CN108733037B - Avoidable sweeping method of sweeping robot - Google Patents
Avoidable sweeping method of sweeping robot Download PDFInfo
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- CN108733037B CN108733037B CN201710247519.3A CN201710247519A CN108733037B CN 108733037 B CN108733037 B CN 108733037B CN 201710247519 A CN201710247519 A CN 201710247519A CN 108733037 B CN108733037 B CN 108733037B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 20
- 241001465754 Metazoa Species 0.000 claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims description 61
- 230000000694 effects Effects 0.000 claims description 17
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The invention relates to an avoidable sweeping method of a sweeping robot, which relates to four working modes of the sweeping robot: the sweeping robot comprises an initial mode, a random mode, a probability mode and a conditional probability mode, the working mode of the sweeping robot is changed progressively along with the increase of the number of sweeping wheels, and finally the working mode is changed into the conditional probability mode, each working mode is obtained on the basis of statistics of the previous sweeping process, indoor people or animals are avoided to the greatest extent, and the sweeping efficiency of the sweeping robot is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the field of sweeping robots, and particularly relates to an avoidable sweeping method of a sweeping robot.
[ background of the invention ]
At present, floor sweeping robots are increasingly commonly used as intelligent electrical appliances, and can automatically complete floor cleaning work in rooms by means of certain artificial intelligence. Generally, the sweeping robot performs scheduled sweeping at a set time and charges automatically, a sensor is arranged in front of the robot, and the robot can detect obstacles, such as a wall or other obstacles, can turn automatically and sweep a room according to a set plan.
In the prior art, the sensors mostly adopt built-in cameras for detection and laser ranging, and the two means are used for scanning indoor environment and drawing indoor maps and avoiding when encountering obstacles. However, when a plurality of people or animals move all the time in the cleaning area, the sweeping robot can avoid all the time and almost does not clean, so that the cleaning efficiency is low and the effect is poor.
[ summary of the invention ]
In order to solve the problems in the prior art, the invention provides an avoidable sweeping method of a sweeping robot.
The technical scheme adopted by the invention is as follows:
the avoidable sweeping method of the sweeping robot comprises the following four working modes: an initial mode, a random mode, a probability mode and a conditional probability mode; the method comprises the following steps:
(1) when the sweeping robot enters a new indoor environment, the initial mode is adopted from the first round of sweeping to the Nth round of sweeping 1, and an indoor map is drawn;
(2) the sweeping robot divides an indoor map into a plurality of areas;
(3) from the Nth1+1 round to Nth round2Wheel cleaning, wherein the sweeping robot adopts a random mode to clean;
(4) from the Nth2+1 round to Nth round3Wheel cleaning, wherein the sweeping robot adopts a probability mode to clean;
(5) from the Nth3Starting cleaning in 1 round, and cleaning by the sweeping robot in a conditional probability mode;
wherein N is1、N2、N3Are all predefined values.
Further, in the initial mode, the sweeping robot randomly selects a forward direction for sweeping, and when encountering an obstacle, the forward direction is randomly changed.
Further, in the random mode, the sweeping robot firstly randomly selects an area from all the areas, and randomly selects an area from the areas which are not cleaned after cleaning one area each time; after selecting an area, the sweeping robot firstly scans the area in real time, judges whether the area has people or animals, cleans the area if the area does not have people or animals, and randomly selects one area from the uncleaned area if the area has people or animals.
Further, in the probability mode, before each round of cleaning, the cleaning robot calculates the probability that people or animals exist in each area in each round of cleaning according to the previous cleaning record as the activity probability;
then the sweeping robot selects an area with the minimum activity probability from all the areas, and selects an area with the minimum activity probability from the areas which are not swept after sweeping one area each time; after selecting an area, the sweeping robot firstly scans the area in real time, judges whether the area has people or animals, cleans the area if the area does not have people or animals, temporarily modifies the activity probability of the area to 1 if the area has people or animals, and then selects an area with the minimum activity probability from the uncleaned area.
Further, in the conditional probability mode, before each round of cleaning is started, the sweeping robot counts conditional probabilities P (X, Y) based on past cleaning records, wherein X is 0 or an area, Y is an area, and Y is not equal to X;
the conditional probability is defined as follows:
p (0, Y) is the probability that the region Y is the first cleaning region in each previous round of cleaning;
when X is not equal to 0, P (X, Y) is the probability that the area Y is cleaned after the area X in each round of cleaning;
in the conditional probability mode, if the cleaning is not started, X is 0, otherwise, the sweeping robot acquires an area X which is just cleaned, and selects an area Y which enables the value of P (X, Y) to be the maximum; after selecting an area Y, the sweeping robot firstly scans the area Y in real time, judges whether the area Y has people or animals, cleans the area Y if the area Y does not have people or animals, temporarily modifies the conditional probability P (X, Y) of the area Y to 0 if the area Y has people or animals, and then selects an area Y which enables the value of P (X, Y) to be maximum from the uncleaned areas.
Further, N1＝10。
Further, N2＝100。
Further, N3＝300。
The method has the beneficial effects that: in the sweeping process of the sweeping robot, indoor people or animals can be effectively avoided, and the sweeping efficiency of the robot is improved.
[ description of the drawings ]
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, and are not to be considered limiting of the invention, in which:
fig. 1 shows four working modes of the sweeping robot of the invention.
[ detailed description ] embodiments
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as limiting the present invention.
The sweeping robot is supposed to be fixed in the same indoor environment for sweeping, the indoor environment can be provided with a plurality of rooms or areas, and the sweeping robot sweeps the indoor environment all at once to be called a round of sweeping.
Referring to the attached drawing 1, the sweeping robot of the invention has four working modes: initial mode, random mode, probabilistic mode, conditional probability mode. Each round of cleaning of the sweeping robot adopts one of the working modes, and under the same indoor environment, the sweeping robot gradually adopts different working modes along with the lapse of time, and the specific method is explained as follows:
(1) when the sweeping robot enters a new indoor environment, the first round of sweeping is carried out till the Nth1The wheel cleaning adopts an initial mode, and an indoor map is drawn.
In the initial mode, the sweeping robot randomly selects a forward direction for sweeping, and randomly changes the forward direction when encountering an obstacle. The main purpose of this mode is to draw an indoor map step by step through a sweeping process. Generally, after several rounds of cleaning, an indoor map is drawn. It should be noted that the indoor environment generally does not change much, but if a change occurs, the map may be modified during the subsequent cleaning process.
Said N is1The value of (A) can be set by the robot manufacturer or by the user according to the specific situation, preferably N1＝10。
(2) The sweeping robot divides an indoor map into a plurality of areas.
Since the indoor map has already been drawn, the sweeping robot can divide the indoor map into a plurality of areas. For example, for a home, a bedroom area a, a living room area B, a kitchen area C, a bathroom area D, a balcony area E, etc. may be divided.
(3) From the Nth1+1 round to Nth round2And (4) cleaning by wheels, wherein the sweeping robot adopts a random mode to clean.
In the random mode, the sweeping robot sweeps according to areas, firstly randomly selects an area from all the areas, and randomly selects an area from the areas which are not swept each time one area is swept. After selecting an area, the sweeping robot firstly scans the area in real time, judges whether the area has people or animals, cleans the area if the area does not have people or animals, and randomly selects one area from the uncleaned area if the area has people or animals.
Said N is2The value of (A) can be set by the robot manufacturer or by the user according to the specific situation, preferably N2＝100.
(4) From the Nth2+1 round to Nth round3And (4) cleaning by wheels, wherein the sweeping robot adopts a probability mode to clean.
In the probability mode, before each round of cleaning, the cleaning robot calculates the probability of human or animal existence in each area as the activity probability according to the previous cleaning record. Specifically, in each round of sweeping, whether the sweeping robot scans before or during the sweep, it may find people or animals in the area, assuming that a total of N rounds of sweeping have been performed beforeAIn the wheel cleaning, if people or animals exist in the area A, the activity probability P of the area A is foundA＝NA/N。
The sweeping robot then selects an area with the smallest probability of activity from all the areas, and selects an area with the smallest probability of activity from the areas that have not been swept yet each time an area is swept. After selecting an area, the sweeping robot firstly scans the area in real time, judges whether the area has people or animals, cleans the area if the area does not have people or animals, temporarily modifies the activity probability of the area to 1 if the area has people or animals, and then selects an area with the minimum activity probability from the uncleaned area.
Said N is3The value of (A) can be set by the robot manufacturer or by the user according to the specific situation, preferably N3＝300.
(5) From the Nth3And starting the +1 round of cleaning, wherein the cleaning robot adopts a conditional probability mode to clean.
The conditional probability mode is based on past cleaning records, and before each round of cleaning is started, the sweeping robot counts the following conditional probability P (X, Y) based on the past cleaning records, wherein X is 0 or one area, Y is one area, and Y is not equal to X.
First is the probability that an area Y will be the first cleaning area in a round of cleaning (X is 0 in this case), assuming that K rounds of cleaning have been performed before, among which KAIn the wheel cleaning, if the area a is the first cleaning area, the probability P (0, a) that the area a is the first cleaning area is KA/K。
Next is the probability that zone Y is swept immediately after zone X, assuming that K rounds of sweeping have been performed previously, where K isABIn the wheel cleaning, when the region a is cleaned and the region B is cleaned, the conditional probability P (a, B) is KAB/K。
Based on the conditional probability, in the conditional probability mode, the sweeping robot selects one area Y that maximizes the value of P (X, Y) based on the area X that has just been cleaned (if cleaning has not started yet, X is 0). After selecting an area Y, the sweeping robot firstly scans the area Y in real time, judges whether the area Y has people or animals, cleans the area Y if the area Y does not have people or animals, temporarily modifies the conditional probability P (X, Y) of the area Y to 0 if the area Y has people or animals, and then selects an area which enables the value of P (X, Y) to be maximum from the uncleaned areas.
Based on the cleaning method, the working mode of the sweeping robot is changed gradually along with the increase of the number of the cleaning wheels, and finally changed into a conditional probability mode, each working mode is obtained on the basis of statistics of the previous cleaning process, the influence of people and animals in a room can be avoided better, and the cleaning working efficiency is improved step by step.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present invention are included in the scope of the present invention.
Claims (4)
1. The avoidable sweeping method of the sweeping robot is characterized in that the sweeping robot has four working modes: an initial mode, a random mode, a probability mode and a conditional probability mode; the method comprises the following steps:
(1) when the sweeping robot enters a new indoor environment, the first round of sweeping is carried out till the Nth1Wheel cleaning adopts an initial mode, and an indoor map is drawn;
in the initial mode, the sweeping robot randomly selects a forward direction for sweeping, and randomly changes the forward direction when encountering an obstacle;
(2) the sweeping robot divides an indoor map into a plurality of areas;
(3) from the Nth1+1 round to Nth round2Wheel cleaning, wherein the sweeping robot adopts a random mode to clean;
in the random mode, the sweeping robot firstly randomly selects one area from all the areas, and randomly selects one area from the areas which are not swept after sweeping one area each time; after selecting an area, the sweeping robot firstly scans the area in real time, judges whether the area has people or animals, cleans the area if the area does not have people or animals, and randomly selects one area from the uncleaned area if the area has people or animals;
(4) from the Nth2+1 round to Nth round3Wheel cleaning, wherein the sweeping robot adopts a probability mode to clean;
in the probability mode, before each round of cleaning, the cleaning robot calculates the probability that people or animals exist in each area in each round of cleaning according to the previous cleaning record as the activity probability; then the sweeping robot selects an area with the minimum activity probability from all the areas, and selects an area with the minimum activity probability from the areas which are not swept after sweeping one area each time; after selecting an area, the sweeping robot firstly scans the area in real time, judges whether the area has people or animals, cleans the area if the area does not have people or animals, temporarily modifies the activity probability of the area to 1 if the area has people or animals, and then selects an area with the minimum activity probability from the uncleaned area
(5) From the Nth3Starting cleaning in 1 round, and cleaning by the sweeping robot in a conditional probability mode;
in the conditional probability mode, before each round of cleaning is started, the cleaning robot counts conditional probabilities P (X, Y) based on past cleaning records, wherein X is 0 or an area, Y is an area, and Y is not equal to X;
the conditional probability is defined as follows:
p (0, Y) is the probability that the region Y is the first cleaning region in each previous round of cleaning;
when X is not equal to 0, P (X, Y) is the probability that the area Y is cleaned after the area X in each round of cleaning;
in the conditional probability mode, if the cleaning is not started, X is 0, otherwise, the sweeping robot acquires an area X which is just cleaned, and selects an area Y which enables the value of P (X, Y) to be the maximum; after selecting an area Y, the sweeping robot firstly scans the area Y in real time, judges whether the area Y has people or animals, cleans the area Y if the area Y does not have people or animals, temporarily modifies the conditional probability P (X, Y) of the area Y into 0 if the area Y has people or animals, and then selects an area Y which enables the value of P (X, Y) to be maximum from the uncleaned areas;
wherein N is1、N2、N3Are all predefined values.
2. The avoidable sweeping method of the sweeping robot according to claim 1, wherein N is1＝10。
3. The avoidable sweeping method of the sweeping robot according to claim 1, wherein N is2＝100。
4. The avoidable sweeping method of the sweeping robot according to claim 1, wherein N is3＝300。
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