CN112327841A - Optimal edgewise path planning and sorting method for sweeping robot - Google Patents
Optimal edgewise path planning and sorting method for sweeping robot Download PDFInfo
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- CN112327841A CN112327841A CN202011179123.8A CN202011179123A CN112327841A CN 112327841 A CN112327841 A CN 112327841A CN 202011179123 A CN202011179123 A CN 202011179123A CN 112327841 A CN112327841 A CN 112327841A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000010408 sweeping Methods 0.000 title claims abstract description 11
- 238000012163 sequencing technique Methods 0.000 claims abstract description 9
- 241001417527 Pempheridae Species 0.000 claims abstract description 6
- 238000004140 cleaning Methods 0.000 abstract description 8
- 230000004888 barrier function Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses an optimal edgewise path planning and sequencing method of a sweeping robot, which comprises the following steps: reading a cost map, and finding out all white and black adjacent pixel coordinates as the outline of the barrier; assuming that the position of the sweeper in the map is at a point P0, sequentially calculating the distance between a point P0 and each point on each contour of contours C1, C2, C3, C4 and C5, recording the points with the shortest distance of each contour as points P1, P2, P3, P4 and P5, finding out the point with the shortest distance, wherein the contour of the obstacle corresponding to the shortest point is the first contour along the edge, namely the first contour along the edge starts from the point P0 to the point with the shortest distance, and rotates clockwise along the contour corresponding to the point with the shortest distance for one circle and then returns to the point with the shortest distance; and sequentially calculating the distances according to the method, so that each obstacle contour is moved once along the edge, and finally finishing the sequencing of the whole edge path. The method can ensure that the edge cleaning is not repeated, omitted, shortest in total route and shortest in total time consumption.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to an optimal edgewise path planning and sequencing method of a sweeping robot.
Background
With the continuous development of science and technology, the sweeper (also called sweeping robot) gradually moves into common families and is accepted by more and more people. When a sweeping robot executes a sweeping task, path planning is needed, namely a safe and feasible path is selected to avoid collision with obstacles in a working space, the path planning is also one of key technologies of a mobile robot, the problems of environment map construction, robot positioning and the like are involved, and the method is an important direction for modern robot research. At present, the robot adopts three path planning modes, namely a spiral moving path planning mode, an object side moving path planning mode and a straight line cross moving path planning mode, and a random cleaning mode is the four common cleaning robot cleaning modes on the market, but the four modes can not well plan a cleaning path with high coverage rate and low repetition rate under the environments of different shapes of rooms, different shapes and sizes of obstacles and the like.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide a method which can ensure that the edge cleaning is not repeated and omitted, the total route is shortest and the total time consumption is shortest.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an optimal edgewise path planning and sequencing method for a sweeping robot is characterized by comprising the following steps:
reading a cost map, wherein a black area in the map represents an obstacle, and a white part represents a cleanable area; expanding the black area of the map by 5 pixel points, and finding out all the pixel coordinates adjacent to the black and white areas, namely the outlines C1, C2, C3, C4 and C5 of the obstacles;
assuming that the position of the sweeper in the map is at a point P0, sequentially calculating the distance between a point P0 and each point on each contour of contours C1, C2, C3, C4 and C5, recording the points with the shortest distance of each contour as points P1, P2, P3, P4 and P5, finding out the point with the shortest distance, wherein the contour of the obstacle corresponding to the shortest point is the first contour along the edge, namely the first contour along the edge starts from the point P0 to the point with the shortest distance, and rotates clockwise along the contour corresponding to the point with the shortest distance for one circle and then returns to the point with the shortest distance;
sequentially calculating the distance from the point with the shortest distance to each point on the contour of each residual obstacle, and recording the points with the shortest distance to each contour as P2 ', P3', P4 'and P5'; finding out the point with the shortest distance, wherein the obstacle contour corresponding to the shortest point is the contour of the second edge;
and sequentially calculating the distances according to the method, so that each obstacle contour is moved once along the edge, and finally finishing the sequencing of the whole edge path.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the method achieves the edge planning of each edge in the map by the shortest distance, so that the edge cleaning is not repeated, is not omitted, has the shortest total path and shortest total time consumption.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a flow chart of a method according to an embodiment of the invention;
fig. 2 is a schematic diagram of a cost map in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Generally, as shown in fig. 1, an embodiment of the present invention discloses an optimal edgewise path planning and sorting method for a sweeping robot, including the following steps:
reading a cost map, wherein a black area in the map represents an obstacle, and a white part represents a cleanable area; expanding the black area of the map by 5 pixel points, and finding out all the pixel coordinates adjacent to the black and white areas, namely the outlines C1, C2, C3, C4 and C5 of the obstacles;
assuming that the position of the sweeper in the map is at a point P0, sequentially calculating the distance between a point P0 and each point on each contour of contours C1, C2, C3, C4 and C5, recording the points with the shortest distance of each contour as points P1, P2, P3, P4 and P5, finding out the point with the shortest distance, wherein the contour of the obstacle corresponding to the shortest point is the first contour along the edge, namely the first contour along the edge starts from the point P0 to the point with the shortest distance, and rotates clockwise along the contour corresponding to the point with the shortest distance for one circle and then returns to the point with the shortest distance;
sequentially calculating the distance from the point with the shortest distance to each point on the contour of each residual obstacle, and recording the points with the shortest distance to each contour as P2 ', P3', P4 'and P5'; finding out the point with the shortest distance, wherein the obstacle contour corresponding to the shortest point is the contour of the second edge;
and sequentially calculating the distances according to the method, so that each obstacle contour is moved once along the edge, and finally finishing the sequencing of the whole edge path.
Further, the detailed steps of the method are as follows:
a cost map is read, where the black areas represent obstacles and the white portions represent cleanable areas. Expanding the black area of the map by 5 pixel points, and finding out all the pixel coordinates adjacent to the black and white areas, namely the outlines C1, C2, C3, C4 and C5 of the obstacles, as shown in FIG. 2;
assuming that the position of the sweeper in the map is at a point P0, sequentially calculating the distance of each point on each contour of P0 point contours C1, C2, C3, C4 and C5, recording the points with the shortest distance of each contour as P1, P2, P3, P4 and P5, and finding out the point with the shortest distance, namely the point P1 is closest to P0 as shown in the figure. The contour C1 is the first contour along the edge, starting from point P0 to point P1, and going clockwise along the contour C1 and going back to point P1;
and sequentially calculating the distance from the point P1 to each point on each contour of the residual contours C2, C3, C4 and C5, and recording the points with the nearest distance to each contour as P2, P3, P4 and P5. Find out the point with the shortest distance, as the above graph, the point P2 is closest to the point P1. Then the contour C2 is the second edge contour, starting from point P1 to point P2, and going clockwise along contour C2 and back to point P2;
and sequentially calculating the distances according to the method, so that each contour is followed once, and finally finishing the sequencing of the whole edge-following path.
The method achieves the edge planning of each edge in the map by the shortest distance, so that the edge cleaning is not repeated, is not omitted, has the shortest total path and shortest total time consumption.
Claims (1)
1. An optimal edgewise path planning and sequencing method for a sweeping robot is characterized by comprising the following steps:
reading a cost map, wherein a black area in the map represents an obstacle, and a white part represents a cleanable area; expanding the black area of the map by 5 pixel points, and finding out all the pixel coordinates adjacent to the black and white areas, namely the outlines C1, C2, C3, C4 and C5 of the obstacles;
assuming that the position of the sweeper in the map is at a point P0, sequentially calculating the distance between a point P0 and each point on each contour of contours C1, C2, C3, C4 and C5, recording the points with the shortest distance of each contour as points P1, P2, P3, P4 and P5, finding out the point with the shortest distance, wherein the contour of the obstacle corresponding to the shortest point is the first contour along the edge, namely the first contour along the edge starts from the point P0 to the point with the shortest distance, and rotates clockwise along the contour corresponding to the point with the shortest distance for one circle and then returns to the point with the shortest distance;
sequentially calculating the distance from the point with the shortest distance to each point on the contour of each residual obstacle, and recording the points with the shortest distance to each contour as P2 ', P3', P4 'and P5'; finding out the point with the shortest distance, wherein the obstacle contour corresponding to the shortest point is the contour of the second edge;
and sequentially calculating the distances according to the method, so that each obstacle contour is moved once along the edge, and finally finishing the sequencing of the whole edge path.
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| CN202011179123.8A CN112327841A (en) | 2020-10-29 | 2020-10-29 | Optimal edgewise path planning and sorting method for sweeping robot |
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| CN202011179123.8A CN112327841A (en) | 2020-10-29 | 2020-10-29 | Optimal edgewise path planning and sorting method for sweeping robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023105186A1 (en) * | 2021-12-10 | 2023-06-15 | Dyson Technology Limited | Method for edge cleaning |
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| CN110850885A (en) * | 2019-12-20 | 2020-02-28 | 深圳市杉川机器人有限公司 | Autonomous robot |
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- 2020-10-29 CN CN202011179123.8A patent/CN112327841A/en active Pending
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| CN108120441A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Complete coverage path planning method and system |
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| GB2615512A (en) * | 2021-12-10 | 2023-08-16 | Dyson Technology Ltd | Method for edge cleaning |
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