CN108536141A - A kind of stochastic path planning method of automatic dust absorption machine people - Google Patents
A kind of stochastic path planning method of automatic dust absorption machine people Download PDFInfo
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- CN108536141A CN108536141A CN201810188729.4A CN201810188729A CN108536141A CN 108536141 A CN108536141 A CN 108536141A CN 201810188729 A CN201810188729 A CN 201810188729A CN 108536141 A CN108536141 A CN 108536141A
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- dust absorption
- machine people
- automatic dust
- absorption machine
- coordinate
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- 238000010521 absorption reaction Methods 0.000 title claims abstract description 41
- 239000000428 dust Substances 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims abstract description 18
- 238000005295 random walk Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000010408 sweeping Methods 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—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
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Disclose a kind of stochastic path planning method of automatic dust absorption machine people, the automatic dust absorption machine people includes two driving wheels, connect driving motor with the driving wheel, encoder is installed on the driving wheel, it further include a support wheel, and the fore obstacle detector of installation, driving motor, encoder and the obstacle detector is connect with controller, and stochastic path planning method is arranged inside the controller, and the stochastic path planning method includes the following steps：(1), record current point PiCoordinate（Xi, Yi）, then straight ahead；(2), barrier, record current point P are detectedi+1Coordinate（Xi+1, Yi+1）, randomly choose a direction of rotation, and straight ahead；(3), barrier, record current point P are detectedi+2Coordinate（Xi+2, Yi+2）；(4), P is calculatediAnd Pi+1Midpoint P between 2 pointsm=（(Xi+Xi+1)/2, (Yi+Yi+1)/2）；(5), it selects from point Pi+2It is that new traveling is reversed to the direction of midpoint Pm, then calculates Pi+2→PmDirection angle alpha, and the deflection β that currently advances；(6), rotation angle α β, then straight ahead.
Description
Technical field
The present invention relates to a kind of stochastic path planning methods of automatic dust absorption machine people, belong to controlling intelligent household appliances control neck
Domain.
Background technology
With the slow arriving in robot epoch, we use more and more automation equipments in life and work,
Middle automatic dust absorption machine people also starts to popularize in average family.Automatic dust absorption machine people can clean family ground, although cannot
Reach the degree being entirely satisfactory, but repeatedly add up to clean, our work load can also be mitigated significantly.
Because current automatic cleaner does not have point-device positioning and planning ability also, therefore it cleans the effect in path
Rate is just as extremely important and difficult project.Currently used strategy is random walk, and automatic cleaner is in ground random row
It walks, abandons any planing method, although this strategy reliable operation, low to system requirements, lead to very low sweeping efficiency.
Invention content
Place that purpose of the invention is to overcome the shortcomings in the prior art, using the plan for constantly looking for optimal path
Slightly, the sweeping efficiency of higher efficiency is realized.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of stochastic path planning method of automatic dust absorption machine people, the automatic dust absorption machine people include two driving wheels,
Two driving motors being connect with the driving wheel install encoder on the driving motor, further include a support wheel, with
And the obstacle detector mounted on the automatic dust absorption machine people front, the driving motor, encoder and obstacle
Analyte detection device is connect with controller, the controller by be respectively set speed and the direction of the driving wheel described in two come
It realizes the free movement of the automatic dust absorption machine people, and oneself described can be calculated according to the signal of the encoder
The relative movement distance of dynamic dust-collecting robot and direction of rotation can calculate the seat of current location using initial position as coordinate origin
Mark（X, Y）, stochastic path planning method is set inside the controller, the stochastic path planning method includes following step
Suddenly：
(1), the automatic dust absorption machine people records current point PiCoordinate（Xi, Yi）, then advanced with rectilinear motion mode,
And constantly detect barrier；
(2), the automatic dust absorption machine people detects barrier, record current point Pi+1Coordinate（Xi+1, Yi+1）, random to select
A direction of rotation is selected, and is advanced with rectilinear motion mode, and constantly detects barrier；
(3), the automatic dust absorption machine people detects barrier, record current point Pi+2Coordinate（Xi+2, Yi+2）；
(4), P is calculatediAnd Pi+1Midpoint P between 2 pointsm=（(Xi+Xi+1)/2, (Yi+Yi+1)/2）；
(5), it selects from point Pi+2To midpoint PmDirection be that new traveling is reversed, then calculate Pi+2→PmDirection angle alpha be, and currently traveling deflection β is the automatic dust absorption machine people；
(6), the automatic dust absorption machine people control driving motor, realizes rotation angle alpha-beta, then with linear motion
Mode is advanced, and return to step 1 after barrier is encountered.
Implementing the positive effect of the present invention is：1, higher sweeping efficiency is realized by cleaning the selection in path；2, it is not required to
Increase additional hardware cost, reliable operation is at low cost.
Description of the drawings
Fig. 1 is the structural schematic diagram of automatic dust absorption machine people；
Fig. 2 is the schematic diagram of the stochastic path planning method of automatic dust absorption machine people.
Specific implementation mode
In conjunction with attached drawing, the invention will be further described：
Referring to Fig.1-2, a kind of stochastic path planning method of automatic dust absorption machine people, the automatic dust absorption machine people include two
A driving wheel 1, two driving motors 2 being connect with the driving wheel 1 install encoder on the driving motor 2, further include
One support wheel 3, the support wheel 3 play the role of support, are not used in driving.Wherein, the driving motor 2 and encoder
It is connect with controller.The controller is realized described by the way that speed and the direction of the driving wheel 1 described in two is respectively set
The free movement of automatic dust absorption machine people, and the automatic dust absorption machine can be calculated according to the signal of the encoder
The relative movement distance of people and direction of rotation can calculate the coordinate of current location using initial position as coordinate origin（X, Y）.
Further include the obstacle detector mounted on the automatic dust absorption machine people front, equally with the controller
Connection.The obstacle detector may be used the sensors such as ultrasonic wave, infrared or laser radar or two kinds or
The set of person's multiple sensors.
The automatic dust absorption machine people in the process of walking, has been carried out at the same time cleaning, therefore the selection of walking path
The height of cleaning efficiency is directly resulted in, very important status is in.
Stochastic path planning method is set inside the controller, and the stochastic path planning method includes following step
Suddenly：
(1), the automatic dust absorption machine people records current point PiCoordinate（Xi, Yi）, then advanced with rectilinear motion mode,
And constantly detect barrier；
(2), the automatic dust absorption machine people detects barrier, record current point Pi+1Coordinate（Xi+1, Yi+1）, random to select
A direction of rotation is selected, and is advanced with rectilinear motion mode, and constantly detects barrier；
(3), the automatic dust absorption machine people detects barrier, record current point Pi+2Coordinate（Xi+2, Yi+2）；
(4), P is calculatediAnd Pi+1Midpoint P between 2 pointsm=（(Xi+Xi+1)/2, (Yi+Yi+1)/2）；
(5), it selects from point Pi+2To midpoint PmDirection be that new traveling is reversed, then calculate Pi+2→PmDirection angle alpha be, and currently traveling deflection β is the automatic dust absorption machine people；
In the step, the intermediate direction of the position of barrier is detected before selecting twice as new direction of travel, the direction is
The probability of depletion region is apparently higher than randomly selected path, therefore can effectively improve sweeping efficiency, and the direction is not
The probability of purging zone also bigger.
(6), the automatic dust absorption machine people control driving motor 2, realizes rotation angle alpha-beta, then with straight
Line motion mode advances, and encounters return to step 1 after barrier.
In conclusion automatic dust absorption machine people improves sweeping efficiency by cleaning the selection in direction, while this method may be used also
To find the process of cradle applied to automatic dust absorption machine people, search time can be shortened, improve efficiency.
Claims (1)
1. a kind of stochastic path planning method of automatic dust absorption machine people, the automatic dust absorption machine people includes two drivings
Wheel, two driving motors being connect with the driving wheel install encoder on the driving motor, further include one and support
Wheel, and the obstacle detector mounted on the automatic dust absorption machine people front, the driving motor, encoder and
Obstacle detector is connect with controller, and the controller is by being respectively set speed and the side of the driving wheel described in two
Always it realizes the free movement of the automatic dust absorption machine people, and can be calculated according to the signal of the encoder described
Automatic dust absorption machine people relative movement distance and direction of rotation can calculate current location using initial position as coordinate origin
Coordinate（X, Y）, it is characterised in that：Stochastic path planning method, random walk rule are set inside the controller
The method of drawing includes the following steps：
(1), the automatic dust absorption machine people records current point PiCoordinate（Xi, Yi）, then advanced with rectilinear motion mode,
And constantly detect barrier；
(2), the automatic dust absorption machine people detects barrier, record current point Pi+1Coordinate（Xi+1, Yi+1）, random to select
A direction of rotation is selected, and is advanced with rectilinear motion mode, and constantly detects barrier；
(3), the automatic dust absorption machine people detects barrier, record current point Pi+2Coordinate（Xi+2, Yi+2）；
(4), P is calculatediAnd Pi+1Midpoint P between 2 pointsm=（(Xi+Xi+1)/2, (Yi+Yi+1)/2）；
(5), it selects from point Pi+2To midpoint PmDirection be that new traveling is reversed, then calculate Pi+2→PmDirection angle alpha be, and currently traveling deflection β is the automatic dust absorption machine people；
(6), the automatic dust absorption machine people control driving motor, realizes rotation angle alpha-beta, then with linear motion
Mode is advanced, and return to step 1 after barrier is encountered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810188729.4A CN108536141A (en) | 2018-03-08 | 2018-03-08 | A kind of stochastic path planning method of automatic dust absorption machine people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810188729.4A CN108536141A (en) | 2018-03-08 | 2018-03-08 | A kind of stochastic path planning method of automatic dust absorption machine people |
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| CN108536141A true CN108536141A (en) | 2018-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810188729.4A Pending CN108536141A (en) | 2018-03-08 | 2018-03-08 | A kind of stochastic path planning method of automatic dust absorption machine people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112748728A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Charging seat signal searching method, chip and robot |
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| CN103876908A (en) * | 2014-04-03 | 2014-06-25 | 南京信息工程大学 | Blind person obstacle-avoiding navigation method capable of precisely feeding back distance and direction of obstacle |
| CN104076363A (en) * | 2014-06-26 | 2014-10-01 | 广东工业大学 | Rapid automatic guided vehicle obstacle detection method based on multiple sensors |
| CN104238560A (en) * | 2014-09-26 | 2014-12-24 | 深圳市科松电子有限公司 | Method and system for planning nonlinear paths |
| CN104331910A (en) * | 2014-11-24 | 2015-02-04 | 沈阳建筑大学 | Track obstacle detection system based on machine vision |
| CN104460666A (en) * | 2014-10-27 | 2015-03-25 | 上海理工大学 | Robot autonomous obstacle avoidance moving control method based on distance vectors |
-
2018
- 2018-03-08 CN CN201810188729.4A patent/CN108536141A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101714000A (en) * | 2009-09-30 | 2010-05-26 | 刘瑜 | Route planning method of automatic dust collector |
| CN103876908A (en) * | 2014-04-03 | 2014-06-25 | 南京信息工程大学 | Blind person obstacle-avoiding navigation method capable of precisely feeding back distance and direction of obstacle |
| CN104076363A (en) * | 2014-06-26 | 2014-10-01 | 广东工业大学 | Rapid automatic guided vehicle obstacle detection method based on multiple sensors |
| CN104238560A (en) * | 2014-09-26 | 2014-12-24 | 深圳市科松电子有限公司 | Method and system for planning nonlinear paths |
| CN104460666A (en) * | 2014-10-27 | 2015-03-25 | 上海理工大学 | Robot autonomous obstacle avoidance moving control method based on distance vectors |
| CN104331910A (en) * | 2014-11-24 | 2015-02-04 | 沈阳建筑大学 | Track obstacle detection system based on machine vision |
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| CN112748728A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Charging seat signal searching method, chip and robot |
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Application publication date: 20180914 |