CN113031599A - Robot rapid seat finding method with dynamically changed reference point, chip and robot - Google Patents

Robot rapid seat finding method with dynamically changed reference point, chip and robot Download PDF

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CN113031599A
CN113031599A CN202110228771.6A CN202110228771A CN113031599A CN 113031599 A CN113031599 A CN 113031599A CN 202110228771 A CN202110228771 A CN 202110228771A CN 113031599 A CN113031599 A CN 113031599A
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robot
search node
reference point
point
search
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CN113031599B (en
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徐松舟
梁永富
欧兆锐
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Zhuhai Amicro Semiconductor Co Ltd
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Zhuhai Amicro Semiconductor Co Ltd
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    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria

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Abstract

The invention discloses a robot quick seat finding method with dynamically changed reference points. When the reference point no longer meets the boundary condition, the robot finds a new reference point meeting the condition to set a next search node, so that the problem that the robot leaves the current region executing the task and moves forward to the next region in the midway can be solved, the seat finding efficiency is improved, and the method also better meets the thinking mode of the human.

Description

Robot rapid seat finding method with dynamically changed reference point, chip and robot
Technical Field
The invention relates to the field of robots, in particular to a robot quick seat finding method with dynamically changed reference points, a chip and a robot.
Background
Mobile robots, such as sweeping robots, sanitizing robots, or pet robots, are equipped with rechargeable batteries that must be returned to a charging dock for recharging before the batteries become depleted. At present, a robot generally adopts a method of automatically finding a seat to return to the seat, and common seat finding methods include random seat finding, seat finding along a wall, RRT (fast spanning random tree algorithm) seat finding and the like. However, the seat positioning method is not only slow in seat positioning speed, but also prone to collision and jamming. For example, when a seat is found by a wall-following method, the robot needs to move along the edge of the whole space, which greatly increases the moving distance and inevitably encounters an obstacle located at the wall. Therefore, we propose a fast seat finding method based on reference point and covering type exploration keeping a fixed distance, which can find the charging seat with faster speed and less collision under the condition that the information of the charging seat is not recorded on the map and the signal of the charging seat is not available.
In practical tests, we find that the above-mentioned fast seat finding method based on reference points still has the following problems: when the environment is complex, for example, when there are multiple rooms, if the reference point is kept unchanged all the time, it is easy to enter the next room for searching if the current room is not searched. This not only does not conform to human mind, but may also increase the distance traveled. For example, if the robot has completed exploring half of the area in the first room, suddenly moves to the second room, and finds that the charging dock is not in the second room, the robot needs to return to the last departure position in the first room to continue exploring the remaining half of the area. Therefore, the seat finding efficiency is reduced. Therefore, there is a need for improvement of the method.
Disclosure of Invention
In order to solve the problems, the invention provides a robot quick seat finding method with dynamically changed reference points, a chip and a robot, and the charging seat is searched in a mode which is more accordant with human thinking and more efficient. The specific technical scheme of the invention is as follows:
a robot quick seat finding method with dynamically changed reference points comprises the following steps: the robot reads a pre-stored map, sets the initial position as a search node and a reference point, then searches a charging seat signal, and sets a next search node according to the position of the reference point if the search is not completed; before each search node is set, the robot redetects whether a reference point meets a boundary condition or not, if so, sets a next search node according to the position of the reference point, if not, redetects whether all the search nodes meet the boundary condition or not from a first search node, and when the first search node meeting the boundary condition is detected, sets the first search node as a new reference point and sets the next search node according to the position of the new reference point; the robot repeatedly sets the search nodes and searches the charging seat signals on the search nodes until the charging seat is found or all the search nodes are detected to be not satisfied with the boundary conditions. The method of the invention can overcome the problem that the robot leaves the current region which is executing the task and moves forward to the next region in the midway, thereby improving the seat finding efficiency, and the method is more in line with the thinking mode of people.
Further, the method for the robot to detect whether a reference point or a search node meets the boundary condition includes: firstly, the robot makes a circle by taking a reference point or a search node as a circle center and a preset distance as a radius; then, the robot judges whether points which can be reached by a straight line exist on the circle, if so, the robot continuously judges whether points which have a distance larger than or equal to a preset distance from each set search node exist in the points which can be reached by the straight line, and if so, the reference point or the search node meets the boundary condition. Whether the search node meets the boundary condition or not is detected, and whether the search node can be expanded to a next search node or not can be known.
Further, the method for setting the next search node is that the robot judges whether the position where the robot is located is the same as the position of the reference point, and if so, the following steps are executed: s11, the robot makes a circle by taking the position as the center of the circle and taking the preset distance as the radius; s12, the robot arbitrarily selects an undetermined point on the circle, then judges whether the undetermined point is reachable in a straight line, if so, continuously judges whether the distance between the undetermined point and each set search node is larger than or equal to a preset distance, if so, the distance is set as a next search node, and if any condition is not met, the method goes to S13; s13, the robot starts from the undetermined point in S12, and develops new undetermined points to two sides on the circle at intervals of a preset angle, real-time judgment is carried out, and then the first undetermined point meeting two conditions in S12 at the same time is set as the next searching node; if not, executing: s21, the robot makes a circle by taking the position as the center of the circle and taking the preset distance as the radius; s22, taking the intersection point of the line and the circle as an undetermined point; s23, the robot judges whether the undetermined point is reachable in a straight line or not, if so, the robot continues to judge whether the distance between the undetermined point and each set search node is greater than or equal to a preset distance or not, if so, the robot is set as a next search node, and if any condition is not met, the robot enters S24; and S24, the robot starts from the undetermined point in S23, and develops new undetermined points to two sides on the circle at intervals of a preset angle, performs real-time judgment, and sets the first undetermined point meeting the two conditions in S23 as the next search node. The straight reachable points are taken, so that unnecessary movement and collision can be reduced; points are taken at a certain distance, so that repeated searching is avoided; the intersection point of the connecting line and the circle is taken as an undetermined point to be judged, and when the undetermined point meets the condition, the next search node can be obtained immediately, so that a large amount of unnecessary calculation is reduced, and the seat finding efficiency is greatly improved.
Further, after detecting whether the reference point meets the boundary condition and before setting the next search node, the robot also detects whether the current search node meets the boundary condition, if so, the robot directly sets the next search node, and if not, the robot moves to the search node with the minimum navigation cost and then sets the next search node.
Further, the method for the robot to move to the search node with the minimum navigation cost comprises the following steps: s31, the robot detects whether all the set search nodes meet the boundary conditions, and then selects the search nodes meeting the boundary conditions; s32, the robot plans a path which is navigated from the current position to the search node meeting the boundary condition in the S31, and calculates the length of each path; and S33, the robot compares the path lengths and moves to the searching node corresponding to the shortest path. And the searching node with the shortest path is selected, so that unnecessary movement and collision can be reduced, and the seat finding efficiency is improved.
Further, the robot can rotate in place to search for the charging-seat signal when arriving at one searching node.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute a quick seat finding method of the dynamic change of the reference point. The chip can control the robot to execute a robot quick seat finding method with dynamically changed reference points, so that the problem that the robot leaves the current area executing the task and moves forward to the next area in the midway is solved, the seat finding efficiency is improved, and the method is more in line with the thinking mode of the human.
A robot is equipped with a main control chip, and the main control chip is the chip. The robot of the invention can overcome the problem that the robot leaves the current region which is executing the task and moves forward to the next region in the midway, thereby improving the seat finding efficiency, and the method is more in line with the thinking mode of people.
Drawings
Fig. 1 is a flowchart of a method for quickly finding a seat of a robot with a dynamically changing reference point according to an embodiment of the present invention.
Fig. 2 is an exemplary diagram of a robot fast seat finding process with dynamically changing reference points according to an embodiment of the present invention.
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. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
In the present patent application, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used for convenience in describing embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present patent application.
The robot can encounter different obstacles in the walking process, in order to effectively simplify the description of the indoor environment and provide a reasonable corresponding strategy in path planning, unless specifically stated otherwise, the indoor obstacles are treated as follows: 1. processing according to the wall barrier as long as the distance between the barrier and the wall does not meet the minimum distance for the robot to pass through and the robot cannot pass through smoothly; 2. for a straight-line obstacle, the outline characteristic of the straight-line obstacle is represented by a rectangle; for the nonlinear obstacles, processing by adopting a broken line approximation method; 3. when the distance between the two obstacles is very close and the robot cannot pass through the two obstacles smoothly, the two obstacles can be regarded as one obstacle to be treated.
The robot carrier is provided with a gyroscope for detecting a rotation angle and a milemeter for detecting a travel distance, and is also provided with a sensor capable of detecting a wall distance, wherein the sensor for detecting the wall distance can be an ultrasonic distance sensor, an infrared intensity detection sensor, an infrared distance sensor, a physical switch detection collision sensor, a capacitance or resistance change detection sensor and the like.
As shown in fig. 1, a method for quickly finding a seat by a robot with dynamically changing reference points includes: the robot reads a pre-stored map, sets the initial position as a search node and a reference point, then searches a charging seat signal, and sets a next search node according to the position of the reference point if the search is not completed; before each search node is set, the robot redetects whether a reference point meets a boundary condition or not, if so, sets a next search node according to the position of the reference point, if not, redetects whether all the search nodes meet the boundary condition or not from a first search node, and when the first search node meeting the boundary condition is detected, sets the first search node as a new reference point and sets the next search node according to the position of the new reference point; the robot repeatedly sets the search nodes and searches the charging seat signals on the search nodes until the charging seat is found or all the search nodes are detected to be not satisfied with the boundary conditions. The method can solve the problem that the robot leaves the current task-executing area and moves forward to the next area in the midway, improves the seat finding efficiency, and is more consistent with the thinking mode of people.
As one embodiment, the method for the robot to detect whether one reference point or search node satisfies the boundary condition includes: firstly, the robot makes a circle by taking a reference point or a search node as a circle center and a preset distance as a radius; then, the robot judges whether points which can be reached by a straight line exist on the circle, if so, the robot continuously judges whether points which have a distance larger than or equal to a preset distance from each set search node exist in the points which can be reached by the straight line, and if so, the reference point or the search node meets the boundary condition. The method described in this embodiment detects whether the search node satisfies the boundary condition, and can know whether the search node can be expanded to a next search node.
As one embodiment, the method for setting the next search node is that the robot determines whether the position where the robot is located is the same as the position of the reference point, and if so, executes: s11, the robot makes a circle by taking the position as the center of the circle and taking the preset distance as the radius; s12, the robot arbitrarily selects an undetermined point on the circle, then judges whether the undetermined point is reachable in a straight line, if so, continuously judges whether the distance between the undetermined point and each set search node is larger than or equal to a preset distance, if so, the distance is set as a next search node, and if any condition is not met, the method goes to S13; s13, the robot starts from the undetermined point in S12, and develops new undetermined points to two sides on the circle at intervals of a preset angle, real-time judgment is carried out, and then the first undetermined point meeting two conditions in S12 at the same time is set as the next searching node; if not, executing: s21, the robot makes a circle by taking the position as the center of the circle and taking the preset distance as the radius; s22, taking the intersection point of the line and the circle as an undetermined point; s23, the robot judges whether the undetermined point is reachable in a straight line or not, if so, the robot continues to judge whether the distance between the undetermined point and each set search node is greater than or equal to a preset distance or not, if so, the robot is set as a next search node, and if any condition is not met, the robot enters S24; and S24, the robot starts from the undetermined point in S23, and develops new undetermined points to two sides on the circle at intervals of a preset angle, performs real-time judgment, and sets the first undetermined point meeting the two conditions in S23 as the next search node. According to the method, the linearly reachable points are taken, so that unnecessary movement and collision can be reduced; points are taken at a certain distance, so that repeated searching is avoided; the intersection point of the connecting line and the circle is taken as an undetermined point to be judged, and when the undetermined point meets the condition, the next search node can be obtained immediately, so that a large amount of unnecessary calculation is reduced, and the seat finding efficiency is greatly improved.
As one embodiment, after detecting whether the reference point meets the boundary condition and before setting the next search node, the robot further detects whether the current search node meets the boundary condition, if so, the robot directly sets the next search node, and if not, the robot moves to the search node with the minimum navigation cost and then sets the next search node.
As one embodiment, the method for the robot to move to the search node with the smallest navigation cost includes: s31, the robot detects whether all the set search nodes meet the boundary conditions, and then selects the search nodes meeting the boundary conditions; s32, the robot plans a path which is navigated from the current position to the search node meeting the boundary condition in the S31, and calculates the length of each path; and S33, the robot compares the path lengths and moves to the searching node corresponding to the shortest path. The method of the embodiment selects the searching node with the shortest path, can reduce unnecessary movement and collision, and improves seat finding efficiency.
In one embodiment, the robot spins in place to search for the charging-stand signal every time it arrives at a search node.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute a quick seat finding method of the dynamic change of the reference point. The chip described in this embodiment can control the robot to execute a robot quick seat finding method with dynamically changing reference points, so as to overcome the problem that the robot leaves the current area executing the task and moves forward to the next area midway, improve the seat finding efficiency, and the method also better conforms to the thinking mode of people.
A robot is equipped with a main control chip, and the main control chip is the chip. The robot can overcome the problem that the robot leaves the current region which is executing the task and moves forward to the next region in the midway, the seat finding efficiency is improved, and the method is more consistent with the thinking mode of people.
The following describes in detail a method for quickly finding a seat of a robot with dynamically changing reference points, which is described in fig. 1, with reference to fig. 2. It should be noted that the robot has already established an environment map before starting to find a seat, and the environment map may be a laser SLAM map or a visual SLAM map or a laser and visual combined SLAM map. The higher the accuracy of the map, the more the advantages of the method provided by the invention can be embodied. In this embodiment, a laser SLAM map is taken as an example for explanation.
Referring to fig. 2, the robot does not have position information of the charging stand and does not detect a signal of the charging stand. N0 is the starting position of the robot, since there is only one point from the beginning, this point also serves as a reference point. Firstly, the robot makes a circle with the N0 as the center and the preset distance as the radius to set the next searching node, that is, to find the position of the next searching charging seat. Wherein, the preset distance is determined by the signal range of the charging seat, and is generally 1-2 meters. The robot arbitrarily chooses an undetermined point on the circle, and then judges by means of a laser SLAM map: if the undetermined point is linearly reachable, namely no barrier or wall block exists on a connecting line from the N0 to the undetermined point, setting the undetermined point as a next searching node; and if the undetermined point straight line is not reachable, starting from the undetermined point, expanding the robot on the circle according to a preset angle to two sides for point taking, and detecting the obtained undetermined point in real time until the undetermined point which can be reached by the first straight line is found, and stopping. The first straight-line reachable undetermined point is the next search node, which in this embodiment is N1 shown in fig. 2. It should be noted that, before finding N1, only N0 points exist, so that it is determined whether the distance between the point to be determined and "other existing search nodes" is equal to or greater than the preset distance, and it is actually only necessary to determine whether the distance between the point to be determined and NO is equal to or greater than the preset distance. The undetermined point is a point originally taken on a circle with NO as the center, so that the undetermined point which can be reached by the first straight line is considered as the next searching node. It should be noted that, in general, the start position N0 satisfies the boundary condition. If not, the robot is now located in a very narrow space (the preset distance is only 1-2 meters). This is not practical (unless the robot is just surrounded by dynamic obstacles and/or other obstacles), but for the sake of rigor, the following is explained: the robot will go to find a new reference point. However, the robot detects that all the set search nodes (NO only at this time) do not satisfy the boundary condition, i.e., that NO new reference point is available for the robot to select. Then the robot will stop the search.
The robot navigates to N1, spinning in place to detect the charging dock's signal. If the signal of the charging seat is detected, the charging seat is returned according to the guidance of the signal. If not, moving to the next searching node for detection. The robot detects that N0 and N1 satisfy the boundary condition, which indicates that both N0 and N1 belong to the boundary point. And then setting the next search node by taking the N1 as the center of the circle and taking the preset distance as the radius. The difference is that this time a point on any circle is no longer taken as the pending point. Instead, connecting N1 and N0, the intersection of the connecting line and the circle is taken as the undetermined point, which is actually a vector
Figure DEST_PATH_IMAGE001
Is used as the initial setting direction. The method has the advantages that the search node closest to the reference point can be quickly found, unnecessary calculation is reduced, and seat finding efficiency is improved. The robot judges that the undetermined point is linearly reachable, but the distance between the undetermined point and the existing N0 is smaller than the preset distance (actually, the undetermined point is overlapped with the N0), so that the undetermined point cannot be used as the next search node of the robot. Starting from the undetermined point, the robot expands and takes points to two sides on the circle according to a preset angle, and detects the acquired undetermined point in real time until the first undetermined point which meets the distance requirement and can reach the two conditions in a straight line is found. As can be seen from fig. 2, in the direction from N1 to N0, the left side of N0 is a wall, and a pending point satisfying both of the above two conditions cannot be found, so the new search node is located at the right side of N0, i.e., N2.
It should be noted that the boundary point is an attribute of the search node. As long as the robot can find a undetermined point which simultaneously meets the distance requirement and can reach the two conditions by a straight line at the search node, the search node is considered to belong to the boundary point. In other words, if the robot can find an expandable point at a search node, the search node is considered to belong to a boundary point, otherwise it is a non-boundary point. It should be noted that the boundary points will be transformed into non-boundary points as the process of finding the charging dock progresses.
The robot navigates to N2, spinning in place to detect the charging dock's signal. If the signal of the charging seat is detected, the charging seat is returned according to the guidance of the signal. If not, moving to the next searching node for detection. The robot detects N0 and N2 as boundary points, so the same is expressed by vector
Figure 346874DEST_PATH_IMAGE002
Is used as a starting setting direction, and N3 meeting two conditions is searched. At N3, the robot still cannot find a charging dock. The robot needs to continue to set the next search node at N3. First, the robot detects that N0 has been converted from a boundary point to a non-boundary point. At this time, a new reference point needs to be set, otherwise, when there is another room near NO (not shown in the figure), it is easy to search for the next room before the robot is in the middle, thereby reducing the seating efficiency. Referring to fig. 2, it can be seen that the search nodes N1, N2 and N3 are all around N0 with N0 as a reference point. The new reference point is set in order to break this law.
The robot judges the search nodes in turn according to the sequence of setting the search nodes, namely the moving sequence of N0 to N3, and sets the first search node N1 belonging to the boundary point as a new reference point. The robot then determines that N3 belongs to the boundary point, and so, as a vector
Figure DEST_PATH_IMAGE003
Is used as the starting setting direction, and N4 meeting two conditions is found. It should be noted that the bottom of the sofa beside N3 in this embodiment is a movable passing area, which is the conclusion that the robot has judged by means of the high-precision laser SLAM map. By analogy, the robot uses N1 as a reference point, and also finds N5 and N6. The robot still does not find charging seats at N4, N5 and N6, which is required at N6And continues to set the next search node.
The robot detects that N1, the reference point, is no longer a boundary point at N6, and updates the reference point to N3 (N2 is now a non-boundary point). Then the robot detects that the current search node N6 is also a non-boundary point, and the next search node can not be extended from N6. The robot needs to find a point with the minimum navigation cost from the existing search nodes N0 to N5 and expand the next search node at the point. Firstly, the robot excludes non-boundary points from N0 to N5, and leaves three boundary points of N3, N4 and N5, then routes moving from N6 to the three boundary points are planned respectively, and finally the lengths of the three routes are compared, and N5 corresponding to the shortest route is taken to expand the next search node. The robot navigates from N6 to N5 as vectors
Figure 605293DEST_PATH_IMAGE004
Is used as the starting setting direction, and N7 meeting two conditions is found. In planning a path, a robot does not simply connect two points and calculate a length. The robot calculates an optimal speed instruction through a DWA (Dynamic Window Approach, local path planning) algorithm and sends the optimal speed instruction to the robot for execution. The principle of the method is that a plurality of groups of speeds are sampled in a speed space (v, w), the movement tracks of the speeds in a certain time are simulated, the tracks are scored through an evaluation function, and the optimal speed is selected and sent to a lower computer. The DWA algorithm has high reaction speed and uncomplicated calculation, and the optimal solution of the planned track at the next moment can be quickly obtained through speed combination (linear speed and angular speed). In the process, the obstacle avoidance can be realized, the seat finding efficiency is improved, and the collision can be reduced. By analogy, the robot takes the N3 as a reference point, and also finds the N8 and the N9, so far, no charging seat is found, and the next searching node is set continuously.
The robot detects that N3 is no longer a boundary point and updates the eligible N7 as a new reference point. It is then detected that N9 is not a boundary point, and navigation to the next search node is set at N7 where the path cost is minimal. It can be seen that the reference point and the search node at this time are the same point, as in the case of the robot at N0, where the robot sets the next search node using the aforementioned method of setting N1. But requires increased distance determination from other search nodes. Referring to fig. 2, N10 and N11 have entered the next room and at N11 the robot successfully detects the signal of the charging dock and sits back. The following is assumed: if the doors of the rooms in which N10 and N11 are located are closed, all the points N0 to N9 will become non-boundary points, and the robot will stop finding the seat because the boundary points cannot be found, which means that the currently explorable area has been completely explored.
From the final exploration path finished by the robot, the robot realizes the coverage type exploration which is propelled layer by layer, so that the charging seat can be quickly found without missing the area under the condition of not knowing the position of the charging seat. This benefits from the strategy of dynamic variation of the reference point, as can be seen from fig. 2, N1, N2, and N3 are established based on reference point N0, N4, N5, and N6 are established based on reference point N1, N8 and N9 are established based on reference point N3, and N10 and N11 are established based on reference point N7. Assuming that there is a door below point N3 in fig. 2 that can go to the next room, and the reference point is always N0, then N4 will not be at the current location, but will be in the next room. When the reference point becomes N1, the situation is different because the setting direction is changed, resulting in that the first found eligible point is N4 in fig. 2 and does not fall in the next room. It is easy to see that, when the number of rooms is larger, the search node is set under the condition that the reference point is not changed, and the condition that the current room is searched to the next room without being searched is easier to occur and more frequently occurs. Therefore, the moving distance of the robot is greatly increased, and the seat finding efficiency is reduced. Therefore, when the environment is complex, the strategy of dynamically changing the reference point is more favorable for improving the seat finding efficiency.
Obviously, the above-mentioned embodiments are only a part of embodiments of the present invention, not all embodiments, and the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear in the embodiments, their indicated orientations or positional relationships are based on those shown in the drawings only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation or be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. If the terms "first", "second", "third", etc. appear in the embodiments, they are for convenience of distinguishing between related features, and they are not to be construed as indicating or implying any relative importance, order or number of features.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (such as a ROM, a RAM, a magnetic or optical disk, or various other media that can store program codes). Which when executed performs steps comprising the method embodiments described above.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. A robot quick seat finding method with dynamically changed reference points is characterized by comprising the following steps:
the robot reads a pre-stored map, sets the initial position as a search node and a reference point, then searches a charging seat signal, and sets a next search node according to the position of the reference point if the search is not completed;
before each search node is set, the robot redetects whether a reference point meets a boundary condition or not, if so, sets a next search node according to the position of the reference point, if not, redetects whether all the search nodes meet the boundary condition or not from a first search node, and when the first search node meeting the boundary condition is detected, sets the first search node as a new reference point and sets the next search node according to the position of the new reference point;
the robot repeatedly sets the search nodes and searches the charging seat signals on the search nodes until the charging seat is found or all the search nodes are detected to be not satisfied with the boundary conditions.
2. The method for the robot to quickly find the seat with the dynamically changed reference point according to claim 1, wherein the method for the robot to detect whether a reference point or a search node meets the boundary condition is as follows:
firstly, the robot makes a circle by taking a reference point or a search node as a circle center and a preset distance as a radius;
then, the robot judges whether points which can be reached by a straight line exist on the circle, if so, the robot continuously judges whether points which have a distance larger than or equal to a preset distance from each set search node exist in the points which can be reached by the straight line, and if so, the reference point or the search node meets the boundary condition.
3. The method for quickly finding the seat of the robot with the dynamically changed reference point according to claim 1, wherein the method for setting the next searching node is that the robot judges whether the position where the robot is located is the same as the position of the reference point, and if the position where the robot is located is the same as the position of the reference point, the method executes:
s11, the robot makes a circle by taking the position as the center of the circle and taking the preset distance as the radius;
s12, the robot arbitrarily selects an undetermined point on the circle, then judges whether the undetermined point is reachable in a straight line, if so, continuously judges whether the distance between the undetermined point and each set search node is larger than or equal to a preset distance, if so, the distance is set as a next search node, and if any condition is not met, the method goes to S13;
s13, the robot starts from the undetermined point in S12, and develops new undetermined points to two sides on the circle at intervals of a preset angle, real-time judgment is carried out, and then the first undetermined point meeting two conditions in S12 at the same time is set as the next searching node;
if not, executing:
s21, the robot makes a circle by taking the position as the center of the circle and taking the preset distance as the radius;
s22, taking the intersection point of the line and the circle as an undetermined point;
s23, the robot judges whether the undetermined point is reachable in a straight line or not, if so, the robot continues to judge whether the distance between the undetermined point and each set search node is greater than or equal to a preset distance or not, if so, the robot is set as a next search node, and if any condition is not met, the robot enters S24;
and S24, the robot starts from the undetermined point in S23, and develops new undetermined points to two sides on the circle at intervals of a preset angle, performs real-time judgment, and sets the first undetermined point meeting the two conditions in S23 as the next search node.
4. The method as claimed in claim 1, wherein the robot further detects whether the current search node satisfies the boundary condition after detecting whether the reference point satisfies the boundary condition and before setting the next search node, directly sets the next search node if the current search node satisfies the boundary condition, and moves to the search node with the lowest navigation cost and then sets the next search node if the current search node does not satisfy the boundary condition.
5. The method for rapidly finding the seat of the robot with the dynamically changed reference point according to claim 4, wherein the method for the robot to move to the search node with the minimum navigation cost is as follows:
s31, the robot detects whether all the set search nodes meet the boundary conditions, and then selects the search nodes meeting the boundary conditions;
s32, the robot plans a path which is navigated from the current position to the search node meeting the boundary condition in the S31, and calculates the length of each path;
and S33, the robot compares the path lengths and moves to the searching node corresponding to the shortest path.
6. The method as claimed in claim 1, wherein the robot is capable of rotating in situ to search for the charging-seat signal when it arrives at a searching node.
7. A chip with a built-in control program, wherein the control program is used for controlling a robot to execute the robot quick seat finding method of any one of claims 1 to 6.
8. A robot equipped with a master control chip, characterized in that the master control chip is the chip of claim 7.
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