CN108507578A - A kind of construction method and its air navigation aid of overall situation border map - Google Patents
A kind of construction method and its air navigation aid of overall situation border map Download PDFInfo
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- CN108507578A CN108507578A CN201810289778.7A CN201810289778A CN108507578A CN 108507578 A CN108507578 A CN 108507578A CN 201810289778 A CN201810289778 A CN 201810289778A CN 108507578 A CN108507578 A CN 108507578A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Abstract
The present invention discloses a kind of construction method and air navigation aid of global border map, the robot described first confines a virtual cleaning subregion in working space when starting, the boundary characteristic information for marking navigation boundary during cleaning the virtual cleaning subregion again, builds local boundary map；Then the data of the local boundary map world coordinates is transformed into fasten；After having cleaned the virtual cleaning subregion, it is moved to non-purging zone, and confines next virtual cleaning subregion, continue to mark the boundary characteristic information, so recycle repeatedly, when cleaning complete working space, cycle is exited, the global border map structure is completed；The navigation boundary is finally selected to navigate as guidance path.Method of the present invention by building the local boundary map and the global border map realizes that robot quickly navigates, while saving Installed System Memory, improves flexibility and the high efficiency of robot navigation under conditions of retaining the boundary characteristic information.
Description
Technical field
The present invention relates to robot indoor navigation and field of intelligent control technology, and in particular to a kind of overall situation border map
Construction method and its air navigation aid.
Background technology
Robot based on inertial navigation is more and more universal, it is representative it is stronger be that family sweeps the floor clean robot.It sweeps
Floor-washing robot combination gyroscope, acceleration with wheel odometer data, realize indoor environment immediately positioning with building figure, further according to
The map of foundation realizes location navigation.Robot based on inertial navigation is to carry out navigation based on global grating map to recharge
Electric seat, when realizing the inertial navigation based on gyroscope under actual home environment, because more complicated home environment is deposited
In various unknown conditions, so over time, the error of the generations such as wheel slip, gyroscopic drift can accumulate increasingly
Greatly, cause machine to skid, so that bigger deviation occurs in the map of structure, led if being continuing with global map
Boat will the deviation of robot and target point widen.
And mainly using grating map, by the working environment of robot, (environmental information includes but not limited in practical applications
The temperature of environment, humidity, light intensity etc.) it is divided into a series of grid, wherein each grid distributes a probability value, indicates
The possibility size that the grid is occupied by barrier.Grating map is easy to create and safeguard, can to the perception information of some grid
With directly corresponding with some region in environment, suitable for processing Ultrasonic data.However the environmental map indicated with grid, ring
The resolution ratio in border space is related with the size of lattice dimensions, and the Time ＆ Space Complexity of operation will be increased by increasing resolution ratio.
It has to pay quite high cost if it is intended to obtaining accurately grating map, for example to use laser sensor either to scheme
As sensor, and more abundant computing resource is needed to have, causes the memory space requirement to CPU relatively high, be unfavorable for producing
Product it is cost effective.In order to reduce the resource and the success rate for improving robot navigation that CPU is used, it is desirable to provide a kind of new overall situation
Map navigates to robot.
Chinese invention patent CN100449444 proposes mobile robot simultaneous localization and mapping in circumstances not known
Method realizes high-precision location navigation by building global line segment characteristics map and the global grating map that occupies, but map
Middle matching line segment feature and the newer algorithm of grating map are high to the performance requirement of processor, to the calculation amount of line segment matching
It is larger；The method that topological map is used in Chinese patent CN107121142, by combining robot current environment feature judgement to be
It is no carry out subregion division and how to divide, then merge sensor data progress path planning, but the division of subregion by
To the influence of laser sensor investigative range.It is a kind of small for memory space and computing resource requirement it is necessary to develop, it is suitable for
The quick navigation of robot under indoor conditions.
Invention content
The present invention is based on the airmanships of structure global map, in robot kinematics, in order to save navigation map
Memory, the boundary characteristic information architecture that navigation boundary in region is cleaned by record play global border map so that machine person
It selects suitable border path and carries out Navigational Movements.Technical scheme is as follows：
A kind of construction method of overall situation border map, which is characterized in that the building process of the overall situation border map includes as follows
Step：
Step S1：Robot confines a virtual cleaning subregion in working space when starting, then is cleaning the virtual cleaning point
The boundary characteristic information on label navigation boundary, builds local boundary map, and enter step S2 during area；
Step S2：The data of the local boundary map in the virtual cleaning subregion are subjected to coordinate system conversion, are added to complete
In office's coordinate system, and enter step S3；
Step S3：After having cleaned the virtual cleaning subregion, it is moved to non-purging zone, repeats step S1 ~ step S2, Zhi Daoqing
Complete working space is swept, the global border map is obtained；
Wherein, the boundary characteristic information includes the navigate starting point coordinate on boundary, the terminal point coordinate on boundary of navigating and the machine
Rotation angle of the people along the walking of navigation boundary.
Further, the robot confines presently described virtual cleaning subregion, then the label navigation side in cleaning process
The boundary characteristic information on boundary builds local grid while building local boundary map also according to the obstacle information of label
Map is just deleted instead next until the robot starts to clean next virtual cleaning subregion
The local grid map built in the virtual cleaning subregion.
Further, it builds the global border map and first determines that one with the robot initial start position is original
Point, using the robot from the direction of advance of initial starting point position as the global coordinate system of Y-axis positive direction.
Further, the determination method of the virtual cleaning subregion is fastened in the world coordinates, the excessively described robot
Current entry position make a straight line parallel with Y-axis, as a vertical boundary line, apart from this vertical boundary line n meters and with
Parallel straight line as another vertical boundary line, the robot sets the vertical boundary line in Y direction；It crosses
A straight line vertical with vertical boundary line is made in the current entry position of the robot, as a horizontal border line, distance
M meters of horizontal border line and straight line parallel with it is as another horizontal border line；Above-mentioned vertical boundary line and water
Pingbian boundary line surrounds presently described virtual cleaning subregion；The robot has cleaned the subsequent reforwarding of presently described virtual cleaning subregion
It is dynamic, when detecting non-purging zone, using current location as next entry position, continue to confine according to the method described above next
A virtual cleaning subregion；
Wherein, variable n represents the preset length of the virtual cleaning subregion, and variable m represents the default of the virtual cleaning subregion
Width.
Further, the navigation boundary is made of entity boundary and virtual boundary, wherein the entity boundary is basis
The virtual cleaning subregion inner wall or the coordinate points line by wall barrier edge；The virtual boundary is led to realize
It navigates back initial starting point position, the virtual road for surrounding enclosed region with the entity boundary is fitted in the virtual cleaning subregion
Line；
Wherein enclosed region is, in order to realize the practical cleaning region navigated back initial homeposition and be arranged.
Further, the distance of the beginning and end of the virtual boundary is bigger than the robot fuselage width.
A kind of air navigation aid of robot, which is characterized in that the air navigation aid is advised based on the boundary characteristic information
It draws, includes the following steps：
Step 1：When the robot starts navigation, the robot current location is obtained, and determine aiming spot, and enter
Step 2；
Step 2：According to the global border map and current local grid map, it is with the robot current location
Point, aiming spot are terminal, in conjunction with the boundary characteristic information on the navigation boundary, select guidance path, and enter step
3；
Step 3：The robot by it is selected go out guidance path navigate.
Further, selection guidance path specific method includes in the step 2 of the air navigation aid：
Step 21：According to the beginning and end situation that the robot determines, navigation road is carried out using the navigation boundary
Diameter is planned, and enters step 22；
Step 22：Judge to plan that the length on the path of selection with the presence or absence of the entity boundary is more than preset boundary length, is
Then select maximum one of the entity boundary length as guidance path；Otherwise 23 are entered step；
Step 23：Judge to plan whether the rotation angle of the robot on the path of selection is less than default corner, is to select
Maximum one of the entity boundary length is used as guidance path, otherwise selects one that the rotation angle of the robot is minimum
As guidance path；
Wherein, the preset boundary length is the priority for weighing the length on the entity boundary in planning guidance path
Reference length；The default corner is the priority for weighing the robot rotation angle in planning guidance path
With reference to angle.
The invention has the advantages that compared with the existing technology, the present invention is virtual in local boundary map by recording
Boundary and a kind of global border map of entity boundary structure, the record of the data of the local boundary map is reasonable and reduces calculation
The complexity of method saves the computing resource of CPU；The air navigation aid based on the global border map that the present invention discloses improves clear
The navigation efficiency of clean robot and flexibility.
Description of the drawings
Fig. 1 is the flow chart of the construction method and its air navigation aid of global border map；
Fig. 2 is the label figure in robot navigation path under typical indoor environment；
Fig. 3 is the schematic diagram of coordinate system conversion；
Fig. 4 is the schematic diagram for confining cleaning region.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that specific embodiment disclosed below is only used for explaining the present invention, it is not intended to limit the present invention.
In patent of the present invention, it is to be understood that the instructions side such as term "upper", "lower", "left", "right", "front", "rear"
Position or position relationship are to be based on the orientation or positional relationship shown in the drawings, and the description present invention merely for convenience implements and simplification is retouched
It states, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and operation,
Therefore it should not be understood as the limitation to patent of the present invention.
The robot can encounter different barriers along the walking process of side, in order to effectively simplify to indoor environment
Description can do following processing to indoor barrier convenient for proposing rational relative strategy in path planning：As long as 1, obstacle
Object is unsatisfactory for the minimum range that the robot passes through at a distance from wall, and robot cannot pass through, just by by wall obstacle
Object processing.2, for linear type barrier, its contour feature is represented with rectangle；For nonlinear type barrier, forced using broken line
Nearly method processing.When 3, the robot can not be made to pass through when the distance between two barriers are close, the two can be seen
A barrier is done to be handled.
It is examined for stroke distances for rotational angle detection, odometer equipped with gyroscope on the robot carrier of the present invention
It surveys, and equipped with the sensor that can detect metope distance, the sensor of detection metope distance can be ultrasonic distance sensing
Device, infrared intensity detection sensor, infrared distance sensor, physical switch detect crash sensor, capacitance or resistance variations
Detection sensor etc..
As shown in Figure 1, the present invention implements to provide a kind of construction method and its air navigation aid of global border map, step
Suddenly include confining a virtual cleaning subregion when robot starts in step S1 in working space, then this is virtual clear in cleaning
The boundary characteristic information on label navigation boundary, builds local boundary map during clean subregion；It will be described virtual in step S2
The data for cleaning the local boundary map in subregion carry out coordinate system conversion, are added in global coordinate system；In step S3, clearly
After having swept the virtual cleaning subregion, it is moved to non-purging zone, and confines new virtual cleaning subregion, then in cleaning process
Positioning and map structuring simultaneously are completed, is further continued for moving, so cycle repeatedly, when cleaning complete a working space, is exited and followed
Ring.Wherein, while positioning and map structuring include the structure of local boundary map；The data of the local boundary map pass through
Coordinate system is converted, and is added to world coordinates and is fastened, and the global border map is built；In step S4, the navigation boundary is selected
Homeposition is returned to as guidance path.The side that the present invention passes through the structure local boundary map and the global border map
Method obtains the boundary characteristic information, realizes the quick seat that navigates back of robot, saves Installed System Memory, improve robot navigation's
Flexibility and high efficiency.
The building process of the wherein described global border map is as follows：
In step S1, robot confines a virtual cleaning subregion in working space when starting, then is cleaning the virtual cleaning
The boundary characteristic information on label navigation boundary, builds local boundary map, and enter step S2 during subregion；Such as Fig. 2 institutes
Showing, the robot is using cradle position O as initial starting point, when just starting the Y-axis pros toward global coordinate system and marching forward,
A virtual cleaning subregion is confined on the right side of Y-axis, then the robot bends font cleaning in the virtual cleaning subregion, according to
The boundary characteristic information on the data markers navigation boundary of sensor, builds local boundary map.
In step S2, the data of the local boundary map in the virtual cleaning subregion are subjected to coordinate system conversion, are added
Enter into global coordinate system, and enters step S3；The robot has often cleaned one piece of region, by the corresponding office in the region
Portion's border map data are transformed into world coordinates by coordinate system and fasten, and to obtain initial global border map, are conducive to institute
Robot is stated to position immediately；
In step S3, after having cleaned the virtual cleaning subregion, it is moved to non-purging zone, repeats step S1 ~ step S2, until
Complete working space is cleaned, the global border map is obtained；The robot has cleaned presently described virtual cleaning subregion
Afterwards, the entry position that presently described virtual cleaning subregion is returned according to the global border map navigation of structure, is further continued for edge
The Y direction of global coordinate system is advanced；Or the entry position of presently described virtual cleaning subregion is not returned to, and be across described
Virtual cleaning subregion, is moved to non-purging zone；It then proceedes to confine next virtual cleaning subregion, then in cleaning process
Middle completion while positioning and map structuring, are further continued for moving, and so cycle repeatedly, when cleaning complete working space, exits
Cycle.By marking the boundary characteristic information in each region, be conducive to trans-regional navigation.
Robot provided in this embodiment uses arc type way to get there, keeps straight on first along the Y-axis positive direction of global coordinate system,
Until finding barrier, or the arrival virtual cleaning partition boundaries, then clockwise（Or counterclockwise）It turn 90 degrees, then keeps straight on
150mm (the about half of intelligent robot diameter or width) has found barrier, is then turn 90 degrees toward same direction, then keep straight on,
It recycles always repeatedly, you can realize arc type way to get there.
Specifically, the boundary characteristic information includes the navigate starting point coordinate on boundary, the terminal point coordinate on boundary of navigating and institute
State the rotation angle of Robot navigation boundary walking.The XY coordinate informations of the borderline beginning and end of the navigation of record
And its angle information, it is the angle that travel distance and gyroscope detected by the odometer based on the robot are detected
Value, is fastened through transitions into world coordinates, is fused in the global border map, robot can be according to the navigation boundary
It rapidly accurately finds to continue in follow-up action and sweeps position and the path of navigation.
As illustrated in fig. 2, it is assumed that region #1, #2 and #3 constitute the working space.At the beginning, region #1 and region #2 difference
It is two regional areas successively cleaned during the robot marches forward along the Y-axis pros of the global coordinate system, machine
During device is manually made, the local boundary map label boundary characteristic information of regional area, when having cleaned region #2,
It is converted, the local boundary map in the #2 of region is all transformed into global coordinate system, combined region #1 and area by coordinate system
The boundary characteristic information built in the #2 of domain.Similarly, region #3 has been cleaned, then has been turned the local boundary map in the #3 of region
It changes in global coordinate system, combined region #1, region #2 and the interior boundary characteristic information built of region #3 are whole to build
The overall situation border map in a working space.By above-mentioned construction method it is found that the overall situation border map only remain it is described
Boundary characteristic information saves memory headroom relative to the global map in existing airmanship.
Preferably, the robot confines presently described virtual cleaning subregion, then the label navigation boundary in cleaning process
Boundary characteristic information, build local boundary map while, also according to label obstacle information with building local grid
Figure, until the robot starts to clean, next virtual cleaning subregion is just deleted instead next institute
State the local grid map built in virtual cleaning subregion.As illustrated in fig. 2, it is assumed that region #1 and region #2 are the machine respectively
Two regional areas that people cleans, robot has cleaned the entry position of return area #1 after the #1 of region, and continues purging zone #
2, retain the local grid map in the #2 of region and marks obstacle information, and delete the local grid map in the #1 of region；
Similarly if continuing purging zone #3 after having cleaned region #1 and #2, the robot retains the local grid in area #3
Map label obstacle information, and the local grid map in region #2 and region #1 is deleted, the memory headroom of map is saved,
Simultaneously so that local grid map can be used in the position positioning of current region with navigation.
In specific embodiments of the present invention, in order to determine the position of barrier in environment, it is necessary to pass through robot itself
Position and the barrier above it measured by sensor are determined relative to the distance of robot.Therefore, it is necessary to the works to robot
It is modeled as environment, for the local boundary map and the global border map, establishes two coordinate systems, i.e., the described office
The coordinate system UHV of portion's border map be used for describing the robot current virtual cleaning subregion posture information, it is described complete
Office coordinate system YOX is used for describing the working space of the robot and provides guidance path.
Specifically, the local boundary map is used using the robot current location as origin, with institute under current location
State the coordinate system that robot direction of advance is V axis directions.Since robot is to detect current context information during the motion,
The range information detected every time is all to carry out quantitative measurment with the movement posture of current robot, so establishing the local boundary
Map is the local message in order to describe currently to detect.After the coordinate origin for determining the local boundary map, by institute
The acquisition for stating robot car wheel speed coding information and turn information, obtain the robot the local boundary map seat
Coordinate information and angle information in mark system.The each not phase of local coordinate system expression way of the robot on different positions
Together, it needs to be uniformly processed, is transformed into unified world coordinates and fastens.
Preferably, build the global border map first determine one using the robot initial start position as origin,
Using the robot from the direction of advance of initial starting point position as the global coordinate system of Y-axis positive direction.Robot wants
Realize that the path planning of certain rule will select specific reference coordinate system, such as Fig. 2, in the #1 of region, ideal ginseng
It is exactly wall according to object.Wall not only has good linear characteristic, meanwhile, distribution has certain regularity, sketches out entire
The profile of working space.Therefore, the global coordinate system is the machine using the position of robot initial starting point O as coordinate origin
Device people sets up along wall direction of advance as Y direction from initial starting point position, for describing entirely to work
The environmental information in space, position of the mark robot in entire working space.
During the present invention is implemented, in the step S2 of the overall situation border map construction method, the number of the local boundary map
According to the mathematical method for carrying out coordinate system conversion, as shown in figure 3, using the robot current location as the coordinate of coordinate system UHV
Origin H is expressed as in coordinate system YOX, with the front of the robot for the directions V, in coordinate system YOX
Y-axis and the angle of V axis in coordinate system UHV are, spin matrix be R=, coordinate system UHV is opposite
It is in the translation vector of coordinate system YOX.The coordinate of the entity boundary starting point A is corresponding in coordinate system UHV
Coordinate vector is denoted as, the coordinate of the entity boundary starting point A corresponding coordinate vector in coordinate system YOX is denoted as.It is described
The method that the coordinate system of local boundary map is transformed into the global coordinate system is, by coordinate system UHV along the translation vector
Amount（）Negative direction move at the origin of coordinate system YOX so that point O is overlapped with point H；Then starting point A becomes point A ',
The coordinate of A ' of setting up an office is（Xh,Yh）, vectorAngle with X-axis isDegree；Then the coordinate system UHV of translation is revolved counterclockwise
TurnDegree, point A ' become point A ' ', and the A ' ' coordinates that set up an office are（Xp,Yp）, vectorAngle with X-axis isDegree, then
The vector median filters relational expression that the entity boundary starting point A is transformed into coordinate system YOX from coordinate system UHV is+R。
Preferably, the determination method of the virtual cleaning subregion is fastened in the world coordinates, and the excessively described robot works as
A straight line parallel with Y-axis is made in front entrance position, as a vertical boundary line, apart from this vertical boundary line n meters and therewith
For parallel straight line as another vertical boundary line, the robot sets the vertical boundary line in Y direction；Cross institute
A straight line vertical with vertical boundary line is made in the current entry position for stating robot, and as a horizontal border line, distance should
M meters of horizontal border line and straight line parallel with it is as another horizontal border line；Above-mentioned vertical boundary line and level
Boundary line surrounds presently described virtual cleaning subregion；The robot has cleaned the subsequent reforwarding of presently described virtual cleaning subregion
It is dynamic, when detecting non-purging zone, using current location as next entry position, continue to confine according to the method described above next
A virtual cleaning subregion；Wherein, the entry position indicates entry into the position of the virtual cleaning subregion and the machine
Device people confines the start position of the virtual cleaning subregion；The virtual cleaning subregion is confined in the left or right side region of Y-axis
In.Variable n represents the preset length of the virtual cleaning subregion, and variable m represents the predetermined width of the virtual cleaning subregion.
Preferably, as shown in figure 4, the numerical value of variable m is set as 5, unit is the determination method of the virtual cleaning subregion
Rice；The numerical value of variable n is set as 5, and unit is rice；Region #5 is the concave regions that the solid line in Fig. 4 surrounds, and the robot exists
The movement locus cleaned from left to right with arc type in the #5 of region, the present invention implement a kind of determination provided the virtual cleaning point
The mathematical model in area.In the mathematical model, the Y direction of coordinate system YOX represents vertical direction, and X-direction represents level side
To.When the robot starts in the #5 of region from initial starting point position O, using position D as the entrance of the virtual cleaning subregion
Position, the direction that the robot advances are the Y-axis positive directions of the global coordinate system, then straight line DA in this direction is as one
The vertical boundary line of item, straight line CB parallel with it at 5 meters is as another vertical boundary line, the machine on the right side of the vertical boundary line
Device people sets the vertical boundary line in Y direction；It crosses position D and makees a straight line DC vertical with the boundary line in Y direction
For a horizontal border line in X-direction, straight line AB parallel with it at 5 meters above the horizontal border line, therefore such as Fig. 4 institutes
Show, line segment AD, line segment BC, line segment CD and line segment BA surround presently described virtual cleaning subregion ABCD in the #5 of region.
As a kind of mode, after the robot has cleaned cleaning subregion ABCD, detected when being moved at the F of position current
Position is not swept, and the robot can be with position F for next entry position, under continuing to confine in the non-purging zone
One virtual cleaning subregion；As a kind of mode, after the robot has cleaned cleaning subregion ABCD, can be led according to
Navigation return in boat boundary is set at A, is continued to be forwarded at the E of position toward Y-axis pros, is detected non-purging zone, the robot
It can continue to confine next virtual cleaning subregion in the non-purging zone with position E for next entry position.
Preferably, the navigation boundary is made of entity boundary and virtual boundary, wherein the entity boundary is according to institute
State cleaning region inner wall or the coordinate points line by wall barrier edge.The virtual boundary is, at the beginning of realizing and navigating back
Beginning start position fits the virtual routes that enclosed region is surrounded with the entity boundary in the virtual cleaning subregion.Institute
It is actually to be formed by connecting by line segment to state virtual boundary, and beginning and end setting is in wall or leans on wall barrier or the void
On the boundary line of quasi- cleaning subregion.The enclosed region is, navigates go back to initial starting point position in order to realize and is arranged practical clear
Clean region, because the presence by wall barrier makes practical cleaning area coverage be less than or equal to the virtual cleaning point confined
The coverage area in area.
Preferably, the distance of the beginning and end of the virtual boundary is bigger than the robot fuselage width so that described
Robot directly passes through the boundary.
In the embodiment of the present invention, region #1, region #2 and region #3 are planned as working space, the mark on the navigation boundary
Note is as shown in Fig. 2, be set as initial position O at the cradle of the robot, the robot is since O points along Y-axis pros
To movement, region #1 is detected at the h1 of position（Including rectangular area a1h1d1c1 and rectangular area a1b1j2k2）Interior Y-axis is right
There is non-purging zone in side, and using position h1 as entry position, the rectangular area a1c1d1h1 on the right side of Y-axis in the #1 of region is confined as institute
Virtual cleaning subregion is stated, wherein route b1c1, route c1d1, route g1f1 and route d1e1 are the wall in the cleaning region,
Labeled as the entity boundary, in order to realize the purpose for cleaning the seat that navigates back after the completion, based on the virtual cleaning subregion cleaning
Seat effect is returned in the navigation of the boundary line a1h1 in region, fits the virtual routes that enclosed region is surrounded with the entity boundary, such as
Route e1f1, route h1a1, route a1b1 and route h1g1 can surround enclosed region a1c1d1h1 with the entity boundary, be closed
Region a1c1d1h1 is both configured to described virtual in the virtual cleaning subregion as the practical cleaning region, above-mentioned virtual routes
Boundary.
During cleaning the virtual cleaning subregion, the robot is the entity boundary and the fictitious line boundary mark
Obstacles borders are remembered into, within the scope of the limitation of the obstacles borders（In the practical cleaning region）With the track shape of arc type
Formula cleans from left to right, marks the boundary characteristic information of the entity boundary and the virtual boundary, with building local boundary
Figure, while building local grid map and being used for marking obstacle information, the position as marked the dotted portion for representing dining table in Fig. 2
Information.Since the boundary line of the rightmost side of the virtual cleaning subregion a1c1d1h1 is wall, so the robot reaches most
It cannot continue behind right side and sweep, the entry position h1 of the virtual cleaning subregion is then navigated back to along the navigation boundary of label, then
It marches forward along Y-axis pros and detects non-purging zone.As shown in Fig. 2, the robot in-position a1, senses on the right side of Y-axis
Still there is not clean region, the new virtual cleaning is then confined in Y-axis right area for the entry position with position a1
Subregion surrounds one such as rectangular area k2j2b1a1, route a1k2, route k2j2 and route a1b1 with the entity boundary j2b1
A enclosed region, to be registered as the virtual boundary.
When the robot has cleaned the virtual cleaning subregion k2j2b1a1, due to the virtual cleaning subregion
There is wall barrier at the boundary line of the rightmost side of k2j2b1a1, swept so cannot continue behind the robot arrival rightmost side,
Then the entry position a1 of the virtual cleaning subregion is navigated back to along the navigation boundary of label, then before the continuation of Y-axis positive direction
When proceeding to position k2, detecting in the region #2 on the right side of Y-axis has non-purging zone, using at the k2 of position as the entry position,
By region #2（Including rectangular area l2h2g2k2）Rectangular area k2l2h2g2 on the right side of interior Y-axis confines as the virtual cleaning point
Area.Since the virtual cleaning subregion has by wall barrier, such as sofa and bookcase, according to the above-mentioned processing side to indoor barrier
Method introduces route d2a2, route a2b2, route b2c2, route i2f2, route f2e2 and route e2m2, these lean on wall barrier
Edge line is all registered as the entity boundary.And route l2k2 and route k2j2 are for surrounding closure with the entity boundary
Region and the virtual routes being fitted, are denoted as the virtual boundary.
As an implementation, when the Robot Y-axis positive direction advances to position k2, Y-axis is detected
The region #3 in left side（Including rectangular area j3l2i3l3 and rectangular area j3h3g3k3）Inside there is non-purging zone, is with position k2
Current entry position confines rectangular area j3l2i3l3 on the left of Y-axis for presently described virtual cleaning subregion, therefore in rectangle region
Virtual routes i3l3, i3j3 are fitted in the j3l2i3l3 of domain and the entity boundary surrounds enclosed region, are designated as described virtual
Boundary.When the robot has cleaned rectangular area j3l2i3l3, the robot is moved at the j3 of position, and detection has unclear
Region is swept, with position j3 for next entry position, it is next described that the rectangular area j3h3g3k3 in the #3 of region, which is confined,
Virtual cleaning subregion.In the j3h3g3k3 of rectangular area, image angle cabinet and bed can all be regarded as by wall barrier, therefore in addition to as wall
Route f3d3, route c3j3, route i3h3, route g3h3 and route g3e3 be registered as the entity boundary, it is described to lean on wall
Barrier（Corner cabinet and bed）Edge line be also recorded as the entity boundary, such as route e3f3, route d3a3, route a3b3 and road
Line b3c3, the virtual routes i3j3 of fitting surround enclosed region with the entity boundary.
A kind of air navigation aid of robot, the air navigation aid planned based on the boundary characteristic information, including with
Lower step：In step 1, when the robot starts navigation, the robot current location is obtained, and determine aiming spot,
And enter step 2；In step 2, according to the local grid map in the global border map and current region, with the machine
Device people current location is starting point, and aiming spot is terminal, in conjunction with the boundary characteristic information on the navigation boundary, selects navigation
Path, and enter step 3；In step 3, the robot by it is selected go out guidance path navigate.
Selection guidance path specific method includes in the step 2 of the air navigation aid, true according to the robot in step 21
Fixed beginning and end situation carries out navigation path planning using the navigation boundary, and enters step 22；In step 22
In, judge to plan that the length on the path of selection with the presence or absence of the entity boundary is more than preset boundary length, is to select institute
It states maximum one of entity boundary length and is used as guidance path, the length on the entity boundary is in top-priority navigation at this time
Factor；Otherwise 23 are entered step；In step 23, judge to plan whether the rotation angle of the robot on the path of selection is less than
Default corner is to select maximum one of the entity boundary length as guidance path, at this time the entity boundary length
Less than or equal to the preset boundary length, but the rotation angle of the robot is less than described default turn on the path selected
The length at angle, the entity boundary is still placed in top-priority navigational factors；Otherwise the rotation angle of the robot is selected most
Small one is as guidance path, and the rotation angle of the robot is greater than or equal to described default turn on the path selected at this time
Angle, in order to reduce the error rate that the robot turn is brought, the robot rotation angle is placed in excellent on the path of selection
The navigational factors first considered.
It selects the entity boundary and is to allow the Robot wall to walk, because wall is straight, the wall of surrounding
Rectangle should be formed, when walking along wall side, acquisition is the relatively described fictitious line with the range information of wall for the robot
Boundary is reliable, so the length on the entity boundary is bigger on the guidance path, navigation error rate is lower；Select turning angle
It is to reduce the error of the robot rotation angle to spend small path.
Specifically, the preset boundary length is for weighing the length on the entity boundary in planning guidance path
The reference length of priority, in order to use navigation boundary to realize back that seat charges, the preset boundary length is according to described virtual clear
Clean subregion determines that the preset length of the generally equivalent to described virtual cleaning subregion, numerical value is set as 5, and unit is rice.
Specifically, the default corner is excellent in planning guidance path for weighing the rotation angle of the robot
The reference angle of first grade, the default corner is determined according to the distribution situation of barrier in the working space, in order to reduce
It states robot and rotates the error rate brought, the default corner is set as 180 degree.
The present invention provides the embodiments of a kind of time seat navigation to be compared analysis, as shown in Fig. 2, the robot cleans
It is stopped at the A of position after the rectangular virtual cleaning subregion a1c1d1h1 confined in complete region #1, then according to the global boundary
The boundary characteristic information of map record, the guidance path 1 of solid edge circle is provided in preliminary planning and guidance path 2 is used as institute
It states robot and navigates back to the path from the h1 of position since the A of position, wherein guidance path 1 is by the entity boundary b1c1, institute
Virtual boundary a1b1 and virtual boundary a1h1 compositions are stated, guidance path 2 is by the entity boundary c1d1, the entity boundary
G1f1, the entity boundary e1d1, the virtual boundary h1g1 and the virtual boundary f1e1 are formed, institute on two bar navigation paths
It is 90 degree to state robot rotation angle all, all smaller than the default corner；And virtual boundary described in guidance path 1 is significantly more than
Guidance path 2, i.e., the entity boundary is longer than guidance path 1 on guidance path 2, but on guidance path 2 and guidance path 1
The entity boundary length it is all smaller than the preset boundary length, therefore on the path of selection the entity boundary length
In the case of less than the preset boundary length, according to judge to plan the robot on the path of selection rotation angle whether
Less than default corner, it is to select maximum one of the entity boundary length as guidance path, obtains in virtual cleaning point
Robot described in area a1c1d1h1 preferentially selects guidance path 2 to return seat charging.
In conjunction with the feature of rotation angle and the entity boundary length during the robot ambulation, the present invention provides
Another embodiment for returning seat navigation is compared analysis, as shown in Fig. 2, the robot has been cleaned and confined in the #2 of region
It after rectangular virtual cleans subregion k2l2h2g2, stops at the B of position at, is had guidance path 3 by the navigate back paths of seat position B and led
Bit path 4.On guidance path 3, according to retaining in the boundary characteristic information of the global border map record and current region
The local grid map, the robot planning, which goes out from position B, is directed toward the entity boundary b2c2（By leaning on wall barrier husky
Hair composition）Position n2 at, there are one 90 degree of turning, then along on the route n2i2 arrival entity boundary j2i2,
There are one 90 degree of turnings again, are directed toward by the virtual boundary j2k2 in the Y-axis of the coordinate system of the global border map
The virtual boundary l2k2 realizes back that seat charges, on the path the rotation angle of the robot finally along Y-axis negative direction
Equal to default corner；Similarly, the robot along guidance path 4 navigate back seat charging, compared with guidance path 3, the machine
Device people is rotated by 90 ° at the position i2, position f2 of guidance path 4 and at the e2 of position, 270 degree of corotating, is more than described default
Corner, than guidance path 3 are rotated by 90 ° more, and there is the edge line of wall j2i2, bookcase on the entity boundary of guidance path 4
The length of e2f2 and f2i2, the entity boundary used are bigger than the length on entity boundary described in guidance path 3, but all compare
The preset boundary length is small, therefore the case where the length on the entity boundary on the path of selection is less than preset boundary length
Under, plan whether the rotation angle of the robot on the path of selection is less than default corner according to judgement described in step 23,
It is to select maximum one of the entity boundary length as guidance path, otherwise selects the rotation angle of the robot most
Small one is used as guidance path, show that preferential selection guidance path 3 carries out back seat charging.
According to the feature of the length on the entity boundary on guidance path, the present invention also provides the realities of a kind of time seat navigation
It applies example and is compared analysis, as shown in Fig. 2, the robot has cleaned the rectangular virtual cleaning subregion confined in the #3 of region
It stops at after h3g3k3j3 at the C of position, is protected in the boundary characteristic information and current region recorded according to the global border map
The local grid map stayed has guidance path 5 and guidance path 6, as shown in Figure 2, lead by the navigate back paths of seat position C
Bit path 5 is by the entity boundary Cg3, the entity boundary g3h3, the entity boundary h3i3 and the virtual boundary i3l3
Composition, the entity boundary used of navigating is than described entity boundary f3d3, d3a3 and a3b3 used in guidance path 6
Length it is big, the length on the entity boundary is both greater than the preset boundary length on guidance path 5 and guidance path 6, and leads
The upper robot rotation angle of bit path 6 is equally bigger than the robot rotation angle on guidance path 5, is equal to 270
Degree is more than the default corner, therefore whether there is the solid edge on the path of selection according to judging to plan described in step 22
The length on boundary is more than preset boundary length, is to select maximum one of the entity boundary length as guidance path, therefore excellent
First selection guidance path 5 navigates.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.These programs can be stored in computer read/write memory medium（Such as ROM,
The various media that can store program code such as RAM, magnetic disc or CD）In.When being executed, execution includes above-mentioned each to the program
The step of embodiment of the method.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (8)
1. a kind of construction method of overall situation border map, which is characterized in that the building process of the overall situation border map includes such as
Lower step：
Step S1：Robot confines a virtual cleaning subregion in working space when starting, then is cleaning the virtual cleaning point
The boundary characteristic information on label navigation boundary, builds local boundary map, and enter step S2 during area；
Step S2：The data of the local boundary map in the virtual cleaning subregion are subjected to coordinate system conversion, are added to complete
In office's coordinate system, and enter step S3；
Step S3：After having cleaned the virtual cleaning subregion, it is moved to non-purging zone, repeats step S1 ~ step S2, Zhi Daoqing
Complete working space is swept, the global border map is obtained；
Wherein, the boundary characteristic information includes the navigate starting point coordinate on boundary, the terminal point coordinate on boundary of navigating and the machine
Rotation angle of the people along the walking of navigation boundary.
2. according to 1 construction method of power, which is characterized in that the robot confines presently described virtual cleaning subregion, then
The boundary characteristic information on label navigation boundary in cleaning process, while building local boundary map, also according to the obstacle of label
Object information architecture plays local grid map, is deleted until the robot starts to clean next virtual cleaning subregion
Remove instead it is next it is described it is virtual cleaning subregion in build local grid map.
3. according to 1 construction method of power, which is characterized in that the structure global border map first determines one with the machine
People's initial starting point position is origin, the direction of advance using the robot from initial starting point position is the institute of Y-axis positive direction
State global coordinate system.
4. according to 3 construction methods of power 1 or power, which is characterized in that the determination method of the virtual cleaning subregion is, described
World coordinates is fastened, and a straight line parallel with Y-axis is made in robot current entry position excessively, as a vertical boundary
Line, apart from this vertical boundary line n meters and straight line parallel with it as another vertical boundary line, the robot setting
Vertical boundary line in good Y direction；Cross the robot current entry position make one it is vertical with vertical boundary line straight
Line, as a horizontal border line, apart from m meters of the horizontal border line and straight line parallel with it is as another horizontal sides
Boundary line；Above-mentioned vertical boundary line and horizontal border line surround presently described virtual cleaning subregion；The robot, which has cleaned, to work as
The subsequent reforwarding of the preceding virtual cleaning subregion is dynamic, when detecting non-purging zone, using current location as next entrance position
It sets, continues to confine next virtual cleaning subregion according to the method described above；
Wherein, variable n represents the preset length of the virtual cleaning subregion, and variable m represents the default of the virtual cleaning subregion
Width.
5. according to 1 construction method of power, which is characterized in that the navigation boundary is made of entity boundary and virtual boundary,
In, the entity boundary is according to the virtual cleaning subregion inner wall or the coordinate points line by wall barrier edge；It is described
Virtual boundary is, in order to realize initial starting point position of navigating go back to, is fitted and the solid edge in the virtual cleaning subregion
Boundary surrounds the virtual routes of enclosed region；
Wherein enclosed region is, in order to realize the practical cleaning region navigated back initial homeposition and be arranged.
6. according to 5 construction methods of power, which is characterized in that the distance of the beginning and end of the virtual boundary is than the machine
People's fuselage width is big.
7. a kind of air navigation aid of robot, which is characterized in that the air navigation aid is advised based on the 1 boundary characteristic information of power
It draws, includes the following steps：
Step 1：When the robot starts navigation, the robot current location is obtained, and determine aiming spot, and enter
Step 2；
Step 2：According to the global border map and current local grid map, it is with the robot current location
Point, aiming spot are terminal, in conjunction with the boundary characteristic information on the 1 navigation boundary of power, select guidance path, and enter step
Rapid 3；
Step 3：The robot by it is selected go out guidance path navigate.
8. according to 7 air navigation aids of power, which is characterized in that select guidance path specific method in the step 2 of the air navigation aid
Including：
Step 21：According to the beginning and end situation that the robot determines, navigation road is carried out using the navigation boundary
Diameter is planned, and enters step 22；
Step 22：Judge to plan that the length on the path of selection with the presence or absence of the entity boundary is more than preset boundary length, is
Then select maximum one of the entity boundary length as guidance path；Otherwise 23 are entered step；
Step 23：Judge to plan whether the rotation angle of the robot on the path of selection is less than default corner, is to select
Maximum one of the entity boundary length is used as guidance path, otherwise selects one that the rotation angle of the robot is minimum
As guidance path；
Wherein, the preset boundary length is the priority for weighing the length on the entity boundary in planning guidance path
Reference length；The default corner is the priority for weighing the robot rotation angle in planning guidance path
With reference to angle.
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