second preset point, and then moves continuously along the longitudinal direction or the transverse direction until the second preset point is reached; during movement, when the motion device encounters an obstacle: the motion device moves along the boundary of the obstacle and judges whether the motion device moves to a point with the same abscissa or ordinate as the second preset point in the moving process; if so, judging whether the mobile robot can move longitudinally or transversely, if so, moving longitudinally or transversely to a second preset point, if not, continuing to move along the boundary of the obstacle until moving to another point which is the same as the abscissa or ordinate of the second preset point, and then moving longitudinally or transversely to the second preset point from the another point; otherwise, the movement means continue to move along the boundary of the obstacle until the ordinate or abscissa of the point on the boundary of the obstacle is the same as the ordinate or abscissa of the first preset point, then continue to move in the transverse or longitudinal direction until the abscissa or ordinate of the second preset point is the same, then continue to move in the longitudinal or transverse direction until the second preset point is reached.
To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided an electronic apparatus.
An electronic device of an embodiment of the present invention includes: one or more processors; the storage device is used for storing one or more programs which, when executed by one or more processors, cause the one or more processors to implement the method for drawing a region map of the embodiments of the present invention.
To achieve the above object, according to still another aspect of an embodiment of the present invention, there is provided a computer-readable medium.
A computer-readable medium of an embodiment of the present invention has stored thereon a computer program that, when executed by a processor, implements a method of drawing an area map of an embodiment of the present invention.
According to the technical scheme of the invention, the motion device can determine a point close to the boundary of the area according to the strongest signal, then detours along the boundary of the area by starting from the point by a first set distance, and records the coordinate of the passed point in the moving process, so that a map of the boundary of the passed area is drawn, and the boundary information of the area is obtained; however, since the specific layout information in the area cannot be known from the boundary map, the layout information within the area boundary can be obtained by controlling the motion device to move along the area boundary by a second set distance that is greater than the first set distance; therefore, the technical scheme of the embodiment of the invention can obtain the layout information of the region and is also beneficial to improving the feasibility of path planning of the movement device to a certain extent.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of a method of mapping an area according to an embodiment of the invention;
FIG. 2 is a schematic diagram of another method of mapping an area according to an embodiment of the invention;
FIG. 3 is a schematic diagram of movement of a sporting device in a mapping mode according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of movement of a motion device in a non-mapping mode in accordance with an embodiment of the invention;
fig. 5 is a schematic diagram of an apparatus for mapping an area according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of a method of mapping an area according to an embodiment of the present invention. As shown in fig. 1, in the area shown in fig. 1, the boundaries of the area are provided with signal sources, each boundary 2 of the area 1 is set to be provided with one signal source 3 (such as A, B, C and D in fig. 1), each signal source represents one direction, the signal sources (i.e. bluetooth modules) are installed on a wall in the area, A, B, C and D in the figure are projections of the signal sources on a plane, and the method mainly comprises the following steps: a moving device (namely a robot) acquires the signal intensity of each current signal source, then determines the direction of the strongest signal and moves according to the direction; when moving to the point of the first boundary of the area 1, the motion device moves along the first boundary in a fixed bypassing direction from the point until returning to the point, and the distance between the motion device and the nearest boundary of the area is kept constant at a first preset value in the moving process; the motion device records the coordinates of the passed points during movement to get a map of the area.
Assuming that the current strongest signal point is point B, the direction of the current strongest signal is the direction indicated by the arrow in fig. 1, and the moving device moves in the direction indicated by the arrow, and when moving to point E (i.e. the point of the boundary of the area), the moving device moves from point E along the boundary in a fixed detour direction until returning to point E, wherein the fixed detour direction may be the detour direction shown in the figure (the direction indicated by 4 arrows in the figure) or a clockwise detour direction; the distance d between the moving device and the boundary of the nearest area is kept unchanged in the moving process, and the moving device records the coordinates of the passed point in the moving process to obtain a map of the area; wherein, the Z point or any point from a to D in fig. 1 can be taken as the origin of the rectangular coordinate system, and the horizontal direction and the vertical direction are taken as the horizontal axis and the vertical axis of the rectangular coordinate system, respectively, so that the coordinates of the point passed by the moving device in the rectangular coordinate system are determined by the distances between the plurality of signal sources and the moving device, the moving device obtains the coordinates of the position, such as (15, 15) according to the distance provided by the signal sources, and obtains the coordinates in the rectangular coordinate system by conversion; in addition, since the motion device cannot move close to the boundary, the distance between the motion device and the area boundary has a distance d, and if the value of d is set to be smaller, the obtained area boundary map is more accurate.
Fig. 2 is a schematic diagram of another method of mapping an area according to an embodiment of the present invention. As shown in fig. 2, the motion device moves in a manner of keeping a distance from the nearest boundary of the area to be a second preset value, which is greater than the first preset value; in the moving process, when encountering an obstacle, the moving device moves along the boundary of the obstacle until the distance from the nearest area boundary is recovered to a second preset value, and then continues to move in a mode of keeping the distance from the nearest area boundary to the second preset value; the motion device records the coordinates of the passed points during movement to get a map within the region boundary.
The moving device keeps the distance d1 (i.e. the second preset value) from the boundary 2 of the area all the time during the moving process, but when encountering an obstacle during the moving process, the moving device moves along the boundary of the obstacle from the point S, the moving routes are two routes (routes 21 and 22) as shown in fig. 2, when the moving device reaches the point N during the moving process, the distance from the boundary of the area is restored to d1, the moving device continues to move (i.e. moves along the dotted line 23) in a manner of keeping the distance d1 from the boundary of the area, and the moving device records the coordinates of the passed point during the moving process, so that the map within the boundary of the area is obtained.
The above is a specific moving path when the moving device encounters one obstacle during the moving process, and if the moving device encounters a plurality of obstacles during the moving process, the above moving method is only repeatedly performed.
Fig. 3 is a movement diagram of a sports apparatus in a mapping mode according to an embodiment of the present invention. As shown in fig. 3, the mobile device moves from the first preset point to the second preset point according to the mapping mode; in the mapping mode, the coordinates of the passed points are recorded during the movement of the motion device, so that a map is formed.
The motion device calculates a first included angle between a connecting line of the two points and the horizontal direction according to the coordinate of the first preset point and the coordinate of the second preset point, and moves to the second preset point from the first preset point along a straight line according to the first included angle; and in the moving process, when an obstacle is encountered, the moving device moves along the boundary of the obstacle, and when the point of intersection of the boundary of the obstacle and the straight line is reached, the moving device continues to move along the straight line from the point until the second preset point is reached.
As shown in fig. 3(a), when the motion device moves from a first preset point (i.e., point F in the figure) to a second preset point (i.e., point G in the figure) according to the mapping mode, the motion device calculates a first angle α between the straight line FG and the horizontal direction according to the coordinates of the point F and the point G, and then moves from the point F to the point G along the straight line according to the first angle α.
As shown in fig. 3(b), during the movement, if an obstacle is encountered, that is, the moving device moves to the point H, the moving device moves along the boundary of the obstacle until reaching a point (i.e., the point J) where the boundary of the obstacle intersects with the straight line FG, and then from the point J, the moving device continues to move along the straight line FG until reaching the point G; in the process, the motion device can move in two routes (i.e., routes 31 and 32).
Fig. 4 is a schematic diagram of movement of a motion device in a non-mapping mode according to an embodiment of the present invention. As shown in fig. 4, the motion means moves from the first preset point to the second preset point in the non-mapping mode.
The non-mapping mode is as follows: the motion device moves transversely or longitudinally from the first preset point until the abscissa or ordinate of the motion device is the same as the abscissa or ordinate of the second preset point, and then moves continuously along the longitudinal direction or the transverse direction until the second preset point is reached; during movement, when the motion device encounters an obstacle: the motion device moves along the boundary of the obstacle and judges whether the motion device moves to a point with the same vertical coordinate or horizontal coordinate as the second preset point or not in the moving process;
if so, judging whether the mobile robot can move longitudinally or transversely, if so, moving to a second preset point longitudinally or transversely, if not, continuing to move along the boundary of the obstacle until moving to another point which is the same as the ordinate or abscissa of the second preset point, and then moving to the second preset point longitudinally or transversely from the another point;
otherwise, the movement means continue to move along the boundary of the obstacle until the ordinate or abscissa of the point on the boundary of the obstacle is the same as the ordinate or abscissa of the first preset point, then continue to move in the transverse or longitudinal direction until the abscissa or ordinate of the second preset point is the same, then continue to move in the longitudinal or transverse direction until the second preset point is reached.
As shown in fig. 4(a), when the motion device moves from a first preset point (i.e., point K in the figure) to a second preset point (i.e., point L in the figure) in a non-mapping mode, it moves laterally or vertically starting from point K:
taking the motion device moving from point K laterally as an example, when the motion device moves to point M, the abscissa of point M is the same as the abscissa of point L, and then the motion device continues to move along the longitudinal direction until point L is reached.
Taking the longitudinal movement of the motion device from point K as an example, when the motion device moves to point N, the ordinate of point N is the same as the ordinate of point L, and then the motion device continues to move in the lateral direction until point L is reached.
Taking the example that the motion device moves laterally from the point K first, if the motion device encounters an obstacle in the process of moving from the point K to the point L (i.e., when the motion device moves to the point U), the motion device moves along the boundary of the obstacle from the point U, and determines whether the motion device moves to a point with the same abscissa as the point L in the moving process.
In the case of moving to the point having the same abscissa as the abscissa of the L point, as shown in fig. 4(b), when the motion device moves to the O point along the route 41, the abscissa of the O point is the same as the abscissa of the L point, the motion device determines whether the motion device can move in the longitudinal direction at the O point, and the motion device cannot move in the longitudinal direction at the O point, and then continues to move along the boundary of the obstacle until the P point is reached, and then moves from the P point to the L point in the longitudinal direction; if the motion device moves to point P along the path 42, the abscissa of point P is the same as the abscissa of point L, and the motion device determines that the motion device can move in the longitudinal direction at point P, the motion device moves from point P to point L in the longitudinal direction.
In fig. 4(b), although the motion device has a point having the same abscissa as the abscissa of the L point along the boundary of the obstacle, as in the case of fig. 4(c), the motion device cannot reach the L point when moving along the boundary of the obstacle, and therefore, in such a case, the motion device moves continuously along the boundary of the obstacle along the route (43 or 44) from the U point after the U point hits the obstacle, and when the motion device moves to the Q point, the ordinate of the Q point is the same as the ordinate of the K point, and then moves continuously in the lateral direction from the Q point until the R point having the same abscissa as the L point is reached, and then moves longitudinally from the R point until the L point is reached.
The principle of the longitudinal movement of the motion device from the point K is the same as the principle of the transverse movement, and the description is omitted.
Fig. 5 is a schematic diagram of an apparatus for mapping an area according to an embodiment of the present invention. As shown in fig. 5, the apparatus 50 for mapping an area map mainly includes a motion control module 51 and a recording module 52. The motion control module 51 is arranged in the motion device and is used for determining the direction of the current strongest signal and then controlling the motion device to move according to the direction; when moving to the point of the first boundary of the area, controlling the motion device to move along the first boundary from the point in a fixed bypassing direction until returning to the point, and controlling the motion device to keep the distance from the nearest boundary of the area to be a first preset value during the moving process; the recording module 52 is disposed in the motion device, and is configured to record coordinates of a point where the motion device passes through during the movement process to obtain a map of the area.
The motion control module 51 of the device for mapping an area 50 may be further configured to control the motion device to move in a manner of keeping a distance from a nearest area boundary to a second preset value, where the second preset value is greater than the first preset value; when the moving device meets an obstacle in the moving process, the moving device is controlled to move along the boundary of the obstacle until the distance between the nearest area boundary and the boundary of the area returns to a second preset value, and then the moving device is controlled to continue to move in a mode of keeping the distance between the nearest area boundary and the boundary of the area to be the second preset value; the recording module 52 may also be used to record the coordinates of the points where the motion devices are located during movement to get a map within the boundaries of the area.
The motion control module 51 of the device for mapping a region 50 may be further configured to control the motion device to move from a first preset point to a second preset point according to a mapping mode; the map drawing mode is as follows: the motion device calculates a first included angle between a connecting line of the two points and the horizontal direction according to the coordinate of the first preset point and the coordinate of the second preset point, and moves to the second preset point from the first preset point along a straight line according to the first included angle; and in the moving process, when an obstacle is encountered, the moving device moves along the boundary of the obstacle, and when the point of intersection of the boundary of the obstacle and the straight line is reached, the moving device continues to move along the straight line from the point until the second preset point is reached.
The motion control module 51 of the device for mapping a region 50 may be further configured to control the motion device to move from a first preset point to a second preset point according to a non-mapping mode; the non-mapping mode is as follows: the motion device moves transversely or longitudinally from the first preset point until the abscissa or ordinate of the motion device is the same as the abscissa or ordinate of the second preset point, and then moves continuously along the longitudinal direction or the transverse direction until the second preset point is reached; during movement, when the motion device encounters an obstacle: the motion device moves along the boundary of the obstacle and judges whether the motion device moves to a point with the same abscissa or ordinate as the second preset point in the moving process; if so, judging whether the mobile robot can move longitudinally or transversely, if so, moving longitudinally or transversely to a second preset point, if not, continuing to move along the boundary of the obstacle until moving to another point which is the same as the abscissa or ordinate of the second preset point, and then moving longitudinally or transversely to the second preset point from the another point; otherwise, the movement means continue to move along the boundary of the obstacle until the ordinate or abscissa of the point on the boundary of the obstacle is the same as the ordinate or abscissa of the first preset point, then continue to move in the transverse or longitudinal direction until the abscissa or ordinate of the second preset point is the same, then continue to move in the longitudinal or transverse direction until the second preset point is reached.
According to the technical scheme of the embodiment of the invention, the motion device can determine a point close to the boundary of the area according to the strongest signal, then detours along the boundary of the area by starting from the point at a first set distance, and records the coordinates of the passed point in the moving process, so that a map of the boundary of the passed area is drawn, and the boundary information of the area is obtained; however, since the specific layout information in the area cannot be known from the boundary map, the layout information within the area boundary can be obtained by controlling the motion device to move along the area boundary by a second set distance that is greater than the first set distance; therefore, the technical scheme of the embodiment of the invention can obtain the layout information of the region and is also beneficial to improving the feasibility of path planning of the movement device to a certain extent.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method of mapping an area, the boundaries of the area being provided with signal sources, the method comprising:
the moving device determines the direction of the current strongest signal and then moves according to the direction;
when moving to the point of the first boundary of the area, the motion device moves along the first boundary in a fixed bypassing direction from the point until returning to the point, and the distance between the motion device and the nearest boundary of the area is kept constant at a first preset value in the moving process;
the motion device records the coordinates of the passed point in the moving process to obtain a map of the area; wherein the coordinates of the passed point are determined by the motion device according to the distance provided by the signal source; and the number of the first and second groups,
the method further comprises the motion device moving from a first preset point to a second preset point in a non-mapping mode:
the non-mapping mode is as follows:
the motion device moves transversely or longitudinally from the first preset point until the abscissa or ordinate of the motion device is the same as the abscissa or ordinate of the second preset point, and then moves continuously along the longitudinal direction or the transverse direction until the second preset point is reached;
during movement, when the motion device encounters an obstacle:
the movement device moves along the boundary of the obstacle and judges whether the movement device moves to a point with the same abscissa or ordinate of a second preset value in the movement process;
if so, judging whether the mobile robot can move longitudinally or transversely, if so, moving longitudinally or transversely to a second preset point, if not, continuing to move along the boundary of the obstacle until moving to another point which is the same as the abscissa or ordinate of the second preset point, and then moving longitudinally or transversely to the second preset point from the another point;
otherwise, the movement means continue to move along the boundary of the obstacle until the ordinate or abscissa of the point on the boundary of the obstacle is the same as the ordinate or abscissa of the first preset point, then continue to move in the transverse or longitudinal direction until the abscissa or ordinate of the second preset point is the same, then continue to move in the longitudinal or transverse direction until the second preset point is reached.
2. The method of claim 1, further comprising:
the motion device moves in a mode of keeping the distance from the nearest regional boundary as a second preset value, and the second preset value is larger than the first preset value;
in the moving process, when encountering an obstacle, the moving device moves along the boundary of the obstacle until the distance from the nearest area boundary is recovered to a second preset value, and then continues to move in a mode of keeping the distance from the nearest area boundary to the second preset value;
the motion device records the coordinates of the passed points during movement to get a map within the region boundary.
3. The method of claim 2, further comprising the motion device moving from a first preset point to a second preset point in a mapping mode;
the map drawing mode is as follows:
the motion device calculates a first included angle between a connecting line of the two points and the horizontal direction according to the coordinate of the first preset point and the coordinate of the second preset point, and moves to the second preset point from the first preset point along a straight line according to the first included angle;
and in the moving process, when an obstacle is encountered, the moving device moves along the boundary of the obstacle, and when the point of intersection of the boundary of the obstacle and the straight line is reached, the moving device continues to move along the straight line from the point until the second preset point is reached.
4. An apparatus for mapping an area, the boundary of the area being provided with a signal source, the apparatus comprising:
the motion control module is arranged in the motion device and used for determining the direction of the current strongest signal and then controlling the motion device to move according to the direction; when moving to the point of the first boundary of the area, controlling the motion device to move along the first boundary from the point in a fixed bypassing direction until returning to the point, and controlling the motion device to keep the distance from the nearest boundary of the area to be a first preset value during the moving process;
the recording module is arranged in the motion device and used for recording the coordinates of points passed by the motion device in the moving process so as to obtain a map of the area; wherein the coordinates of the passed point are determined by the motion device according to the distance provided by the signal source;
the motion control module is further used for controlling the motion device to move from a first preset point to a second preset point according to a non-mapping mode;
the non-mapping mode is as follows:
the motion device moves transversely or longitudinally from the first preset point until the abscissa or ordinate of the motion device is the same as the abscissa or ordinate of the second preset point, and then moves continuously along the longitudinal direction or the transverse direction until the second preset point is reached;
during movement, when the motion device encounters an obstacle:
the motion device moves along the boundary of the obstacle and judges whether the motion device moves to a point with the same abscissa or ordinate as the second preset point in the moving process;
if so, judging whether the mobile robot can move longitudinally or transversely, if so, moving longitudinally or transversely to a second preset point, if not, continuing to move along the boundary of the obstacle until moving to another point which is the same as the abscissa or ordinate of the second preset point, and then moving longitudinally or transversely to the second preset point from the another point;
otherwise, the movement means continue to move along the boundary of the obstacle until the ordinate or abscissa of the point on the boundary of the obstacle is the same as the ordinate or abscissa of the first preset point, then continue to move in the transverse or longitudinal direction until the abscissa or ordinate of the second preset point is the same, then continue to move in the longitudinal or transverse direction until the second preset point is reached.
5. The apparatus of claim 4, wherein the motion control module is further configured to: controlling the movement device to move in a mode of keeping the distance between the movement device and the nearest zone boundary as a second preset value, wherein the second preset value is larger than the first preset value;
when the moving device meets an obstacle in the moving process, the moving device is controlled to move along the boundary of the obstacle until the distance between the nearest area boundary and the boundary of the area returns to a second preset value, and then the moving device is controlled to continue to move in a mode of keeping the distance between the nearest area boundary and the boundary of the area to be the second preset value;
the recording module is also used for recording the coordinates of the point where the motion device passes through in the moving process so as to obtain a map in the regional boundary.
6. The apparatus of claim 5, wherein the motion control module is further configured to control the motion apparatus to move from a first preset point to a second preset point according to a mapping mode;
the map drawing mode is as follows:
the motion device calculates a first included angle between a connecting line of the two points and the horizontal direction according to the coordinate of the first preset point and the coordinate of the second preset point, and moves to the second preset point from the first preset point along a straight line according to the first included angle;
and in the moving process, when an obstacle is encountered, the moving device moves along the boundary of the obstacle, and when the point of intersection of the boundary of the obstacle and the straight line is reached, the moving device continues to move along the straight line from the point until the second preset point is reached.
7. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-3.
8. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-3.
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| CN111199677B (en) * | 2019-12-25 | 2022-02-18 | 邦鼓思电子科技（上海）有限公司 | Automatic work map establishing method and device for outdoor area, storage medium and working equipment |
| CN113064413B (en) * | 2019-12-31 | 2023-04-07 | 速感科技（北京）有限公司 | Map processing method and device for closed space and movable equipment |
| CN114098534B (en) * | 2021-11-30 | 2023-02-17 | 深圳Tcl新技术有限公司 | Cleaning area identification method and device of sweeper, storage medium and electronic equipment |
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| JP3994950B2 (en) * | 2003-09-19 | 2007-10-24 | ソニー株式会社 | Environment recognition apparatus and method, path planning apparatus and method, and robot apparatus |
| JP2011059905A (en) * | 2009-09-08 | 2011-03-24 | Hiroshima Univ | Robot, control program, and recording medium |
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