CN106647774A - Method for realizing autonomous exploration mapping and autonomous path covering of indoor robot cleaner - Google Patents

Method for realizing autonomous exploration mapping and autonomous path covering of indoor robot cleaner Download PDF

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Publication number
CN106647774A
CN106647774A CN201710077923.0A CN201710077923A CN106647774A CN 106647774 A CN106647774 A CN 106647774A CN 201710077923 A CN201710077923 A CN 201710077923A CN 106647774 A CN106647774 A CN 106647774A
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CN
China
Prior art keywords
map
area
robot cleaner
region
environment
Prior art date
Application number
CN201710077923.0A
Other languages
Chinese (zh)
Inventor
王威
谈笑
胡义轩
袁泽寰
黄鹤
Original Assignee
南京罗普森智能科技有限公司
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Application filed by 南京罗普森智能科技有限公司 filed Critical 南京罗普森智能科技有限公司
Priority to CN201710077923.0A priority Critical patent/CN106647774A/en
Publication of CN106647774A publication Critical patent/CN106647774A/en

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0203Cleaning or polishing vehicle

Abstract

The invention discloses a method for realizing autonomous exploration mapping and autonomous path covering of an indoor robot cleaner. The method comprises the following steps: 1) the robot cleaner senses the current area environment, obtains the depth information of the current shooting area, and determines a boundary position; 2) the robot moves autonomously to the position, completes the scanning and map generation of the upper area, and senses the environment of the new area; 3) the robot cleaner finally completes the generation of an indoor environment complete map through the continuous boundary exploration and new regional scanning, and distinguishes the area that cannot be passed and the area that can be passed in the map; 4) the indoor environment map can be completed, and the map area can be decomposed to generate the cleaning path for covering each area; and 5) a motion control module drives the robot cleaner to finally complete the cleaning of the indoor environment in accordance with the planned area order and path. The method overcomes the shortcomings of low coverage and high cleaning repetition rate of a conventional robot cleaner, thereby improving the robustness of the system and the work efficiency.

Description

Realize that domestic sweeper device people independently explores the method built figure and cover from main path

Technical field

The present invention relates to realize that domestic sweeper device people independently explores the method built figure and cover from main path, belong to cleaning The mechanical technical field of covering on floor, carpet, furniture, wall or wall.

Background technology

In the market existing domestic sweeper device people mostly cleans strategy or random fashion using simple arch. Arch sweeping robot principle is:Allow robot to walk forward until encountering obstacle, be then rotated by 90 ° and continue to walk forward A small distance, walks after continuing to be rotated by 90 °, until encountering barrier again, circulation always is gone down.This strategy has Many drain sweeps, coverage rate is not high.The sweeping robot of random fashion also allows robot to be walked forward, is simply encountering Random one angle of rotation of barrier relief robot, and keep straight on, circulate always.This mode not ensured that and cover completely Lid, once and robot by barrier bottle up be difficult spin off, in addition the cleaning repetitive rate of random fashion is very high, so as to shadow Ring its service efficiency.

The content of the invention

It is an object of the invention to provide one kind realizes that domestic sweeper device people independently explores and building figure and covering from main path Method, solve prior art exist shortcoming.

The present invention adopts the following technical scheme that realization:

Realize that domestic sweeper device people independently explores the method built figure and cover from main path, it is characterised in that the method includes Following steps:

1)Sweeping robot perceives current region environment using camera, obtains the depth information in current shooting area, by working as The border detection of forefoot area, determines a boundary position;

2)Robot autonomous movement so far position, completes the scanner uni map to a upper region and generates, and perceives the ring of new region Border;

3)Sweeping robot is explored and new sector scanning by continuous border, is finally completed the life of the complete map of indoor environment Into, and the region that cannot pass through and the region that can pass through are distinguished in map;

4)Indoor environment map is completed, the region of map is decomposed, generation can cover the cleaning path of regional;

5)Motion-control module drives sweeping robot to be finally completed the clear of indoor environment according to the zone sequence and path planned Sweep.

The method have the benefit that:Realize first independently building figure to home environment by vision sensor, it Afterwards on the basis of map is set up, decomposed using map and path planning algorithm realizes the segmentation of map zones of different and machine on earth The planning of device people's course, last sweeping robot according to the division of zones of different, by region and the route planned true Cleaned in real environment.On the one hand sweeping robot operating efficiency, while on the other hand can improving coverage rate, drop are improved The repetition of low same area is cleaned.

Specific embodiment

By the following description to embodiment, will more contribute to the public understanding present invention, but can't be by Shen Given specific embodiment of asking someone is considered as the restriction to technical solution of the present invention, any definition to part or technical characteristic Conversion that be changed and/or make to overall structure form and immaterial is regarded as what technical scheme was limited Protection domain.

In the present embodiment, sweeping robot perceives current region environment using camera, obtains current shooting region Depth information, by the border detection to current region, determines a boundary position, robot autonomous movement so far position, complete In pairs the scanner uni map in a upper region is generated, and perceives the environment of new region;Sweeping robot is explored by continuous border And new region scanning, it is finally completed indoor environment intactly map generalization.In the map that robot sets up, barrier and wall A kind of color description in the region that cannot pass through Deng robot, other regions another kind color description.Indoor environment map is complete Cheng Hou, using optimum map decomposition algorithm the Region Decomposition of map is realized, the map after decomposition is divided into different by red line segment Region, by fast Route Planning Algorithm, generating can clean road in the way of full blast by the robot of each region overlay Footpath.Map decompose and planning algorithm after the completion of, motion-control module drive sweeping robot according to planning zone sequence and Path is finally completed the cleaning of indoor environment.Right half part white portion is the region after the completion of cleaning in figure.The present invention overcomes Traditional sweeping robot coverage rate is low, clean the high defect of repetitive rate, improves the robustness and operating efficiency of system.

Algorithmic descriptions in the present invention:

Optimum map decomposition algorithm:Robot realizes outer boundary, internal reasons in whole environment by the perception to environment Region and the division of flat site, and by outer boundary and internal reasons Polygons Representation.Optimum map decomposition algorithm leads to All salient points that inner boundary is found in outside border inner are crossed, extended line is done at an angle to all salient points, with external edge Boundary intersects, and whole map is then divided into each zonule, and as the foundation of path planning.

Fast Route Planning Algorithm:Fast Route Planning Algorithm on the basis of global path planning algorithm, using greed Algorithm, planning process, i.e. local optimum is only carried out to adjacent area and is processed, and non-conterminous region is not processed, and reduces system Operation time, so as to improve path planning efficiency.

Global motion planning thought:The zones of different of division is attached and is planned in the way of permutation and combination, and to planning As a result be compared, select optimum route programming result as the foundation of motion planning and robot control, this algorithm consumed when Between it is longer, it is less efficient, be unfavorable for the real-time processing of robot.

Border detection algorithm:During robot perception surrounding environment, environment is represented with three kinds of different modes, point It is not:Zone of ignorance, barrier point(Region cannot be gone beyond)And flat site(Region can be gone beyond), border detection algorithm is by visiting Rope to adjacent barrier point be attached process, if the barrier point after connection can form the region of closure, this is closed Polygon definition is border.

Certainly, the present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence, Those of ordinary skill in the art can make various corresponding changes and deformation according to the present invention, but these it is corresponding change and Deformation should all belong to the protection domain of appended claims of the invention.

Claims (1)

1. realize that domestic sweeper device people independently explores the method built figure and cover from main path, it is characterised in that the method bag Include following steps:
1)Sweeping robot perceives current region environment using camera, obtains the depth information in current shooting area, by working as The border detection of forefoot area, determines a boundary position;
2)It is robot autonomous to be moved to the boundary position, complete the scanner uni map to a upper region and generate, and perceive new district The environment in domain;
3)Sweeping robot is explored and new sector scanning by continuous border, is finally completed the life of the complete map of indoor environment Into, and the region that cannot pass through and the region that can pass through are distinguished in map;
4)Indoor environment map is completed, the region of map is decomposed, generation can cover the cleaning path of regional;
5)Motion-control module drives sweeping robot to be finally completed the clear of indoor environment according to the zone sequence and path planned Sweep.
CN201710077923.0A 2017-02-14 2017-02-14 Method for realizing autonomous exploration mapping and autonomous path covering of indoor robot cleaner CN106647774A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710077923.0A CN106647774A (en) 2017-02-14 2017-02-14 Method for realizing autonomous exploration mapping and autonomous path covering of indoor robot cleaner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710077923.0A CN106647774A (en) 2017-02-14 2017-02-14 Method for realizing autonomous exploration mapping and autonomous path covering of indoor robot cleaner

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107168334A (en) * 2017-06-26 2017-09-15 上海与德通讯技术有限公司 A kind of paths planning method and robot
CN108209741A (en) * 2017-08-30 2018-06-29 深圳乐动机器人有限公司 Clean robot control method and clean robot
CN108415421A (en) * 2018-01-26 2018-08-17 广东宝乐机器人股份有限公司 A method of improving mobile robot corner coverage

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CN102138769A (en) * 2010-01-28 2011-08-03 深圳先进技术研究院 Cleaning robot and cleaning method thereby
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CN105744874A (en) * 2013-11-20 2016-07-06 三星电子株式会社 Cleaning robot and method for controlling the same
CN105739504A (en) * 2016-04-13 2016-07-06 上海物景智能科技有限公司 Working area ranking method and ranking system for robot
CN105793790A (en) * 2013-12-19 2016-07-20 伊莱克斯公司 Prioritizing cleaning areas
CN105829985A (en) * 2013-12-19 2016-08-03 伊莱克斯公司 Robotic cleaning device with perimeter recording function
CN106200632A (en) * 2015-04-09 2016-12-07 美国iRobot公司 Robot followed the trail of by wall
CN106200633A (en) * 2015-03-18 2016-12-07 美国iRobot公司 Use physical features location and drawing

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040181896A1 (en) * 2003-03-17 2004-09-23 Saku Egawa Self-propelled cleaning device and method of operation thereof
CN102138769A (en) * 2010-01-28 2011-08-03 深圳先进技术研究院 Cleaning robot and cleaning method thereby
CN104737085A (en) * 2012-09-24 2015-06-24 罗巴特公司 Robot and method for autonomous inspection or processing of floor areas
CN105744874A (en) * 2013-11-20 2016-07-06 三星电子株式会社 Cleaning robot and method for controlling the same
CN105793790A (en) * 2013-12-19 2016-07-20 伊莱克斯公司 Prioritizing cleaning areas
CN105829985A (en) * 2013-12-19 2016-08-03 伊莱克斯公司 Robotic cleaning device with perimeter recording function
CN104238560A (en) * 2014-09-26 2014-12-24 深圳市科松电子有限公司 Method and system for planning nonlinear paths
CN104536447A (en) * 2014-12-29 2015-04-22 重庆广建装饰股份有限公司 Navigation method for sweeping robot
CN106200633A (en) * 2015-03-18 2016-12-07 美国iRobot公司 Use physical features location and drawing
CN106200632A (en) * 2015-04-09 2016-12-07 美国iRobot公司 Robot followed the trail of by wall
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107168334A (en) * 2017-06-26 2017-09-15 上海与德通讯技术有限公司 A kind of paths planning method and robot
CN108209741A (en) * 2017-08-30 2018-06-29 深圳乐动机器人有限公司 Clean robot control method and clean robot
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CN108415421A (en) * 2018-01-26 2018-08-17 广东宝乐机器人股份有限公司 A method of improving mobile robot corner coverage

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