CN112603204B - Method, device and equipment for track compensation and storage medium - Google Patents
Method, device and equipment for track compensation and storage medium Download PDFInfo
- Publication number
- CN112603204B CN112603204B CN202011447282.1A CN202011447282A CN112603204B CN 112603204 B CN112603204 B CN 112603204B CN 202011447282 A CN202011447282 A CN 202011447282A CN 112603204 B CN112603204 B CN 112603204B
- Authority
- CN
- China
- Prior art keywords
- compensation
- mobile robot
- determining
- carpet
- degrees
- 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.)
- Active
Links
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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
-
- 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
- A47L11/4002—Installations of electric equipment
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
-
- 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 relates to the technical field of robots, and discloses a method, a device, equipment and a storage medium for track compensation, which are used for compensating a walking route of a mobile robot and improving the cleaning efficiency of the mobile robot. The track compensation method comprises the following steps: respectively acquiring line segment integral angles L of the mobile robot in the 0-degree linear traveling direction1Integral angle L of line segment under 180 DEG straight line advancing direction2(ii) a Using said L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot; and calculating data to be adjusted according to the compensation intensity and the compensation direction, and performing track compensation on the mobile robot by using the data to be adjusted.
Description
Technical Field
The present invention relates to the field of robotics, and in particular, to a method, an apparatus, a device, and a storage medium for trajectory compensation.
Background
With the rapid development of science and technology, more and more intelligent robots replace manual work, and the floor sweeping mobile robot is one of the intelligent robots. The floor sweeping mobile robot is an intelligent household appliance, can automatically complete floor cleaning work in a room by means of certain artificial intelligence, generally adopts a brush sweeping and vacuum mode, and firstly absorbs impurities on the ground into a garbage storage box of the floor sweeping mobile robot, so that the function of cleaning the ground is completed.
In the process of cleaning the ground by using the sweeping mobile robot, when the sweeping mobile robot moves on a ground medium with uneven resistance such as a carpet and the like, the problem that a walking route is inclined or takes an 8 shape as a cleaning route occurs, so that the walking route of the sweeping mobile robot deviates or the sweeping mobile robot only cleans at a fixed position, and the cleaning efficiency of the mobile robot is low.
Disclosure of Invention
The invention provides a track compensation method, a track compensation device, track compensation equipment and a storage medium, which are used for compensating a walking route of a mobile robot and improving the cleaning efficiency of the mobile robot.
First aspect of the inventionIn one aspect, a method for trajectory compensation is provided, and is applied to a mobile robot, and the method for trajectory compensation includes: respectively acquiring line segment integral angles L of the mobile robot in the 0-degree linear traveling direction1Integral angle L of line segment under 180 DEG straight line advancing direction2(ii) a Using said L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot; and calculating data to be adjusted according to the compensation intensity and the compensation direction, and performing track compensation on the mobile robot by using the data to be adjusted.
In one possible embodiment, said utilizing said L1And L2Calculating the compensation strength and the compensation direction of the mobile robot comprises: according to the blocking threshold and the L1And L2Determining a ground medium where the mobile robot is located; when the ground medium where the mobile robot is located is a carpet, the L is utilized1And L2Determining the hair dissipation direction and the compensation intensity of the carpet, and determining the compensation direction through the hair dissipation direction of the carpet, wherein the compensation direction comprises a same-direction compensation direction and a reverse compensation direction.
In one possible embodiment, the threshold is based on the obstruction and the L1And L2Determining a ground medium in which the mobile robot is located includes: when | L1|+|L2|>When T is reached, determining that the ground medium where the mobile robot is located is a carpet; when | L1|+|L2When | ≦ T, determining that the ground medium where the mobile robot is located is a non-carpet, wherein L is1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 degree and 180 degrees are respectively, and T is an obstruction threshold value.
In a possible implementation manner, when the ground medium where the mobile robot is located is a carpet, the L is utilized1And L2Determining a hair dissipation direction and a compensation intensity of a carpet, and determining a compensation direction from the hair dissipation direction of the carpet comprises: when the ground medium where the mobile robot is located is a carpet, the L is utilized1And L2Judging whether the resistance borne by the mobile robot in the 0-degree and 180-degree linear advancing directions is the same-direction resistance; if the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, the L is utilized1And L2Determining the resistance direction, the hair direction dissipation direction and the compensation strength of the carpet, and determining the homodromous compensation direction by using the hair direction dissipation direction of the carpet; if the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the resistance in the opposite direction, the L is utilized1And L2The resistance direction, the hairwise dissipation direction of the carpet and the compensation intensity are determined, and the hairwise dissipation direction of the carpet is used for determining the reverse compensation direction.
In a possible embodiment, if the resistance applied to the mobile robot in the linear traveling directions of 0 ° and 180 ° is the same direction resistance, the L is used1And L2Determining the resistance direction, the hair dissipation direction of the carpet and the compensation intensity, and determining the homodromous compensation direction by using the hair dissipation direction of the carpet comprises: when the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, and L is1>0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair direction dissipation direction of a carpet are both 270 degrees, determining that the first homodromous compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the first homodromous compensation direction is 90 degrees as follows:
wherein H11Representing the compensation intensity under the condition that the first homodromous compensation direction is 90 degrees; when the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, and L is1<0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the second equidirectional compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the second equidirectional compensation direction is 270 degrees as follows:
wherein H12Represents the compensation intensity under the condition that the second equidirectional compensation direction is 270 degrees, and L is1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 deg. and 180 deg. respectively.
In a possible embodiment, if the resistance applied to the mobile robot in the linear traveling directions of 0 ° and 180 ° is the opposite direction resistance, the L is used1And L2Determining the direction of resistance, the direction of hairwise dissipation of the carpet, and the intensity of compensation, and determining a direction of reverse compensation using the direction of hairwise dissipation of the carpet comprises: if the resistance borne by the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the resistance in the opposite direction, the L is judged1And L2The numerical magnitude relationship between them; when | L1|>|L2L and L1>0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 270 degrees, determining that the first reverse compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the first reverse compensation direction is 90 degrees as follows:
wherein H21Represents the compensation intensity under the condition that the first reverse compensation direction is 90 degrees; when | L1|>|L2L, and L1<0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the second reverse compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the second reverse compensation direction is 270 degrees as follows:
wherein H22Represents the compensation intensity under the condition that the second reverse compensation direction is 270 degrees; when | L1|<|L2L, and L1>0，L2>At 0 timeDetermining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the third reverse compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the third reverse compensation direction is 270 degrees as follows:
wherein H23Represents the compensation intensity under the condition that the third reverse compensation direction is 270 degrees; when | L1|<|L2L, and L1<0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 270 degrees, determining that the fourth reverse compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the fourth reverse compensation direction is 90 degrees as follows:
wherein H24Represents the compensation intensity under the condition that the fourth reverse compensation direction is 90 DEG, and L is1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 deg. and 180 deg. respectively.
In a possible embodiment, the calculating data to be adjusted through the compensation strength and the compensation direction, and performing trajectory compensation on the mobile robot by using the data to be adjusted includes: determining the spacing of the cleaning lines to be adjusted and the compensation angle to be adjusted in the data to be adjusted by using the compensation intensity; and performing track compensation on the mobile robot through the cleaning line interval to be adjusted, the compensation direction, the compensation angle to be adjusted and the linear advancing direction of the mobile robot.
The second aspect of the present invention provides a trajectory compensation apparatus for use in a mobile robot, the apparatus comprising: an obtaining module, configured to obtain the line segment integral angles L of the mobile robot in the 0 ° linear traveling direction respectively1Integral angle L of line segment under 180 DEG straight line advancing direction2(ii) a A calculation module for utilizing the L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot; and the compensation module is used for calculating data to be adjusted according to the compensation intensity and the compensation direction and performing track compensation on the mobile robot by using the data to be adjusted.
In one possible implementation, the computing module includes: a determination submodule for determining a threshold value based on the obstruction and the L1And L2Determining a ground medium where the mobile robot is located; a calculation submodule for utilizing the L when the ground medium where the mobile robot is located is a carpet1And L2Determining the hair dissipation direction and the compensation intensity of the carpet, and determining the compensation direction through the hair dissipation direction of the carpet, wherein the compensation direction comprises a same-direction compensation direction and a reverse compensation direction.
In a possible embodiment, the determining submodule is specifically configured to: when | L1|+|L2|>When T is reached, determining that the ground medium where the mobile robot is located is a carpet; when | L1|+|L2When | ≦ T, determining that the ground medium where the mobile robot is located is a non-carpet, wherein L is1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 degree and 180 degrees are respectively, and T is an obstruction threshold value.
In one possible implementation, the computation submodule includes: a judging unit for utilizing the L when the ground medium where the mobile robot is located is a carpet1And L2Judging whether the resistance borne by the mobile robot in the 0-degree and 180-degree linear advancing directions is the same-direction resistance; a first calculation unit for using the L if the mobile robot receives the same directional resistance in the linear traveling directions of 0 DEG and 180 DEG1And L2Determining the resistance direction, the hair direction dissipation direction and the compensation strength of the carpet, and determining the homodromous compensation direction by using the hair direction dissipation direction of the carpet; a second calculating unit for using the L if the resistance of the mobile robot in the 0 DEG and 180 DEG straight traveling directions is the reverse resistance1And L2The resistance direction, the hairwise dissipation direction of the carpet and the compensation strength are determined, and the hairwise dissipation direction of the carpet is used for determining the reverse compensation direction.
In a possible implementation manner, the first computing unit is specifically configured to: when the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, and L is1>0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair direction dissipation direction of a carpet are both 270 degrees, determining that the first homodromous compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the first homodromous compensation direction is 90 degrees as follows:
wherein H11Representing the compensation intensity under the condition that the first homodromous compensation direction is 90 degrees; when the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, and L is1<0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the second equidirectional compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the second equidirectional compensation direction is 270 degrees as follows:
wherein H12Represents the compensation intensity under the condition that the second equidirectional compensation direction is 270 degrees, and L is1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 deg. and 180 deg. respectively.
In a possible implementation manner, the second computing unit is specifically configured to: if the resistance borne by the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the resistance in the opposite direction, the L is judged1And L2The numerical magnitude relationship between them; when | L1|>|L2L, and L1>0，L2>When 0, determining that the resistance direction of the mobile robot and the hair dissipation direction of the carpet are both270 °, determining that the first reverse compensation direction for the mobile robot is 90 °, and calculating the compensation strength of the mobile robot under the condition that the first reverse compensation direction is 90 ° as follows:
wherein H21Represents the compensation intensity under the condition that the first reverse compensation direction is 90 degrees; when | L1|>|L2L, and L1<0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the second reverse compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the second reverse compensation direction is 270 degrees as follows:
wherein H22Represents the compensation intensity under the condition that the second reverse compensation direction is 270 degrees; when | L1|<|L2L, and L1>0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the third reverse compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the third reverse compensation direction is 270 degrees as follows:
wherein H23Represents the compensation intensity under the condition that the third reverse compensation direction is 270 degrees; when | L1|<|L2L, and L1<0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 270 degrees, determining that the fourth reverse compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the fourth reverse compensation direction is 90 degrees as follows:
wherein H24Bar indicating the fourth reverse compensation direction as 90 degCompensation strength under conditions of said L1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 deg. and 180 deg. respectively.
In a possible embodiment, the compensation module is specifically configured to: determining the spacing of the cleaning lines to be adjusted and the compensation angle to be adjusted in the data to be adjusted by using the compensation intensity; and carrying out track compensation on the mobile robot through the cleaning line interval to be adjusted, the compensation direction, the compensation angle to be adjusted and the linear advancing direction of the mobile robot.
A third aspect of the invention provides a trajectory compensation device comprising: a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the trajectory compensation device to perform the trajectory compensation method described above.
A fourth aspect of the present invention provides a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to perform the above-described method of trajectory compensation.
In the technical scheme provided by the invention, the line segment integral angles L of the mobile robot in the 0-degree linear advancing direction are respectively obtained1Integral angle L of line segment under 180 DEG straight line advancing direction2(ii) a Using said L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot; and calculating data to be adjusted according to the compensation intensity and the compensation direction, and performing track compensation on the mobile robot by using the data to be adjusted. In the embodiment of the invention, the line segment integral angle L of the mobile robot in the linear traveling directions of 0 degree and 180 degrees1And L2Determining the ground medium where the mobile robot is located and utilizing L1And L2And calculating the compensation intensity and the compensation direction, and finally compensating the moving track of the mobile robot by using the compensation intensity and the compensation direction, so that the cleaning efficiency of the mobile robot is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a method for trajectory compensation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another embodiment of a method for trajectory compensation according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of one embodiment of trajectory compensation for a mobile robot;
FIG. 4 is a schematic diagram of another embodiment of trajectory compensation for a mobile robot;
FIG. 5 is a schematic diagram of an embodiment of an apparatus for trajectory compensation in an embodiment of the present invention;
FIG. 6 is a schematic diagram of another embodiment of the apparatus for trajectory compensation in an embodiment of the present invention;
FIG. 7 is a schematic diagram of an embodiment of a device for trajectory compensation in an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a track compensation method, a track compensation device, track compensation equipment and a storage medium, which are used for compensating a walking route of a mobile robot and improving the cleaning efficiency of the mobile robot.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, a detailed flow of an embodiment of the present invention is described below, with reference to fig. 1, an embodiment of a method for trajectory compensation in an embodiment of the present invention includes:
101. are respectively provided withAcquiring line segment integral angle L of the mobile robot in the 0-degree linear traveling direction1Integral angle L of line segment under 180 DEG straight line advancing direction2；
It is to be understood that the executing subject of the present invention may be a device for trajectory compensation, and may also be a terminal or a server, which is not limited herein. The embodiment of the present invention is described by taking a trajectory compensation device as an execution subject.
Before the device for track compensation performs track compensation on the mobile robot, firstly, the angle (line segment integral angle) rotated by the mobile robot in the traveling process needs to be acquired, and the bottom medium where the mobile robot is located and the intensity and the direction needing to be compensated are judged according to the angle rotated by the mobile robot in the traveling process. The line segment integral angle of the mobile robot is obtained by integrating the angular velocity, so that the device for track compensation can directly acquire the angular velocity of the mobile robot in the traveling process. The device for track compensation comprises a gyroscope, the gyroscope is a detection device for detecting angular motion around a rotation axis orthogonal to the rotation axis by using a rotor of a high-speed revolving body relative to an inertia space, and the angular velocity of the mobile robot in the traveling process can be detected by using the gyroscope.
It should be noted that, here, the trajectory compensation device detects the angular velocity ω of the mobile robot in the 0 ° linear traveling direction1And angular velocity ω of the mobile robot in a 180 ° linear travel direction2. In order to ensure that the detected angular velocity can represent the angular velocity of the mobile robot during travel, the trajectory compensation means can detect a plurality of angular velocities of the mobile robot in the 0 ° and 180 ° linear travel directions, respectively. If the angular velocities of the mobile robot in the same direction under the straight line running are detected to be different, calculating the average value of the angular velocities, and determining the average value of the angular velocities as the angular velocity of the mobile robot in the direction under the straight line running; if the angular velocities of the mobile robot in the same direction during straight-line traveling are all detected to be the same, the angular velocity of the mobile robot in the direction during straight-line traveling can be directly determined. Specifically, the detection mobile robot is not linearly moved in the same direction in the present applicationThe number of angular velocities of (2) is limited, and the number of angular velocities in the same direction of straight travel can be detected according to actual conditions.
Further, it is explained that the angular velocity ω is directly opposite to the angular velocity ω1And angular velocity ω2Integral calculation is carried out to obtain the line segment integral angle L of the mobile robot in the 0-degree linear advancing direction1And the line segment integral angle L in the 180 DEG straight line traveling direction2。
102. By means of L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot;
it should be noted that the trajectory compensation device utilizes L1And L2In the process of calculating the compensation intensity and the compensation direction of the mobile robot, according to L1And L2There are various situations in which the track compensation direction and the compensation intensity in each case are different, and therefore, the calculation method according to L is required1And L2Further determining the compensation intensity and the compensation direction of the mobile robot.
103. And calculating data to be adjusted according to the compensation intensity and the compensation direction, and performing track compensation on the mobile robot by using the data to be adjusted.
It can be understood that, after the device for track compensation calculates the compensation intensity and the compensation direction, the data to be adjusted, which needs to be subjected to track compensation on the mobile robot, can be further calculated, the data to be adjusted includes the spacing between the cleaning lines to be adjusted and the compensation angle to be adjusted, and the track compensation on the mobile robot is realized through the two data to be adjusted, so that the mobile robot can move to each corner on the ground medium for cleaning, and the cleaning efficiency of the mobile robot is improved.
In the embodiment of the invention, the line segment integral angle L of the mobile robot in the linear traveling directions of 0 degree and 180 degrees1And L2Determining the ground medium where the mobile robot is located and utilizing L1And L2Calculating the compensation intensity and the compensation direction, and finally compensating the moving track of the mobile robot by using the compensation intensity and the compensation direction, thereby improving the quality of the mobile robotHuman cleaning efficiency.
Referring to fig. 2, another embodiment of the method for trajectory compensation in the embodiment of the present invention includes:
201. respectively acquiring line segment integral angles L of the mobile robot in the 0-degree linear traveling direction1Integral angle L of line segment under 180 DEG straight line advancing direction2；
Before the device for track compensation performs track compensation on the mobile robot, firstly, the angle (line segment integral angle) rotated by the mobile robot in the traveling process needs to be acquired, and the bottom medium where the mobile robot is located and the intensity and the direction needing to be compensated are judged according to the angle rotated by the mobile robot in the traveling process. The line segment integral angle of the mobile robot is obtained by integrating the angular velocity, so that the device for track compensation can directly acquire the angular velocity of the mobile robot in the traveling process. The device for track compensation comprises a gyroscope, the gyroscope is a detection device for detecting angular motion around a rotation axis orthogonal to the rotation axis by using a rotor of a high-speed revolving body relative to an inertia space, and the angular velocity of the mobile robot in the traveling process can be detected by using the gyroscope.
It should be noted that, here, the trajectory compensation device detects the angular velocity ω of the mobile robot in the 0 ° linear traveling direction1And angular velocity ω of the mobile robot in a 180 ° linear travel direction2. In order to ensure that the detected angular velocity can represent the angular velocity of the mobile robot during travel, the trajectory compensation means can detect a plurality of angular velocities of the mobile robot in linear travel directions of 0 ° and 180 °, respectively. If the plurality of angular velocities of the mobile robot in the same direction in the straight line running process are detected to be different, calculating an average value of the plurality of angular velocities, and determining the average value of the angular velocities as the angular velocity of the mobile robot in the direction in the straight line running process; if the angular velocities of the mobile robot in the same direction during straight-line traveling are all detected to be the same, the angular velocity of the mobile robot in the direction during straight-line traveling can be directly determined. Specifically, the number of angular velocities detected when the mobile robot travels straight in the same direction is not limited in the present application, and the angular velocities may be detected according to actual conditionsAnd measuring the quantity of the angular velocity under the straight line traveling in the same direction.
Further, it is explained that the angular velocity ω is directly opposite to the angular velocity ω1And angular velocity ω2Integral calculation is carried out to obtain the line segment integral angle L of the mobile robot in the 0-degree linear advancing direction1And the line segment integral angle L in the 180 DEG straight line traveling direction2。
202. According to the blocking threshold and L1And L2Determining a ground medium where the mobile robot is located;
specifically, when | L1|+|L2|>When T is reached, the track compensation device determines that the ground medium where the mobile robot is located is a carpet; when | L1|+|L2When | ≦ T, the track compensation device determines that the ground medium where the mobile robot is located is a non-carpet, wherein L1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 degree and 180 degrees are respectively, and T is an obstruction threshold value.
The trajectory compensation device needs to use L before calculating the compensation direction and the compensation intensity of the mobile robot1And L2And determining what the ground medium is in which the mobile robot is positioned, and determining different compensation directions and different compensation intensities according to different ground media. When | L1|+|L2When | ≦ T, that is, the sum of the angles rotated by the mobile robot in the linear traveling directions of 0 ° and 180 ° does not exceed the blocking threshold, it indicates that the resistance applied to the mobile robot in the linear traveling is not large, and the trajectory compensation device can determine that the floor medium where the mobile robot is located is a non-carpet, where the non-carpet refers to a floor, and may also be a floor medium with a small friction force. Here, T is a blocking threshold value and is a limit value between different types of ground media. When the mobile robot is positioned on a ground medium with low friction force (| L)1|+|L2Less than or equal to T), the track compensation device does not need to carry out track compensation on the mobile robot, and only when the mobile robot is positioned on a ground medium with larger friction force (| L)1|+|L2|>T), the trajectory compensation device needs to perform trajectory compensation on the mobile robot。
It should be further noted that the blocking threshold T is a limited threshold obtained through a large number of test experiments, and the present application does not limit the blocking threshold, and a specific blocking threshold may be set according to actual situations.
203. When the ground medium where the mobile robot is located is a carpet, L is utilized1And L2Determining the hairiness dissipation direction and the compensation intensity of the carpet, and determining the compensation direction according to the hairiness dissipation direction of the carpet, wherein the compensation direction comprises a same-direction compensation direction and a reverse compensation direction;
specifically, when the ground medium on which the mobile robot is located is a carpet, the device for track compensation utilizes L1And L2Judging whether the resistance borne by the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same-direction resistance; if the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, the device for compensating the track utilizes L1And L2Determining the resistance direction, the hair direction dissipation direction and the compensation strength of the carpet, and determining the homodromous compensation direction by utilizing the hair direction dissipation direction of the carpet; if the resistance of the mobile robot in the linear traveling directions of 0 degree and 180 degrees is the resistance in the opposite direction, the device for track compensation utilizes L1And L2The resistance direction, the hairwise dissipation direction of the carpet and the compensation strength are determined, and the reverse compensation direction is determined by using the hairwise dissipation direction of the carpet.
When the ground medium where the mobile robot is located is a carpet, the device for track compensation needs to be according to L1And L2And further calculating the compensation direction and the compensation intensity of the mobile robot. The track compensation device firstly judges whether the resistance of the mobile robot in the 0-degree and 180-degree linear advancing directions is the same-direction resistance, and the compensation directions corresponding to the different resistance directions of the mobile robot in the 0-degree and 180-degree linear advancing directions and the calculation modes of the compensation intensity are different.
If the resistance of the mobile robot in the linear traveling directions of 0 ° and 180 ° is the same direction resistance, there are two cases:
(1)when L is1>0，L2<When 0, the track compensation's device can confirm that the mobile robot receives 270 under 0 and 180 straight advancing direction, can confirm at this moment that the wool of carpet is also 270 to dissipation direction, the wool of carpet here is the direction of the friction force that the mobile robot receives that dissipation direction is the direction, the wool of carpet is the same with the resistance direction that receives, therefore the track compensation's device need compensate the mobile robot, the first syntropy compensation direction that needs the compensation is 90, corresponding compensation intensity is:
It should be noted that the compensation direction here is a direction opposite to the direction of the resistance applied to the mobile robot, that is, a direction perpendicular to the cleaning line of the mobile robot.
(2) When L is1<0，L2>When 0, the track compensation device can determine that the resistance borne by the mobile robot in the linear advancing directions of 0 degree and 180 degrees is 90 degrees, and at this time, the hair dissipation direction of the carpet can also be determined to be 90 degrees, so that the track compensation device needs to compensate the mobile robot, the second homodromous compensation direction needing to be compensated is 270 degrees, and the corresponding compensation intensity is as follows:
If the resistance of the mobile robot in the linear traveling directions of 0 ° and 180 ° is the opposite resistance, there are four cases:
(1) when | L1|>|L2L, and L1>0，L2>0, determining that the directions of resistances borne by the mobile robot in the linear traveling directions of 0 ° and 180 ° are 270 °, and then determining that the hair dissipation direction of the carpet is 270 °, so that the trajectory compensation device needs to compensate the mobile robot, the first reverse compensation direction needing to be compensated is 90 °, and the corresponding compensation strength is:
(2) When | L1|>|L2L, and L1<0，L2<When 0, the resistance directions of the mobile robot under the linear advancing directions of 0 degree and 180 degrees are determined to be 90 degrees, and then the hair dissipation direction of the carpet can be determined to be 90 degrees, so that the device for track compensation needs to compensate the mobile robot, the second reverse compensation direction needing to be compensated is 270 degrees, and the corresponding compensation strength is as follows:
(3) When | L1|<|L2L, and L1>0，L2>When 0, the resistance directions of the mobile robot under the linear advancing directions of 0 degree and 180 degrees are determined to be 90 degrees, and then the hair dissipation direction of the carpet can be determined to be 90 degrees, so that the track compensation device needs to compensate the mobile robot, the third reverse compensation direction needing to be compensated is 270 degrees, and the corresponding compensation intensity is as follows:
(4) When | L1|<|L2L, and L1<0，L2<0, determining that the resistance directions of the mobile robot in the linear traveling directions of 0 ° and 180 ° are 270 °, and determining that the gross dissipation direction of the carpet is 270 °, so that the trajectory compensation device needs to compensate the mobile robot, the fourth reverse compensation direction that needs to be compensated is 90 °, and the corresponding compensation strength is:
The compensation method is different compensation methods corresponding to six different conditions, and the compensation direction and the compensation intensity are calculated by using the compensation calculation method in the scene according to different scenes where the mobile robot is located.
204. And calculating data to be adjusted according to the compensation intensity and the compensation direction, and performing track compensation on the mobile robot by using the data to be adjusted.
Specifically, the track compensation device determines the spacing between the cleaning lines to be adjusted and the compensation angle to be adjusted in the data to be adjusted by using the compensation intensity; and then the track compensation device performs track compensation on the mobile robot through the spacing between the cleaning lines to be adjusted, the compensation direction, the compensation angle to be adjusted and the linear advancing direction of the mobile robot.
After the track compensation device determines the compensation direction and the compensation intensity of the mobile robot according to different scenes, the data to be adjusted need to be calculated by using the compensation direction and the compensation intensity, wherein the data to be adjusted comprises the spacing between the cleaning lines to be adjusted and the compensation angle to be adjusted.
The cleaning moving route of the known mobile robot is in a bow shape, the mobile robot can turn to clean a second straight line after cleaning a first straight line, and when the first straight line and the second straight line are parallel to each other, the straight line distance between the first straight line and the second straight line is the cleaning line distance. Too large a distance between the cleaning lines may cause the situation that part of the ground medium is not cleaned, while too small a distance between the cleaning lines may cause the situation that part of the ground medium is repeatedly cleaned, so that it is necessary to adjust the distance between the cleaning lines in time when the frictional resistance between the mobile robot and the ground medium is too large. The spacing of the cleaning lines to be adjusted is obtained by calculation according to a preset spacing calculation formula and compensation intensity, wherein the preset spacing calculation formula is as follows: w is (1+ H) × W0Wherein W represents the cleaning line spacing to be adjusted, W0The standard cleaning line spacing is represented, H represents the compensation intensity, the standard cleaning line spacing is a standard value obtained through a large number of calculations, and the value of the standard cleaning line spacing is not limited in the application; the compensation strength here is calculated according to different scenes in step 203.
It is further described that, in the process of the mobile robot moving on the ground medium (carpet) with too large frictional resistance, when the mobile robot finishes sweeping the first straight line and turns to sweep the second straight line, due to too large frictional resistance, under the condition of no trajectory compensation, the first straight line and the second straight line which are swept are not parallel, so that the situation that the mobile robot sweeps in an 8-shaped manner occurs, that is, the mobile robot repeatedly sweeps the same part of ground medium. Therefore, when the mobile robot moves on a floor medium (carpet) with excessive friction resistance, the device requiring trajectory compensation adjusts the moving angle of the mobile robot, i.e., the compensation angle to be adjusted. The compensation angle to be adjusted is obtained by calculation according to a preset angle calculation formula and the compensation intensity, wherein the preset angle calculation formula is as follows: Δ θ ═ H | × α, where Δ θ denotes a compensation angle to be adjusted, H denotes a compensation intensity, where the compensation intensity is calculated according to different scenarios in step 203, and α denotes an adjustment angle, and in general, the adjustment angle is 5 ° or 10 °, and the adjustment angle is not limited in the present application, and the value of the adjustment angle may be set according to specific situations.
When the cleaning direction of the mobile robot is opposite to the hair dissipation direction of the carpet, the trajectory compensation device compensates the mobile robot in the following manner: the distance between the cleaning lines is increased, and the compensation angle is adjusted positively relative to the cleaning direction; when the cleaning direction of the mobile robot is the same as the hair direction dissipation direction of the carpet, the compensation mode of the track compensation device for the mobile robot is as follows: the distance between the cleaning lines is reduced, and the compensation angle is negatively adjusted relative to the cleaning direction.
The trajectory compensation process of the trajectory compensation device for the mobile robot is illustrated as follows:
the known mobile robot cleans a carpet in a 0-degree linear traveling direction by calculating a line segment integral angle L of the mobile robot in the 0-degree linear traveling direction11, the integral angle L of the line segment in the linear travel direction of 180 °2Is-1. Means for track compensation according to L1And L2Judging that the resistance borne by the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the resistance in the same direction, determining that the resistance borne by the mobile robot in the linear advancing directions of 0 degree and 180 degrees is 270 degrees, and determining that the gross dissipation direction of the carpet is 270 degrees at the moment, so that the compensation direction needing to be compensated is 90 degrees by the track compensation device, and the corresponding compensation intensity is as follows:
then the track compensation device calculates the corresponding distance between the cleaning lines to be adjusted according to the compensation intensity as follows: w is (1+ H) × W0＝2W0(ii) a When the preset adjustment angle α is 5 °, the corresponding compensation angle to be adjusted is: Δ θ ═ H | ×. α ═ 5 °. When the cleaning direction (overall moving direction) of the mobile robot and the bristle dissipation direction of the carpet are the same, the cleaning line pitch is reduced by 2W0The angle of the cleaning line direction is adjusted to 5 °, as shown in fig. 3, the solid line part in fig. 3 represents the unadjusted cleaning line, and the dotted line part represents the adjusted cleaning line; when the cleaning direction (overall moving direction) of the mobile robot is opposite to the bristle dissipation direction of the carpet, the cleaning line pitch is increased by 2W0The width of (3) is adjusted to 175 °, and as shown in fig. 4, the solid line part in fig. 4 indicates the unadjusted cleaning path, and the dotted line part indicates the adjusted cleaning path.
In the embodiment of the invention, the line segment integral angle L of the mobile robot in the linear traveling directions of 0 degree and 180 degrees1And L2Determining the ground medium where the mobile robot is located and utilizing L1And L2And calculating the compensation intensity and the compensation direction, and finally compensating the moving track of the mobile robot by using the compensation intensity and the compensation direction, so that the cleaning efficiency of the mobile robot is improved.
With reference to fig. 5, the method for trajectory compensation in the embodiment of the present invention is described above, and a device for trajectory compensation in the embodiment of the present invention is described below, where an embodiment of the device for trajectory compensation in the embodiment of the present invention applied to a mobile robot includes:
an obtaining module 501, configured to respectively obtain line segment integral angles L of the mobile robot in a 0 ° linear traveling direction1Integral angle L of line segment under 180 DEG straight line advancing direction2；
A calculation module 502 for utilizing the L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot;
and a compensation module 503, configured to calculate data to be adjusted according to the compensation intensity and the compensation direction, and perform trajectory compensation on the mobile robot by using the data to be adjusted.
In the embodiment of the invention, the line segment integral angle L of the mobile robot in the linear traveling directions of 0 degree and 180 degrees1And L2Determining the ground medium where the mobile robot is located and utilizing L1And L2Calculating compensation intensity and compensationAnd finally, the compensation intensity and the compensation direction are utilized to compensate the moving track of the mobile robot, so that the cleaning efficiency of the mobile robot is improved.
Referring to fig. 6, another embodiment of the apparatus for trajectory compensation in a mobile robot according to the present invention includes:
an obtaining module 601, configured to obtain the line segment integral angles L of the mobile robot in the 0 ° linear traveling direction respectively1Integral angle L of line segment under 180 DEG straight line advancing direction2；
A calculation module 602 for utilizing the L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot;
and a compensation module 603, configured to calculate data to be adjusted according to the compensation intensity and the compensation direction, and perform trajectory compensation on the mobile robot by using the data to be adjusted.
Optionally, the calculating module 602 includes:
a determination submodule 6021 for determining the obstruction threshold based on the L1And L2Determining a ground medium where the mobile robot is located;
a calculation submodule 6022 for utilizing the L when the floor medium on which the mobile robot is placed is a carpet1And L2Determining the hairiness dissipation direction and the compensation intensity of a carpet, and determining the compensation direction through the hairiness dissipation direction of the carpet, wherein the compensation direction comprises a same-direction compensation direction and a reverse compensation direction.
Optionally, the determining submodule 6021 is specifically configured to:
when | L1|+|L2|>When T is reached, determining that the ground medium where the mobile robot is located is a carpet;
when | L1|+|L2When | ≦ T, determining that the ground medium where the mobile robot is located is a non-carpet, wherein L is1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 degree and 180 degrees are respectively, and T is an obstruction threshold value.
Optionally, the calculation submodule 6022 includes:
a determination unit 60221 configured to utilize the L when the floor medium on which the mobile robot is located is a carpet1And L2Judging whether the resistance borne by the mobile robot in the 0-degree and 180-degree linear advancing directions is the same-direction resistance;
a first calculation unit 60222 for utilizing the L if the mobile robot receives the same directional resistance in the linear traveling directions of 0 ° and 180 ° as the resistance received by the mobile robot1And L2Determining the resistance direction, the hair direction dissipation direction and the compensation strength of the carpet, and determining the homodromous compensation direction by using the hair direction dissipation direction of the carpet;
a second calculation unit 60223 for utilizing the L if the mobile robot receives resistance in the opposite direction in the linear traveling directions of 0 ° and 180 °1And L2The resistance direction, the hairwise dissipation direction of the carpet and the compensation intensity are determined, and the hairwise dissipation direction of the carpet is used for determining the reverse compensation direction.
Optionally, the first calculating unit 60222 is specifically configured to:
the first computing unit is specifically configured to:
when the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, and L is1>0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair direction dissipation direction of a carpet are both 270 degrees, determining that the first homodromous compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the first homodromous compensation direction is 90 degrees as follows:
when the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, and L is1<0，L2>When 0, determining the direction of the resistance received by the mobile robot andthe hair direction dissipation directions of the carpet are all 90 degrees, the second homodromous compensation direction of the mobile robot is determined to be 270 degrees, and the compensation intensity of the mobile robot under the condition that the second homodromous compensation direction is 270 degrees is calculated as follows:
Optionally, the second calculating unit 60223 is specifically configured to:
if the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the reverse resistance, the L is judged1And L2The numerical magnitude relationship between them;
when L1|>|L2L and L1>0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 270 degrees, determining that the first reverse compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the first reverse compensation direction is 90 degrees as follows:
when | L1|>|L2L, and L1<0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the second reverse compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the second reverse compensation direction is 270 degrees as follows:
when | L1|<|L2L, and L1>0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the third reverse compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the third reverse compensation direction is 270 degrees as follows:
when | L1|<|L2L, and L1<0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 270 degrees, determining that the fourth reverse compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the fourth reverse compensation direction is 90 degrees as follows:
Optionally, the compensation module 604 is specifically configured to:
determining the spacing of the cleaning lines to be adjusted and the compensation angle to be adjusted in the data to be adjusted by using the compensation intensity;
and performing track compensation on the mobile robot through the cleaning line interval to be adjusted, the compensation direction, the compensation angle to be adjusted and the linear advancing direction of the mobile robot.
In the embodiment of the invention, the moving robot is used for moving at 0-degree and 180-degree straight linesLine segment integral angle L in the line travel direction1And L2Determining the ground medium where the mobile robot is located and utilizing L1And L2And calculating the compensation intensity and the compensation direction, and finally compensating the moving track of the mobile robot by using the compensation intensity and the compensation direction, so that the cleaning efficiency of the mobile robot is improved.
Fig. 5 and fig. 6 describe the apparatus for trajectory compensation in the embodiment of the present invention in detail from the perspective of the modular functional entity, and the apparatus for trajectory compensation in the embodiment of the present invention is described in detail from the perspective of hardware processing.
Fig. 7 is a schematic structural diagram of a trajectory compensation device 700 according to an embodiment of the present invention, which may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 710 (e.g., one or more processors) and a memory 720, one or more storage media 730 (e.g., one or more mass storage devices) for storing applications 733 or data 732. Memory 720 and storage medium 730 may be, among other things, transient storage or persistent storage. The program stored on the storage medium 730 may include one or more modules (not shown), each of which may include a series of instruction operations in the apparatus 700 for trajectory compensation. Further, the processor 710 may be configured to communicate with the storage medium 730 to execute a series of instruction operations in the storage medium 730 on the trajectory compensation device 700.
The trajectory-compensated device 700 may also include one or more power supplies 740, one or more wired or wireless network interfaces 750, one or more input-output interfaces 760, and/or one or more operating systems 731, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, and the like. Those skilled in the art will appreciate that the configuration of the trajectory compensation device shown in fig. 7 does not constitute a limitation of the trajectory compensation device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
The present invention also provides a trajectory compensation device, which includes a memory and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to execute the steps of the trajectory compensation method in the above embodiments.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, which may also be a volatile computer readable storage medium, having stored therein instructions, which, when executed on a computer, cause the computer to perform the steps of the method of trajectory compensation.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; 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 such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A method for track compensation is applied to a mobile robot, and is characterized in that the method for track compensation comprises the following steps:
respectively acquiring line segment integral angles L of the mobile robot in a 0-degree linear traveling direction1Integral angle L of line segment under 180 DEG straight line advancing direction2；
Using said L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot;
said utilizing of said L1And L2Calculating the compensation strength and the compensation direction of the mobile robot comprises:
using said L1And L2Determining a ground medium where a mobile robot is located, and determining a compensation direction and a compensation intensity according to the ground medium where the mobile robot is located;
said utilizing of said L1And L2Determining a ground medium where the mobile robot is located, wherein the step of determining the compensation direction and the compensation intensity according to the ground medium where the mobile robot is located comprises the following steps:
according to the blocking threshold and the L1And L2Determining a ground medium where the mobile robot is located;
when the ground medium where the mobile robot is located is a carpet, the L is utilized1And L2Determining the hair dissipation direction and the compensation intensity of the carpet, and determining the compensation direction according to the hair dissipation direction of the carpet;
when the ground medium where the mobile robot is located is a carpet, the L is utilized1And L2Determining a hair dissipation direction and a compensation intensity of a carpet, and determining a compensation direction from the hair dissipation direction of the carpet comprises:
when the ground medium where the mobile robot is located is a carpet, the mobile robot is beneficial toWith said L1And L2Judging whether the resistance borne by the mobile robot in the 0-degree and 180-degree linear advancing directions is the same-direction resistance;
if the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, the L is utilized1And L2Determining the resistance direction, the hair dissipation direction of the carpet and the compensation strength, and determining the equidirectional compensation direction by using the hair dissipation direction of the carpet;
if the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the resistance in the opposite direction, the L is utilized1And L2Determining the resistance direction, the hair dissipation direction and the compensation strength of the carpet, and determining a reverse compensation direction by using the hair dissipation direction of the carpet;
and calculating data to be adjusted according to the compensation intensity and the compensation direction, and performing track compensation on the mobile robot by using the data to be adjusted.
2. The trajectory compensation method of claim 1, wherein the function is based on an obstruction threshold and the L1And L2Determining a ground medium in which the mobile robot is located includes:
when | L1|+|L2|>When T is reached, determining that the ground medium where the mobile robot is located is a carpet;
when | L1|+|L2When | ≦ T, determining that the ground medium where the mobile robot is located is a non-carpet, wherein L is1And L2The line segment integral angles of the mobile robot in the linear traveling directions of 0 degree and 180 degrees are respectively, and T is an obstruction threshold value.
3. The trajectory compensation method of claim 1, wherein the L is utilized if the mobile robot experiences the same directional drag in the 0 ° and 180 ° linear directions of travel1And L2Determining the direction of resistance, the direction of the wool dissipation of the carpet and the strength of the compensation, and using the wool dissipation of the carpetThe determining of the equidirectional compensation direction by the divergence direction comprises the following steps:
when the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, and L is1>0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair direction dissipation direction of a carpet are both 270 degrees, determining that the first homodromous compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the first homodromous compensation direction is 90 degrees as follows:
when the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, and L is1<0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the gross dissipation direction of a carpet are both 90 degrees, determining that the second equidirectional compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the second equidirectional compensation direction is 270 degrees as follows:
4. The trajectory compensation method of claim 1, wherein the L is utilized if the mobile robot experiences resistance in opposite directions in the 0 ° and 180 ° linear directions of travel1And L2Determining the direction of drag, the hair dissipation direction of the carpet, and the compensation intensity, and determining a reverse compensation direction using the hair dissipation direction of the carpet comprises:
if the resistance borne by the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the resistance in the opposite direction, the L is judged1And L2The numerical magnitude relationship between them;
when | L1|>|L2L, and L1>0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 270 degrees, determining that the first reverse compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the first reverse compensation direction is 90 degrees as follows:
when | L1|>|L2L, and L1<0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the second reverse compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the second reverse compensation direction is 270 degrees as follows:
when L1|<|L2L, and L1>0，L2>When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 90 degrees, determining that the third reverse compensation direction of the mobile robot is 270 degrees, and calculating the compensation intensity of the mobile robot under the condition that the third reverse compensation direction is 270 degrees as follows:
when | L1|<|L2L and L1<0，L2<When the angle is 0, determining that the resistance direction borne by the mobile robot and the hair dissipation direction of a carpet are both 270 degrees, determining that the fourth reverse compensation direction of the mobile robot is 90 degrees, and calculating the compensation intensity of the mobile robot under the condition that the fourth reverse compensation direction is 90 degrees as follows:
5. The method according to any one of claims 1 to 4, wherein the calculating data to be adjusted according to the compensation strength and the compensation direction, and performing trajectory compensation on the mobile robot by using the data to be adjusted comprises:
determining the spacing of the cleaning lines to be adjusted and the compensation angle to be adjusted in the data to be adjusted by using the compensation intensity;
and carrying out track compensation on the mobile robot through the cleaning line interval to be adjusted, the compensation direction, the compensation angle to be adjusted and the linear advancing direction of the mobile robot.
6. A track compensation device applied to a mobile robot is characterized by comprising:
an obtaining module, configured to obtain the line segment integral angles L of the mobile robot in the 0 ° linear traveling direction respectively1Integral angle L of line segment under 180 DEG straight line advancing direction2；
A calculation module for utilizing the L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot;
said utilizing of said L1And L2Calculating the compensation intensity and the compensation direction of the mobile robot comprises:
using said L1And L2Determining a ground medium where the mobile robot is located, and determining a compensation direction and a compensation intensity according to the ground medium where the mobile robot is located; said utilizing of said L1And L2Determining a ground medium where the mobile robot is located, wherein the step of determining the compensation direction and the compensation intensity according to the ground medium where the mobile robot is located comprises the following steps:
according to the blocking threshold and the L1And L2Determining a ground medium where the mobile robot is located;
when the ground medium where the mobile robot is located is a carpet, the L is utilized1And L2Determining the hair dissipation direction and the compensation intensity of the carpet, and determining the compensation direction according to the hair dissipation direction of the carpet;
when the ground medium where the mobile robot is located is a carpet, the L is utilized1And L2Determining a hair dissipation direction and a compensation intensity of a carpet, and determining a compensation direction from the hair dissipation direction of the carpet comprises:
when the ground medium where the mobile robot is located is a carpet, the L is utilized1And L2Judging whether the resistance borne by the mobile robot in the 0-degree and 180-degree linear advancing directions is the same-direction resistance;
if the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the same direction resistance, the L is utilized1And L2Determining the resistance direction, the hair direction dissipation direction and the compensation strength of the carpet, and determining the homodromous compensation direction by using the hair direction dissipation direction of the carpet;
if the resistance of the mobile robot in the linear advancing directions of 0 degree and 180 degrees is the resistance in the opposite direction, the L is utilized1And L2Determining the direction of the resistance, the direction of the hairwise dissipation of the carpet and the strength of the compensation,determining a reverse compensation direction by utilizing the hairwise dissipation direction of the carpet;
and the compensation module is used for calculating data to be adjusted according to the compensation intensity and the compensation direction and performing track compensation on the mobile robot by using the data to be adjusted.
7. An apparatus for trajectory compensation, the apparatus comprising: a memory and at least one processor, the memory having instructions stored therein;
the at least one processor invokes the instructions in the memory to cause the trajectory compensation device to perform the trajectory compensation method of any one of claims 1-5.
8. A computer-readable storage medium having instructions stored thereon, wherein the instructions, when executed by a processor, implement a method of trajectory compensation according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011447282.1A CN112603204B (en) | 2020-12-11 | 2020-12-11 | Method, device and equipment for track compensation and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011447282.1A CN112603204B (en) | 2020-12-11 | 2020-12-11 | Method, device and equipment for track compensation and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112603204A CN112603204A (en) | 2021-04-06 |
| CN112603204B true CN112603204B (en) | 2022-07-12 |
Family
ID=75234400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011447282.1A Active CN112603204B (en) | 2020-12-11 | 2020-12-11 | Method, device and equipment for track compensation and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112603204B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115700418A (en) * | 2021-07-16 | 2023-02-07 | 速感科技（北京）有限公司 | Ground material identification method, control method, device and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003280735A (en) * | 2002-03-22 | 2003-10-02 | Matsushita Electric Ind Co Ltd | Self-traveling apparatus and its program |
| JP2005141636A (en) * | 2003-11-10 | 2005-06-02 | Matsushita Electric Ind Co Ltd | Autonomous traveling device |
| JP2005346477A (en) * | 2004-06-03 | 2005-12-15 | Toshiba Tec Corp | Autonomous travelling body |
| CN101926631A (en) * | 2009-06-19 | 2010-12-29 | 三星电子株式会社 | The method that moves of robot cleaner and this robot cleaner of control |
| CN109394095A (en) * | 2018-10-23 | 2019-03-01 | 珠海市微半导体有限公司 | A kind of control method, chip and the clean robot of the offset of robot motion's carpet |
| CN110286672A (en) * | 2019-05-13 | 2019-09-27 | 深圳创动科技有限公司 | Robot and its navigation control method, Navigation Control Unit and storage medium |
| CN111053498A (en) * | 2018-10-17 | 2020-04-24 | 郑州雷动智能技术有限公司 | Displacement compensation method of intelligent robot and application thereof |
| CN111060129A (en) * | 2018-10-17 | 2020-04-24 | 郑州雷动智能技术有限公司 | Method for judging carpet by intelligent robot |
| CN111387892A (en) * | 2020-03-12 | 2020-07-10 | 深圳市银星智能科技股份有限公司 | Robot traveling method, non-volatile computer-readable storage medium, and robot |
| CN112051864A (en) * | 2019-06-06 | 2020-12-08 | 北京京东尚科信息技术有限公司 | Method, device, equipment and readable medium for tracking moving target track |
-
2020
- 2020-12-11 CN CN202011447282.1A patent/CN112603204B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003280735A (en) * | 2002-03-22 | 2003-10-02 | Matsushita Electric Ind Co Ltd | Self-traveling apparatus and its program |
| JP2005141636A (en) * | 2003-11-10 | 2005-06-02 | Matsushita Electric Ind Co Ltd | Autonomous traveling device |
| JP2005346477A (en) * | 2004-06-03 | 2005-12-15 | Toshiba Tec Corp | Autonomous travelling body |
| CN101926631A (en) * | 2009-06-19 | 2010-12-29 | 三星电子株式会社 | The method that moves of robot cleaner and this robot cleaner of control |
| CN111053498A (en) * | 2018-10-17 | 2020-04-24 | 郑州雷动智能技术有限公司 | Displacement compensation method of intelligent robot and application thereof |
| CN111060129A (en) * | 2018-10-17 | 2020-04-24 | 郑州雷动智能技术有限公司 | Method for judging carpet by intelligent robot |
| CN109394095A (en) * | 2018-10-23 | 2019-03-01 | 珠海市微半导体有限公司 | A kind of control method, chip and the clean robot of the offset of robot motion's carpet |
| CN110286672A (en) * | 2019-05-13 | 2019-09-27 | 深圳创动科技有限公司 | Robot and its navigation control method, Navigation Control Unit and storage medium |
| CN112051864A (en) * | 2019-06-06 | 2020-12-08 | 北京京东尚科信息技术有限公司 | Method, device, equipment and readable medium for tracking moving target track |
| CN111387892A (en) * | 2020-03-12 | 2020-07-10 | 深圳市银星智能科技股份有限公司 | Robot traveling method, non-volatile computer-readable storage medium, and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112603204A (en) | 2021-04-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11926066B2 (en) | Carpet drift estimation using differential sensors or visual measurements | |
| CN111377004B (en) | Biped robot gait control method and biped robot | |
| US11230001B2 (en) | Biped robot gait control method and biped robot | |
| CN102666032B (en) | Slip detection apparatus and method for a mobile robot | |
| Kim et al. | A practical approach for minimum‐time trajectory planning for industrial robots | |
| CN112603204B (en) | Method, device and equipment for track compensation and storage medium | |
| CN106329399B (en) | A kind of control method and controller of transmission line of electricity bolt fastening machine people | |
| CN110345936B (en) | Track data processing method and processing system of motion device | |
| Taylor et al. | Robust visual servoing based on relative orientation | |
| CN105509748B (en) | The air navigation aid and device of robot | |
| Hu et al. | Optimal path planning for mobile manipulator based on manipulability and localizability | |
| WO2022134131A1 (en) | Robot posture control method and apparatus, and robot | |
| Gans et al. | Performance tests of partitioned approaches to visual servo control | |
| CN111416942A (en) | Method, device, equipment and storage medium for limiting camera search range | |
| Furtuna et al. | Structure and geometry of minimum-time trajectories for planar rigid bodies | |
| WO2022237283A1 (en) | Method and apparatus for detecting slipping of robot, and robot and storage medium | |
| Lin et al. | Legged odometry from body pose in a hexapod robot | |
| Al-Sagban et al. | Reactive navigation algorithm for wheeled mobile robots under non-holonomic constraints | |
| Yang et al. | Vision based trajectory tracking controller for a B21R mobile robot | |
| CN116394244A (en) | Robot interaction method, device, robot and storage medium | |
| CN117584113A (en) | Robot system, work management system, robot control method, and medium | |
| Klarquist et al. | The Texas active vision testbed | |
| Kita et al. | Mobile robot localization using active fixation on a line |
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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Applicant after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |