CN111158375A - Cleaning robot and path planning method thereof - Google Patents
Cleaning robot and path planning method thereof Download PDFInfo
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- CN111158375A CN111158375A CN202010026901.3A CN202010026901A CN111158375A CN 111158375 A CN111158375 A CN 111158375A CN 202010026901 A CN202010026901 A CN 202010026901A CN 111158375 A CN111158375 A CN 111158375A
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- main body
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- 238000004140 cleaning Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000002689 soil Substances 0.000 claims description 4
- 238000005265 energy consumption Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002699 waste material Substances 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a cleaning robot, comprising: a robot main body; and a camera device, which can shoot the stain image and is arranged on the robot main body; the first control end can acquire image information fed back by the camera device and is connected with the robot main body; and the second control end can send a motion instruction to the robot main body according to the image information fed back by the camera device, so that the robot main body can reach a spot to clean and is respectively connected with the first control end and the second control end. And also discloses a path planning method of the cleaning robot. Compared with the prior art, the intelligent cleaning robot is reasonable in design and clear in steps, a high-efficiency intelligent cleaning robot is provided for a user, the moving path of the robot can be optimally guided, the working efficiency of the robot is improved, and energy consumption is reduced.
Description
Technical Field
The invention relates to the field of intelligent robot control, in particular to a cleaning robot and a path planning method thereof.
Background
With the coming of the intelligent era, people put higher demands on convenient and fast life, and new products in the field of smart home are in endless, especially, machine vision and robot technology are also beginning to be applied to intelligent products, so that the living standard of people can be greatly improved. At present, in some household environments or large-scale public environments, a robot is adopted to achieve dust cleaning and dirt removing work, manual cleaning can be replaced, the efficiency is high, the cleaning is convenient, generally, the robot is controlled to automatically move to a dirt place to achieve cleaning, however, in practice, the moving path of the robot is uncertain, invalid movement is easy to generate, time is consumed, energy consumption is high, and work efficiency is not high.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an efficient and intelligent cleaning robot and a path planning method thereof, which can optimize a moving path of a guiding robot, improve the working efficiency thereof, and reduce energy consumption.
In order to make up for the defects of the prior art, the embodiment of the invention adopts the following technical scheme:
a cleaning robot, comprising:
a robot main body;
a camera device which can shoot a stain image and is arranged on the robot main body;
the first control end can acquire image information fed back by the camera device and is connected with the robot main body;
and the second control end can send a motion instruction to the robot main body according to the image information fed back by the camera device, so that the robot main body can reach a spot to clean and is respectively connected with the first control end and the second control end.
Furthermore, the first control end adopts a cloud server, and the second control end adopts an upper computer.
Further, the camera device adopts a camera, an electronic camera or a digital video camera.
A path planning method for a cleaning robot, comprising the steps of:
reading out stain node information from image information fed back by the camera device, and taking a node which is closest to the robot main body in a straight line as a first target stain node;
planning a shortest straight line path between a first point and a second point by taking the coordinate of the robot main body as the first point and a first target stain node as the second point;
and converting the shortest straight path into a motion instruction and sending the motion instruction to the robot main body, and controlling the robot main body to move to the stain part along the shortest straight path.
Further, the step of planning the shortest straight-line path between the first point and the second point by taking the coordinate of the robot main body as the first point and the first target stain node as the second point comprises the following steps:
acquiring a node with the straight line farthest from the robot body as a second target stain node, and recording coordinates as (X2, Y2), wherein the coordinates of the first target stain node are (X1, Y1);
calculating to obtain K ═ (X2-X1)/(Y2-Y1) and B ═ X1-K ═ Y1, so as to obtain a path fitting formula X ═ KY + B;
and acquiring two end stain nodes with the maximum and minimum vertical coordinates in the stain node information, and substituting the coordinates of the two end stain nodes, the first target stain node and the second target stain node into the path fitting formula to obtain the shortest straight path between the first point and the second point.
One or more technical schemes provided in the embodiment of the invention have at least the following beneficial effects: the image information of the stain can be directly acquired through the camera device, and the subsequent processing of the image information of the stain is further realized through the first control end and the second control end, so that the shortest straight path from the robot main body to the stain is planned, a corresponding motion instruction is transmitted to the robot main body in a matching manner, the robot main body can move to the stain through the shortest straight path to be cleaned, unnecessary invalid movement of the robot main body is prevented, and the effects of saving movement time, reducing energy consumption and improving working efficiency are achieved. Therefore, the invention has reasonable design and clear steps, provides a high-efficiency intelligent cleaning robot for users, can optimize and guide the moving path of the robot, improves the working efficiency of the robot and reduces the energy consumption.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The following description of the preferred embodiments of the present invention will be made in conjunction with the accompanying drawings.
Fig. 1 is a schematic block diagram of a cleaning robot according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of a path planning method for a cleaning robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in system schematics, with logical sequences shown in flowcharts, in some cases the steps shown or described may be performed in a different order than the block divisions in the systems, or in the flowcharts.
The embodiments of the present invention will be further explained with reference to the drawings.
Referring to fig. 1, an embodiment of the present invention discloses a cleaning robot, including:
a robot main body 100;
an imaging device 400 that can capture a stain image and is provided on the robot main body 100;
a first control terminal 200 capable of acquiring image information fed back by the image pickup device 400 and connected to the robot main body 100;
the second control terminal 300 can send a motion command to the robot main body 100 according to the image information fed back by the camera 400, so that the robot main body 100 can reach the spot to perform cleaning, and is connected to the first control terminal 200 and the second control terminal 300 respectively.
Meanwhile, a path planning method of the cleaning robot is also disclosed, and with reference to fig. 2, the method comprises the following steps:
s100, reading out dirt node information from the image information fed back by the camera device 400;
s200, taking a node which is closest to the robot main body 100 in a straight line as a first target stain node;
s300, planning a shortest straight line path between a first point and a second point by taking the coordinate of the robot main body 100 as the first point and the first target stain node as the second point;
and S400, converting the shortest straight path into a motion command and sending the motion command to the robot main body 100, and controlling the robot main body 100 to move to the dirty place through the shortest straight path.
In the embodiment, the cleaning performed by the cleaning robot may be dry cleaning, wet cleaning, chemical cleaning, or the like, and the user may adopt a robot with a corresponding function according to the actual situation, which is not limited; the image information of the stain can be directly acquired through the camera device 400, and the subsequent processing of the image information of the stain is further realized through the first control end 200 and the second control end 300, so that the shortest straight path from the robot main body 100 to the stain is planned, a corresponding motion instruction is transmitted to the robot main body 100 in a matching manner, the robot main body can move to the stain through the shortest straight path for cleaning, unnecessary invalid movement of the robot main body is prevented, and the effects of saving movement time, reducing energy consumption and improving working efficiency are achieved. Therefore, the invention has reasonable design and clear steps, provides a high-efficiency intelligent cleaning robot for users, can optimize and guide the moving path of the robot, improves the working efficiency of the robot and reduces the energy consumption.
Specifically, the camera 400 can capture an image of the stain in all directions for the analysis of the first control end 200 and the second control end 300 at the subsequent stage; the first control terminal 200 plays a role of transmitting image information, and the second control terminal 300 serves as a processing terminal having functions of processing and issuing instructions. As can be seen, the robot main body 100 can move more precisely by the cooperation of the above components, and the waste of the path can be reduced. Meanwhile, in the path planning method, the first point and the second point are adopted for the purpose of: determining a straight line using two points most related to the robot main body 100 and the stain; according to the common knowledge of mathematics, the straight-line distance between two points is shortest, so that the shortest straight-line path can be determined, the robot main body 100 can be correspondingly controlled, and the effects of saving moving time, reducing energy consumption and improving working efficiency are achieved.
Preferably, the first control end 200 adopts a cloud server, and the second control end adopts an upper computer; the cloud server is used as a cloud end, has good data receiving and sending capacity and data storage capacity, can stably transmit image information of stains, and meanwhile, the upper computer has a general control function, can intelligently send instructions to the robot main body 100, and is good in control effect.
Further, with the coordinates of the robot main body 100 as a first point and the first target soil node as a second point, the shortest straight path between the first point and the second point is planned, that is, the specific steps of step S300 include:
acquiring a node of the straight line farthest from the robot main body 100 as a second target soil node, and recording coordinates as (X2, Y2), wherein the coordinates of the first target soil node are (X1, Y1);
calculating to obtain K ═ (X2-X1)/(Y2-Y1) and B ═ X1-K ═ Y1, so as to obtain a path fitting formula X ═ KY + B;
and acquiring two end stain nodes with the maximum and minimum vertical coordinates in the stain node information, and substituting the coordinates of the two end stain nodes, the first target stain node and the second target stain node into a path fitting formula to obtain the shortest straight path between the first point and the second point.
In the embodiment, by selecting a near point and a far point on the stain, accurate coordinates of the stain can be obtained, so that K (namely, a slope) and B (namely, an intercept) are calculated according to the coordinates of the two points, and therefore, a linear equation between the two points can be determined, and besides, coordinates of two end stain nodes with the maximum and minimum vertical coordinates in stain node information, which are matched with the coordinates of a first target stain node and a second target stain node, are substituted into a path fitting formula, so that the shortest linear path can be optimized and approximately processed into a straight line as far as possible by using data of the points, the robot main body 100 only needs to move along the straight line, namely, the shortest distance, and therefore, the steps of the embodiment can be adopted to accurately provide a movement path for the robot main body 100, and the operation is more convenient; further, since the image pickup apparatus 400 performs all-dimensional image pickup, it can acquire coordinates of a plurality of points on the stain, and can obtain a shortest path which is approximated to a straight line by substituting vertical coordinates of the plurality of points into the path fitting equation in the order from small to large.
While the preferred embodiments and basic principles of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the embodiments, but is intended to cover various modifications, equivalents and alternatives falling within the scope of the invention as claimed.
Claims (5)
1. A cleaning robot, characterized by comprising:
a robot main body;
a camera device which can shoot a stain image and is arranged on the robot main body;
the first control end can acquire image information fed back by the camera device and is connected with the robot main body;
and the second control end can send a motion instruction to the robot main body according to the image information fed back by the camera device, so that the robot main body can reach a spot to clean and is respectively connected with the first control end and the second control end.
2. A cleaning robot as claimed in claim 1, wherein: the first control end adopts a cloud server, and the second control end adopts an upper computer.
3. A cleaning robot according to claim 1 or 2, characterized in that: the camera device adopts a camera, an electronic camera or a digital video camera.
4. A path planning method based on a cleaning robot as claimed in any one of claims 1 to 3, characterized by comprising the steps of:
reading out stain node information from image information fed back by the camera device, and taking a node which is closest to the robot main body in a straight line as a first target stain node;
planning a shortest straight line path between a first point and a second point by taking the coordinate of the robot main body as the first point and a first target stain node as the second point;
and converting the shortest straight path into a motion instruction and sending the motion instruction to the robot main body, and controlling the robot main body to move to the stain part along the shortest straight path.
5. The cleaning robot path planning method according to claim 4, wherein the shortest straight-line path between the first point and the second point is planned by taking the coordinates of the robot main body as the first point and the first target soil node as the second point, and the method comprises the following steps:
acquiring a node with the straight line farthest from the robot body as a second target stain node, and recording coordinates as (X2, Y2), wherein the coordinates of the first target stain node are (X1, Y1);
calculating to obtain K ═ (X2-X1)/(Y2-Y1) and B ═ X1-K ═ Y1, so as to obtain a path fitting formula X ═ KY + B;
and acquiring two end stain nodes with the maximum and minimum vertical coordinates in the stain node information, and substituting the coordinates of the two end stain nodes, the first target stain node and the second target stain node into the path fitting formula to obtain the shortest straight path between the first point and the second point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010026901.3A CN111158375A (en) | 2020-01-10 | 2020-01-10 | Cleaning robot and path planning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010026901.3A CN111158375A (en) | 2020-01-10 | 2020-01-10 | Cleaning robot and path planning method thereof |
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| CN111158375A true CN111158375A (en) | 2020-05-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111657779A (en) * | 2020-06-30 | 2020-09-15 | 元准智能科技(苏州)有限公司 | Intelligent window cleaning robot based on machine vision and cleaning method thereof |
| CN115299814A (en) * | 2022-07-19 | 2022-11-08 | 广州大学 | Intelligent cleaning robot control system and control method based on ultrasonic cleaning |
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| CN109448002A (en) * | 2018-10-26 | 2019-03-08 | 江西省华宇智能集成有限公司 | A kind of sweeping robot control method, system, mobile terminal and storage medium |
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2020
- 2020-01-10 CN CN202010026901.3A patent/CN111158375A/en active Pending
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| CN108968805A (en) * | 2017-06-05 | 2018-12-11 | 碧洁家庭护理有限公司 | Autonomous floor-cleaning system |
| CN107194436A (en) * | 2017-06-19 | 2017-09-22 | 安徽味唯网络科技有限公司 | A kind of method of sweeping robot Intelligent Recognition spot |
| CN108814436A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | Sweeper control method and control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111657779A (en) * | 2020-06-30 | 2020-09-15 | 元准智能科技(苏州)有限公司 | Intelligent window cleaning robot based on machine vision and cleaning method thereof |
| CN111657779B (en) * | 2020-06-30 | 2023-10-10 | 元准智能科技(苏州)有限公司 | Intelligent window cleaning robot based on machine vision and cleaning method thereof |
| CN115299814A (en) * | 2022-07-19 | 2022-11-08 | 广州大学 | Intelligent cleaning robot control system and control method based on ultrasonic cleaning |
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Application publication date: 20200515 |