CN112336269A - Wall-following edge cleaning method suitable for sweeping robot - Google Patents
Wall-following edge cleaning method suitable for sweeping robot Download PDFInfo
- Publication number
- CN112336269A CN112336269A CN202011196729.2A CN202011196729A CN112336269A CN 112336269 A CN112336269 A CN 112336269A CN 202011196729 A CN202011196729 A CN 202011196729A CN 112336269 A CN112336269 A CN 112336269A
- Authority
- CN
- China
- Prior art keywords
- edge
- along
- following
- wall
- sweeping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 46
- 238000004140 cleaning Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000010586 diagram Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000306 recurrent effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wall-following edgewise sweeping method suitable for a sweeping robot, which comprises the following steps of: performing path planning on the rectangular area once to generate a 'bow' step; if no object exists in the rectangular area, the algorithm walks along the edges of the rectangle until meeting; if an object exists in the rectangular area, circularly checking whether a gap exists, and if the gap exists, generating a step of forming a Chinese character 'bow' at the gap; starting from the edge of the obstacle, walking along the edge of the obstacle until all the obstacles are cleaned; starting from the edge of the rectangle, walking along the edge until the whole edge of the rectangle is cleaned. Compared with the prior art, the invention has the advantages that: the invention adopts the algorithm-based wall-following edge cleaning, is simpler and more effective than the method adopting the wall-following edge sensor, is suitable for subarea cleaning, saves the cost and simplifies the structure.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a wall-following and edge-sweeping method suitable for a sweeping robot.
Background
The floor sweeping robot is also called an automatic floor sweeping machine, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. The main function index of the existing sweeping robot is a sweeping mode, namely a walking mode. There are two main types:
1. random collision type cleaning
Early products generally employed a random collision cleaning strategy. The walking direction of the robot is random, and the robot walks forwards in a certain direction until the robot collides with a wall or an obstacle and then turns to the other direction to continue the walking forwards. The cleaning strategy has the defects of serious missed cleaning, low efficiency, low satisfaction degree of users and low product grade.
2. Planning type cleaning
Most high-grade products adopt a planning type cleaning strategy. And guiding the robot to walk by adopting a full-coverage path planning. And planning a path of the area to be cleaned and guiding the robot to walk. This path planning differs from the optimal path planning in that the goal is to fully cover the entire cleaning area, so it is also called full coverage path planning. There are two main types of path shapes: a Chinese character 'bow' shape and a 'hui' shape. It is common in "bow". Because the size and the shape of the cleaning area are different, the full-coverage planning type cleaning is divided into:
(1) full-area coverage path planning scheme
And (4) regarding the whole cleaning area as a whole to carry out full coverage path planning. An attempt is made to cover an arbitrarily complex area with a complex zigzag path. The algorithm has low efficiency and low robustness. The algorithm is mostly an academic research institute and has poor practicability.
(2) Partition full-coverage path planning scheme
The whole cleaning area is divided into a plurality of independent cleaning areas, and then a full-coverage path planning algorithm is used for each area. The cleaning strategy has higher cleaning efficiency and higher reliability. The present invention is a highly efficient and highly reliable cleaning pattern formally designed for such a cleaning pattern.
No matter the sweeping is performed in a full-area coverage mode or in a subarea full-coverage mode, one pain point encountered in the sweeping process of the existing sweeping robot is the problem of sweeping along the wall, the sweeping along the wall is a part of the subarea sweeping, and the sweeping and the full-coverage path planning form an integral sweeping mode. In some products, a wall body is detected by a wall-following edge sensor, and the invention tries to realize wall-following edge cleaning by a new algorithm, so that the sweeping robot has the characteristics of high efficiency, no missing of sweeping and the like.
Disclosure of Invention
The invention aims to overcome the technical defects and provides an edge wall sweeping algorithm which is matched with full-coverage path planning and forms a complete planning type sweeping mode and is suitable for a sweeping robot and the realization thereof.
In order to solve the problems, the technical scheme of the invention is as follows: a wall-following edgewise sweeping method suitable for a sweeping robot comprises the following steps:
(1) performing path planning on the rectangular area once to generate a 'bow' step;
(2) if no object exists in the rectangular area, the algorithm is ended;
(3) if there is an object within the rectangular area:
a. starting from the lower left side, circularly checking whether a gap exists, and if the gap exists, generating a step of forming a Chinese character 'bow' at the gap;
b. starting from the upper left side, circularly checking whether a gap exists, and if the gap exists, generating a step of forming a Chinese character 'bow' at the gap;
c. starting from the edge of the obstacle, walking along the edge of the obstacle until all the obstacles are cleaned;
d. starting from the edge of the rectangle, walking along the edge until the whole edge of the rectangle is cleaned.
As an improvement, when no object exists in the rectangular area, the full coverage path of the algorithm is a standard 'bow' step, when an object exists in the rectangular area, the object is swept along the wall, after the full coverage path is planned, the object is swept along the edge of the object such as furniture and a bed, and then the object is swept along the edge of the rectangle.
As a refinement, the rectangle is given a size.
As an improvement, at least two coordinates with a determinable size are arranged in the rectangular area.
As an improvement, the full-coverage algorithm designs a bow-shaped full-coverage path plan by connecting at least two coordinates.
As an improvement, the algorithm is realized by C + +.
Compared with the prior art, the invention has the advantages that: the invention adopts the algorithm-based wall-following edge cleaning, is simpler and more effective than the method adopting the wall-following edge sensor, and is suitable for subarea cleaning; the method comprises the following steps of adopting algorithm-based wall-following edge cleaning, and forming a complete cleaning mode together with full-coverage path planning; the adoption of the algorithm-based cleaning along the wall is suitable for cleaning the recurrent scenes, which is determined by the algorithm and cannot miss the cleaning, particularly the cleaning of the periphery of furniture such as beds and sofas; and the edge cleaning along the wall based on the algorithm is adopted, so that the cost is saved, and the structure is simplified.
Drawings
Fig. 1 is a full coverage path diagram obtained by an algorithm when no object exists in a rectangular area of the wall-following edge cleaning method suitable for the cleaning robot.
Fig. 2 is a diagram of a full coverage path along an object edge sweeping within a single sweeping area of a wall-following edge sweeping method suitable for use with a sweeping robot of the present invention.
Fig. 3 is a simulation result diagram of a planned path of the wall-following cleaning according to the wall-following edge-following cleaning method for the cleaning robot of the present invention.
Detailed Description
The present invention is further described below by way of specific examples, but the present invention is not limited to only the following examples. Variations, combinations, or substitutions of the invention, which are within the scope of the invention or the spirit, scope of the invention, will be apparent to those of skill in the art and are within the scope of the invention.
As shown in fig. 1 to 3, a method for sweeping along a wall by a sweeping robot is characterized in that: the wall-following edge-sweeping algorithm idea applicable to the sweeping robot comprises the following steps:
(1) performing path planning on the rectangular area once to generate a 'bow' step;
(2) if no object exists in the rectangular area, the algorithm is ended;
(3) if there is an object within the rectangular area:
a. starting from the lower left side, circularly checking whether a gap exists, and if the gap exists, generating a step of forming a Chinese character 'bow' at the gap;
b. starting from the upper left, the process of cycle checking whether gaps exist, if gaps exist, generating a step of generating a Chinese character 'bow' at the gaps.
c. Starting from the edge of the obstacle, walking along the edge of the obstacle until all the obstacles are cleaned;
d. starting from the edge of the rectangle, walking along the edge until the whole edge of the rectangle is cleaned.
When no object exists in the rectangular area, the full coverage path of the algorithm is a standard 'bow' step, and when an object exists in the rectangular area, the object is swept along the wall, and then the object is swept along the edges of furniture, beds and the like after the full coverage path is planned.
The rectangle is given a size. At least two coordinates with a determinable size are provided within the rectangular area. The full-coverage algorithm designs a bow-shaped full-coverage path plan by connecting at least two coordinates. The algorithm is implemented by C + +.
In a particular use of the method of the invention,
referring to fig. 1, when there is no object in the rectangular area, the full coverage path obtained by the algorithm is as shown in fig. 1.
Referring to fig. 2 and 3, when an object is in the middle of a rectangular area, the object is swept along the wall, and then swept along the edges of the object such as furniture and a bed after the complete coverage path is planned. The method is an independent path planning algorithm and follows the full-coverage path planning. The edge-scanning algorithm along the wall is implemented by C + +.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A wall-following and edge-following sweeping method suitable for a sweeping robot is characterized by comprising the following steps: the wall-following edge-sweeping algorithm idea applicable to the sweeping robot comprises the following steps:
(1) performing path planning on the rectangular area once to generate a 'bow' step;
(2) if no object exists in the rectangular area, walking along the edge of the rectangle;
(3) if there is an object within the rectangular area:
a. starting from the lower left side, circularly checking whether a gap exists, and if the gap exists, generating a step of forming a Chinese character 'bow' at the gap;
b. starting from the upper left side, circularly checking whether a gap exists, and if the gap exists, generating a step of forming a Chinese character 'bow' at the gap;
c. starting from the edge of the obstacle, walking along the edge of the obstacle until all the obstacles are cleaned;
d. starting from the edge of the rectangle, walking along the edge until the whole edge of the rectangle is cleaned.
2. A method for sweeping along a wall along an edge, which is suitable for a sweeping robot, according to claim 1, and comprises the following steps: when no object exists in the rectangular area, the full coverage path of the algorithm is a standard 'bow' step and walks along the edge of the rectangle, when the object exists in the rectangular area, the object is swept along the wall, after the full coverage path is planned, the object is swept along the edge of an obstacle (furniture, a bed and the like), and finally the object walks along the edge of the rectangle.
3. A method for sweeping along a wall along an edge, which is suitable for a sweeping robot, according to claim 1, and comprises the following steps: the rectangle is given a size.
4. A method for sweeping along a wall along an edge, which is suitable for a sweeping robot, according to claim 1, and comprises the following steps: at least two coordinates with a determinable size are provided within the rectangular area.
5. A wall-following edgewise cleaning method suitable for a floor sweeping robot according to claim 4, characterized in that: the algorithm designs a bow-shaped full-coverage path plan by connecting at least two coordinates.
6. A method for sweeping along a wall along an edge, which is suitable for a sweeping robot, according to claim 1, and comprises the following steps: the algorithm is implemented by C + +.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011196729.2A CN112336269A (en) | 2020-10-30 | 2020-10-30 | Wall-following edge cleaning method suitable for sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011196729.2A CN112336269A (en) | 2020-10-30 | 2020-10-30 | Wall-following edge cleaning method suitable for sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112336269A true CN112336269A (en) | 2021-02-09 |
Family
ID=74357030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011196729.2A Pending CN112336269A (en) | 2020-10-30 | 2020-10-30 | Wall-following edge cleaning method suitable for sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112336269A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112987755A (en) * | 2021-04-19 | 2021-06-18 | 浙江欣奕华智能科技有限公司 | Obstacle avoidance method and device of sweeping robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109700391A (en) * | 2019-03-13 | 2019-05-03 | 周妍杉 | A kind of sweeping robot and the method for improving sweeping robot corner coverage |
| EP3552532A1 (en) * | 2017-04-24 | 2019-10-16 | Guangdong Bona Robot Corporation Limited | Method for angle correction of mobile robot in working area and mobile robot |
| CN110353579A (en) * | 2019-08-14 | 2019-10-22 | 成都普诺思博科技有限公司 | A kind of clean robot automatic path planning method |
| CN110419985A (en) * | 2019-08-05 | 2019-11-08 | 小狗电器互联网科技（北京）股份有限公司 | Path generation method and device and sweeping equipment |
| CN110772178A (en) * | 2019-09-25 | 2020-02-11 | 深圳市无限动力发展有限公司 | Sweeping method and device of sweeper, computer equipment and storage medium |
| CN111381590A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Sweeping robot and route planning method thereof |
-
2020
- 2020-10-30 CN CN202011196729.2A patent/CN112336269A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3552532A1 (en) * | 2017-04-24 | 2019-10-16 | Guangdong Bona Robot Corporation Limited | Method for angle correction of mobile robot in working area and mobile robot |
| CN111381590A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Sweeping robot and route planning method thereof |
| CN109700391A (en) * | 2019-03-13 | 2019-05-03 | 周妍杉 | A kind of sweeping robot and the method for improving sweeping robot corner coverage |
| CN110419985A (en) * | 2019-08-05 | 2019-11-08 | 小狗电器互联网科技（北京）股份有限公司 | Path generation method and device and sweeping equipment |
| CN110353579A (en) * | 2019-08-14 | 2019-10-22 | 成都普诺思博科技有限公司 | A kind of clean robot automatic path planning method |
| CN110772178A (en) * | 2019-09-25 | 2020-02-11 | 深圳市无限动力发展有限公司 | Sweeping method and device of sweeper, computer equipment and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112987755A (en) * | 2021-04-19 | 2021-06-18 | 浙江欣奕华智能科技有限公司 | Obstacle avoidance method and device of sweeping robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3243419B1 (en) | Walk control method of robot, and robot | |
| CN110338715B (en) | Method and chip for cleaning floor by intelligent robot and cleaning robot | |
| CN110353579A (en) | A kind of clean robot automatic path planning method | |
| US10678251B2 (en) | Cleaning method for a robotic cleaning device | |
| CN111938519B (en) | Sweeping and mopping integrated robot cleaning path planning method | |
| CN108106616B (en) | Method and system for self-building navigation map and intelligent equipment | |
| CN105259918A (en) | Automatic charging and returning method for robot dust collector | |
| CN107895374B (en) | Cleaning area searching method and device | |
| CN106821157A (en) | The cleaning method that a kind of sweeping robot is swept the floor | |
| CN107943036B (en) | Purging zone selection method and device | |
| CN110456789A (en) | A kind of complete coverage path planning method of clean robot | |
| CN112274077B (en) | Sweeping method based on path planning for sweeping robot | |
| CN201602711U (en) | Ground processing device capable of automatically moving | |
| CN110251000A (en) | A method of improving sweeping robot cleaning efficiency | |
| CN101496706B (en) | Automatically moving floor-treating device | |
| CN106970623A (en) | Intelligent cleaning device and its trellis paths operational method | |
| CN107977003B (en) | Area cleaning method and device | |
| CN112336269A (en) | Wall-following edge cleaning method suitable for sweeping robot | |
| CN112656326B (en) | Sweeping robot system and control method thereof | |
| US20240201700A1 (en) | Robot task execution method and apparatus, robot, and storage medium | |
| CN109567672A (en) | One kind is swept the floor multirobot method | |
| CN204229229U (en) | Guiding virtual wall system | |
| CN103349530A (en) | Method for improving reliability of charging butt joint of robotic vacuum cleaner | |
| CN108931980B (en) | Marking method and chip of robot built-in map and indoor cleaning robot | |
| CN107997696A (en) | A kind of Intelligent robot for sweeping floor that can move control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210209 |
|
| RJ01 | Rejection of invention patent application after publication |