CN108873880A - Intelligent mobile equipment and its paths planning method, computer readable storage medium - Google Patents
Intelligent mobile equipment and its paths planning method, computer readable storage medium Download PDFInfo
- Publication number
- CN108873880A CN108873880A CN201711311328.5A CN201711311328A CN108873880A CN 108873880 A CN108873880 A CN 108873880A CN 201711311328 A CN201711311328 A CN 201711311328A CN 108873880 A CN108873880 A CN 108873880A
- Authority
- CN
- China
- Prior art keywords
- map
- mobile equipment
- intelligent mobile
- moved
- marked
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The embodiment of the invention provides a kind of Intelligent mobile equipment and its paths planning methods, computer readable storage medium.This method includes：Determine the initial position of movement routine；Coordinate system is constructed by origin of the initial position, and establishes the corresponding map of the coordinate system；It based on the coordinate system, is moved according to preset move mode, and is marked in the map；Unlabelled zone of ignorance in the map is determined according in information marked in the figure describedly, is controlled the Intelligent mobile equipment and is moved to the zone of ignorance, is moved according to the preset move mode and update the map.It can be seen that constructing coordinate system in the embodiment of the present invention in the initial position of movement routine and establishing corresponding map, by being moved according to preset move mode, the label to entire map is completed.For automatic cleaning robot, the cleaning task to entire room can be completed in this manner, realize efficient operation.
Description
Technical field
The present invention relates to robotic technology field, relate more specifically to a kind of Intelligent mobile equipment and its path planning side
Method, computer readable storage medium.
Background technique
Automatic cleaning robot is also referred to as automatic cleaning equipment etc., can be automatically mobile to complete floor in the room
Cleaning work.And how to carry out path planning makes it efficiently completely realize the basis of floor-cleaning work.
When automatic cleaning robot is cleaned in circumstances not known, can be carried out in the way of random walk clear
Sweep, but the cleaning path of this mode be it is in disorder, be easy to cause drain sweep, repeat the problems such as cleaning, to waste time, drop
Low sweeping efficiency.Can be with the hardware of map making by installation laser range sensor, video camera etc., it can be in cleaning process
In gradually map making, to complete to clean, but additional hardware not only will increase cost, but also be easy due to hardware device
Failure cause automatic cleaning robot that can not work.Therefore, it is necessary under the hardware case for not increasing special map making,
It cleans path to automatic cleaning robot to plan, to improve the coverage rate cleaned.
Summary of the invention
The present invention is proposed in view of the above problem.The present invention provides a kind of Intelligent mobile equipment and its path plannings
Method, computer readable storage medium, can be realized path planning, to efficiently realize the work of automatic cleaning robot.
According to an aspect of the invention, there is provided a kind of paths planning method of Intelligent mobile equipment, the method packet
It includes：
Determine the initial position of movement routine；
Coordinate system is constructed by origin of the initial position, and establishes the corresponding map of the coordinate system；
It based on the coordinate system, is moved according to preset move mode, and is marked in the map；
Unlabelled zone of ignorance in the map is determined according in information marked in the figure describedly, controls the intelligence
Mobile device is moved to the zone of ignorance, is moved according to the preset move mode and updates the map.
In one embodiment of the invention, the preset move mode is：
It moves along a first direction to form first path；
Barrier vertical with first direction second direction offset backward is encountered, then again along the first direction
Opposite direction is mobile to form the second path；
It deviates after encountering barrier again to the second direction, then moves again along the first direction to form third
Path, and so on, wherein the distance in every two adjacent path is equal to the first pre-determined distance.
In one embodiment of the invention, the initial position of the determining movement routine, including：
If the Intelligent mobile equipment at object of reference, controls the Intelligent mobile equipment towards the separate object of reference
Advance the second pre-determined distance in direction, and the position after advance is determined as the initial position.
In one embodiment of the invention, described to construct coordinate system by origin of the initial position, including：
The direction that will be far from the object of reference is determined as the first direction of the coordinate system, to construct the coordinate
System.
In one embodiment of the invention, the initial position of the determining movement routine, including：
If before the Intelligent mobile equipment not at object of reference, controls the Intelligent mobile equipment along third direction
Into until encountering the first barrier；
It controls the Intelligent mobile equipment and moves third pre-determined distance along first barrier；
It is formed by mobile route moving the third pre-determined distance along first barrier, if the mobile road
Straight line accounting in line is more than preset ratio, then using the terminal after the movement third pre-determined distance as the initial bit
It sets.
In one embodiment of the invention, described to construct coordinate system by origin of the initial position, including：
Vertical with the straight line and far from first barrier direction is determined as described the first of the coordinate system
Direction, to construct the coordinate system.
In one embodiment of the invention, the initial position of the determining movement routine, including：
If before the Intelligent mobile equipment not at object of reference, controls the Intelligent mobile equipment along third direction
Into until encountering the second barrier；
It controls the Intelligent mobile equipment and moves third pre-determined distance along second barrier；
It is formed by mobile route moving the third pre-determined distance along second barrier：If the mobile road
Part of mobile route of line forms closed loop, then using the position of the closed loop of formation as the initial position, if described
Straight line accounting in mobile route is less than preset ratio, then using the terminal after the movement third pre-determined distance as described first
Beginning position.
In one embodiment of the invention, described to construct coordinate system by origin of the initial position, including：
According to the Intelligent mobile equipment in the posture of the initial position, determine described in the first direction and building
Coordinate system.
In one embodiment of the invention, the third direction is the head direction of the Intelligent mobile equipment.
In one embodiment of the invention, described to be based on the coordinate system, it is moved according to preset move mode,
And be marked in the map, including：
Using the X-direction of the coordinate system as the first direction, using the Y-direction of the coordinate system or -Y direction as institute
Second direction is stated, the Intelligent mobile equipment is controlled and is moved according to the preset move mode；
The region that arrived of the Intelligent mobile equipment is marked in the map, and the shifting is marked in the map
The position of barrier encountered in dynamic process.
In one embodiment of the invention, the basis determines in the map not in information marked in the figure describedly
The zone of ignorance of label controls the Intelligent mobile equipment and is moved to the zone of ignorance, including：
When determining that the Intelligent mobile equipment reaches the end position in marked region in the map, the knot
Positional relationship between beam position and the zone of ignorance；
It is determined according to the positional relationship from the end position between the marked region and the zone of ignorance
Boundary boundary position path；
It controls the Intelligent mobile equipment and is moved to the boundary position from the end position along the path.
In one embodiment of the invention, the determination Intelligent mobile equipment reaches marked area in the map
The end position in domain, including：
During mobile according to the preset move mode, when the present bit for detecting the Intelligent mobile equipment
Set and the position adjacent with the current location be the map in marked region position when, determine the current location
For the end position.
In one embodiment of the invention, the path is the existing path in the map；Alternatively,
The path is the dog leg path according to determined by the mark information of the map.
In one embodiment of the invention, after the Intelligent mobile equipment arrival boundary position：
Mobile first pre-determined distance of the Intelligent mobile equipment is controlled to enter the zone of ignorance；
According to mark information of the map at the boundary position and near the boundary position, the intelligence is determined
Can mobile device by mobile direction；
According to described by mobile direction, moved according to the preset move mode and update the map.
In one embodiment of the invention, the basis determines in the map not in information marked in the figure describedly
The zone of ignorance of label controls the Intelligent mobile equipment and is moved to the zone of ignorance, including：
During mobile according to the preset move mode, if the current location institute of the Intelligent mobile equipment
Path and the map in there are unmarked regions between labeled existing path, then control the intelligent mobile and set
It is standby to be moved from the current location towards the unmarked region.
In one embodiment of the invention, after completing to the label of the map, further include：
According to the barrier marked in the map, marked in the map counterclockwise from current location
Barrier it is mobile until returning to the current location.
In one embodiment of the invention, further include：If the barrier marked in the map includes interposition
Barrier is set, then is moved from the current location along the middle position barrier up to returning to the current location.
In one embodiment of the invention, further include：It controls the Intelligent mobile equipment and returns to charging pile.
In one embodiment of the invention, the Intelligent mobile equipment is automatic cleaning robot.
According to another aspect of the present invention, it provides a kind of Intelligent mobile equipment, including memory, processor and is stored in
The computer program run on the memory and on the processor, the processor execute real when the computer program
The step of paths planning method described in existing aforementioned aspects and each example.
In one embodiment of the invention, the Intelligent mobile equipment further includes alignment sensor, the orientation sensing
The sensitive information of device is used to determine the posture of the Intelligent mobile equipment.
In one embodiment of the invention, the alignment sensor is following any：Light mouse sensor, mileage sensing
Device or gyro sensor.
In one embodiment of the invention, the posture comprises at least one of the following：Angle, mobile cumulative distance, machine
Head direction.
In accordance with a further aspect of the present invention, a kind of computer storage medium is provided, computer program is stored thereon with, institute
State the method for realizing that different-style image described in aforementioned aspects and each example generates when computer program is executed by processor
The step of.
It can be seen that constructing coordinate system in the embodiment of the present invention in the initial position of movement routine and establishing correspondingly
Figure completes the label to entire map by being moved according to preset move mode.For automatic cleaning robot, energy
Enough cleaning tasks completed in this manner to entire room, realize efficient operation.
Detailed description of the invention
The embodiment of the present invention is described in more detail below with reference to attached drawing, above-mentioned and other mesh of the invention
, feature and advantage will be apparent.Attached drawing is used to that the embodiment of the present invention is further explained, which is constituted
Part of specification, and be used to explain the present invention together with the embodiment of the present invention, it is not construed as limiting the invention.Attached
In figure, identical appended drawing reference typically represents the same or similar component or step.
Fig. 1 is the schematic diagram of automatic cleaning robot in the embodiment of the present invention；
Fig. 2 is the schematic diagram of preset move mode in the embodiment of the present invention；
Fig. 3 is the schematic flow chart of the paths planning method of Intelligent mobile equipment in the embodiment of the present invention；
Fig. 4 is the schematic diagram for determining initial position in the embodiment of the present invention with reference to object；
Fig. 5 is another schematic diagram for determining initial position in the embodiment of the present invention with reference to object；
Fig. 6 is the schematic diagram for determining initial position in the embodiment of the present invention without object of reference；
Fig. 7 is another schematic diagram for determining initial position in the embodiment of the present invention without object of reference；
Fig. 8 is the another schematic diagram for determining initial position in the embodiment of the present invention without object of reference；
Fig. 9 is the another schematic diagram for determining initial position in the embodiment of the present invention without object of reference；
Figure 10 is a schematic diagram of movement routine in the embodiment of the present invention；
Figure 11 is another schematic diagram of movement routine in the embodiment of the present invention；
Figure 12 is the another schematic diagram of movement routine in the embodiment of the present invention；
Figure 13 is another schematic diagram of movement routine in the embodiment of the present invention；
Figure 14 is the schematic diagram in the embodiment of the present invention along barrier one week；
Figure 15 is the schematic diagram in the embodiment of the present invention along intermediate obstacles one week；
Figure 16 is a schematic block diagram of the Intelligent mobile equipment of the embodiment of the present invention.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, this is described in detail below with reference to accompanying drawings
The example embodiment of invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than of the invention
Whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.It is sent out based on described in the present invention
Bright embodiment, those skilled in the art's obtained all other embodiment in the case where not making the creative labor all are answered
It falls under the scope of the present invention.
Intelligent mobile equipment in the embodiment of the present invention, for example, automatic cleaning robot.It is as shown in Figure 1 intelligent mobile
One schematic diagram of equipment 10.The Intelligent mobile equipment 10 may include fuselage 11 and wheel 12.
Illustratively, Intelligent mobile equipment 10 can also include alignment sensor 13, the sensitive information of alignment sensor 13
For determining the posture of Intelligent mobile equipment 10.Wherein, alignment sensor 13 can be following any：It is light mouse sensor, inner
Journey sensor or gyro sensor.Wherein, the posture of Intelligent mobile equipment 10 may include following at least one：Angle, shifting
Dynamic cumulative distance, head direction.
Illustratively, Intelligent mobile equipment 10 can also include steep cliff (Cliff) sensor 14, when transmitting tube launches letter
Number, it cannot be received pipe reception in time, will be judged as that distance is remote, that is, steep cliff, such as step, prevent from intelligence in this way
Energy mobile device 10 is mobile to step, prevents Intelligent mobile equipment 10 from falling.Optionally, steep cliff sensor 14 can be symmetrical arranged
At the front periphery of Intelligent mobile equipment.
Illustratively, Intelligent mobile equipment 10 can also include odometer sensor (odograph, ODO), be used to sense
The mileage travelled of wheel 12.It is understood that ODO (not shown in figure 1) can be connect with wheel 12.
Illustratively, Intelligent mobile equipment 10 can also include coiling property (Gyro), be used to test Intelligent mobile equipment
10 angle when driving.Furthermore it is also possible to include magnetic compass (Compass), the absolute South Pole arctic is defined, so as to right
The angle that Gyro is tested is corrected.
Illustratively, Intelligent mobile equipment 10 can also include light mouse 15, can use in conjunction with ODO, light mouse 15 can be with
Photo is constantly shot to the ground, and the image by compareing on piece carries out analyzing and determining whether Intelligent mobile equipment 10 moves.ODO can
To determine that Intelligent mobile equipment 10 is mobile by mileage, but when wheel 12 skids, wheel 12 does not stall dynamic, ODO survey at this time
The mileage of amount is continuously increased, but because 12 original place of wheel is skidded, the image that light mouse 15 shoots is constant, then can determine this
When ODO location data inaccuracy, switch to light mouse 15 positioning to correct location data.
Illustratively, Intelligent mobile equipment 10 can also include light sensation (Light touch) sensor 16, can be set
Before fuselage to, and be arranged between buffering (bumper) and fuselage, can along fuselage be arranged several groups Light touch biography
Sensor 16, several groups light touch sensor 16 can sense barrier from all directions, when sensing barrier,
Intelligent mobile equipment 10 can be made to slow down in a certain distance from barrier, or along obstacle in a certain distance from barrier
Object is mobile.
Illustratively, Intelligent mobile equipment 10 further includes round brush, for cleaning ground in moving process；It further include electricity
Pond, for providing electric power for Intelligent mobile equipment 10 on the move.It illustratively, can also include WIFI module, for connecting
To family WIFI, and communicated with the smart phone etc. for being connected to the same family WIFI.
It should be noted that Fig. 1 is only a schematic diagram of Intelligent mobile equipment 10, those skilled in the art can be on this basis
Quantity or construction to its hardware etc. carry out variation appropriate, and the present invention does not limit this.
The embodiment of the present invention has pre-defined move mode, is properly termed as preset move mode.The preset movement side
Formula is：It moves along a first direction to form first path；Encountering barrier, vertical with first direction second direction is inclined backward
It moves, then edge is moved with first party in the opposite direction to form the second path again；Continue after encountering barrier again to second
Direction offset, is then moved along first direction again to form third path, and so on.Wherein, every two adjacent path it
Between distance be equal to the first pre-determined distance.Illustratively, which can be referred to as bow font cladding process.
Referring to Fig. 2, it is assumed that Intelligent mobile equipment 10 is from O point, along first direction (in Fig. 2 from left to right) mobile shape
At first path (being denoted as 1).After encountering barrier 101, (in Fig. 2 from top to bottom) is deviated to second direction, offset one
After set a distance, edge and first party (turning left in Fig. 2 from the right side) mobile formation the second path (being denoted as 2), and road in the opposite direction
The distance between diameter 2 and path 1 are equal to the first pre-determined distance (being denoted as H).It is inclined to second direction after encountering barrier 102
It moves, after deviating certain distance, moves to be formed third path (being denoted as 3) along first direction, and the distance between path 3 and path 2
Equal to H.It after encountering barrier 103, is deviated to second direction, after deviating certain distance, along the side opposite with first direction
The 4th path (being denoted as 4) is formed to mobile, and the distance between path 4 and path 3 are equal to H.After encountering barrier 104,
It is deviated to second direction, after deviating certain distance, moves to form the 5th path (being denoted as 5) along first direction, and path 5 and path
The distance between 4 are equal to H.After encountering barrier 105, deviated to second direction, after deviating certain distance, edge and first party
It is mobile in the opposite direction to form the 6th path (being denoted as 6), and the distance between path 6 and path 5 are equal to H.After this, it meets
The situation mobile to barrier is similar, no longer enumerates one by one here.
Referring to Fig. 2, encounters barrier and deviated to second direction, can be referred to：Encounter the table after barrier along barrier
It is mobile towards second direction, until mobile distance until the vertical component of second direction is equal to the first pre-determined distance H.It can manage
Solution, encountering path when barrier is deviated can be straight line or broken line or curve etc., the path of the offset with encountered
The surface shape of barrier is related.
When automatic cleaning robot is cleaned in the room, the barrier that is encountered can for wall, furniture (table,
Chair, bed etc.), pet, kinsfolk etc..Wherein, the first pre-determined distance H can be related with the size of automatic cleaning robot, tool
Body, H can be equal to the round brush distance of automatic cleaning robot.For example, H=15 centimetres (cm).
Illustratively, first direction can be a direction (such as X-direction or -X direction) for coordinate system, and second direction can be with
It is the other direction (such as Y-direction or -Y direction) of coordinate system.Wherein, first direction can (or vertical) parallel with wall, alternatively,
First direction can be angled with wall.
Fig. 3 is a schematic flow chart of the paths planning method of the Intelligent mobile equipment 10 of the embodiment of the present invention.Fig. 3
Shown in method include：
S110 determines the initial position of movement routine；
S120 constructs coordinate system by origin of the initial position, and establishes the corresponding map of the coordinate system；
S130 is based on the coordinate system, is moved according to preset move mode, and marked in the map
Note；
S140 determines unlabelled zone of ignorance in the map according in information marked in the figure describedly, controls institute
It states Intelligent mobile equipment 10 and is moved to the zone of ignorance, moved according to the preset move mode and update describedly
Figure.
Illustratively, it by taking automatic cleaning robot as an example, after receiving the instruction of cleaning, can execute shown in Fig. 3
Method.For example, it can receive the execution cleaning that user inputs from mobile terminal (such as smart phone, wearable device)
Instruction.Illustratively, in S101, position when Intelligent mobile equipment 10 can receive instruction according to it determines movement routine
Initial position.For convenience of description, position when Intelligent mobile equipment 10 can be received instruction is known as homeposition.
As a kind of implementation, in S101, if the Intelligent mobile equipment 10 at object of reference, controls the intelligence
Can mobile device 10 advance the second pre-determined distance towards the direction far from the object of reference, and the position after advance is determined as described
Initial position.Wherein, object of reference can for the furniture such as charging pile, wall, bed or other figures with special identifier,
Picture, sound, light, smell etc. carry out identification with it for Intelligent mobile equipment and interact, so that it is determined that head direction, with into
One step determines initial position.Further, in S102, the direction that can will be far from the object of reference is determined as the coordinate system
The first direction, to construct the coordinate system.It is understood that if in homeposition Intelligent mobile equipment 10 heading
For towards the object of reference, then Intelligent mobile equipment 10 can wrap towards direction the second pre-determined distance of advance far from the object of reference
It includes：Advance the second pre-determined distance after the control rotation 180 degree of Intelligent mobile equipment 10.Optionally, the second pre-determined distance can be
Any value in 30cm~50cm.
Assuming that object of reference is charging pile (or wall), i.e. homeposition is intelligent as shown in Figure 4 at charging pile (or wall)
The homeposition of mobile device 10 is charging pile 20, then the direction that Intelligent mobile equipment 10 can first be directed away from charging pile 20 is moved
Dynamic second pre-determined distance (H2 in such as Fig. 4) reaches A point, then A point can be determined as initial position.It is possible to further
XY coordinate system is established in A point, X-direction as shown in Figure 4 is the direction (downward illustrated) far from charging pile, and will
Direction normal thereto is set as Y-direction (illustrate towards left direction).It is understood that can also be built by other means in A point
Vertical coordinate system, and the coordinate system established can be right-handed system or left-handed system, the present invention does not limit this.It is general due to charging pile
Setting is all that the situation along wall, i.e., close to wall, therefore when object of reference is wall is similar with Fig. 4, and which is not described herein again.
Assuming that object of reference is the furniture of such as bed, i.e. homeposition is at the furniture of such as bed, as shown in figure 5, then intelligence
The direction mobile second pre-determined distance (H2 in such as Fig. 5) that mobile device 10 can first be directed away from the object of reference 30 reaches A point,
So A point can be determined as initial position.It is possible to further establish XY coordinate system, X-direction as shown in Figure 5 in A point
For the direction (downward illustrated) far from charging pile, and direction normal thereto is set as the Y-direction (court illustrated
Left direction).It is understood that the coordinate system that can also be established coordinate system by other means in A point, and establish can for right-handed system or
Left-handed system, the present invention do not limit this.
As another implementation, in S101, if the Intelligent mobile equipment 10 is not at object of reference or setting out
Object of reference information is not detected in position, then controls the Intelligent mobile equipment 10 and advance along third direction, until encountering obstacle
Object；Control the Intelligent mobile equipment 10 and move third pre-determined distance along the barrier encountered, and based on mobile route come
Determine the initial position of movement routine.
That is, Intelligent mobile equipment 10 can be towards third direction if object of reference is not present at homeposition
It is mobile, it can be finally referring to determining initial position with the barrier according to the situation of barrier until encountering barrier.Make
As an example of, third direction can be any direction, for example, can be the head court of the Intelligent mobile equipment 10 at homeposition
To.As another example, initial coordinate system can be established at homeposition, third direction can be the side X of the initial coordinate system
To or Y-direction.
Situation 1：If the Intelligent mobile equipment 10 not at object of reference, controls the Intelligent mobile equipment 10 along
Tripartite marches forward, until encountering the first barrier；It controls the Intelligent mobile equipment 10 and moves along first barrier
Three pre-determined distances；It is formed by mobile route moving the third pre-determined distance along first barrier, if the shifting
Straight line accounting in dynamic route is more than preset ratio, then using the terminal after the movement third pre-determined distance as described initial
Position.
As shown in Figure 6 and Figure 7, Intelligent mobile equipment 10 is at homeposition A0, and object of reference is not present at A0, then intelligence
Energy mobile device 10 can be advanced up to along third direction (such as head direction) encounters the first barrier (such as wall or furniture)
It reaches at Fig. 6 and A1 shown in Fig. 7.Then, Intelligent mobile equipment 10 can move third pre-determined distance along first barrier
(being expressed as H3, such as H3=1 meters) reaches at A.In the mobile route from A1 to A, if straight line accounting therein is more than default
Ratio (such as 80%), then can be determined as initial position for A.Wherein, the mobile route of the slave A1 to A shown in Fig. 6 is straight line；
It is straight in the mobile route of the slave A1 to A shown in Fig. 7 due to there are additional barrier (such as the barriers such as kitten, toy)
Line accounting is greater than preset ratio (80%) less than 1.
It is possible to further establish XY coordinate system in A point, the X-direction as shown in Fig. 6 and Fig. 7 be in mobile route
The vertical direction (downward illustrated) of straight line, and by direction normal thereto be set as Y-direction (illustrate towards a left side
Direction).It is understood that the X-direction of the coordinate system can be the direction far from the first barrier.It is understood that can also pass through in A point
Other modes establish coordinate system, and the coordinate system established can be right-handed system or left-handed system, and the present invention does not limit this.
Situation 2：If the Intelligent mobile equipment 10 not at object of reference, controls the Intelligent mobile equipment 10 along
Tripartite marches forward, until encountering the second barrier；It controls the Intelligent mobile equipment 10 and moves along second barrier
Three pre-determined distances；It is formed by mobile route moving the third pre-determined distance along second barrier, if the shifting
Straight line accounting in dynamic route is less than preset ratio, then determines initial position according to the state of the mobile route.
A kind of situation as situation 2：If the straight line accounting in the mobile route is less than preset ratio, can be by movement
Terminal after the third pre-determined distance is as the initial position.
As shown in figure 8, Intelligent mobile equipment 10 is at homeposition A0, and at A0, there is no objects of reference, then intelligent sliding
Dynamic equipment 10 can be advanced up to along third direction (such as head direction) to be encountered shown in the second barrier (such as clothing etc.) arrival Fig. 8
A1 at.Then, Intelligent mobile equipment 10 can move third pre-determined distance (such as 1 meter) along second barrier, reach A
Place.In the mobile route from A1 to A, if straight line accounting therein is less than preset ratio (such as 20%), A can be determined as
Initial position.Wherein, during being moved to A from A1, the direction (angle) of Intelligent mobile equipment 10 is changing always.
It is possible to further establish XY coordinate system in A point according to posture of the Intelligent mobile equipment 10 at A, here
Posture may include the head direction of Intelligent mobile equipment 10, accumulative moving distance, angle etc..It as an example, can be by third
X-direction of the opposite direction in direction (direction of A0 to A1) as reference axis.It, can be by the Vertical Square of head at A as another example
To the X-direction as reference axis.As an example again, can using the second barrier in the exterior normal direction of A point as the X of reference axis
Direction.X-direction as shown in Figure 8 is second barrier in the exterior normal direction of A point, and direction normal thereto is Y-direction.
It is understood that the coordinate system that can also be established coordinate system by other means in A point, and establish can be right-handed system or left-handed system,
The present invention does not limit this.
Another situation as situation 2：It, can be with if part of mobile route of the mobile route forms closed loop
Using the position of the closed loop of formation as the initial position.
As shown in figure 9, Intelligent mobile equipment 10 is at homeposition A0, and at A0, there is no objects of reference, then intelligent sliding
Dynamic equipment 10, which can advance up to encounter the second barrier (such as kitten, toy) and reach along third direction (such as head direction), to be schemed
At A shown in 9.Then, Intelligent mobile equipment 10 can move third pre-determined distance (such as 1 meter) along second barrier.?
During mobile third pre-determined distance or after mobile third pre-determined distance, Intelligent mobile equipment 10 returns to A point, i.e., along second
The mobile route of the mobile third pre-determined distance of barrier includes closed loop.The position (i.e. A) for forming closed loop can be then determined as just
Beginning position.Wherein, in the closed loop mobile route, the direction (angle) of Intelligent mobile equipment 10 is changing always.
It is possible to further establish XY coordinate system in A point according to posture of the Intelligent mobile equipment 10 at A, here
Posture may include the head direction of Intelligent mobile equipment 10, angle etc..It as an example, can be by the third direction (side of A0 to A
To) X-direction of the opposite direction as reference axis, as shown in figure 9, and being Y-direction by direction normal thereto.As another example,
It can be using the vertical direction of head at A as the X-direction of reference axis.It, can be by the second barrier in the outer of A point as an example again
X-direction of the normal direction as reference axis.It is understood that coordinate system, and the seat established can also be established by other means in A point
Mark system can be right-handed system or left-handed system, and the present invention does not limit this.
In this way, the initial position (being expressed as A) of movement routine can be determined, and XY coordinate is constructed in the initial position
System.It illustratively, may include zone of ignorance in the map corresponding with coordinate system established in S102.The embodiment of the present invention
In Intelligent mobile equipment 10 can be automatic cleaning robot for home environment, the range of corresponding map can be set
For the area of 30m × 30m, before executing cleaning task, the range in the map is zone of ignorance.It is understood that the map
Area can expand or reduce according to actual service condition, the present invention not limit this.
It is possible to further be moved in S103 according to preset move mode, and obstacle is marked in map
It the position of object and arrived region, so that the zone of ignorance in map is gradually reduced, and complete the label to entire map.
It illustratively, can be using the X-direction of the coordinate system as the first direction, by the Y-direction of the coordinate system
Or -Y direction controls the Intelligent mobile equipment 10 and is moved according to the preset move mode as the second direction
It is dynamic；The region that arrived of the Intelligent mobile equipment 10 is marked in the map, and the movement is marked in the map
The position of barrier encountered in process.
It can be using the X-direction of reference axis as the first direction in Fig. 2, by the side Y referring to Fig. 2 as a kind of implementation
To as the second direction in Fig. 2, it is assumed that initial position A is the O point in Fig. 2, in this way can be according to movement side shown in Fig. 2
Formula is moved.By taking initial position A shown in Fig. 4 as an example, movement routine can be as shown in Figure 10.That is, intelligent sliding
Dynamic equipment 10 can be moved to B0 from A according to preset move mode shown in Fig. 2.Specifically, as shown in Figure 10, from B1
To B0, due to there are barrier (wall), Intelligent mobile equipment 10 towards Y-direction offset less than the first pre-determined distance, then
Intelligent mobile equipment 10 advances up to B2 from B0 along barrier (wall).After barrier reaches B2, open area is encountered, then
Continue to deviate towards Y-direction, so that having the first pre-determined distance between next path and the path B1-B0.Generally, the opening
Next room is led in region, then Intelligent mobile equipment 10 can continue to be moved to down according to preset move mode shown in Fig. 2
One room.By taking automatic cleaning robot as an example, after the cleaning for completing A to B0, it can be moved to B2, continued from B2 past
Y-direction offset, to execute the cleaning task of Next Room.
As another implementation, however, it is determined that Intelligent mobile equipment 10 reaches the stop bits in marked region in map
It sets, then controls Intelligent mobile equipment 10 and be moved to unlabelled zone of ignorance in map.Optionally, detecting that intelligent mobile sets
When standby 10 current location and the position adjacent with the current location are the position in marked region in map, determine that this is current
Position is end position.It is alternatively possible to determine from the end position into map between marked region and zone of ignorance
First route of the boundary position of boundary；And it controls Intelligent mobile equipment 10 and is moved to along first route from end position
Boundary position.Optionally, which can be the minimal path from end position to zone of ignorance.It is alternatively possible to root
First route is determined according to the marked region in map and the barrier marked.
In one embodiment, as shown in figure 11, after from B1 to B0, since there are barrier (wall), intelligent mobiles
Equipment 10 towards Y-direction offset less than the first pre-determined distance, then Intelligent mobile equipment 10 along barrier (wall) from B0 after
It is continuous to advance up to B1.Intelligent mobile equipment 10 detects B1 and its neighbouring position is marked region, it is determined that B1 is to terminate
Position.Alternatively, Intelligent mobile equipment 10 can recorde the coordinate of B1 point, it is assumed that be (x1, y1), when path meets closed loop requirement
When, can be determined as current location B1 is end position, specifically, when Intelligent mobile equipment 10 detects the Duan Lu that walked
Diameter, and coordinate points are overlapped, during B1 to B0, coordinate becomes (x2, y1) by (x1, y1)；And during B0 to B1, y1 without
Method is further added by the first pre-determined distance, that is, being obscured by an obstacle can not be according to move mode shown in Fig. 2 to next line, to be formed
Closed loop, i.e. B1 → B0 → B1.In the end position (B1), Intelligent mobile equipment 10 can according to the map in marked region
(i.e. from A to B1) judges the positional relationship between marked region and zone of ignorance, and determines nearest boundary position.Specifically
Ground, Intelligent mobile equipment 10 can mark information according to the map determine that zone of ignorance includes first part and second part,
Middle first part be the X-axis other side-Y direction, i.e. the right side of A in Figure 11；Second part is the lower section of barrier 106.It is logical
The positional relationship for comparing end position B1 Yu first part and second part is crossed, determines that nearest boundary position is and second part
Relevant boundary, i.e. at C.For example, by comparing determine distance from B1 to second part be less than from B1 to first part away from
From, then the first part determine boundary position be C.It then can control Intelligent mobile equipment 10 to be moved to from end position B1
Boundary position C, such as along the dotted line of B1~C in Figure 11.Further, Intelligent mobile equipment 10 can be since C according to Fig. 2
Shown in move mode it is mobile, i.e., as shown in figure 11, again to E1 to E0 from C to D.When the Intelligent mobile equipment 10 is moved to from E0
It is similar from B0 to B1 with it when E1, determine that E1 is end position.And determine end position E1 to zone of ignorance (above-mentioned first
Part) boundary position G, and then can control Intelligent mobile equipment 10 and be moved to boundary position G from E1, such as along in Figure 11
The dotted line of E1~G.
Illustratively, it is moved to C from B1, or can be the existing path in map from the first route that E1 is moved to G, or
Person can be dog leg path determined by mark information according to the map.It, should although being appreciated that be dog leg path shown in Figure 11
First path is also possible to the path of other forms, for example, can be shortest straight line path from end position to boundary position or
Curved path etc., the present invention does not limit this.
In another embodiment, as shown in figure 12, due to barrier 106, Intelligent mobile equipment 10 is offset to B1 from C1, and
It is moved to B0 from B1, then due to the limitation of wall, is moved to B1 ' from B0.However, the movement due to user to barrier 106,
Or barrier 106 is a temporary obstructions, Intelligent mobile equipment 10 is after B1 point strikes obstacles 106, and barrier 106 is immediately
Being moved to other positions, then after Intelligent mobile equipment 10 is moved to B1 ' from B0, which has been not present, that is,
It says, Intelligent mobile equipment 10 is unsatisfactory for " position is marked region near its current location and current location " at B1 ',
Then Intelligent mobile equipment 10 is continued to move to along the path of B0 to B1 ' until E1.After reaching E1, it can be deviated to -Y direction,
It continues to move to.As an example, the first pre-determined distance can be deviated according to preset movement routine, however such path can be with elder generation
Preceding labeled path is inconsistent.As another example, the offset at E1 can be determined according to the movement routine of B1 to B0, join
It according to Figure 12, can be offset to from E2 from E1, and be moved to B1 from E2, since B1 to B0 is marked region, be then offset to from B1
C1 is simultaneously moved to E3 from C1.In this way, this mobile route from E1 to E3 can be consistent with route marked in map,
Realize the unification of ground path in graphs planning.After Intelligent mobile equipment 10 reaches E3, since E3 and its neighbouring position are
Marked region, it is determined that E3 is end position, then can according to the map in marked region (from A → B1 ' → E3), determine
Boundary position G with end position apart from nearest zone of ignorance, and then can control Intelligent mobile equipment 10 and be moved to from E3
Boundary position G, such as along the dotted line of E3~G in Figure 12.Illustratively, it can be map from the first route that E3 is moved to G
In existing path, or can be dog leg path determined by mark information according to the map.Although being appreciated that Figure 12 is shown
It is dog leg path, which is also possible to the path of other forms, such as can be from end position to boundary position
Shortest straight line path or curved path etc., the present invention does not limit this.
As another implementation, Intelligent mobile equipment 10 is reached after the boundary position：Control the intelligent sliding
Dynamic mobile first pre-determined distance of equipment 10 is to enter the zone of ignorance；According to the map at the boundary position with
And the mark information near the boundary position, determine the Intelligent mobile equipment 10 by mobile direction；It will be moved according to described
Dynamic direction is moved according to the preset move mode and updates the map.
Illustratively, boundary position can be located on marked path, and as seen in figures 11 or 12, boundary position G is located at
From the path of A in X direction.Since zone of ignorance is in the -Y direction of G, the first pre-determined distance can be deviated towards -Y direction
To G ', as shown in figure 12.It, can be using the -X direction of reference axis as the first direction in Fig. 2, by -Y direction referring next to Fig. 2
As the second direction in Fig. 2, it is assumed that G ' is the O point in Fig. 2, can be moved in this way according to move mode shown in Fig. 2
It is dynamic.
Due to having marked barrier 107 in map, the Intelligent mobile equipment 10 positioned at G ' can first direction
The direction of barrier 107 is mobile, if being moved to H from G ' in Figure 12, then moves again from H along -X direction, i.e., since H according to
Preset move mode shown in Fig. 2 is mobile, until reaching J.
As another implementation, during mobile according to the preset move mode, if the intelligence
There are unmarked areas between labeled existing path in path and the map where the current location of mobile device 10
Domain then controls the Intelligent mobile equipment 10 and is moved from the current location towards the unmarked region.
Referring to Fig.1 2, after Intelligent mobile equipment 10 reaches J, since the two sides of J are unmarked region, intelligent sliding at this time
The dynamic needs of equipment 10 judge to deviate towards which side.Due to there are barrier 108, so that marked path 7 and current where J
There are unmarked region (regions in such as Figure 12 between 108 top of barrier and path 7 and 8) between path 8.Based on map
Mark information, Intelligent mobile equipment 10 can determine the area in the unmarked region, or can probably determine the unmarked area
The area in domain；And be then complete zone of ignorance positioned at the other side of current location J, i.e., Intelligent mobile equipment 10 can not judge to scheme
The right side of J shown in 12 have on earth it is much, then at this time Intelligent mobile equipment 10 select it is preferentially mobile to the unmarked region, such as
Shown in Figure 13, Intelligent mobile equipment 10 is moved to J ' from J.
Since J ' and its neighbouring position are marked region, then it can determine that J ' is end position, be similar to true in E3
Determine G, can determine boundary position K in J ', then controls Intelligent mobile equipment 10 and be moved to K from J '.With the mobile road since G
Diameter is similar, and control Intelligent mobile equipment 10 deviates the first pre-determined distance to K ' towards -Y direction, is first moved to L towards wall from K '
It is moved along the X direction from L up to reaching M again.
Since M and its neighbouring position are marked region, then it can determine that M is end position, be similar to and determined in E3
G can determine boundary position N in M, then control Intelligent mobile equipment 10 and be moved to N from M.With the movement routine class since G
Seemingly, control Intelligent mobile equipment 10 is first mobile again towards barrier 109 from N ' towards -Y direction the first pre-determined distance of offset to N '
It is moved along -X direction until reaching P.
In this way, Intelligent mobile equipment 10 just completes the scanning process to entire room, if it is automatic cleaning robot,
Just the cleaning process to entire room is completed, and is marked in map to path and barrier etc. is cleaned.
It may also include after the label for completing to map as a kind of implementation：It is marked according in the map
Barrier, the barrier marked in the map counterclockwise from current location moves described current up to returning to
Position.Illustratively, if the barrier marked in the map includes middle position barrier, from the current location
It sets out and moves along the middle position barrier until returning to the current location.
Referring to Fig.1 4, the current location completed after map label is P, that is to say, that completes the current location of cleaning task
It, at this time can be according to the barrier marked in map, from P according to counter clockwise direction movement one week, as shown in figure 14 for P
Be starting point and using P as the path 9 of terminal using P.
Since the barrier marked in the map includes intermediate obstacles 108, wherein intermediate obstacles refer to around it
It include movement routine.So after this, the intermediate obstacles can also be moved to from current location P as shown in figure 15
It at 108 (i.e. P ' point in Figure 15), can then be set out with P ' one week mobile according to counter clockwise direction, as shown in figure 15 is with P
Starting point and with P ' be terminal path 9 '.Illustratively, if there is also other intermediate obstacles in map, from ' P
It is moved to other intermediate obstacles and is moved one week according to method shown in figure 15 along other intermediate obstacles.Optionally,
Complete to the movement of all intermediate obstacles after, Intelligent mobile equipment 10 may return to P or can rest on P ' or
Person may return at charging pile and charge, and the present invention does not limit this.
Also, it should be mentioned that although the path 9 and 9 ' shown in Figure 14 and Figure 15 is counterclockwise mobile, intelligent mobile
Equipment 10 can also move in the direction of the clock, alternatively, path 9 and 9 ' is mobile with clockwise direction counterclockwise respectively,
The present invention does not limit this.
It, can be with by Figure 14 and movement routine shown in figure 15 if Intelligent mobile equipment 10 is automatic cleaning robot
It realizes to the cleaning along the barriers such as wall, prevents corner dust stratification, avoid and clean dead angle, so that automatic cleaning robot
Sweeping efficiency it is higher.
Also, it should be mentioned that although Figure 10 to Figure 15 shows the movement routine of the initial position situation of Fig. 4, extremely for Fig. 5
Initial position shown in any one in Fig. 8 can be similarly obtained the movement routine of Intelligent mobile equipment 10.With automated cleaning
For robot, the cleaning task to room can be completed.
Based on the description above, strategy (the cleaning plan of automatic cleaning robot of the path planning in the embodiment of the present invention
Slightly) may include preset move mode as shown in Figure 2, and include be moved to from the end position in marked region it is unknown
The goto strategy in region.The goto strategy is also referred to as goto logic comprising the shift strategy of slave B1 to C as shown in figure 11,
Shift strategy etc. from E1 to G.
It can be seen that constructing coordinate system in the embodiment of the present invention in the initial position of movement routine and establishing correspondingly
Figure completes the label to entire map by being moved according to preset move mode.For automatic cleaning robot, energy
Enough cleaning tasks completed in this manner to entire room.
Figure 16 is a schematic block diagram of the Intelligent mobile equipment 10 of the embodiment of the present invention.Intelligent mobile shown in Figure 16
Equipment 10 can include determining that module 610, establish module 620 and control module 630.
Determining module 610, for determining the initial position of movement routine；
Module 620 is established, for constructing coordinate system by origin of the initial position, and it is corresponding to establish the coordinate system
Map；
Control module 630 is moved, and describedly for being based on the coordinate system according to preset move mode
It is marked in figure；
Control module 630, be also used to according to information marked in the figure describedly determine in the map it is unlabelled not
Know region, controls the Intelligent mobile equipment 10 and be moved to the zone of ignorance, moved according to the preset move mode
It moves and updates the map.
In one embodiment of the invention, the preset move mode is：
It moves along a first direction to form first path；
Barrier vertical with first direction second direction offset backward is encountered, then again along the first direction
Opposite direction is mobile to form the second path；
It deviates after encountering barrier again to the second direction, then moves again along the first direction to form third
Path, and so on, wherein the distance in every two adjacent path is equal to the first pre-determined distance.
In one embodiment of the invention, if determining module 610 can be specifically used for the Intelligent mobile equipment 10 and exist
At object of reference, then the Intelligent mobile equipment 10 is controlled towards the second pre-determined distance of direction advance far from the object of reference, and will
Position after advance is determined as the initial position.
In one embodiment of the invention, establishing module 620 can be specifically used for will be far from the direction of the object of reference
It is determined as the first direction of the coordinate system, to construct the coordinate system.
In one embodiment of the invention, if determining module 610 can be specifically used for the Intelligent mobile equipment 10 not
It at object of reference, then controls the Intelligent mobile equipment 10 and advances along third direction, until encountering the first barrier；
It controls the Intelligent mobile equipment 10 and moves third pre-determined distance along first barrier；
It is formed by mobile route moving the third pre-determined distance along first barrier, if the mobile road
Straight line accounting in line is more than preset ratio, then using the terminal after the movement third pre-determined distance as the initial bit
It sets.
In one embodiment of the invention, establish module 620 can be specifically used for will be vertical and separate with the straight line
The direction of first barrier is determined as the first direction of the coordinate system, to construct the coordinate system.
In one embodiment of the invention, if determining module 610 can be specifically used for the Intelligent mobile equipment 10 not
It at object of reference, then controls the Intelligent mobile equipment 10 and advances along third direction, until encountering the second barrier；
It controls the Intelligent mobile equipment 10 and moves third pre-determined distance along second barrier；
It is formed by mobile route moving the third pre-determined distance along second barrier：If the mobile road
Part of mobile route of line forms closed loop, then using the position of the closed loop of formation as the initial position, if described
Straight line accounting in mobile route is less than preset ratio, then using the terminal after the movement third pre-determined distance as described first
Beginning position.
In one embodiment of the invention, establishing module 620 can be specifically used for according to the Intelligent mobile equipment 10
In the posture of the initial position, determines the first direction and construct the coordinate system.
In one embodiment of the invention, the third direction is the head direction of the Intelligent mobile equipment 10.
In one embodiment of the invention, control module 630 can be specifically used for：
Using the X-direction of the coordinate system as the first direction, using the Y-direction of the coordinate system or -Y direction as institute
Second direction is stated, the Intelligent mobile equipment 10 is controlled and is moved according to the preset move mode；
The region that arrived of the Intelligent mobile equipment 10 is marked in the map, and in the map described in label
The position of barrier encountered in moving process.
In one embodiment of the invention, control module 630 can be specifically used for：
When determining that the Intelligent mobile equipment 10 reaches the end position in marked region in the map, described in comparison
Positional relationship between end position and the zone of ignorance；
It is determined according to the positional relationship from the end position between the marked region and the zone of ignorance
Boundary boundary position path；
It controls the Intelligent mobile equipment 10 and is moved to the boundary position from the end position along the path.
In one embodiment of the invention, during mobile according to the preset move mode, when detecting
The current location and the position adjacent with the current location of the Intelligent mobile equipment 10 are marked area in the map
When the position in domain, determine that the current location is the end position.
In one embodiment of the invention, the path is the existing path in the map；Alternatively, the path is
According to dog leg path determined by the mark information of the map.
In one embodiment of the invention, control module 630 can be also used for reaching in the Intelligent mobile equipment 10
After the boundary position：
Mobile first pre-determined distance of the Intelligent mobile equipment 10 is controlled to enter the zone of ignorance；
According to mark information of the map at the boundary position and near the boundary position, the intelligence is determined
Can mobile device 10 by mobile direction；
According to described by mobile direction, moved according to the preset move mode and update the map.
In one embodiment of the invention, control module 630 can be used for moving according to the preset move mode
In dynamic process, if in path where the current location of the Intelligent mobile equipment 10 and the map it is labeled
Have between path that there are unmarked regions, then controls the Intelligent mobile equipment 10 from the current location towards described unmarked
It is moved in region.
In one embodiment of the invention, control module 630 can be also used for according to the barrier marked in the map
Hinder object, the barrier marked in the map counterclockwise from current location is moved up to returning to the present bit
It sets.
In one embodiment of the invention, if control module 630 can be also used for the barrier marked in the map
Hindering object includes middle position barrier, then moves from the current location along the middle position barrier up to returning to
State current location.
Illustratively, which can be automatic cleaning robot.
In one embodiment of the invention, Intelligent mobile equipment 10 may include alignment sensor, the orientation sensing
The sensitive information of device is used to determine the posture of the Intelligent mobile equipment 10.
Illustratively, the alignment sensor is following any：Light mouse sensor, odometer sensor or gyro sensors
Device.
Illustratively, the posture comprises at least one of the following：Angle, mobile cumulative distance, head direction.
Intelligent mobile equipment 10 shown in Figure 16 can be realized earlier figures 3 to paths planning method shown in figure 15, to keep away
Exempt to repeat, which is not described herein again.
In addition, the embodiment of the invention also provides another Intelligent mobile equipment 10, including memory, processor and storage
The computer program run on the memory and on the processor, processor realize earlier figures when executing described program
3 to paths planning method shown in figure 15 the step of.
In addition, being stored thereon with computer program the embodiment of the invention also provides a kind of computer storage medium.Work as institute
When stating computer program and being executed by processor, the step of earlier figures 3 to paths planning method shown in figure 15 may be implemented.Example
Such as, which is computer readable storage medium.
It can be seen that constructing coordinate system in the embodiment of the present invention in the initial position of movement routine and establishing correspondingly
Figure completes the label to entire map by being moved according to preset move mode.For automatic cleaning robot, energy
Enough cleaning tasks completed in this manner to entire room.Also, the paths planning method of the embodiment of the present invention ensure that
Intelligent mobile equipment 10 realizes all region covering with less distance, ensure that path is optimal, also correspondingly saves intelligent sliding
Dynamic equipment 10 uses electricity, keeps its more efficient.
Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary
, and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein
And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims
Within required the scope of the present invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (10)
1. a kind of paths planning method of Intelligent mobile equipment, which is characterized in that the method includes：
Determine the initial position of movement routine；
Coordinate system is constructed by origin of the initial position, and establishes the corresponding map of the coordinate system；
It based on the coordinate system, is moved according to preset move mode, and is marked in the map；
Unlabelled zone of ignorance in the map is determined according in information marked in the figure describedly, controls the intelligent mobile
Equipment is moved to the zone of ignorance, is moved according to the preset move mode and updates the map.
2. the method according to claim 1, wherein the preset move mode is：
It moves along a first direction to form first path；
Barrier vertical with first direction second direction offset backward is encountered, then again along the negative side of the first direction
To mobile to form the second path；
It deviates, is then moved again along the first direction to form third road to the second direction after encountering barrier again
Diameter, and so on, wherein the distance in every two adjacent path is equal to the first pre-determined distance.
3. according to the method described in claim 2, it is characterized in that, described be based on the coordinate system, according to preset movement side
Formula is moved, and is marked in the map, including：
Using the X-direction of the coordinate system as the first direction, using the Y-direction of the coordinate system or -Y direction as described
Two directions control the Intelligent mobile equipment and are moved according to the preset move mode；
The region that arrived of the Intelligent mobile equipment is marked in the map, and is moved through described in label in the map
The position of barrier encountered in journey.
4. according to the method described in claim 3, it is characterized in that, the basis determines institute in information marked in the figure describedly
Unlabelled zone of ignorance in map is stated, the Intelligent mobile equipment is controlled and is moved to the zone of ignorance, including：
When determining that the Intelligent mobile equipment reaches the end position in marked region in the map, the stop bits
Set the positional relationship between the zone of ignorance；
It is determined according to the positional relationship from the end position to the side between the marked region and the zone of ignorance
The path of boundary position at boundary；
It controls the Intelligent mobile equipment and is moved to the boundary position from the end position along the path.
5. according to the method described in claim 4, it is characterized in that, the determination Intelligent mobile equipment reaches the map
In marked region end position, including：
During mobile according to the preset move mode, when detect the current location of the Intelligent mobile equipment with
And the position adjacent with the current location be the map in marked region position when, determine the current location for institute
State end position.
6. according to the method described in claim 4, it is characterized in that, the Intelligent mobile equipment reach the boundary position it
Afterwards：
Mobile first pre-determined distance of the Intelligent mobile equipment is controlled to enter the zone of ignorance；
According to mark information of the map at the boundary position and near the boundary position, the intelligent sliding is determined
Equipment is moved by mobile direction；
According to described by mobile direction, moved according to the preset move mode and update the map.
7. according to the method described in claim 3, it is characterized in that, the basis determines institute in information marked in the figure describedly
Unlabelled zone of ignorance in map is stated, the Intelligent mobile equipment is controlled and is moved to the zone of ignorance, including：
During mobile according to the preset move mode, if where the current location of the Intelligent mobile equipment
There are unmarked regions between labeled existing path in path and the map, then control the Intelligent mobile equipment from
It is moved towards the unmarked region current location.
8. the method according to claim 1, wherein further including after completing to the label of the map：
According to the barrier marked in the map, the barrier that is marked in the map counterclockwise from current location
Hinder object mobile until returning to the current location.
9. a kind of Intelligent mobile equipment, including memory, processor and it is stored on the memory and on the processor
The computer program of operation, which is characterized in that the processor is realized in claim 1 to 8 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of any one of claims 1 to 8 the method is realized when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711311328.5A CN108873880A (en) | 2017-12-11 | 2017-12-11 | Intelligent mobile equipment and its paths planning method, computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711311328.5A CN108873880A (en) | 2017-12-11 | 2017-12-11 | Intelligent mobile equipment and its paths planning method, computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108873880A true CN108873880A (en) | 2018-11-23 |
Family
ID=64325845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711311328.5A Pending CN108873880A (en) | 2017-12-11 | 2017-12-11 | Intelligent mobile equipment and its paths planning method, computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108873880A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540155A (en) * | 2019-02-01 | 2019-03-29 | 西安全志科技有限公司 | A kind of path planning and navigation method, computer installation and the computer readable storage medium of sweeping robot |
| CN109947109A (en) * | 2019-04-02 | 2019-06-28 | 北京石头世纪科技股份有限公司 | Robot working area map construction method and device, robot and medium |
| CN110543174A (en) * | 2019-09-10 | 2019-12-06 | 速感科技（北京）有限公司 | Method for establishing passable area graph, method for processing passable area graph, device and movable equipment |
| CN110879594A (en) * | 2019-11-25 | 2020-03-13 | 广西科技师范学院 | Big data-based robot path planning data management system |
| CN111367278A (en) * | 2020-03-04 | 2020-07-03 | 北京小狗智能机器人技术有限公司 | Method for determining working coverage area of robot and related equipment |
| CN111427357A (en) * | 2020-04-14 | 2020-07-17 | 北京石头世纪科技股份有限公司 | Robot obstacle avoidance method and device and storage medium |
| CN112869639A (en) * | 2021-01-29 | 2021-06-01 | 深圳拓邦股份有限公司 | Robot recharging exploration method and device and sweeping robot |
| CN113064432A (en) * | 2021-03-22 | 2021-07-02 | 深圳市商汤科技有限公司 | Path covering method and device, electronic equipment and storage medium |
| WO2021253698A1 (en) * | 2020-06-17 | 2021-12-23 | 苏州科瓴精密机械科技有限公司 | Robot walking control method and system, robot, and storage medium |
| CN114343522A (en) * | 2022-01-20 | 2022-04-15 | 深圳市云鼠科技开发有限公司 | Method for solving problem of skidding of cleaning robot and cleaning robot |
| CN115444325A (en) * | 2022-07-21 | 2022-12-09 | 深圳银星智能集团股份有限公司 | Secondary cleaning method, device, cleaning robot and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040181896A1 (en) * | 2003-03-17 | 2004-09-23 | Saku Egawa | Self-propelled cleaning device and method of operation thereof |
| CN106292654A (en) * | 2015-06-03 | 2017-01-04 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus of drawing area map |
| CN107314773A (en) * | 2017-08-18 | 2017-11-03 | 广东宝乐机器人股份有限公司 | The map creating method of mobile robot and the paths planning method based on the map |
| CN107328419A (en) * | 2017-06-21 | 2017-11-07 | 上海斐讯数据通信技术有限公司 | The planing method and sweeping robot in a kind of cleaning path of sweeping robot |
| US20170344013A1 (en) * | 2014-12-16 | 2017-11-30 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
-
2017
- 2017-12-11 CN CN201711311328.5A patent/CN108873880A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040181896A1 (en) * | 2003-03-17 | 2004-09-23 | Saku Egawa | Self-propelled cleaning device and method of operation thereof |
| US20170344013A1 (en) * | 2014-12-16 | 2017-11-30 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
| CN106292654A (en) * | 2015-06-03 | 2017-01-04 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus of drawing area map |
| CN107328419A (en) * | 2017-06-21 | 2017-11-07 | 上海斐讯数据通信技术有限公司 | The planing method and sweeping robot in a kind of cleaning path of sweeping robot |
| CN107314773A (en) * | 2017-08-18 | 2017-11-03 | 广东宝乐机器人股份有限公司 | The map creating method of mobile robot and the paths planning method based on the map |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540155A (en) * | 2019-02-01 | 2019-03-29 | 西安全志科技有限公司 | A kind of path planning and navigation method, computer installation and the computer readable storage medium of sweeping robot |
| CN109947109A (en) * | 2019-04-02 | 2019-06-28 | 北京石头世纪科技股份有限公司 | Robot working area map construction method and device, robot and medium |
| CN110543174A (en) * | 2019-09-10 | 2019-12-06 | 速感科技（北京）有限公司 | Method for establishing passable area graph, method for processing passable area graph, device and movable equipment |
| CN110879594A (en) * | 2019-11-25 | 2020-03-13 | 广西科技师范学院 | Big data-based robot path planning data management system |
| CN111367278A (en) * | 2020-03-04 | 2020-07-03 | 北京小狗智能机器人技术有限公司 | Method for determining working coverage area of robot and related equipment |
| CN111427357A (en) * | 2020-04-14 | 2020-07-17 | 北京石头世纪科技股份有限公司 | Robot obstacle avoidance method and device and storage medium |
| CN113885485A (en) * | 2020-06-17 | 2022-01-04 | 苏州科瓴精密机械科技有限公司 | Robot walking control method, system, robot and storage medium |
| WO2021253698A1 (en) * | 2020-06-17 | 2021-12-23 | 苏州科瓴精密机械科技有限公司 | Robot walking control method and system, robot, and storage medium |
| CN113885485B (en) * | 2020-06-17 | 2023-12-22 | 苏州科瓴精密机械科技有限公司 | Robot walking control method, system, robot and storage medium |
| CN112869639A (en) * | 2021-01-29 | 2021-06-01 | 深圳拓邦股份有限公司 | Robot recharging exploration method and device and sweeping robot |
| CN113064432A (en) * | 2021-03-22 | 2021-07-02 | 深圳市商汤科技有限公司 | Path covering method and device, electronic equipment and storage medium |
| CN114343522A (en) * | 2022-01-20 | 2022-04-15 | 深圳市云鼠科技开发有限公司 | Method for solving problem of skidding of cleaning robot and cleaning robot |
| CN114343522B (en) * | 2022-01-20 | 2023-01-06 | 深圳市云鼠科技开发有限公司 | Method for solving problem of skidding of cleaning robot and cleaning robot |
| CN115444325A (en) * | 2022-07-21 | 2022-12-09 | 深圳银星智能集团股份有限公司 | Secondary cleaning method, device, cleaning robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108873880A (en) | Intelligent mobile equipment and its paths planning method, computer readable storage medium | |
| CN108247647B (en) | Cleaning robot | |
| US11131996B2 (en) | Area partitioning method, partition cleaning method and robot thereof | |
| CN106308685B (en) | cleaning robot and control method thereof | |
| CN109683605B (en) | Robot and automatic recharging method and system thereof, electronic equipment and storage medium | |
| CN106020207B (en) | Self-movement robot traveling method and device | |
| WO2017088811A1 (en) | Self-moving robot and walking mode conversion method and walking method therefor | |
| US9043017B2 (en) | Home network system and method for an autonomous mobile robot to travel shortest path | |
| US7054716B2 (en) | Sentry robot system | |
| CN102138769B (en) | Cleaning robot and cleaning method thereby | |
| CN107340768A (en) | A kind of paths planning method of intelligent robot | |
| CN106959695A (en) | Angle modification method and mobile robot of the mobile robot in working region | |
| CN110727272B (en) | Path planning and scheduling system and method for multiple robots | |
| CN105320140A (en) | Robot cleaner and cleaning path planning method thereof | |
| CN103099586A (en) | Cleaning method using cleaning robot by means of edgewise navigating and intro-expanding | |
| Ziparo et al. | RFID-based exploration for large robot teams | |
| CN111149072A (en) | Magnetometer for robot navigation | |
| CN106155056A (en) | Self-movement robot traveling method and device | |
| CN110376934A (en) | Clean robot, clean robot control method and terminal control method | |
| CN204700886U (en) | Robot system | |
| CN1399734A (en) | Autonomous multi-platform robot system | |
| MXPA03004102A (en) | Autonomous multi-platform robot system. | |
| CN111067432B (en) | Determination method for charging working area of charging pile of sweeper and sweeper | |
| WO2023025028A1 (en) | Charging method, charging apparatus, and robot | |
| CN113475977B (en) | Robot path planning method and device and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information |
Address after: 100192 No. 6016, 6017, 6018, Block C, No. 8 Heiquan Road, Haidian District, Beijing Applicant after: Beijing Roborock Technology Co.,Ltd. Address before: 100192 No. 6016, 6017, 6018, Block C, No. 8 Heiquan Road, Haidian District, Beijing Applicant before: BEIJING ROCKROBO TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220415 Address after: 102299 No. 8008, floor 8, building 16, yard 37, Chaoqian Road, Zhongguancun Science and Technology Park, Changping District, Beijing Applicant after: Beijing Stone Innovation Technology Co.,Ltd. Address before: 100192 No. 6016, 6017, 6018, Block C, No. 8 Heiquan Road, Haidian District, Beijing Applicant before: Beijing Roborock Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right |