CN112526983B

CN112526983B - Robot path planning method, master control chip and robot

Info

Publication number: CN112526983B
Application number: CN202010950962.9A
Authority: CN
Inventors: 易良玲; 闫瑞君
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2022-10-28
Anticipated expiration: 2040-09-11
Also published as: CN112526983A

Abstract

The application provides a path planning method of a robot, a main control chip and the robot. The method comprises the following steps: step 100: the robot moves a first longitudinal distance and a first transverse distance along a first line from an initial point to the left; step 200: the robot moves a second longitudinal distance and a second transverse distance rightwards along a second line; step 300: the robot moves a third longitudinal distance and a third transverse distance leftwards along a third line and returns to the initial point; step 400: the robot walks a fourth longitudinal distance forward. The application provides a robot adopts left, right, left, and the ground mode is dragged to forward reciprocal progressive imitative manual work, can effectual improvement robot drag the ground effect for it is cleaner to drag the ground.

Description

Robot path planning method, master control chip and robot

Technical Field

The invention relates to the field of robots, in particular to a path planning method of a robot, a main control chip and the robot.

Background

The cleaning paths generally adopted by the existing cleaning robot comprise a bow shape, a well shape and a Z shape. But the above scheme for planning the cleaning path has a not ideal mopping effect. At present, some solutions adopt a mode of simulating manual mopping and adopt a progressive track which is similar to a Y shape and takes reciprocating motion back and forth as a unit to mop the floor, so that a better mopping effect can be achieved. However, the current modes of mopping the floor by the robot are few, and the floor can not be mopped cleanly. The user's demand for the cleaning diversity of the robot cannot be satisfied.

Disclosure of Invention

The application provides a robot path planning method, a master control chip and a robot. The robot adopts a reciprocating progressive type manual mopping imitation mode of walking leftwards, rightwards, leftwards and forwards, the mopping effect of the robot can be improved, the mopping is cleaner, and the mopping requirement of a user is met.

A first aspect of the present application provides a method for path planning of a robot, including the steps of: step 100: the robot moves a first longitudinal distance and a first transverse distance along a first line from an initial point to the left; step 200: the robot moves a second longitudinal distance and a second transverse distance to the right along a second line; step 300: the robot moves a third longitudinal distance and a third transverse distance leftwards along a third line and returns to the initial point; step 400: the robot walks a fourth longitudinal distance forward.

Further, the method also includes: step 500: and repeating the steps 100 to 400 in sequence until the robot detects an obstacle or the robot walks forward by a preset distance.

Still further, the first line, the second line, and the third line are all arcs.

Further, the first line has a radius of R1, the second line has a radius of R2, and the third line has a radius of R3, R2 > R1 > 0, R2 > R3 > 0.

Further, the first line is a semicircle, the first longitudinal distance is zero, and the first lateral distance is 2R1.

Further, the second line is a semicircle, the second longitudinal distance is zero, and the second lateral distance is 2R2.

Further, the third line is a semicircle, the third longitudinal distance is zero, and the third transverse distance is 2R3.

Further, R2=2r1=2r3.

Still further, the fourth longitudinal distance is equal to R2.

Further, the first line, the second line, and the third line all protrude along the front.

Further, the first line, the second line, and the third line all protrude along the rear.

A second aspect of the present application provides a main control chip, which is configured to control the robot to perform the method for planning a path of the robot according to the first aspect.

A third aspect of the present application provides a robot equipped with a main control chip, the main control chip being the main control chip described in the second aspect.

The robot that this application provided adopts left, right, left, and the ground mode is dragged to forward reciprocal progressive imitative manual work, can effectual improvement robot drag the ground effect for drag the ground cleaner, in order to satisfy user's the demand of dragging the ground.

Drawings

Fig. 1 is a schematic block diagram of a cleaning robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a robot walking path in the prior art;

FIG. 3 is a schematic diagram of another robot walking path in the prior art;

fig. 4 is a flowchart of a path planning method for a robot according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram illustrating an analysis of a walking path of a robot provided herein;

FIG. 6 is a schematic diagram illustrating an analysis of a walking path of a robot provided by the present application;

FIG. 7 is a schematic diagram illustrating an analysis of a walking path of a robot provided herein;

FIG. 8 is a schematic diagram illustrating an analysis of a walking path of a robot provided by the present application;

FIG. 9 is a representation of coverage paths traveled by a robot as provided by the present application;

FIG. 10 is a representation of coverage paths traveled by a robot as provided by the present application;

fig. 11 is a block diagram of a robot according to the present application.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The shape of the robot disclosed in the present embodiment is not limited, and may be configured in any suitable shape. The robot in this application can be domestic cleaning robot, also can be commercial cleaning robot.

Referring to fig. 1, in one implementation, the robot 10 may include a control unit 11, a wireless communication unit 12, a sensing unit 13, an audio unit 14, a camera unit 15, and an obstacle detection device 16.

The control unit 11 is a control core of the robot 10, and coordinates operations of the respective units. The control unit 11 may be a general purpose processor (e.g., a central processing unit CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field programmable gate array (FPGA, CPLD, etc.), a single chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the control unit 11 may be any conventional processor, controller, microcontroller, or state machine. The control unit 11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

The wireless communication unit 12 is used for wireless communication with the user terminal, and the wireless communication unit 12 is electrically connected with the control unit 11. The user transmits a control command to the robot 10 through the user terminal, the wireless communication unit 12 receives the control command and transmits the control command to the control unit 11, and the control unit 11 controls the robot 10 according to the control command.

The wireless communication unit 12 includes one or more of a combination of a broadcast receiving module, a mobile communication module, a wireless internet module, a short-range communication module, and a location information module. Wherein the broadcast receiving module receives a broadcast signal and/or broadcast associated information from an external broadcast management server via a broadcast channel. The broadcast receiving module may receive a digital broadcast signal using a digital broadcasting system such as terrestrial digital multimedia broadcasting (DMB-T), satellite digital multimedia broadcasting (DMB-S), media forward link only (MediaFLO), digital video broadcasting-handheld (DVB-H), or terrestrial integrated services digital broadcasting (ISDB-T).

The mobile communication module transmits or may receive a wireless signal to or from at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include a voice call signal, a video call signal, or various forms of data according to the reception and transmission of the character/multimedia message.

The wireless internet module refers to a module for wireless internet connection, and may be built in or out of the terminal. Wireless internet technologies such as Wireless LAN (WLAN) (Wi-Fi), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), high Speed Downlink Packet Access (HSDPA) may be used.

The short-range communication module refers to a module for performing short-range communication. Short range communication technologies such as Bluetooth (Bluetooth), radio Frequency Identification (RFID), infrared data association (IrDA), ultra Wideband (UWB), or ZigBee may be used.

The positioning information module is a module for acquiring current position information of the robot 10, such as a Global Positioning System (GPS) module.

The audio unit 14 is configured to control the robot 10 to stop working and send an off-ground alarm signal when the position status information is in a hold-up state. The audio unit 14 is electrically connected to the control unit 11.

In some embodiments, the audio unit 14 may be an electroacoustic transducer such as a speaker, a loudspeaker, a microphone, etc., wherein the number of speakers or loudspeakers may be one or more, the number of microphones may be multiple, and multiple microphones may form a microphone array so as to effectively collect sound. The microphone may be of an electric type (moving coil type, ribbon type), a capacitive type (direct current polarization type), a piezoelectric type (crystal type, ceramic type), an electromagnetic type, a carbon particle type, a semiconductor type, or the like, or any combination thereof. In some embodiments, the microphone may be a microelectromechanical systems (MEMS) microphone.

The camera unit 15 is used for shooting the environment where the robot 10 is located, the camera unit 15 is electrically connected with the control unit 11, the camera unit 15 obtains an image of the environment where the robot 10 is located, and outputs the image to the control unit 11, so that the control unit 11 can perform the next logical operation according to the image.

The obstacle detecting device 16 is configured to detect walls and obstacles, and to transmit detection signals to the walls and the obstacles in real time, and may be, for example, a light sensor, including but not limited to an infrared sensor.

The cleaning paths generally adopted by the existing cleaning robot comprise a bow shape, a well shape and a Z shape. The above solution for cleaning path planning is not ideal for mopping. Therefore, some solutions adopt a mode of simulating manual mopping and adopt a progressive track which is similar to a Y shape and takes reciprocating motion back and forth as a unit to mop the floor, so as to achieve a better mopping effect. Please refer to fig. 2 and 3.

As shown in fig. 2, the area shown by the wavy line in the figure represents the area covered by the mop cloth, and the thick black solid line 310 in the middle represents the trajectory path of the robot moving from bottom to top. As shown in fig. 3, the area shown by the wavy line in the figure also represents the area covered by the mop, and the thick solid black line 510 in the middle represents the trajectory of the robot moving from bottom to top. The two track routes are progressive tracks which take reciprocating movement back and forth similar to a Y shape as a unit, the tracks are tracks simulating manual mopping, and the robot moves to mopping according to the tracks, so that a better mopping effect can be achieved. At present, the floor mopping mode of the robot is less, and the diversity requirement of a user on the floor mopping of the robot cannot be met.

Therefore, the application provides a path planning method for a robot. Referring to fig. 4, the method includes the following steps 100 to 500:

step 100: the robot moves a first longitudinal distance and a first lateral distance along a first line to the left from an initial point.

Referring specifically to fig. 5, the robot moves a first longitudinal distance and a first transverse distance from the initial point to the left along the first line. Wherein the first line may be an arc. Further, the arc may be a crown, a semicircle, and the first line is a semicircle in fig. 5, but not limited thereto.

Step 200: the robot moves a second longitudinal distance and a second transverse distance to the right along a second line.

The robot moves a second longitudinal distance and a second transverse distance rightward along a second line with the end point of the first line as a starting point. Wherein the second line may be an arc. Furthermore, the arc line may be a circular crown, a semi-circle, and the second line is a semi-circle in fig. 5, but is not limited thereto.

Step 300: the robot moves a third longitudinal distance and a third lateral distance left along a third line and back to the initial point.

The robot moves the third longitudinal distance and the third transverse distance leftward along the third line with the end point of the second line as a starting point, and returns to the initial point. Wherein, the third line can be an arc line, and the arc line can be a circular crown shape and a semicircular shape. The radius of the second line is greater than the radius of the first line, and the radius of the second line is greater than the radius of the third line. In fig. 5, the third line is illustrated as a semicircle, but not limited thereto.

Step 400: the robot walks a fourth longitudinal distance forward.

The robot walks a fourth longitudinal distance in the forward direction. In the implementation shown in fig. 5, the fourth longitudinal distance is the length of the radius of the second shape when the radius of the first shape is equal to the radius of the third shape and equal to half the radius of the second shape.

Step 500: steps 100 to 400 are repeated in sequence until the robot detects an obstacle or the robot walks forward a preset distance.

Steps 100 to 400 are repeated in sequence until the robot detects an obstacle or the robot walks forward a preset distance. The preset distance may be preset.

Preferably, referring to fig. 5, in one embodiment, the first line is a semicircle, wherein the radius of the first line is R1, and R1 > 0. The first lateral distance is 2R1 and the first longitudinal distance is zero. The second and third lines are also semicircular, the second line has a radius R2, the second lateral distance is 2R2, and the second longitudinal distance is zero. The third line has a radius R3, the third lateral distance is 2R3, and the third longitudinal distance is zero. The length of the fourth longitudinal distance is equal to R2. R2 > 0, R3 > 0, and R2=2r1=2r3. Illustratively, R1=10 cm, R2=20 cm, and R3=10 cm.

Note that in the embodiment of fig. 5, the first arc, the second arc, and the third arc are all convex along the front. In practical implementation, the first arc, the second arc and the third arc may all be convex along the rear direction. See figure 6 for details. In FIG. 6, the first line is semicircular, wherein the radius of the first line is R1, and R1 > 0. The first lateral distance is 2R1 and the first longitudinal distance is zero. The second and third lines are also semicircular, the second line has a radius R2, the second lateral distance is 2R2, and the second longitudinal distance is zero. The third line has a radius R3, the third lateral distance is 2R3, and the third longitudinal distance is zero. The fourth longitudinal distance has a length R2. R2 > 0, R3 > 0, and R2=2r1=2r3. Illustratively, R1=10 cm, R2=20 cm, and R3=10 cm.

Both embodiments shown in fig. 5 and 6 are specific embodiments. In other embodiments, the radius of the first line is not necessarily equal to the radius of the second line, nor is the fourth longitudinal distance necessarily equal to the length of the radius of the second line. Referring to fig. 7, fig. 7 is a schematic diagram of another robot walking path. The radius of the first line is larger than the radius of the third line in fig. 7. The fourth longitudinal distance is a distance between the starting point and an intersection point between a vertical straight line where the starting point is located and the second line, and the length of the fourth longitudinal distance is a length of a distance between the starting point and the intersection point of the second line along the vertical direction. In fig. 7, only the radius of the first line is greater than the radius of the second line. In the implementation process, the radius of the third line may also be larger than the radius of the first line, which is not described herein.

When the robot follows the path shown in fig. 7, the first line is semicircular, wherein the radius of the first line is R1, and R1 > 0. The first lateral distance is 2R1 and the first longitudinal distance is zero. The second and third lines are also semicircular, the second line has a radius R2, the second lateral distance is 2R2, and the second longitudinal distance is zero. The third line has a radius R3, the third lateral distance is 2R3, and the third longitudinal distance is zero. The fourth longitudinal distance is less than R2.

In the implementations shown in fig. 5, 6, 7, the first, second and third lines are all semi-circular. In practical implementation, the first, second and third lines may also be circular crown shaped, please refer to fig. 8. In fig. 8, the first line, the second line and the third line are not complete semi-circles. In fig. 8, the robot moves a first longitudinal distance and a first lateral distance from the initial point to the left along a first line, where the first line has a radius R1, and R1 > 0. The first lateral distance is less than 2R1 and the first longitudinal distance is less than R1. The second line has a radius R2, R2 > R1. The second lateral distance is greater than 0 and the second longitudinal distance is greater than 0. The third line has a radius of R3, R3 > 0. The third lateral distance is less than 2R3 and the third longitudinal distance is less than R3.

Fig. 9 provides an illustration of coverage paths traveled by the robot, and fig. 9 corresponds to fig. 5, and when the robot travels along the travel path shown in fig. 5 for multiple times, the coverage paths shown in fig. 9 can be superimposed.

Fig. 10 provides an illustration of coverage paths traveled by a robot, and fig. 10 corresponds to fig. 6, and when the robot travels a plurality of times along the travel paths shown in fig. 6, the coverage paths shown in fig. 10 may be superimposed.

According to the path planning method of the robot, the robot adopts a reciprocating progressive type manual mopping mode of left, right, left and front, the mopping effect of the robot can be effectively improved, the mopping is enabled to be cleaner, and the mopping requirement of a user is met.

Fig. 11 is a block diagram of a robot 10 according to another embodiment of the present invention. As shown in fig. 11, the mobile robot 10 may include: a robot body, an obstacle detecting device, a processor 110, a memory 120, and a communication module 130.

The obstacle detection device is arranged on the robot main body and used for receiving a reflected signal reflected by an obstacle in real time. In this embodiment, the obstacle detection device is a light sensor, including but not limited to an infrared sensor.

And a traveling mechanism is arranged on the mobile robot main body. The processor 110 is built in the mobile robot main body.

The main body of the mobile robot is a main body structure of the mobile robot, and corresponding shape structure and manufacturing material (such as hard plastic or metal such as aluminum and iron) can be selected according to actual needs of the mobile robot 10, for example, the main body of the mobile robot is set to be a flat cylinder shape common to sweeping mobile robots.

The traveling mechanism is a structural device that is provided on the mobile robot main body and provides the mobile robot 10 with a moving capability. The running gear can be realized by any type of moving device, such as a roller, a crawler belt and the like.

The processor 110, the memory 120 and the communication module 130 may establish a communication connection therebetween by way of a bus.

The processor 110 may be of any type, having one or more processing core control chips. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.

The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area can store the walking route of the robot, the walking control strategy of the robot and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 120 optionally includes memory located remotely from the processor 110, and these remote memories may be connected to the robot 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The memory 120 stores instructions executable by at least one control chip in the processor 110; the at least one control chip is used for executing the instruction so as to realize the path planning method of the robot in any method embodiment.

The communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module including, but not limited to, a WiFi module or a bluetooth module, etc.

The embodiment of the application also provides a main control chip, and the main control chip is assembled in the robot. The main control chip is used for controlling the robot to execute the path planning method of the robot provided by the application.

The application also provides a robot, the robot is provided with the main control chip provided by the embodiment of the application, and the robot can be controlled to execute the path planning method provided by the application through the main control chip.

Further, an embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control chips in the processor 110, so that the one or more control chips execute the path planning method for the robot in any of the above method embodiments.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Through the above description of the embodiments, it is obvious to those skilled in the art that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The product can execute the path planning method of the robot provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the path planning method of the robot. For details of the robot path planning method provided in the embodiment of the present invention, reference may be made to the technical details not described in detail in the embodiment.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some 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

1. A path planning method of a robot is characterized by comprising the following steps:

step 100: the robot moves a first longitudinal distance and a first transverse distance along a first line from an initial point to the left;

step 200: the robot moves a second longitudinal distance and a second transverse distance to the right along a second line;

step 300: the robot moves a third longitudinal distance and a third transverse distance leftwards along a third line and returns to the initial point;

step 400: the robot walks a fourth longitudinal distance forward.

2. The method of claim 1, further comprising:

step 500: repeating steps 100 to 400 in sequence until the robot detects an obstacle or the robot walks forward a preset distance.

3. The method of claim 1 or 2, wherein the first line, the second line, and the third line are all arcs.

4. The method of claim 3, wherein the first line has a radius R1, the second line has a radius R2, and the third line has a radius R3, R2 > R1 > 0, R2 > R3 > 0.

5. The method of claim 4, wherein the first line is a semicircle, the first longitudinal distance is zero, and the first lateral distance is 2R1.

6. The method of claim 4, wherein the second line is a semicircle, the second longitudinal distance is zero, and the second transverse distance is 2R2.

7. The method of claim 4, wherein the third line is a semicircle, the third longitudinal distance is zero, and the third transverse distance is 2R3.

8. The method according to any one of claims 4 to 7, wherein R2=2r1=2r3.

9. The method of claim 8, wherein the fourth longitudinal distance is equal to R2.

10. The method of claim 9, wherein the first, second, and third lines each project along a front.

11. The method of claim 9, wherein the first line, the second line, and the third line all project along a rear direction.

12. A main control chip assembled in a robot, wherein the main control chip is used for controlling the robot to execute the path planning method of the robot according to any one of claims 1 to 11.

13. A robot equipped with a master control chip, wherein the master control chip is the master control chip of claim 12.