CN111638713B

CN111638713B - Method for defining passable area, area calculation method, chip and robot

Info

Publication number: CN111638713B
Application number: CN202010456788.2A
Authority: CN
Inventors: 李明; 赖钦伟; 李永勇
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2023-06-09
Anticipated expiration: 2040-05-26
Also published as: CN111638713A

Abstract

The invention discloses a framing method, an area calculating method, a chip and a robot of a passable area, wherein the framing method comprises the following steps: the mobile robot is controlled to traverse the global working area according to a preset path, and a global grid map is constructed according to information recorded in the traversing process; after the traversing of the global working area is completed, controlling the mobile robot to walk along the edge from a preset edge starting point in the global working area, and simultaneously establishing passable areas of the edge walking path of the mobile robot in the directions of all global coordinate axes of the global grid map. According to the technical scheme, the passable areas in the directions of all global coordinate axes can be constructed by utilizing the position areas traversed by the robot in the edge walking process, the acquired obstacle environment information quantity is relatively small, the calculation force and the storage space are saved, the calculation load of navigation positioning of the mobile robot is reduced, and the navigation map construction speed of the robot is accelerated.

Description

Method for defining passable area, area calculation method, chip and robot

Technical Field

The present invention relates to the field of area planning for mobile robots, and in particular, to a method for determining a passable area of a mobile robot based on a global grid map, a method for calculating the area of the area, a chip, and a robot.

Background

Mobile robots refer to self-mobile devices that autonomously perform preset tasks within a set-up enclosed indoor space, and currently mobile robots include, but are not limited to, mobile robots (e.g., intelligent floor sweepers, intelligent sweeping and mopping integrated robots, window cleaning robots), companion mobile robots (e.g., intelligent cyber pets, paramedic robots), service mobile robots (e.g., reception robots in hotels, meeting places), industrial inspection smart devices (e.g., power inspection robots, intelligent forklifts, etc.), security robots (e.g., home or business intelligent guard robots).

The mobile robot obtains an image of an environmental object through a common camera and combines with kinematic data of dead reckoning sensors such as a code wheel, a gyroscope and the like, or obtains an environmental map through a visual instant positioning and mapping (visual simultaneous localization and mapping, abbreviated as vSLAM) algorithm. The current mobile robot plans and determines the passable area in the established map on the basis of acquiring and recording the position information of the obstacle, so that the amount of acquired environment information is large, larger calculation power and storage space are needed, the calculation burden of navigation and positioning of the mobile robot is increased, and the map construction time is prolonged.

Disclosure of Invention

In order to solve the technical problems, the invention discloses a method for planning a passable area by means of an area framed by a grid area block along which a robot moves, an area calculation method, a chip and the robot, and the specific technical scheme is as follows:

a method of framing a passable area based on a global raster map, comprising: the mobile robot is controlled to traverse the global working area according to a preset path, and a global grid map is constructed according to information recorded in the traversing process; after the traversing of the global working area is completed, controlling the mobile robot to walk along the edge from a preset edge starting point in the global working area, and simultaneously establishing passable areas of the edge walking path of the mobile robot in the directions of all global coordinate axes of the global grid map. According to the technical scheme, the passable areas in the directions of all global coordinate axes can be constructed by utilizing the position areas traversed by the robot in the edge walking process, the acquired obstacle environment information quantity is relatively small, the calculation force and the storage space are saved, the calculation load of navigation positioning of the mobile robot is reduced, and the navigation map construction speed of the robot is accelerated.

Further, the defining the passable area of the edge walking path of the mobile robot in each global coordinate axis direction of the global grid map includes: a passable area of the edgewise travel path of the framed mobile robot in the horizontal coordinate axis direction of the global grid map and a passable area of the edgewise travel path of the framed mobile robot in the vertical coordinate axis direction of the global grid map; the global coordinate axis direction comprises a vertical coordinate axis direction and a horizontal coordinate axis direction. According to the technical scheme, the passable area framed by the edge walking path of the mobile robot in the vertical coordinate axis direction or the horizontal coordinate axis direction is fully considered, so that the framed passable area is suitable for the actual furniture environment, and the coverage effect of the passable area is improved relative to the environmental information marked by the global grid map.

Further, the method for framing the passable area of the edge walking path of the mobile robot in the vertical coordinate axis direction of the global grid map comprises the following steps: judging whether the map traversal blocks of each column of the global grid map exist or not, if so, framing all the map traversal blocks from the lowest edge map traversal block to the uppermost edge map traversal block on the corresponding column, and establishing a passable subarea of the mobile robot in the column, otherwise, not framing the passable subarea of the mobile robot in the column along the walking path; the accessible subarea framed by each row of the edge walking path of the mobile robot comprises an edge map traversing block at the lowest end and an edge map traversing block at the uppermost end of the same row; and when judging the passable subareas of all columns of the global grid map according to the steps, merging the passable subareas framed by the edgewise travel path of the mobile robot in each column into a passable area framed by the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the global grid map. Compared with the prior art, in the vertical coordinate axis direction of the global coordinate system, the passable areas framed between the outermost edge map traversal blocks can completely represent the coverage degree of the current passable area of the robot, and the limit condition that the edge map traversal blocks are used as the framed areas can reduce the operation processing amount of grid information in the global map in the prior art.

Further, the method for framing the passable area of the edge walking path of the mobile robot in the horizontal coordinate axis direction of the global grid map comprises the following steps: judging whether the map traversal blocks of each row of the global grid map exist or not, if so, framing all the map traversal blocks from the leftmost map traversal block to the rightmost map traversal block on the corresponding row, and framing a passable subarea of the mobile robot on the row, otherwise, not framing a passable subarea of the mobile robot on the row along the walking path; the traversable subareas framed by the edge-along walking paths of the mobile robots in each row comprise edge-along map traversal blocks at the leftmost end and edge-along map traversal blocks at the rightmost end of the same row; and when the map traversing blocks of all the rows of the global grid map are judged according to the steps, merging the passable subareas framed by the edgewise travel path of the mobile robot in each row into passable areas framed by the edgewise travel path of the mobile robot in the horizontal coordinate axis direction of the global grid map. Compared with the prior art, in the horizontal coordinate axis direction of the global coordinate system, the passable areas framed between the outermost edge map traversing blocks can completely represent the coverage degree of the current passable areas of the robot, so that the workload of traversing all grids by the robot is saved, and the operation processing amount of grid information in the global map in the prior art can be reduced.

Further, before the mobile robot cleans and traverses the global working area according to a preset cleaning mode, the method further comprises: setting the side length of the map traversing block according to the size of the global grid map, and further determining the coverage quantity of the map traversing block in each global coordinate axis direction of the global grid map by calculating the ratio relation between the size of the global grid map and the side length of the map traversing block on the basis of the side length of the map traversing block; then, calculating the mapping coordinates of the map traversal blocks by combining the side lengths and the number of the map traversal blocks, and arranging the map traversal blocks to each row and each column of the global grid map; when the mobile robot walks into the map traversing block along the edge, the map traversing block is marked as the edge map traversing block at the same time, so that the edge walking path is composed of the edge map traversing block. The map traversing blocks regularly arranged in rows and columns can reflect the environmental characteristics of the global working area, are suitable for processing global grid maps of various scales, save the operation resources of the grid areas in the global map and accelerate the data processing speed.

An area calculation method of a passable area based on a global grid map comprises the following steps: the mobile robot is controlled to traverse the global working area according to a preset path, and a global grid map is constructed according to information recorded in the traversing process; after the traversing of the global working area is completed, controlling the mobile robot to walk along the edge in the global working area from a preset edge starting point, and simultaneously calculating the area of a passable area framed by the edge walking path of the mobile robot in the directions of all global coordinate axes of the global grid map; wherein the passable area is framed using the framing method of any of claims 1-5. According to the technical scheme, the area of the passable area in the direction of each global coordinate axis can be calculated and framed by utilizing the position area traversed by the robot in the process of walking along the edges, the amount of the obstacle environment information required to be acquired is relatively small, the area calculation force and the storage space are saved, the calculation load of navigation and positioning of the mobile robot is reduced, and the path planning and positioning speed of the robot are accelerated.

Further, the calculating the area of the passable area defined by the edge walking path of the mobile robot in each global coordinate axis direction of the global grid map comprises: calculating the area of a passable area framed by the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the global grid map and the area of a passable area framed by the edgewise travel path of the mobile robot in the horizontal coordinate axis direction of the global grid map; the global coordinate axis direction comprises a vertical coordinate axis direction and a horizontal coordinate axis direction. The environmental adaptability and the coverage effect of the passable area are improved.

Further, the method for calculating the area of the passable area framed by the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the global grid map comprises the following steps: judging whether the map traversal blocks of each column of the global grid map exist or not, if so, counting the number of map traversal blocks from the lowest edge map traversal block to the uppermost edge map traversal block on a corresponding column, and recording the number as the area of a passable subarea defined by the edge walking path of the mobile robot in the column; the accessible subarea framed by each row of the edge walking path of the mobile robot comprises an edge map traversing block at the lowest end and an edge map traversing block at the uppermost end of the same row; when the map traversing blocks of all columns of the global grid map are judged according to the steps, the sum of areas of passable subareas framed by the edge travelling path of the mobile robot in each column is set as the area of passable areas framed by the edge travelling path of the mobile robot in the vertical coordinate axis direction of the global grid map. Compared with the prior art, the method and the device have the advantages that the statistical result of the number of map traversal blocks framed along the edge walking path in the vertical coordinate axis direction of the global coordinate system is used as the area of the corresponding framed passable area, the coverage degree of the current passable area of the robot is completely described, and the operation processing amount of the grid area in the global map in the prior art is reduced.

Further, the method for calculating the area of the passable area defined by the edge walking path of the mobile robot in the horizontal coordinate axis direction of the global grid map comprises the following steps: judging whether the map traversal blocks of each row of the global grid map exist or not, if so, counting the number of the map traversal blocks from the leftmost map traversal block to the rightmost map traversal block on the corresponding row, and recording the number as the area of a passable subarea defined by the edgewise walking path of the mobile robot on the row; the traversable subareas framed by each row of the edge-based walking path of the mobile robot comprise the leftmost edge map traversal block and the rightmost edge map traversal block of the same row; when the map traversing blocks of all the rows of the global grid map are judged according to the steps, the sum of the areas of the passable subareas framed by the edge travelling path of the mobile robot in each row is set as the area of the passable area framed by the edge travelling path of the mobile robot in the horizontal coordinate axis direction of the global grid map. Compared with the prior art, the method and the device have the advantages that the statistical result of the number of map traversal blocks framed along the walking path in the horizontal coordinate axis direction of the global coordinate system is used as the area of the corresponding framed passable area, the coverage degree of the current passable area of the robot is completely described, and the operation processing amount of the grid area in the global map in the prior art is reduced.

Further, before the mobile robot cleans and traverses the global working area according to a preset cleaning mode, the method further comprises: setting the side length of the map traversing block according to the size of the global grid map, and further determining the coverage quantity of the map traversing block in each global coordinate axis direction of the global grid map by calculating the ratio relation between the size of the global grid map and the side length of the map traversing block on the basis of the side length of the map traversing block; then, calculating the mapping coordinates of the map traversal blocks by combining the side lengths and the number of the map traversal blocks, and arranging the map traversal blocks to each row and each column of the global grid map; when the mobile robot walks into the map traversing block along the edge, the map traversing block is marked as the edge map traversing block at the same time, so that the edge walking path is composed of the edge map traversing block. The map traversing blocks regularly arranged in rows and columns can reflect the environmental characteristics of the global working area, are suitable for processing global grid maps of various scales, save the operation resources of grid areas in the global map and accelerate the data processing speed.

A chip, a control program is built in, and the control program is used for controlling a mobile robot to execute the framing method and then execute the area calculating method.

The robot is internally provided with the chip and is used for establishing a passable area and calculating and determining the area of the passable area in real time in the autonomous moving process.

Drawings

Fig. 1 is a flowchart of a method for defining a passable area on each column of a global grid map according to an embodiment of the present invention, wherein the method for defining each row is similar to that of each column, and therefore will not be described again.

Fig. 2 is a schematic diagram of a working scenario in which a mobile robot according to an embodiment of the present invention makes a complete edge in a global working area and returns to a preset edge starting point a (ignoring the effect of wall width).

Fig. 3 is a schematic view of a working scene of a part of the passable area framed in the X-axis direction and a part of the passable area framed in the Y-axis direction by an edge map traversal block (diagonal line filling block) marked by a mobile robot within the global working area.

Fig. 4 is a flowchart of an area calculation method of a passable area on each column of a global grid map according to an embodiment of the present invention, wherein the area calculation method of each row is similar to that of each column, and therefore will not be described again.

Detailed Description

The following describes the technical solution in the embodiment of the present invention in detail with reference to the drawings in the embodiment of the present invention. For further illustration of the various embodiments, the invention is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible embodiments and advantages of the present invention. The components in the figures are not drawn to scale and like reference numerals are generally used to designate like components.

The embodiment of the invention discloses a method for framing a passable area based on a global grid map, which comprises the following steps: the mobile robot is controlled to traverse the global working area according to a preset path, and a global grid map is constructed according to information recorded in the traversing process; after the traversing of the global working area is completed, controlling the mobile robot to walk along the edge from a preset edge starting point in the global working area, and simultaneously establishing passable areas of the edge walking path of the mobile robot in the directions of all global coordinate axes of the global grid map. According to the technical scheme, the passable areas in the directions of all global coordinate axes can be constructed by utilizing the position areas traversed by the robot in the edge walking process, the acquired obstacle environment information quantity is relatively small, the calculation force and the storage space are saved, the calculation load of navigation positioning of the mobile robot is reduced, and the navigation map construction speed of the robot is accelerated.

It should be noted that, in this embodiment, the passable area of the edge walking path of the framed mobile robot in each global coordinate axis direction of the global grid map includes: and framing a passable area of the edgewise travel path of the mobile robot in the horizontal coordinate axis direction of the global grid map and framing a passable area of the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the global grid map. According to the technical scheme, the passable area framed by the edge walking path of the mobile robot in the vertical coordinate axis direction or the horizontal coordinate axis direction is fully considered, so that the framed passable area is suitable for the actual furniture environment, and the coverage effect of the passable area is improved relative to the environmental information marked by the global grid map. The global coordinate axis direction comprises a vertical coordinate axis direction and a horizontal coordinate axis direction.

As one embodiment, fig. 1 discloses a flow chart of a method of framing a passable area on each column of a global raster map, wherein the method of framing each row is similar to that of each column. As shown in fig. 1, the framing method includes:

step S101, controlling the mobile robot to traverse the global working area according to a preset path, constructing a global grid map according to the information recorded in the traversing process, as shown in the working scene diagrams of fig. 2 and 3, marking the grid passable areas corresponding to the room areas #1, #2 and #3 with bow-shaped cleaning paths, that is, in this embodiment, the mobile robot cleans and traverses the global working area according to bow-shaped cleaning, so as to realize the whole coverage cleaning and traversing of the global working area, synchronously constructing the global grid map according to the cleaning environment information recorded in the cleaning and traversing process, and then entering step S102.

Step S102, after the mobile robot finishes cleaning the global working area and marks related traversal information in the global grid map, controlling the mobile robot to walk along the edge in the global working area from a preset edge starting point, simultaneously calculating the area of a passable area framed by the edge walking path of the mobile robot in each global coordinate axis direction of the global grid map and the area of the passable area traversed by the mobile robot, and then entering step S103.

Preferably, before the mobile robot cleans and traverses the global working area according to a preset cleaning mode, the method further comprises: step S1, setting the side length of a map traversing block according to the size (including the length and the width) of the global grid map, so that the map traversing block framing method occupies a sufficiently large grid area in the global grid map; s2, calculating the coverage quantity of the map traversal blocks in each global coordinate axis direction (including the X axis direction and the Y axis direction of the global coordinate system) of the global grid map by combining the size of the global grid map and the ratio relation of the side lengths of the map traversal blocks determined in the step S1, wherein the map traversal blocks are equivalent to the subareas divided by the global grid map; and S3, according to the constraint action of the coverage quantity of the map traversal blocks determined in the step S2, carrying out row-by-row and column-by-column accumulation operation on the side lengths of the map traversal blocks determined in the step S1 to calculate the mapping coordinates of each map traversal block, so that the map traversal blocks are built on each row and each column of the global grid map, namely the coverage quantity of the map traversal blocks can determine the boundary information of the global grid map, and the distribution quantity and the position of the map traversal blocks on each row and each column of the global grid map are constrained, wherein each map traversal block is formed by combining corresponding grids according to the mapping coordinates and the side lengths thereof. According to the invention, grids of each row and each column in the map are combined to establish map traversal blocks with certain size and quantity, each map traversal block corresponds to a small area occupied in an actual environment, and only a large number of grids are arranged, so that a general path of the robot can be planned, the calculated amount is reduced, and the robot is easy to process map information; the map traversing block framing method is used for dividing the large-scale global grid map into a plurality of map subareas, so that the navigation positioning calculation force requirement and the map data storage space requirement of the mobile robot are reduced, the calculation resources of grid surfaces in the global map are saved, and the data processing speed is increased. The method can be applied to coverage rate and area calculation of path planning, edge walking and recharging path planning. It should be noted that, the map traversal blocks of each row of the global grid map are set in the direction of the horizontal coordinate axis and the projections of each column of the global grid map are coincident; the global coordinate axis direction includes a vertical coordinate axis direction and a horizontal coordinate axis direction. The invention combines grids on the global map row by row and column by column to build a map traversal block with regular distribution. Equivalent to dividing a global map into small map tiles of one block.

Preferably, a standard side length E is preset for the map traversal blocks, and the maximum value thereof can be set to 16, so that each map traversal block is maximally filled with 16X16 grids. The global grid map corresponding to the global working area in this embodiment is a rectangular map, and a map traversing block filled and covered on the global grid map is a square, and when the length and width of the global grid map are both greater than 2 times of E, the side length of the map traversing block is set as E; when the length and the width of the global grid map are both larger than E and smaller than 2 times of E, setting the side length of the map traversing block to be half of E; when the length of the global grid map is smaller than or equal to E or the width of the global grid map is smaller than or equal to E, setting the side length of the map traversing block to be one quarter of E. Compared with the prior art, the grid expansion processing of the global grid map is realized by the map traversal blocks formed by 16X16 map grids, so that the map traversal blocks occupy a large enough grid area in the global grid map, and the map path information on the adaptation range of the robot traversal mark is facilitated. Therefore, the size of the grid is slightly larger, only the general path of the robot needs to be planned, the calculated amount is reduced, and the method is suitable for path planning, edge walking and recharging path planning.

In this embodiment, a ratio of an effective length of the global grid map to a side length of the map traversal block is calculated, and a process is added to obtain a coverage number of the map traversal block established in a vertical coordinate axis direction of the global grid map; and calculating the ratio of the effective width of the global grid map to the side length of the map traversal block, and adding one to obtain the coverage quantity of the map traversal block established in the horizontal coordinate axis direction of the global grid map. The necessity of adding one process is that the software system can round up when the ratio of the effective length of the global grid map to the side length of the map traversing block, and neglect the decimal part, so that the adding one process is needed to ensure that the map traversing block with the coverage number completely records the actually covered global working area, and the redundancy of the space area is improved.

On the basis of determining the side length of the map traversal blocks according to the method, the number of the map traversal blocks in each global coordinate axis direction of the global grid map is determined through calculation, and the method comprises the following steps: the number H of map traversal blocks in the vertical coordinate axis direction (i.e., in the length direction) of the global grid map=the ratio +1 of the effective length of the global grid map to the side length of the map traversal blocks, and the number W of map traversal blocks in the horizontal coordinate axis direction (i.e., in the width direction) of the global grid map=the ratio +1 of the effective width of the global grid map to the side length of the map traversal blocks. The effective length and effective width in this embodiment include a grid area for the robot to traverse for constructing the map traversal block.

Then, calculating grid coordinates corresponding to each map traversal block, which specifically includes: step S31, taking the grid position of the lower left corner of the global grid map as a reference origin, and then entering step S32; and calculating the mapping coordinates of the map traversal block by taking the lower left corner of the global grid map as a reference origin. Assuming that minx and miny are the reference origin coordinates of the global grid map respectively and are equivalent to the minimum coordinate value on the X axis of the global grid map and the minimum coordinate value on the Y axis of the global grid map respectively; i is set as the offset of the map traversal block relative to the reference origin in the X-axis direction, and i+1 is equivalent to the number of map traversal blocks for which the mapping coordinates are determined in the horizontal coordinate axis direction; j is set as the offset of the map traversal blocks relative to the reference origin in the Y-axis direction, and j+1 is equivalent to the number of map traversal blocks for which the mapping coordinates are determined in the vertical coordinate axis direction; e is the side length of the map traversal block; x (i, j) is the map coordinates of the map traversal block in the horizontal coordinate axis direction of the global raster map, and Y (i, j) is the map coordinates of the map traversal block in the vertical coordinate axis direction of the global raster map. Step S32, starting from this reference origin coordinate position (minx, miny), adding the reference origin coordinate on the vertical coordinate axis to the side length of the map traversal block, calculating and determining the mapping coordinate of the current map traversal block on the vertical coordinate axis, that is, obtaining the minimum mapping coordinate Y (i, j) =j×e+miny=miny on the vertical coordinate axis when j=0, and simultaneously determining that the mapping coordinate of the current map traversal block on the horizontal coordinate axis is equal to the coordinate minx of the reference origin on the horizontal coordinate axis, and then proceeding to step S33. Step S33, judging whether the number j of map traversal blocks with the mapping coordinates determined in the vertical coordinate axis direction is smaller than the coverage number H of the map traversal blocks in the vertical coordinate axis direction of the global grid map, if yes, proceeding to step S34, otherwise proceeding to step S35. Step S34, adding the side length of the map traversal block to the mapping coordinate of the map traversal block on the vertical coordinate axis, and calculating and determining the mapping coordinate of the adjacent map traversal block on the vertical coordinate axis in the same vertical coordinate axis direction, namely Y (i, j+1) = (j+1) e+miny, to form the adjacent Y-axis mapping coordinate in the same vertical coordinate axis direction, wherein j is automatically added once the step S34 is entered; and simultaneously determining that the mapping coordinate X (i, j+1) of the adjacent map traversal blocks in the same vertical coordinate axis direction on the horizontal coordinate axis is the same as the currently determined mapping coordinate X (i, j) of the map traversal blocks in the horizontal coordinate axis, and returning to the step S33 to determine the mapping coordinate of each map traversal block in the same vertical coordinate axis direction row by row under the constraint action of the coverage quantity in the same vertical coordinate axis direction. Step S35, adding the mapping coordinates of the map traversal block on the horizontal coordinate axis to the side length of the map traversal block, and calculating and determining the mapping coordinates of the adjacent map traversal block on the horizontal coordinate axis in the same horizontal coordinate axis direction, i.e. when i=0, obtaining the minimum mapping coordinates X (i, j) =i×e+minx=minx on the horizontal coordinate axis, wherein i is automatically added once step S35 is entered; and simultaneously determining that the mapping coordinate Y (i+1, j) of the adjacent map traversal blocks in the same horizontal coordinate axis direction on the vertical coordinate axis is the same as the currently determined mapping coordinate Y (i, j) of the map traversal blocks in the vertical coordinate axis, and then entering step S36 to determine the mapping coordinate of each map traversal block in the same horizontal coordinate axis direction column by column under the constraint action of the coverage quantity in the same horizontal coordinate axis direction. Step S36, judging whether the number i of map traversal blocks with the mapping coordinates in the horizontal coordinate axis direction is smaller than the coverage number W of the map traversal blocks in the horizontal coordinate axis direction of the global grid map, returning to step S33 if yes, otherwise, determining that the mapping coordinates of each map traversal block in the global grid map are calculated row by row and column by column, so that each row and each column of the global grid map establish the map traversal blocks, and completing the blockization processing of the global grid map. Each row and each column of the preceding steps refers specifically to each row and each column of the map traversal block distributed in the global grid map. According to the map boundary constraint function played by the coverage number of the map traversal blocks determined in the previous step, the row-by-row and column-by-column accumulation operation is performed on the side length of the determined map traversal blocks, wherein the operation comprises the steps of traversing the current column and traversing the next column until the map traversal blocks of all columns distributed in the horizontal coordinate axis direction are traversed, so that the mapping coordinate of each map traversal block is determined, and the map traversal blocks are constructed on the regular area blocks of each row and each column of the global grid map, so that the global grid map is divided into the map traversal blocks.

Thus, the method of determining whether a grid position coordinate (a, b) of the global grid map belongs to one of the traversal map blocks comprises: judging whether a simultaneously satisfies more than or equal to X (i, j) and less than or equal to X (i, j) +e-1; simultaneously judging whether b simultaneously satisfies Y (i, j) or more and Y (i, j) +e-1 or less; when the grid position coordinates (a, b) satisfy the above two judgment conditions at the same time, it is determined that the grid position coordinates (a, b) are located within the map traversal block. When the mobile robot traverses any grid in the map traversing block according to the preset cleaning mode, for example, when the mobile robot traverses the grid position coordinates (a, b), the map traversing block corresponding to the mobile robot is marked as a traversed map traversing block; when the mobile robot walks into the map traversing block along the edge and traverses to the grid position coordinates (a, b), the map traversing block is marked as the edge map traversing block and the traversed map traversing block, so that the edge travelling path is composed of the edge map traversing block on the global grid map, the edge map traversing block is marked as the oblique line filling block shown in fig. 2 to 4, the illustrated mobile robot in the global working area is composed of the edge map traversing block, the traversed cleaning path is composed of the traversed map traversing block, and compared with the mode of marking one grid by one, the map traversing block records a larger path area range, the number of marking blocks for marking the same path is reduced, the calculation force requirement and the storage space requirement for the mobile robot are reduced, and the map building time is reduced.

Step S103, while walking along the edges, judging whether the edge map traversal block exists in the map traversal block of the current column of the global grid map, if so, proceeding to step S104, otherwise, proceeding to step S105.

Step S104, on a column judged in the step S103, framing all map traversal blocks from the lowest edge map traversal block to the uppermost edge map traversal block, or framing all map traversal blocks from the uppermost edge map traversal block to the lowest edge map traversal block, establishing a passable sub-area of the mobile robot on the current column, and then entering the step S106; when only one edge map traversal block exists in the map traversal blocks in the current column of the global grid map, the edge map traversal blocks from the uppermost edge map traversal block to the lowermost edge map traversal block in the column are all the only edge map traversal blocks, and all map traversal blocks from the uppermost edge map traversal block to the lowermost edge map traversal block are only the only edge map traversal blocks.

Step S105, the movable robot is not framed, the edge walking path of the movable robot is in the passable subarea of the current column, and then step S106 is carried out;

Step S106, judging whether the coordinate position of the map traversing block of the current column is at the boundary position of the global grid map, namely judging whether the frame establishment of the passable subareas of all columns of the global grid map is completed, if yes, entering step S107, otherwise, entering step S108.

Step S107, merging the passable subareas framed by the edgewise travel path of the mobile robot in each column into passable areas framed by the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the global grid map.

Step S108, updating the map traversal block in the row determined in the step S103 into the map traversal block in the adjacent row of the current row, and returning to the step S103 to continuously determine whether two or more edge map traversal blocks exist in the map traversal block in the adjacent row of the current row.

Specifically, in the process of defining the passable area of the column along the edge traveling path of the mobile robot, starting from the minimum mapping coordinate of the map traversal block of the column in the Y-axis direction, detecting whether the map traversal block is an edge map traversal block (oblique line filling block) one by one along the same Y-axis direction, counting every time the map traversal block is detected as an edge map traversal block, when the H map traversal blocks (i.e., the coverage number H of the map traversal blocks in the vertical coordinate axis direction of the global grid map in the previous embodiment) of the vertical coordinate axis direction of the global grid map are detected, recording the coordinate position of the edge map traversal block farthest from the origin position and the coordinate position of the edge map traversal block nearest from the origin position, and framing the edge map traversal block and the map traversal block arranged in the same Y-axis direction with the same dotted line, thereby establishing the passable subarea of the mobile robot in the current column. If the map traversal block detected on the column has only one edge map traversal block (oblique line filling box), the edge map traversal block is also determined to be a passable sub-area on the corresponding column; if the edgewise map traversal block is not detected on this column, the edgewise travel path of the mobile robot fails to frame a passable area on this column. However, whether or not the edge map traversal block exists, the embodiment keeps the passable area framed in the map traversal block that the mobile robot has walked, which is beneficial to realizing continuous cleaning operation across multiple sub-work areas. Compared with the prior art, in the vertical coordinate axis direction of the global coordinate system, the passable areas framed between the outermost edge map traversal blocks can completely represent the coverage degree of the current passable area of the robot, and the limit condition that the edge map traversal blocks are used as the framed areas can reduce the operation processing amount of grid information in the global map in the prior art.

Similarly, the method for framing the passable area of the edge walking path of the mobile robot in the horizontal coordinate axis direction of the global grid map comprises the following steps: judging whether the edge map traversal blocks exist in the map traversal blocks of each row of the global grid map, if so, framing all the map traversal blocks from the leftmost edge map traversal block to the rightmost edge map traversal block on the corresponding row, framing the passable subarea of the mobile robot on the row, or counting the map traversal blocks from the rightmost edge map traversal block to the leftmost edge map traversal block, framing the passable subarea of the mobile robot on the row, otherwise, framing the passable subarea of the edge walking path of the mobile robot on the current row; specifically, in the process of defining the traversable subareas of the row along the edgewise travel path of the mobile robot, starting from the minimum mapping coordinates of the map traversal blocks of the row in the X-axis direction, detecting whether the map traversal blocks are edgewise map traversal blocks (oblique line filling blocks) one by one along the same X-axis direction, counting every time the map traversal blocks are detected as the edgewise map traversal blocks, when the detection of the W map traversal blocks of the horizontal coordinate axis direction (i.e., the width direction) of the global grid map (i.e., the coverage number W of the map traversal blocks of the horizontal coordinate axis direction of the global grid map in the foregoing embodiment) is completed, recording the coordinate positions of the edgewise map traversal blocks farthest from the origin position and the coordinate positions of the edgewise map traversal blocks closest from the origin position, and framing the edgewise map traversal blocks with the map traversal blocks arranged therebetween in the same X-axis direction by the dashed line, thereby establishing the traversable subareas of the mobile robot at the current row. If the map traversal block detected on the row has only one edge map traversal block (diagonal fill box), then this edge map traversal block is also determined to correspond to a passable sub-area on the row; if the edgewise map traversal block is not detected on the row, the edgewise travel path of the mobile robot fails to frame a passable area on the row. Compared with the prior art, in the horizontal coordinate axis direction of the global coordinate system, the passable areas framed between the outermost edge map traversing blocks can completely represent the coverage degree of the current passable areas of the robot, so that the workload of traversing all grids by the robot is saved, and the operation processing amount of grid information in the global map in the prior art can be reduced.

The embodiment of the invention also discloses a method for calculating the area of the passable area based on the global grid map, which comprises the following steps: the mobile robot is controlled to traverse the global working area according to a preset path, and a global grid map is constructed according to information recorded in the traversing process; after the traversing of the global working area is completed, controlling the mobile robot to walk along the edge in the global working area from a preset edge starting point, and simultaneously calculating the area of a passable area framed by the edge walking path of the mobile robot in the directions of all global coordinate axes of the global grid map; wherein the passable area is established by framing using the framing method of the foregoing embodiment. According to the method, the area of the passable area in the direction of each global coordinate axis can be calculated by only utilizing the traversed position area of the robot in the edge walking process, the amount of the obstacle environment information required to be acquired is relatively small, area calculation force and storage space are saved, the calculation load of navigation and positioning of the mobile robot is reduced, and the path planning and positioning speed of the robot is accelerated.

It should be noted that, the calculating the area of the passable area defined by the edgewise travel path of the mobile robot in each global coordinate axis direction of the global grid map includes: the area of a passable area defined by the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the global grid map and the area of a passable area defined by the edgewise travel path of the mobile robot in the horizontal coordinate axis direction of the global grid map are calculated. The environmental adaptability and the coverage effect of the passable area are improved. The global coordinate axis direction comprises a vertical coordinate axis direction and a horizontal coordinate axis direction.

As an embodiment, fig. 4 discloses a flowchart of an area calculation method based on a passable area on each column of a global grid map, wherein the framing method of each row is similar to that of each column. As shown in fig. 4, the area calculation method includes:

step S401, controlling the mobile robot to traverse the global working area according to a preset path, constructing a global grid map according to the information recorded in the traversing process, as shown in the working scene diagrams of fig. 2 and 3, marking the grid passable areas corresponding to the room areas #1, #2 and #3 with bow-shaped cleaning paths, that is, in this embodiment, the mobile robot cleans and traverses the global working area according to bow-shaped cleaning, so as to realize the whole coverage cleaning and traversing of the global working area, synchronously constructing the global grid map according to the cleaning environment information recorded in the cleaning and traversing process, and then entering step S402.

Step S402, after the mobile robot finishes cleaning the global working area and marks related traversal information in the global grid map, controlling the mobile robot to walk along the edge in the global working area from a preset edge starting point, simultaneously calculating the area of a passable area framed by the edge walking path of the mobile robot in each global coordinate axis direction of the global grid map and the area of the passable area traversed by the mobile robot, and then entering step S403. As shown in fig. 2 to 3, the mobile robot walks along the same global working area from the preset edge starting point, calculates the area of the passable area outlined by the dotted line of the path of the mobile robot walking along each global coordinate axis direction of the global grid map and the area of the passable area traversed by the mobile robot, including the areas of the areas marked by the passable area and the arcuate path outlined by the dotted line in the room areas #1, #2 and # 3.

Note that the definition of the map traversal block and the edge map traversal block is the same as the foregoing embodiment.

Step S403, while walking along the edge, determining whether there is an edge map traversal block in the map traversal block of the current column of the global grid map, if yes, proceeding to step S404, otherwise proceeding to step S405.

Step S404, counting the number of map traversal blocks from the lowest edge map traversal block to the uppermost edge map traversal block on one column judged in the step S403, or marking the number of map traversal blocks from the uppermost edge map traversal block to the lowest edge map traversal block, marking the number as the area of the passable subarea marked by the edge walking path of the mobile robot in the column, and then entering step S406;

step S405, the area of the accessible subarea of the current row of the edge walking path of the mobile robot is not calculated, and then step S406 is carried out;

step S406, determining whether the coordinate position of the map traversal block of the previous column is at the boundary position of the global raster map, that is, determining whether the area calculation of the passable sub-areas of all columns of the global raster map is completed, if yes, proceeding to step S407, otherwise proceeding to step S408.

Step S407, setting the sum of areas of passable subareas framed by the edgewise travel paths of the mobile robot in each column as the area of passable areas framed by the edgewise travel paths of the mobile robot in the vertical coordinate axis direction of the global grid map.

Step S408, the map traversal block in the previous column determined in step S403 is updated to the map traversal block in the adjacent column in the previous column, and then step S403 is returned to continuously determine whether there is a border map traversal block in the map traversal blocks in the adjacent column in the previous column.

Specifically, in the process of calculating the area of the passable sub-area framed in the row of the edge traveling path of the mobile robot in a statistics manner, starting from the minimum mapping coordinate of the map traversal block in the row in the Y-axis direction, detecting whether the map traversal block is an edge map traversal block (oblique line filling block) one by one along the same Y-axis direction, adding a statistic manner each time the map traversal block is detected to be an edge map traversal block, recording the coordinate position of the edge map traversal block farthest from the origin position and the coordinate position of the edge map traversal block nearest from the origin position after detecting H map traversal blocks in the vertical coordinate axis direction (namely in the length direction) of the global grid map, and simultaneously obtaining the number of map traversal blocks included between the two edge map traversal blocks in a statistics manner. If the map traversal block detected on this column has only one edge map traversal block (diagonal filled box) or no edge map traversal block, the area of the passable sub-area framed on this column by the edge travel path of the mobile robot is not calculated, but the present embodiment keeps calculating the number of map traversal blocks that the mobile robot has walked, regardless of whether or not the edge map traversal block is present, indicating the area of the passable area that the mobile robot has walked.

As shown in the implementation scenario of fig. 3, the map traversal blocks in the left-most column of the room area #2 are all 12 edge map traversal blocks traversed in the edge walking process of the mobile robot, and then the number 12 of map traversal blocks between the edge map traversal blocks at the top of the column and the edge map traversal blocks at the bottom is recorded as the area of the traversable subarea defined by the edge walking path of the mobile robot in the column; the map traversal blocks of the most right column of the room area #2 are the edge map traversal blocks traversed in the edge walking process of the mobile robot, the rest of the map traversal blocks are formed by combining the idle grid areas, or the traversed map traversal blocks marked by the mobile robot traversed by the arch-shaped cleaning in the room area #2 before the edge walking is started, and then the number 12 of the map traversal blocks between the edge map traversal blocks at the most upper end of the column and the edge map traversal blocks at the most lower end is recorded as the area of the traversable subarea framed by the edge walking path of the mobile robot in the column; when the map traversal blocks of all the columns of the room area #2 are judged according to the above steps, a rectangular passable area N1N2N11N7 is framed, and the number of all the map traversal blocks inside the rectangular dotted area N1N2N11N7 is the area of the passable area framed by the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the room area # 2.

Similarly, the map traversal blocks in the left most row of the room area #1 are all the edge map traversal blocks traversed by the mobile robot in the edge walking process, and the number 3 of the map traversal blocks between the edge map traversal blocks at the top most row and the edge map traversal blocks at the bottom most row is recorded as the area of the traversable subarea defined by the edge walking path of the mobile robot in the row; the two continuous adjacent columns at the leftmost end of the room area #1 are only provided with one edge map traversing block at the bottommost end, and the rest of the map traversing blocks are formed by combining idle grid areas or the traversed map traversing blocks marked by the traversing mark for cleaning the bow shape of the mobile robot in the room area #1 before edge walking is started, and the areas of the passable subareas defined by the edge walking paths of the cleaning robot in the corresponding columns are calculated in the two columns; when the map traversal blocks of all columns of the room area #1 are judged according to the above steps, a rectangular passable area N9N6N8N10 and 5 of the edge map traversal blocks at the left end thereof are framed, the number of all map traversal blocks included in the interior is the area of the passable area framed by the edge travel path of the mobile robot in the vertical coordinate axis direction of the room area #1, and then the area of the passable area framed by the edge travel path of the mobile robot in the vertical coordinate axis direction of the global grid map is obtained by adding the number of all map traversal blocks in the rectangular dotted area N1N2N11N 7. It is to be noted that since the gate of the room area #3 shown in fig. 3 is closed and the gate of the room area #3 different from those of fig. 2 and 4 is opened, the mobile robot does not walk sideways in the room area #3 shown in fig. 3, and does not need to take into account the area of the passable area whose edgewise path is framed in the vertical coordinate axis direction of the room area # 3. In the embodiment, in the vertical coordinate axis direction of the global coordinate system, the passable areas framed between the outermost edge map traversal blocks can completely represent the coverage degree of the current passable area of the robot, and the limit condition that the edge map traversal blocks are used as the framed areas can reduce the operation processing amount of grid information in the global map in the prior art.

The method for calculating the area of the passable area framed by the edgewise travel path of the mobile robot in the horizontal coordinate axis direction of the global grid map comprises the following steps: judging whether the edge map traversal blocks exist in the map traversal blocks of each row of the global grid map, if so, counting the number of the map traversal blocks from the leftmost edge map traversal block to the rightmost edge map traversal block on the corresponding row, or counting the number of the map traversal blocks from the rightmost edge map traversal block to the leftmost edge map traversal block, and recording the number as the area of a passable subarea framed by the edge walking path of the mobile robot on the row, otherwise, not counting the area of the passable subarea framed by the edge walking path of the mobile robot on the row; specifically, in the process of statistically calculating the area of the traversable subarea framed in the row by the edgewise travel path of the mobile robot, starting from the minimum mapping coordinate of the map traversal block of the row in the X-axis direction, detecting whether the map traversal block is an edgewise map traversal block (oblique line filling block) one by one along the same X-axis direction, adding a statistic every time the map traversal block is detected as an edgewise map traversal block, and after the detection of the W map traversal blocks in the vertical coordinate axis direction (i.e., the width direction) of the global grid map, recording the coordinate position of the edgewise map traversal block most far from the origin position and the coordinate position of the edgewise map traversal block most close from the origin position, and simultaneously statistically obtaining the number of map traversal blocks included between the two edgewise map traversal blocks, including the two edgewise map traversal blocks. If the map traversing block detected on the row has only one edge map traversing block (oblique line filling block), adding a statistic, and thus, accumulating and calculating the area of the edge travelling path of the cleaning robot in the row of passable subareas; if there is no edge map traversal block on this row, the area of the passable sub-area framed by the edge travel path of the mobile robot on this row cannot be calculated, but the present embodiment keeps calculating the number of map traversal blocks that the mobile robot has walked, regardless of whether there are such edge map traversal blocks, indicating the passable area that the mobile robot has walked.

As shown in the implementation scenario of fig. 3, the map traversal blocks of the uppermost row of the room area #2 are all 8 edge map traversal blocks traversed by the mobile robot in the process of edge walking, and then the number 8 of map traversal blocks between the edge map traversal blocks of the leftmost end of the row and the edge map traversal blocks of the rightmost end is recorded as the area of the traversable subarea defined by the edge walking path of the mobile robot in the row. Counting from top to bottom along the vertical coordinate axis (Y axis), wherein the two ends of the second row and the third row are provided with the edge map traversing blocks, the inner map traversing blocks of the two rows are the edge map traversing blocks traversed in the edge travelling process of the mobile robot, the rest of the edge map traversing blocks are formed by combining idle grid areas, or the area of a passable area defined by the two rows of the edge travelling path of the mobile robot can be calculated by performing bow-shaped cleaning on the traversed marked traversed map traversing blocks in the room area #2 before the edge travelling is started; and counting to a fourth row, wherein only one edge map traversing block exists on the fourth, fifth and sixth rows, and the edge map traversing block is also used for statistically calculating the area of a passable subarea defined by the edge travelling path of the cleaning robot in the corresponding row, so that a rectangular dotted line area N1N2N3N4 and three edge map traversing blocks are defined in the six rows by the edge travelling path of the cleaning robot. When judging the seventh row of the room area #2 according to the previous steps, judging that the edge map traversal blocks are marked on the row in the room area #2 and the room area #1, and counting the number of map traversal blocks from the leftmost edge map traversal block of the room area #2 to the rightmost edge map traversal block of the room area #1, wherein the number of map traversal blocks is 14, and the map traversal blocks are recorded as the area of a traversable subarea defined by the edge walking path of the mobile robot on the row, and the width of the indoor wall is smaller than the size of the mobile robot per se at the moment and can be ignored. When the map traversal block at the lowest line of the working scene shown in fig. 3 is determined according to the foregoing steps, a rectangular passable area N5N6N7N8 is defined, and the number of all map traversal blocks in the rectangular dotted area N5N6N7N8 is as follows: counting the mobile robot from top to bottom along the vertical coordinate axis (Y axis) to obtain the area of a passable area framed by seventh to twelfth rows of edge traveling paths in the horizontal coordinate axis direction; and then adding the number of all map traversal blocks in the rectangular dotted line area N1N2N3N4, and obtaining the area of the passable area defined by the edge walking path of the mobile robot in the horizontal coordinate axis direction of the global grid map. According to the method, the coverage degree of the current passable area of the robot is completely described by using the statistical result of the number of map traversal blocks framed along the edge walking path in the horizontal coordinate axis direction of the global coordinate system as the area of the corresponding framed passable area, and the operation processing amount of the grid area in the global map in the prior art is reduced.

Preferably, the width of the wall between the room areas of the global working area of fig. 3, such as the wall M1 between the room area #3 and the room area #2, the wall M2 between the room area #3 and the room area #1, and the wall M3 between the room area #2 and the room area #1 is negligible with respect to the body size of the mobile robot, and the side length of the map traversal block traversed by the mobile robot across the wall M3 is negligible during the edge walk of the mobile robot from the room area #1 into the room area # 2. Also, as shown in fig. 2, the width of the wall M1 and the width of the wall M3 are smaller than the size of the cleaning robot, the size of the grid occupied by the wall is negligible, the edgewise travel path of the mobile robot starts from the preset edgewise starting point a and finally returns to the point a, so that the whole edgewise travel path completely travels around the global working area one circle, the peripheral corners and the outline of the global working area are marked with the edgewise map traversing blocks (small boxes filled with oblique lines), and the passable areas framed by the dashed lines in the directions of all the global coordinate axes of the global grid map are rectangular areas O1O2O3O4, so that the global working area is completely covered and the whole environmental characteristics are reflected.

It is to be understood that the embodiments described herein may be implemented by hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof. When the embodiments are implemented in software, firmware, middleware or microcode, program code or code segments, they can be stored in a machine-readable medium, such as a storage component.

The foregoing embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and to implement the same according to the present invention, not to limit the scope of the present invention. All changes and modifications that come within the meaning and range of equivalency of the invention are to be embraced within their scope.

Claims

1. A method of framing a passable area based on a global raster map, comprising: the mobile robot is controlled to traverse the global working area according to a preset path, and a global grid map is constructed according to information recorded in the traversing process;

characterized by further comprising: after the traversing of the global working area is completed, controlling the mobile robot to walk along the edge from a preset edge starting point in the global working area, and simultaneously framing and establishing passable areas of the edge walking path of the mobile robot in the directions of all global coordinate axes of the global grid map;

the method for framing the passable area of the edge walking path of the mobile robot in the vertical coordinate axis direction of the global grid map comprises the following steps:

judging whether the map traversal blocks of each column of the global grid map exist or not, if so, framing all the map traversal blocks from the lowest edge map traversal block to the uppermost edge map traversal block on the corresponding column, and establishing a passable subarea of the mobile robot in the column, otherwise, not framing the passable subarea of the mobile robot in the column along the walking path; the accessible subarea framed by each row of the edge walking path of the mobile robot comprises an edge map traversing block at the lowest end and an edge map traversing block at the uppermost end of the same row;

When all the rows of the passable subareas of the global grid map are judged according to the steps, merging the passable subareas framed by the edgewise travel path of the mobile robot in each row into a passable area framed by the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the global grid map;

the method for framing the passable area of the edge walking path of the mobile robot in the horizontal coordinate axis direction of the global grid map comprises the following steps:

judging whether the map traversal blocks of each row of the global grid map exist or not, if so, framing all the map traversal blocks from the leftmost map traversal block to the rightmost map traversal block on the corresponding row, and framing a passable subarea of the mobile robot on the row, otherwise, not framing a passable subarea of the mobile robot on the row along the walking path; the traversable subareas framed by the edge-along walking paths of the mobile robots in each row comprise edge-along map traversal blocks at the leftmost end and edge-along map traversal blocks at the rightmost end of the same row;

and when the map traversing blocks of all the rows of the global grid map are judged according to the steps, merging the passable subareas framed by the edgewise travel path of the mobile robot in each row into passable areas framed by the edgewise travel path of the mobile robot in the horizontal coordinate axis direction of the global grid map.

2. The framing method according to claim 1, wherein the framing the passable area of the edgewise travel path of the mobile robot in the respective global coordinate axis directions of the global grid map comprises: a passable area of the edgewise travel path of the framed mobile robot in the horizontal coordinate axis direction of the global grid map and a passable area of the edgewise travel path of the framed mobile robot in the vertical coordinate axis direction of the global grid map;

the global coordinate axis direction comprises a vertical coordinate axis direction and a horizontal coordinate axis direction.

3. The framing method according to claim 2, further comprising, before the mobile robot performs the cleaning traversal of the global work area according to the preset cleaning manner: setting the side length of the map traversing block according to the size of the global grid map, and further determining the coverage quantity of the map traversing block in each global coordinate axis direction of the global grid map by calculating the ratio relation between the size of the global grid map and the side length of the map traversing block on the basis of the side length of the map traversing block; then, calculating the mapping coordinates of the map traversal blocks by combining the side lengths and the number of the map traversal blocks, and arranging the map traversal blocks to each row and each column of the global grid map;

When the mobile robot walks into the map traversing block along the edge, the map traversing block is marked as the edge map traversing block at the same time, so that the edge walking path is composed of the edge map traversing block.

4. An area calculation method of a passable area based on a global grid map comprises the following steps: the mobile robot is controlled to traverse the global working area according to a preset path, and a global grid map is constructed according to information recorded in the traversing process;

characterized by further comprising: after the traversing of the global working area is completed, controlling the mobile robot to walk along the edge in the global working area from a preset edge starting point, and simultaneously calculating the area of a passable area framed by the edge walking path of the mobile robot in the directions of all global coordinate axes of the global grid map;

wherein the passable area is framed using the framing method of any of claims 1-3.

5. The area calculating method according to claim 4, wherein calculating the area of the passable area framed in each global coordinate axis direction of the global grid map by the edgewise travel path of the mobile robot includes: calculating the area of a passable area framed by the edgewise travel path of the mobile robot in the vertical coordinate axis direction of the global grid map and the area of a passable area framed by the edgewise travel path of the mobile robot in the horizontal coordinate axis direction of the global grid map;

6. The area calculating method according to claim 5, wherein the method of calculating the area of the passable area framed in the vertical coordinate axis direction of the global grid map by the edgewise travel path of the mobile robot includes:

judging whether the map traversal blocks of each column of the global grid map exist or not, if so, counting the number of map traversal blocks from the lowest edge map traversal block to the uppermost edge map traversal block on a corresponding column, and recording the number as the area of a passable subarea defined by the edge walking path of the mobile robot in the column; the accessible subarea framed by each row of the edge walking path of the mobile robot comprises an edge map traversing block at the lowest end and an edge map traversing block at the uppermost end of the same row;

when the map traversing blocks of all columns of the global grid map are judged according to the steps, the sum of areas of passable subareas framed by the edge travelling path of the mobile robot in each column is set as the area of passable areas framed by the edge travelling path of the mobile robot in the vertical coordinate axis direction of the global grid map.

7. The area calculating method according to claim 6, wherein the method of calculating the area of the passable area framed in the horizontal coordinate axis direction of the global grid map by the edgewise travel path of the mobile robot includes:

judging whether the map traversal blocks of each row of the global grid map exist or not, if so, counting the number of the map traversal blocks from the leftmost map traversal block to the rightmost map traversal block on the corresponding row, and recording the number as the area of a passable subarea defined by the edgewise walking path of the mobile robot on the row; the traversable subareas framed by each row of the edge-based walking path of the mobile robot comprise the leftmost edge map traversal block and the rightmost edge map traversal block of the same row;

when the map traversing blocks of all the rows of the global grid map are judged according to the steps, the sum of the areas of the passable subareas framed by the edge travelling path of the mobile robot in each row is set as the area of the passable area framed by the edge travelling path of the mobile robot in the horizontal coordinate axis direction of the global grid map.

8. The area calculation method according to claim 6, further comprising, before the mobile robot performs the sweeping traverse on the global work area in the preset sweeping manner: setting the side length of the map traversing block according to the size of the global grid map, and further determining the coverage quantity of the map traversing block in each global coordinate axis direction of the global grid map by calculating the ratio relation between the size of the global grid map and the side length of the map traversing block on the basis of the side length of the map traversing block; then, calculating the mapping coordinates of the map traversal blocks by combining the side lengths and the number of the map traversal blocks, and arranging the map traversal blocks to each row and each column of the global grid map;

9. A chip, in which a control program is built, characterized in that the control program is used to control a mobile robot to execute the framing method according to any one of claims 1 to 3 and then to execute the area calculation method according to claim 4.

10. A robot incorporating the chip of claim 9 for establishing a passable area and calculating and determining an area thereof in real time during autonomous movement.