CN112650252A - Path-finding cost obtaining method and chip for searching initial cleaning position - Google Patents
Path-finding cost obtaining method and chip for searching initial cleaning position Download PDFInfo
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Abstract
The invention relates to a path-finding cost obtaining method and a chip for searching an initial cleaning position, based on the path-finding cost obtaining method, a mobile robot selects a cleaning line which is farthest away from a current searching position of the mobile robot in a positive direction of a first preset coordinate axis and obtains a length of a perpendicular line between the cleaning line and the current searching position of the mobile robot as a positive direction path-finding distance in an uncleaned area, and simultaneously selects a cleaning line which is farthest away from the current searching position of the mobile robot in a negative direction of the first preset coordinate axis and obtains a length of the perpendicular line between the cleaning line and the current searching position of the mobile robot as a positive direction path-finding distance; the cleaning lines are used for being connected into a bow-shaped cleaning path in an uncleaned area; and then calculating and adjusting the routing cost spent by the mobile robot for searching the initial cleaning position in the corresponding coordinate axis direction according to the size relation between the negative direction routing distance and the positive direction routing distance, so that the routing cost does not exceed the maximum value of the area routing cost.
Description
Technical Field
The invention relates to the technical field of robot path planning, in particular to a path-finding cost acquisition method and a chip for searching an initial cleaning position.
Background
At present, for cleaning robots such as floor sweepers, window cleaners, floor washers and the like, whether the planning of cleaning paths is reasonable and efficient directly influences the cleaning efficiency and the intuitive perception of the quality of products by users. Because the calculation amount of path planning is huge, even though a high-performance MCU is arranged in the robot, the mobile robot is difficult to control to perform global TSP (traveling salesman problem) calculation to complete full coverage traversal under the condition of meeting the real-time requirement, and when the shortest path between two points on a map is obtained, the path cost used for calculation is easily influenced by environment distribution characteristics, so that the position coordinate calculated immediately in the cleaning process is easily subjected to error, much time is spent in the error correcting process, the navigation function generated by the sum of the path cost is weakened, the navigation speed is reduced, and the planning and cleaning effect of the whole cleaning area is influenced.
Disclosure of Invention
In order to meet the rationality of the navigation cleaning path planning of the cleaning robot, the invention provides a path-finding cost acquisition method and a chip for searching and planning an initial cleaning position, and the specific technical scheme disclosed by the invention is as follows:
the path-finding cost acquisition method for searching the initial cleaning position comprises the following steps: in an uncleaned area, selecting a cleaning line of a first preset coordinate axis, which is furthest away from the current searching position of the mobile robot in the positive direction, and obtaining the length of the vertical line segment between the cleaning line and the current searching position of the mobile robot as a positive direction routing distance, and simultaneously selecting the cleaning line of the first preset coordinate axis, which is furthest away from the current searching position of the mobile robot in the negative direction, and obtaining the length of the vertical line segment between the cleaning line and the current searching position of the mobile robot as a positive direction routing distance; the cleaning lines are used for being connected into a bow-shaped cleaning path in an uncleaned area; and then calculating and adjusting the routing cost spent by the mobile robot for searching the initial cleaning position in the corresponding coordinate axis direction according to the size relation between the negative direction routing distance and the positive direction routing distance, so that the routing cost does not exceed the maximum value of the area routing cost. Compared with the prior art, the technical scheme has the advantages that the initial cleaning position which can be easily selected by the mobile robot can be planned by adjusting the path-searching cost of the initial cleaning position in the corresponding coordinate axis direction, the navigation and positioning errors are reduced, the planned cleaning path of the robot in the non-cleaning area is more accurate, and the unreasonable navigation of the cleaning areas in different directions is avoided.
Further, when the routing cost of the mobile robot in one direction of the first preset coordinate axis is the minimum value of the area routing cost, selecting a relatively small routing cost from the maximum value of the area routing cost and the adjusted minimum value of the area routing cost as the routing cost in the other direction of the first preset coordinate axis, so that the relatively small routing cost does not exceed the maximum value of the area routing cost; wherein the maximum area routing cost value and the minimum area routing cost value are preset according to the current obstacle distribution and sweeping planning requirement of the cleaning area. The path cost for searching the initial cleaning position of the mobile robot in two opposite directions of the first preset coordinate axis is reduced, the path searching cost for searching the initial cleaning position is more reasonable, and the search planning speed of the mobile robot is increased.
Further, the method for calculating and adjusting the routing cost spent by the mobile robot in searching the initial cleaning position in the corresponding coordinate axis direction according to the size relationship between the negative direction routing distance and the positive direction routing distance comprises the following steps: when the negative direction routing distance is greater than the positive direction routing distance, setting routing cost spent by the mobile robot on searching the initial cleaning position to the current searching position in the positive direction of a first preset coordinate axis from the current position to be the minimum value of the area routing cost, taking the product of the ratio of the negative direction routing distance to the positive direction routing distance and the minimum value of the area routing cost as the minimum value of the adjusted area routing cost, and then selecting relatively small routing cost from the maximum value of the area routing cost and the minimum value of the adjusted area routing cost as the routing cost spent on searching the initial cleaning position to the current searching position in the negative direction of a first preset coordinate axis from the current position; when the negative direction routing distance is equal to the positive direction routing distance, setting the routing cost spent by the mobile robot on searching the initial cleaning position to the current searching position in the positive direction of a first preset coordinate axis from the current position to be the minimum value of the area routing cost, and setting the routing cost spent by the mobile robot on searching the initial cleaning position to the current searching position in the negative direction of the first preset coordinate axis from the current position to be the minimum value of the area routing cost; when the negative direction routing distance is smaller than the positive direction routing distance, setting routing cost spent by the mobile robot on searching the initial cleaning position to the current searching position in the negative direction of a first preset coordinate axis from the current position to be the minimum value of the area routing cost, taking the product of the ratio of the positive direction routing distance to the negative direction routing distance and the minimum value of the area routing cost as the minimum value of the adjusted area routing cost, and then selecting relatively small routing cost from the maximum value of the area routing cost and the minimum value of the adjusted area routing cost as the routing cost spent on searching the initial cleaning position to the current searching position in the positive direction of a first preset coordinate axis from the current position; in the searching process, the current position of the mobile robot is unchanged, but the current searching position is changed.
According to the technical scheme, the larger routing cost used for searching the candidate entrance is adjusted according to the ratio of the negative direction routing distance to the positive direction routing distance calculated by the mobile robot at the same position, so that the relatively larger routing cost in the positive direction of the first preset coordinate axis and the negative direction of the first preset coordinate axis does not exceed the maximum value of the area routing cost, the cleaning of a room is favorably completed with lower cost, and the mobile robot tends to select a sub-block with lower path cost for cleaning.
Further, on a map constructed by the mobile robot, when the areas pointed by the mobile robot from the positive direction of the first preset coordinate axis of the current position are all cleaned areas and the areas pointed by the mobile robot from the positive direction of the first preset coordinate axis of the current position have uncleaned areas, calculating to obtain that the positive direction path-seeking distance is 0, then setting the path-seeking cost spent on searching the initial cleaning position in the positive direction of the first preset coordinate axis as the minimum area path-seeking cost value, and setting the path-seeking cost spent on searching the initial cleaning position in the negative direction of the first preset coordinate axis as the maximum area path-seeking cost value; when the area pointed by the mobile robot from the negative direction of the first preset coordinate axis of the current position is the cleaned area and the area pointed by the positive direction of the first preset coordinate axis of the current position has the uncleaned area, the negative direction routing distance is calculated to be 0, then the routing cost spent on searching the initial cleaning position in the negative direction of the first preset coordinate axis is set as the minimum area routing cost, and the routing cost spent on searching the initial cleaning position in the positive direction of the first preset coordinate axis is set as the maximum area routing cost.
Thereby realizing that: when cleaning is finished according to the planned zigzag cleaning path in the cleaning subareas in the same row, the mobile robot can be controlled to search the planned unswept cleaning subareas in the next row according to the latest configuration result of the routing cost spent on searching the initial cleaning position on the first preset coordinate axis, and then the mobile robot enters the unswept areas in the next row for cleaning, so that the mobile robot preferentially searches the initial cleaning position which is closest to the position where the mobile robot is located and has the least traversal complexity as the cleaning inlet position of the unswept areas in the next row preferentially, and the environmental adaptability and the effect of the routing cost configuration are enhanced.
Further, the method for searching and planning the initial cleaning position in the corresponding coordinate axis direction by the mobile robot comprises the following steps:
the mobile robot searches the initial cleaning position from a map grid position corresponding to the current position grid by grid, and when the routing cost spent on searching and traversing the initial cleaning position to the current searching position on the map along the positive and negative directions of a second preset coordinate axis is the map grid distance corresponding to the minimum value of the area routing cost, the mobile robot searches and traverses the map grid distance corresponding to the preset reference cost on the map along the positive direction of a first preset coordinate axis; after the map grid distance corresponding to the preset reference cost is searched and traversed along the positive direction of the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is searched and traversed along the positive and negative directions of the second preset coordinate axis from the searched and traversed position on the first preset coordinate axis; the mobile robot keeps calculating the routing cost spent for searching the initial cleaning position in each coordinate axis direction;
searching the initial cleaning position grid by grid from a map grid position corresponding to the current position of the mobile robot, and searching a map grid distance corresponding to the preset reference cost along the negative direction of a first preset coordinate axis on a map when the routing cost spent on searching the initial cleaning position to the current searching position along the positive and negative directions of a second preset coordinate axis on the map is the map grid distance corresponding to the maximum value of the area routing cost; after the map grid distance corresponding to the preset reference cost is searched and traversed along the negative direction of the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is searched and traversed along the positive and negative directions of the second preset coordinate axis from the searched and traversed position on the first preset coordinate axis; the mobile robot keeps calculating the routing cost spent for searching the initial cleaning position in each coordinate axis direction; repeating the two steps until the routing cost spent on searching the initial cleaning position in the positive and negative directions of the second preset coordinate axis obtained at the current searching position is a preset multiple of a preset reference cost, the routing cost spent on searching the initial cleaning position in the positive direction of the first preset coordinate axis is a preset multiple of the minimum value of the area routing cost, and the routing cost spent on searching the initial cleaning position in the negative direction of the first preset coordinate axis is a preset multiple of the maximum value of the area routing cost, and determining the grid position searched currently as the initial cleaning position in the current uncleaned area; the preset direction comprises a positive direction of a coordinate axis or a negative direction of the coordinate axis; when searching for a map grid, calculating the routing cost spent on traversing to the current searching position according to the size relationship between the negative direction routing distance and the positive direction routing distance; wherein the preset multiple is an integer greater than or equal to 1.
And searching an initial cleaning position meeting the path distance cost complexity condition according to the latest adjusting result of the routing cost spent on searching the initial cleaning position in the corresponding coordinate axis direction under the constraint action of the minimum area routing cost and the maximum area routing cost, so that the initial cleaning position becomes the position which is easiest to walk and approach from the current position, and the zigzag return path can be reduced in the zigzag cleaning process of the mobile robot in the current uncleaned area.
Further, when the start sweeping position belongs to the head end or the tail end of the arcuate sweeping connected by the sweeping lines within a preset cleaning area, the first searched start sweeping position is determined as the entrance position of the preset cleaning area, so that the entrance position is a start sweeping position of an unwashed sub-block which tends to be most easily reached by the mobile robot.
Furthermore, when the path-seeking cost in the positive and negative directions of the second preset coordinate axis is set as a preset reference cost, the maximum path-seeking cost generated by each search in the direction of the first preset coordinate axis is limited to be a preset maximum value of the area path-seeking cost, and the minimum path-seeking cost generated by each search in the direction of the first preset coordinate axis is limited to be a preset minimum value of the area path-seeking cost, so that the cleaning planning requirement in an uncleaned area is met; the first preset coordinate axis is a straight line segment which is perpendicular to a currently planned bow-shaped cleaning path of the mobile robot; the first preset coordinate axis and the second preset coordinate axis are mutually vertical coordinate axes pre-configured on a map; the path-finding cost is represented by the map grid distance in the positive and negative directions of the second preset coordinate axis or the positive and negative directions of the first preset coordinate axis, and has a proportional relation with the number of the map grids. The technical scheme is that the mobile robot is configured to search the distance cost maximum value of the initial cleaning position in the first preset coordinate axis direction, and the search step length in each coordinate axis direction is restricted on the basis, so that the search is performed orderly, and the efficiency of searching the initial cleaning position by the robot is improved.
Further, when the first preset coordinate axis is an X axis of the map, the second preset coordinate axis is a Y axis of the map; and when the second preset coordinate axis is the X axis of the map, the first preset coordinate axis is the Y axis of the map. The technical scheme improves the search coverage rate of the cleaning working position of the non-cleaned area in all coordinate axis directions of the map.
A chip is internally provided with a control program, and the control program is used for controlling a mobile robot to execute the path-finding cost acquisition method for searching and planning an initial cleaning position. By using the chip provided by the invention, the distance of the navigation path for searching and planning the initial cleaning position in the non-cleaning area can be reduced by the mobile robot, the calculated amount is reduced, the real-time requirement of navigation operation is met, and the working efficiency of the mobile robot is improved.
Drawings
Fig. 1 is a flowchart of a path cost obtaining method for searching and planning an initial cleaning position according to an embodiment of the present invention.
FIG. 2 is a flow chart of a method for searching for an acquisition start cleaning position based on the adjusted acquisition pathfinding cost of FIG. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention mainly discloses a path-finding cost acquisition method for searching an initial cleaning position, which comprises the following steps:
in an uncleaned area, selecting a cleaning line of a first preset coordinate axis, which is furthest away from the current searching position of the mobile robot in the positive direction, and acquiring the length of the cleaning line and the length of a perpendicular line of the current searching position of the mobile robot as a positive direction routing distance, and simultaneously selecting a cleaning line of a first preset coordinate axis, which is furthest away from the current searching position of the mobile robot in the negative direction, and acquiring the length of the perpendicular line of the first preset coordinate axis and the length of the perpendicular line of the current searching position of the mobile robot as a positive direction routing distance. The method comprises the following steps: in all the areas which are not cleaned, a cleaning line with the maximum length of the vertical line segment of the current searching position is selected along the positive direction of the first preset coordinate axis, the cleaning line is the cleaning line which is distributed on the outermost side in the positive direction of the first preset coordinate axis, and the length of the vertical line segment of the cleaning line which is distributed on the outermost side in the positive direction of the first preset coordinate axis and the current searching position of the mobile robot is set as the positive direction radial seeking distance formed by the mobile robot in the positive direction of the first preset coordinate axis. And in all the uncleaned areas, selecting a cleaning line with the largest length of the vertical line segment of the current searching position along the negative direction of the first preset coordinate axis, wherein the cleaning line is the cleaning line distributed on the outermost side in the negative direction of the first preset coordinate axis, and the length of the vertical line segment of the cleaning line distributed on the outermost side in the negative direction of the first preset coordinate axis and the current searching position of the mobile robot is set as the negative direction radial seeking distance formed by the mobile robot in the negative direction of the first preset coordinate axis. It should be noted that, when the first preset coordinate axis is an X axis of the map, the second preset coordinate axis is a Y axis of the map; and when the second preset coordinate axis is the X axis of the map, the first preset coordinate axis is the Y axis of the map.
Then, according to the size relation between the negative direction path-seeking distance and the positive direction path-seeking distance, calculating and adjusting the path-seeking cost spent by the mobile robot for searching the initial cleaning position in the corresponding coordinate axis direction, so that the path-seeking cost does not exceed the maximum value of the area path-seeking cost, and further realizing the following steps: when the routing cost of the mobile robot in one direction of the first preset coordinate axis is the minimum value of the area routing cost, selecting a relatively small routing cost from the maximum value of the area routing cost and the adjusted minimum value of the area routing cost as the routing cost in the other direction of the first preset coordinate axis, so that the relatively small routing cost does not exceed the maximum value of the area routing cost; wherein the maximum area routing cost value and the minimum area routing cost value are preset according to the current obstacle distribution and sweeping planning requirement of the cleaning area. The path cost for searching the initial cleaning position of the mobile robot in two opposite directions of the first preset coordinate axis is reduced, and the search planning speed of the mobile robot is increased.
Actually, the minimum value of the area routing cost is adjusted and calculated to realize that: when the routing cost paid by searching and traversing to the current searching position in one direction (positive direction) of a first preset coordinate axis is the minimum value of the area routing cost from the initial position of the mobile robot, selecting a relatively small routing cost from the maximum value of the area routing cost and the adjusted minimum value of the area routing cost as the routing cost spent by traversing to the current searching position in the other direction (negative direction) of the first preset coordinate axis, so that the relatively small routing cost does not exceed the maximum value of the area routing cost. At this time, the path-seeking cost of the mobile robot in one direction (positive direction) of the first preset coordinate axis and the path-seeking cost in the other direction (negative direction) of the first preset coordinate axis are calculated and obtained as a judgment basis, or the adjustment is updated according to the ratio change of the path-seeking distance in the negative direction and the path-seeking distance in the positive direction: and the path searching cost spent by the current searching position in the positive and negative directions of the first preset coordinate axis is used for searching the initial cleaning position on the map at the current searching position by the follow-up mobile robot. Wherein the maximum area routing cost value and the minimum area routing cost value are set according to the current sweeping planning requirement of the cleaning area or the current obstacle distribution characteristic of the cleaning area. According to the embodiment, the robot is selected to search the sub-block entry search path with lower traversal difficulty according to the distance relationship between the cleaning lines in two opposite directions of the same coordinate axis and the current search position of the robot, and compared with the prior art, the times of turning back and reciprocating walking of the robot in the bow-shaped cleaning process in the same sub-block are reduced.
It should be noted that the concept of the calculation method of the routing cost, which is exemplified by the first preset coordinate axis being the X axis and the second preset coordinate axis being the Y axis, is the same as the concept of the calculation method of the routing cost, which is exemplified by the first preset coordinate axis being the Y axis and the second preset coordinate axis being the X axis, except that the X axis coordinate and the Y axis coordinate are exchanged and the coordinate direction is also exchanged, and certainly, the layout of the cleaning line in the cleaning area is also correspondingly adjusted, which is a result that can be derived by a person skilled in the art on the basis of the content of the foregoing embodiment, and therefore, the description is omitted here.
Compared with the prior art, the path-seeking cost of the initial cleaning position in the corresponding coordinate axis direction is adjusted, the initial cleaning position which can be easily selected by the mobile robot is planned, the navigation and positioning errors are reduced, the cleaning path planned by the robot in the non-cleaning area is more accurate, and unreasonable navigation of the cleaning areas in different directions is avoided.
As an embodiment, as shown in fig. 1, a routing cost obtaining method for searching for an initial cleaning position is disclosed, which includes the following steps:
step S101, in an uncleaned area, selecting a cleaning line of a first preset coordinate axis, which is farthest away from a current search position of the mobile robot in the positive direction, acquiring the length of the cleaning line and a vertical line segment of the current search position as a positive direction routing distance, selecting a cleaning line of the first preset coordinate axis, which is farthest away from the current search position in the negative direction, acquiring the length of the vertical line segment and the current search position as a positive direction routing distance, and then entering step S102.
And step S102, judging whether the negative direction path-seeking distance is equal to the positive direction path-seeking distance, if so, entering step S103, and otherwise, entering step S104.
Step S103, setting a routing cost spent by the mobile robot searching the initial cleaning position to the current search position in the positive direction of the first preset coordinate axis from the current position as the minimum value of the area routing cost, and setting a routing cost spent by the mobile robot searching the initial cleaning position to the current search position in the negative direction of the first preset coordinate axis from the current position as the minimum value of the area routing cost.
And step S104, judging whether the negative direction path-seeking distance is greater than the positive direction path-seeking distance, if so, entering step S105, and otherwise, entering step S106.
Step S105, setting the routing cost spent by the mobile robot for searching the initial cleaning position to the current searching position in the positive direction of the first preset coordinate axis from the current position as the minimum value of the area routing cost, taking the product of the ratio of the negative direction routing distance to the positive direction routing distance and the minimum value of the area routing cost as the minimum value of the adjusted area routing cost, and then entering step S107.
And S107, when the negative direction routing distance is greater than the positive direction routing distance, selecting a relatively small routing cost from the maximum value of the area routing cost and the adjusted minimum value of the area routing cost as the routing cost spent on searching the initial cleaning position to the current searching position in the negative direction of the first preset coordinate axis from the current position.
And S106, when the negative direction routing distance is smaller than the positive direction routing distance, setting routing cost spent by the mobile robot for searching the initial cleaning position to the current searching position in the negative direction of the first preset coordinate axis from the current position to be the minimum value of the area routing cost, taking the product of the ratio of the positive direction routing distance to the negative direction routing distance and the minimum value of the area routing cost as the minimum value of the adjusted area routing cost, and then entering the step S108.
And S108, selecting a relatively small routing cost from the maximum value of the area routing cost and the adjusted minimum value of the area routing cost as the routing cost spent on searching the initial cleaning position to the current searching position in the positive direction of the first preset coordinate axis from the current position.
In the searching process, the current position of the mobile robot is unchanged, but the current searching position is changed; the grid distance corresponding to the maximum regional routing cost value and the grid distance corresponding to the minimum regional routing cost value can be adaptively adjusted according to the flexible planning strategy change of the cleaning path.
Compared with the prior art, the step is that according to the ratio of the negative direction routing distance and the positive direction routing distance calculated by the mobile robot at the same position, the larger routing cost for searching the candidate access opening is adjusted, so that the relatively larger routing cost in the positive direction of the first preset coordinate axis and the negative direction of the first preset coordinate axis does not exceed the maximum value of the area routing cost, the cleaning of a room is favorably completed with smaller cost, and the mobile robot tends to select a sub-block with small path cost for cleaning.
On the basis of the foregoing embodiment, the method for calculating and adjusting the routing cost spent by the mobile robot in searching for the initial cleaning position in the corresponding coordinate axis direction according to the magnitude relationship between the negative direction routing distance and the positive direction routing distance further includes: on a map constructed by the mobile robot, when the mobile robot is all cleaned areas from a row of areas pointed by the positive direction of a first preset coordinate axis of the current position and an uncleaned area exists in the area pointed by the negative direction of the first preset coordinate axis of the current position, calculating to obtain that the positive direction path-seeking distance is 0, then searching the initial cleaning position to the current searching position from the current position in the positive direction of the first preset coordinate axis by the mobile robot, adjusting the path-seeking cost to the area path-seeking cost minimum value, and adjusting the path-seeking cost to the area path-seeking cost maximum value from the initial cleaning position to the current searching position in the negative direction of the first preset coordinate axis.
In some implementation scenarios, if the current search position is the initial cleaning position, when all the current row of areas pointed by the positive direction of the Y axis of the current position are cleaned areas or no cleaning area is configured, and an uncleaned sub-block exists in the area pointed by the negative direction of the Y axis of the current position of the mobile robot, the positive direction path-finding distance is calculated to be 0, according to the method for calculating and adjusting the routing cost spent on searching the candidate entrance and exit in the Y-axis direction according to the ratio of the negative direction routing distance to the positive direction routing distance in the foregoing embodiment, the embodiment sets the routing cost spent on searching the map grid in the positive direction of the Y-axis as the minimum value of the area routing cost, setting the routing cost spent on searching the map grids in the negative direction of the Y axis as the maximum value of the area routing cost; in this way, when the mobile robot moves to an initial search position of the next adjacent row of areas, in some implementations of searching for a new initial cleaning position, if it is detected that the positive direction seek distance is 0, the seek cost spent on searching for the initial cleaning position in the positive direction of the Y axis is fixedly set to the minimum value of the area seek cost, but the seek cost spent on searching for the map grid in the negative direction of the Y axis is kept calculated until a new initial cleaning position is searched.
Similarly, when the area pointed by the mobile robot in the negative direction of the Y axis of the current position is the cleaned area and the area pointed by the mobile robot in the positive direction of the Y axis of the current position has the uncleaned area, the negative direction routing distance is calculated to be 0, then the routing cost spent on searching the initial cleaning position to the current search position in the negative direction of the Y axis is set as the minimum area routing cost, and the routing cost spent on searching the initial cleaning position to the current search position in the positive direction of the Y axis is set as the maximum area routing cost. In this way, when the mobile robot moves to an initial search position of an adjacent previous row of areas, in some implementations of searching for a new initial cleaning position, if it is detected that the negative-direction seek distance is 0, the seek cost spent on searching for the initial cleaning position in the negative direction of the Y-axis is fixedly set to the minimum value of the area seek cost, but the seek cost spent on searching for the map grid in the positive direction of the Y-axis is kept calculated until a new initial cleaning position is searched.
Thereby realizing that: the mobile robot is controlled to gradually carry out the arch-shaped cleaning from a specific cleaning main direction to an opposite cleaning main direction (such as from a Y-axis positive direction to a Y-axis negative direction), when the cleaning zones in the same row are all configured to clean according to the planned arch-shaped cleaning path, the mobile robot can be controlled to search and plan the next row of the uncleaned cleaning subareas according to the latest configuration result of the routing cost spent on searching the initial cleaning position on the first preset coordinate axis, and then enter the next row of the uncleaned areas for cleaning, the mobile robot is enabled to preferentially search for a starting cleaning position which is closest to the position where the mobile robot is located and has the least traversal complexity as a cleaning entrance position of an uncleaned area which is preferentially traversed in the next row, and the environmental adaptability and the effect of the searching and routing cost configuration are enhanced. And the turning back cleaning in two opposite cleaning main directions (such as the positive and negative directions of the Y axis) is further reduced, useless repeated navigation behaviors are avoided, and the cleaning efficiency is high.
As another embodiment, as shown in fig. 2, the method for searching and planning the start cleaning position in the corresponding coordinate axis direction by the mobile robot includes:
in step S201, the mobile robot searches for the start cleaning position from the map grid position corresponding to the current position on a grid-by-grid basis, and then proceeds to step S202.
Step S202, searching and traversing the initial cleaning position on the map along the positive and negative directions of the second preset coordinate axis, and then entering step S203.
Step S203, determining whether the grid distances corresponding to the routing costs spent on searching the initial cleaning position on the map along the positive and negative directions of the second preset coordinate axis are both the map grid distances corresponding to the minimum area routing costs, if so, going to step S204, otherwise, going to step S205.
Step S204, searching and traversing a map grid distance corresponding to a preset reference cost on a map along the positive direction of a first preset coordinate axis, wherein each time one map grid is searched and traversed, whether the currently searched map grid belongs to the candidate gateway or not is kept to be judged in real time; meanwhile, traversing a map grid every time of searching, and calculating the routing cost spent on traversing to the current searching position according to the magnitude relation between the negative direction routing distance and the positive direction routing distance; then, the process proceeds to step S206.
Step S206, after the map grid distance corresponding to the preset reference cost is searched and traversed along the positive direction of the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is searched and traversed from the searched and traversed position on the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is kept to be searched and traversed along the positive and negative directions of the second preset coordinate axis, and then the step S209 is carried out. In this step, the map grid distance corresponding to the preset reference cost may be 1 grid, which may be used as an extension step. It should be noted that, starting from the searched and traversed position on the first preset coordinate axis, the map grid distance corresponding to the traversed preset reference cost is kept to be searched and traversed along both the positive and negative directions of the second preset coordinate axis, which is performed synchronously with the search and traversal along the positive and negative directions of the second preset coordinate axis before the map grid distance corresponding to the preset reference cost is searched and traversed along the positive direction of the first preset coordinate axis. The implementation is as follows: after the map grid distance corresponding to the preset reference cost is searched and traversed along the positive direction of the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is searched and traversed along the positive and negative directions of the second preset coordinate axis from the searched and traversed position on the first preset coordinate axis and the current position before searching and traversing.
Step S205, determining whether the grid distances corresponding to the routing costs spent on searching the initial cleaning position on the map along the positive and negative directions of the second preset coordinate axis are both the map grid distances corresponding to the maximum value of the area routing costs, if yes, entering step S207, otherwise, returning to step S202.
Step S207, searching and traversing a map grid distance corresponding to a preset reference cost on a map along the negative direction of a first preset coordinate axis, wherein each time one map grid is searched and traversed, whether the currently searched map grid belongs to the candidate gateway or not is kept to be judged in real time; meanwhile, traversing a map grid every time of searching, and calculating the routing cost spent on traversing to the current searching position according to the magnitude relation between the negative direction routing distance and the positive direction routing distance; and then proceeds to step S208.
Step S208, after the map grid distance corresponding to the preset reference cost is searched and traversed along the negative direction of the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is searched and traversed from the searched and traversed position on the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is kept searched and traversed along the positive and negative directions of the second preset coordinate axis, and then the step S209 is carried out. In this step, the map grid distance corresponding to the preset reference cost may be 1 grid, which may be used as an extension step. It should be noted that, starting from the searched and traversed position on the first preset coordinate axis, the map grid distance corresponding to the traversed preset reference cost is kept to be searched and traversed along both the positive and negative directions of the second preset coordinate axis, which is performed synchronously with the positive and negative direction search and traversal along the second preset coordinate axis before the map grid distance corresponding to the preset reference cost is searched and traversed along the negative direction of the first preset coordinate axis. The implementation is as follows: after the map grid distance corresponding to the preset reference cost is searched and traversed along the negative direction of the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is searched and traversed along the positive and negative directions of the second preset coordinate axis from the searched and traversed position on the first preset coordinate axis and the current position before searching and traversing.
It should be noted that, in the foregoing steps, each time each map grid is searched and traversed, whether the currently searched map grid belongs to the candidate gateway or not is kept to be judged in real time; the preset direction comprises the positive direction of the coordinate axis or the negative direction of the coordinate axis. The minimum regional routing cost value is less than the maximum regional routing cost value.
Step S209, judging whether a preset multiple of a preset reference cost is obtained for the routing cost spent on searching the initial cleaning position to the current searching position in the positive and negative directions of a second preset coordinate axis, the routing cost spent on searching the initial cleaning position to the current searching position in the positive direction of a first preset coordinate axis is a preset multiple of the minimum value of the area routing cost, and the routing cost spent on searching the initial cleaning position to the current searching position in the negative direction of the first preset coordinate axis is a preset multiple of the maximum value of the area routing cost, if yes, entering step S210, otherwise, returning to step S202.
And step S210, determining the grid position searched currently as the initial cleaning position in the area not cleaned currently. Preferably, when the initial sweeping position belongs to the head end or the tail end of the bow-shaped sweeping connected by the sweeping lines in one preset cleaning area, the initial sweeping position is determined as the inlet position of the preset cleaning area, and if a plurality of grid positions are determined as the initial sweeping positions in the corresponding non-swept areas and belong to the head end or the tail end of the bow-shaped sweeping planned in the corresponding area, the first initial sweeping position meeting the above condition is selected as the inlet position of the preset cleaning area. So that this entry position is the start cleaning position of the uncleaned sub-block which tends to be the easiest for the mobile robot to reach.
Therefore, the technical effect of the search step size can be realized in an actual scene: taking the step size of 0.05m, the path-finding cost in the positive x-direction or negative x-direction of 1, the path-finding cost in the positive y-direction of 10, and the path-finding cost in the negative y-direction of 30 as examples, it means: when the positive direction or the negative direction of the x axis is expanded by 0.5m, a first expansion step length is expanded by 0.05m in the positive direction of the y axis; every 1.5m expansion in the positive or negative x-direction will be a second expansion step of 0.05m in the negative y-direction. And searching an initial cleaning position meeting the path distance cost complexity condition according to the latest adjusting result of the routing cost spent on searching the initial cleaning position in the corresponding coordinate axis direction under the constraint action of the minimum value of the area routing cost and the maximum value of the area routing cost, so that the initial cleaning position becomes the position which is easiest to walk and close to the mobile robot from the current position, and the mobile robot can be guided to reduce the return path in the arch-shaped cleaning process in the current uncleaned area.
It should be noted that, when the map grid distance corresponding to the minimum value of the area routing cost is searched and traversed in both positive and negative directions of the second preset coordinate axis on the map, the map grid distance corresponding to the preset reference cost is searched and traversed in the positive direction of the first preset coordinate axis on the map, which is equivalent to: when the routing costs spent on searching the map grids in the positive and negative directions of the second preset coordinate axis are set as preset reference costs, the routing costs spent on searching the map grids in the positive direction of the first preset coordinate axis are the minimum value of the regional routing costs, wherein the searched and traversed map grids comprise any row of grid positions parallel to the second preset coordinate axis; the routing cost spent on searching the map grid in the positive direction of the first preset coordinate axis and the routing cost spent on searching the map grid in the positive and negative directions of the second preset coordinate axis are calculated and obtained according to the method for calculating and adjusting the routing cost spent on searching the candidate access opening in the direction of the first preset coordinate axis according to the magnitude relation between the routing distance in the negative direction and the routing distance in the positive direction of the embodiment.
When the map grid distance corresponding to the minimum value of the area routing cost is searched and traversed along the positive and negative directions of the second preset coordinate axis on the map, the map grid distance corresponding to the maximum value of the area routing cost is searched and traversed along the negative direction of the first preset coordinate axis on the map is equivalent to: when the routing costs spent on searching the map grids in the positive and negative directions of the second preset coordinate axis are all set as preset reference costs, the routing costs spent on searching the map grids in the negative direction of the first preset coordinate axis are the minimum value of the regional routing costs, wherein the searched and traversed map grids comprise any row of grid positions parallel to the second preset coordinate axis. The routing cost spent on searching the map grid in the negative direction of the first preset coordinate axis is obtained by calculating and adjusting the routing cost spent on searching the candidate entrance and exit in the direction of the first preset coordinate axis according to the magnitude relation between the negative direction routing distance and the positive direction routing distance in the embodiment. On the basis of adjusting the routing cost spent on searching the map grids in the first preset coordinate axis direction and the second preset coordinate axis direction in the technical scheme, the routing cost spent on each search on different coordinate axes is distributed and set, so that the technical effect of optimizing the search step length is achieved.
In the foregoing embodiment, when the routing cost in the second preset coordinate axis direction is set as the preset reference cost, the maximum routing cost generated by each search in the first preset coordinate axis direction is limited to the maximum preconfigured area routing cost, and the minimum routing cost generated by each search in the first preset coordinate axis direction is limited to the minimum preconfigured area routing cost, so as to meet the cleaning planning requirement in the uncleaned area; the first preset coordinate axis is a straight line segment which is perpendicular to a currently planned bow-shaped cleaning path of the mobile robot; the first preset coordinate axis and the second preset coordinate axis are mutually vertical coordinate axes pre-configured on a map; the path-seeking cost is expressed by using the map grid distance in the positive and negative directions of the second preset coordinate axis or the positive and negative directions of the first preset coordinate axis, and has a preset proportional relation with the number of map grids, and the preset proportional relation is related to the coverage area of the cleaning area.
In the foregoing embodiment, when the first preset coordinate axis is an X-axis of a map, the second preset coordinate axis is a Y-axis of the map; and when the second preset coordinate axis is the X axis of the map, the first preset coordinate axis is the Y axis of the map. And improving the search coverage rate of the clean entrance positions of the sub-blocks in all coordinate axis directions of the map. The drawings in the specification only schematically illustrate an embodiment in which the first preset coordinate axis is a Y axis of a map when the second preset coordinate axis is an X axis of the map; as for: when the first preset coordinate axis is an X axis of the map, the embodiment in which the second preset coordinate axis is a Y axis of the map is different from the embodiment shown in the drawings, except that the step of searching and traversing the grid distances corresponding to unequal routing costs along the positive and negative directions of the Y axis in the embodiment shown in the drawings is changed to: a search traversal expansion step of respectively searching and traversing the grid distances corresponding to unequal routing costs along the positive and negative directions of the Y axis; the steps of searching and traversing the grid distances corresponding to the equal routing costs along the positive and negative directions of the X axis in the embodiment shown in the attached drawings are changed into the following steps: and searching and traversing the grid distances corresponding to the unequal routing costs along the positive and negative directions of the X axis respectively. Therefore, the description is not repeated here: and when the first preset coordinate axis is the X axis of the map, the second preset coordinate axis is the Y axis of the map.
A chip is internally provided with a control program, and the control program is used for controlling a mobile robot to execute a path-finding cost acquisition method for searching an initial cleaning position. By using the chip, the path-finding cost of the initial cleaning position in the corresponding coordinate axis direction is calculated by adjusting, the initial cleaning position which can be easily selected by the mobile robot is planned, the navigation and positioning errors are reduced, the planned cleaning path of the robot in the non-cleaning area is more accurate, the unreasonable navigation of the cleaning areas in different directions is avoided, the calculated amount is reduced, the real-time requirement of navigation operation is met, and the cleaning effect of the mobile robot is improved. The chip can be assembled on an intelligent mobile robot such as a sweeping robot, a mowing robot, a window cleaning robot, a mine clearing robot and the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (9)
1. The path-finding cost acquisition method for searching the initial cleaning position is characterized by comprising the following steps of:
in an uncleaned area, selecting a cleaning line of a first preset coordinate axis, which is furthest away from the current searching position of the mobile robot in the positive direction, and obtaining the length of the vertical line segment between the cleaning line and the current searching position of the mobile robot as a positive direction routing distance, and simultaneously selecting the cleaning line of the first preset coordinate axis, which is furthest away from the current searching position of the mobile robot in the negative direction, and obtaining the length of the vertical line segment between the cleaning line and the current searching position of the mobile robot as a positive direction routing distance; the cleaning lines are used for being connected into a bow-shaped cleaning path in an uncleaned area;
and then calculating and adjusting the routing cost spent by the mobile robot for searching the initial cleaning position in the corresponding coordinate axis direction according to the size relation between the negative direction routing distance and the positive direction routing distance, so that the routing cost does not exceed the maximum value of the area routing cost.
2. The method according to claim 1, wherein when the path-finding cost of the mobile robot in one direction of the first preset coordinate axis is the minimum regional path-finding cost, a relatively small path-finding cost is selected from the maximum regional path-finding cost and the adjusted minimum regional path-finding cost as the path-finding cost in the other direction of the first preset coordinate axis, so that the relatively small path-finding cost does not exceed the maximum regional path-finding cost;
wherein the maximum area routing cost value and the minimum area routing cost value are preset according to the current obstacle distribution and sweeping planning requirement of the cleaning area.
3. The method for obtaining the path-finding cost according to claim 2, wherein the method for calculating the path-finding cost for adjusting the mobile robot to search for the initial cleaning position in the corresponding coordinate axis direction according to the magnitude relationship between the negative direction path-finding distance and the positive direction path-finding distance comprises:
when the negative direction routing distance is greater than the positive direction routing distance, setting routing cost spent by the mobile robot on searching the initial cleaning position to the current searching position in the positive direction of a first preset coordinate axis from the current position to be the minimum value of the area routing cost, taking the product of the ratio of the negative direction routing distance to the positive direction routing distance and the minimum value of the area routing cost as the minimum value of the adjusted area routing cost, and then selecting relatively small routing cost from the maximum value of the area routing cost and the minimum value of the adjusted area routing cost as the routing cost spent on searching the initial cleaning position to the current searching position in the negative direction of a first preset coordinate axis from the current position;
when the negative direction routing distance is equal to the positive direction routing distance, setting the routing cost spent by the mobile robot on searching the initial cleaning position to the current searching position in the positive direction of a first preset coordinate axis from the current position to be the minimum value of the area routing cost, and setting the routing cost spent by the mobile robot on searching the initial cleaning position to the current searching position in the negative direction of the first preset coordinate axis from the current position to be the minimum value of the area routing cost;
when the negative direction routing distance is smaller than the positive direction routing distance, setting routing cost spent by the mobile robot on searching the initial cleaning position to the current searching position in the negative direction of a first preset coordinate axis from the current position to be the minimum value of the area routing cost, taking the product of the ratio of the positive direction routing distance to the negative direction routing distance and the minimum value of the area routing cost as the minimum value of the adjusted area routing cost, and then selecting relatively small routing cost from the maximum value of the area routing cost and the minimum value of the adjusted area routing cost as the routing cost spent on searching the initial cleaning position to the current searching position in the positive direction of a first preset coordinate axis from the current position;
in the searching process, the current position of the mobile robot is unchanged, but the current searching position is changed.
4. The path-finding cost obtaining method according to claim 3, wherein on a map constructed by the mobile robot, when the areas pointed by the mobile robot in the positive direction of the first preset coordinate axis from the current position are all cleaned areas and there are not cleaned areas in the areas pointed by the mobile robot in the positive direction of the first preset coordinate axis from the current position, the path-finding distance in the positive direction is calculated to be 0, then the path-finding cost spent on searching the initial cleaning position in the positive direction of the first preset coordinate axis is set as the minimum area path-finding cost, and the path-finding cost spent on searching the initial cleaning position in the negative direction of the first preset coordinate axis is set as the maximum area path-finding cost;
when the area pointed by the mobile robot from the negative direction of the first preset coordinate axis of the current position is the cleaned area and the area pointed by the positive direction of the first preset coordinate axis of the current position has the uncleaned area, the negative direction routing distance is calculated to be 0, then the routing cost spent on searching the initial cleaning position in the negative direction of the first preset coordinate axis is set as the minimum area routing cost, and the routing cost spent on searching the initial cleaning position in the positive direction of the first preset coordinate axis is set as the maximum area routing cost.
5. The path-finding cost obtaining method according to claim 2 or 4, wherein the method for searching and planning the starting cleaning position in the corresponding coordinate axis direction by the mobile robot comprises:
the mobile robot searches the initial cleaning position from a map grid position corresponding to the current position grid by grid, and when the routing cost spent on searching and traversing the initial cleaning position to the current searching position on the map along the positive and negative directions of a second preset coordinate axis is the map grid distance corresponding to the minimum value of the area routing cost, the mobile robot searches and traverses the map grid distance corresponding to the preset reference cost on the map along the positive direction of a first preset coordinate axis; after the map grid distance corresponding to the preset reference cost is searched and traversed along the positive direction of the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is searched and traversed along the positive and negative directions of the second preset coordinate axis from the searched and traversed position on the first preset coordinate axis; the mobile robot keeps calculating the routing cost spent for searching the initial cleaning position in each coordinate axis direction;
searching the initial cleaning position grid by grid from a map grid position corresponding to the current position of the mobile robot, and searching a map grid distance corresponding to the preset reference cost along the negative direction of a first preset coordinate axis on a map when the routing cost spent on searching the initial cleaning position to the current searching position along the positive and negative directions of a second preset coordinate axis on the map is the map grid distance corresponding to the maximum value of the area routing cost; after the map grid distance corresponding to the preset reference cost is searched and traversed along the negative direction of the first preset coordinate axis, the map grid distance corresponding to the preset reference cost is searched and traversed along the positive and negative directions of the second preset coordinate axis from the searched and traversed position on the first preset coordinate axis; the mobile robot keeps calculating the routing cost spent for searching the initial cleaning position in each coordinate axis direction;
repeating the two steps until the routing cost spent on searching the initial cleaning position in the positive and negative directions of the second preset coordinate axis obtained at the current searching position is a preset multiple of a preset reference cost, the routing cost spent on searching the initial cleaning position in the positive direction of the first preset coordinate axis is a preset multiple of the minimum value of the area routing cost, and the routing cost spent on searching the initial cleaning position in the negative direction of the first preset coordinate axis is a preset multiple of the maximum value of the area routing cost, and determining the grid position searched currently as the initial cleaning position in the current uncleaned area;
the preset direction comprises a positive direction of a coordinate axis or a negative direction of the coordinate axis; when searching for a map grid, calculating the routing cost spent on traversing to the current searching position according to the size relationship between the negative direction routing distance and the positive direction routing distance;
wherein the preset multiple is an integer greater than or equal to 1.
6. The pathcost acquisition method according to claim 5, wherein when the start sweeping position belongs to a head end or a tail end of a bow sweep connected by the sweeping lines within a preset cleaning area, the first searched start sweeping position is determined as an entrance position of the preset cleaning area.
7. The path-finding cost obtaining method according to claim 6, wherein when the path-finding costs in the positive and negative directions of the second preset coordinate axis are all set as preset reference costs, the maximum path-finding cost generated by each search in the direction of the first preset coordinate axis is limited to a preset maximum value of the area-finding cost, and the minimum path-finding cost generated by each search in the direction of the first preset coordinate axis is limited to a preset minimum value of the area-finding cost, so as to meet the requirement of cleaning planning in an uncleaned area;
the first preset coordinate axis is a straight line segment which is perpendicular to a currently planned bow-shaped cleaning path of the mobile robot; the first preset coordinate axis and the second preset coordinate axis are mutually vertical coordinate axes pre-configured on a map;
the path-finding cost is represented by the map grid distance in the positive and negative directions of the second preset coordinate axis or the positive and negative directions of the first preset coordinate axis, and has a proportional relation with the number of the map grids.
8. The path-finding cost obtaining method according to claim 7, wherein when the first preset coordinate axis is an X-axis of a map, the second preset coordinate axis is a Y-axis of the map; and when the second preset coordinate axis is the X axis of the map, the first preset coordinate axis is the Y axis of the map.
9. A chip with a built-in control program, wherein the control program is configured to control a mobile robot to execute the path-finding cost obtaining method for searching and planning an initial cleaning position according to any one of claims 1 to 8.
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