CN111329399B - Finite-state-machine-based sweeper target point navigation method - Google Patents

Finite-state-machine-based sweeper target point navigation method Download PDF

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CN111329399B
CN111329399B CN202010273917.4A CN202010273917A CN111329399B CN 111329399 B CN111329399 B CN 111329399B CN 202010273917 A CN202010273917 A CN 202010273917A CN 111329399 B CN111329399 B CN 111329399B
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target point
state
sweeper
control
line
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CN111329399A (en
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张驰洲
詹伟
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Hunan Grand Pro Robot Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a finite-state-machine-based sweeper target point navigation method, which comprises a starting state, a sweeper rotating towards a target point state, a line control state, an edge control state, a target point arrival state and an ending state; after the target point navigation is initialized, the state is switched from the starting state to the state of the sweeper rotating towards the target point; after the judgment of the orientation target point, the state of the sweeper rotating to the orientation target point is converted into a line control state; switching from the control state along the line to the control state along the edge by judging the control of the edge; through the judgment from the control of exiting to the control along the edge, the state of the control along the edge is converted into the state of the sweeper rotating towards the target point; through the judgment of deviation from the target point in the line process, the state of the control along the line is switched to the state of the rotation of the sweeper towards the target point; and after the judgment of reaching the target point, switching from the control state along the line to the reaching target point, and ending the state.

Description

Finite-state-machine-based sweeper target point navigation method
Technical Field
The invention belongs to the technical field of sweeping robots, and particularly relates to a finite-state-machine-based target point navigation method for a sweeping machine.
Background
The target point navigation method loaded on the sweeping robot sold in the market at present has the following defects: an environment map needs to be established, and the requirement on a chip of the sweeper is high; dynamic obstacles cannot be considered in the navigation process, and the navigation device is easily interfered by the environment; the attitude control in the navigation process is disordered, the accurate control cannot be realized, and the navigated point is far away from the target point; all states in the navigation process cannot be managed in a unified mode, and difficulty in problem searching is high.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a sweeper target point navigation method based on a finite-state machine, which can solve the problems of environmental interference, disordered posture control and incapability of uniformly managing each state.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a sweeper target point navigation method based on a finite-state machine comprises a starting state, a sweeper target point rotating state, a line control state, an edge control state, a target point arrival state and an ending state; after the target point navigation is initialized, the state is switched from the starting state to the state of the sweeper rotating towards the target point; after the judgment of the orientation target point, the state of the sweeper rotating to the orientation target point is converted into a line control state; switching from the control state along the line to the control state along the edge by judging the control of the edge; through the judgment from the control of exiting to the control along the edge, the state of the control along the edge is converted into the state of the sweeper rotating towards the target point; through the judgment of deviation from the target point in the line process, the state of the control along the line is switched to the state of the rotation of the sweeper towards the target point; and after the judgment of reaching the target point, switching from the control state along the line to the reaching target point, and ending the state.
Further, the target point navigation initialization includes starting point initialization, current state initialization and initialization of other navigation flag bits.
Further, the determination of the target point comprises the following steps:
s31, setting the current traveling direction of the sweeper to be a straight line L0, obtaining a straight line L1 by anticlockwise rotating the L0 by 45 degrees, and obtaining a straight line L2 by clockwise rotating the L0 by 45 degrees;
s32, solving the absolute distance between the target point and the straight lines L0, L1 and L2 to obtain the relative position between the current point and the target point;
and S33, adjusting the direction of the sweeper according to the relative position of the current point and the target point.
Further, the floor sweeping machine is used as a current point, the plane space is divided into four blocks by the straight lines L1 and L2, the four blocks are named as a first area, a second area, a third area and a fourth area from the right side of the straight line L1 in sequence, if the target point is located in the first area, a line PID module is called to perform steering control, if the target point is located in the fourth area, the floor sweeping machine turns to the left at full speed, and if the target point is located in the second area, the floor sweeping machine turns to the right at full speed.
Further, the judgment of entering into the edgewise control includes collision detection and fall detection, the collision detection is through discerning the data that is located the infrared sensor group and the micro-gap switch group feedback of quick-witted front bumper of sweeping the floor, fall the data that detects the infrared sensor group feedback through the bottom of the floor sweeping machine and discern to this edgewise direction after entering the edgewise mode is opposite with last edgewise direction all the time.
Further, the judgment of the control from the edge control to the line control comprises the control from the edge to the inner corner or the finding of the wall 5s and the exit; withdrawing after the edge control distance is too long; and exiting when the direction of the target line where the initial point of the entering edgewise control is positioned is opposite to the direction of the target line where the current point is positioned in the edgewise process.
Further, the deviation from the target point in the line process is judged in such a way that after the sweeper walks for a period of time, the relative position of the target point is located in the first area and the second area, and the judgment result is that the sweeper deviates from the target point.
Further, the determination of reaching the target point includes: and calculating the absolute value of the difference between the abscissa of the current point and the abscissa of the target point and the absolute value of the difference between the ordinate of the current point and the ordinate of the target point, judging whether the absolute value is smaller than a set value, judging that the sweeper reaches the target point if the absolute value is smaller than the set value, and ending the target point navigation process.
Further, the along-line PID module includes an offset PID control unit, including the following steps:
s91, outputting the current point coordinate, the target point coordinate and the expected offset distance to an offset distance PID control unit by the sweeper;
s92, the offset PID control unit calculates a target straight line and an offset d from the current point to the straight line according to the coordinates of the current point and the target point, wherein d is the distance from the current point to the target straight line-an expected offset;
s93, the offset PID control unit calculates the speed increment dv according to a formula as follows:
Figure GDA0003153911440000031
cof＝Kp·Derr2+Ki·∑Derr2+Kd(Derr2(k)-Derr2(k-1))、
Figure GDA0003153911440000032
where Derr denotes the offset distance from the target point to the target line, Derr1Representing the distance, dV, of the target point to the current pointmaxIs the maximum speed difference of the sweeper, distancerrmaxIs the maximum offset, SumDistancemaxIs the maximum accumulated value of offset, Kp、Ki,KdThe integral, differential and proportional coefficients of the offset PID control unit are used;
s94, judging the speed increment dv, when dv is judged>When 0, set the left wheel speed VLeft side of＝VmaxRight wheel speed VRight side＝VmaxDv, when dv<When 0, set the left wheel speed VLeft side of＝VmaxDv, right wheel speed VRight side＝VmaxWhen dv is 0, VLeft side of＝VRight side。
(III) advantageous effects
The invention provides a finite-state-machine-based sweeper target point navigation method, which has the following beneficial effects: the method has low cost and little dependence on the memory, and can smoothly run with other robot algorithms in an STM32F0x0 chip with the lowest cost of the STM chip; aiming at the situation under the complex environment, the navigation can be successfully carried out within the specified range of the target point; the offset PID control algorithm is used for realizing a walking mode along the line, and the control posture is stable; when the state in the navigation process has a problem, the problem can be quickly found.
Drawings
FIG. 1 is a schematic diagram of an FSM implementation of the destination point navigation algorithm of the present invention;
FIG. 2 is a schematic view of the orientation of the current point and the target point according to the present invention;
FIG. 3 is a schematic diagram of the offset PID control process of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A sweeper target point navigation method based on a finite-state machine comprises a starting state S1, a sweeper rotation direction target point state S2, a line control state S3, an edge control state S4 and a target point reaching and ending state S5; after the target point navigation is initialized to F1, the state is switched from the start state S1 to the state of S2 in which the sweeper rotates towards the target point; after the judgment of the orientation target point F2, the state S2 of the sweeper rotating towards the target point is switched to a line control state S3; transitioning from the along control state S3 to the along control state S4, via decision F3 to edge control; through the judgment F4 from the edge control quitting to the line control, the state S4 is switched to the state S2 that the sweeper rotates towards the target point; after the judgment F5 that the sweeper deviates from the target point in the sweeping process, the sweeper is switched to a state S2 of rotating towards the target point from a state S3 of controlling the sweeper along the line; the state is ended by the transition from the along line control state S3 to the reach target point S5 by the reach target point judgment F6. See figure 1 for a 5 state FSM diagram.
The target point navigation initialization comprises starting point initialization, current state initialization and initialization of other navigation mark bits.
The judgment of the orientation target point comprises the following steps:
s31, setting the current traveling direction of the sweeper to be the positive direction of a straight line L0, obtaining a straight line L1 by rotating L0 anticlockwise by 45 degrees, obtaining a straight line L2 by rotating the straight line L0 clockwise by 45 degrees, and setting three possible appearance points of target points, namely a range point P1 between a straight line L1 and a straight line L2, a left range point P3 of a straight line L1 and a right range point P2 of a straight line L2;
s32, solving the absolute distance between the target point and the straight lines L0, L1 and L2 to obtain the relative position between the current point and the target point;
and S33, adjusting the direction of the sweeper according to the relative position of the current point and the target point.
Taking the sweeper as a current point, dividing the plane space into four blocks by the straight lines L1 and L2, and sequentially naming the four blocks as a first area, a second area, a third area and a fourth area from the right side of the straight line L1, if a target point is located in the first area, namely P1 (or the third area), calling a linear PID (proportion integration differentiation) module to perform steering (attitude) control, if the target point is located in the fourth area, namely afraid, the sweeper turns left at full speed, and if the target point is located in the second area, namely P2, the sweeper turns right at full speed.
The judgment of entering into edgewise control includes collision detection and fall detection, collision detection discerns through the data to infrared sensor group (the infrared sensor group that three infrared sensor constitutes) and the micro-gap switch group (the micro-gap switch group that two micro-gap switches constitute) feedback that lie in the quick-witted front bumper of sweeping the floor, fall detection discerns through the data of the infrared sensor group (the infrared sensor group that four infrared sensor constitute) feedback of the quick-witted bottom of sweeping the floor to this edgewise direction after the entering edgewise mode is opposite with last edgewise direction all the time.
The judgment of the control from the edge to the line comprises the control from the edge to the inner corner or the control from the wall to the line 5 s; withdrawing after the edge control distance is too long; and exiting when the direction of the target line where the initial point of the entering edgewise control is positioned is opposite to the direction of the target line where the current point is positioned in the edgewise process.
In the line process, the sweeper may deviate from the target point due to wheel slippage or external factors, and the judgment is made according to the position relationship shown in fig. 1, and the judgment that the deviation from the target point in the line process is that after the sweeper walks for a period of time, the relative position of the target point is located in the first area and the second area, and the judgment result is that the sweeper deviates from the target point.
The judgment of the arrival target point comprises the following steps: and calculating the absolute value of the difference between the abscissa of the current point and the abscissa of the target point and the absolute value of the difference between the ordinate of the current point and the ordinate of the target point (after the abscissa is measured by the sweeper to obtain the target point, a virtual coordinate system is established by taking the current point as the origin), judging whether the absolute value is smaller than a set value, determining the absolute value according to the precision of the sweeper, judging that the sweeper reaches the target point if the absolute value is smaller than the set value, and ending the navigation process of the target point.
The line PID module comprises an offset PID control unit, and comprises the following steps:
s91, outputting the current point coordinate, the target point coordinate and the expected offset distance to an offset distance PID control unit by the sweeper;
s92, the offset PID control unit calculates a target straight line and an offset d from the current point to the straight line according to the coordinates of the current point and the target point, wherein d is the distance from the current point to the target straight line-an expected offset;
s93, the offset PID control unit calculates the speed increment dv according to a formula as follows:
Figure GDA0003153911440000071
cof＝Kp·Derr2+Ki·∑Derr2+Kd(Derr2(k)-Derr2(k-1))、
Figure GDA0003153911440000072
where Derr denotes the offset distance from the target point to the target line, Derr1Representing the distance, dV, of the target point to the current pointmaxIs the maximum speed difference of the sweeper, distancerrmaxIs the maximum offset, SumDistancemaxIs the maximum accumulated value of offset, Kp、Ki,KdThe integral, differential and proportional coefficients of the offset PID control unit are used;
s94, judging the speed increment dv, fusing the output of the offset PID control unit into the wheel speeds of the left wheel and the right wheel of the sweeper in a mode of reducing the projection width, and when dv is detected>When 0, the sweeper deviates from the target line to the left, and should turn to the right, the left wheel speed V is setLeft side of＝VmaxRight wheel speed VRight side＝VmaxDv, when dv<When 0, the sweeper deviates from the target line to the right, should turn left, set the left wheel speed VLeft side of＝VmaxDv, right wheel speed VRight side＝VmaxWhen dv is 0, the sweeper is on the target line, VLeft side of＝VRight side。
The embodiment aims to solve the problem of map-free target point navigation of the sweeper, and can be used for searching for a recharging station or returning to a starting point after sweeping is completed. The navigation method based on the finite-state machine greatly reduces the time for searching the recharging station, and all states in the navigation process realize unified management
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (7)

1. A road sweeper target point navigation method based on a finite-state machine is characterized in that: the method comprises a starting state, a state that the sweeper rotates towards a target point, a line control state, an edge control state and a state of reaching the target point, and an ending state; after the target point navigation is initialized, the state is switched from the starting state to the state of the sweeper rotating towards the target point; after the judgment of the orientation target point, the state of the sweeper rotating to the orientation target point is converted into a line control state; switching from the control state along the line to the control state along the edge by judging the control of the edge; through the judgment from the control of exiting to the control along the edge, the state of the control along the edge is converted into the state of the sweeper rotating towards the target point; through the judgment of deviation from the target point in the line process, the state of the control along the line is switched to the state of the rotation of the sweeper towards the target point; after the judgment of reaching the target point, the state is switched from the control state along the line to the reaching target point, and the state is ended;
the target point navigation initialization comprises starting point initialization, current state initialization and other navigation mark bit initialization;
the judgment of the orientation target point comprises the following steps:
s31, setting the current traveling direction of the sweeper to be a straight line L0, obtaining a straight line L1 by anticlockwise rotating the L0 by 45 degrees, and obtaining a straight line L2 by clockwise rotating the L0 by 45 degrees;
s32, solving the absolute distance between the target point and the straight lines L0, L1 and L2 to obtain the relative position between the current point and the target point;
and S33, adjusting the direction of the sweeper according to the relative position of the current point and the target point.
2. The finite state machine-based sweeper target point navigation method according to claim 1, wherein: taking the floor sweeper as a current point, dividing the plane space into four blocks by the straight lines L1 and L2, and sequentially naming the four blocks as a first area, a second area, a third area and a fourth area from the right side of the straight line L1, if a target point is located in the first area, calling a linear PID module to perform steering control, if the target point is located in the fourth area, the floor sweeper turns to the left at full speed, and if the target point is located in the second area, the floor sweeper turns to the right at full speed.
3. The finite state machine-based sweeper target point navigation method according to claim 2, wherein: the judgment of entering into edgewise control includes collision detection and fall detection, the collision detection is discerned through the data to infrared sensor group and the micro-gap switch group feedback that lie in the quick-witted front bumper of sweeping the floor, fall the data that detects through the infrared sensor group feedback of the quick-witted bottom of sweeping the floor and discern to this edgewise direction after entering the edgewise mode is opposite with last edgewise direction all the time.
4. The finite state machine-based sweeper target point navigation method according to claim 3, wherein: the judgment of the control from the edge to the line comprises the control from the edge to the inner corner or the control from the wall to the line 5 s; withdrawing after the edge control distance is too long; and exiting when the direction of the target line where the initial point of the entering edgewise control is positioned is opposite to the direction of the target line where the current point is positioned in the edgewise process.
5. The finite state machine-based sweeper target point navigation method according to claim 4, wherein: and the deviation from the target point in the line process is judged in such a way that after the sweeper walks for a period of time, the relative position of the target point is located in the first area and the second area, and the judgment result is that the sweeper deviates from the target point.
6. The finite state machine-based sweeper target point navigation method according to claim 5, wherein: the judgment of the arrival target point comprises the following steps: and calculating the absolute value of the difference between the abscissa of the current point and the abscissa of the target point and the absolute value of the difference between the ordinate of the current point and the ordinate of the target point, judging whether the absolute value is smaller than a set value, judging that the sweeper reaches the target point if the absolute value is smaller than the set value, and ending the target point navigation process.
7. The finite state machine-based sweeper target point navigation method according to claim 6, wherein: the line PID module comprises an offset PID control unit, and comprises the following steps:
s91, outputting the current point coordinate, the target point coordinate and the expected offset distance to an offset distance PID control unit by the sweeper;
s92, the offset PID control unit calculates a target straight line and an offset d from the current point to the straight line according to the coordinates of the current point and the target point, wherein d is the distance from the current point to the target straight line-an expected offset;
s93, the offset PID control unit calculates the speed increment dv according to a formula as follows:
Figure FDA0003153911430000031
cof＝Kp·Derr2+Ki·∑Derr2+Kd(Derr2(k)-Derr2(k-1))、
Figure FDA0003153911430000032
where Derr denotes the offset distance from the target point to the target line, Derr1Representing the distance, dV, of the target point to the current pointmaxIs the maximum speed difference of the sweeper, distancerrmaxIs the maximum offset, SumDistancemaxIs the maximum accumulated value of offset, Kp、Ki,KdThe integral, differential and proportional coefficients of the offset PID control unit are used;
s94, judging the speed increment dv, when dv is judged>When 0, set the left wheel speed VLeft side of＝VmaxRight wheel speed VRight side＝VmaxDv, when dv<When 0, set the left wheel speed VLeft side of＝VmaxDv, right wheel speed VRight side＝VmaxWhen dv is 0, VLeft side of＝VRight side。
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