CN112540613A - Method and device for searching recharging seat position and mobile robot - Google Patents
Method and device for searching recharging seat position and mobile robot Download PDFInfo
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Abstract
The invention relates to the technical field of robots, in particular to a method and a device for searching the position of a recharging seat and a mobile robot. The method comprises the following steps: setting a search partition in a preset environment map according to the current position of the mobile robot; controlling the mobile robot to execute searching operation in the searching subarea so as to search the recharging seat; under the condition that the recharging seat is not searched in the current searching partition, expanding a new searching partition based on the current searching partition, and repeatedly executing and controlling the mobile robot to execute searching operation in the searching partition so as to search the recharging seat; and under the condition that the recharging seat is not searched in the current searching partition, expanding a new searching partition based on the current searching partition until the recharging seat is searched by the mobile robot, or the mobile robot finishes searching the preset environment map. The invention has higher efficiency of searching and recharging the seat, does not have the condition of searching in a dead cycle until the electric quantity is consumed, prolongs the service life of the battery and reduces the loss of other accessories.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for searching the position of a recharging seat and a mobile robot.
Background
The artificial intelligence technology is rapidly developed, various types of mobile robots have greater and greater influence on the life of users, and more mobile robots are applied to the life of users, such as floor sweeping robots. Generally, a mobile robot needs to perform recharging operation after a certain task is performed, a currently common inertial navigation recharging method is to enable the mobile robot to search for a recharging seat in a wall-following manner, pile loading and charging are realized if the recharging seat is found, and otherwise, the mobile robot continues to search until the power consumption is finished and the mobile robot is shut down.
However, the inertial navigation method may result in repeated searching, and may affect the service life of the battery, resulting in fast consumption of consumables.
Disclosure of Invention
The embodiment of the invention provides a method and a device for searching a recharging seat position and a mobile robot, and aims to solve the technical problems that the mobile robot is low in searching efficiency and easy to wear accessories in the recharging process.
In a first aspect, an embodiment of the present invention provides a method for searching a refill seat position, which is applied to a mobile robot, and the method includes:
setting a search partition in a preset environment map according to the current position of the mobile robot;
controlling the mobile robot to execute a search operation in the search subarea to search for a recharging seat;
under the condition that the recharging seat is not searched in the current searching partition, expanding a new searching partition based on the current searching partition, and repeatedly executing control of the mobile robot to execute searching operation in the searching partition so as to search the recharging seat; and expanding a new search partition based on the current search partition under the condition that the refill seat is not searched in the current search partition until the mobile robot searches the refill seat or the mobile robot finishes searching the preset environment map.
Optionally, the expanding a new search partition based on the current search partition includes:
determining a candidate search area set around the current search partition according to a preset environment map, wherein the candidate search area set comprises at least one area to be searched, and the area to be searched is positioned right above, right below, right left or right of the current search partition;
determining an expansion direction according to the relative position of the at least one area to be searched and the current search subarea;
expanding a new search partition in the expansion direction based on the current search partition.
Optionally, the determining an expansion direction according to the relative position of the at least one region to be searched and the current search partition includes: determining corresponding candidate expansion directions according to the relative position of each to-be-searched area and the current search partition, selecting the candidate expansion direction with the highest priority as the expansion direction,
the plurality of candidate expansion directions comprises: directly above, directly below, directly to the left and directly to the right, wherein a plurality of the candidate expansion directions are ordered by priority from high to low as: directly above, directly to the left, directly below and directly to the right.
Optionally, the expanding a new search partition based on the current search partition includes:
acquiring at least one expandable boundary of the current search partition, wherein the expandable boundary is positioned right above, right below, right left or right of the current search partition;
determining an expansion direction according to the at least one expandable boundary and the relative position of the current search partition;
expanding a new search partition in the expansion direction based on the current search partition.
Optionally, the expanding a new search partition in the expanding direction based on the current search partition includes:
determining an expansion boundary line of the current search subarea according to the expansion direction, wherein the expansion boundary line is positioned right to the left or right of the current search subarea;
and respectively expanding boundaries of preset distances in the left and right directions by taking the expanded boundary line as a central line to obtain new search partitions, wherein the preset distances are smaller than the width sizes of the current search partitions in the left and right directions.
Optionally, the expanding a new search partition in the expanding direction based on the current search partition includes:
determining an expansion boundary line of the current search subarea according to the expansion direction, wherein the expansion boundary line is positioned right above or right below the current search subarea;
and respectively expanding boundaries of preset distances in the up-down direction by taking the expanded boundary line as a starting point to obtain new search partitions, wherein the preset distances are smaller than the height sizes of the current search partitions in the up-down direction.
Optionally, the controlling the mobile robot to perform a search operation in the search partition to search for a refill seat includes:
controlling the mobile robot to traverse the search subarea by a bow-shaped track, and detecting a recharging guide signal sent by the recharging seat, wherein the recharging guide signal is used for indicating the position of the recharging seat;
marking the searched area where the mobile robot has walked;
and the distance between two adjacent parallel tracks in the Chinese character 'gong' shaped track is a preset threshold value.
Optionally, the preset threshold is less than or equal to the farthest covering distance of the recharging guide signal of the recharging seat.
Optionally, the preset threshold is greater than or equal to one half of the farthest coverage distance of the recharging guide signal of the recharging seat.
Optionally, the at least one area to be searched includes a first area and a second area, the first area is an explored area in the preset environment map, and the second area is an unexplored area in the preset environment map;
the determining an expansion direction according to the relative position of the at least one region to be searched and the current search partition includes:
determining that the priority of the first region is greater than the priority of the second region;
and determining an expansion direction according to the relative position of the first area and the current search subarea.
In a second aspect, an embodiment of the present invention provides an apparatus for searching for a location of a refill seat, which is applied to a mobile robot, and the apparatus includes:
the partition dividing module is used for setting a search partition in a preset environment map according to the current position of the mobile robot;
the searching module is used for controlling the mobile robot to execute searching operation in the searching subarea so as to search the recharging seat;
the processing module is used for expanding a new search partition based on the current search partition when the recharge socket is not searched in the current search partition, and repeatedly executing control to execute search operation on the search partition by the mobile robot so as to search the recharge socket; and expanding a new search partition based on the current search partition under the condition that the refill seat is not searched in the current search partition until the mobile robot searches the refill seat or the mobile robot finishes searching the preset environment map.
In a third aspect, an embodiment of the present invention provides a mobile robot, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described method.
Different from the prior art, the embodiment of the invention sets a search partition in a preset environment map according to the current position of the mobile robot, controls the mobile robot to search for the recharging seat in the search partition, determines a new search partition based on the current search partition if the recharging seat is not found, continues searching for the recharging seat in the new search partition, and repeats the steps of determining the new search partition and executing the search operation in the new search partition if the recharging seat is not found until the recharging seat is searched, or the mobile robot finishes searching the preset environment map. The method, the device and the mobile robot for searching and searching the position of the recharging seat provided by the embodiment of the invention can search the recharging seat according to the divided subareas, so that the mobile robot is prevented from searching the searched place, and the searching efficiency is higher; in addition, the condition that the electric quantity is consumed up after the dead-cycle search does not exist, the service life of the battery is prolonged, and the loss of other accessories is reduced.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present invention;
fig. 2 is a schematic circuit structure diagram of a mobile robot according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for searching for refill seat position according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for expanding a new search partition based on a current search partition according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a method for partitioning search partitions according to a current position of a mobile robot according to an embodiment of the present invention;
FIG. 6 is a block diagram of an apparatus for searching for a refill seat according to an embodiment of the present invention;
fig. 7 is a schematic circuit structure diagram of a mobile robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
The method and the device for searching for and retrieving the position of the charging seat provided by the embodiment of the invention can be applied to the application scene shown in fig. 1. The illustrated application scenario includes a mobile robot 10. Wherein the mobile robot 10 may be configured in any suitable shape to achieve specific business function operations, for example, in some embodiments, the mobile robot 10 of embodiments of the present invention includes, but is not limited to, cleaning robots, and the like, wherein cleaning robots include, but are not limited to, sweeping robots, dust collection robots, mopping robots, and floor washing robots, and the like.
The mobile robot 10 may be a SLAM system-based mobile robot. The mobile robot 10 usually performs recharging after performing a certain task, recharging is a process of finding a recharging seat by the mobile robot 10, and in the process, each partition may be searched according to a partition sequence by using a partition method until a recharging seat is found. A preset path planning algorithm can be adopted to set a search partition in a preset environment map based on the current position of the mobile robot 10; then controlling the mobile robot 10 to search for the recharging seat in the searching subarea; if the recharging seat is not searched in the current searching partition, determining a new searching partition based on the current searching partition, and controlling the mobile robot 10 to search the recharging seat in the new searching partition until the charging seat is searched in the mobile robot 10, or the mobile robot 10 finishes searching the preset environment map. The process of searching for the recharging seat by the mobile robot 10 improves the searching efficiency of the mobile robot 10.
In some embodiments, referring to fig. 2, the mobile robot 10 includes a mobile robot main body 11 (not shown), a laser radar 12 and/or a camera unit 13, a controller 14, a traveling mechanism 15 (not shown), and a sensing unit 16; or the mobile robot 10 employs only one of the laser radar 12 and the imaging unit 13. The mobile robot main body 11 is a main body structure of the mobile robot, and may be made of a corresponding shape structure and a corresponding manufacturing material (such as hard plastic or metal such as aluminum or iron) according to actual needs of the mobile robot 10, for example, the mobile robot main body is configured to be a flat cylinder shape common to sweeping robots.
The traveling mechanism 15 is a structural device provided in the mobile robot main body 11 and providing the mobile robot 10 with a traveling capability. The running gear 15 can be realized in particular by means of any type of moving means, such as rollers, tracks, etc. The laser radar 12 is used for sensing the obstacle condition of the environment around the mobile robot and obtaining obstacle information. The image pickup unit 13 is used to take an image, and may be various types of cameras, such as a wide-angle camera mounted on the main body 11. Generally, the laser radar 12 and the camera unit 13 are selected alternatively to reduce the cost.
In some embodiments, the sensing unit 16 is used to collect some motion parameters of the mobile robot 10 and various types of data of the environment space, and the sensing unit 16 includes various types of suitable sensors, such as a gyroscope, an infrared sensor, an odometer, a magnetic field meter, an accelerometer, a speedometer, and the like.
The controller 14 is an electronic computing core built in the mobile robot main body 11, and is configured to execute logical operation steps to realize intelligent control of the mobile robot 10. The controller 14 is connected to the laser radar 12, the camera unit 13 and the sensing unit 16, and is configured to execute a preset algorithm to partition the partitions and search for a charging dock according to data collected by the laser radar 12, the camera unit 13 and the sensing unit 16.
It should be noted that, depending on the task to be performed, in addition to the above functional modules, one or more other different functional modules (such as a water tank, a cleaning device, etc.) may be mounted on the mobile robot main body 10 and cooperate with each other to perform the corresponding task.
Fig. 3 is a flowchart of a method for searching a refill seat position according to an embodiment of the present invention, which can be applied to the mobile robot 10 in the above embodiment, and the method includes:
s11, setting a search partition in a preset environment map according to the current position of the mobile robot;
s12, controlling the mobile robot to execute searching operation in the searching partition so as to search a recharging seat;
s13, under the condition that the recharging seat is not searched in the current searching partition, expanding a new searching partition based on the current searching partition, and repeatedly executing control to execute searching operation on the searching partition by the mobile robot so as to search the recharging seat; and expanding a new search partition based on the current search partition under the condition that the refill seat is not searched in the current search partition until the mobile robot searches the refill seat or the mobile robot finishes searching the preset environment map.
In the present embodiment, the search range of the mobile robot is set by setting a search partition in a preset environment map. The search partition is a partition that divides a working area of the mobile robot into any one of a plurality of unit areas, and for example, one room may be regarded as one search partition. When the search partition is divided, the place can be divided into a plurality of search partitions in advance according to the application place corresponding to the current position of the mobile robot, then the mobile robot is controlled to respectively execute search operation on each search partition according to the divided search partitions in sequence, if the recharging seat is searched, the search is finished, and if the recharging seat is searched, the next search partition is continuously searched. Or determining a search partition according to the current position of the mobile robot, then executing search operation in the search partition, and if the recharging seat is not found, dividing a new search partition; then repeating the searching operation of the last searching partition in the new searching partition; and if the recharging seat is not found in the new searching partition, continuously dividing the new searching partition, and executing the searching operation until the recharging seat is found or all the divided searching partitions complete the searching operation, and ending the searching.
The setting of the search partition in the preset environment map according to the current position of the mobile robot may be to acquire the environment map according to the current position of the mobile robot, and then divide a search partition or a plurality of search partitions based on the environment map, where areas of the plurality of search partitions may be the same or different. The area and the number of the divided search partitions are related to factors such as the area and the shape of the area to which the mobile robot is currently applied.
In some embodiments, as shown in fig. 4, in a case that the backfill seat is not searched by the current search partition, the expanding a new search partition based on the current search partition includes:
s21, determining a candidate search area set around the current search partition according to a preset environment map, wherein the candidate search area set comprises at least one area to be searched, and the area to be searched is located right above, right below, right left or right of the current search partition;
the number of the areas to be searched can be determined according to the position of the current search partition in the preset environment map and the surrounding environment. For example, if the current search partition indicates that there is no obstacle around the current search partition in the preset environment map, it is determined that the area to be searched includes an area located directly above, directly below, directly to the left, and directly to the right of the current search partition.
And the periphery of the current search partition refers to an area which is a preset distance away from the search partition, and the preset distance can be customized by a system. Typically the region to be searched in the set of candidate search regions is the region immediately adjacent to the search partition.
S22, determining an expansion direction according to the relative position of the at least one area to be searched and the current search subarea;
wherein the determining an expansion direction according to the relative position of the at least one region to be searched and the current search partition comprises: and determining corresponding candidate expansion directions according to the relative position of each to-be-searched area and the current search partition, and selecting the candidate expansion direction with the highest relative priority as the expansion direction. The priority level is relatively highest, which means that the priority level of a selected area to be searched is highest relative to the priority levels of other areas to be searched.
The plurality of candidate expansion directions comprises: directly above, directly below, directly to the left and directly to the right, wherein a plurality of the candidate expansion directions are ordered by priority from high to low as: directly above, directly to the left, directly below and directly to the right.
Wherein the priority level may be determined from high to low in the order of the right-above, the right-left, the right-below and the right-right, i.e. the right-above is considered preferentially, then the right-left is considered, then the right-right is considered, and finally the right-below is considered. In the embodiment, the priority of the partition is determined in a counterclockwise manner, that is, the searching direction of the mobile robot is determined, and the mobile robot rotates from outside to the middle, so that any area can be prevented from falling, and the searching accuracy is improved. Of course, in practical application, the priorities of the four directions can be determined in other manners.
And S23, expanding a new search partition in the expansion direction based on the current search partition. After the expansion direction and the area to be searched are determined, the area to be searched corresponding to the expansion direction is the new search partition.
In some embodiments, in the case that the recharge socket is not searched by the current search partition, expanding a new search partition based on the current search partition comprises: acquiring at least one expandable boundary of the current search partition, wherein the expandable boundary is positioned right above, right below, right left or right of the current search partition; determining an expansion direction according to the at least one expandable boundary and the relative position of the current search partition; expanding a new search partition in the expansion direction based on the current search partition.
The expandable boundary may be an area directly expanded based on the search partition, that is, an area immediately adjacent to the search partition, and the expandable boundary includes an area directly above, directly below, directly to the left, or directly to the right of the search partition. After the expansion direction is determined, the search partition may be expanded toward the expansion direction based on the boundary of the search partition, so as to obtain a new search partition.
If a certain direction of the search partition is an obstacle or an already searched area, it may be considered that the area corresponding to the direction is not the expandable boundary.
Wherein said expanding a new search partition in the expansion direction based on the current search partition comprises: determining an expansion boundary line of the current search subarea according to the expansion direction, wherein the expansion boundary line is positioned right to the left or right of the current search subarea; and respectively expanding boundaries of preset distances in the left and right directions by taking the expanded boundary line as a central line to obtain new search partitions, wherein the preset distances are smaller than the width sizes of the current search partitions in the left and right directions. For example, the preset distance may be half of a width dimension of the current search partition in the left-right direction.
The determined search direction of the mobile robot is right to the left or right of the current position of the mobile robot, and the partition is performed by adopting the criterion of 'height unchanged and horizontal left-right expansion'.
The height of the subarea can be determined according to the size of the current whole area of the mobile robot and the size of the body of the mobile robot.
When the mobile robot takes the expansion boundary line as a central line and respectively expands the preset distances in the left and right directions, the preset distances expanded in the left and right directions can be the same, and the sum of the two preset distances forms the width of the subarea. It should be noted that, if the left or right of the current position of the mobile robot is an obstacle or a searched area, when the mobile robot is expanded to the left or right, the direction in which the obstacle or the searched area exists may not be expanded, but only be expanded to the direction in which the area is not searched, and at this time, the width of the partition is the preset distance. The specific value of the preset distance may also be determined according to the size of the current whole area of the mobile robot and the size of the body of the mobile robot.
In the above-described process of dividing one search partition when the direction corresponding to the unsearched area is right left or right of the mobile robot, based on the same principle, the division of a new search partition may be continuously performed right left or right according to the divided search partitions.
In some embodiments, said expanding a new search partition in the expansion direction based on the current search partition comprises: determining an expansion boundary line of the current search subarea according to the expansion direction, wherein the expansion boundary line is positioned right above or right below the current search subarea; and respectively expanding boundaries of preset distances in the up-down direction by taking the expanded boundary line as a starting point to obtain new search partitions, wherein the preset distances are smaller than the height sizes of the current search partitions in the up-down direction. For example, the preset distance may be half of a height size of the current search partition in the up-down direction.
The determined search direction of the mobile robot is directly above or below the current position of the mobile robot, and the partition is performed by adopting the criterion of 'width invariance and vertical expansion'.
It should be noted that, the search direction of the mobile robot is determined directly above or directly below the mobile robot, that is, the search partition, and similarly, a new search partition may be determined according to the search partition, and the new search partition dividing process refers to the process of determining a new search partition based on the search partition.
In this embodiment, the controlling the mobile robot to perform a search operation in the search partition to search for a refill seat includes: controlling the mobile robot to traverse the search subarea by a bow-shaped track, and detecting a recharging guide signal sent by the recharging seat, wherein the recharging guide signal is used for indicating the position of the recharging seat; marking the searched area where the mobile robot has walked; and the distance between two adjacent parallel tracks in the Chinese character 'gong' shaped track is a preset threshold value.
For example, the preset threshold is 1 meter. By controlling the mobile robot to walk in a bow shape in the subarea and setting the distance between two adjacent parallel tracks in the bow-shaped track, the walking track of the mobile robot is marked thick, the mobile robot is prevented from searching for areas which are very close to each other, and the searching efficiency of the mobile robot is improved.
The distance between two adjacent parallel tracks in the Chinese character 'gong' type track can be determined based on the coverage range of the signal transmitted by the charging seat, because the signal transmitted by the charging seat can cover a certain area range. For example, the preset threshold is less than or equal to the farthest covering distance of the recharging guide signal of the recharging seat, the preset threshold is greater than or equal to one half of the farthest covering distance of the recharging guide signal of the recharging seat, and the like. Therefore, the mobile robot can search the charging seat within the coverage range of the signal, so that the walking track of the mobile robot is enlarged, the searching efficiency can be improved, and the searching accuracy is not reduced.
The divided search partitions are set based on a preset environment map, which may be a two-dimensional map or a three-dimensional map.
In some embodiments, the at least one area to be searched includes a first area that is an explored area (i.e., an area where the environment map is established) in the preset environment map and a second area that is an unexplored area (i.e., an area where the environment map is not established) in the preset environment map. The determining an expansion direction according to the relative position of the at least one region to be searched and the current search partition includes: determining that the priority of the first region is greater than the priority of the second region; and determining an expansion direction according to the relative position of the first area and the current search subarea. In this embodiment, the area of the environment map has been established preferentially, the search partition is set according to the area, if the area around the current search partition includes the first area and the second area, the search partition is divided preferentially by the first area, and then divided according to the second area.
The detailed process of partitioning the mobile robot will be exemplified below. For example, as shown in FIG. 5:
1) the machine starts at point a or D, and AD is an obstacle, such as a wall, that the machine cannot pass through. The partition where A or D is located is AEHD;
2) the AD uses "right" priority as an example, and performs partitioning by "height is unchanged, horizontal left and right expansion". Presetting a partition boundary with d1 as a distance to the left and right direction by taking AD as a starting point, wherein the left side of the AD is a wall body, so that the left side is empty, and the right side d1 is DH to obtain a first partition, so that the AEHD setting of the first partition is finished;
3) after the first partition is searched, the searched position can be marked, and repeated searching is prevented;
4) starting the second partition, taking the right sequence of the first partition boundaries EH as an example, EH presets a left boundary distance d1 and a right boundary distance d2 to the left, to obtain partitions ABCD, that is, the second partition. The second partition ABCD comprises the first partition AEHD, if the first partition does not leak search, the actual search area size of the second partition is BCHE, meanwhile, the searched area AEHD is checked once to determine whether a search leaking area exists, and if yes, search is needed to be supplemented; ending the second partition division;
5) marking completion of the second partition search;
……
6) partitioning to the rightmost partition FIJG according to the right priority, and making a search completion mark; wherein, the partition FIJG is the actual search area of the rightmost BIJC partition;
7) and based on the partition FIJG, taking the priority of 'upper' as an example, dividing new partitions by 'left-right unchangeable and up-down expansion'. The upper boundary FI of the partition FIJG expands up and down to obtain a partition MNQP, and so on, and a new partition can be continuously divided based on the upper boundary MN by taking the "upper" priority as an example. The new partition may also be partitioned with other boundaries, such as the left boundary MP, taking "left" priority as an example.
According to the partition algorithm, each partition can be searched at least twice, such as AEHD partition, so that the search accuracy of the mobile robot is improved.
The method for searching for the position of the recharging seat provided by the embodiment of the invention can search for the recharging seat according to the divided partitions, so that the mobile robot is prevented from searching for the found place, and the searching efficiency is higher; in addition, the condition that the electric quantity is consumed up after the dead-cycle search does not exist, the service life of the battery is prolonged, and the loss of other accessories is reduced.
Fig. 6 is a block diagram of an apparatus for searching a refill seat according to an embodiment of the present invention, which can be applied to the mobile robot 10 in the above embodiment, where the apparatus 20 includes: a partition module 21, a search module 22 and a processing module 23.
The partition module 21 is configured to set a search partition in a preset environment map according to a current position of the mobile robot; the search module 22 is configured to control the mobile robot to perform a search operation in the search partition to search for a recharging seat; the processing module 23 is configured to, when the recharging seat is not searched in the current search partition, expand a new search partition based on the current search partition, and repeatedly perform control of the mobile robot to perform a search operation in the search partition to search for the recharging seat; and expanding a new search partition based on the current search partition under the condition that the refill seat is not searched in the current search partition until the mobile robot searches the refill seat or the mobile robot finishes searching the preset environment map.
In some embodiments, when the processing module 23 expands a new search partition based on the current search partition, the processing module specifically includes: determining a candidate search area set around the current search partition according to a preset environment map, wherein the candidate search area set comprises at least one area to be searched, and the area to be searched is positioned right above, right below, right left or right of the current search partition; determining an expansion direction according to the relative position of the at least one area to be searched and the current search subarea; expanding a new search partition in the expansion direction based on the current search partition.
Wherein, the determining the expansion direction according to the relative position of the at least one region to be searched and the current search partition comprises: and determining corresponding candidate expansion directions according to the relative position of each to-be-searched area and the current search partition, and selecting the candidate expansion direction with the highest relative priority as the expansion direction. The plurality of candidate expansion directions comprises: directly above, directly below, directly to the left and directly to the right, wherein a plurality of the candidate expansion directions are ordered by priority from high to low as: directly above, directly to the left, directly below and directly to the right.
In some embodiments, the at least one area to be searched includes a first area and a second area, the first area is an explored area in the preset environment map, and the second area is an unexplored area in the preset environment map. The determining an expansion direction according to the relative position of the at least one region to be searched and the current search partition includes: determining that the priority of the first region is greater than the priority of the second region; and determining an expansion direction according to the relative position of the first area and the current search subarea.
In some embodiments, when the processing module 23 expands a new search partition based on the current search partition, the processing module specifically includes: acquiring at least one expandable boundary of the current search partition, wherein the expandable boundary is positioned right above, right below, right left or right of the current search partition; determining an expansion direction according to the at least one expandable boundary and the relative position of the current search partition; expanding a new search partition in the expansion direction based on the current search partition.
Wherein the expanding a new search partition in the expanding direction based on the current search partition comprises:
determining an expansion boundary line of the current search subarea according to the expansion direction, wherein the expansion boundary line is positioned right to the left or right of the current search subarea;
and respectively expanding boundaries of preset distances in the left and right directions by taking the expanded boundary line as a central line to obtain new search partitions, wherein the preset distances are smaller than the width sizes of the current search partitions in the left and right directions.
In some embodiments, said expanding a new search partition in said expansion direction based on a current said search partition comprises:
determining an expansion boundary line of the current search subarea according to the expansion direction, wherein the expansion boundary line is positioned right above or right below the current search subarea;
and respectively expanding boundaries of preset distances in the up-down direction by taking the expanded boundary line as a starting point to obtain new search partitions, wherein the preset distances are smaller than the height sizes of the current search partitions in the up-down direction.
In some embodiments, the process module 23 is configured to control the mobile robot to perform a search operation in the search partition to search for a refill seat, and specifically includes:
controlling the mobile robot to traverse the search subarea by a bow-shaped track, and detecting a recharging guide signal sent by the recharging seat, wherein the recharging guide signal is used for indicating the position of the recharging seat;
marking the searched area where the mobile robot has walked;
and the distance between two adjacent parallel tracks in the Chinese character 'gong' shaped track is a preset threshold value.
Wherein the preset threshold is less than or equal to the farthest covering distance of the recharging guide signal of the recharging seat.
Wherein the preset threshold is greater than or equal to one half of the farthest covering distance of the recharging guide signal of the recharging seat.
It should be noted that the device for searching for a position of a refill seat can execute the method for searching for a position of a refill seat provided in the embodiments of the present invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in the embodiment of the apparatus for searching for a refill seat position, reference may be made to the method for searching for a refill seat position provided in the embodiment of the present invention.
The device for searching and searching for the position of the recharging seat provided by the embodiment of the invention can search for the recharging seat according to the divided subareas, so that the mobile robot is prevented from searching for the found place, and the searching efficiency is higher; in addition, the condition that the electric quantity is consumed up after the dead-cycle search does not exist, the service life of the battery is prolonged, and the loss of other accessories is reduced.
Fig. 7 is a schematic circuit structure diagram of a mobile robot according to an embodiment of the present invention. Wherein the mobile robot may be any type of cleaning robot. As shown in fig. 7, the mobile robot includes one or more processors 31 and a memory 32. Fig. 7 illustrates an example of one processor 31.
The processor 31 and the memory 32 may be connected by a bus or other means, and fig. 7 illustrates the connection by a bus as an example.
The memory 32 is a non-volatile computer readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules corresponding to the method for searching for a recharging seat position in the embodiment of the present invention. The processor 31 executes various functional applications and data processing of the device for searching for and retrieving a seat position by running nonvolatile software programs, instructions and modules stored in the memory 32, that is, the functions of the various modules or units of the device embodiment and the method for searching for and retrieving a seat position provided by the above method embodiment are realized.
The memory 32 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 32 may optionally include memory located remotely from the processor 31, and these remote memories may be connected to the processor 31 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 32 and, when executed by the one or more processors 31, perform the method of searching for refill seat position in any of the method embodiments described above.
Embodiments of the present invention also provide a non-transitory computer storage medium storing computer-executable instructions, which are executed by one or more processors, such as the processor 31 in fig. 7, to enable the one or more processors to perform the method for searching for a recharging seat position in any of the above method embodiments.
Embodiments of the present invention further provide a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by the mobile robot, the mobile robot is caused to execute any one of the methods for searching for a location of a refill seat.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (12)
1. A method for searching the position of a recharging seat, which is applied to a mobile robot, is characterized by comprising the following steps:
setting a search partition in a preset environment map according to the current position of the mobile robot;
controlling the mobile robot to execute a search operation in the search subarea to search for a recharging seat;
under the condition that the recharging seat is not searched in the current searching partition, expanding a new searching partition based on the current searching partition, and repeatedly executing control of the mobile robot to execute searching operation in the searching partition so as to search the recharging seat; and expanding a new search partition based on the current search partition under the condition that the refill seat is not searched in the current search partition until the mobile robot searches the refill seat or the mobile robot finishes searching the preset environment map.
2. The method of claim 1, wherein expanding a new search partition based on the current search partition comprises:
determining a candidate search area set around the current search partition according to a preset environment map, wherein the candidate search area set comprises at least one area to be searched, and the area to be searched is positioned right above, right below, right left or right of the current search partition;
determining an expansion direction according to the relative position of the at least one area to be searched and the current search subarea;
expanding a new search partition in the expansion direction based on the current search partition.
3. The method according to claim 2, wherein the determining the expansion direction according to the relative orientation of the at least one region to be searched and the current search partition comprises: determining corresponding candidate expansion directions according to the relative position of each to-be-searched area and the current search partition, selecting the candidate expansion direction with the highest priority as the expansion direction,
the plurality of candidate expansion directions comprises: directly above, directly below, directly to the left and directly to the right, wherein a plurality of the candidate expansion directions are ordered by priority from high to low as: directly above, directly to the left, directly below and directly to the right.
4. The method of claim 2, wherein expanding a new search partition based on the current search partition comprises:
acquiring at least one expandable boundary of the current search partition, wherein the expandable boundary is positioned right above, right below, right left or right of the current search partition;
determining an expansion direction according to the at least one expandable boundary and the relative position of the current search partition;
expanding a new search partition in the expansion direction based on the current search partition.
5. The method of claim 2, 3 or 4, wherein expanding a new search partition in the expansion direction based on the current search partition comprises:
determining an expansion boundary line of the current search subarea according to the expansion direction, wherein the expansion boundary line is positioned right to the left or right of the current search subarea;
and respectively expanding boundaries of preset distances in the left and right directions by taking the expanded boundary line as a central line to obtain new search partitions, wherein the preset distances are smaller than the width sizes of the current search partitions in the left and right directions.
6. The method of claim 2, 3 or 4, wherein expanding a new search partition in the expansion direction based on the current search partition comprises:
determining an expansion boundary line of the current search subarea according to the expansion direction, wherein the expansion boundary line is positioned right above or right below the current search subarea;
and respectively expanding boundaries of preset distances in the up-down direction by taking the expanded boundary line as a starting point to obtain new search partitions, wherein the preset distances are smaller than the height sizes of the current search partitions in the up-down direction.
7. The method of any of claims 1 to 4, wherein said controlling the mobile robot to perform a search operation in the search zone to search for a refill seat comprises:
controlling the mobile robot to traverse the search subarea by a bow-shaped track, and detecting a recharging guide signal sent by the recharging seat, wherein the recharging guide signal is used for indicating the position of the recharging seat;
marking the searched area where the mobile robot has walked;
and the distance between two adjacent parallel tracks in the Chinese character 'gong' shaped track is a preset threshold value.
8. The method of claim 7, wherein the preset threshold is less than or equal to a farthest coverage distance of a recharge guide signal of the recharge cradle.
9. The method of claim 8, wherein the preset threshold is greater than or equal to one-half of a farthest coverage distance of a recharge directing signal of the recharge cradle.
10. The method according to claim 2, wherein the at least one area to be searched comprises a first area and a second area, the first area is an explored area in a preset environment map, and the second area is an unexplored area in the preset environment map;
the determining an expansion direction according to the relative position of the at least one region to be searched and the current search partition includes:
determining that the priority of the first region is greater than the priority of the second region;
and determining an expansion direction according to the relative position of the first area and the current search subarea.
11. A device for searching the position of a recharging seat, which is applied to a mobile robot, is characterized by comprising:
the partition dividing module is used for setting a search partition in a preset environment map according to the current position of the mobile robot;
the searching module is used for controlling the mobile robot to execute searching operation in the searching subarea so as to search the recharging seat;
the processing module is used for expanding a new search partition based on the current search partition when the recharge socket is not searched in the current search partition, and repeatedly executing control to execute search operation on the search partition by the mobile robot so as to search the recharge socket; and expanding a new search partition based on the current search partition under the condition that the refill seat is not searched in the current search partition until the mobile robot searches the refill seat or the mobile robot finishes searching the preset environment map.
12. A mobile robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 10.
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