CN110989616A - Robot automatic cleaning navigation method and robot - Google Patents
Robot automatic cleaning navigation method and robot Download PDFInfo
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- CN110989616A CN110989616A CN201911330412.0A CN201911330412A CN110989616A CN 110989616 A CN110989616 A CN 110989616A CN 201911330412 A CN201911330412 A CN 201911330412A CN 110989616 A CN110989616 A CN 110989616A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000010408 sweeping Methods 0.000 claims abstract description 81
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 78
- 230000000630 rising effect Effects 0.000 claims abstract description 20
- 230000007613 environmental effect Effects 0.000 claims description 8
- 239000000428 dust Substances 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method for automatic cleaning and navigation of a robot and the robot, wherein the method comprises the following steps: the sweeping robot sets water flooding operation and water rising operation based on a two-dimensional map of a sweeping area; the sweeping robot walks to the wall side along the x-axis direction based on water overflowing operation, records an initial position, walks along the y-axis water overflowing direction by adhering to the wall with a minimum safe distance by adopting a dynamic obstacle avoidance algorithm, and cleans; the sweeping robot records the y-axis variable quantity under the water overflowing operation, judges whether the water rising operation is met or not based on the y-axis variable quantity, and cleans line by line in a zigzag mode based on the water rising operation when the water rising operation is met; the sweeping robot records the variable quantity of the y axis under the water expansion operation, judges whether the water overflowing operation is met or not based on the variable quantity of the y axis, and cleans based on the water overflowing operation again when the water overflowing operation is met. By implementing the embodiment of the invention, the cleaning efficiency is improved, and the cleaning process under the automatic navigation mode is realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for automatically cleaning and navigating a robot and the robot.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
The cleaning of the existing cleaning robot is irregular, which causes disorder of cleaning areas and lack of orderliness in cleaning, and a robot is needed to meet corresponding application requirements.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a robot automatic cleaning and navigation method and a robot, which improve the cleaning efficiency, realize regional and modularized cleaning and the cleaning process in an automatic navigation mode.
Correspondingly, the embodiment of the invention provides a method for automatic cleaning and navigation of a robot, which comprises the following steps:
the sweeping robot sets water flooding operation and water rising operation based on a two-dimensional map of a sweeping area;
the sweeping robot walks to the wall side along the x-axis direction based on water overflowing operation, records an initial position, walks along the y-axis water overflowing direction by adhering to the wall with a minimum safe distance by adopting a dynamic obstacle avoidance algorithm, and cleans;
the sweeping robot records the y-axis variable quantity under the water overflowing operation, judges whether the water rising operation is met or not based on the y-axis variable quantity, and cleans line by line in a zigzag mode based on the water rising operation when the water rising operation is met;
the sweeping robot records the variable quantity of the y axis under the water expansion operation, judges whether the water overflowing operation is met or not based on the variable quantity of the y axis and the states of grid maps on the left side and the right side of the current position of the sweeping robot, and performs sweeping again based on the water overflowing operation when the water overflowing operation is met.
The method previously comprises:
the sweeping robot establishes a grid map with the same size as the environment map for recording the sweeping process, the size of each grid can be set to be a fixed size, and each time the sweeping robot passes through a certain grid, the grid is marked as being swept;
the sweeping robot confirms the traveling angle based on the environmental parameters.
The robot of sweeping the floor carries out angle of marcing based on environmental parameter and confirms including:
searching the longest straight line in the surrounding environment based on a laser radar on the sweeping robot, aligning the longest straight line with the straight line if the longest straight line is found, and determining the longest straight line as a traveling angle, and taking the current angle as the traveling angle if the longest straight line is not found.
The robot of sweeping the floor sets up water and overflows operation and water and rise the operation and include based on the two-dimensional map of cleaning the region:
a two-dimensional map of a cleaning area is divided into a plurality of areas based on a preset divisional area, and a water flooding operation are set based on each of the plurality of areas.
The cleaning in a zigzag manner line by line based on the water expansion operation comprises:
determining an initial advancing angle and a line changing direction of the sweeping robot;
generating a plurality of target points in a first row, generating one target point at intervals of a set distance by taking an initial travel angle as a direction until the target point meets an obstacle or reaches an area boundary to form a plurality of target points, wherein the last target point is within a safe distance of the obstacle or the area boundary;
the sweeping robot advances along a plurality of target points in the first row until reaching the last target point;
the sweeping robot moves to a second row, the traveling direction of the second row is confirmed in the row changing direction, the interval of each row is a fixed value, and the fixed value is the width of the robot;
generating a plurality of target points of a second row, generating one target point at intervals of a set distance in the reverse direction of the initial angle until meeting an obstacle or reaching an area boundary to form a plurality of target points, wherein the last target point is within a safe distance of the obstacle or the area boundary;
the sweeping robot advances along the plurality of target points of the second row until the last target point.
The sweeping robot advances along a plurality of target points in a first row until a last target point comprises:
if the obstacle is encountered in the process of traveling, a temporary path is drawn by using a dynamic obstacle avoidance algorithm to avoid the obstacle, and the distance between the planned temporary path and the obstacle is within the minimum collision-free safe distance.
The sweeping robot moves to a second row, and confirming the traveling direction of the second row with the line feed direction comprises:
the sweeping robot adopts a dynamic obstacle avoidance algorithm in the moving process, so that the robot moves to the next row along the wall or the obstacle at the minimum collision-free safe distance.
Correspondingly, the embodiment of the invention also provides a robot, and the robot is used for executing the method.
The sweeping robot provided by the embodiment of the invention has the advantages that the sweeping efficiency is high, the regional and modularized sweeping is realized, the sweeping process in an automatic navigation mode is realized, the relevant environmental parameters are confirmed through the laser radar to realize the self-adaptive angle adjustment, the dynamic obstacle avoidance algorithm is adopted to ensure that the robot does not collide with objects, the hardware of the robot is not damaged, and the service life of the robot is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for automatic cleaning navigation of a robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides an automatic cleaning and navigation method for a robot, wherein the cleaning robot sets water flooding operation and water swelling operation based on a two-dimensional map of a cleaning area; the sweeping robot walks to the wall side along the x-axis direction based on water overflowing operation, records an initial position, walks along the y-axis water overflowing direction by adhering to the wall with a minimum safe distance by adopting a dynamic obstacle avoidance algorithm, and cleans; the sweeping robot records the y-axis variable quantity under the water overflowing operation, judges whether the water rising operation is met or not based on the y-axis variable quantity, and cleans line by line in a zigzag mode based on the water rising operation when the water rising operation is met; the sweeping robot records the variable quantity of the y axis under the water expansion operation, judges whether the water overflowing operation is met or not based on the variable quantity of the y axis, and cleans based on the water overflowing operation again when the water overflowing operation is met.
Fig. 1 shows a flowchart of a method for robot automatic cleaning navigation in an embodiment of the present invention, which specifically includes the following steps:
s101, confirming a traveling angle of the sweeping robot based on environmental parameters;
the sweeping robot establishes a grid map with the same size as the environment map for recording the sweeping process, the size of each grid can be set to be a fixed size, and each time the sweeping robot passes through a certain grid, the grid is marked as being swept.
The robot of sweeping the floor carries out angle of marcing based on environmental parameter and confirms including: searching the longest straight line in the surrounding environment based on a laser radar on the sweeping robot, aligning the longest straight line with the straight line if the longest straight line is found, and determining the longest straight line as a traveling angle, and taking the current angle as the traveling angle if the longest straight line is not found.
In order to improve the cleaning efficiency, the traveling angle of the robot needs to be horizontally aligned with a longer wall in the environment at the beginning of cleaning, and here, the laser radar can be used for searching the longest surrounding straight line, if found, the laser radar is aligned with the straight line, and if not found, the current angle is taken as the traveling angle.
S102, setting water overflowing operation and water rising operation by the sweeping robot based on a two-dimensional map of a sweeping area;
the robot walks on a two-dimensional map, the water overflowing direction is set to be the y-axis negative direction, the robot can walk in the y-axis or x-axis positive and negative directions, the row interval size is set to be the width of the robot, and the row direction is the x-axis direction to establish a cleaning map for recording the cleaning position.
The sweeping robot divides a two-dimensional map of a sweeping area into a plurality of areas based on a preset partitioned area, and sets a water flooding operation and a water rising operation based on each of the plurality of areas. Here, the area of each partition is set, the cleaning map is divided into a plurality of areas, and the robot cleans each area.
S103, the sweeping robot walks to the wall side along the x-axis direction based on water overflowing operation, records an initial position, walks along the y-axis water overflowing direction by adhering to the wall with a minimum safe distance by adopting a dynamic obstacle avoidance algorithm, and cleans;
the sweeping robot walks to the wall along the x-axis direction, records the initial position at the moment, then adopts a dynamic obstacle avoidance algorithm to cling to the wall at the minimum safe distance and walks along the y-axis water overflowing direction, and when the y-axis distance from the position of the robot to the starting position is increased to be reduced (the reduction amount is a row interval), the robot can be determined to reach a valley bottom, and then water expansion operation is carried out.
S104, the sweeping robot records the y-axis variable quantity under the water overflowing operation, judges whether the water rising operation is met or not based on the y-axis variable quantity and the states of grid maps on the left side and the right side of the current position of the sweeping robot, and cleans line by line in a zigzag mode based on the water rising operation when the water rising operation is met;
when finding the bottom of a grain, the position of the bottom of the grain is recorded, water expansion operation is started, and the water expansion operation cleans line by line in a bow-shaped mode. The water overflowing operation is performed when the distance from the bottom of the valley to the bottom of the valley increases from the y-axis to the y-axis (the decrease is one line interval), and it is determined that the position of a valley peak is reached. In another case, when the robot reaches a new position, the water overflowing direction is in an uncleaned state, and the water overflowing operation is performed.
And S105, the sweeping robot records the variable quantity of the y axis under the water expansion operation, judges whether the water overflowing operation is met or not based on the variable quantity of the y axis, and performs sweeping based on the water overflowing operation again when the water overflowing operation is met.
In the specific implementation process, the cleaning in a zigzag mode line by line based on the water expansion operation comprises the following steps:
s11, determining an initial travelling angle and a line feed direction of the sweeping robot;
s12, generating a plurality of target points in a first row, generating a target point at intervals of a set distance by taking an initial travel angle as a direction until the target point meets an obstacle or reaches an area boundary to form a plurality of target points, wherein the last target point is within a safe distance of the obstacle or the area boundary;
s13, the sweeping robot advances along a plurality of target points in the first row until the last target point;
s14, moving the sweeping robot to a second row, confirming the traveling direction of the second row according to the row changing direction, wherein the interval of each row is a fixed value, and the fixed value is the width of the robot;
s15, generating a plurality of target points of a second row, generating a target point every other set distance in the opposite direction of the initial angle until meeting an obstacle or reaching an area boundary to form a plurality of target points, wherein the last target point is within a safe distance of the obstacle or the area boundary;
and S16, the sweeping robot advances along a plurality of target points of the second row until the last target point.
The above repeats S12 through S16 until all rows have been purged.
The sweeping robot advances along a plurality of target points of a first row until the last target point comprises: if the obstacle is encountered in the process of traveling, a temporary path is drawn by using a dynamic obstacle avoidance algorithm to avoid the obstacle, and the distance between the planned temporary path and the obstacle is within the minimum collision-free safe distance.
When the sweeping robot moves to the second row, the step of confirming the traveling direction of the second row by the row feed direction comprises the following steps: the sweeping robot adopts a dynamic obstacle avoidance algorithm in the moving process, so that the robot moves to the next row along the wall or the obstacle at the minimum collision-free safe distance.
Correspondingly, the embodiment of the invention also provides a robot, and the robot is used for executing the method.
In summary, the sweeping robot provided by the embodiment of the invention has the advantages that the sweeping efficiency is high, the regional and modularized sweeping is realized, the sweeping process in the automatic navigation mode is realized, the relevant environmental parameters are confirmed through the laser radar to realize the adaptive angle adjustment, the dynamic obstacle avoidance algorithm is adopted to ensure that the robot does not collide with objects, the hardware of the robot is not damaged, and the service life of the robot is prolonged.
In addition, the method for robot automatic cleaning navigation and the robot provided by the embodiment of the present invention are described in detail above, and a specific example should be adopted herein to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A method for automatic cleaning and navigation of a robot is characterized by comprising the following steps:
the sweeping robot sets water flooding operation and water rising operation based on a two-dimensional map of a sweeping area;
the sweeping robot walks to the wall side along the x-axis direction based on water overflowing operation, records an initial position, walks along the y-axis water overflowing direction by adhering to the wall with a minimum safe distance by adopting a dynamic obstacle avoidance algorithm, and cleans;
the sweeping robot records the y-axis variable quantity under the water overflowing operation, judges whether the water rising operation is met or not based on the y-axis variable quantity and the states of grid maps on the left side and the right side of the current position of the robot, and cleans line by line in a bow-shaped mode based on the water rising operation when the water rising operation is met;
the sweeping robot records the variable quantity of the y axis under the water expansion operation, judges whether the water overflowing operation is met or not based on the variable quantity of the y axis, and cleans based on the water overflowing operation again when the water overflowing operation is met.
2. The method for robotic automated cleaning navigation as set forth in claim 1, the method previously comprising:
the sweeping robot establishes a grid map with the same size as the environment map for recording the sweeping process, the size of each grid is set to be a fixed size, and each time the sweeping robot passes through a certain grid, the grid is marked as being swept;
the sweeping robot confirms the traveling angle based on the environmental parameters.
3. The method for robot automatic cleaning navigation according to claim 2, wherein the determination of the travel angle of the sweeping robot based on the environmental parameters comprises:
searching the longest straight line in the surrounding environment based on a laser radar on the sweeping robot, aligning the longest straight line with the straight line if the longest straight line is found, and determining the longest straight line as a traveling angle, and taking the current angle as the traveling angle if the longest straight line is not found.
4. The method for robot automatic cleaning guidance according to claim 3, wherein the floor sweeping robot setting the water flooding operation and the water flooding operation based on the two-dimensional map of the cleaning area comprises:
a two-dimensional map of a cleaning area is divided into a plurality of areas based on a preset divisional area, and a water flooding operation are set based on each of the plurality of areas.
5. The method for robotic automated cleaning navigation as set forth in claim 4, wherein said cleaning line-by-line in a zigzag manner based on water-swell operations comprises:
determining an initial advancing angle and a line changing direction of the sweeping robot;
generating a plurality of target points in a first row, generating one target point at intervals of a set distance by taking an initial travel angle as a direction until the target point meets an obstacle or reaches an area boundary to form a plurality of target points, wherein the last target point is within a safe distance of the obstacle or the area boundary;
the sweeping robot advances along a plurality of target points in the first row until reaching the last target point;
the sweeping robot moves to a second row, the traveling direction of the second row is confirmed in the row changing direction, the interval of each row is a fixed value, and the fixed value is the width of the robot;
generating a plurality of target points of a second row, generating one target point at intervals of a set distance in the reverse direction of the initial angle until meeting an obstacle or reaching an area boundary to form a plurality of target points, wherein the last target point is within a safe distance of the obstacle or the area boundary;
the sweeping robot advances along the plurality of target points of the second row until the last target point.
6. The method for robot automatic cleaning guidance according to claim 5, wherein the sweeping robot proceeds along a plurality of target points of the first row until the last target point comprises:
if the obstacle is encountered in the process of traveling, a temporary path is drawn by using a dynamic obstacle avoidance algorithm to avoid the obstacle, and the distance between the planned temporary path and the obstacle is within the minimum collision-free safe distance.
7. The method for robot automatic cleaning guidance according to claim 6, wherein the sweeping robot moving to the second row to confirm the traveling direction of the second row with the linefeed direction comprises:
the sweeping robot adopts a dynamic obstacle avoidance algorithm in the moving process, so that the robot moves to the next row along the wall or the obstacle at the minimum collision-free safe distance.
8. A robot, characterized in that the robot is adapted to perform the method of claims 1 to 7.
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| CN201911330412.0A CN110989616A (en) | 2019-12-20 | 2019-12-20 | Robot automatic cleaning navigation method and robot |
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| CN201911330412.0A CN110989616A (en) | 2019-12-20 | 2019-12-20 | Robot automatic cleaning navigation method and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111481105A (en) * | 2020-04-20 | 2020-08-04 | 北京石头世纪科技股份有限公司 | Obstacle avoidance method and device for self-walking robot, robot and storage medium |
| CN113995338A (en) * | 2020-07-28 | 2022-02-01 | 广州科语机器人有限公司 | Control method and device for spraying water mist by window cleaning robot |
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