CN107943058A - Sweeping robot and its cleaning paths planning method - Google Patents
Sweeping robot and its cleaning paths planning method Download PDFInfo
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- CN107943058A CN107943058A CN201711440984.5A CN201711440984A CN107943058A CN 107943058 A CN107943058 A CN 107943058A CN 201711440984 A CN201711440984 A CN 201711440984A CN 107943058 A CN107943058 A CN 107943058A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 204
- 238000004140 cleaning Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000004888 barrier function Effects 0.000 claims abstract description 57
- 230000008569 process Effects 0.000 claims abstract description 23
- 241001417527 Pempheridae Species 0.000 claims description 6
- 230000003716 rejuvenation Effects 0.000 claims description 6
- 238000010926 purge Methods 0.000 claims description 4
- 238000005406 washing Methods 0.000 claims description 4
- 230000003252 repetitive effect Effects 0.000 abstract description 5
- 230000006870 function Effects 0.000 description 10
- 230000001960 triggered effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (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
The present invention relates to a kind of sweeping robot and its paths planning method is cleaned, paths planning method is cleaned and comprises the following steps：Plane coordinate system is established as coordinate origin using the initial position of sweeping robot；The blank map that initial size is fixed but can expanded is built in plane coordinate system, and blank map is divided into some blocks, the size of block is fixed；Edge instructs path to be cleaned after sweeping robot receives cleaning instruction, in cleaning process, continues edge if encountering wall side, after being cleaned along wall and instructs path to be cleaned；Continuing edge if encountering barrier, after being cleaned along the edge of barrier instructs path to be cleaned；In cleaning process, actual swept region is mapped with the blank map built, updates map.The present invention can be directly entered efficient cleaning modes at the beginning cleaning, and update map therewith in cleaning process, can avoid most repeated work, reduce and clean repetitive rate, improve and clean coverage rate.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of sweeping robot and its cleaning paths planning method.
Background technology
It is widely applied with advances in technology with the continuous development of computer technology, sweeping robot.Sweeper
Device people is required for carrying out path planning, so on the one hand can avoid and clean the obstacle in space when performing cleaning task
Thing bumps against, and on the other hand can reduce the repetitive rate of cleaning, improves sweeping efficiency.It is existing according to the cost of sweeping robot
Sweeping robot can substantially be divided into two classes, and one kind is high-grade sweeping robot, it is carried on the basis of conventional sensors swashs
Optical radar simultaneously uses positioning immediately and map structuring scheme, or carries camera and use image procossing and positioning immediately and ground
Figure constructing plan；Another kind of is low-grade sweeping robot, it uses crash sensor, infrared sensor, sonac, gyro
Ripe, the inexpensive sensor plan such as instrument.
High-grade sweeping robot has an overall task advantage of completing that efficient, resultant effect is good etc., but its there are it is of high cost,
Technical requirements are high, development difficulty is big and the problems such as overall market occupation rate is low.Current low-grade sweeping robot have cost it is low,
The advantages that technical requirements are general, development difficulty is small and overall market occupation rate is high, but its there are overall task complete efficiency it is low, comprehensive
Close the problems such as effect is poor.
The content of the invention
It is low, whole the present invention provides a kind of cost to overcome problem present in correlation technique at least to a certain extent
Body task completes efficient sweeping robot and its cleans paths planning method.
On the one hand, the present invention provides a kind of sweeping robot to clean paths planning method, comprises the following steps：
Plane coordinate system is established as coordinate origin using the initial position of sweeping robot；
The blank map that initial size is fixed is built in plane coordinate system, and blank map is divided into some blocks, respectively
The size of block is fixed；Wherein, blank map can extend；
Sweeping robot prestores the guideline figure made, and the route map is by the countless parallel vertical curves infinitely extended
Form, robot initial is located therein on straight line when starting.
Edge instructs path to be cleaned after sweeping robot receives cleaning instruction, if encountering obstacle in cleaning process
Thing, then walk along the edge of barrier and cleaned (robot can leave the straight line instructed on path at this time), until encountering
Untill instructing the straight line on path；
In cleaning process, actual swept region is mapped with the blank map built, updates or extend ground
Figure.
Further, the initial position using sweeping robot is established plane coordinate system as coordinate origin and is included：To sweep
Floor-washing robot currently towards the positive direction that forward direction is X-axis, overlooks sweeping robot, its left is the positive direction of Y-axis；Plane
Each point is represented using X-axis coordinate, Y-axis coordinate and rotation angle in coordinate system.
Further, the scope of the rotation angle is：(- π, π], the corresponding rotation angle of positive direction of X-axis is 0.
Further, the cleaning function provided a user on the control panel for cleaning instruction and passing through sweeping robot
The selection key for the cleaning function that selection key is transmitted or is provided a user by remote controler or cell phone application client carries out
Send.
Further, edge instructs path to be cleaned after the sweeping robot receives cleaning instruction, in cleaning process
In if encountering barrier, walk and cleaned along the edge of barrier, untill encountering the straight line instructed on path,
It specifically includes following steps：
When starting to clean, judge whether sweeping robot is connected with charging base station, if sweeping robot and charging base station
It is connected, then comes and reverse end for end from charging base station reversed, and further determines whether to come out from charging base station for the first time, if so,
The region in front of charging base station is then cleaned, otherwise sweeping robot is to front straight line moving；If sweeping robot not with
Charging base station is connected, and sweeping robot is also to front straight line moving；
Sweeping robot judges whether there is barrier in front of sweeping robot, if obstacle to front straight line moving
Thing, then walk along barrier edge；Otherwise edge instructs path to walk.
Further, whether the step sweeping robot judges sweeping robot front to front straight line moving
There is barrier, if barrier, then walk along barrier edge；Otherwise along instructing path to walk, it includes：
Sweeping robot is walked, by the positive direction of Y-axis to front straight line moving after running into barrier along barrier edge
Or the negative direction of Y-axis is as direction of advance, wherein, the preferential direction of advance of the positive direction of Y-axis as sweeping robot；
First, it is corresponding according to the positive direction of the map currently updated along Y-axis to search for its region for sweeping robot
Whether the adjacent block of the block in figure, which is marked as, has been swept, if the adjacent block in the positive direction of Y-axis is unmarked for
Sweep, then sweeping robot is walked along the positive direction of Y-axis；Otherwise, the corresponding map in its region is searched for along the negative direction of Y-axis
In the adjacent block of block whether be marked as having swept, if the adjacent block in the negative direction of Y-axis is unmarked to have beaten
Sweep, then sweeping robot is walked along the negative direction of Y-axis；
Secondly, right side is selected close to barrier side in conjunction with the relative position where sweeping robot before encountering barrier
Edge is walked or left side is walked close to barrier edge, until the position where sweeping robot is instructed on path positioned at corresponding
When, sweeping robot stops walking close to barrier edge；
Sweeping robot rotates in place, until the direction that sweeping robot advances is towards the direction of X-axis or parallel to X-axis
Direction, sweeping robot is to front straight line moving.
It is further, described to be mapped in actual swept region with the blank map built in cleaning process,
Renewal map includes：Actual swept region and practical obstacle thing, charging base station or wall side are corresponded in blank map
Block be marked.Extension map includes the scope that can be represented beyond current map when sweeping robot region
When, expand the border of map, increase it and represent scope so that sweeping robot region is included in.
Further, it is further comprising the steps of to clean paths planning method for sweeping robot：If sweeping robot pair with
Actual area and its adjacent block where the corresponding sweeping robot of blank map of structure have all been cleaned and finished, then sweeper
It is non-conterminous on device people's searching map not clean block, and cleaned to not cleaning block.
Further, it is non-conterminous on the sweeping robot searching map not clean block, and to not cleaning block
Cleaning is carried out to comprise the following steps：
Sweeping robot utilizes non-conterminous on A* algorithms or BFS algorithms or greedy algorithm or other searching algorithm searching maps
Do not clean block, if non-conterminous range searching is not to block is cleaned on map, this is not cleaned to block and is labeled as
Target block, is calculated current location to the path of target block, and robot reaches target block along the path calculated,
Then the direction of advance of robot is adjusted, to the positive direction straight line moving of X-axis, edge instructs path to be cleaned；Otherwise, sweeper
Device people terminates to clean.
On the other hand, present invention also offers a kind of sweeping robot, it includes establishment of coordinate system module, blank map structure
Model block, clean module and map rejuvenation module；Establishment of coordinate system module is used for using the initial position of sweeping robot as coordinate
Origin, establishes plane coordinate system；Blank map structure module is used for the structure initial size in plane coordinate system and fixes but can
With the blank map of expansion, and blank map is divided into some blocks, the size of block is fixed；Clean module and instruct road for edge
Footpath or the edge of barrier are cleaned, and map rejuvenation module is used to be mapped blank map and actual purging zone, and
Renewal or extension map.
The technical solution that embodiments herein provides can include the following benefits：The present invention can be opened cleaning one
Beginning is directly entered efficient cleaning modes, updates map therewith in cleaning process, can avoid most repeated work, reduces
Repetitive rate is cleaned, improves and cleans coverage rate, ensures to clean effect so that sweeping robot is more intelligent, improves user experience.
And after cleaning, sweeping robot can return to charging base station according to the map updated in cleaning process and charge.This
Invention is using the sensor in low-grade sweeping robot, it is not necessary to increases extra sensor hardware, can ensure to sweep the floor
The performance of sweeping robot is improved while robot is inexpensive.The present invention during path planning is cleaned using maturation,
Cheap sensors for data, the data volume of acquisition is small, in addition, the amount of storage of data can be reduced using grating map, and
And the judgement of a large amount of repeat modes can reduce data calculation amount, therefore present invention processing analysis data hour operation quantity is few, is not required to
Want the processor of high cost to support, can be achieved using the processor of low cost.
It should be appreciated that the general description and following detailed description of the above are only exemplary and explanatory, not
The application can be limited.
Brief description of the drawings
Attached drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the application
Example, and be used to together with specification to explain the principle of the application.
Fig. 1 be a kind of sweeping robot according to an exemplary embodiment clean paths planning method flow chart it
One.
Fig. 2 is a kind of structure diagram of sweeping robot according to an exemplary embodiment.
Fig. 3 be a kind of sweeping robot according to an exemplary embodiment clean paths planning method flow chart it
Two.
Fig. 4 be a kind of sweeping robot according to an exemplary embodiment clean paths planning method flow chart it
Three.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the application.
Existing sweeping robot has random cleaning modes, along side cleaning modes, spiral cleaning modes and intersects clear
Pattern etc. is swept, cleaning works can be completed by existing cleaning modes in the case where environmental information is totally unknown.
As shown in Figure 1, the present invention provides a kind of sweeping robot to clean paths planning method, it comprises the following steps：
S1, using the initial position of sweeping robot establish plane coordinate system as coordinate origin.
In plane coordinate system, using the current positive direction towards forward direction as X-axis of sweeping robot, vertical view is swept the floor machine
Its left of people is the positive direction of Y-axis.Each point is represented using following three parameters in coordinate system：X-axis coordinate, Y-axis coordinate and
Rotation angle θ.The scope of rotation angle θ is：(- π, π], the corresponding rotation angle θ of positive direction of X-axis is 0.
S2, build the blank map that initial size is fixed in plane coordinate system, and blank map is divided into some blocks,
The size of each block is fixed.Wherein, blank map can extend.Specifically, in plane coordinate system centered on origin
Point, builds the blank map of a 5m*5m.Blank map is divided into the block that the 25*25 length of side is 20cm.When real space exceedes
During 5m*5m, when robot goes to the border of 5m*5m, map can be extended.
Edge instructs path to be cleaned after S3, sweeping robot receive cleaning instruction, in cleaning process, if encountered
Wall side, then continue edge and instruct path to be cleaned after being cleaned along wall；If encountering barrier, carried out along the edge of barrier clear
Continuing edge after sweeping instructs path to be cleaned.Wherein, instruct path include without several it is parallel with X-axis infinitely extend it is vertical
Line, when sweeping robot initial start, are located therein on a vertical curve.Specifically, vertical curve and each block in X-direction
Center line is located on the same line.
It can be sent and cleaned by the selection key of the cleaning function provided a user on the control panel of sweeping robot
Instruction, the selection key for the cleaning function that can also be provided a user by remote controler or cell phone application client send cleaning and refer to
Order, can also be because not enough power supply charges in sweeping robot cleaning process, and clear before continuation after charging complete
Sweep task.
S4, in cleaning process, actual swept region and the blank map of structure are mapped, sweeping robot
Respectively to actual swept region and practical obstacle thing, charging base station or wall side etc. in blank map corresponding block into
The blank map of line flag, continuous updating or extension structure.
Specifically, by actual swept region, corresponding block is labeled as having swept in blank map, by actual barrier
Thing corresponding block in blank map is hindered to be labeled as barrier.Wherein, remembered by the gyroscope on sweeping robot and code-disc
Record rotation angle and the displacement of sweeping robot.
Sweeping robot of the present invention clean paths planning method cause sweeping robot before barrier is encountered first by
Instruct path to treat purging zone to be cleaned according to predetermined, be further continued for after being cleaned when running into wall side along wall along instruct path into
Row cleans, and edge is further continued for after being cleaned when running into barrier along the edge of barrier and instructs path to be cleaned, sweeper
Device people updates map therewith in cleaning process, can reduce cleaning repetitive rate, improves and cleans coverage rate, ensures to clean effect,
So that sweeping robot is more intelligent, user experience is improved.
It is further comprising the steps of that sweeping robot of the present invention cleans paths planning method：
If S5, sweeping robot pair and the actual area where the corresponding sweeping robot of blank map built and its
Adjacent block has all been cleaned and finished, then non-conterminous with the actual area where sweeping robot on sweeping robot searching map
Block is not cleaned, and is cleaned to not cleaning block, it specifically includes following steps：
S51, sweeping robot using on A* algorithms or BFS algorithms or greedy algorithm searching map with where sweeping robot
Actual area it is non-conterminous do not clean block, do not clean block if searched on map in non-conterminous block, will
This does not clean block and is labeled as target block, enters step S52；Otherwise, sweeping robot terminates to clean.
S52, sweeping robot calculate according to the map to be calculated from one of current location arrival target block compared with shortest path, edge
Walk to target block in the path gone out；After reaching target block, sweeping robot rotates in place, until the advance of sweeping robot
Direction is directed at the positive direction of X-axis, and to front straight line moving, edge instructs path to be cleaned.Wherein, compared with shortest path can be away from
From path short enough and used time short enough path.
On the basis of embodiment illustrated in fig. 1, to a kind of possible implementation of step S3 in embodiment illustrated in fig. 1 into
Row is described in detail, it comprises the following steps：
S31, start clean when, judge sweeping robot whether with charging base station be connected, if sweeping robot with charging
Base station is connected, then comes and reverse end for end from charging base station reversed, and further determines whether to come out from charging base station for the first time, if
It is then to clean the region in front of charging base station, otherwise enter step S32；If sweeping robot is not connected with charging base station,
Also S32 is entered step, it specifically includes following steps：
S311, to sweeping robot start clean when whether detect charging base station signal judge, if it is,
Enter step S312；Otherwise S32 is entered step.
S312, sweeping robot retreat L distances, and rotate 180 °, change into the direction identical with the negative direction of X-axis, judge
Whether sweeping robot comes out from charging base station for the first time, if it is, entering step S313；Otherwise S32 is entered step.
S313, sweeping robot rotate 180 °, and direction of advance changes into the direction identical with the positive direction of X-axis, and along straight
Line is walked, and cleans the region immediately ahead of charging base station, the cleaning border before sweeping robot reaches default charging base station,
Sweeping robot rotates 180 ° again, and direction of advance is changed into the direction identical with the negative direction of X-axis, enters step S32.
Sweeping robot whether reach it is default charging base station before cleaning border according to the infrared biography on sweeping robot
The data that sensor returns are judged.
S32, sweeping robot judge whether there is barrier in front of sweeping robot to front straight line moving, if
Barrier, then walk along barrier edge；Otherwise along instructing path to walk, it specifically includes following steps：
S321, sweeping robot enter step S322 to front straight line moving after receiving collision alarm.
S322, sweeping robot are walked along barrier edge, regard the negative direction of the positive direction of Y-axis or Y-axis as advance side
To, wherein, the preferential direction of advance of the positive direction of Y-axis as sweeping robot.
First, it is corresponding according to the positive direction of the map currently updated along Y-axis to search for its region for sweeping robot
Whether the adjacent block of the block in figure, which is marked as, has been swept, if the adjacent block in the positive direction of Y-axis is unmarked for
Sweep, then sweeping robot is walked along the positive direction of Y-axis；Otherwise, the corresponding map in its region is searched for along the negative direction of Y-axis
In the adjacent block of block whether be marked as having swept, if the adjacent block in the negative direction of Y-axis is unmarked to have beaten
Sweep, then sweeping robot is walked along the negative direction of Y-axis.
Secondly, S323 is entered step in conjunction with the relative position selection where sweeping robot before entering step S322.
If the lower section of position correspondence Obstacle Position in plane coordinate system before into this step S322 where sweeping robot
And have selected to walk along the positive direction of Y-axis before this step S322, or the position correspondence where sweeping robot is in plane coordinates
Have selected to walk along the negative direction of Y-axis before the top of barrier and this step S322 in system, then the right side of sweeping robot close to
Barrier edge is walked, and enters step S323；If the position correspondence before S322 where sweeping robot is entered step flat
It has selected to walk along the negative direction of Y-axis before the lower section of Obstacle Position and this step S322 in areal coordinate system, or machine of sweeping the floor
Position correspondence where people have selected the positive direction along Y-axis in plane coordinate system before the top of barrier and this step S322
Walk, then the left side of sweeping robot is walked close to barrier edge, enters step S323.
Finally, if block in the corresponding map in sweeping robot region is along the adjacent of X-direction and Y direction
Block is collectively labeled as having swept, then on searching map with the actual area where sweeping robot is non-conterminous does not clean block,
Enter step S5.
S323, sweeping robot right side close to barrier edge walk when, first, sweeping robot is according to being triggered
The position of crash sensor selects corresponding rotation angle, rotates the rotation angle counterclockwise；Secondly, sweeping robot is with current
State is original state along curved path walking, until crash sensor be triggered again or sweeping robot return to currently with X-axis weight
The vertical curve or sweeping robot of conjunction have encountered the vertical curve parallel with X-axis.
When crash sensor is triggered again, repeat step S323.When sweeping robot returns to what is currently overlapped with X-axis
During vertical curve, S324 is entered step.When sweeping robot has encountered the vertical curve parallel with X-axis, S325 is entered step.
Specifically, sweeping robot along using current state as original state along curved path walking when, -0.25 arc of angular speed use
Degrees second, linear velocity make choice according to the data that right side infrared sensor returns.
The left side of sweeping robot close to barrier edge walk when, first, sweeping robot is according to the collision being triggered
The position of sensor selects corresponding rotation angle, rotates clockwise the rotation angle；Secondly, sweeping robot is with current state
It is original state along curved path walking, until crash sensor is triggered again or sweeping robot returns to what is currently overlapped with X-axis
Vertical curve or sweeping robot have encountered the vertical curve parallel with X-axis.
When crash sensor is triggered again, repeat step S323.When sweeping robot returns to what is currently overlapped with X-axis
During vertical curve, S324 is entered step.When sweeping robot has encountered the vertical curve parallel with X-axis, S325 is entered step.
Specifically, sweeping robot using current state as original state along curved path walking when, angular speed using 0.25 radian/
Second, linear velocity makes choice according to the numerical value that left side infrared sensor returns.
S324, sweeping robot rotate in place, until sweeping robot advance direction towards the direction of X-axis or parallel to
The direction of X-axis, enters step S321.
S325, sweeping robot rotate in place, until sweeping robot advance direction towards the direction of X-axis or parallel to
The direction of X-axis, enters step S326.
S326, sweeping robot are to front straight line moving, until colliding sensor receives collision alarm, machine of sweeping the floor
People rotates in place 360 °, enters step S321.
In addition, sweeping robot is in cleaning process, if not enough power supply, record current location, and enter base station into
Row charging, comes back to the cleaning works before the position continuation of record after charging complete.
As shown in Fig. 2, present invention also offers a kind of sweeping robot, it is set on the basis of existing sweeping robot
There are establishment of coordinate system module 1, blank map structure module 2, clean module 3 and map rejuvenation module 4.Establishment of coordinate system module 1
For using the initial position of sweeping robot as coordinate origin, establishing plane coordinate system.Blank map structure module 2 is used for flat
The blank map that initial size is fixed but can expanded is built in areal coordinate system, and blank map is divided into some blocks, area
The size of block is fixed.Clean module 3 instructs the edge in path or barrier or wall side to be cleaned for edge, map rejuvenation module
4 are used to be mapped blank map and actual purging zone, and according to actual swept region and reality in cleaning process
Border barrier, the renewal of charging base station or wall side etc. or extension map.
Sweeping robot uses cylindrical structure, and an infrared sensor is respectively set on its front end face, left surface and right flank,
Three infrared sensors are located on same level section, and the angle between each infrared sensor is 90 °.The side of sweeping robot
On be additionally provided with four crash sensors, two of which crash sensor is arranged on the infrared sensor and front end face of left surface
Between infrared sensor, two other crash sensor is arranged on the infrared sensor of right flank and the infrared sensor of front end face
Between.
Robot of the present invention can task at the beginning when be directly entered efficient cleaning modes, can be therewith in cleaning process
Map is updated, most repeated work can be avoided, reduces and cleans repetitive rate, improves and cleans coverage rate.And clean and finish
Afterwards, sweeping robot can return to charging base station according to the map updated in cleaning process and charge.
Sweeping robot according to Fig. 3 cleans the flow of paths planning method, sweeps the floor with reference to Fig. 3 to the present invention machine
The flow that people cleans paths planning method is described in detail.
Sweeping robot is in an irregular region to be cleaned.
Plane coordinate system is established as coordinate origin using the initial position of sweeping robot.In plane coordinate system, to sweep the floor
The positive direction that its left of sweeping robot is Y-axis currently towards the positive direction that forward direction is X-axis, is overlooked by robot.In plane
The blank map that initial size is fixed is built in coordinate system, and blank map is divided into some blocks, the size of each block is fixed.
The a plurality of vertical curve that infinitely extends parallel with X-axis is set in plane coordinate system, these vertical curves form and instruct path.
Edge instructs a vertical curve in path to walk and cleaned forward after sweeping robot receives cleaning instruction,
When sweeping robot reaches the corresponding border with the border of the blank map of structure in region to be cleaned, barrier is not encountered yet
Or during wall side, into plane coordinate system, X is just and Y is positive region extension blank map.Sweeping robot continues edge and instructs road
A vertical curve in footpath is walked and is cleaned forward, and until encountering wall side, sweeping robot is cleaned along wall, until return to
During the parallel vertical curve of X-axis, adjustment direction, until the positive direction for being oriented parallel to X-axis that sweeping robot advances, then sweeps the floor
Robot is directly walked forward, if encountering wall again, rotates in place 180 °, sweeping robot is to front straight line moving and carries out
Clean.
Sweeping robot according to Fig. 4 cleans the flow of paths planning method, sweeps the floor with reference to Fig. 4 to the present invention machine
The flow that people cleans paths planning method is described in detail.
Edge instructs a vertical curve in path to walk and cleaned forward after sweeping robot receives cleaning instruction,
When sweeping robot encounters barrier in cleaning process, according to sweeping robot and the relative position relation of barrier, sweep
The right side or left side of floor-washing robot are walked close to barrier edge.Until sweeping robot returns to the vertical curve overlapped with X-axis, sweep
Floor-washing robot rotates in place, until the direction for the direction alignment X-axis that sweeping robot advances, sweeping robot is to front straight line
Walk and cleaned.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in related this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
It is understood that same or similar part can mutually refer in the various embodiments described above, in certain embodiments
Unspecified content may refer to the same or similar content in other embodiment.
It should be noted that in the description of the present application, term " first ", " second " etc. are only used for description purpose, without
It is understood that to indicate or implying relative importance.In addition, in the description of the present application, unless otherwise indicated, the implication of " multiple "
Refer at least two.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used for realization specific logical function or process
Point, and the scope of the preferred embodiment of the application includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic at the same time in the way of or in the opposite order, carry out perform function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each several part of the application can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or combinations thereof are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the application can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms is not
Necessarily refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to the limitation to the application is interpreted as, those of ordinary skill in the art within the scope of application can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of sweeping robot cleans paths planning method, it is characterised in that comprises the following steps：
Plane coordinate system is established as coordinate origin using the initial position of sweeping robot；
The blank map that initial size is fixed is built in plane coordinate system, and blank map is divided into some blocks, respectively
The size of block is fixed；Blank map can extend；
Edge instructs path to be cleaned after sweeping robot receives cleaning instruction, in cleaning process, if encountering wall side,
Continuing edge after being cleaned along wall instructs path to be cleaned；If encountering barrier, along the edge of barrier clean follow-up
Path is instructed to be cleaned in continuous edge；Wherein, path is instructed to include the vertical curve infinitely extended being parallel to each other without several, sweeper
It is located therein during device people's initial start on a vertical curve；
In cleaning process, actual swept region is mapped with the blank map built, updates or extend map.
2. sweeping robot as claimed in claim 1 cleans paths planning method, it is characterised in that the step is with sweeper
The initial position of device people establishes plane coordinate system for coordinate origin to be included：Using sweeping robot currently towards forward direction as X-axis
Positive direction, overlook sweeping robot, its left be Y-axis positive direction；Each point is using X-axis coordinate, Y in plane coordinate system
Axial coordinate and rotation angle represent.
3. sweeping robot as claimed in claim 2 cleans paths planning method, it is characterised in that the model of the rotation angle
Enclose for：(- π, π], the corresponding rotation angle of positive direction of X-axis is 0.
4. sweeping robot as claimed in claim 1 cleans paths planning method, it is characterised in that the cleaning instruction passes through
The selection key of the cleaning function provided a user on the control panel of sweeping robot is transmitted or by remote controler or hand
The selection key for the cleaning function that machine APP clients provide a user is transmitted.
5. sweeping robot as claimed in claim 1 cleans paths planning method, it is characterised in that the sweeping robot connects
Edge instructs path to be cleaned after receiving cleaning instruction, if encountering barrier in cleaning process, along the edge of barrier
Walk and cleaned, it specifically includes following steps：
When starting to clean, judge whether sweeping robot is connected with charging base station, if sweeping robot is connected with charging base station,
Then come and reverse end for end from charging base station reversed, and further determine whether to come out from charging base station for the first time, if it is, cleaning
The region charged in front of base station, otherwise sweeping robot is to front straight line moving；If sweeping robot not with charge base
Stand and be connected, sweeping robot is also to front straight line moving；
Sweeping robot judges whether there is barrier in front of sweeping robot to front straight line moving, if barrier, then
Walk along barrier edge；Otherwise edge instructs path to walk.
6. sweeping robot as claimed in claim 5 cleans paths planning method, it is characterised in that the step is swept the floor machine
People judges whether there is barrier in front of sweeping robot, if barrier, then along barrier edge to front straight line moving
Walking；Otherwise along instructing path to walk, it includes：
Sweeping robot is walked, by the positive direction or Y of Y-axis to front straight line moving after running into barrier along barrier edge
The negative direction of axis as direction of advance, wherein, the preferential direction of advance of the positive direction of Y-axis as sweeping robot；
First, sweeping robot is searched in the corresponding map in its region according to the positive direction of the map currently updated along Y-axis
The adjacent block of block whether be marked as having swept, if the adjacent block in the positive direction of Y-axis is unmarked to have swept,
Then sweeping robot is walked along the positive direction of Y-axis；Otherwise, searched for along the negative direction of Y-axis in the corresponding map in its region
Whether the adjacent block of block, which is marked as, has been swept, if the adjacent block in the negative direction of Y-axis is unmarked to have swept,
Sweeping robot is walked along the negative direction of Y-axis；
Secondly, right side is selected close to barrier edge lines in conjunction with the relative position where sweeping robot before encountering barrier
Walk or left side is walked close to barrier edge, when the position where sweeping robot is positioned at corresponding instruct on path, sweep
Floor-washing robot stops walking close to barrier edge；
Sweeping robot rotates in place, until the direction that sweeping robot advances is towards the direction of X-axis or the side parallel to X-axis
To, sweeping robot to front straight line moving.
7. sweeping robot as claimed in claim 1 cleans paths planning method, it is characterised in that the step is swept
Actual swept region is mapped with the blank map built in journey, renewal map includes：To actual swept area
Domain and practical obstacle thing, charging base station or wall the side corresponding block in blank map are marked；Extending map includes working as
During the scope that sweeping robot region can be represented beyond current map, expand the border of map, increase it and represent model
Enclose so that sweeping robot region is included in.
8. sweeping robot as claimed in claim 1 cleans paths planning method, it is characterised in that further comprising the steps of：
If actual area and its adjacent block where sweeping robot pair sweeping robot corresponding with the blank map built are all
Cleaned and finished, then it is non-conterminous on sweeping robot searching map not clean block, and cleaned to not cleaning block.
9. sweeping robot as claimed in claim 6 cleans paths planning method, it is characterised in that the sweeping robot is searched
It is non-conterminous on rope map not clean block, and carry out cleaning to not cleaning block and comprise the following steps：
Sweeping robot using on A* algorithms or BFS algorithms or greedy algorithm searching map with the actual zone where sweeping robot
Domain is non-conterminous not to clean block, and block is not cleaned if searched on map in non-conterminous block, this is not cleaned
Block is labeled as target block, and current location to the path of target block is calculated, and robot is arrived along the path calculated
Up to target block, the direction of advance of robot is then adjusted, along the positive direction straight line moving of X-axis, edge instructs path to be cleaned；
Otherwise, sweeping robot terminates to clean.
10. a kind of sweeping robot, it is characterised in that it includes establishment of coordinate system module, blank map structure module, cleans mould
Block and map rejuvenation module；Establishment of coordinate system module is used for using the initial position of sweeping robot as coordinate origin, establishes plane
Coordinate system；Blank map structure module is used to build the blank map that initial size is fixed in plane coordinate system, and by blank
Map is divided into some blocks, and the size of each block is fixed；Module is cleaned to be used for along the edge or wall side for instructing path or barrier
Cleaned, map rejuvenation module is used to be mapped blank map and actual purging zone, and updates or extend map.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711440984.5A CN107943058A (en) | 2017-12-26 | 2017-12-26 | Sweeping robot and its cleaning paths planning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711440984.5A CN107943058A (en) | 2017-12-26 | 2017-12-26 | Sweeping robot and its cleaning paths planning method |
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| CN107943058A true CN107943058A (en) | 2018-04-20 |
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| CN201711440984.5A Pending CN107943058A (en) | 2017-12-26 | 2017-12-26 | Sweeping robot and its cleaning paths planning method |
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