CN108742346A - The method for traversing the method for working environment and establishing grating map - Google Patents
The method for traversing the method for working environment and establishing grating map Download PDFInfo
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- CN108742346A CN108742346A CN201810673433.1A CN201810673433A CN108742346A CN 108742346 A CN108742346 A CN 108742346A CN 201810673433 A CN201810673433 A CN 201810673433A CN 108742346 A CN108742346 A CN 108742346A
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- dust
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- traversal
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of methods of traversal working environment, including systemic presupposition, establish maximum functional region and interior searching loop.Wherein, the tracks record O3（X, y）With the tracks O4（X^', y^'）If（X, y）=（0,0）, maximum functional region y=F is generated according to O3 path lines（x）.Virtual boundary line y^'=g_i are generated according to 4 path lines of O（x^'）, t=0, t=t+1, according to y^'=g_ (t-1)（x^'）Establish the t times O3 predetermined paths（X_t, y_t, θ _ t）.This method pre-reads working environment by the way of spiral traversal, and inner circulation zone domain is established according to preceding subslot.The invention also discloses a kind of methods for establishing grating map.
Description
Technical field
The present invention relates to a kind of methods of traversal working environment, belong to smart home field.
Background technology
There are many interior searching loops of operation interval, and the prior art is concentrated mainly on region segmentation, dressing traversal and spiral shell
In rotation three kinds of methods of traversal.Dressing traversal is prior art the most common type, and system operations are simple, but if working region
There are barrier, system is that the working region at covering barrier rear will produce many duplicate paths at middle part.Region segmentation can solve
Certainly there are path planning when barrier, this method references for operation interval《Clean robot complete coverage path planning is studied》(weight
Celebrate university's master thesis, Zhang Yue).For having the wall and barrier on long inclined-plane, region segmentation less efficient.《Based on ARM
The research of the clean robot of controller》(Institutes Of Technology Of Jiangxi's master thesis, Wang Zhongfeng) is adopted when selecting path planning
The mode that broken line approaches walking can detour oblique barrier, also as the reference of the application.Spiral traversal can be coped with oblique
Wall, but how to select prior art when reference still unsolved after being detached from wall when internal cycle.
Invention content
The present invention proposes a kind of method of traversal working environment, and working environment, root are pre-read by the way of spiral traversal
Inner circulation zone domain is established according to preceding subslot.
The technical proposal of the invention is realized in this way：
A kind of method of dust-collecting robot traversal working environment, it is characterised in that including：Systemic presupposition establishes maximum functional
Region and interior searching loop, wherein establishing maximum functional region includes：
step21：WithAnd s1=d walkings, avoidance, it records the tracks O3 (x, y) and the tracks O4 (x ', y '),
step22：If (x, y)=(0,0), maximum functional region y=F (x) is generated according to O3 path lines, according to the tracks O4
Line generates virtual boundary line y '=gi(x '), t=0,
Interior searching loop includes：
step31：T=t+1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt, θt), xt, ytFor coordinate
Value, θtFor corner, yt=gt-1(xt), θt=gt-1′(xt), gt-1' it is gt-1In xtThe derivative at place,
step32：Demarcate O3 starting points (xmin, ymin) along predetermined paths walking, avoidance, record O3 path lines (x, y) and O4
Track (x ', y '),
step33：Walking, avoidance,
step34：If current track (x, y)=(xt, yt), it is travelled again along predetermined paths,
step35：(if x, y)=(xmin, ymin), according to O3 Track Pick-up t subslot lines y=ft(x), according to O4 rails
Mark generates the t times virtual boundary line y '=gt(x '),
step36：If this time path line is overlapped with the path line of arbitrary previous storage, completion is traversed, is otherwise back to
step31。
In the dust-collecting robot of the present invention traverses the method for working environment, the systemic presupposition includes：
step11：Absolute reference point O1, the O2 of setting at least two in the side of purging zone,
step12：Setting walking sensor C1, C2, C3, C4, C5, adjacent walking sensor angle are on the outside of car body
45 ° and C3 arrangement dust catchers advance front, and C1 and C5 are located on wheel axis, each sensor at a distance from entity with
The sum of car body radius is defined as s1, s2, s3, s4, s5,
step13：Define dust catcher diameter B, dust catcher wheel distance D, C1 side vehicle wheel rotational speed ω1, the sides C2 vehicle wheel rotational speed ω2
step14：C1 is car body reference point O3, and C5 is car body reference point O4, systemic presupposition safe distance d,
step15：Dust catcher is equal to d along when front direction straight line moving to s1, s2, s3, s4, s5 any one, executes levelling
Pattern establishes coordinate system (xoy) by origin of the position of O3 at this time, and x is car body conduct direction,
step16：The origin and O1 are detected, the distance (a, b) of O2 reference points simultaneously stores.
A method of establishing grating map, which is characterized in that the method including the traversal working environment and foundation
Work grid network.
The method of this traversal working environment of the present invention pre-reads working environment, according to preceding by the way of spiral traversal
Subslot establishes inner circulation zone domain.
Description of the drawings
Fig. 1 is the track schematic diagram that the inside spin of the present invention traverses the method for working environment；
Fig. 2 is that the robot of the present invention establishes the schematic diagram of dust suction grating map；
Fig. 3 is the dust-collecting robot systemic presupposition schematic diagram of the present invention；
Fig. 4 is the flow chart of the dust-collecting robot rasterizing working region of the present invention；
Fig. 5 is the schematic diagram of the working region of the present invention；
Fig. 6 is dust-collecting robot two sub-slot map of the present invention, and main presentation establishes lower subslot according to upper subslot；
Fig. 7 is the schematic diagram of the dust-collecting robot detour barrier of the present invention；
Fig. 8 is that the dust-collecting robot of the present invention finds the schematic diagram of initial point close to wall；
Fig. 9 is a kind of barrier schematic diagram of right-hand bend detour of the dust-collecting robot of the present invention；
Figure 10 is another barrier schematic diagram of right-hand bend detour of the dust-collecting robot of the present invention；
Figure 11 is that the right-hand bend of the dust-collecting robot of the present invention is detoured another barrier schematic diagram；
Figure 12 is a kind of barrier schematic diagram of left-hand bend detour of the dust-collecting robot of the present invention；
Figure 13 is another barrier schematic diagram of left-hand bend detour of the dust-collecting robot of the present invention；
Figure 14 is that the left-hand bend of the dust-collecting robot of the present invention is detoured another barrier schematic diagram.
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 carries out clear, complete
Site preparation describes.
The prior art is summarized
Existing dust-collecting robot barrier-avoiding method includes mainly accurate avoidance and fuzzy avoidance.《It advises in mobile robot path
It draws》The method that (Northeast Electric Power University's master thesis, Meng Xiangfu) discloses fuzzy avoidance is adopted as fuzzy logic calculation
Method, system-computed amount is larger, is not suitable for the dust-collecting robot of low cost.And《The Intellectual Autonomous Cleaning Robot of base nonyl neural network
Mix sensory perceptual system design and avoidance planning》(Zhejiang University's master thesis, Xu Yong) discloses the suction based on neural network
Dirt intelligent robot obstacle avoidance algorithm, the algorithm are incomplete, it is difficult to be used in practical dust-collecting robot.《Based on circumstances not known
Under robot ergodic algorithm》(Kunming University of Science and Technology's master thesis, Wang Yu) discloses the multiple avoidance of dust-collecting robot
Method, but as described in the case, barrier-avoiding method are suitable for right angle obstacle more, and the obstacle of detour oblique angle obstacle or wall will produce
More can not enter space (omitting grid).
In the prior art, the map component of dust-collecting robot mostly uses Grid Method, and Grid Method can reduce system data amount simultaneously
Easy to maintain and path planning.The premise of Grid Method is the reading of operation interval, and the prior art is mostly used walks along side, the application
Also it is such.Along side, walking obtains the premise that maximum functional environment is interior searching loop.《Intelligence based on ultrasonic sensor is inhaled
The research of dirt Algorithms of Robots Navigation System》(Zhejiang University's master thesis, Wang Huoliang) discloses the mode that this map is read.
《Family's sweeping robot path covers the design and realization of system》(Harbin Institute of Technology's master thesis, Zhou Yanan) exists
Grid assignment is carried out while searching loop, does not pay attention to the amendment of traversal route.Meanwhile it can not during searching loop
Avoid there are path overlap, the document does not pay attention to eliminating the part that computes repeatedly.《Dust-collecting robot based on three-dimensionalreconstruction
Location navigation》(Jilin University's master thesis, Zhang Shuming) discloses the gridding method read based on camera data.It should
Method determines the content of grid whether passing through predetermined grid according to route.This route is defined as the path at car body center.
In practical map, even if not necessarily can all enter if the grid grid of the path process of car body Road itself.It will not
Enterable grid, which is defined as work grid, can cause robot work chaotic.The document also discloses that the positioning of dust-collecting robot
Technology can be used as the reference of the application.
There are many interior searching loops of operation interval, and the prior art is concentrated mainly on region segmentation, dressing traversal and spiral shell
In rotation three kinds of methods of traversal.Dressing traversal is prior art the most common type, and system operations are simple, but if working region
There are barrier, system is that the working region at covering barrier rear will produce many duplicate paths at middle part.Region segmentation can solve
Certainly there are path planning when barrier, this method references for operation interval《Clean robot complete coverage path planning is studied》(weight
Celebrate university's master thesis, Zhang Yue).For having the wall and barrier on long inclined-plane, region segmentation less efficient.《Based on ARM
The research of the clean robot of controller》(Institutes Of Technology Of Jiangxi's master thesis, Wang Zhongfeng) is adopted when selecting path planning
The mode that broken line approaches walking can detour oblique barrier, also as the reference of the application.Spiral traversal can be coped with oblique
Wall, but how to select prior art when reference still unsolved after being detached from wall when internal cycle.
Such as Fig. 1 to 14, the invention discloses a kind of methods and with establishing grid that dust-collecting robot traverses working environment
The method of figure.It includes systemic presupposition, establishes maximum functional region, interior searching loop, establishes work grid network.This method can
Embedded existing dust-collecting robot hardware system on the basis of installing the sensor of predetermined quantity.Hardware system may include micro-
Processor unit, sensor unit drive execution unit.Sensor unit is primarily referred to as being mounted on surrounding on front side of dust-collecting robot
Five ultrasonic sensors and crash sensor and Hall sensor.It includes step motor control module to drive execution unit
With left and right sides stepper motor.Microprocessor unit includes master control, display and communication module etc..Concrete structure can refer to《Based on ARM
The research of the clean robot of controller》Described in (Institutes Of Technology Of Jiangxi's master thesis, Wang Zhongfeng) etc..
Systemic presupposition refers to the bulk for setting robot and the designated position placement sensor in dust-collecting robot.Its
Generally comprise following steps.step11：Absolute reference the point O1, O2 of setting at least two in the side of purging zone.Absolutely ginseng
Examination point is set to the side of wall, and two absolute reference points can determine the current absolute location of dust-collecting robot.Working map is built
After vertical, the dust-collecting robot of anywhere booting can determine the location information of its residing working map.step12：Outside car body
Side setting walking sensor C1, C2, C3, C4, C5, adjacent walking sensor angle are that 45 ° and C3 arrangement dust catchers advance
Front, C1 and C5 are located on wheel axis, each sensor be defined as with the sum of car body radius at a distance from entity s1,
s2,s3,s4,s5.Dust-collecting robot is according to the location determination car body of each sensor at a distance from wall and other barriers.It should
The sum of distance and car body radius indicate at a distance from car body geometric circular and barrier (s1, s2, s3, s4, s5).Sensor is, for example,
《The Intellectual Autonomous Cleaning Robot development of Driven by Ultrasonic Motors》(Nanjing Aero-Space University, Wang Hongjian),《Based on ultrasonic ranging skill
The Autonomous mobile robot navigation system research of art》Ultrasonic ranging used by (Wuhan University of Technology, Hu Jingcao) etc. passes
Sensor.step13：Define dust catcher diameter B, dust catcher wheel distance D, C1 side vehicle wheel rotational speed ω1, the sides C2 vehicle wheel rotational speed ω2.Vehicle
Take turns rated speed ωp.In general, the driving motor of dust-collecting robot is encoded using angular speed, defines angular speed and be more advantageous to measurement
Car body state.
step14：C1 is car body reference point O3, and C5 is car body reference point O4, systemic presupposition safe distance d.O3 is used for O4
Record the position in outside in car body.D is more thanAbout 50mm.The distance can prevent any position of car body
Collision obstacle.Step15 and step16 is used to find initial point close to wall.step15：Dust-collecting robot is straight along front direction is worked as
Line runs to s1, s2, s3, s4, s5 any one and is equal to d.After the completion of avoidance, coordinate system is established as origin using the position of O3 at this time
(xoy), x is car body direction of travel.step16：The origin and O1 are detected, the distance (a, b) of O2 reference points simultaneously stores.The present invention
Wheel pulse positioning mode can be used, such as in the method for not limiting dust-collecting robot coordinate setting《Under dust-collecting robot non-structure environment
The research of autonomous paths planning method》(Zhejiang University's master thesis, Feng Shenkun) is described.Dust-collecting robot command range side
The distance of edge, welt walking change fine tuning direction of travel according to wall.It is measured caused by avoid the improper transformation of barrier
Software for jitters elimination filtering can be used in error (accidental error), the present invention, and such mode mainly utilizes in the compiling procedure of program
Time delays detect, and are detected again after delay 30 to 50ms after detecting the ultrasonic signal met the requirements, if error model
Data in enclosing still are detected, then it is assumed that the data-signal is correct believable.Kalman filtering drop can be used in simultaneity factor
Error (systematic error) on low measurement method.Kalman filtering mode with for as it is known to those skilled in the art that do not do herein
It repeats, concrete structure principle can refer to《Intelligent sweeping machine device people designs and its research of path planning》(Harbin industry is big
Learn, Zhang Chao) it is described.
It refers to taking a round along indoor lateral wallflow to establish maximum functional region, records room maximum coordinates position, is follow-up
It traverses working region and outer non-economic is provided.The step is also referred to as walked along side, and the prior art has been disclosed for feasible realization
Algorithm, such as《Intelligent sweeping machine device people designs and its research of path planning》(Harbin Institute of Technology, Zhang Chao),《Vacuum cleaner
The research of autonomous paths planning method under device people's non-structure environment》Described in (Zhejiang University's master thesis, Feng Shenkun) etc..
step21：WithAnd s1 walkings, avoidance, it records the tracks O3 (x, y) and the tracks O4 (x ', y ').step22：If (x,
Y)=(0,0) generates maximum functional region y=F (x) according to O3 path lines, according to O4 path lines generate virtual boundary line y '=
gi(x '), t=0.Virtual boundary line is the expected trajectory of O3 next time.
Interior searching loop refers to traversing entire working region in maximum functional region inside spin, and unapproachable space is remembered
Barrier is recorded into, the whole region that can be walked is determined with this.In the prior art, interior searching loop mostly uses reciprocal row of turning back
Mode is walked, which easy tos produce blind area.The application reduces the presence of blind area by the way of spiral traversal.step31：T=t
+ 1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt, θt), xt, ytFor coordinate value, θtFor corner, yt=gt-1
(xt), θt=gt-1′(xt), gt-1' it is gt-1In xtThe derivative at place.Limit seat of the coordinate in addition to calibration point of dust-collecting robot state
It can also include direction coordinate that mark is outer.To keep body movement smooth, the application determines direction of travel by the derivative of predetermined paths.
step32：Demarcate O3 starting points (xmin, ymin), which is generally in predetermined paths near the position of last time final on trajectory
It sets.Dust-collecting robot is along predetermined paths walking, avoidance, record O3 path lines (x, y) and the tracks O4 (x ', y ').In practical walking
In the process, due to the presence of barrier, O3 path lines (x, y) and predetermined paths (xt, yt, θt) not quite identical.step33：If
Current track (x, y)=(xt, yt), show dust-collecting robot cut-through object, is travelled again along predetermined paths.step34：
(if x, y)=(xmin, ymin), indicate that dust-collecting robot has been returned to the initial point of this track route.System is according to O3 rails
Mark generates t subslot lines y=ft(x), according to the t times virtual boundary line y '=g of O4 Track Pick-upst(x′).step35：If this
Subslot line is overlapped with the path line of arbitrary previous storage, shows that dust-collecting robot comes into circulation route, traversal is completed.It is no
It is then back to step31, again interior searching loop.Dust-collecting robot running center there are when minimum irregular barrier,
The interior searching loop it is less efficient.It is contemplated that indoor environment is mostly the space of rule, barrier is just at vacuum cleaner
The possibility at cycle center is again relatively low in device people, and the method for this interior searching loop of the application has feasibility.
It refers to that working region is divided into grid screen after dust-collecting robot traverses working region to establish work grid network
The method of network.step41：Define rectangular area (Hwidth, Hlen) and rectangular area is divided into multiple grids (i, j), HwidthFor
Maximum x value in y=F (x), HlenFor maximum y values, i=x/B, j=y/B.Relative to absolute reference point O1, O2 to grid (i, j)
Coordinate make definitions, no matter when dust-collecting robot is switched on operation, as long as measuring it relative to reference point O1, the position of O2,
The position that can determine this grating map, to avoid the dust-collecting robot moment from recording self-position.step42：Definition
CellValue [i] [j], y=F (x) or y=ft(x) when there was only grid (i, j) that one group or zero group of track are passed through in,
CellValue [i] [j]=0, otherwise CellValue [i] [j]=1, stores grating map.Grid is passed through in two groups of tracks simultaneously
Indicate that dust-collecting robot traversal working map is to enter the grid when (i, j), the grid is generally in can enter state.Only one
Group track enters grid or no track enters grid, indicates grid generally in can not enter state.Although the storage is sentenced
Disconnected mode can regard as cell portion domain (being less than dust-collecting robot size) can not enter grid, but be waited for clearly relative to entire
For sweeping space, abandon segment space and improve storage efficiency and path planning efficiency to be worth.
The barrier-avoiding method of the present invention can be used for avoiding the fixed obstacle of regular shape, be particularly suitable for evading with oblique angle
Wall or cabinet.This barrier-avoiding method includes the following steps：step01：It walks along track, measures s2, s3, s4, s5 value, according to
Measurement result enters step02 or step03.Measurement result surface dust-collecting robot faces the barrier of different conditions.If s2,
S3, s4, s5 be all higher than d andReferring to Fig.1 1.Dust-collecting robot enters increased working region, and dust catcher executes
And it is flipped outward along preceding barrier.If s2, s3, s4, s5 be all higher than d andWith reference to Fig. 8 to 9, right side finds oblique
To entity.Dust catcher turns and keeps straight on along new route.If s2, s3, s4, s5 any one are less than or equal to d, referring to Fig.1 0, it is preceding
Side or left side find that oblique entity, front can not enter, and original place big angle rotary is simultaneously returned along new route.
The present invention realizes the turning of different angle, the motion state reference of dust-collecting robot using vehicle wheel rotational speed difference《It is indoor
The region-wide path planning of clean robot and avoidance research》(Southern Yangtze University, Zeng Cen) is described.Specifically, step02：If
S2, s3, s4, s5 are all higher than d, enter step04, step05 or step06 according to the value of s2.step03：If s2, s3, s4, s5 appoint
Meaning one is less than or equal to d, and discovery can not enter boundary, enter step04, step05 according to the value of s2 after rotating in place to s1=d
Or step06.step04：If s2 is less thanIt was found that entity boundary, executes the first cornering mode, untilIt returns
step01.step05：If s2 is more thanIt was found that working region, executes the second cornering mode, untilIt returns
step01.step06：IfReturn to step01.In the present invention, the rotating manner of dust-collecting robot is divided into three kinds：
There is the right-hand bend of working region in right side, and the left-hand bend of physical obstacles and front occurs in right side or barrier occurs in left side
Rotate in place.It refers to rotation substantially about the rotation center of dust-collecting robot to rotate in place, ω1=ωp, ω2=-ωp.For
The travel region of dust-collecting robot is improved, reduces the region that can not be traversed as far as possible, it is necessary to so that dust-collecting robot keeps to the side to walk,
One of feasible method is exactly the turning radius that limitation turns right and turns left.It turns right and uses the first cornering mode：
Turn left to use the second cornering mode：
ω1=ωp；
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (3)
1. a kind of method of traversal working environment, it is characterised in that including：Systemic presupposition is established maximum functional region and interior is followed
Ring traverses, wherein establishing maximum functional region includes：
step21：WithAnd s1=d walkings, avoidance, it records the tracks O3 (x, y) and the tracks O4 (x ', y '),
step22：If (x, y)=(0,0), maximum functional region y=F (x) is generated according to O3 path lines, is given birth to according to O4 path lines
At virtual boundary line y '=gi(x '), t=0,
Interior searching loop includes：
step31：T=t+1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt, θt), xt, ytFor coordinate value, θt
For corner, yt=gt-1(xt), θt=gt-1′(xt), gt-1' it is gt-1In xtThe derivative at place,
step32：Demarcate O3 starting points (xmin, ymin) along predetermined paths walking, avoidance, record O3 path lines (x, y) and the tracks O4
(x ', y '),
step33：Walking, avoidance,
step34：If current track (x, y)=(xt, yt), it is travelled again along predetermined paths,
step35：(if x, y)=(xmin, ymin), according to O3 Track Pick-up t subslot lines y=ft(x), according to O4 Track Pick-ups
The t times virtual boundary line y '=gt(x '),
step36：If this time path line is overlapped with the path line of arbitrary previous storage, completion is traversed, is otherwise back to
step31。
2. the method for traversal working environment according to claim 1, which is characterized in that the systemic presupposition includes：
step11：Absolute reference point O1, the O2 of setting at least two in the side of purging zone,
step12：On the outside of car body setting walking sensor C1, C2, C3, C4, C5, adjacent walking sensor angle be 45 ° simultaneously
And C3 arrangement dust catchers advance front, C1 and C5 are located on wheel axis, and each sensor is at a distance from entity and car body
The sum of radius is defined as s1, s2, s3, s4, s5,
step13：Define dust catcher diameter B, dust catcher wheel distance D, C1 side vehicle wheel rotational speed ω1, the sides C2 vehicle wheel rotational speed ω2
step14：C1 is car body reference point O3, and C5 is car body reference point O4, systemic presupposition safe distance d,
step15：Dust catcher is equal to d along when front direction straight line moving to s1, s2, s3, s4, s5 any one, executes levelling mould
Formula establishes coordinate system (xoy) by origin of the position of O3 at this time, and x is car body conduct direction,
step16：The origin and O1 are detected, the distance (a, b) of O2 reference points simultaneously stores.
3. a kind of method for establishing grating map, which is characterized in that including traversing working environment as claimed in claim 1 or 2
Method and establish work grid network.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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