CN109528090A - The area coverage method and chip and clean robot of a kind of robot - Google Patents
The area coverage method and chip and clean robot of a kind of robot Download PDFInfo
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- CN109528090A CN109528090A CN201811411034.4A CN201811411034A CN109528090A CN 109528090 A CN109528090 A CN 109528090A CN 201811411034 A CN201811411034 A CN 201811411034A CN 109528090 A CN109528090 A CN 109528090A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000004140 cleaning Methods 0.000 claims abstract description 143
- 238000010408 sweeping Methods 0.000 claims abstract description 32
- 238000010926 purge Methods 0.000 claims description 39
- 230000004888 barrier function Effects 0.000 claims description 20
- 235000013399 edible fruits Nutrition 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000004018 waxing Methods 0.000 description 2
- 244000062793 Sorghum vulgare Species 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 235000019713 millet Nutrition 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The present invention relates to the area coverage methods and chip and clean robot of a kind of robot, and the cleaning quality of robot can be improved.The area coverage method of the robot, by first draw a circle to approve grid region can cleaning range, then planning cleaning is carried out to the range of delineation, general landform can be known in advance in robot in cleaning process, perfecting program in advance, to improve the cleaning quality and sweeping efficiency of robot.For example, just can know that when robot prepares to reach physical boundary by map, and do not have to collision or other sensors judges boundary, in addition, some narrow entrances, in delineation it is known in advance that, it is subsequent to carry out just being not easy to omit when planning cleaning.
Description
Technical field
The present invention relates to field in intelligent robotics, and in particular to the area coverage method and chip of a kind of robot and clear
Clean robot.
Background technique
There are many kinds of SLAM algorithms, for example navigated based on laser scanning, view-based access control model navigation, in the former cost
It is somewhat expensive, it is common will be between 300 ~ 500 yuan, millet sweeping robot is also based on the slam algorithm of this principle realization,
The latter's cost relative low points, but technical threshold is relatively high, has vision guided navigation on the market at present, and it is pretty good not to be made effect
It is very much, such as Roomba 980, effect is with regard to relatively good.But both above way, it is all relatively high from cost.At present
The digital map navigation scheme of most of low cost on the market, or based on gyroscope, but it is based only on the scheme of gyroscope, it
Accomplish under map is accurate and various complex environments can realizing route planning and navigation efficiency it is high, be to have very much technical threshold.
Sweeping robot on the market at present, there are also being greatly random algorithm, the various drawbacks of this random algorithm with
Appearance being exaggerated slowly of digital map navigation scheme, for example without Objective, sweeping efficiency is low equal.It newly came out in recent years
The sweeping robot of slam algorithm also presents the technology of each family, these technologies all respectively have superiority and inferiority.General these use slam
The sweeping robot of algorithm, be all it is direct carry out arc type planning and clean, if only one is lesser logical at the middle part in the region
When road can allow robot to pass through and enter the another side in region, robot is likely to because of reasons such as walking errors, can not
The entrance for effectively detecting the channel takes for the region that the another side in region can not clean, so as to cause drain sweep
Situation occurs.
Summary of the invention
The present invention provides the area coverage methods and chip and clean robot of a kind of robot, and machine can be improved
The cleaning quality of people.Specific technical solution of the present invention is as follows:
A kind of area coverage method of robot, include the following steps: step S1: robot is since grid region starting point, edge
The zone boundary of the grid region is walked, and enters step S2；Step S2: robot in the process of walking real-time judge whether
It detects barrier, if it is, entering step S3, otherwise continues to walk along the zone boundary of the grid region, Zhi Daoji
Device people returns to the grid region starting point, has drawn a circle to approve in one at this point, robot walks in the grid region bounds
Region, then robot carries out the inner region drawn a circle to approve in the form of desired trajectory since the grid region starting point
Planning cleans, and completes the traversal of the inner region；Step S3: robot along in the barrier be located at the grid region model
Side in enclosing walk along side, and judges whether to reach the zone boundary, if it is not, then continue to walk along side, if
It is then to walk along the zone boundary, and return step S2.
Specifically, robot described in step S2 is since the grid region starting point, to institute in the form of desired trajectory
The inner region of delineation carries out planning cleaning, and specifically comprise the following steps: step S21: robot is from the grid region
Point starts, and planning cleaning is carried out in the form of arc type track, enters step S22；Step S22: robot is real in cleaning process
When judge whether there is drain sweep region, if it is, enter step S23, cleaned if it is not, then continuing planning, until described
Inner region planning, which cleans, to be terminated；Step S23: robot determines that current location point sweeps up initial point to mend, and sweeps up initial point from the benefit
Start to carry out the drain sweep region to mend and sweep, after benefit is swept, robot returns to the benefit and sweeps up initial point, continue to it is remaining not
Purging zone carries out planning cleaning, and return step S22.Wherein, the inner region planning cleans and terminates to refer to that Robot is clear
When sweeping direction and cleaning to zone boundary, virtual boundary or physical boundary, completes the whole of the inner region and clean.
Specifically, whether the real-time judge in cleaning process of robot described in step S22 has the step of drain sweep region,
Specifically comprise the following steps: step S221: robot judges it along the range that cleaning direction is passed by, if with closed loop
Block is not cleaned, if it is, S222 is entered step, if it is not, then continuing to clean；Step S222: robot judgement is described not
Whether clean in block there is length not clean boundary line greater than pre-determined distance, if it is, determination has drain sweep region, if
It is no, it is determined that there is no drain sweep region.Wherein, the closed loop do not clean block refer to by zone boundary, obstacles borders line and/
Or one piece of non-purging zone that boundary line is surrounded is not cleaned.
Specifically, robot described in step S23 determines that current location point sweeps up initial point to mend, the beginning is swept up from the benefit
Point starts to carry out mending the step of sweeping to the drain sweep region, and specifically comprise the following steps: step S231: robot determines present bit
It sets and a little sweeps up initial point to mend, and search for map constructed in walking process, subsequently into step S232；Step S232: machine
Person selects in the drain sweep region and sweeps up the nearest benefit of navigation distance of initial point with described mend and be swept into mouth, and selects described nearest
It mends to be swept into two endpoint locations of mouth benefit described in distance and sweep up a nearest endpoint location of initial point and mend as first and sweep a little, choosing
It selects another endpoint location that the nearest benefit is swept into mouth to sweep a little as the second benefit, subsequently into step S233；Step
S233: robot navigation to described first, which mends, to sweep a little, starts to mend towards described second and sweeps walking and clean, and with towards the drain sweep
Inside region, and the direction for being parallel to the cleaning direction that the regional planning cleans is current cleaning direction, to the drain sweep area
Domain carries out arc type planning and cleans, and until robot completes the cleaning to the drain sweep region, then benefit sweeps end.
Specifically, further including following steps after the traversal of the completion inner region described in step S2: step S41:
Robot carries out regional planning cleaning to other grid regions according to nearby principle currently to clean end point as basic point, if
Nearby principle is not applicable, then enters step S42；Step S42: nearest unclear of selection and the current navigation distance for cleaning end point
Sweeping a location point in region is basic point, regional planning cleaning is carried out to the non-purging zone further according to nearby principle, clear
During sweeping, if nearby principle is not applicable, select next nearest not with the navigation distance of current cleaning end point
A location point in purging zone is basic point, continues to carry out regional planning cleaning to the non-purging zone according to nearby principle,
And so on, until all areas cleaning finishes.Wherein, the nearby principle refers to that robot preferentially selects and current cleaning side
To on identical direction, using corresponding to the basic point a strip area boundary of purging zone as the non-purging zone of adjacent side into
Row regional planning cleans；Secondly selection cleans on the perpendicular direction in direction with current, with cleaning corresponding to the basic point
The one strip area boundary in region is that the non-purging zone of adjacent side carries out regional planning cleaning；Finally selection cleans direction phase with current
On vertical direction, with the opposite another strip area boundary in a strip area boundary of purging zone is corresponding to the basic point
The non-purging zone of adjacent side carries out regional planning cleaning.Wherein, regional planning cleaning refer to robot to preset length and
After the grid region of predetermined width is drawn a circle to approve, the inner region drawn a circle to approve is cleaned according to arc type track form side
Formula.Wherein, when the cleaning direction refers to that robot carries out regional planning cleaning, cleaning range is from the one end in region to the other end
Direction when extension.
A kind of chip, for storing program instruction, described program instruction executes any one as above for controlling robot
Area coverage method described in scheme.
A kind of clean robot, including main control chip, the main control chip are above-mentioned chip.
The area coverage method of the robot, by first draw a circle to approve grid region can cleaning range, then the model to delineation
It encloses and carries out planning cleaning, general landform can be known in advance in robot in cleaning process, in advance perfecting program, to improve
The cleaning quality and sweeping efficiency of robot.For example, just can know that when robot prepares to reach physical boundary by map, without
Judge boundary with collision or other sensors, in addition, some narrow entrances, when drawing a circle to approve it is known in advance that, it is subsequent
It carries out just being not easy to omit when planning cleans.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the area coverage embodiment of the method for robot of the present invention.
Fig. 2 is analysis schematic diagram when grid region is drawn a circle to approve by robot.
Fig. 3 is analysis schematic diagram when robot carries out regional planning cleaning.
Fig. 4 is the analysis schematic diagram that robot judges whether there is drain sweep region.
Fig. 5 is that robot carries out mending analysis schematic diagram when sweeping.
Fig. 6 is the cleaning planning application schematic diagram that robot carries out multi-grid region.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that disclosed below, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.Below
Description in, provide detail to provide a thorough understanding of embodiments.However, those skilled in the art will manage
Solution, may be practiced without these specific details embodiment.For example, circuit can be shown in block diagrams, avoid
Make embodiment fuzzy in unnecessary details.In other cases, it in order not to obscure embodiment, can not display the details of well known
Circuit, structure and technology.
A kind of area coverage method of robot, wherein the robot be can with the intelligent robot of autonomous, than
It is such as used for the sweeping robot of family's floor cleaning, the cleaning is not limited to sweep the floor and dust suction, can also refer to mop floor, polish
Or the cleaning functions such as waxing.After i.e. robot completes area coverage according to the area coverage method, region is just completed
The dust suction on ground mops floor, the polishing or waxing on floor.The area coverage method, as shown in Figure 1, specifically including following step
Rapid: in step sl, robot walks since grid region starting point along the zone boundary of the grid region, and enters step
Rapid S2.The grid region starting point is location point when robot starts to carry out the regional planning cleaning of grid region.Regional edge
Boundary is the virtual boundary line for surrounding grid region.In step s 2, whether real-time judge detects in the process of walking for robot
Barrier, the mode for detecting barrier can be examined by infrared sensor set by robot or crash sensor etc.
It surveys.If detecting barrier, S3 is entered step, otherwise continues to walk along the zone boundary of the grid region, Zhi Daoji
Device people returns to the grid region starting point, at this point, robot walks within the scope of the zone boundary has drawn a circle to approve an inner region,
Then robot plan to the inner region drawn a circle to approve clear since the grid region starting point in the form of desired trajectory
It sweeps, completes the traversal of the inner region.The desired trajectory line form can be configured according to specific design requirement, can be with
It is set as arc type track form, arc angle arc type form, returns font trajectory form or radial track form etc..In step
In rapid S3, robot walk along side along the side being located in the barrier within the scope of the grid region, and judges
The zone boundary whether is reached, if it is not, then continuing to walk along side, if it is, walking along the zone boundary, and is returned
Step S2.The present embodiment by first draw a circle to approve grid region can cleaning range, then planning cleaning, machine are carried out to the range of delineation
General landform can be known in advance in people in cleaning process, in advance perfecting program, thus improve robot cleaning quality and
Sweeping efficiency.For example, just can know that when robot prepares to reach physical boundary by map, and collision or other sensings are not had to
Device judges boundary, in addition, some narrow entrances, in delineation it is known in advance that, it is subsequent to carry out when planning cleans just not
It is easy to omit.
Specifically, as shown in Fig. 2, W3, W4 and W5 in figure indicate barrier.Robot is since D1 point along zone boundary
Walking is up walked towards D2 point first, is then turned in D2 point, is walked towards the point direction D3.Barrier W3 is detected in D3 point, then
Walk along side along the side of barrier W3 being located in the regional scope, i.e., walks along the track D3-D4-D5-D6.Work as machine
When device people runs to D6 point along side, zone boundary D2D7 is reached, then is walked on along the direction D6D7.Regional edge is reached in D7 point
Boundary D7D8 is then turned to and is walked towards the direction D8.Robot detects barrier W4 in D8 point, and along the edge lines of barrier W4
It walks.Zone boundary D1D9, which is reached, in D9 point runs to D10 point then along the direction D9D10.At this point, robot detects obstacle
Object W5, and walk along side along the side of barrier W5 being located in the regional scope, i.e., along D10-D11-D12-D13
Track walking continues to run to D1 point along the direction D13D1 after reaching D13 point.Finally, robot is within the scope of the zone boundary
The inner region surrounded by D1-D2-D3-D4-D5-D6-D7-D8-D9-D10-D11-D12-D13-D1 has been drawn a circle to approve in walking.So
Robot carries out planning cleaning to the inner region drawn a circle to approve in the form of arc type track afterwards.Robot passes through advanced line range
Delineation is conducive to subsequent planning and cleans, and robot can not only be made to predict the position of barrier when planning cleaning and reduce
Collision, the case where the relatively narrow location information of some entrances can also be obtained in advance, avoid the occurrence of drain sweep.
As one of embodiment, robot described in step S2 is since the grid region starting point, with pre-
Orbit determination trace form carries out planning cleaning to the inner region drawn a circle to approve, and specifically comprises the following steps: in the step s 21, machine
People is carried out planning cleaning in the form of arc type track, enters step S22 since the grid region starting point.In step S22
In, whether robot real-time judge in cleaning process has drain sweep region, and the drain sweep region refers to that robot is cleaned in planning
It in the process, include not clean by zone boundary, obstacles borders line and/or boundary along cleaning in the swept region in direction
One piece of closed loop that line is surrounded does not clean block, and there is the block length to be greater than the fuselage width of 1.5 robots not
Clean boundary line.It sweeps, is cleaned if it is not, then continuing planning, until described interior if it is, entering step S23 and mend
Regional planning cleaning terminates.In step S23, robot determines that current location point sweeps up initial point to mend, and sweeps up the beginning from the benefit
Point starts to carry out mending to the drain sweep region to sweep, and after benefit is swept, robot returns to the benefit and sweeps up initial point, continues to remaining
Non- purging zone carries out planning cleaning, and return step S22.Wherein, the inner region planning cleans and terminates to refer to Robot
When cleaning direction and cleaning to zone boundary, virtual boundary or physical boundary, completes the whole of the inner region and clean.The implementation
In example, whether robot has drain sweep region by real-time judge, and mend to the drain sweep region of discovery in time and sweep, so that machine
The cleaning of people is more orderly, and sweeping efficiency is higher, avoids existing robot from first carrying out region entirety arc type cleaning, then leaked
The benefit for sweeping region is swept, and cleaning track brought by this cleaning method is mixed and disorderly, the relatively low problem of sweeping efficiency.
Specifically, as described in Figure 3, the outermost rectangular border in figure is the inner region that a robot is drawn a circle to approve
Boundary, area defined are exactly an inner region.Arc type route with the arrow in inner region is exactly in robot carries out
The track that regional planning is walked when cleaning.The small box of mark W1 and W2 then indicates barrier.Robot is opened from T1 point position
Begin, carries out arc type planning along the direction that arrow guides and clean.When robot ambulation to the point position b, judge that its right side has one
A drain sweep region, then, robot are to mend to sweep up initial point with b point, and the arc type trajectory line along b1b2b3 carries out drain sweep region
Benefit is swept, and when running to b3 point, the benefit for completing the drain sweep region is swept.Then robot returns to b point, continues clear by regional planning
The arc type trajectory line walking swept, cleaning is remaining not to clean block.When robot is cleaned to the point position b4, its left side is judged
There is a drain sweep region again, then sweeps up initial point using b4 point as benefit, carry out the drain sweep area along the arc type trajectory line of b5b6b7
The benefit in domain is swept, and when running to b7 point, the benefit for completing the drain sweep region is swept.Then, robot returns to b4 point, continues by region
The arc type trajectory line walking that planning cleans, cleaning is remaining not to clean block, when running to the point position T2, completes entire inner region
The planning in domain cleans.In this way, robot runs to T2 point from T1 point, the traversal of whole region is just completed, cleans path very
Orderly, sweeping efficiency is also very high.If being from T1 point position always by arc type track according to existing robot cleaning method
T2 point position is run to, then puts back into two drain sweep regions corresponding to barrier W1 and W2 mend from T2 point again and sweep,
In this way, the run trace of robot just has more intersection, cleaning path just seems that comparison is mixed and disorderly, not only reduces cleaning effect
Rate, the randomness that can also allow user to see that robot cleans, it is believed that robot is swept random, to influence the use body of user
It tests.
Robot mend when sweeping, and other than above-mentioned benefit sweeps path, the benefit that can also carry out other way is swept.For example,
Since b point, straight line runs to b3 point for robot, then since b3 point, by the arc type track of b3-b2-b1-b, is mended
It sweeps.It is of course also possible to using from the top down as cleaning direction, or from the bottom up as direction is cleaned, mend and sweep.Specifically
Benefit sweeps mode, can be designed according to specific use environment and product demand.
As one of embodiment, whether the real-time judge in cleaning process of robot described in step S22 has
The step of drain sweep region, specifically comprises the following steps: that in step S221, robot judges its model passed by along cleaning direction
In enclosing, if block is not cleaned with closed loop, if it is, S222 is entered step, if it is not, then continuing to clean.In step
In S222, robot judgement is described not to clean in block whether with what length was greater than pre-determined distance not clean boundary line, described
Pre-determined distance can be configured according to specific product design demand, and it is wide generally to can be set to 1.5 to 2 times of robot fuselages
Degree.If it has, then show that the boundary line that robot can not cleaned from this is cleaned into the block, so, it can be true
Surely there is drain sweep region, if it is not, then show that the block can not clean, so, determination does not have drain sweep region.Wherein, the closed loop
The block that do not clean refer to by zone boundary, obstacles borders line and/or do not clean one piece of non-sweeping area that boundary line surrounded
Domain.The method through this embodiment can real-time and accurately judge whether there is drain sweep region, effectively avoid robot drain sweep
Situation improves the cleaning quality of robot.
As shown in figure 4, the figure is approximate with Fig. 3, the main distinction is: Fig. 4 by dashed box indicates drain sweep region.
Firstly, robot walks since T1 point, and arc type planning is carried out to the region and is cleaned.When robot ambulation to b1 point,
Judge to have on the right side of robot a closed loop does not clean block n1n2n3n4, and the block is by zone boundary n1n4, obstacles borders
Line n2n3, boundary line n1n2 and n3n4 are not cleaned surround jointly.Also, it is all long not clean boundary line n1n2 and n3n4, greatly
In 2 times of robot fuselage width, so, robot can enter the block from the two border entries and be cleaned.It is optimal
, robot directly runs to n4 point from b1 point, is to clean direction with direction from right to left, to this then since n4 point
Block carries out planning cleaning.It is returned to b1 point after the completion of cleaning, continues original regional planning and cleans.When robot is cleaned to b2
When point, judge that there was a closed loop in its left side does not clean block n5n6n7n8, the block is by zone boundary n6n7, obstacles borders
Line n5n8, boundary line n5n6 and n7n8 are not cleaned surround jointly.Also, it is all long not clean boundary line n5n6 and n7n8, greatly
In 1.5 times of robot fuselage width, so, robot can enter the block from the two border entries and be cleaned.Most
Excellent, it is to clean direction with direction from right to left then since n7 point that robot, which directly runs to n7 point from b2 point, right
The block carries out planning cleaning.Robot is returned to b2 point after the completion of cleaning, continues original regional planning and cleans, until walking
To T2 point, the planning for completing whole region is cleaned.
As one of embodiment, robot described in step S23 determines that current location point sweeps up initial point to mend,
The drain sweep region is carried out since the benefit sweeps up initial point to mend the step of sweeping, is specifically comprised the following steps: in step S231
In, robot determines that current location point sweeps up initial point to mend, and searches for map constructed in walking process, subsequently into step
S232.In step S232, the nearest benefit of the navigation distance for sweeping up initial point with the benefit in drain sweep region described in Robot Selection
It is swept into mouth, and selects the nearest benefit to be swept into two endpoint locations of mouth benefit described in distance and sweeps up a nearest end of initial point
Point position is mended as first and is swept a little, another endpoint location for selecting the nearest benefit to be swept into mouth is mended as second to be swept a little,
Subsequently into step S233.In step S233, robot navigation to described first, which mends, to be swept a little, is started to mend towards described second and be swept a little
Walking cleans, and with towards inside the drain sweep region, and the direction for being parallel to the cleaning direction that the regional planning cleans is
It is current to clean direction, arc type planning is carried out to the drain sweep region and is cleaned, until robot is completed to the drain sweep region
It cleans, then mends and sweep end.Benefit through this embodiment sweeps mode, and robot can be carried out mending nearby and be swept, and benefit sweeps efficiency and benefit is swept
Quality is higher, avoids other brought paths that clean of mode of sweeping of mending more mixed and disorderly, the lower problem of sweeping efficiency.
Specifically, being enclosed as shown in figure 5, the outermost rectangular border in figure is a virtual inner region boundary
At region be exactly inner region in a grid region.Arc type route with the arrow in inner region is exactly that robot carries out
The track that regional planning is walked when cleaning.The small box of mark W1 and W2 then indicates barrier.Robot is opened from T1 point position
Begin, carries out arc type planning along the direction that arrow guides and clean.When robot ambulation to the point position b, judge that its right side has one
A drain sweep region (region of the dotted line frame mark of lower section in figure), is swept into mouth it is found that mending there are two the regions by searching map,
One is entrance corresponding to the dotted line on the dotted line frame left side, and one is entrance corresponding to dotted line on the right of dotted line frame, the right
Entrance it is nearest apart from robot current location.Robot is on the right in two endpoint locations of b1 and b2 in entrance, selection away from
The b1 point nearest from current location is mended as first and is swept a little, then runs to b1 point, and towards b2 point, start to the drain sweep region
It carries out arc type planning to clean, cleaning direction is from right to left.Robot completes after cleaning along the track of b1-b2-b3, directly
B point is returned, continues remaining regional planning and cleans.Likewise, judging its left side when robot ambulation to the point position b4
There is a drain sweep region (region of the dotted line frame mark of top in figure), is swept by searching map it is found that being mended there are two the regions
Entrance, one is entrance corresponding to the dotted line on the dotted line frame left side, and one is entrance corresponding to dotted line on the right of dotted line frame, should
The entrance on the right is nearest apart from robot current location.Robot is on the right in two endpoint locations of b5 and b6 in entrance, choosing
It selects the b5 point nearest apart from current location to sweep a little as the first benefit, then runs to b5 point, and towards b6 point, start to the drain sweep
Region carries out arc type planning and cleans, and cleaning direction is from right to left.Robot completes after cleaning along the track of b5-b6-b7,
B4 point is directly returned, continues remaining regional planning and cleans.From the graph, it is apparent that robot carries out in this way
Benefit is swept, and does not occur intersecting the trajectory line of entanglement, and benefit sweeps quality and effect is fine, and user is allowed to feel to clean in order
Property, user experience is very high.
As one of embodiment, after the traversal of the completion inner region described in step S2, further include as
Lower step: in step S41, robot carries out other regions according to the nearby principle currently to clean end point as basic point
Regional planning clean.The nearby principle refers to that robot preferentially selects on direction identical with current cleaning direction, with institute
It states corresponding to basic point the non-purging zone that a strip area boundary of purging zone is adjacent side and carries out regional planning cleaning；If
There is no corresponding region, secondly selection cleans on the perpendicular direction in direction with current, with sweeping area corresponding to the basic point
The one strip area boundary in domain is that the non-purging zone of adjacent side carries out regional planning cleaning；If also without corresponding region, finally
Selection cleans on the perpendicular direction in direction with current, with a strip area boundary phase of purging zone corresponding to the basic point
Pair another strip area boundary be adjacent side non-purging zone carry out regional planning cleaning.The regional planning cleaning refers to machine
People the grid region of preset length and predetermined width is drawn a circle to approve after inner region, cleaned according to arc type track form
Mode.The preset length and the predetermined width can be configured according to specific design requirement, for example, preset length
Can be set to 3 meters, 4 meters perhaps 5 meters of predetermined widths may be set to be 3 meters, 4 meters or 5 meters, the preset length can be with
It is identical as the predetermined width, it can also be different.When the cleaning direction refers to that robot carries out regional planning cleaning, model is cleaned
Enclose direction when extending from the one end in region to the other end.If the nearby principle is not applicable, i.e., the above-mentioned area that can choose
Domain does not all have, then enters step S42.The step carries out regional planning cleaning according to nearby principle by control robot, can be with
Improve high efficiency and order that robot cleans.
In step S42, in the non-purging zone of Robot Selection and the current navigation distance for cleaning end point recently
One location point is basic point, carries out regional planning cleaning to the non-purging zone further according to nearby principle, in cleaning process, such as
Fruit nearby principle is not applicable, then selects in next non-purging zone nearest with the navigation distance of current cleaning end point
One location point is basic point, continues to carry out regional planning cleaning to the non-purging zone according to nearby principle, and so on, until
All areas cleaning finishes.Wherein, the navigation distance refers to and reaches determined by robot searching map from current location point
The path length that the robot of source location can walk.If there is a plurality of, path length in the path for reaching source location
Shortest is exactly that navigation distance is nearest.The map is robot grating map constructed in the process of walking, the grid
Lattice map is made of many grid cells, and the grid cell walked can be denoted as walking unit by robot, inspection
Corresponding grid cell is denoted as obstacle unit, etc. when measuring barrier.Each grid cell can be set to machine
Half of fuselage width of people be side length square lattice, or be set as using the entire fuselage width of robot as side length just
Rectangular grid.Several grid cells collectively constitute planning a purging zone, i.e. grid region.
Specifically, O point is robot as shown in fig. 6, each grid indicates a planning purging zone (i.e. grid region)
Receive starting clean control instruction when where location point (i.e. grid region starting point), Y direction receives for robot
Start the front when control instruction cleaned.When robot receive starting clean control instruction when, robot towards move ahead
It walks, and is drawn a circle to approve and planned cleaning to using 0 point as the preset range 1# of basic point, when cleaning to p1 point, the inner region drawn a circle to approve
Cleaning terminates.At this point, the cleaning direction of robot is along X-axis positive direction.Then, robot is selected using p1 point as basic point in X-axis
In positive direction, the region 2# that does not clean adjacent with preset range 1# as region to be cleaned, and to region 2# carry out delineation and
Planning cleans.The cleaning of region 2# is completed when reaching p2 point.Likewise, continue to clean along the planning of X-axis positive direction to p3 point, this
When, along the current region that cleans direction (X-axis positive direction) and can not clean, so, Robot Selection and X-direction phase
In vertical Y direction, zone boundary corresponding to p3 point (i.e. the coboundary of region 3#) is the region 4# of adjacent side not cleaned
As region to be cleaned, it is then to clean direction with Y-axis positive direction, region 4# is drawn a circle to approve and planned cleaning.Reach p4 point
When complete region 4# cleaning.Due to along current clean direction (Y-axis positive direction) without other purging zones, so, machine
People is to clean direction with X-axis negative direction, region 5# is drawn a circle to approve and planned cleaning using p4 as basic point.It is completed when reaching p5 point
After the cleaning of region 5#, continues with X-axis negative direction to be to clean direction, clean always to p8 point, complete region 6#, 7# and 8#
It cleans.It, can sweeping area along Y-axis positive direction along X-axis negative direction without cleanable area when robot is located at p8 point yet
Domain, so, the region 9# of Robot Selection Y-axis negative direction not cleaned runs to p9 point from p8 point, so as region to be cleaned
Afterwards since p9 point, it is to clean direction with Y-axis negative direction, region 9# is drawn a circle to approve and planned cleaning.When cleaning to p10 point,
Complete the cleaning to region 9# and 10#.Then it is, and with X-axis positive direction to clean direction, cleans to p14 point, complete to region
The cleaning of 11#, 12#, 13# and 14#.Robot is in p14 point, in X-axis positive direction, Y-axis positive direction and Y-axis negative direction, all
Without the selectable region not cleaned.So robot starts searching map, select with the navigation distance of p14 point most
The p15 point of the close region 15# not cleaned as basic point, is drawn a circle to approve and is planned cleaning to region 15# since p15 point, clearly
Sweeping direction can be along X-axis negative direction, be also possible to along Y-axis positive direction.Since the area of region 15# is just that a planning is clear
The size in region is swept, so just completing the cleaning of whole region after cleaning.Assuming that the area of region 15# is greater than one
It plans the size of purging zone, then carries out the cleaning of adjacent area according to above-mentioned nearby principle.If other than the region 15# also
Non-conterminous non-purging zone, then continue through the mode of map search and navigation, cleans other regions, until whole region all
Until cleaning finishes.
A kind of chip, for storing program instruction, described program instruction executes as above each embodiment for controlling robot
The area coverage method.The chip can control robot by first drawing a circle to approve grid by configuring described program instruction
Region can cleaning range, then planning cleaning is carried out to the range of delineation, robot can be known in advance greatly in cleaning process
General landform, perfecting program in advance, to improve the cleaning quality and sweeping efficiency of robot.For example, robot prepares to reach
It when physical boundary, just can know that by map, and judge boundary without collision or other sensors, in addition, some are narrow
Entrance, delineation when it is known in advance that, it is subsequent carry out planning clean when be just not easy to omit.
A kind of clean robot can be sweeping robot or floor-mopping robot, and master control core is equipped in the robot
Piece, the main control chip are chip described in each embodiment as above.Robot can control robot by assembling the chip
By first draw a circle to approve grid region can cleaning range, then planning cleaning is carried out to the range of delineation, robot can be swept
General landform is known in advance in journey, in advance perfecting program, to improve the cleaning quality and sweeping efficiency of robot.For example,
It when robot prepares to reach physical boundary, just can know that by map, and judge boundary without collision or other sensors, this
Outside, some narrow entrances, delineation when it is known in advance that, it is subsequent carry out planning clean when be just not easy to omit.
It should be noted that the maximum magnitude that robot cleans is by preset virtual in system in the various embodiments described above
What boundary was defined, when robot is cleaned to the virtual boundary of outermost, would not continue to expand outwardly cleaning.For example scheme
In 2, four long sides of outermost are exactly virtual boundary, and four virtual boundary area defined are divided into 15 grid zones
Domain.Grid region is limited by virtual zone boundary, if the virtual zone boundary not on the virtual boundary of outermost, machine
Device people is when carrying out the cleaning of grid region one by one, so that it may across virtual zone boundary.Virtual region shown in Fig. 2
On virtual boundary, robot is cleaned to the p8p9 line of region 8# boundary p8p9, just will be considered that the region outside on the left of p8p9 line
The region that can not cleaned.If having physical boundary in virtual boundary limited range, then institute, robot is clear
The range swept will be limited in the region continuously surrounded by virtual boundary and physical boundary, or be surrounded completely by physical boundary
Region in (if the range that surrounds of physical boundary completely in the range of virtual boundary surrounds).As shown in figure 5, robot is clear
The range swept is region defined by A3-A5-p8-p4-A2-A1-p10-A3, wherein A3-A5 is physical boundary, A5-p8-p4-
A2 is virtual boundary, and A2-A1 is physical boundary, and A1-A3 is virtual boundary.Robot ambulation is to virtual boundary and physical boundary
When, it will be considered that the region that the corresponding outside in boundary can not clean.The physical boundary refers to that robot detects obstacle
When object, based on the position of the barrier detected, the boundary line that corresponding map is indicated, which may indicate that boundary line pair
The areas outside answered is without cleanable area.Boundary line is not cleaned refers to friendship between purging zone and non-purging zone
Boundary line.
The directions words such as the "upper" that is previously mentioned in above-described embodiment, "lower", " left side " and " right side ", if do not illustrated,
It is then to refer in attached drawing to wait directions up and down.If there is illustrating, then by illustrating definition, a such as left side for robot
Side is then the left side for referring to robot direction of advance, is not the left side for referring to attached drawing.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.These programs can store in computer-readable storage medium (such as ROM,
The various media that can store program code such as RAM, magnetic or disk) in.When being executed, it includes above-mentioned each for executing to the program
The step of embodiment of the method.Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than it is right
It is limited；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and the present invention is each
The range of embodiment technical solution.
Claims (7)
1. a kind of area coverage method of robot, which comprises the steps of:
Step S1: robot walks since grid region starting point along the zone boundary of the grid region, and enters step
S2；
Step S2: whether real-time judge detects barrier in the process of walking for robot, if it is, S3 is entered step, it is no
Then continue to walk along the zone boundary of the grid region, until robot returns to the grid region starting point, at this point, robot
An inner region has been drawn a circle to approve in walking in the grid region bounds, and then robot is opened from the grid region starting point
Begin, planning cleaning is carried out to the inner region drawn a circle to approve in the form of desired trajectory, completes the traversal of the inner region；
Step S3: robot walk along side along the side being located in the barrier within the scope of the grid region, and
Judge whether to reach the zone boundary, if it is not, then continue to walk along side, if it is, walk along the zone boundary, and
Return step S2.
2. the method according to claim 1, wherein robot described in step S2 is from the grid region
Point starts, and carries out planning cleaning to the inner region drawn a circle to approve in the form of desired trajectory, specifically comprises the following steps:
Step S21: robot carries out planning cleaning since the grid region starting point in the form of arc type track, into step
Rapid S22；
Step S22: whether robot real-time judge in cleaning process has drain sweep region, if it is, entering step S23, such as
Fruit is no, then continues planning and clean, and terminates until inner region planning cleans；
Step S23: robot determines that current location point sweeps up initial point to mend, to the drain sweep area since the benefit sweeps up initial point
Domain mend and sweeps, and after benefit is swept, robot returns to the benefit and sweeps up initial point, continues to plan remaining non-purging zone
It cleans, and return step S22；
Wherein, inner region planning clean terminate to refer to Robot clean direction clean to zone boundary, virtual boundary or
When person physical boundary, completes the whole of the inner region and clean.
3. according to the method described in claim 2, it is characterized in that, robot described in step S22 is real in cleaning process
When the step of judging whether there is drain sweep region, specifically comprise the following steps:
Step S221: robot judges it along the range that cleaning direction is passed by, if does not clean block with closed loop, such as
Fruit is then to enter step S222, if it is not, then continuing to clean；
Step S222: whether described do not clean in block of robot judgement there is length not clean boundary greater than pre-determined distance
Line, if it is, determination has drain sweep region, if it is not, then determination does not have drain sweep region；
Wherein, the block that do not clean of the closed loop refers to by zone boundary, obstacles borders line and/or does not clean boundary line and enclosed
At one piece of non-purging zone.
4. according to the method described in claim 3, it is characterized in that, robot described in step S23 determines current location point
Initial point is swept up to mend, the drain sweep region is carried out since the benefit sweeps up initial point to mend the step of sweeping, specifically includes following step
It is rapid:
Step S231: robot determines that current location point sweeps up initial point to mend, and searches for map constructed in walking process, so
After enter step S232；
Step S232: the nearest benefit of the navigation distance for sweeping up initial point with the benefit in drain sweep region described in Robot Selection is swept into
Mouthful, and select the nearest benefit to be swept into two endpoint locations of mouth benefit described in distance and sweep up a nearest endpoint position of initial point
It sets to mend as first and sweep a little, another endpoint location for selecting the nearest benefit to be swept into mouth is mended as second to be swept a little, then
Enter step S233；
Step S233: robot navigation to described first, which mends, to sweep a little, starts to mend towards described second and sweeps a walking cleaning, and with direction
Inside the drain sweep region, and the direction for being parallel to the cleaning direction that the regional planning cleans is current cleaning direction, to institute
It states drain sweep region and carries out arc type planning cleaning, until robot completes the cleaning to the drain sweep region, then benefit sweeps end.
5. method according to claim 1 to 4, which is characterized in that in completion described in step S2 is described
Further include following steps after the traversal in region:
Step S41: robot carries out region rule to other grid regions according to nearby principle currently to clean end point as basic point
It draws a clear and sweeps, if nearby principle is not applicable, enter step S42；
Step S42: selecting a location point in the non-purging zone nearest with the current navigation distance for cleaning end point is base
Point carries out regional planning cleaning to the non-purging zone further according to nearby principle, in cleaning process, if nearby principle is uncomfortable
With then selecting a location point in next non-purging zone nearest with the navigation distance of current cleaning end point is base
Point continues to carry out regional planning cleaning to the non-purging zone according to nearby principle, and so on, until all areas have cleaned
Finish；
Wherein, the nearby principle refers to that robot preferentially selects on direction identical with current cleaning direction, with the basic point
One strip area boundary of corresponding purging zone is that the non-purging zone of adjacent side carries out regional planning cleaning；Secondly selection with
It is current to clean on the perpendicular direction in direction, using corresponding to the basic point a strip area boundary of purging zone as adjacent side
Non- purging zone carries out regional planning cleaning；It finally selects to clean on the perpendicular direction in direction with current, with the basic point institute
The opposite another strip area boundary in one strip area boundary of corresponding purging zone is that the non-purging zone of adjacent side carries out region
Planning cleans；
Wherein, after the regional planning cleaning refers to that the grid region of preset length and predetermined width is drawn a circle to approve by robot,
In such a way that arc type track form cleans the inner region drawn a circle to approve；
Wherein, when the cleaning direction refers to that robot carries out regional planning cleaning, cleaning range is from the one end in region to another
Direction when end extends.
6. a kind of chip, for storing program instruction, which is characterized in that described program is instructed for controlling robot perform claim
It is required that area coverage method described in any one of 1 to 5.
7. a kind of clean robot, including main control chip, which is characterized in that the main control chip is core as claimed in claim 6
Piece.
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