CN111324114A - Sweeping robot and path planning method thereof - Google Patents
Sweeping robot and path planning method thereof Download PDFInfo
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- CN111324114A CN111324114A CN202010073152.XA CN202010073152A CN111324114A CN 111324114 A CN111324114 A CN 111324114A CN 202010073152 A CN202010073152 A CN 202010073152A CN 111324114 A CN111324114 A CN 111324114A
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- ground
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- charging seat
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- cleaning
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- 238000010408 sweeping Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004140 cleaning Methods 0.000 claims abstract description 19
- 238000010586 diagram Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000001502 supplementing effect 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0246—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
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a sweeping robot and a path planning method thereof, wherein the robot comprises a robot body and a charging seat arranged on the ground; the charging seat is provided with an infrared emitter; the camera body is provided with a plurality of cameras around the center, the shooting direction of the cameras inclines towards the ground, and the shooting range of the cameras on the ground forms an annular area surrounding the camera body. The path planning method takes the initial position of a machine body and a charging seat as reference point coordinates, takes the linear distance between the initial position and the charging seat as a reference distance, constructs a plane coordinate system of the ground of a room to be cleaned, takes the ground surrounded by an annular area shot by a camera as a filling block, splices the filling block capable of cleaning the ground into a complete panoramic image by the wandering of the machine body, and adopts a bow-shaped walking mode within the panoramic image range during cleaning. The invention takes the panoramic image as the planning basis of the cleaning path, can avoid or reduce repeated cleaning and improve the cleaning efficiency.
Description
Technical Field
The invention belongs to the field of sweeping robots, and particularly relates to a sweeping robot and a path planning method thereof.
Background
At present, most of sweeping paths of sweeping robots adopt a random algorithm, after a collision head or a distance measuring sensor detects a wall edge, the robot turns around or turns around and then walks linearly, and the robot is embedded into the wall to walk in a period of time, so that the problem of low coverage rate is generally existed. Some floor sweeping machines utilize speed measuring coded discs on left and right driving wheels to carry out arch-shaped cleaning, but the problem that an arch-shaped path fails after a straight line runs and an obstacle is encountered exists.
Disclosure of Invention
The invention aims to provide a sweeping robot and a path planning method thereof.
In order to solve the technical problems, the invention adopts the following technical scheme:
in one aspect, the present invention provides a sweeping robot.
The robot of sweeping the floor includes:
the device comprises a machine body, a plurality of cameras are arranged on the machine body around the center of the machine body, the shooting directions of the cameras incline to the ground, and the plurality of cameras form an annular area surrounding the machine body in the shooting range on the ground; a processor, a distance measuring sensor and an infrared receiver are arranged in the machine body, and the processor is respectively connected with the camera, the distance measuring sensor and the infrared receiver;
a charging seat arranged on the ground, and an infrared emitter is arranged on the charging seat.
Wherein:
the central region at the top of the machine body is provided with a supporting rod which does not rotate randomly, and the camera is arranged on the supporting rod. The number of the cameras is preferably 3-4.
The inner ring of an annular area formed by the shooting range of the camera is 3-8 cm away from the edge of the machine body, and the outer ring of the annular area is 20-50 cm away from the edge of the machine body.
The processor is generally a single chip microcomputer. The distance measuring sensor is preferably an ultrasonic distance measuring sensor.
On the other hand, the invention provides a path planning method of the sweeping robot.
The path planning method comprises the following steps:
1) the charging seat is arranged on the ground, so that no obstacle exists in the linear direction between the starting position of the machine body and the charging seat, the machine body linearly runs to the charging seat, and the processor calculates and calculates the distance from the machine body to the charging seat;
2) the method comprises the steps that an initial position and a charging seat are used as reference point coordinates, the linear distance between the initial position and the charging seat is used as a reference distance, a plane coordinate system of the ground of a room to be cleaned is constructed, the ground surrounded by an annular area shot by a camera is used as a filling block, and the filling block capable of cleaning the ground is spliced into a complete panoramic image through the wandering of a machine body;
3) the processor judges the wall position of the cleaning room according to the panoramic image, and the machine body uses the end part of a certain section of wall as a cleaning starting point and adopts a bow-shaped walking mode to clean.
Wherein:
when a panoramic image is constructed, a blank area in an inner ring of an annular area shot by a camera is automatically filled into a passable ground image.
When the panoramic image is constructed, two triangular areas between two adjacent annular areas are automatically filled into passable ground images.
Compared with the prior art, the invention has the advantages that:
the body of the sweeping robot is provided with a plurality of cameras which are obliquely towards the ground in a surrounding manner, and the cameras can perform panoramic shooting at 360 degrees, so that a panoramic view in a room can be conveniently constructed by a single chip microcomputer; meanwhile, the machine body is positioned by utilizing the induction between the infrared receiver and the infrared transmitter, and the distance measurement sensor is utilized to measure the distance and avoid the obstacle by utilizing the induction of the obstacle and the wall, so that the wall and the coordinates of the obstacle can be conveniently marked on the panoramic image;
the path planning method of the sweeping robot takes a circular area shot by a camera as a filling block, constructs a complete panoramic image for sweeping the ground through a graph splicing and automatic graph supplementing technology, and can avoid or reduce repeated sweeping and improve sweeping efficiency by taking the panoramic image as a planning basis of a sweeping path.
Drawings
Fig. 1 is a schematic structural diagram of a sweeping robot.
Fig. 2 is a block diagram of the interior of the robot body.
Fig. 3 is a schematic diagram of a panoramic image construction method of the path planning method.
Fig. 4 is a schematic diagram of a cleaning path of the sweeping robot.
The reference numbers in the figures are: 1. a body; 2. a camera; 3. a support bar; 4. a charging seat; 5. an infrared emitter; 6. a processor; 7. a ranging sensor; 8. an infrared receiver.
Detailed Description
The present invention will now be described with reference to the accompanying drawings, wherein the specific embodiments described herein are merely illustrative and explanatory of the invention and are not restrictive thereof.
Referring to fig. 1 and 2, the sweeping robot of the present embodiment includes a body 1 and a charging stand 4. The charging seat 4 is arranged on the ground and used for charging the sweeping robot, and the infrared emitter 5 is arranged on the charging seat 4. The center at 1 top of fuselage is equipped with not following fuselage 1 pivoted bracing piece 3, around being equipped with three camera 2 on the bracing piece 3, and the shooting direction slope of camera 2 is towards ground, and three camera 2 forms the annular region A who encircles fuselage 1 in the shooting scope on ground. The inner ring of the annular area A is 3-8 cm away from the edge of the machine body 1, and the outer ring is 20-50 cm away from the edge of the machine body 1. Be equipped with treater 6, range sensor 7 and infrared receiver 8 in the fuselage 1, treater 6 is connected with camera 2, range sensor 7 and infrared receiver 8 respectively. Wherein, the processor 6 is a singlechip. The distance measuring sensor 7 is an ultrasonic distance measuring sensor.
Referring to fig. 3 and 4, the path planning method for the sweeping robot of the embodiment includes the following steps:
1) the charging seat 4 is arranged on the ground, so that no obstacle exists in the linear direction between the starting position of the machine body 1 and the charging seat 4, the machine body 1 linearly runs to the charging seat 4, and the processor 6 measures and calculates the distance from the machine body 1 to the charging seat 4;
2) constructing a plane coordinate system of the ground of a room to be cleaned by taking the initial position and the charging seat as reference point coordinates and taking the linear distance between the initial position and the charging seat as a reference distance, taking the ground surrounded by an annular area shot by the camera 2 as a filling block (namely the combination of A, B areas in fig. 3), and splicing the filling block capable of cleaning the ground into a complete panoramic image by the wandering of the machine body 1;
3) the processor 6 judges the wall position of the cleaning room according to the panoramic image, and the machine body 1 performs cleaning by adopting a bow-shaped walking mode in the figure 4 by taking the end part of a certain section of wall as a cleaning starting point; in cleaning, it is preferable to perform cleaning in a room-by-room manner, that is, in the order of room 91 → room 92 → room 93 → room 94 → room 95.
When a panoramic image is constructed, a blank area B in an inner ring of an annular area A shot by a camera 2 is automatically filled into a passable ground image; also, two triangular areas C between adjacent two annular areas a are automatically filled with passable ground images.
Claims (6)
1. The robot of sweeping the floor, its characterized in that includes:
the device comprises a machine body, a plurality of cameras are arranged on the machine body around the center of the machine body, the shooting directions of the cameras incline to the ground, and the plurality of cameras form an annular area surrounding the machine body in the shooting range on the ground; a processor, a distance measuring sensor and an infrared receiver are arranged in the machine body, and the processor is respectively connected with the camera, the distance measuring sensor and the infrared receiver;
a charging seat arranged on the ground, and an infrared emitter is arranged on the charging seat.
2. The sweeping robot of claim 1, wherein:
the central region at the top of the machine body is provided with a supporting rod which does not rotate randomly, and the camera is arranged on the supporting rod.
3. The sweeping robot of claim 1, wherein:
the inner ring of the annular region formed by the shooting range of the camera is 3-8 cm away from the edge of the machine body, and the outer ring of the annular region is 20-50 cm away from the edge of the machine body.
4. The path planning method for the sweeping robot of any one of claims 1 to 3, characterized by comprising the following steps:
1) the charging seat is arranged on the ground, so that no obstacle exists in the linear direction between the starting position of the machine body and the charging seat, the machine body linearly runs to the charging seat, and the processor calculates and calculates the distance from the machine body to the charging seat;
2) the method comprises the steps that an initial position and a charging seat are used as reference point coordinates, the linear distance between the initial position and the charging seat is used as a reference distance, a plane coordinate system of the ground of a room to be cleaned is constructed, the ground surrounded by an annular area shot by a camera is used as a filling block, and the filling block capable of cleaning the ground is spliced into a complete panoramic image through the wandering of a machine body;
3) the processor judges the wall position of the cleaning room according to the panoramic image, and the machine body uses the end part of a certain section of wall as a cleaning starting point and adopts a bow-shaped walking mode to clean.
5. The path planning method according to claim 4, characterized in that:
when a panoramic image is constructed, a blank area in an inner ring of an annular area shot by a camera is automatically filled into a passable ground image.
6. The path planning method according to claim 5, characterized in that:
when the panoramic image is constructed, two triangular areas between two adjacent annular areas are automatically filled into passable ground images.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010073152.XA CN111324114A (en) | 2020-01-22 | 2020-01-22 | Sweeping robot and path planning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010073152.XA CN111324114A (en) | 2020-01-22 | 2020-01-22 | Sweeping robot and path planning method thereof |
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| Publication Number | Publication Date |
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| CN111324114A true CN111324114A (en) | 2020-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010073152.XA Pending CN111324114A (en) | 2020-01-22 | 2020-01-22 | Sweeping robot and path planning method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115016509A (en) * | 2022-08-02 | 2022-09-06 | 深圳博鹏智能科技有限公司 | Cleaning robot control method and control system |
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