CN111759241B - Sweeping path planning and navigation control method for sweeping robot - Google Patents
Sweeping path planning and navigation control method for sweeping robot Download PDFInfo
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- 238000010408 sweeping Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims abstract description 18
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- 230000008859 change Effects 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
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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
- A47L11/40—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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention discloses a sweeping path planning and navigation control method of a sweeping robot, which belongs to the field of robots. The method has the advantages of low cost, extremely small dependence on an internal memory, high operation speed, capability of running at the speed of 600 frames per second in an STM32F0x0 chip with the lowest cost of the STM chip, immediate running after starting, adaptation to different environments during cleaning, much higher coverage efficiency and coverage rate than a random collision mode, greatly reduced collision between a machine and a wall and furniture in a route navigation mode, reduced damage to the environment and a product, high linear walking precision, continuous straight movement of 20m and less than 20mm deviation from a target line. The sweeping navigation in an open field is met.
Description
Technical Field
The invention relates to the field of robots, in particular to a sweeping path planning and navigation control method of a sweeping robot.
Background
The current cleaning path planning method applied to the sweeping robot has the following defects:
(1) the cost is high, and the existing technology needs to store the map, so that the memory consumption is large, and a chip with more than 512kb is required, thereby leading to high cost of the computing equipment.
(2) The cleaning task can be started after the working space is explored in advance to build a map, and the exploration needs to take a long time when a large space is cleaned.
(3) At present, the cleaning planning algorithm applied to the low-cost chip is mostly in a random collision type, the cleaning coverage rate and the coverage efficiency are low, and the normal use requirement cannot be met.
(4) The random collision type solution has a low coverage rate at the edge of a room where a large amount of sundries are piled.
Disclosure of Invention
The invention aims to provide a sweeping path planning and navigation control method for a sweeping robot, which solves the technical problems in the background art. The cleaning path planning algorithm with high algorithm execution efficiency and extremely low dependence on the memory is designed.
A sweeping path planning and navigation control method of a sweeping robot comprises the following steps:
step 1: establishing a rectangular coordinate system, and planning a linear walking route in the rectangular coordinate system, wherein the linear walking route is that the route is always parallel to an X coordinate axis or a Y coordinate axis, and the route is determined by a straight line and a path direction in the coordinate system;
step 2: the sweeping robot performs sweeping walking along a planned straight walking route, and moves backwards when collision or falling occurs;
and step 3: after backing, planning a next straight walking route, wherein the position of the sweeping robot rotates in situ by 90 degrees and then moves to the planned straight walking route, if collision and falling occur in the rotating process, entering a wall-following walking mode or a bow sweeping route, entering a step 5, and if collision and falling do not occur in the rotating process, entering a step 4;
and 4, step 4: and after the steering is finished, smoothly cutting into the next line through the radius steering control robot, and executing straight walking control along the line according to the distance between the current coordinate and the next line and the orientation angle of the next line. With the gradual reduction of the distance between the robot and the next line, the target running angle of the robot gradually approaches the orientation angle of the next line, so that smooth cut-in to the next straight line can be realized, if the robot finishes walking, the cut-in next straight line returns to the step 1, and if the radius steering control is collided or falls, the step 5 is carried out;
and 5: and if the robot walks along the wall, performing motion navigation by using a wall-following algorithm, entering a bow-sweeping line mode when collision or falling occurs during the wall-following walking, monitoring a trigger change event, entering a straight-walking mode after the trigger change event is monitored, and returning to the step 1.
In the step 1, if the line is horizontal to the X axis, the line function is y ═ b, and the orientation angle is from 0 ° to 180 °; if the line is horizontal to the Y axis, its line function is x ═ b, oriented both from 90 ° and-90 °.
In the step 2, when backing, the whole speed is used for backing, the backing distance is 20mm, and the backing state is carried out.
The bow sweeping line in the step 3 has four bow-shaped overall trends, the first bow-shaped overall trend is that each line is horizontal to the X axis and is swept along the positive direction of the Y axis, the second bow-shaped overall trend is that each line is horizontal to the X axis and is swept along the negative direction of the X axis, the third bow-shaped overall trend is that each line is horizontal to the Y axis and is swept along the positive direction of the X axis, and the fourth bow-shaped overall trend is that each line is horizontal to the X axis and is swept along the negative direction of the Y axis.
In the step 3, the sweep line control is provided with adjustable parameters of the line spacing LS and the current coordinates (x1, y1), and according to the current type of the overall trend of the bow-shaped line, there are four methods for changing the line, if the overall trend is the first type of the bow-shaped line: if y1-b > LS, then the new route is y b + LS, and the route orientation angle is reversed by 180 °, if the second bow overall trend is: if the current route is y-b, and b-y1> LS, the new route is y-b-LS, and the orientation angle of the route is reversed by 180 °, if the third bow-shaped overall trend is: if x1-b > LS, then the new route is x b + LS, and the route orientation angle is reversed by 180 °, if the fourth bow overall trend is: the current route is x-b, if b-x1> LS, the new route is x-b-LS, and the route orientation is reversed by 180 °.
In step 5, the triggering change event includes cutting into the next line, returning to the current line after a distance along the wall, the walking time exceeding a set value, if the current direction of the pantograph is the positive direction of the Y axis, but the current Y coordinate of the machine is less than the initial Y coordinate minus 0.5 times of the pantograph spacing, if the current direction of the pantograph is the negative direction of the Y axis, but the current Y coordinate of the machine is greater than the initial Y coordinate plus 0.5 times of the pantograph spacing, if the current direction of the pantograph is the positive direction of the X axis, but the current X coordinate of the machine is less than the initial X coordinate minus 0.5 times of the pantograph spacing, and if the current direction of the pantograph is the negative direction of the X axis, but the current X coordinate of the machine is greater than the initial X coordinate plus 0.5 times of the pantograph spacing, wherein the time of the set value is 20 s.
In the step 5, when the sweep line enters the straight walking mode, the straight walking control along the line is specifically performed by firstly calculating the offset distance between the sweep line and the target line according to the trend type of the current line and the current coordinates (x1, y1), and if the current trend is the overall trend of the first type of bow shape or the overall trend of the second type of bow shape: b is the current route, and if the orientation of the current route is 0 degrees, the distance d from the current position to the target route is y 1-b; if the current line orientation is 180 degrees, the distance d between the current position and the target line is b-y 1; if the current trend is a third overall trend or a fourth overall trend: b is the current route, and if the current route is oriented to 90 degrees, the distance d from the current position to the target route is b-x 1; if the current line orientation is-90 degrees, the distance d between the current position and the target line is x 1-b; if d is larger than 0, it represents that the current position is deviated to the left relative to the orientation direction of the target line, and needs to be corrected to the right, otherwise, deviation to the right needs to be corrected to the left.
The specific process of correction is as follows: calculating a correction angle a according to d: if d is greater than LS, a is 90, if d < -LS, a is-90, otherwise, a is d/LS multiplied by 90, the current target operation angle A is the current line angle-a, a deviation value Delta S of the current angle and the target operation angle is obtained according to a gyroscope, a difference COF of the duty ratio between two wheels is calculated according to an angle PID, and the expression of the angle PID is as follows:
COF＝Kp×ΔSn+Ki×∑ΔS+Kd×(ΔSn-ΔSn-1)
and respectively calculating and setting the duty ratio of two wheels according to the duty ratio difference COF and the maximum duty ratio value, and driving the machine to move.
By adopting the technical scheme, the invention has the following technical effects:
the invention has low cost, little dependence on the memory, high operation speed, can run at the speed of 600 frames per second in the STM32F0x0 chip with the lowest cost of the STM chip, starts and runs immediately, adapts to different environments in cleaning, has the coverage efficiency and the coverage rate far higher than those of a random collision type, greatly reduces the collision of a machine with a wall and furniture in a route navigation mode, reduces the damage to the environment and the product, has high linear walking precision, continuously and straightly runs for 20m, and has the deviation with a target line less than 20 mm. The sweeping navigation in an open field is met.
Drawings
FIG. 1 is a flow chart of a control method of the present invention.
FIG. 2 is a flow chart of the control of the straight walking along the line of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, preferred embodiments are given and the present invention is described in further detail. It should be noted, however, that the numerous details set forth in the description are merely for the purpose of providing the reader with a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.
A cleaning path planning and navigation control method for a cleaning robot, as shown in fig. 1, the control method includes the following steps:
step 1: and establishing a rectangular coordinate system, and planning a linear walking route in the rectangular coordinate system, wherein the linear walking route is that the route is always parallel to an X coordinate axis or a Y coordinate axis, and the route is determined by the direction of a straight line and a path in the coordinate system. If the line is horizontal to the X axis, the line function is y ═ b, and the orientation angle is formed by 0 degrees and 180 degrees; if the line is horizontal to the Y axis, its line function is x ═ b, oriented both from 90 ° and-90 °.
Step 2: the sweeping robot sweeps along a planned straight line walking route for walking, and when collision or falling occurs, the sweeping robot moves backwards. When backing, the device backs at full speed, the distance of backing is 20mm, and the device is in a backing state.
And step 3: and after the robot retreats, planning a next straight walking route, wherein the position of the sweeping robot rotates by 90 degrees in situ to form a planned straight walking route, if collision and falling occur in the rotating process, entering a wall walking mode or a bow sweeping route, entering a step 5, and if no collision and falling occur in the rotating process, entering a step 4. The bow-sweeping line has four kinds of bow-shaped overall tendency, the first kind of bow-shaped overall tendency is that each line is horizontal to the X axis and is swept along the positive direction of the Y axis, the second kind of bow-shaped overall tendency is that each line is horizontal to the X axis and is swept along the negative direction of the X axis, the third kind of bow-shaped overall tendency is that each line is horizontal to the Y axis and is swept along the positive direction of the X axis, and the fourth kind of bow-shaped overall tendency is that each line is horizontal to the X axis and is swept along the negative direction of the Y axis. In the control of the arched scanning line, adjustable parameters of a line spacing LS and current coordinates (x1, y1) are set, four methods for changing the line are provided according to the current arched trend type, and if the line is the first arched overall trend: if y1-b > LS, then the new route is y b + LS, and the route orientation angle is reversed by 180 °, if the second bow overall trend is: if the current route is y-b, and b-y1> LS, the new route is y-b-LS, and the orientation angle of the route is reversed by 180 °, if the third bow-shaped overall trend is: if x1-b > LS, then the new route is x b + LS, and the route orientation angle is reversed by 180 °, if the fourth bow overall trend is: the current route is x-b, if b-x1> LS, the new route is x-b-LS, and the route orientation is reversed by 180 °.
And 4, step 4: and after the steering is finished, smoothly cutting into the next line through the radius steering control robot, and executing straight walking control along the line according to the distance between the current coordinate and the next line and the orientation angle of the next line. And (3) with the gradual reduction of the distance between the robot and the next line, the target running angle of the robot gradually approaches the orientation angle of the next line, so that smooth cut-in to the next straight line can be realized, if the robot finishes walking, the cut-in next straight line returns to the step 1, and if the radius steering control is collided or falls, the step 5 is carried out.
And 5: and if the robot walks along the wall, performing motion navigation by using a wall-following algorithm, entering a bow-sweeping line mode when collision or falling occurs during the wall-following walking, monitoring a trigger change event, entering a straight-walking mode after the trigger change event is monitored, and returning to the step 1. Triggering a change event includes cutting into the next line, returning to the current line after a distance along the wall, a walk time exceeding a set value, if the current swipe direction is the positive Y-axis direction, but the current machine Y coordinate is less than the initial Y coordinate minus 0.5 times the swipe pitch, if the current swipe direction is the negative Y-axis direction, but the current machine Y coordinate is greater than the initial Y coordinate plus 0.5 times the swipe pitch, if the current swipe direction is the positive X-axis direction, but the current machine X coordinate is less than the initial X coordinate minus 0.5 times the swipe pitch, and if the current swipe direction is the negative X-axis direction, but the current machine X coordinate is greater than the initial X coordinate plus 0.5 times the swipe pitch, where the set value is 20 seconds.
When the sweep line enters the straight walking mode, the straight walking control process along the line is that firstly, the offset distance between the sweep line and the target line is calculated according to the trend type of the current line and the current coordinates (x1, y1), and if the current trend is the overall trend of the first type of the bow-shaped or the overall trend of the second type of the bow-shaped: b is the current route, and if the orientation of the current route is 0 degrees, the distance d from the current position to the target route is y 1-b; if the current line orientation is 180 degrees, the distance d between the current position and the target line is b-y 1; if the current trend is a third overall trend or a fourth overall trend: b is the current route, and if the current route is oriented to 90 degrees, the distance d from the current position to the target route is b-x 1; if the current line orientation is-90 degrees, the distance d between the current position and the target line is x 1-b; if d is larger than 0, it represents that the current position is deviated to the left relative to the orientation direction of the target line, and needs to be corrected to the right, otherwise, deviation to the right needs to be corrected to the left.
The specific process of correction is as follows: calculating a correction angle a according to d: if d is greater than LS, a is 90, if d < -LS, a is-90, otherwise, a is d/LS multiplied by 90, the current target operation angle A is the current line angle-a, a deviation value Delta S of the current angle and the target operation angle is obtained according to a gyroscope, a difference COF of the duty ratio between two wheels is calculated according to an angle PID, and the expression of the angle PID is as follows:
COF＝Kp×ΔSn+Ki×∑ΔS+Kd×(ΔSn-ΔSn-1)
and respectively calculating and setting the duty ratio of two wheels according to the duty ratio difference COF and the maximum duty ratio value, and driving the machine to move.
In the arched cleaning process, when narrow and complex environments such as dining tables and tea tables and the like and the end of a room are met, the machine can collide when rotating 90 or rotating to the next line, at the moment, the machine enters a wall-following stage, and motion navigation is carried out by using a wall-following algorithm. And through monitoring the following events, the control along the wall is quitted, and the control along the line is entered to move straight.
In order to enable the robot to pass through passages with various orientations during cleaning, the robot needs to use a bow-shaped scanning line with various directions for cleaning so as to obtain reliable coverage rate. When the line reset is triggered each time, the line trend is switched to the next one and the process is repeated continuously. And determining the position of the first line after the resetting according to the current coordinate.
The planning line is always horizontal to the X coordinate axis or the Y coordinate axis, and the offset distance between the planning line and the line can be quickly calculated. In the control process along the line, a target angle which the robot should operate is calculated according to the offset distance between the current position and the line, then the current angle is obtained according to the gyroscope, and the difference between the current angle and the target angle is used for carrying out angle PID calculation to drive the robot to move with two-wheel duty ratio.
And after the collision barrier retreats, the rotation is performed by 90 degrees in situ according to the position of the next line, and then the smooth corner is used for controlling smooth cut-in to the next line, so that the collision can be effectively reduced, and the smooth steering is favorable for reducing the error of the gyroscope.
The robot can be quickly released from a wall motion control mode after collision in the process of smooth steering, and excessive time is avoided being spent in narrow places.
When the coverage is at the end of a room, the bow-shaped route trend is readjusted by resetting the bow-shaped route in an area which is not covered before returning along the wall, so that the repeated coverage is reduced, and the coverage rate is improved.
The robot current pose is estimated through a gyroscope and a coded disc, the sweeping line planning is combined, the line motion control and the edge motion control are used, the sweeping robot can complete high-efficiency arched sweeping in a closed indoor space, a map storage unit is not required, and the production cost of the robot is greatly reduced.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (4)
1. A sweeping path planning and navigation control method of a sweeping robot is characterized by comprising the following steps: the control method comprises the following steps:
step 1: establishing a rectangular coordinate system, and planning a linear walking route in the rectangular coordinate system, wherein the linear walking route is that the route is always parallel to an X coordinate axis or a Y coordinate axis, and the route is determined by a straight line and a path direction in the coordinate system;
step 2: the sweeping robot performs sweeping walking along a planned straight walking route, and moves backwards when collision or falling occurs;
and step 3: after backing, planning a next straight walking route, wherein the position of the sweeping robot rotates in situ by 90 degrees and then moves to the planned straight walking route, if collision and falling occur in the rotating process, entering a wall-following walking mode or a bow sweeping route, entering a step 5, and if collision and falling do not occur in the rotating process, entering a step 4;
and 4, step 4: after the steering is finished, smoothly cutting into the next line through the radius steering control robot, and executing straight walking control along the line according to the distance between the current coordinate and the next line and the orientation angle of the next line; with the gradual reduction of the distance between the robot and the next line, the target running angle of the robot gradually approaches the orientation angle of the next line, so that smooth cut-in to the next straight line can be realized, if the robot finishes walking, the cut-in next straight line returns to the step 1, and if the radius steering control is collided or falls, the step 5 is carried out;
and 5: if the user walks along the wall, the user uses a wall-following algorithm to perform motion navigation, enters a bow-sweeping line mode when the user collides or falls during the wall-following walking, monitors a trigger change event, enters a straight-walking mode after monitoring the trigger change event, and returns to the step 1;
in the step 1, if the line is horizontal to the X axis, the line function is y ═ b, and the orientation angle is from 0 ° to 180 °; if the line is horizontal to the Y axis, the line function is x ═ b, and the orientation is formed by 90 degrees and-90 degrees;
in the step 2, when backing, backing at full speed, wherein the backing distance is 20mm, and backing out is carried out;
the bow-shaped sweeping lines in the step 3 have four bow-shaped overall trends, the first bow-shaped overall trend is that each line is horizontal to the X axis and is swept along the positive direction of the Y axis, the second bow-shaped overall trend is that each line is horizontal to the X axis and is swept along the negative direction of the X axis, the third bow-shaped overall trend is that each line is horizontal to the Y axis and is swept along the positive direction of the X axis, and the fourth bow-shaped overall trend is that each line is horizontal to the X axis and is swept along the negative direction of the Y axis;
in the step 3, the sweep line control is provided with adjustable parameters of the line spacing LS and the current coordinates (x1, y1), and according to the current type of the overall trend of the bow-shaped line, there are four methods for changing the line, if the overall trend is the first type of the bow-shaped line: if y1-b > LS, then the new route is y b + LS, and the route orientation angle is reversed by 180 °, if the second bow overall trend is: if the current route is y-b, and b-y1> LS, the new route is y-b-LS, and the orientation angle of the route is reversed by 180 °, if the third bow-shaped overall trend is: if x1-b > LS, then the new route is x b + LS, and the route orientation angle is reversed by 180 °, if the fourth bow overall trend is: the current route is x-b, if b-x1> LS, the new route is x-b-LS, and the route orientation is reversed by 180 °.
2. The cleaning path planning and navigation control method of the cleaning robot as claimed in claim 1, wherein the method comprises the following steps: in step 5, the triggering change event includes cutting into the next line, returning to the current line after a distance along the wall, the walking time exceeding a set value, if the current direction of the pantograph is the positive direction of the Y axis, but the current Y coordinate of the machine is less than the initial Y coordinate minus 0.5 times of the pantograph spacing, if the current direction of the pantograph is the negative direction of the Y axis, but the current Y coordinate of the machine is greater than the initial Y coordinate plus 0.5 times of the pantograph spacing, if the current direction of the pantograph is the positive direction of the X axis, but the current X coordinate of the machine is less than the initial X coordinate minus 0.5 times of the pantograph spacing, and if the current direction of the pantograph is the negative direction of the X axis, but the current X coordinate of the machine is greater than the initial X coordinate plus 0.5 times of the pantograph spacing, wherein the time of the set value is 20 s.
3. The cleaning path planning and navigation control method of the cleaning robot as claimed in claim 2, wherein the method comprises the following steps: in the step 5, when the sweep line enters the straight walking mode, the straight walking control along the line is specifically performed by firstly calculating the offset distance between the sweep line and the target line according to the trend type of the current line and the current coordinates (x1, y1), and if the current trend is the overall trend of the first type of bow shape or the overall trend of the second type of bow shape: b is the current route, and if the orientation of the current route is 0 degrees, the distance d from the current position to the target route is y 1-b; if the current line orientation is 180 degrees, the distance d between the current position and the target line is b-y 1; if the current trend is a third overall trend or a fourth overall trend: b is the current route, and if the current route is oriented to 90 degrees, the distance d from the current position to the target route is b-x 1; if the current line orientation is-90 degrees, the distance d between the current position and the target line is x 1-b; if d is larger than 0, it represents that the current position is deviated to the left relative to the orientation direction of the target line, and needs to be corrected to the right, otherwise, deviation to the right needs to be corrected to the left.
4. The cleaning path planning and navigation control method of the cleaning robot as claimed in claim 3, wherein the method comprises the following steps: the specific process of correction is as follows: calculating a correction angle a according to d: if d is greater than LS, a is 90, if d < -LS, a is-90, otherwise, a is d/LS multiplied by 90, the current target operation angle A is the current line angle-a, a deviation value Delta S of the current angle and the target operation angle is obtained according to a gyroscope, a difference COF of the duty ratio between two wheels is calculated according to an angle PID, and the expression of the angle PID is as follows:
COF＝Kp×ΔSn+Ki×∑ΔS+Kd×(ΔSn-ΔSn-1)
and respectively calculating and setting the duty ratio of two wheels according to the duty ratio difference COF and the maximum duty ratio value, and driving the machine to move.
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| CN113932808B (en) * | 2021-11-02 | 2024-04-02 | 湖南格兰博智能科技有限责任公司 | Visual and gyroscope fusion correction algorithm applicable to visual navigation floor sweeping robot |
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