CN109085836A - A kind of method that sweeping robot returns designated position minimal path - Google Patents
A kind of method that sweeping robot returns designated position minimal path Download PDFInfo
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- CN109085836A CN109085836A CN201810995594.2A CN201810995594A CN109085836A CN 109085836 A CN109085836 A CN 109085836A CN 201810995594 A CN201810995594 A CN 201810995594A CN 109085836 A CN109085836 A CN 109085836A
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention provides a kind of method that sweeping robot returns designated position minimal path, including map structuring, sweeping robot status, the method definition for returning designated position minimal path.The present invention is walked by being directly entered in programme path in the map of sweeping robot internal build, from starting point to target point, do not need external sensor feedback come instruct or it is exploratory it is blind walk movement, specified work is completed with optimal shortest route, under conditions of existing hardware, allow sweeping robot can by more height it is intelligent in a manner of return to this point of designated position, and avoid it is blind look for generate waste motion software algorithm mode.
Description
Technical field
The present invention relates to sweeping robot technical fields more particularly to a kind of sweeping robot to return designated position minimal path
Method.
Background technique
With the development of the social economy, sweeping robot, which has begun, carries out some housework cleanings instead of people, due to it
Intelligent and convenience, is increasingly liked by people, but due to the complexity and variability of home environment, to sweeper
The requirement of device people is also higher and higher.
In today that sweeping robot is increasingly benefited from, the application of intelligent navigation concept is more and more frequent, but some sweeps the floor
It is general to be looked for by first blind when robot needs to return to initial position or cradle after the completion of cleaning, it is filled detecting
Automatic aligning is carried out under the guidance signal that electric seat issues to recharge, wherein the complexity of the blind time span for looking for state and environment and
Mileage distance of the location of the sweeping robot apart from cradle has a very large relationship, often find cradle time with
It is excessive to clean the time scale completed, causes whole efficiency lowly and intelligent insufficient embarrassment.
Therefore, it is necessary to be researched and developed, to provide a kind of technology for solving above-mentioned currently available technology existing defects
Scheme, the time scale that the time and cleaning for solving existing sweeping robot searching cradle complete is excessive, causes whole efficiency
Low and intelligent insufficient defect.
Summary of the invention
The purpose of the present invention is to provide a kind of methods that sweeping robot returns designated position minimal path, by sweeping the floor
It is directly entered in programme path and walks in the map of robot interior building, from starting point to target point, do not need external induction
Device feedback come instruct or it is exploratory it is blind walk movement, solve existing sweeping robot return designated position time and cleaning
The time scale of completion is excessive, causes whole efficiency lowly and intelligent insufficient defect.
To achieve the above object, the invention adopts the following technical scheme:
A kind of method that sweeping robot returns designated position minimal path, includes the following steps:
Step 1: introducing occupies grating map mode to construct map using laser radar, obtain based on graphical pixel
Coordinate map；
Step 2: comparing the posture information of sweeping robot by the way of calculating and the matching degree of map is swept to determine
Floor-washing robot position；
Step 3: sweeping robot returns to designated position shortest path in the case where the step 1 and step 2 are completed
The method of line is to define a start node and a destination node, is successively extended by center outer layers of start node, until
Until expanding to destination node.
Further, map structuring described in the step 1 is divided into the following steps:
The first step, after map structuring initialization, pass through laser radar and obtain environment polar data and sweeping robot
Current pose coordinate；
Second step converts polar data to and sits by the two-dimensional surface right angle of origin of sweeping robot pose coordinate
Mark；
Robot pose coordinate system is converted global map coordinate system by third step, obtains laser radar and is mapped to the overall situation
The point cloud data of map coordinates system；
4th step carries out grating map processing to the point cloud data in third step, obtains Grid Coordinate System；
5th step is converted into Grid Coordinate System image array, and the lattice point numerical value for occupying grating map is 0.9；
6th step occupies grating map with the drafting of Bresenham algorithm, then updates and occupies grating map state.
Further, the step 2 successively carries out sweeping robot after completing the map structuring in the step 1
Pose Monte Carlo localization, initialization population and simulation particle movement, map match and map rejuvenation process.
Further, the sweeping robot pose Monte Carlo localization refers on the laser radar data of acquisition, choosing
The robot pose and the map picture under the pose for taking last moment；The initialization population refers to simulation particle movement
Several particles are set, grating map is drawn as coordinate using sweeping robot；The map match is to find sweeping robot position
Map picture and the most matched point of grating map under appearance, so that obtaining iteration assignment carries out map rejuvenation.
Further, in the step 3, to map is marked, and marks wall or barrier, initial point, end
Point, non-search coverage；Then the successively scanning around centered on initial point, and calculate the corresponding expansion point coordinate of scanning element.
Further, the expansion point coordinate and label compare, confirm the point of expansioning be mark wall or barrier,
One of initial point, end point, non-search coverage.
Further, the expansion point is end point, stores the expansion point coordinate to chain ga ge damper, the machine of sweeping the floor
People returns to designated position minimal path and searches completion.
Further, the expansion point is wall or barrier, casts out the expansion point coordinate, then confirms the expansion point
All whether inquiry finishes the point of layer corresponding to corresponding scanning element.
Further, the expansion point is non-search coverage, stores the expansion point coordinate to chained list, then confirms the expansion
All whether inquiry finishes the point of layer corresponding to the corresponding scanning element of point.
Further, the point for expanding layer corresponding to the corresponding scanning element of point, which is all inquired, finishes, the sweeping robot
It returns to designated position minimal path and searches failure.
Compared to the prior art, the method that sweeping robot of the present invention returns designated position minimal path, by sweeper
It is directly entered in programme path and walks in the map of device people's internal build, from starting point to target point, do not need external sensor
Feedback come instruct or it is exploratory it is blind walk movement, specified work is completed with optimal shortest route, in existing hardware
Under the conditions of, allow sweeping robot can by more height it is intelligent in a manner of return to this point of designated position, and blind look for etc. is avoided to generate
The mode of the software algorithm of waste motion solves the time that existing sweeping robot returns the time of designated position and cleaning is completed
Ratio is excessive, causes whole efficiency lowly and intelligent insufficient defect.
Detailed description of the invention
Fig. 1 is map structuring flow chart of the present invention；
Fig. 2 is sweeping robot positioning flow figure of the present invention；
Fig. 3 is minimal path calculation method simplification figure of the present invention；
Fig. 4 is the simplification figure of another embodiment of the present invention minimal path calculation method；
Fig. 5 is the flow chart of Fig. 4 route calculation algorithm.
Specific embodiment
In order to more fully understand technology contents of the invention, with reference to the accompanying drawing and specific embodiment is to technology of the invention
Scheme is further described and illustrates, but not limited to this.
The method that sweeping robot of the present invention returns designated position minimal path has planned route in advance, and sweeping robot will be
It is directly entered in programme path and walks in the map of internal build, from starting point to target point, do not need the anti-of external sensor
Feedback come instruct or it is exploratory it is blind walk act, in the planning of intellectualized algorithm, specified work is completed with optimal shortest path
Make, avoids the blind mode looked for etc. and to generate the software algorithm of waste motion.
The method that sweeping robot of the present invention returns designated position minimal path includes following 3 steps:
Step 1: map structuring: using laser radar, introducing occupies grating map mode to construct indoor map, obtains
Coordinate map based on graphical pixel；
Step 2: robot localization: comparing the posture information and map segment of sweeping robot by the way of calculating
Matching degree determines machine position, and algorithm idea is mainly to merge the information that laser radar returns simultaneously to use Gaussian Profile
The noise for describing sweeping robot location information, the position of sweeping robot is described with a large amount of particle；
Step 3: minimal path calculates: in the case where the positioning of map and sweeping robot all has determined that, sweeping the floor
Robot, which returns to designated position, directly to complete route planning realization pinpoint navigation by operation, and algorithm process is to be based on
The positioning of whole map structuring and sweeping robot, minimal path calculation method define a start node S and a target section
Point T, successively extends by center outer layers of start node S, until expanding to destination node T.
Specifically, in said step 1, invention describes the detailed process of the map structuring, as shown in Figure 1, institute
It states map structuring and is broadly divided into the following steps:
The first step, after map structuring initialization, home environment data and sweeping robot are obtained by laser radar and worked as
Preceding pose coordinate, the home environment data use polar coordinate representation, that is, lidar_data (lidar-ranger, lidar-
Data), the current pose coordinate of the sweeping robot indicates to be pose (x, y, angle) using global map rectangular co-ordinate；
Second step converts polar data to and sits by the two-dimensional surface right angle of origin of sweeping robot pose coordinate
Mark, the polar data conversion formula are as follows: scan (x)=cos (lidar-angle) * lidar_data；Scan (y)=sin
(lidar-angle)*lidar_data；
Robot pose coordinate system is converted global map coordinate system, specific transform mode are as follows: Tx=scan by third step
(x) * cos (angle)+scan (y) * sin (angle), Ty=scan (x) * sin (angle)-scan (y) * cos (angle),
Obtain the point cloud data (Tx, Ty) that laser radar is mapped to global map coordinate system；
4th step carries out grating map processing to the point cloud data (Tx, Ty), i.e. Sx=floor is rounded (Tx/Sg
(grid size)), Sy=floor is rounded (Ty/Sg (grid size))；
5th step is converted into Grid Coordinate System image array, Simg=zeros (N, M), Simg (Sx, Sy)=0.9,
The lattice point numerical value for occupying grating map is 0.9；
6th step, drafting occupy grating map, are drawn with Bresenham algorithm from sweeping robot pose point to occupying a little
Occupation probability -0.7, Simg=Bresenham (Simg, Sx, Sy, pose (x), pose of non-barrier between (Sx, Sy)
(y))；
7th step, update occupy grating map state, previous frame map simgl=simgl+simg；Confirm map rejuvenation
Whether complete, map structuring is completed if map rejuvenation is completed, and repeats to start to obtain home environment if map rejuvenation does not complete
Then data and the current pose coordinate of sweeping robot repeatedly carry out map rejuvenation again and confirm after third step to the 6th step.
Specifically, in the step 2, invention describes the detailed process of the robot localization, as shown in Fig. 2,
It first has to complete map structuring described in step 1；Then sweeping robot pose Monte Carlo localization, initial is successively carried out
Change population and simulation particle movement, map match and map rejuvenation, that is, completes sweeping robot positioning flow；
The sweeping robot pose Monte Carlo localization refers to the laser radar data scan for obtaining a new frame, in selection
The robot pose pose and the map picture Simg under the pose at one moment；The initialization population and simulation particle move
Refer to that 200 particles of setting pass through Ppose=pose+move* (rand (3,200)-using Ppose as sweeping robot coordinate
0.5) grating map psimg is drawn；The map match is that the point pp of coincidence is found by Msimg=Simg+psimg, i.e.,
Pp=(Msimg >=2), if the map picture Simg under robot pose pose is most matched with grating map psimg,
The number of Msimg=2 is most, and obtaining most matched pose by Idx=max (sum (Msimg)) is ppose (idx), and
To iteration assignment pose=ppose (idx), map rejuvenation can be carried out.
In addition, it is above-mentioned start carry out map rejuvenation when, that is, the second step being transferred in the step 1, by polar data
The step of being converted into the two-dimensional surface rectangular co-ordinate using sweeping robot pose as origin, then pressing in step 1 behind second step
It successively carries out that map rejuvenation can be completed down.
Specifically, in the step 3, as shown in figure 3, minimal path calculation method defines a start node S and one
A destination node T, successively extends by center outer layers of start node S, until expanding to destination node T, in figure
Number represents the point of which time scanning, and for the domestic environment under complex situations, as shown in figure 4, black color lump is wall in figure
Perhaps scan in such a case can be around wall or barrier, equally using start node S as center outer layers for barrier for body
Successively extension, until expanding to destination node T.
In order to further describe the method that sweeping robot of the present invention returns designated position minimal path, provide to originate section
Centered on point S, destination node T terminal scanning detailed process, as shown in figure 5, sweeping robot return designated position before, meeting
Initialization map movement is carried out, existing map is marked, numerical value BLOCK_OBJ, initial point is arranged in wall or barrier
It is arranged START_SPOT (S_X, S_Y), TARGET_SPOT (T_X, T_Y) is arranged in end point, and non-search coverage is set as
UNCHECK_LAND(-1)；Then it is scanned around centered on initial point, is successively extended to n-th layer since the 0th layer, and right
Some is put corresponding expansion point and is calculated as follows:
ExtendCorrd [0] .X=ScanCoord (up) .X
ExtendCorrd [0] .Y=ScanCoord (up) .Y
ExtendCorrd [1] .X=ScanCoord (down) .X
ExtendCorrd [1] .Y=ScanCoord (down) .Y
ExtendCorrd [2] .X=ScanCoord (right) .X
ExtendCorrd [2] .Y=ScanCoord (right) .Y
ExtendCorrd [3] .X=ScanCoord (left) .X
ExtendCorrd [3] .Y=ScanCoord (left) .Y,
Determine whether the corresponding expansion point of point is TARGET_SPOT, whether exceeds map, whether is BLOCK_ after calculating
OBJ, whether it is any situation in UNCHECK_LAND:
If the corresponding expansion point of point is TARGET_SPOT, it is extended to end point, stores the coordinate to chain table buffering
Device, path searching are completed；If the corresponding expansion point of point casts out the coordinate beyond map either BLOCK_OBJ；If should
The corresponding expansion point of point is UNCHECK_LAND, then stores the coordinate to chained list.
Next confirmation expand point beyond map, be BLOCK_OBJ and be scanning element institute under UNCHECK_LAND state
All whether inquiry finishes all possible points of respective layer n, if not inquired, continues to inquire and calculate that scanning element is corresponding opens up
Then machine plotting determines its affiliated situation；
If inquiry finishes, determine whether n >=MAX_BOUND is true, if so, then path searching fails；If not at
It is vertical, then continue to expand scanning from n-th layer up to being extended to end point, completes path searching.
It is above-mentioned that technology contents of the invention are only further illustrated with embodiment, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by of the invention
Protection.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of method that sweeping robot returns designated position minimal path, characterized by the following steps:
Step 1: introducing occupies grating map mode to construct map using laser radar, the coordinate based on graphical pixel is obtained
Map；
Step 2: comparing the posture information of sweeping robot by the way of calculating and the matching degree of map determines sweeper
Device people position；
Step 3: sweeping robot returns to designated position minimal path in the case where the step 1 and step 2 are completed
Method is to define a start node and a destination node, is successively extended by center outer layers of start node, until extension
Until destination node.
2. the method that sweeping robot according to claim 1 returns designated position minimal path, it is characterised in that: the step
Map structuring described in rapid one is divided into the following steps:
The first step, map structuring initialization after, by laser radar obtain environment polar data and sweeping robot it is current
Pose coordinate；
Polar data is converted the two-dimensional surface rectangular co-ordinate using sweeping robot pose coordinate as origin by second step；
Robot pose coordinate system is converted global map coordinate system by third step, obtains laser radar and is mapped to global map
The point cloud data of coordinate system；
4th step carries out grating map processing to the point cloud data in third step, obtains Grid Coordinate System；
5th step is converted into Grid Coordinate System image array, and the lattice point numerical value for occupying grating map is 0.9；
6th step occupies grating map with the drafting of Bresenham algorithm, then updates and occupies grating map state.
3. the method that sweeping robot according to claim 1 returns designated position minimal path, it is characterised in that: the step
Rapid two after completing the map structuring in the step 1, successively carries out sweeping robot pose Monte Carlo localization, initialization
Population and simulation particle movement, map match and map rejuvenation process.
4. the method that sweeping robot according to claim 3 returns designated position minimal path, it is characterised in that: described to sweep
Floor-washing robot pose Monte Carlo localization refers on the laser radar data of acquisition, choose the robot pose of last moment with
Map picture under the pose；The initialization population and simulation particle movement refer to the several particles of setting, with machine of sweeping the floor
Artificial coordinate draws grating map；The map match is the map picture and grating map found under sweeping robot pose
Most matched point, so that obtaining iteration assignment carries out map rejuvenation.
5. the method that sweeping robot according to claim 1 returns designated position minimal path, it is characterised in that: described
In step 3, to map is marked, and marks wall or barrier, initial point, end point, non-search coverage；Then with first
Successively scanning around centered on initial point, and calculate the corresponding expansion point coordinate of scanning element.
6. the method that sweeping robot according to claim 5 returns designated position minimal path, it is characterised in that: described to open up
Machine plotting coordinate and label compare, and confirm that the expansion point is label wall or barrier, initial point, end point, non-detecting area
One of domain.
7. the method that sweeping robot according to claim 6 returns designated position minimal path, it is characterised in that: described to open up
Machine plotting is end point, stores the expansion point coordinate to chain ga ge damper, the sweeping robot returns to designated position minimal path
It searches and completes.
8. the method that sweeping robot according to claim 6 returns designated position minimal path, it is characterised in that: described to open up
Machine plotting is wall or barrier, casts out the expansion point coordinate, then confirms that layer corresponding to corresponding scanning element is put in the expansion
All whether inquiry finishes point.
9. the method that sweeping robot according to claim 6 returns designated position minimal path, it is characterised in that: described to open up
Machine plotting is non-search coverage, stores the expansion point coordinate to chained list, then confirms layer corresponding to the corresponding scanning element of expansion point
Point whether all inquiry finish.
10. according to the method that the described in any item sweeping robots of claim 8 or 9 return designated position minimal path, feature
Be: the point for expanding layer corresponding to the corresponding scanning element of point, which is all inquired, to be finished, and the sweeping robot returns to designated position
Minimal path searches failure.
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Cited By (4)
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| CN109974705A (en) * | 2019-03-08 | 2019-07-05 | 桂林电子科技大学 | A kind of optimization method and system in the cleaning path of sweeping robot |
| CN110221601A (en) * | 2019-04-30 | 2019-09-10 | 南京航空航天大学 | A kind of more AGV system dynamic barrier Real-time Obstacle Avoidance Methods and obstacle avoidance system |
| CN110531759A (en) * | 2019-08-02 | 2019-12-03 | 深圳大学 | Path generating method, device, computer equipment and storage medium are explored by robot |
| CN112859874A (en) * | 2021-01-25 | 2021-05-28 | 上海思岚科技有限公司 | Dynamic environment area operation and maintenance method and device for mobile robot |
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