CN108873892A - A kind of automatic dust absorption machine people's optimum path planning method based on path density analysis - Google Patents

A kind of automatic dust absorption machine people's optimum path planning method based on path density analysis Download PDF

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CN108873892A
CN108873892A CN201810543848.7A CN201810543848A CN108873892A CN 108873892 A CN108873892 A CN 108873892A CN 201810543848 A CN201810543848 A CN 201810543848A CN 108873892 A CN108873892 A CN 108873892A
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data link
link table
dust absorption
machine people
automatic dust
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CN108873892B (en
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刘瑜
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GUANGDONG LESHENG INTELLIGENT TECHNOLOGY CO.,LTD.
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Hangzhou Jingyi Intelligent Science and Technology Co Ltd
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    • 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
    • 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
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Disclose a kind of automatic dust absorption machine people's optimum path planning method based on path density analysis, the automatic dust absorption machine people includes two driving wheels, two driving motors connecting with the driving wheel, encoder is installed on the driving motor, to be mounted on the obstacle detector of the automatic dust absorption machine people front, optimum path planning method is set inside the controller, and the optimum path planning method includes the following steps：(1) data link table L is set0；(2) when the automatic dust absorption machine people described in detects barrier, current position coordinates are recorded, are stored in data link table L0；(3) data link table L is sought0Central point O and central point O to data link table L0In point Pi(xi,yi) direction angle alpha, and be stored in data link table L1{αj}；(4), data link table L is set2={bk, bkRepresent data link table L1Middle element is located at the quantity in the region k × π/4；(5) data link table L is calculated1Middle element αjPositioned at bkThe quantity of corresponding region, and minimize, corresponding direction is as new cleaning direction.

Description

A kind of automatic dust absorption machine people's optimum path planning method based on path density analysis
Technical field
Automatic dust absorption machine people's optimum path planning method based on path density analysis that the present invention relates to a kind of, belongs to intelligence It can household appliance control technology field.
Background technique
With the acceleration of people's life rhythm, it and requires life content more and more abundant, intelligent appliance is promoted to come into Our life.Wherein, automatic dust absorption machine people has given us very big help.The cleaning of family is very heavy, and Very frequently.Automatic dust absorption machine people can clean Domestic floor automatically.It utilizes self-contained rechargeable battery To various electric power supplies, wherein dust sucting motor forms enough vacuum inside automatic dust absorption machine people, will by bar shaped suction inlet Dust box inside the rubbish sucking on ground, and the free walker of automatic dust absorption machine people may be implemented in driving motor and driving wheel It walks.Automatic dust absorption machine people is achieved that the cleaning to ground by the walking process of itself.
Because current automatic dust absorption machine people does not have point-device positioning and planning ability also, path is cleaned Efficiency just become puzzlement industry development problem.Currently used strategy is random path, and automatic dust absorption machine people is on ground Face random walk abandons any planing method, and this strategy leads to very low sweeping efficiency, often will appear automatic dust collector device People cleans in some region for a long time, and can seldom enter other regions.
Summary of the invention
Place that purpose of the invention is to overcome the shortcomings in the prior art proposes a kind of based on path density analysis Optimum path planning method will clean direction and be divided into 8 fixed-directions, and selection is most likely to be non-purging zone side on probability To being cleaned, path repetitive rate is reduced, improves sweeping efficiency, while not increasing any hardware cost.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of automatic dust absorption machine people's optimum path planning method based on path density analysis, the automatic dust absorption machine people Including two driving wheels, two driving motors being connect with the driving wheel, encoder is installed on the driving motor, is also wrapped A support wheel is included, to be mounted on the obstacle detector of the automatic dust absorption machine people front, the driving motor, Encoder and obstacle detector are connect with controller, and the controller passes through driving wheel described in being respectively set two The free movement of the automatic dust absorption machine people is realized in speed and direction, and can be with according to the signal of the encoder The relative movement distance and direction of rotation for calculating the automatic dust absorption machine people can be calculated using initial position as coordinate origin The coordinate of current location（X, y）, optimum path planning method, the optimum path planning side is arranged in the controller inside Method includes the following steps：
(1), data link table L is set0={Pi(xi,yi), wherein i=0,1,2......N-1, xiAnd yiFor coordinate value, N is data Chained list L0Length, data link table L0The coordinate of stop position after barrier is detected for the automatic dust absorption machine people described in the recent period Data；
(2), the automatic dust absorption machine people is advanced with rectilinear motion mode, and constantly detects barrier；Hinder when detecting When hindering object, the automatic dust absorption machine people stops, and records the coordinate of current location（X, y）, it is stored in data link table L0, then Enter step 3；
(3), data link table L is sought0Central point O (xo, yo), calculate central point O to data link table L0In point Pi(xi,yi) Direction angle alpha, and it is stored in data link table L1{αj, wherein j=0,1,2......N-1；
(4), data link table L is set2={bk, wherein k=0,1,2......7；Centered on central point O, 8 are divided the circumference into Region, and bkRepresent data link table L1Middle element αjIt is located atQuantity in region；
(5), data link table L is calculated1In all elements αjThe region at place, index=INT (), then bindex++；Compare Data link table L2Middle element bkSize, extract minimum value, be denoted as bmin, corresponding deflection is, then New cleaning direction is θ.
In step 2, the coordinate of current location（X, y）It is stored in data link table L0, in accordance with the following steps：
Enable Pi(xi,yi)=Pi-1(xi-1,yi-1), i=1,2,3.....N-1;
Then P0(x0,y0)=(x, y), complete chain table handling.
In step 3, data link table L0Central point O (xo, yo) Coordinate calculation method be：
Search for data link table L0The maximin of middle coordinate data：xmax, xmin, ymax, ymin；
Calculate xo=, yo=。
In step 3, central point O to data link table L is calculated0Midpoint Pi(xi,yi) the method for direction angle alpha be：
As (xi-xo)>0 and (yi-yo)>0, then α=；
As (xi-xo)<0 and (yi-yo)>0, then α=;
As (xi-xo)<0 and (yi-yo)<0, then α=；
As (xi-xo)>0 and (yi-yo)<0, then α=。
Implementing the positive effect of the present invention is：1, the cleaning coverage rate of random walk is improved；2, flexible working mode is easy to It realizes, does not increase system cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatic dust absorption machine people；
Fig. 2 is the paths planning method of automatic dust absorption machine people.
Specific embodiment
Now in conjunction with attached drawing, the invention will be further described：
Referring to Fig.1-2, a kind of automatic dust absorption machine people's optimum path planning method based on path density analysis, described is automatic Two driving motors 2 that dust-collecting robot includes two driving wheels 1, is connect with the driving wheel 1, on the driving motor 2 Encoder is installed, further includes a support wheel 3, the support wheel 3 plays the role of support, is not used in driving.Wherein, described Driving motor 2 and encoder are connect with controller.The speed that the controller passes through driving wheel 1 described in being respectively set two The free movement of the automatic dust absorption machine people is realized with direction, and institute can be calculated according to the signal of the encoder The relative movement distance of the automatic dust absorption machine people stated and direction of rotation can calculate present bit using initial position as coordinate origin The coordinate set（X, y）.Due to mechanical clearance, the factors such as error and ground skidding, coordinate are calculated（X, y）There can be accumulative miss Difference, that is to say, that over time, error can be increasing, but within a period of time, coordinate（X, y）Or have There is utility value.
Further include the obstacle detector for being mounted on the automatic dust absorption machine people front, equally with the controller Connection.The obstacle detector can using the sensors such as ultrasonic wave, infrared or laser radar or two kinds or The set of person's multiple sensors.
Optimum path planning method is set inside the controller, and the optimum path planning method includes following step Suddenly：
(1), data link table L is set0={Pi(xi,yi), wherein i=0,1,2......N-1, xiAnd yiFor coordinate value, N is data Chained list L0Length, data link table L0The coordinate of stop position after barrier is detected for the automatic dust absorption machine people described in the recent period Data；
Data link table L0Length N should not be too large, otherwise error cause greatly very much plan effect be deteriorated.
(2), the automatic dust absorption machine people is advanced with rectilinear motion mode, and constantly detects barrier；Work as detection When to barrier, the automatic dust absorption machine people stops, and records the coordinate of current location（X, y）, it is stored in data link table L0, Subsequently into step 3；
In step 2, the coordinate of current location（X, y）It is stored in data link table L0, in accordance with the following steps：
Enable Pi(xi,yi)=Pi-1(xi-1,yi-1), i=1,2,3.....N-1;
Then P0(x0,y0)=(x, y), complete chain table handling.
(3), data link table L is sought0Central point O (xo, yo), calculate central point O to data link table L0In point Pi(xi, yi) direction angle alpha, and be stored in data link table L1{αj, wherein j=0,1,2......N-1；
In step 3, data link table L0Central point O (xo, yo) Coordinate calculation method be：
Search for data link table L0The maximin of middle coordinate data：xmax, xmin, ymax, ymin；
Calculate xo=, yo=。
In step 3, central point O to data link table L is calculated0Midpoint Pi(xi,yi) the method for direction angle alpha be：
As (xi-xo)>0 and (yi-yo)>0, then α=；
As (xi-xo)<0 and (yi-yo)>0, then α=;
As (xi-xo)<0 and (yi-yo)<0, then α=；
As (xi-xo)>0 and (yi-yo)<0, then α=。
(4), data link table L is set2={bk, wherein k=0,1,2......7；Centered on central point O, divide the circumference into 8 regions, and bkRepresent data link table L1Middle element αjIt is located atQuantity in region；
BkTo add up register, the cleaning number on corresponding direction is recorded, provides foundation for subsequent planning.
(5), data link table L is calculated1In all elements αjThe region at place, index=INT (), then bindex+ +；Compare data link table L2Middle element bkSize, extract minimum value, be denoted as bmin, corresponding deflection is, then new cleaning direction is θ.
Finally, according to data link table L1In data, to data link table L2Assignment then according to minimum value, that is, determines Without or at least the direction that cleans is new cleaning direction.
In conclusion automatic dust absorption machine people is divided into 8 fixed-directions for direction is cleaned, by dividing historical data Analysis selects the direction at least cleaning number as the cleaning direction for connecing a step, reduces path and repeat, to effectively improve cleaning effect Rate.Meanwhile the program is equally applicable to the path planning that automatic dust absorption machine people finds cradle.

Claims (4)

1. a kind of automatic dust absorption machine people's optimum path planning method based on path density analysis, the automatic dust absorption machine People includes two driving wheels, two driving motors connecting with the driving wheel, installs encoder on the driving motor, also Including a support wheel, to be mounted on the obstacle detector of the automatic dust absorption machine people front, the driving electricity Machine, encoder and obstacle detector are connect with controller, and the controller passes through driving described in being respectively set two The free movement of the automatic dust absorption machine people is realized in the speed of wheel and direction, and according to the signal of the encoder The relative movement distance and direction of rotation that the automatic dust absorption machine people can be calculated can using initial position as coordinate origin Calculate the coordinate of current location（X, y）, it is characterised in that：Optimum path planning method is set inside the controller, it is described Optimum path planning method include the following steps：
(1), data link table L is set0={Pi(xi,yi), wherein i=0,1,2......N-1, xiAnd yiFor coordinate value, N is data Chained list L0Length, data link table L0The coordinate of stop position after barrier is detected for the automatic dust absorption machine people described in the recent period Data；
(2), the automatic dust absorption machine people is advanced with rectilinear motion mode, and constantly detects barrier；Hinder when detecting When hindering object, the automatic dust absorption machine people stops, and records the coordinate of current location（X, y）, it is stored in data link table L0, then Enter step 3；
(3), data link table L is sought0Central point O (xo, yo), calculate central point O to data link table L0In point Pi(xi,yi) Direction angle alphaj, and it is stored in data link table L1{αj, wherein j=0,1,2......N-1；
(4), data link table L is set2={bk, wherein k=0,1,2......7；Centered on central point O, 8 are divided the circumference into Region, and bkRepresent data link table L1Middle element αjIt is located atQuantity in region；
(5), data link table L is calculated1In all elements αjPlace region index=INT (), then bindex++；Compare Data link table L2Middle element bkSize, extract minimum value, be denoted as bmin, corresponding deflection is, then newly Cleaning direction be θ.
2. a kind of automatic dust absorption machine people optimum path planning side based on path density analysis according to claim 1 Method, it is characterised in that：In step 2, the coordinate of current location（X, y）It is stored in data link table L0, in accordance with the following steps：
Enable Pi(xi,yi)=Pi-1(xi-1,yi-1), i=1,2,3.....N-1;
Then P0(x0,y0)=(x, y), complete chain table handling.
3. a kind of automatic dust absorption machine people optimum path planning side based on path density analysis according to claim 1 Method, it is characterised in that：In step 3, data link table L0Central point O (xo, yo) Coordinate calculation method be：
Search for data link table L0The maximin of middle coordinate data：xmax, xmin, ymax, ymin；
Calculate xo=, yo=。
4. a kind of automatic dust absorption machine people optimum path planning side based on path density analysis according to claim 1 Method, it is characterised in that：In step 3, central point O to data link table L is calculated0Midpoint Pi(xi,yi) the method for direction angle alpha be：
As (xi-xo)>0 and (yi-yo)>0, then α=；
As (xi-xo)<0 and (yi-yo)>0, then α=;
As (xi-xo)<0 and (yi-yo)<0, then α=；
As (xi-xo)>0 and (yi-yo)<0, then α=。
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