CN106873601A - Map parallel movement control method in grating map structure - Google Patents
Map parallel movement control method in grating map structure Download PDFInfo
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- CN106873601A CN106873601A CN201710234044.4A CN201710234044A CN106873601A CN 106873601 A CN106873601 A CN 106873601A CN 201710234044 A CN201710234044 A CN 201710234044A CN 106873601 A CN106873601 A CN 106873601A
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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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- 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
- G05D1/0223—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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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
A kind of map parallel movement control method in grating map structure, when controlling robot motion every time and building map, performs following flow：A, detect whether to need to translate whole grating map, specially：When grid actually used in the x-axis of grating map or a direction of y-axis has reached the border of whole grating map, and its opposite direction also exist remaining grid it is untapped in the case of, into step b, otherwise jump out the sub-process；B, the x-axis according to last time, the offset grid number of y-axis, the difference of the offset grid number of x-axis, y-axis with this determine that this is actually subjected to the grid number of translation；C, the grid number whole grating map of translation that translation is actually subjected to according to this.The present invention can be crossed the border situation according to actually used map, and whole grating map is translated in real time so that actually used map forever positioned at the center of whole grating map, until actually used map is long or width is just really reaching the limit of whole grating map.
Description
Technical field
The present invention relates to electronic information and field of intelligent control technology, and in particular to the map in a kind of grating map structure
Parallel movement control method.
Background technology
Intelligent robot is going into new as the key factor during World Economics and industry Transformation of Increase Manner
Developing stage.Intelligent robot is manufacturing equipment, equipment tool, the service consumption product for having perception, decision-making, performing, for giving birth to
Product process is referred to as industrial robot with the manufacturing equipment intelligence machine in environment, for the consumer goods intelligence of personal or household services
Machine is referred to as household service robot, and extraordinary service is referred to as with the equipment tool intelligence machine safeguarded for operation under particular surroundings
Robot.
By taking the sweeping robot of family expenses as an example, it sweeps machine, intelligent dust suction, robot cleaner etc. also known as automatic, is intelligence
One kind of energy household electrical appliance, can rely on certain artificial intelligence, complete floor cleaning work in room automatically.
Sweeping robot needs to cover whole room area according to certain path planning, completes the purpose of traversal.Road
Plan there is two kinds of random ergodic and planning traversal in footpath.
Random ergodic refers to robot according to certain moving algorithm, such as tentative covering in triangle, pentagon track
Operation area, if running into obstacle, performs corresponding steering function.This method is a kind of inexpensive plan that space is changed with the time
Slightly, such as time-out can reach 100% coverage rate.Random cladding process cannot also satisfy the need without positioning, also without environmental map
Planned in footpath.What most of sweeping robots of current iRobot were used is exactly this method.
Planning traversal, refers to set up environmental map during robot ambulation, and real-time analytical map simultaneously completes new road
Plan, room is all cleaned in footpath.This method efficiency high, on the premise of coverage rate is ensured, can be with most fast speed
Degree completes to clean.
Wherein planning cleaning needs to solve three problems：
1st, map is set up, and (position for determining robot) can be positioned.
2nd, navigate, navigate to target location from initial position, and automatic avoiding obstacles can be realized in navigation procedure.
The method in the 3 whole rooms of traversal.
There are various solutions, Grid Method, Artificial Potential Field Method, template model method, artificial intelligence method etc. on problem 1.
Artificial Potential Field Method, by a kind of motion design in robot around environment into the motion in potential field, source of potential energy
There are two kinds：Repulsion pole and gravitation pole.The region and barrier for being not intended to entrance belong to repulsion pole, it is proposed that the region for passing through is gravitation
Pole.The direction of motion and the position of calculating robot that control robot as the acceleration of robot with joint efforts of gravitation and repulsion
Put.But the method generally has that local minimum point and amount of calculation are excessive.
Template model method, be allowed based on priori and previous environmental map traversal robot the environmental information that obtains come
Match the template of predefined.It requires the memory of predefined environmental model and template, therefore for changing environment just
, such as there is suddenly obstacle etc. in the course of work of traversal robot in bad treatment.
Artificial intelligence method, including FUZZY ALGORITHMS FOR CONTROL, neutral net path planning, genetic algorithm etc..These algorithms are calculated
Amount is big, and mostly also in the laboratory research stage, practice it is less.
Grid Method, using the working space of size identical grid division robot, and represents environment with grid array,
Each grid is one of two states, or in free space, or in Obstacles.The characteristics of this method is letter
It is single, it is easy to accomplish so that for the realization of path planning brings many convenient, the ability with expression irregular slalom thing；Its
Have the disadvantage to represent inefficient, there is the contradiction between space-time expense and precision.Grid division is big, environmental information amount of storage
Just small, planning time is short, and resolution ratio declines, and the reduced capability in path is found under intensive environment；Grid division is small, environment
High resolution, finds that the ability in path is strong under intensive environment, but the amount of storage of environment is big.So the size of grid is directly affected
The performance of control algolithm.
Importantly, robot creates grating map in the way of traveling through being, the startup point of robot is normally at grid
The central point of lattice map, grating map size is fixed, if model machine is cleaned toward the direction always, then map is easy to get over
Boundary.So that occur crossing the border on a direction of map, and the map in the reverse direction in this direction is empty does not use.
The content of the invention
The present invention is intended to provide a kind of method, crossed the border situation according to actually used map, whole grating map translated in real time,
So that actually used map is forever positioned at the center of whole grating map, until actually used map is long or width is just true
The limit of whole grating map is reached.The purpose of the present invention is realized by following technical scheme：
Map parallel movement control method in a kind of grating map structure, it is characterised in that control robot motion simultaneously every time
When building map, following flow is performed：
A, detect whether to need to translate whole grating map, specially：X-axis or a direction of y-axis when grating map
Upper actually used grid has reached the border of whole grating map, and its opposite direction also has the untapped feelings of remaining grid
Under condition, into step b, the sub-process is otherwise jumped out；
B, the x-axis according to last time, the offset grid number of y-axis, the difference of the offset grid number of x-axis, y-axis with this, really
Determine this grid number for being actually subjected to translation；
C, the grid number whole grating map of translation that translation is actually subjected to according to this.
As specific technical scheme, when translation functions are started, a bit of internal memory is opened up as buffering, storage has been got over
The grating map data on boundary, after whole grating map is translated, then the raster data that will be buffered writes grating map.
Map parallel movement control method in the grating map structure that the present invention is provided, can cross the border according to actually used map
Situation, translates whole grating map in real time so that actually used map is located at the center of whole grating map forever, directly
To actually used map is long or width is just really reaching the limit of whole grating map, can be with based on the map parallel movement control method
Effectively lift the efficiency of map building.
Brief description of the drawings
Fig. 1 is the module composition of the intelligent robot that map parallel movement control method provided in an embodiment of the present invention is based on
Figure.
Fig. 2 is the main flow chart of grating map creating process provided in an embodiment of the present invention.
Fig. 3 is the flow of barrier grid coordinate computational methods during grating map creating provided in an embodiment of the present invention
Figure.
Fig. 4 is the flow chart of startup map translation during grating map creating provided in an embodiment of the present invention.
Fig. 5 is the flow chart of determination map translation grid number during grating map creating provided in an embodiment of the present invention.
Fig. 6 is the flow chart that map translation is realized during grating map creating provided in an embodiment of the present invention.
Fig. 7 is to realize buffer operation in map translation motion during grating map creating provided in an embodiment of the present invention
Digital independent flow chart.
Fig. 8 is to realize buffer operation in map translation motion during grating map creating provided in an embodiment of the present invention
Data write flow chart.
Specific embodiment
Specific embodiment of the invention is described further below in conjunction with the accompanying drawings：
As shown in figure 1, the map parallel movement control method in the grating map structure of the present embodiment offer, its intelligence being based on
Robot includes action body 1, main control module 4, set of sensors 5, power module and region operating assembly.Wherein, action machine
Body 1 includes casing, road wheel 2,3.Set of sensors 5 includes collision detection sensor, detection of obstacles sensor, range information
Sensor, angle information sensor, electrically connect with main control module.
Specifically, collision detection sensor is used for before intelligent robot when encountering barrier, makes currently and barrier
There occurs the judgement of collision and notify main control module 4.Fang Die roads detection sensor is used for when intelligent robot lower section is hanging shape
During state, make the judgement that is currently at precarious position and notify main control module 4.Detection of obstacles sensor is used to detect robot
Whether surrounding there is barrier and notifies main control module 4, including dropproof detection sensor and periphery detection sensor, Zhou Bianjian
Sensor is surveyed by preceding, front left, front right is left, right, five infrared distance sensor compositions.Range information sensor is encoded for wheel
Device, angle information sensor is gyroscope.Region operating assembly refers to carry out some feature operations to region residing for robot
Component, can be one or more in cleaning assemblies, camera assembly, humidification component, dehumidifying component, deinsectization component, this implementation
Example is illustrated by taking cleaning assemblies as an example, i.e. the artificial sweeping robot of machine described in the present embodiment.
The angle information that is obtained by the range information acquired in range information sensor, angle information sensor, touch
The complaint message structure grating map that the collision information and detection of obstacles sensor of detection sensor acquisition are obtained is hit, and is recorded
Normal through point, obstacle object point, along edge point.Intelligent robot updates map in action, as long as the place that robot passes by
State will be updated onto grating map.It is understood that the smaller precision of grid is higher, but by internal memory and arithmetic speed
Limitation, we select the length of side of grid for 1/3rd of intelligent robot diameter square.
With reference to shown in Fig. 2, the grating map creating method of the intelligent robot that the present embodiment is provided, including：
(1) robot motion is controlled；
(2) whether the action of detection robot current location is whether follow-wall and current location detect barrier,
Enter step (3a) for follow-wall but if being not detected by barrier if the action of current location, if the action of current location
For follow-wall and be detected simultaneously by barrier then enter step (3b), if the action of current location be follow-wall but inspection
Measure barrier and then enter step (3c), enter not for follow-wall and if being not detected by barrier if the action of current location
Step (3d)；
The grid tag of current location on map is follow-wall point and return to step (1) by (3a)；
The grid tag of current location on map is follow-wall point by (3b), while the grid calculated residing for barrier is sat
Mark and by the corresponding grid tag of barrier on grating map be obstacle object point, be then back to step (1)；
The grid tag of current location on map is normal through point, while the grid calculated residing for barrier is sat by (3c)
Mark and by the corresponding grid tag of barrier on grating map be obstacle object point, be then back to step (1)；
The grid tag of current location on map is normal through point and return to step (1) by (3d).
In order to more preferably show in the flow chart of Fig. 2, the partial content in the above method is only demonstrated by, and follow-wall is sentenced
Disconnected and barrier judgment is successively showed, in fact, the two judgements are part priorities.
The grating map of foundation is stored in main control module 4 and is managed by main control module 4.The performance shape of grating map
Formula can be：Black grid represents unmarked this grid of intelligent robot, and green grid represents intelligent robot normal through point,
Red grid represents the obstacle object point that detection of obstacles sensor is sensed, and blue grid represents collision detection sensor and detects
The obstacle object point for colliding, white grid represent this point carried out follow-wall point.
Wherein each grid is represented with a number of 8bit.Its four posting field information high, represents that this grid is located at
In which region, therefore could support up 16 regions.Its low four actual informations for being used for representing map：0th represents intelligence
Whether robot reached this grid, was that 0 expression was not reached, and was that 1 expression was reached；1st represents that this grid whether there is
Barrier, is that 0 expression does not exist, and is that 1 expression is present；2nd, be that this grid is passed through in 1 expression when representing Robot side, is 0
Represent without；3rd, reserve.
As shown in figure 3, in the grating map creating method of the intelligent robot of the present embodiment offer, grid residing for barrier
The computational methods of coordinate are specifically included：
A, the distance for calculating obstacle distance robot central point；
B, the actual angle for calculating barrier and robot center；
C, trigonometric function is called, calculate coordinate of the obstacle object point relative to robot central point；
D, the coordinate that will be calculated add robot center point coordinate, as obstacle article coordinate.
Wherein, the obstacle object point that the obstacle object point and detection of obstacles sensor that collision detection sensor is detected are sensed
It is to treat with a certain discrimination (difference mark) in map；As described above, red grid represents detection of obstacles sensor and senses
Obstacle object point, blue grid represents the obstacle object point for colliding that collision detection sensor is detected, naturally it is also possible to unite
One mark (for example all marking into red).But, no matter which kind of sensor is the barrier that senses, can count as follows
Calculate the distance and angle：
Barrier with a distance from sweeper central point=sensor detection distance+robot radius；
The positional deviation robot of the angle+sensor immediately ahead of the angle=sweeper at barrier and sweeper center is just
The differential seat angle in front.
Used as where problem, during the grating map creating of intelligent robot, the startup point of robot is normally at
The central point of grating map.Grating map size is fixed, if model machine is cleaned toward the direction always, then map is easy to get over
Boundary.So that occur crossing the border on a direction of map, and the map in the reverse direction in this direction is empty does not use.
A kind of method is described below, is crossed the border situation according to actually used map, whole grating map is translated in real time so that be real
The map that border uses forever positioned at the center of whole grating map, until actually used map is long or width just really reaches
The limit of whole grating map.
Control robot motion performs below scheme to update during grating map every time：
A, detect whether to need to translate whole grating map, specially：X-axis or a direction of y-axis when grating map
Upper actually used grid has reached the border of whole grating map, and its opposite direction also has the untapped feelings of remaining grid
Under condition, the whole grating map of translation is started into step b, otherwise jump out the sub-process；
B, the x-axis according to last time, the offset grid number of y-axis, the difference of the offset grid number of x-axis, y-axis with this, really
Determine this grid number for being actually subjected to translation；
C, the grid number whole grating map of translation that translation is actually subjected to according to this.
As shown in figure 4, wherein x-min, x-max are the minimum and maximum that grid has been used on x-axis direction；Y-min, y-
Max is the minimum and maximum that grid has been used on y-axis direction；X-offset, y-offset record current grid map x-axis, y
Actual grid offset on direction of principal axis.
The specific method of step a includes in map translation sub-process：
A1, map x-axis, y-axis are updated respectively, grid has been used maximin x-min, x-max, y-min, y-max；
A2, judge whether (x-max+x-offset) close to border, but (x-min+x-offset) is not close to border, is
Then x-offset subtracts in the lump into step a4, otherwise into step a3；
A3, judge whether (x-min+x-offset) close to border, but (x-max+x-offset) is not close to border, is
Then x-offset adds and enters step a4 in the lump, is otherwise directly entered step a4；
A4, judge whether (y-max+y-offset) close to border, but (y-min+y-offset) is not close to border, is
Then y-offset subtracts in the lump into step a6, otherwise into step a5；
A5, judge whether (y-min+y-offset) close to border, but (y-max+y-offset) is not close to border, is
Then y-offset adds and enters step a6 in the lump, is otherwise directly entered step a6；
A6, judge whether x-offset or y-offset there occurs that change is then to start the whole grating map of translation, otherwise
Jump out the sub-process.
As shown in figure 5, wherein x-offset, y-offset record current grid map x-axis, actual grid on y-axis direction
Skew；Old-x-offset, old-y-offset record x-axis when last time grating map is translated, grid offset on y-axis direction；abs
Expression takes the absolute value of this number；Actul-x-offset, actul-y-offset are the grid number that this is actually subjected to translation.
The specific method of step b includes in map translation sub-process：
B1, setting actul-x-offset=x-offset-old-x-offset, actul-y-offset=y-
offset-old-y-offset；
B2, judge whether actul-x-offset<0, it is to determine that whole grating map moves abs toward x-axis negative direction
(actul-x-offset) individual grid and entrance step b4, otherwise into step b3；
B3, judge whether actul-x-offset>0, it is to determine that whole grating map moves abs toward x-axis positive direction
(actul-x-offset) individual grid and entrance step b4, are otherwise directly entered step b4；
B4, judge whether actul-y-offset<0；It is to determine that whole grating map moves abs toward y-axis negative direction
(actul-y-offset) individual grid and entrance step b6, otherwise into step b5；
B5, judge whether actul-y-offset>0；Whole grating map, toward y-axis positive direction movement abs (actul-y-
Offset) individual grid and entrance step b6, are otherwise directly entered step b6；
B6, update last time grid with actual grid offset x-offset, y-offset on current grid map x-axis, y-axis direction
X-axis, grid offset old-x-offset, the old-y-offset record on y-axis direction when lattice map is translated.
As shown in fig. 6, wherein global-map is grating map array；Height, Width represent global-map grids
The height and width of array；Start-x represents the line number that the first row has data to be not zero, that is, since this line after number
Translated according to needs；Count record data line how many grids are zero (grid not used).If full line grid
Data are all zero, then translate end-of-job.
The present embodiment by x-axis toward negative direction translation as a example by illustrate, that is, actul-x-offset be less than zero when.
When translating whole grating map, there is no used grid (data are zero) to be operated.
The specific method of step c includes in map translation sub-process：
X=0, y=0, start-x=0 when c1, beginning；
C2, judge whether x<Height, is then to enter step c3, is otherwise terminated；
C3, setting count=0 enter step c4；
C4, judge whether y<Width, is then to enter step c5, otherwise x++ and return to step c2；
C5, judge whether start-x！=0, it is then to enter step c51, otherwise into step c6；
C51, judge whether global-map [x] [y]！=0；It is then setting global-map [x+actul-x-offset]
[y]=global-map [x] [y], global-map [x] [y]=0 simultaneously enter step step c8, otherwise count++ and enter step
Rapid step c8；
C6, judge whether global-map [x] [y]！=0, it is then to enter step c7, otherwise into step c8；
C7, setting start-x=x, global-map [x+actul-x-offset] [y]=global-map [x] [y],
Global-map [x] [y]=0, into step c8；
C8, judge whether count==Width, be to terminate, otherwise y++ and return to step c4.
When actul-x-offset is more than zero, in superincumbent flow chart, it is only necessary to which the initial value of x is set to
Height-1, every time after circulation, performs x--, until x<0 terminates.
The translation principle of y-axis is identical with x-axis.
Additionally, when translation functions are started, being not appropriate for translating whole grating map at once, it is therefore desirable to wait model machine to stop
When translated.Because translating whole grating map, cpu resource is consumed very much, the flatness that sweeper can be influenceed to move.
In order to prevent during this wait, grating map crosses the border, it is necessary to opens up a bit of internal memory as buffering, deposits
The grating map data that storage has been crossed the border.After whole grating map is translated, then the raster data that will be buffered, write-in grid ground
Figure.Therefore when reading or writing grating map data, it is necessary to consider whether there is the situation of buffering.
As shown in fig. 7, the flow that the present embodiment provides reading data in corresponding way to play for time is as follows：
S1, setting x-index=x+x-offset, y-index=y+y-offset；
S2, judge whether (x-index, y-index) in grating map and map translation functions do not start, be then
Into step S3, otherwise into step S2a；
S2a, read from buffering and enter step S2b；
S2b, judge whether to read successfully, be then to enter step S4, otherwise into step S2c；
S2c, judge whether (x-index, y-index) in grating map, be then to enter step S2d, otherwise return to zero
And terminate；
S2d, directly read corresponding grating map data and enter step S4；
S3, directly read corresponding grating map data and enter step S4；
S4, the value for returning to reading simultaneously terminate.
As shown in figure 8, the flow that the present embodiment provides write-in data in corresponding way to play for time is as follows：
T1, reading (x, y) value simultaneously enter step T2；
T2, judge whether write-in value is equal with reading value, is, terminates, otherwise set x-index=x+x-offset, y-
Index=y+y-offset simultaneously enters step T3；
T3, judge whether (x-index, y-index) in grating map and map translation functions do not start, be then
Directly write data into corresponding grating map data and terminate, otherwise write data into buffering and terminate.
Wherein, x, y are presently in grid coordinate for robot；X-index, y-index are the reality of correspondence grating map
Coordinate.
Above example is only that fully disclosure is not intended to limit the present invention, all based on creation purport of the invention, without creation
Property work equivalence techniques feature replacement, should be considered as the application exposure scope.
Claims (6)
1. the map parallel movement control method during a kind of grating map builds, it is characterised in that control robot motion and structure every time
When building map, following flow is performed：
A, detect whether to need to translate whole grating map, specially：When real in the x-axis of grating map or a direction of y-axis
The grid that border uses has reached the border of whole grating map, and its opposite direction also has the untapped situation of remaining grid
Under, into step b, otherwise jump out the sub-process；
B, the x-axis according to last time, the offset grid number of y-axis, the difference of the offset grid number of x-axis, y-axis with this, it is determined that this
The secondary grid number for being actually subjected to translation；
C, the grid number whole grating map of translation that translation is actually subjected to according to this.
2. the map parallel movement control method during grating map according to claim 1 builds, it is characterised in that the map
The specific method of step a includes in translation sub-process：
A1, map x-axis, y-axis are updated respectively, grid has been used maximin x-min, x-max, y-min, y-max；
A2, judge whether (x-max+x-offset) close to border, but (x-min+x-offset) is not close to border, be then x-
Offset subtracts in the lump into step a4, otherwise into step a3；
A3, judge whether (x-min+x-offset) close to border, but (x-max+x-offset) is not close to border, be then x-
Offset adds and enters step a4 in the lump, is otherwise directly entered step a4；
A4, judge whether (y-max+y-offset) close to border, but (y-min+y-offset) is not close to border, be then y-
Offset subtracts in the lump into step a6, otherwise into step a5；
A5, judge whether (y-min+y-offset) close to border, but (y-max+y-offset) is not close to border, be then y-
Offset adds and enters step a6 in the lump, is otherwise directly entered step a6；
A6, judge whether x-offset or y-offset there occurs that change is then to start the whole grating map of translation, otherwise jump out
The sub-process；
Wherein x-min, x-max are the minimum and maximum that grid has been used on x-axis direction；Y-min, y-max are on y-axis direction
The minimum and maximum of grid are used；X-offset, y-offset record current grid map x-axis, actual grid on y-axis direction
Lattice offset.
3. the map parallel movement control method during grating map according to claim 2 builds, it is characterised in that the map
The specific method of step b includes in translation sub-process：
B1, setting actul-x-offset=x-offset-old-x-offset, actul-y-offset=y-offset-
old-y-offset；
B2, judge whether actul-x-offset<0, it is to determine whole grating map toward x-axis negative direction movement abs (actul-
X-offset) individual grid and entrance step b4, otherwise into step b3；
B3, judge whether actul-x-offset>0, it is to determine whole grating map toward x-axis positive direction movement abs (actul-
X-offset) individual grid and entrance step b4, are otherwise directly entered step b4；
B4, judge whether actul-y-offset<0；It is to determine whole grating map toward y-axis negative direction movement abs (actul-
Y-offset) individual grid and entrance step b6, otherwise into step b5；
B5, judge whether actul-y-offset>0；Whole grating map, toward y-axis positive direction movement abs (actul-y-
Offset) individual grid and entrance step b6, are otherwise directly entered step b6；
B6, last time grid ground is updated with actual grid offset x-offset, y-offset on current grid map x-axis, y-axis direction
Scheme x-axis during translation, grid offset old-x-offset, the old-y-offset record on y-axis direction；
Wherein x-offset, y-offset record current grid map x-axis, actual grid offset on y-axis direction；old-x-
Offset, old-y-offset record x-axis when last time grating map is translated, grid offset on y-axis direction；Abs is represented and is taken this
Several absolute values；Actul-x-offset, actul-y-offset are the grid number that this is actually subjected to translation.
4. the map parallel movement control method during grating map according to claim 3 builds, it is characterised in that the map
In translation sub-process in step c, when actul-x-offset is less than zero, the specific method that x-axis is translated toward negative direction includes：
X=0, y=0, start-x=0 when c1, beginning；
C2, judge whether x<Height, is then to enter step c3, is otherwise terminated；
C3, setting count=0 enter step c4；
C4, judge whether y<Width, is then to enter step c5, otherwise x++ and return to step c2；
C5, judge whether start-x！=0, it is then to enter step c51, otherwise into step c6；
C51, judge whether global-map [x] [y]！=0；It is then setting global-map [x+actul-x-offset] [y]
=global-map [x] [y], global-map [x] [y]=0 simultaneously enter step step c8, otherwise count++ and enter step
Step c8；
C6, judge whether global-map [x] [y]！=0, it is then to enter step c7, otherwise into step c8；
C7, setting start-x=x, global-map [x+actul-x-offset] [y]=global-map [x] [y],
Global-map [x] [y]=0, into step c8；
C8, judge whether count==Width, be to terminate, otherwise y++ and return to step c4；
Wherein global-map is grating map array；Height, Width represent the height and width of global-map grid arrays
Degree；Start-x represents the line number that the first row has data to be not zero, that is, since this line after data need to be put down
Move；Count record data line how many grids are zero.
When actul-x-offset is more than zero, in superincumbent flow chart, the initial value of x is set to Height-1, followed every time
After ring, x-- is performed, until x<0 terminates；The translation principle of y-axis is identical with x-axis.
5. the map parallel movement control method during grating map according to claim 4 builds, it is characterised in that flat when starting
During shifting function, the grating map data that a bit of internal memory has crossed the border as buffering, storage are opened up, when the translation of whole grating map
Afterwards, then will buffer raster data write-in grating map.
6. the map parallel movement control method during grating map according to claim 5 builds, it is characterised in that buffering course
The middle flow for reading data is as follows：
S1, setting x-index=x+x-offset, y-index=y+y-offset；
S2, judge whether (x-index, y-index) in grating map and map translation functions do not start, be to enter
Step S3, otherwise into step S2a；
S2a, read from buffering and enter step S2b；
S2b, judge whether to read successfully, be then to enter step S4, otherwise into step S2c；
S2c, judge whether (x-index, y-index) in grating map, be then to enter step S2d, otherwise return to zero and tie
Beam；
S2d, directly read corresponding grating map data and enter step S4；
S3, directly read corresponding grating map data and enter step S4；
S4, the value for returning to reading simultaneously terminate.
The flow that data are write in the buffering course is as follows：
T1, reading (x, y) value simultaneously enter step T2；
T2, judge whether write-in value is equal with reading value, is, terminates, otherwise set x-index=x+x-offset, y-
Index=y+y-offset simultaneously enters step T3；
T3, judge whether (x-index, y-index) in grating map and map translation functions do not start, be then direct
Write data into corresponding grating map data and terminate, otherwise write data into buffering and terminate；
Wherein, x, y are presently in grid coordinate for robot；X-index, y-index are the actual coordinate of correspondence grating map.
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