CN107256019B - A kind of paths planning method of clean robot - Google Patents
A kind of paths planning method of clean robot Download PDFInfo
- Publication number
- CN107256019B CN107256019B CN201710490911.0A CN201710490911A CN107256019B CN 107256019 B CN107256019 B CN 107256019B CN 201710490911 A CN201710490911 A CN 201710490911A CN 107256019 B CN107256019 B CN 107256019B
- Authority
- CN
- China
- Prior art keywords
- zone
- clean robot
- movable
- dynamic barrier
- dynamic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000013439 planning Methods 0.000 title claims abstract description 19
- 230000004888 barrier function Effects 0.000 claims abstract description 130
- 238000004140 cleaning Methods 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 9
- 238000003331 infrared imaging Methods 0.000 claims description 6
- 238000000638 solvent extraction Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 8
- 241001122767 Theaceae Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000002372 labelling Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000013515 script Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present invention is disclosed a kind of paths planning methods of clean robot, including：Obtain the position of clean robot and dynamic barrier；According to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and the location determination operating path of clean robot and dynamic barrier；Wherein, the movable hot-zone of dynamic barrier is that the map outline based on the clean robot working region pre-established is demarcated with movable cold-zone.Disclosed method can make clean robot have self-learning capability, reduce the error rate of guidance path, and reduce navigation number.
Description
Technical field
The present invention relates to Intelligent cleaning robot fields, more specifically to a kind of path planning of clean robot
Method.
Background technology
With the development of science and technology, more and more new electronic consumer goods and robot product start in domestic environment
It is universal, than more typical, such as Intelligent cleaning robot.Such robot tentatively have navigation programming ability, by camera,
The modules such as laser radar can realize the function of map foundation and path planning.
However, existing clean robot will realize navigation and path planning function, sensor relied on etc. is no
It is only with high costs, but also can have phenomena such as failure, erroneous judgement, it makes an uproar for example, laser radar will produce under the interference of ambient light
Script has been mistaken for barrier there is no the region of barrier and evaded by point, and corresponding region is caused not cleaned.
Specifically, for traditional air navigation aid, clean robot can not be distinguished when detecting barrier and be detected
The barrier arrived be dynamic barrier or static-obstacle thing, no matter which kind of barrier, series of points is all shown as in map.
Conventional navigation method is relatively accurate for the detection of static-obstacle thing, because regardless of which position clean robot is moved to, it is quiet
Position of the state barrier in map will not all change；And for dynamic barrier, in the process of clean robot movement
In, the position in map also constantly changes, to influence the formulation of clean robot operating path.However, clear
Dynamic barrier not necessarily necessary being detected by clean robot, it may be possible to which the factors such as ambient light interfere institute's shape
At noise, these noises can equally appear in the different location in map with moving for clean robot, thus also can
The path planning of clean robot is impacted.Therefore, traditional air navigation aid can lead to road due to the erroneous judgement to barrier
Diameter planning is unreasonable.
Meanwhile dynamic barrier and static-obstacle thing also cannot be distinguished in existing clean robot, and according to barrier
The difference of type takes corresponding strategy to be evaded.
Invention content
The present invention is to solve above-mentioned the technical problems existing in the prior art, provides a kind of path rule of clean robot
The method of drawing, this method can distinguish dynamic barrier and static-obstacle thing, and the frequency occurred according to dynamic barrier
Rate plans that corresponding region is cleaned in different paths.
In order to achieve the above objectives, the technical solution adopted by the present invention is as follows：
A kind of paths planning method of clean robot, including：Obtain the position of clean robot and dynamic barrier；Root
It is true according to the movable hot-zone and movable cold-zone and the position of clean robot and dynamic barrier for the dynamic barrier demarcated in advance
Determine operating path；Wherein, the movable hot-zone of dynamic barrier and movable cold-zone are worked based on the clean robot pre-established
The map outline in region is demarcated.
Further, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and clean robot
Location determination operating path step with dynamic barrier includes：It is in same activity in clean robot and dynamic barrier
When hot-zone, clean robot is advanced according to the path for evading dynamic barrier.
Further, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and clean robot
Location determination operating path step with dynamic barrier includes：It is in same activity in clean robot and dynamic barrier
When cold-zone, clean robot is continued on according to original route.
Further, clean robot by position sensor obtain dynamic barrier position, clean robot according to
During original route continues on, detected after dynamic barrier by crash sensor according still further to evading dynamic barrier
It advances in path.
Further, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and clean robot
Location determination operating path step with dynamic barrier includes：It is different in clean robot and dynamic barrier point
When movable hot-zone and/or movable cold-zone, clean robot continues on, until the two is cold in the same movable hot-zone or activity
Qu Hou, then determine the operating path of clean robot.
Further, method further includes：When not detecting dynamic barrier in movable hot-zone, clean robot preferentially into
Enter movable hot-zone to be cleaned.
Further, movable hot-zone and movable cold-zone are demarcated according to one of following manner：Dynamically hinder according in working region
The frequency of occurrence of object is hindered to be demarcated；Alternatively, being demarcated according to the degree of fouling on ground in working region.
Further, method further includes：To map partitioning grid, and counts in each grid region within a preset period of time and move
The number that state barrier occurs is to define movable hot-zone and movable cold-zone；Alternatively, to map partitioning grid, and detect each grid zone
The degree of fouling on the ground in domain is to define movable hot-zone and movable cold-zone.
Further, method further includes：The detection device that breaks the barriers carries out area to static-obstacle thing and dynamic barrier
Point.
Further, obstacle detector is the camera module being set on clean robot or infrared imaging mould
Block；Alternatively, obstacle detector is to be set in clean robot working region and can be taken the photograph with what clean robot interconnected
As head module or infrared imaging module.
Technical solution of the present invention has the beneficial effect that：
The paths planning method of disclosed clean robot can carry out the working region of clean robot
It divides, and plans that corresponding region is cleaned in different paths according to the location of clean robot and dynamic barrier,
To compensate for the defect that traditional navigation module is easy erroneous judgement, cleaning efficiency is improved.
Description of the drawings
Fig. 1 is the step block diagram of the method for the invention wherein embodiment；
Fig. 2 is the schematic diagram of a scenario of the method for the invention wherein embodiment；
Fig. 3 is the schematic diagram of a scenario of the another embodiment of the method for the invention；
Fig. 4 is the schematic diagram that the method for the invention divides movable cold-zone and movable hot-zone.
Specific implementation mode
More detailed description is done to technical solution provided by the present invention below by way of the drawings and specific embodiments：
Attached drawing 1 discloses the specific embodiment of the method for the invention.As shown in Figure 1, it is the method for the invention
Step block diagram discloses in the embodiment：
A kind of paths planning method of clean robot, including：
Step 101, the position of clean robot and dynamic barrier is obtained；
Step 102, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and the cleaning machine
The location determination operating path of people and dynamic barrier；Wherein, the movable hot-zone of dynamic barrier and movable cold-zone are based on pre-
The map outline for the clean robot working region first established is demarcated.
In the embodiment, clean robot can be according to the map of the working region of foundation, in conjunction with its of clean robot
His position sensor, judges and knows the position of itself and dynamic barrier；And in advance to dynamic barrier in map
Movable hot-zone and movable cold-zone are demarcated, therefore clean robot can determine that itself and dynamic barrier are located at activity
Hot-zone or movable cold-zone, and whether it is located at the same movable hot-zone or behaviour area；Clean robot is according to information above
It can determine operating path, different Path Plannings taken for different situations, complete clean up task.In the present embodiment
Method dynamic barrier and static-obstacle thing can be distinguished, and according to the mechanics of dynamic barrier, determine
Corresponding operating path under different situations, to solve existing air navigation aid path caused by being judged by accident to barrier
Plan unreasonable problem.Wherein it is possible to be detected surrounding enviroment with determination using laser radar, ultrasonic distance measuring module etc.
The location of clean robot and dynamic barrier；The movable hot-zone of dynamic barrier and movable cold-zone are according to cleaning machine
The observed result of people or previous cleaning history obtain；And the map outline of working region can prestore, and can also be
Clean robot scans what surrounding enviroment obtained by sensor.
As shown in Figure 2, it is the schematic diagram of a scenario of the method for the invention wherein embodiment.In the embodiment, according to
The movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and the position of the clean robot and dynamic barrier
Determine that operating path step includes：It is described clear when the clean robot and dynamic barrier are in same movable hot-zone
Clean robot advances according to the path for evading the dynamic barrier.As shown in Figure 2, the scene in domestic environment is simulated, is built
Map outline 201 has been found, in the map outline 201, it is quiet to be respectively arranged with sofa 202, tea table 203 and cabinet for TV 204 etc.
State barrier.Find that the region between tea table 203 and cabinet for TV 204 belongs to user or pet is frequent according to previous observation
The region walked about, thus it is demarcated as the movable hot-zone 205 of dynamic barrier in advance.Arrow direction in Fig. 2 is clean robot
The field angle 208 of clean robot 206 is also marked in Fig. 2 for 206 initial direction of travel.In this embodiment, machine is cleaned
People 206 is in dynamic barrier 207 in the same movable hot-zone 205, at this point, clean robot 206 detects dynamic disorder
After object 207, operating path will be adjusted in time, will be advanced according to the path for evading dynamic barrier 207, for example, turning to the left or to the right
To continuing to advance forward after around dynamic barrier 207.In that case, clean robot 206 once detects dynamic and hinders
Object 207 is hindered to occur, no matter it is noise or barrier that result of that probe is practical, clean robot 206 will all be evaded, reason
It is that the region belongs to movable hot-zone, it is being detected in movable hot-zone as a result, being in contrast more likely necessary being
Barrier, therefore no matter the result is really barrier or noise, the barrier for being all defaulted as necessary being is evaded.
As shown in Figure 3, it is the schematic diagram of a scenario of the another embodiment of the method for the invention.In the embodiment, according to
The movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and the position of the clean robot and dynamic barrier
Determine that operating path step includes：It is described clear when the clean robot and dynamic barrier are in same movable cold-zone
Clean robot is continued on according to original route.As shown in Figure 3, equally it is simulation domestic environment, establishes map outline 301,
The static-obstacle things such as sofa 302, tea table 303 and cabinet for TV 304 are respectively arranged in the map outline 301.According to previous
It cleans history to find, usual few people or pet occur at the position in room corner, thus corresponding region is pre-
First it is demarcated as movable cold-zone 305.The direction of arrow designates the initial direction of travel of clean robot 306 in Fig. 3, is gone back in Fig. 3
Designate the field angle 308 of clean robot 306.In this embodiment, clean robot 306 is in dynamic barrier 307
In the same activity cold-zone 305, at this point, after clean robot 306 detects dynamic barrier 307, clean robot 306 will be after
It is continuous to advance along initial direction of travel, without changing set programme path.In that case, clean robot 306 detects
After occurring to dynamic barrier 307, no matter it is noise or barrier that result of that probe is practical, clean robot 306 all will be temporary
Shi Buzuo evades, and continuation is advanced according to original route.The reason is that, the region belongs to movable cold-zone, such as the movable cold-zone model in corner
In enclosing, it is general it is less there are the activities of people or pet, thus detected in movable cold-zone as a result, in contrast more have can
Can be noise caused by disturbing factor, therefore no matter the result is really barrier or noise, is all defaulted as disturbing factor and leads
The noise of cause is planned again without doing, and continues to advance according to initial direction of travel.
Detection of the clean robot to barrier, usually mainly by means of all kinds of position sensors, such as laser radar, ultrasound
Wave sensor etc., such position sensor can find the barrier of distant place earlier, but such sensor is easy by dry
It disturbs；Meanwhile also a kind of crash sensor, such sensor only can just be judged after clean robot collides barrier
There are barriers for corresponding position, but the result that such sensor obtains is relatively very accurate, is less subject to the dry of other factors
It disturbs.Therefore, in the method for the invention wherein an embodiment, clean robot 306 obtains dynamic by position sensor and hinders
During hindering the position of object 307, clean robot 306 to be continued on according to original route, dynamic is detected by crash sensor
It advances according still further to the path for evading dynamic barrier 307 after barrier 307.In this embodiment, clean robot 306 with it is dynamic
State barrier 307 is in same movable cold-zone 305, and clean robot 306 gets dynamic by position sensor first and hinders
Hinder the position of object 307, at this time since clean robot 306 and dynamic barrier 307 are all in movable cold-zone 305, the detection
As a result it is more likely the noise that position sensor is disturbed generation, therefore clean robot 306 temporarily is not made to evade, continues edge
Initial direction of travel to advance.During continuing on, if the crash sensor of clean robot 306 does not detect
Corresponding barrier then illustrates that original route is correct；On the contrary, if the crash sensor of clean robot 306 detects phase
The barrier answered, then explanation is necessary being by the barrier that position sensor detects, then being detected in crash sensor
To after corresponding barrier, clean robot 306 adjusts route at once, advances according to the path for evading dynamic barrier 307, example
Such as, it is turned to the left or to the right after collision, around continuing to advance forward after dynamic barrier 307.The embodiment hinders according to dynamic
Hinder the mechanics point situation of object to carry out navigation and path planning, reduce the error rate of navigation routine, and reduces path rule
The number drawn.
As shown in Figure 4, it is the schematic diagram that the method for the invention divides movable hot-zone and movable cold-zone.At this
In an invention wherein embodiment, the activity hot-zone and movable cold-zone are demarcated according to one of following manner：According in working region
The frequency of occurrence of dynamic barrier is demarcated；Alternatively, being demarcated according to the degree of fouling on ground in working region.As shown in Figure 4,
In a present invention wherein embodiment, to the map partitioning grid, and count within a preset period of time described in each grid region
The number that dynamic barrier occurs is to define movable hot-zone and movable cold-zone；Alternatively, to the map partitioning grid, and detect each
The degree of fouling on the ground of grid region is to define movable hot-zone and movable cold-zone.The embodiment discloses how right in the present invention
Movable cold-zone and movable hot-zone are bound.The field angle 408 of clean robot 406 is also designated in Fig. 4, arrow direction is indicated
The initial direction of travel of clean robot 406.
As a wherein embodiment, map outline 401 is divided into 9 regions of 1-9, wherein shadow region 5 and shade
Region 7 belongs to movable hot-zone, other regions belong to movable cold-zone.In the embodiment, according to frequency circle of dynamic barrier appearance
Fixed activity hot-zone and movable cold-zone, for example, clean robot 406 since one week cleaning and observation process in find, move
The number that state barrier occurs in shadow region 5 and shadow region 7 reaches 50 times or more, and is detected in other regions dynamic
Only there are more than 10 times in state barrier, and dynamic barrier is even never detected in some regions.Therefore, existed according to dynamic barrier
Region labeling more than occurrence number can be movable hot-zone by the frequency that relevant work region occurs, and occurrence number is lacked
Region labeling is movable cold-zone.
As a wherein embodiment, map outline 401 is divided into 9 regions of 1-9, shadow region 7 belongs to movable heat
Area, other regions belong to movable cold-zone.In the embodiment, movable hot-zone and movable cold-zone are defined according to the degree of fouling on ground,
Because the dirtier region in ground is often as user or pet often caused by corresponding region activity, and ground is cleaner
Region, then user or pet seldom pass through, thus only product have some micronic dusts.In this embodiment, clean robot 406 is logical
The degree of fouling on dust detection detection ground is crossed, and is movable hot-zone by dirtier region labeling, by the area of relative clean
Domain is demarcated as movable cold-zone, as shown in Figure 4 according to calibration result, and shadow region 5 and shadow region 7 are dirtier and belong to activity
Hot-zone, other region relative cleans thus belong to movable cold-zone.
In a wherein embodiment of the invention, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone,
And the location determination operating path step of the clean robot and dynamic barrier includes：In the clean robot and
Both when dynamic barrier point is in different movable hot-zones and/or movable cold-zone, the clean robot continues on, until
Behind the same movable hot-zone or movable cold-zone, then determine the operating path of clean robot.In this embodiment, such as Fig. 4
Shown in, after 401 partition of map outline in a room, wherein including multiple movable hot-zones and multiple movable cold-zones.Clearly
Clean robot is possible to find dynamic barrier earlier, when discovery clean robot 406 with dynamic barrier also in difference
Movable hot-zone and/or movable cold-zone in, for example, it is possible to which clean robot 406 is in region 1 (movable cold-zone), and move
State barrier is in region 5 (movable cold-zone)；Alternatively, clean robot 406 is in region 5 (movable hot-zone), and dynamic
Barrier is in region 7 (movable hot-zone).Under the above situation, since clean robot 406 had both been not at dynamic barrier
The same activity hot-zone, not also in the same movable cold-zone, the two at a distance of also farther out, even if therefore clean robot detect
Dynamic barrier, also temporarily will not planning path again, and can be continued on according to initial direction of travel, until both in same
Behind one movable hot-zone or movable cold-zone, then determine the operating path of clean robot.And same movable hot-zone or same
The Path Planning of movable cold-zone is stated in embodiment before, and clean robot is according to corresponding path row
Into details are not described herein again.
The present invention can not only reduce the error rate of path planning, reduce path planning number, while can also make cleaning
Robot has self-learning capability, more humanized to be cleaned to room.Clean robot can according to historical data or
Observed result during person's cleaning, intelligently carries out partition, and take accordingly for different regions to room map outline
Strategy advance and clean.In a wherein embodiment of the invention,：The dynamic disorder is not detected in the movable hot-zone
When object, the clean robot preferentially enters the movable hot-zone and is cleaned.For example, as shown in Figure 4, clean robot
406 scripts will clean corresponding region successively according to the sequence of 1-9, but be found during cleaning, at this in movable hot-zone 5
The section time has no dynamic barrier presence, therefore clean robot 406 will change set cleaning strategy, preferentially enter movable hot-zone
It is cleaned in 5, to avoid after a time caused by reappearing user or pet carry out activity in the activity hot-zone 5 later
Interference.On the contrary, if in cleaning process, there is dynamic barrier movable in discovery activity hot-zone 5, it is likely that be user or dote on
Object is movable just in corresponding region, and clean robot 406 will first clean movable cold-zone at this time, and movable hot-zone 5 is left to
It finally cleans, to avoid bothering user or influence pet.Therefore, the method described in the embodiment can make cleaner
The more hommization of the course of work of device people 406.
In a wherein embodiment of the invention, the method further includes：Detection device break the barriers to static-obstacle thing
It is distinguished with dynamic barrier.By distinguishing the type of barrier, clean robot can be made to be directed to different types of obstacle
Object takes different Path Plannings, while also improving the self-learning capability of clean robot, makes the work of clean robot
Make process more hommization.In a wherein embodiment of the invention, the obstacle detector is to be set to the cleaner
Camera module on device people or infrared imaging module；Alternatively, the obstacle detector is to be set to the cleaning machine
And it can be with the camera module or infrared imaging module of clean robot interconnection in people working region.Pass through image recognition
Technology or infrared imagery technique can be identified and judge to the dynamic barrier under indoor environment.Corresponding barrier
Detection device can be set on clean robot, can also be set in domestic environment.
Above-mentioned specific implementation mode is only intended to illustrate the design method of the present invention, for the purpose of limiting the invention can not protect
Protect range.For the deformation and conversion under the thought guidance of technical solution of the present invention, it should all be attributed to the scope of the present invention
Within.
Claims (8)
1. a kind of paths planning method of clean robot, which is characterized in that including：
Obtain the position of clean robot and dynamic barrier；
According to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and the clean robot and dynamic disorder
The location determination operating path of object；
Wherein, the movable hot-zone of the dynamic barrier and movable cold-zone are based on the clean robot working region pre-established
Map outline calibration；
According to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone and the clean robot and dynamic disorder
The location determination operating path step of object includes：It is in same movable cold-zone in the clean robot and dynamic barrier
When, the clean robot is continued on according to original route；
The activity hot-zone and movable cold-zone are demarcated according to one of following manner：According to the appearance of dynamic barrier in working region
The frequency is demarcated；Alternatively, being demarcated according to the degree of fouling on ground in working region.
2. according to the method described in claim 1, it is characterized in that, according to the movable hot-zone for the dynamic barrier demarcated in advance with
The location determination operating path step of movable cold-zone and the clean robot and dynamic barrier includes：In the cleaning
When robot and dynamic barrier are in same movable hot-zone, the clean robot is according to evading the dynamic barrier
It advances in path.
3. according to the method described in claim 1, it is characterized in that, the clean robot obtains dynamic by position sensor
The position of barrier during the clean robot is continued on according to original route, is detected described by crash sensor
It advances according still further to the path for evading the dynamic barrier after dynamic barrier.
4. according to the method described in claim 1, it is characterized in that, according to the movable hot-zone for the dynamic barrier demarcated in advance with
The location determination operating path step of movable cold-zone and the clean robot and dynamic barrier includes：In the cleaning
When robot and dynamic barrier are point in different movable hot-zones and/or movable cold-zone, the clean robot is after continuing
Into, until after the two is in the same movable hot-zone or movable cold-zone, then determine the operating path of clean robot.
5. according to the method described in claim 1, it is characterized in that, the method further includes：It is not visited in the movable hot-zone
When measuring the dynamic barrier, the clean robot preferentially enters the movable hot-zone and is cleaned.
6. according to the method described in claim 1, it is characterized in that, the method further includes：To the map partitioning grid, and
The statistics number that dynamic barrier described in each grid region occurs within a preset period of time is cold to define movable hot-zone and activity
Area；Alternatively, to the map partitioning grid, and detect each grid region ground degree of fouling to define movable hot-zone and work
Dynamic cold-zone.
7. method according to any one of claims 1-5, which is characterized in that the method further includes：It breaks the barriers
Detection device distinguishes static-obstacle thing and dynamic barrier.
8. the method according to the description of claim 7 is characterized in that the obstacle detector is to be set to the cleaner
Camera module on device people or infrared imaging module；Alternatively, the obstacle detector is to be set to the cleaning machine
And it can be with the camera module or infrared imaging module of clean robot interconnection in people working region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710490911.0A CN107256019B (en) | 2017-06-23 | 2017-06-23 | A kind of paths planning method of clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710490911.0A CN107256019B (en) | 2017-06-23 | 2017-06-23 | A kind of paths planning method of clean robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107256019A CN107256019A (en) | 2017-10-17 |
| CN107256019B true CN107256019B (en) | 2018-10-19 |
Family
ID=60023692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710490911.0A Active CN107256019B (en) | 2017-06-23 | 2017-06-23 | A kind of paths planning method of clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107256019B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981788A (en) * | 2017-11-22 | 2018-05-04 | 广东艾可里宁机器人智能装备有限公司 | A kind of sweeping robot Multi computer cooperation system and method |
| WO2019106980A1 (en) * | 2017-11-28 | 2019-06-06 | パナソニックＩｐマネジメント株式会社 | Self-propelled pathogen detection device, pathogen detection system, and control method |
| CN108344414A (en) * | 2017-12-29 | 2018-07-31 | 中兴通讯股份有限公司 | A kind of map structuring, air navigation aid and device, system |
| WO2019174053A1 (en) * | 2018-03-16 | 2019-09-19 | 深圳市大疆创新科技有限公司 | Moving platform and control method therefor |
| CN108814434A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | The barrier-avoiding method of automatic running sweeper |
| CN111338330B (en) * | 2018-12-19 | 2022-07-12 | 科沃斯机器人股份有限公司 | Job position determination method, self-moving device, and storage medium |
| CN109664309A (en) * | 2018-12-21 | 2019-04-23 | 深圳乐动机器人有限公司 | A kind of clean method, apparatus of intelligent robot and robot |
| CN111693045B (en) * | 2019-03-13 | 2024-08-23 | 北京奇虎科技有限公司 | Sweeping route generation method and device of sweeper |
| WO2021045260A1 (en) * | 2019-09-05 | 2021-03-11 | 엘지전자 주식회사 | Robot cleaner and control method therefor |
| CN111026136A (en) * | 2020-03-11 | 2020-04-17 | 广州赛特智能科技有限公司 | Port unmanned sweeper intelligent scheduling method and device based on monitoring equipment |
| CN111846123B (en) * | 2020-07-27 | 2021-08-27 | 浙江工业大学之江学院 | Overwater garbage collection robot and path planning method thereof |
| CN113359731B (en) * | 2021-06-11 | 2023-06-16 | 汤恩智能科技(上海)有限公司 | Cleaning robot, path learning method, path repeating method, and medium |
| CN113313089B (en) * | 2021-07-28 | 2021-10-01 | 湖南涉外经济学院 | Data processing method, device and computer readable storage medium |
| CN113741421A (en) * | 2021-07-29 | 2021-12-03 | 深圳博鹏智能科技有限公司 | Unmanned cleaning robot and path planning method thereof |
| CN113657674B (en) * | 2021-08-18 | 2024-05-31 | 杭州华橙软件技术有限公司 | Task planning adjustment method and device, storage medium and electronic equipment |
| CN114711671B (en) * | 2022-06-08 | 2022-09-02 | 深圳市瑞亿科技电子有限公司 | Robot protection system capable of judging action behaviors |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103271699A (en) * | 2013-05-29 | 2013-09-04 | 东北师范大学 | Smart home cleaning robot |
| CN106338996A (en) * | 2016-10-20 | 2017-01-18 | 上海物景智能科技有限公司 | Safe control method and system for mobile robot |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63200207A (en) * | 1987-02-14 | 1988-08-18 | Fujitsu Ltd | Method for searching moving route |
| KR100642072B1 (en) * | 2000-11-22 | 2006-11-10 | 삼성광주전자 주식회사 | Mobile robot system used for RF module |
| JP2010287028A (en) * | 2009-06-11 | 2010-12-24 | Sony Corp | Information processor, information processing method and program |
| CN104526699B (en) * | 2014-12-05 | 2016-03-02 | 网易（杭州）网络有限公司 | Indoor cleaning machine people |
| CN105824310B (en) * | 2015-01-08 | 2018-10-19 | 江苏美的清洁电器股份有限公司 | The ambulation control method and robot of robot |
| CN104808671B (en) * | 2015-05-19 | 2017-03-15 | 东南大学 | A kind of robot path planning method under domestic environment |
| CN105302136B (en) * | 2015-09-23 | 2018-02-23 | 上海物景智能科技有限公司 | A kind of region segmentation method based on clean robot |
| CN105700531B (en) * | 2016-04-18 | 2019-03-01 | 南京工程学院 | Two layers of work sweeping robot of household based on customized map and its method of sweeping the floor |
| CN105867386A (en) * | 2016-05-30 | 2016-08-17 | 深圳乐行天下科技有限公司 | Robot navigation system and method |
-
2017
- 2017-06-23 CN CN201710490911.0A patent/CN107256019B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103271699A (en) * | 2013-05-29 | 2013-09-04 | 东北师范大学 | Smart home cleaning robot |
| CN106338996A (en) * | 2016-10-20 | 2017-01-18 | 上海物景智能科技有限公司 | Safe control method and system for mobile robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107256019A (en) | 2017-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107256019B (en) | A kind of paths planning method of clean robot | |
| CN110403528B (en) | Method and system for improving cleaning coverage rate based on cleaning robot | |
| Kilicarslan et al. | Predict vehicle collision by TTC from motion using a single video camera | |
| CN103271699B (en) | A kind of Smart Home clean robot | |
| CN107981790A (en) | Room area division methods and sweeping robot | |
| CN107966700A (en) | A kind of front obstacle detecting system and method for pilotless automobile | |
| CN106808482B (en) | A kind of crusing robot multisensor syste and method for inspecting | |
| CN107518833A (en) | A kind of obstacle recognition method of sweeping robot | |
| CN102113853B (en) | Method for cleaning intelligent dust collector | |
| CN109085838A (en) | A kind of dynamic barrier rejecting algorithm based on laser positioning | |
| CN101256073A (en) | Apparatus and method for monitoring a vehicle's surroundings | |
| CN105631390B (en) | Method and system for spatial finger positioning | |
| US20060091297A1 (en) | Method and system for obstacle detection | |
| EP2541465A2 (en) | Vehicle periphery monitoring system | |
| US11048268B2 (en) | Mapping and tracking system for robots | |
| CN109857112A (en) | Obstacle Avoidance and device | |
| CN104408746B (en) | A kind of passenger flow statistical system based on depth information | |
| CN103054522A (en) | Cleaning robot system based on vision measurement and measurement and control method of cleaning robot system | |
| CN112347876A (en) | Obstacle identification method based on TOF camera and cleaning robot | |
| CN110488811A (en) | A method of the robot based on social networks model predicts pedestrian track | |
| CN110254349A (en) | A kind of vehicle collision prewarning method, system, vehicle and storage medium | |
| CN109683619A (en) | A kind of robot path planning method and system based on graph pararneterization | |
| CN108567380A (en) | Self-propelled cleaning device and method for establishing indoor map | |
| US20230046840A1 (en) | Vehicular access control based on virtual inductive loop | |
| CN112486184B (en) | Sweeping robot and obstacle avoidance path determining method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 310018 No. 760 Yinhai Street, Xiasha Street, Hangzhou Economic and Technological Development Zone, Zhejiang Province Patentee after: HANGZHOU JIUYANG HOUSEHOLD ELECTRICAL APPLIANCES CO.,LTD. Country or region after: China Address before: 310018, No. 52, No. 22, Poplar Street, Hangzhou economic and Technological Development Zone, Zhejiang Patentee before: HANGZHOU JIUYANG HOUSEHOLD ELECTRICAL APPLIANCES CO.,LTD. Country or region before: China |
|
| CP03 | Change of name, title or address |