CN109871013B - Cleaning robot path planning method and system, storage medium and electronic equipment - Google Patents
Cleaning robot path planning method and system, storage medium and electronic equipment Download PDFInfo
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Abstract
The invention provides a cleaning robot path planning method which comprises the steps of obtaining a cleaning area, importing outline data containing an area to be cleaned, and sending the outline data to a map generation module; generating a map, namely generating a scene map of the area to be cleaned by a map generation module according to the contour data; and planning a path, wherein a path planning module plans a cleaning path of the cleaning robot according to the scene map. The invention also relates to a cleaning robot path planning system, a storage medium and an electronic device. The invention adopts a data import mode, improves the map construction speed and accuracy of the robot through a real-scene family-type picture or a real-scene picture, and further realizes the improvement of the capacity and the intellectualization of the robot for rapidly planning the path. The intelligent cleaning robot has clear logic and ingenious conception, and is convenient to popularize and apply.
Description
Technical Field
The invention belongs to the field of cleaning robots, and particularly relates to a cleaning robot path planning method and system, a storage medium and electronic equipment.
Background
A robot dust collector, also called a sweeper, is a new generation of family nanny and can sweep room garbage such as hair, melon seed shells, dust and the like. With the continuous improvement of the domestic living standard, the cleaning robot which is originally sold in the market of Europe and America gradually moves into common families and is gradually accepted by more and more people, and the cleaning robot can become an indispensable cleaning helper for each family like white household appliances in the near future. Products will also be developed from the current primary intelligence to a higher degree of intelligence, gradually replacing manual cleaning. Robot cleaners are gradually moving into and improving people's lifestyle as an intelligent household cleaning device emerging in recent years.
Along with the renewal of robot dust catcher, the automatic planning route becomes the important embodiment of cleaning machines people intelligence, cleaning machines people adopts check out test set such as gyroscope and laser instrument, camera to accomplish scene planning through walking while discerning at present, but actual recognition effect is poor, often with scene profile recognition complexity, and the data processing process is easy redundant, thereby lead to the increase of path planning complexity at double, be unfavorable for guaranteeing robot dust catcher path planning's rationality, easily form clean blind area dead angle, clean inefficiency simultaneously.
In view of the above problems, a new method for planning a path of a cleaning robot is urgently needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the path planning method for the cleaning robot provided by the invention adopts a data import mode, and improves the construction speed and accuracy of a robot map through a live-action house-type picture or a live-action picture, so that the capacity and the intelligence of the robot for rapidly planning the path are improved.
The invention provides a cleaning robot path planning method, which comprises the following steps:
acquiring a cleaning area, importing contour data containing the area to be cleaned, and sending the contour data to a map generation module;
generating a map, wherein the map generating module generates a scene map of the area to be cleaned according to the contour data;
and planning a path, wherein a path planning module plans a cleaning path of the cleaning robot according to the scene map.
Preferably, the profile data comprises a house pattern or a partial house pattern or a house pattern shot picture or a real scene picture of the area to be cleaned.
Preferably, the contour data of the area to be cleaned is obtained by mobile terminal import or mobile terminal shooting.
Preferably, the establishing of the cleaning map further comprises: the map generation module generates an obstacle contour boundary within the scene map from the contour data.
Preferably, the path planning further comprises: and in the process of moving the cleaning robot, the visual acquisition device on the cleaning robot acquires the image information of the external environment of the cleaning robot and is matched with the scene map.
Preferably, the top of the cleaning robot is provided with an upper view image acquisition device; the upper view image acquisition device is used for acquiring a live-action image above the cleaning robot; and matching the upper live-action image with the contour boundary at the top of the scene map, and calibrating the current position of the cleaning robot.
Preferably, a front view image acquisition device is arranged at the front part of the cleaning robot; the front-view image acquisition device is used for acquiring a real-scene image in front of the cleaning robot; and matching the front live-action image with the outline boundary of the obstacle in the scene map, and calibrating the position of the cleaning robot relative to the obstacle.
An electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing a cleaning robot path planning method.
A computer-readable storage medium having stored thereon a computer program for executing a cleaning robot path planning method by a processor.
The invention also relates to a cleaning robot path planning system, which comprises a map generation module and a path planning module, wherein the map generation module acquires contour data containing the area to be cleaned; the map generation module is used for generating a scene map of the area to be cleaned according to the contour data; the path planning module is used for planning a cleaning path of the cleaning robot according to the scene map.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a cleaning robot path planning method which comprises the steps of obtaining a cleaning area, importing contour data containing the area to be cleaned, and sending the contour data to a map generation module; generating a map, namely generating a scene map of the area to be cleaned by a map generation module according to the contour data; and planning a path, wherein a path planning module plans a cleaning path of the cleaning robot according to the scene map. The invention also relates to a cleaning robot path planning system, a storage medium and an electronic device. The invention adopts a data import mode, improves the map construction speed and accuracy of the robot through a real-scene family-type picture or a real-scene picture, and further realizes the improvement of the capacity and the intellectualization of the robot for rapidly planning the path. The intelligent cleaning robot has clear logic and ingenious conception, and is convenient to popularize and apply.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic flow chart of a cleaning robot path planning method according to the present invention;
fig. 2 is a schematic diagram of a cleaning robot path planning system according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
A cleaning robot path planning method, as shown in fig. 1, includes the following steps:
s1, acquiring a cleaning area, importing contour data containing the area to be cleaned, and sending the contour data to a map generation module; in an embodiment, the profile data includes a house type picture or a part of house type picture or a house type picture shooting picture or a real scene picture of the area to be cleaned, and the user can import the profile data through a mobile terminal or shoot the profile data through the mobile terminal.
For example, the user can shoot the house type graph of a house through the APP at the mobile phone end, or when the cleaning area is a single room or a part of the house, a part of the house type graph can be selected for shooting.
For another example, the user uses the terminal to import the house type graph, and it should be understood that, in this embodiment, the terminal is not limited to the mobile terminal, and may also include a non-mobile terminal such as a personal computer and a server.
For another example, a user directly shoots an indoor environment of an area to be cleaned through an APP at a mobile phone end, and generally, an environment with specific characteristics is selected for shooting; preferably, the environment with the characteristics of the fixed-position article is selected for shooting, and as the position of the top image is kept unchanged, in the embodiment, the image of the top area of the house is preferentially shot.
In the embodiment, the cleaning area data importing mode is adopted, so that a complex construction process that the cleaning robot collects information and establishes a cleaning area map while cleaning in the cleaning process is omitted, the accuracy of the cleaning scene map is effectively ensured, and the cleaning robot can rapidly and efficiently plan a path.
S2, establishing a cleaning map, and generating a scene map of the area to be cleaned by a map generation module according to the contour data; in one embodiment, the map generation module generates an obstacle contour boundary within the scene map from the contour data. It should be understood that generating a scene map through a house type map or a live-action picture is an image processing process, including but not limited to image binarization, boundary extraction, boundary patching, and image filling technology; the image processing processes are not repeated, and the scene map obtained after the contour data is processed by the map generation module is the map data which can be recognized by the cleaning robot.
And S3, planning a path, wherein the path planning module plans a cleaning path of the cleaning robot according to the scene map. When the cleaning robot needs to execute a cleaning task, the path planning module calls a scene map, identifies and positions the position of the cleaning robot, integrates the positioning into the scene map, and realizes quick and accurate positioning of the cleaning robot; in one embodiment, in the process of traveling of the cleaning robot, a visual acquisition device on the cleaning robot acquires external environment image information of the cleaning robot, matches the external environment image information with profile data which is imported to contain an area to be cleaned, obtains the position of the cleaning robot in a scene map through a matching algorithm, and plans a path of a cleaning task in the scene map according to the current position, wherein the planning mode comprises automatic planning, manual planning and semi-automatic semi-manual planning; wherein, the automatic planning includes but is not limited to edgewise and bow planning; manually planning a path to be traveled by a mobile terminal such as an APP on a mobile phone; semi-automatic semi-manual planning includes selecting a scene map and a region of Chinese medicine cleaning on a mobile terminal such as an APP on a mobile phone, and executing automatic path planning in the selected region.
In a preferred embodiment, the top of the cleaning robot is provided with an upper view image acquisition device; the upper view image acquisition device is used for acquiring a live-action image above the cleaning robot; and matching the upper live-action image with the contour boundary of the top of the area to be cleaned, and calibrating the current position of the cleaning robot. In this embodiment, the top live-action image is mostly furniture, big household electrical appliances, lamps and lanterns, furred ceiling that fixed position is unchangeable, contains the position and the profile of furniture, big household electrical appliances, lamps and lanterns, furred ceiling in the scene map simultaneously, through go ahead the in-process real-time collection of image collection device and match in real time, is favorable to cleaning robot to carry out quick image identification to go the position that the in-process calibration cleaning robot lies in the scene map of walking, so that formulate clean route fast.
In another preferred embodiment, a front view image capture device is provided at the front of the cleaning robot; the front-view image acquisition device is used for acquiring a real-scene image in front of the cleaning robot; and matching the front live-action image with the outline boundary of the obstacle in the area to be cleaned, and calibrating the position of the cleaning robot relative to the obstacle. In this embodiment, the real-scene images in front are processed into the obstacle in front of the cleaning robot, and generally, furniture and large household appliances with fixed positions can be configured in a scene map, and the front-view image acquisition device is used for acquiring and matching the furniture and the large household appliances in real time in the process of traveling, so that the cleaning robot can conveniently and quickly identify the type of the obstacle, quickly establish an obstacle avoidance path and improve the intelligent obstacle avoidance capability of the cleaning robot.
An electronic device, comprising: a processor; a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing a cleaning robot path planning method. In this embodiment, the electronic device is a cleaning robot. A computer-readable storage medium having stored thereon a computer program for executing a cleaning robot path planning method by a processor.
A cleaning robot path planning system, as shown in fig. 2, includes a map generation module and a path planning module, wherein the map generation module acquires contour data including an area to be cleaned; the map generation module is used for generating a contour boundary of the area to be cleaned according to the contour data; the path planning module is used for planning a cleaning path of the cleaning robot according to the contour boundary.
In the embodiment, the cleaning robot path planning system may be configured as a mobile phone APP of a mobile terminal or as a computer program of the terminal or as an executable program inside the cleaning robot; for example, a user shoots a house type graph of a house through an APP of a mobile phone terminal, or when a clean area is a single room or a part of the house, a part of the house type graph can be selected for shooting.
For another example, the user uses the terminal to import the house type graph, and it should be understood that, in this embodiment, the terminal is not limited to the mobile terminal, and may include a non-mobile terminal such as a personal computer and a server.
For another example, a user directly shoots an indoor environment of an area to be cleaned through an APP at a mobile phone end, and generally, an environment with specific characteristics is selected for shooting; preferably, the environment with the characteristics of the fixed-position article is selected for shooting, and as the position of the top image is kept unchanged, in the embodiment, the image of the top area of the house is preferentially shot.
In the embodiment, the cleaning area data importing mode is adopted, so that a complex construction process that the cleaning robot collects information and establishes a cleaning area map while cleaning in the cleaning process is omitted, the accuracy of the cleaning scene map is effectively ensured, and the cleaning robot can rapidly and efficiently plan a path.
It should be understood that the map generation module converts the house type image or the live-action image into the scene map, which is an image processing process including, but not limited to, image binarization, boundary extraction, boundary patching, and image filling technology; the image processing processes are not repeated, and the scene map obtained after the contour data is processed by the map generation module is the map data which can be recognized by the cleaning robot.
In one embodiment, in the traveling process of the cleaning robot, a visual acquisition device on the cleaning robot acquires external environment image information of the cleaning robot, the external environment image information is matched with profile data which is imported to include an area to be cleaned, the position of the cleaning robot in a scene map is obtained through a matching algorithm, a path planning module plans a path of a cleaning task in the scene map according to the current position, and the planning mode of the path planning module comprises automatic planning, manual planning and semi-automatic and semi-manual planning; wherein, the automatic planning includes but is not limited to edgewise and bow planning; manually planning a path to be traveled by a mobile terminal such as an APP on a mobile phone; semi-automatic semi-manual planning includes selecting a scene map and a region of Chinese medicine cleaning on a mobile terminal such as an APP on a mobile phone, and executing automatic path planning in the selected region.
In a preferred embodiment, the top of the cleaning robot is provided with an upper view image acquisition device; the upper view image acquisition device is used for acquiring a live-action image above the cleaning robot; and matching the upper live-action image with the contour boundary of the top of the area to be cleaned, and calibrating the current position of the cleaning robot. In this embodiment, the top live-action image is mostly furniture, big household electrical appliances, lamps and lanterns, furred ceiling that fixed position is unchangeable, contains the position and the profile of furniture, big household electrical appliances, lamps and lanterns, furred ceiling in the scene map simultaneously, through go ahead the in-process real-time collection of image collection device and match in real time, is favorable to cleaning robot to carry out quick image identification to go the position that the in-process calibration cleaning robot lies in the scene map of walking, so that formulate clean route fast.
In another preferred embodiment, a front view image acquisition device is arranged at the front part of the cleaning robot; the front-view image acquisition device is used for acquiring a real-scene image in front of the cleaning robot; and matching the front live-action image with the contour boundary of the obstacle in the area to be cleaned, and calibrating the position of the cleaning robot relative to the obstacle. In this embodiment, the front live-action images are processed into the obstacle in front of the travel of the cleaning robot, and generally, furniture and large household appliances with fixed positions can be configured in a scene map, and the front-view image acquisition device is used for acquiring and matching the furniture and the large household appliances in real time in the travel process, so that the cleaning robot can conveniently and quickly identify the type of the obstacle and quickly establish an obstacle avoidance path.
The invention adopts a data import mode, and improves the map construction speed and accuracy of the robot through a real-scene family-type picture or picture, thereby realizing the improvement of the capacity and the intellectualization of the robot for rapidly planning the path. The intelligent cleaning robot has clear logic and ingenious conception, and is convenient to popularize and apply.
The foregoing is merely a preferred embodiment of this invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (6)
1. The cleaning robot path planning method is characterized by comprising the following steps:
acquiring a cleaning area, importing contour data containing the area to be cleaned, and sending the contour data to a map generation module;
establishing a cleaning map, generating a scene map of an area to be cleaned by a map generation module according to the contour data, and generating an obstacle contour boundary in the scene map by the map generation module according to the contour data; a front-view image acquisition device is arranged at the front part of the cleaning robot; the front-view image acquisition device is used for acquiring a real-scene image in front of the cleaning robot; matching the front live-action image with the outline boundary of the obstacle in the scene map, and calibrating the position of the cleaning robot relative to the obstacle;
planning a path, wherein in the process of moving the cleaning robot, a visual acquisition device on the cleaning robot acquires the external environment image information of the cleaning robot and matches the external environment image information with a scene map; the top of the cleaning robot is provided with an upper view image acquisition device; the upper view image acquisition device is used for acquiring a live-action image above the cleaning robot; and matching the upper live-action image with the top contour boundary of the scene map, calibrating the current position of the cleaning robot, and planning the cleaning path of the cleaning robot by the path planning module according to the scene map.
2. A cleaning robot path planning method according to claim 1, characterized in that: the profile data comprises a house pattern or a part of house pattern or a house pattern shooting picture or a real scene picture of an area to be cleaned.
3. The cleaning robot path planning method according to claim 1, characterized in that: and the contour data of the area to be cleaned is acquired by importing through a mobile terminal or shooting through the mobile terminal.
4. An electronic device, characterized by comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for carrying out the method according to any one of claims 1-3.
5. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor for performing the method according to any of claims 1-3.
6. The cleaning robot path planning system comprises a map generation module and a path planning module, and is characterized in that:
the map generation module acquires contour data containing an area to be cleaned;
the map generation module is used for generating a scene map of the area to be cleaned according to the contour data and generating an obstacle contour boundary in the scene map according to the contour data; the front part of the cleaning robot is provided with a front-view image acquisition device; the front-view image acquisition device is used for acquiring a real-scene image in front of the cleaning robot; matching the front live-action image with the outline boundary of the obstacle in the scene map, and calibrating the position of the cleaning robot relative to the obstacle;
the path planning module is used for acquiring the external environment image information of the cleaning robot by a visual acquisition device on the cleaning robot in the traveling process of the cleaning robot and matching the external environment image information with a scene map; the top of the cleaning robot is provided with an upper view image acquisition device; the upper view image acquisition device is used for acquiring a live-action image above the cleaning robot; and matching the upper live-action image with the top contour boundary of the scene map, calibrating the current position of the cleaning robot, and planning the cleaning path of the cleaning robot according to the scene map.
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| CN110916574B (en) * | 2019-10-18 | 2021-06-04 | 上海善解人意信息科技有限公司 | Sweeping robot system and sweeping robot control method |
| CN111007851A (en) * | 2019-12-10 | 2020-04-14 | 武汉星巡智能科技有限公司 | Robot cleaning path planning method, device, equipment and storage medium |
| CN110962132B (en) * | 2019-12-26 | 2021-04-30 | 珠海市一微半导体有限公司 | Robot system |
| CN111176301A (en) * | 2020-03-03 | 2020-05-19 | 江苏美的清洁电器股份有限公司 | Map construction method and sweeping method of sweeping robot |
| CN111528732B (en) * | 2020-03-27 | 2021-06-18 | 珠海格力电器股份有限公司 | Cleaning robot operation control method, device and system and storage medium |
| CN111898557B (en) * | 2020-08-03 | 2024-04-09 | 追觅创新科技(苏州)有限公司 | Map creation method, device, equipment and storage medium of self-mobile equipment |
| CN112998606B (en) * | 2021-03-01 | 2022-04-22 | 深圳市无限动力发展有限公司 | Cooperative sweeping method and device for intelligent equipment and cleaning machine and computer equipment |
| CN113693501A (en) * | 2021-06-09 | 2021-11-26 | 北京石头世纪科技股份有限公司 | Cleaning equipment, cleaning path, cleaning map generation method and cleaning map generation system |
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