CN111813111B - Multi-robot cooperative working method - Google Patents
Multi-robot cooperative working method Download PDFInfo
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- CN111813111B CN111813111B CN202010609738.3A CN202010609738A CN111813111B CN 111813111 B CN111813111 B CN 111813111B CN 202010609738 A CN202010609738 A CN 202010609738A CN 111813111 B CN111813111 B CN 111813111B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000010408 sweeping Methods 0.000 claims abstract description 124
- 238000004140 cleaning Methods 0.000 claims abstract description 28
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 239000000428 dust Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012625 in-situ measurement Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a multi-robot cooperative working method, which comprises the following steps: step 1, obtaining a global area map; step 2, obtaining cleaned area maps generated by all the sweeping robots, wherein the minimum boundary distance value between all the cleaned area maps is within a preset reference distance interval value; step 3, obtaining an unclean area map according to the global area map and each cleaned area map; and 4, controlling the sweeping robot to clean the area where the map of the unclean area is located. And obtaining an unclean area map by obtaining a cleaned area map, sequentially subtracting the cleaned area map by utilizing the global area map, and finally cleaning the area represented by the unclean area map. The cooperative working method has high working efficiency, can avoid the condition that a plurality of sweeping robots repeatedly clean the same position as much as possible, and improves the cleaning efficiency of the sweeping robots. The invention is mainly used in the technical field of robots.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-robot cooperative working method.
Background
The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc., is one kind of intelligent household appliance and can complete floor cleaning automatically inside room with certain artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into the garbage storage box of the ground, so that the function of cleaning the ground is completed. Generally, a robot that performs cleaning, dust collection, and floor scrubbing operations.
In the prior art, when a single sweeping robot works, a VSLAM technology is adopted to complete map construction and subsequent sweeping work, and although the positioning and composition precision is high, the efficiency of the single sweeping robot is too low for sweeping large scenes, and a plurality of sweeping robots are required to coordinate. The existing cooperative method of a plurality of sweeping robots generally adopts a mode of sharing a sweeping map for cooperation, but the existing cooperative method is easy to have the condition of repeated sweeping and has low efficiency.
Disclosure of Invention
The present invention aims to provide a method for collaborative work of multiple robots, which solves one or more technical problems existing in the prior art, and at least provides a beneficial choice or creation condition.
The technical scheme adopted for solving the technical problems is as follows: a multi-robot collaborative method, comprising:
step 1, obtaining a global area map;
step 2, obtaining cleaned area maps generated by all the sweeping robots, wherein the minimum boundary distance value between all the cleaned area maps is within a preset reference distance interval value;
step 3, obtaining an unclean area map according to the global area map and each cleaned area map;
and 4, controlling the sweeping robot to clean the area where the map of the unclean area is located.
Further, in step 1, the obtaining a global area map includes: one of the sweeping robots is selected as a measuring sweeping robot, and the measuring sweeping robot measures the area to be cleaned by adopting a VSLAM algorithm to obtain a global area map.
Further, in step 2, the obtaining the cleaned area map generated by each sweeping robot includes:
step 20, each sweeping robot enters an initial cleaning position;
step 21, each sweeping robot starts cleaning work;
step 22, acquiring the positions of all the sweeping robots and the generated cleaned sub-area map;
step 23, calculating distance values between the boundaries of the cleaned subarea map of the target sweeping robot and other sweeping robots, and screening minimum distance values, wherein the minimum distance values are called minimum boundary distance values;
step 24, judging whether the minimum boundary distance value is smaller than or equal to a first distance threshold value, if yes, entering step 25, otherwise returning to step 22;
step 25, controlling the target sweeping robot to keep away until the real-time distance values between the target sweeping robot and the boundaries of the cleaned subarea maps of other sweeping robots are larger than the first distance threshold value, and replacing the next sweeping robot as the target sweeping robot;
step 26, repeating the steps 22 to 25, and entering step 27 when each sweeping robot is controlled as a target sweeping robot;
step 27, acquiring a cleaned sub-area map generated by each sweeping robot;
step 28, judging whether the boundary distance values between the cleaned sub-area maps obtained in step 27 are all within the reference distance interval value, if the boundary distance values between the cleaned sub-area maps obtained in step 27 are all within the reference distance interval value, entering step 29, and if the boundary distance values between the cleaned sub-area maps obtained in step 27 are not all within the reference distance interval value, returning to step 22;
and 29, stopping the sweeping robots, and taking the cleaned subarea map generated by each sweeping robot at the moment as a cleaned area map.
Further, in step 3, obtaining an unclean area map from the global area map and each cleaned area map includes: subtracting the cleaned area map from the global area map in sequence to obtain an unclean area map.
Further, in step 4, controlling the sweeping robot to clean the area where the unclean area map is located includes: and respectively obtaining the cleaning areas from the cleaned area maps, selecting the sweeping robot with the smallest cleaning area as a target sweeping robot, and controlling the target sweeping robot to clean the area where the unclean area map is located.
The invention has the beneficial effects that: and obtaining an unclean area map by obtaining a cleaned area map, sequentially subtracting the cleaned area map by utilizing the global area map, and finally cleaning the area represented by the unclean area map. The cooperative working method has high working efficiency, can avoid the condition that a plurality of sweeping robots repeatedly clean the same position as much as possible, and improves the cleaning efficiency of the sweeping robots.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a flow chart of the steps of a multi-robot collaborative method;
fig. 2 is a state diagram of the sweeping robot when in operation.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, if there is a word description such as "a plurality" or the like, the meaning of a plurality is one or more, and the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1, a multi-robot cooperative working method includes:
step 1, obtaining a global area map;
step 2, obtaining cleaned area maps generated by all the sweeping robots, wherein the minimum boundary distance value between all the cleaned area maps is within a preset reference distance interval value;
step 3, obtaining an unclean area map according to the global area map and each cleaned area map;
and 4, controlling the sweeping robot to clean the area where the map of the unclean area is located.
The global area map refers to a map of an area to be cleaned. Among these, there are various alternative methods for obtaining the global area map, for example, by measuring the area to be cleaned in advance, then making the global area map and storing it in the storage unit, and directly reading the global area map from the storage unit. Of course, for a new area to be cleaned, the optimal choice is to make an in-situ measurement. For this reason, the multi-robot collaborative method provides a preferred method for obtaining a global area map, namely: one of the sweeping robots is selected as a measuring sweeping robot, and the measuring sweeping robot measures the area to be cleaned by adopting a VSLAM algorithm to obtain a global area map. By selecting one of the sweeping robots to perform field measurement on the area to be cleaned, a more accurate global area map can be obtained, and a new cleaning place can be flexibly dealt with.
The cleaned area map refers to a map representing the cleaning area generated by each sweeping robot itself. These maps have the characteristics: the minimum boundary distance value between the cleaned area maps is within a preset reference distance interval value. The method comprises the following steps: the boundary between the cleaned area maps is calculated to obtain a boundary distance value, and the minimum value is selected from the boundary distance values, and is called the minimum boundary distance value. The reference distance interval value is preset and comprises an upper limit value and a lower limit value. The minimum boundary distance values are all within the preset reference distance interval value, and are expressed as follows: the minimum boundary distance value is greater than or equal to the lower limit value and less than or equal to the upper limit value.
There are various ways of obtaining the map of the cleaned area generated by each sweeping robot. In some preferred embodiments, the obtaining the cleaned area map generated by each of the sweeping robots includes:
step 20, each sweeping robot enters an initial cleaning position;
step 21, each sweeping robot starts cleaning work;
step 22, acquiring the positions of all the sweeping robots and the generated cleaned sub-area map;
step 23, calculating distance values between the boundaries of the cleaned subarea map of the target sweeping robot and other sweeping robots, and screening minimum distance values, wherein the minimum distance values are called minimum boundary distance values;
step 24, judging whether the minimum boundary distance value is smaller than or equal to a first distance threshold value, if yes, entering step 25, otherwise returning to step 22;
step 25, controlling the target sweeping robot to keep away until the real-time distance values between the target sweeping robot and the boundaries of the cleaned subarea maps of other sweeping robots are larger than the first distance threshold value, and replacing the next sweeping robot as the target sweeping robot;
step 26, repeating the steps 22 to 25, and entering step 27 when each sweeping robot is controlled as a target sweeping robot;
step 27, acquiring a cleaned sub-area map generated by each sweeping robot;
step 28, judging whether the boundary distance values between the cleaned sub-area maps obtained in step 27 are all within the reference distance interval value, entering step 29 when the boundary distance values between the cleaned sub-area maps obtained in step 27 are all within the reference distance interval value, and returning to step 22 when the boundary distance values between the cleaned sub-area maps obtained in step 27 are not all within the reference distance interval value;
and 29, stopping the sweeping robots, and taking the cleaned subarea map generated by each sweeping robot at the moment as a cleaned area map.
The reference distance interval value is preset and comprises an upper limit value and a lower limit value. The minimum boundary distance values are all within the preset reference distance interval value, and are expressed as follows: the minimum boundary distance value is greater than or equal to the lower limit value and less than or equal to the upper limit value. The first distance threshold is preset, and is used as an object of comparison reference, and is generally set to be slightly smaller than the upper limit value. The specific numerical value can be freely set by a user according to actual needs.
In step 20, each of the sweeping robots enters an initial cleaning position including: the respective sweeping robots communicate with each other and move apart until the distance value between the respective sweeping robots is greater than the first distance threshold value, and the respective sweeping robots are considered to enter the initial cleaning position. In step 25, the control target sweeping robot is specifically: and controlling the target sweeping robot to pull the distance value between the target sweeping robot and the boundary of the cleaned sub-area map of the other sweeping robots so that the real-time distance value between the target sweeping robot and the boundary of the cleaned sub-area map of the other sweeping robots is larger than the first distance threshold.
The multi-robot cooperative working method is further described below with reference to fig. 2: as can be seen from the figure, the sweeping robot a is located at the boundary of the cleaned sub-area map M1, and the distance values between the sweeping robot a and other cleaned sub-area maps are a1, a2 and a3 respectively, wherein the distance between the sweeping robot a and the cleaned sub-area map M2 is a1, the distance between the sweeping robot a and the cleaned sub-area map M3 is a2, and the distance between the sweeping robot a and the cleaned sub-area map M4 is a3, at this time, a1 is smaller than or equal to a first distance threshold value, and in order to prevent the sweeping robot a from continuing to advance into the cleaned sub-area map M2, the sweeping robot a needs to be controlled to be far away until a1, a2 and a3 are all larger than the first distance threshold value. And then the next sweeping robot is replaced. The main purpose of step 25 is to disable the target sweeping robot in time and control it to be active so that it cannot enter the cleaned sub-area map of the other sweeping robot when the target sweeping robot is about to enter the cleaned sub-area map of the other sweeping robot.
When the cleaned area map of each sweeping robot is obtained, an unclean area map can be calculated. The calculation mode of the unclean area map can be calculated by subtracting the cleaned area map from the global area map in sequence. Of course, it is obvious to those skilled in the art that the requirement for calculating the unclean area map by subtracting the cleaned area map from the global area map in sequence is that the global area map and the cleaned area map should have the same scale to facilitate the subtraction of the unclean area map.
When the unclean area map is obtained, the area represented by the unclean area map can be cleaned. The specific cleaning mode is as follows: and selecting the robot with the lowest workload to clean the area represented by the unclean area map. The specific workload judging mode is as follows: and respectively obtaining the cleaning areas from the cleaned area maps, and selecting the sweeping robot with the smallest cleaning area as the target sweeping robot. When the target sweeping robot is determined, the target sweeping robot can be controlled to clean the area where the unclean area map is located.
The multi-robot cooperative working method comprises the steps of obtaining a cleaned area map, sequentially subtracting the cleaned area map by utilizing a global area map to obtain an unclean area map, and finally cleaning an area represented by the unclean area map. The cooperative working method has high working efficiency, can avoid the condition that a plurality of sweeping robots repeatedly clean the same position as much as possible, and improves the cleaning efficiency of the sweeping robots.
The multi-robot cooperative working method can be operated in computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The system operable by the multi-robot cooperative working method can include, but is not limited to, a processor and a memory. It will be appreciated by those skilled in the art that the example is merely an example of a multi-robot collaboration method, and is not meant to be limiting, and may include more or fewer components than examples, or may combine certain components, or different components, e.g., the multi-robot collaboration method may further include input and output devices, network access devices, buses, etc.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor is a control center of the system for operating the multi-robot cooperative method, and various interfaces and lines are used to connect various parts of the entire multi-robot cooperative method.
The memory may be used to store the computer program and/or the module, and the processor may implement the various functions of the multi-robot collaborative method by running or executing the computer program and/or the module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
While the preferred embodiments of the present invention have been illustrated and described, the present invention is not limited to the embodiments, and various equivalent modifications and substitutions can be made by one skilled in the art without departing from the spirit of the present invention, and these are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (5)
1. A multi-robot cooperative working method is characterized in that: comprising the following steps:
step 1, obtaining a global area map;
step 2, obtaining cleaned area maps generated by all the sweeping robots, wherein the minimum boundary distance value between all the cleaned area maps is within a preset reference distance interval value;
step 3, obtaining an unclean area map according to the global area map and each cleaned area map;
step 4, controlling the sweeping robot to clean the area where the map of the unclean area is located;
in step 2, the obtaining the cleaned area map generated by each sweeping robot includes:
step 20, each sweeping robot enters an initial cleaning position;
step 21, each sweeping robot starts cleaning work;
step 22, acquiring the positions of all the sweeping robots and the generated cleaned sub-area map;
step 23, calculating distance values between the boundaries of the cleaned subarea map of the target sweeping robot and other sweeping robots, and screening minimum distance values, wherein the minimum distance values are called minimum boundary distance values;
step 24, judging whether the minimum boundary distance value is smaller than or equal to a first distance threshold value, if yes, entering step 25, otherwise returning to step 22;
step 25, controlling the target sweeping robot to keep away until the real-time distance values between the target sweeping robot and the boundaries of the cleaned subarea maps of other sweeping robots are larger than the first distance threshold value, and replacing the next sweeping robot as the target sweeping robot;
step 26, repeating the steps 22 to 25, and entering step 27 when each sweeping robot is controlled as a target sweeping robot;
step 27, acquiring a cleaned sub-area map generated by each sweeping robot;
step 28, judging whether the boundary distance values between the cleaned sub-area maps obtained in step 27 are all within the reference distance interval value, if the boundary distance values between the cleaned sub-area maps obtained in step 27 are all within the reference distance interval value, entering step 29, and if the boundary distance values between the cleaned sub-area maps obtained in step 27 are not all within the reference distance interval value, returning to step 22;
and 29, stopping the sweeping robots, and taking the cleaned subarea map generated by each sweeping robot at the moment as a cleaned area map.
2. A multi-robot collaborative method according to claim 1, wherein: in step 1, the obtaining the global area map includes: one of the sweeping robots is selected as a measuring sweeping robot, and the measuring sweeping robot measures the area to be cleaned by adopting a VSLAM algorithm to obtain a global area map.
3. A multi-robot collaborative method according to claim 1, wherein: in step 3, obtaining an unclean area map from the global area map and each cleaned area map includes: subtracting the cleaned area map from the global area map in sequence to obtain an unclean area map.
4. A multi-robot collaborative method according to claim 1, wherein: in step 4, controlling the sweeping robot to clean the area where the unclean area map is located includes: and respectively obtaining the cleaning areas from the cleaned area maps, selecting the sweeping robot with the smallest cleaning area as a target sweeping robot, and controlling the target sweeping robot to clean the area where the unclean area map is located.
5. A multi-robot collaborative method according to claim 1, wherein: in step 20, each of the sweeping robots enters an initial cleaning position including: the respective sweeping robots communicate with each other and move apart until the distance value between the respective sweeping robots is greater than the first distance threshold value, and the respective sweeping robots are considered to enter the initial cleaning position.
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| CN112677154B (en) * | 2020-12-21 | 2022-04-12 | 正从科技(上海)有限公司 | Artificial intelligent cleaning robot collaborative cleaning method and system |
| CN113876249A (en) * | 2021-09-28 | 2022-01-04 | 深圳市云鼠科技开发有限公司 | Cleaning method and multi-machine cooperative cleaning system |
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