CN113624230A - Navigation path generation method for mobile robot and mobile robot - Google Patents
Navigation path generation method for mobile robot and mobile robot Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
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Abstract
A navigation path generation method for a mobile robot and the mobile robot, the method comprising: constructing a grid map, determining a starting point and an end point in the grid map, and generating an initial path point set for navigating the mobile robot from the starting point to the end point; filtering the path points in the initial path point set, filtering the middle path points in the same direction, and keeping direction inflection points; and performing straight line fitting on the path points in the filtered path point set to delete at least part of direction inflection points in the filtered path point set to obtain a final path point set which is used as a navigation path for navigating the mobile robot from the starting point to the end point. This application is through carrying out the straight line fit to planning path point for the robot can follow any direction motion, reduces on the whole and has eliminated redundant path point even, obtains more accurate shorter navigation path, reduces the broken line in the planning route, makes the planning route more level and smooth, can improve the motion efficiency of robot greatly.
Description
Technical Field
The present application relates to the field of automatic mobile robots, and more particularly, to a navigation path generation method for a mobile robot and a mobile robot.
Background
In the field of robot path planning, a robot needs a path planning algorithm to plan a route, and outputs a series of points from a starting point to a target point after the planning is finished, so that the robot moves to a specified target point according to the motion trail of the series of points.
Current rules of design provide that the robot can only move in 8 directions (up, down, left, right, up-left, down-left, up-right, down-right) according to the grid map, and therefore a series of waypoints generated contains a large number of redundant waypoints. For example, for the path point ABC of the midway part, the robot can actually move from the path point a to the path point C through a linear motion, but due to the limitation of the motion direction, the robot has to move to the path point B first and then to the path point C, and obviously, the path point B is a redundant path point.
Therefore, the path planned by the current cost-effective rule contains a plurality of redundant path points, which bring unnecessary motion tracks, so that the running line of the robot is not smooth enough or not optimal, and the motion efficiency of the robot is affected.
Disclosure of Invention
The present application is proposed to solve the above problems. The application provides a navigation path generation scheme for a mobile robot, which can reduce redundant path points, obtain a more accurate path and improve the motion efficiency of the mobile robot. The following presents a simplified summary of the subject application and further details are described later in connection with specific embodiments.
According to an aspect of the present application, there is provided a navigation path generation method for a mobile robot, the method including: constructing a grid map, determining a starting point and an end point in the grid map, and generating an initial path point set for navigating the mobile robot from the starting point to the end point; filtering the path points in the initial path point set, filtering intermediate path points in the same direction, and reserving direction inflection points to obtain a filtered path point set; the filtered path point set comprises the starting point, the direction inflection point and the end point; and performing straight line fitting on the path points in the filtered path point set to delete at least part of direction inflection points in the filtered path point set to obtain a final path point set which is used as a navigation path for navigating the mobile robot from the starting point to the end point.
In one embodiment of the present application, the line fitting to the waypoints in the filtered set of waypoints comprises at least one line fitting, each line fitting comprising: determining whether a path composed of the current path point and at least one non-adjacent path point behind the current path point can be passed by the mobile robot; deleting path points between the current path point and the non-adjacent path points when determining that the path composed of the current path point and the non-adjacent path points can be passed by the mobile robot; and when the path formed by the current path point and the non-adjacent path point is determined not to be passed by the mobile robot, finishing the linear fitting.
In an embodiment of the application, for the at least one straight line fitting, the first straight line fitting is performed from the starting point, and the remaining straight line fittings are performed from the ith path point in the path point set obtained by the previous straight line fitting, where i is equal to the number of times that the current straight line fitting belongs to, and when the ith path point is the end point, the straight line fitting of the whole path is finally completed.
In one embodiment of the present application, determining whether a path composed of the current waypoint and the non-adjacent waypoint can be passed through by the mobile robot includes: calculating the angle of a connecting line of the current path point and the non-adjacent path point on a geodetic coordinate system relative to a reference coordinate axis, wherein the reference coordinate axis is a horizontal coordinate axis or a vertical coordinate axis in the geodetic coordinate axis; rotating the geodetic coordinate axis based on the angle to enable the connecting line to be parallel to the reference coordinate axis to obtain a new geodetic coordinate system; based on the size of the mobile robot, expanding a connecting line of the current path point and the non-adjacent path point on the new geodetic coordinate system into a geometric area; determining whether the position of the geometric area on the grid map can be passed by the mobile robot, thereby determining whether a path composed of the current waypoint and the non-adjacent waypoint can be passed by the mobile robot.
In an embodiment of the present application, the calculating an angle of a connection line of the current waypoint and the non-adjacent waypoint on the geodetic coordinate system with respect to a reference coordinate axis includes: converting coordinates of the current path point and the non-adjacent path points from grid map coordinates to geodetic coordinates; and calculating the angle of the connecting line of the current path point and the non-adjacent path point on the geodetic coordinate system relative to the reference coordinate axis based on the converted geodetic coordinates.
In an embodiment of the present application, the expanding, based on the size of the mobile robot, a connection line between the current waypoint and the non-adjacent waypoint on the new geodetic coordinate system to a geometric region includes: converting coordinates of the current waypoint and the non-adjacent waypoint from geodetic coordinates to coordinates on the new geodetic coordinate system; and expanding a connecting line of the current path point and the non-adjacent path point on the new geodetic coordinate system into a rectangular area based on the coordinates on the new geodetic coordinate system and the size of the mobile robot.
In one embodiment of the present application, the connecting line is a horizontal center line of the rectangular area.
In an embodiment of the application, the determining whether the position of the geometric area on the grid map can be passed by the mobile robot, so as to determine whether a path formed by the current waypoint and the non-adjacent waypoint can be passed by the mobile robot, includes: converting the vertex coordinates of the geometric area from the coordinates on the new geodetic coordinate system into grid map coordinates to obtain a new geometric area on the grid map; determining whether each point in the new geometric region is passable by the mobile robot; determining that a path composed of the current waypoint and the non-adjacent waypoint is passable by the mobile robot when it is determined that each point in the new geometric region is passable by the mobile robot; when determining that any point in the new geometric area cannot be passed by the mobile robot, determining that a path formed by the current waypoint and the non-adjacent waypoint cannot be passed by the mobile robot.
According to another aspect of the present application, there is provided a mobile robot comprising a memory, a processor, a motion module, and a cleaning assembly, wherein: the memory has stored thereon computer-readable instructions executed by the processor, which, when executed by the processor, cause the processor to execute the above-described navigation path generation method for a mobile robot to generate a navigation path; the motion module is used for driving the mobile robot to move based on the navigation path generated by the processor; the cleaning assembly is used for cleaning the area to be cleaned after the mobile robot moves to the area to be cleaned, and/or is used for cleaning the position of the mobile robot in the moving process of the mobile robot.
In one embodiment of the present application, the mobile robot further includes a sensor configured to collect map information of an area to be moved, and the processor is further configured to construct a grid map based on the map information.
According to the navigation path generation method for the mobile robot and the mobile robot, the planned path points are subjected to linear fitting, so that the robot can move in any direction, redundant path points are reduced or even eliminated on the whole, a more accurate and shorter navigation path is obtained, broken lines in the planned path are reduced, the planned path of the robot is smoother, and the movement efficiency of the robot can be greatly improved.
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The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 shows a schematic diagram of the movement direction of a robot prescribed by a prior path planning algorithm.
Fig. 2 shows a schematic flow diagram of a navigation path generation method for a mobile robot according to an embodiment of the application.
Fig. 3 is a schematic diagram illustrating an initial waypoint set obtained in a navigation path generation method for a mobile robot according to an embodiment of the present application.
Fig. 4 is a schematic diagram illustrating a filtered set of waypoints obtained in the navigation path generation method for a mobile robot according to the embodiment of the present application.
Fig. 5 is a schematic diagram illustrating straight line fitting to a filtered set of waypoints in a navigation path generation method for a mobile robot according to an embodiment of the present application.
Fig. 6 is a schematic diagram illustrating a final waypoint set obtained in the navigation path generating method for a mobile robot according to the embodiment of the present application.
Fig. 7 is a schematic process diagram illustrating a process of determining whether a path composed of a current waypoint and non-adjacent waypoints can be passed through by a mobile robot in a navigation path generation method for a mobile robot according to an embodiment of the present application.
Fig. 8 shows a schematic block diagram of a mobile robot according to an embodiment of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the application described in the application without inventive step, shall fall within the scope of protection of the application.
The scheme of this application is applied to mobile robot, and mobile robot can be the mobile robot of intelligent house field, such as cleaning machines people (sweeper, mopping machine, sweep and drag all-in-one) etc..
Fig. 1 shows a schematic diagram of the movement direction of a robot prescribed by a prior path planning algorithm. As shown in fig. 1, after the grid map is constructed, the existing path planning algorithm provides that the moving direction of the robot includes the following 8 directions, assuming that the robot is located at the position of the grid S11: the 0 direction (i.e., moving toward grid S21), the 45 direction (i.e., moving toward grid S22), the 90 direction (i.e., moving toward grid S12), the 135 direction (i.e., moving toward grid S02), the 180 direction (i.e., moving toward grid S01), the 225 direction (i.e., moving toward grid S00), the 270 direction (i.e., moving toward grid S10), and the 315 direction (i.e., moving toward grid S20), as indicated by the solid arrow directions. Assuming the robot is moving to grid S30, it needs to move from grid S11 to grid S20 and then from grid S20 to grid S30. If the movement restriction of the 8 directions is not available, the robot can move directly from the grid S11 to the grid S30, as indicated by the dotted arrow. Therefore, the existing path planning algorithm may include redundant path points in a path point set given after path planning, which brings unnecessary motion trajectories and affects the motion efficiency of the robot.
Based on the scheme, the navigation path generation scheme for the mobile robot can reduce redundant path points, obtain a more accurate path and improve the motion efficiency of the mobile robot. Described below in conjunction with fig. 2 through 8.
Fig. 2 shows a schematic flow diagram of a navigation path generation method 200 for a mobile robot according to an embodiment of the application. As shown in fig. 2, the navigation path generating method 200 for a mobile robot may include the steps of:
in step S210, a grid map is constructed, a start point and an end point are determined in the grid map, and an initial set of waypoints for navigating the mobile robot from the start point to the end point is generated.
In step S220, the path points in the initial path point set are filtered, the middle path point in the path points in the same direction is filtered, and a direction inflection point is retained, so as to obtain a filtered path point set.
In step S230, a straight line is fitted to the path points in the filtered set of path points to delete at least some direction inflection points in the filtered set of path points, so as to obtain a final set of path points, which is used as a navigation path for navigating the mobile robot from the starting point to the end point.
In an embodiment of the present application, after the grid map is constructed, an initial set of path points for navigating the mobile robot from a start point to an end point (the start point and the end point on the grid map may correspond to a start position of the mobile robot in reality and a target point to be moved to, respectively) may be first generated based on an existing path planning algorithm (such as a ×, Dijstra, JPS, etc.), and the initial set of path points is most likely to contain redundant path points. Therefore, for the initial path point set, it is first filtered, path points in the same direction are filtered, intermediate path points are filtered, and path points with changed direction, that is, direction inflection points, are retained, so that in the path point set obtained after filtering (referred to as the filtered path point set), the direction of the path composed of the intermediate path point and the previous path point is inevitably different for the adjacent three path points with respect to the direction of the path composed of the intermediate path point and the next path point (described later with reference to fig. 3 to fig. 4). The filtering is carried out on the initial path point set, so that the number of path points in the path point set for fitting the subsequent straight line can be reduced, and the calculation amount of fitting the subsequent straight line can be reduced. On the other hand, the path points in the same direction are on the same straight line, and the straight line fitting is not needed. After filtering, the resulting set of path points will include only the start point, end point and direction inflection point. And finally, performing straight line fitting on the filtered path point set to determine which path points can cross over adjacent path points and directly form a path which can be passed by the robot with non-adjacent path points in the filtered path point set. If such a waypoint exists, its neighboring waypoint can be deleted (since waypoints in the waypoint set at this time are directional inflection points except for the start point and the end point, at least part of the directional inflection points can be deleted). This may further reduce the waypoints in the waypoint set, resulting in a new waypoint set (referred to as the final waypoint set). The set of waypoints will contain the fewest number of waypoints. Therefore, according to the navigation path generation method for the mobile robot, the robot can move in any direction by performing linear fitting on the planned path points, redundant path points are reduced or even eliminated on the whole, a more accurate and shorter navigation path is obtained, broken lines in the planned path are reduced, the planned path of the robot is smoother, and the movement efficiency of the robot can be greatly improved.
Some example illustrations and example implementations of steps in a navigation path generation method 200 for a mobile robot according to the present application are described below in conjunction with fig. 3-7.
Fig. 3 is a schematic diagram illustrating an initial waypoint set obtained in a navigation path generation method for a mobile robot according to an embodiment of the present application. Fig. 4 is a schematic diagram illustrating a filtered set of waypoints obtained in the navigation path generation method for a mobile robot according to the embodiment of the present application.
As shown in fig. 3, first, via step S210, an initial path point set L is generated, which includes the following path points<A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R>. In the initial waypoint set L, paths AB, BC and CD, which contain many waypoints in the same direction, such as waypoints A, B, C and D, are all in the same direction, and thus can be filtered, filtering out the intermediate waypoints B and C, and preserving the origin point a and the direction inflection point D. Similarly, the waypoint E, G, H, J, L, N, O, Q may be filtered out, the direction inflection point F, I, K, M, P may be retained, and the end point R may be retained. After filtering, a filtered path point set L can be obtained0The set of waypoints L0Includes the following path points<A,D,F,I,K,M,P,R>As shown in fig. 4, in the set of waypoints, among the three adjacent waypoints, the direction of the path composed of the intermediate waypoint and the previous waypoint is different from the direction of the path composed of the intermediate waypoint and the subsequent waypoint, that is, the direction of the adjacent path is different.
After obtaining the filtered path point set L0Then, for the path point set L0And (6) performing straight line fitting. In an embodiment of the present application, the line fitting performed on the waypoints in the filtered set of waypoints includes at least one line fitting, and each line fitting may include: determining whether a path formed by the current path point and at least one non-adjacent path point behind the current path point can be passed by the mobile robot; deleting path points between the current path point and the non-adjacent path points when the path formed by the current path point and the non-adjacent path points is determined to be capable of being passed by the mobile robot; and when the path formed by the current path point and the non-adjacent path point is determined not to be passed by the mobile robot, finishing the straight line fitting. For the at least one straight line fitting, the first straight line fitting is performed from a starting point, the other straight line fittings can be performed from the ith straight line point in the set of straight line points obtained from the previous straight line fitting, wherein i is equal to the number of times that the current straight line fitting belongs to, and when the ith straight line point is the end point, the straight line fitting of the whole path is finally completed.
Since the previous path points in the path point set obtained by the previous straight line fitting have already been subjected to the straight line fitting, the calculation can be repeated, and the calculation is started from the ith path point, wherein i is equal to the number of times that the current straight line fitting belongs to. For example, the first straight line fit is for the filtered set of waypoints (L as described previously herein)0) Performing a first linear fitting to obtain a set L of path points1(ii) a The second straight line fit is to the set of waypoints L1Performing a second linear fitting to obtain a set L of path points2(ii) a The third linear fit is to the set of waypoints L2Executing the third time of straight line fitting to obtain a path point set L3(ii) a And so on. Since the second straight line fit is to the set of waypoints L1Performed, and a set of path points L1The 1 st path point in (1) is necessarily the starting point, which has already undergone the straight line fitting at the first straight line fitting, and need not be used again at the second straight line fitting, and thus the secondSub-line fitting from the set of path points L1The 2 nd waypoint in (1) may be executed. Similarly, since the third time the straight line fit is for the set of waypoints L2Performed, and a set of path points L2The 1 st waypoint in (1) is necessarily a starting point which has undergone straight line fitting at the time of the first straight line fitting, the 2 nd waypoint is a starting point at the time of the second straight line fitting which has undergone straight line fitting at the time of the second straight line fitting, and therefore the third straight line fitting is performed from the set of waypoints L2The 3 rd path point in (1) may be executed. And so on. Thus, in general, the first straight line fitting is performed from the starting point, and the remaining straight line fittings may be performed from the ith waypoint in the waypoint set obtained from the previous straight line fitting, where i is equal to the number of times the current straight line fitting belongs.
The above-described straight line fitting process is exemplarily described below with reference to fig. 5 and 6. Fig. 5 is a schematic diagram illustrating straight line fitting to a filtered set of waypoints in a navigation path generation method for a mobile robot according to an embodiment of the present application. Fig. 6 is a schematic diagram illustrating a final waypoint set obtained in the navigation path generating method for a mobile robot according to the embodiment of the present application.
As shown in FIG. 5, following the example shown in FIGS. 3 and 4, the filtered set of waypoints L0And (6) performing straight line fitting. Wherein, the filtered path point set L0Includes the following path points<A,D,F,I,K,M,P,R>. The first straight line fitting may sequentially determine whether or not the paths AF, AI, AK, AM, AP, and AR each composed of the current waypoint a and the at least one non-adjacent waypoint F, I, K, M, P, R subsequent thereto can be passed through by the mobile robot, starting from the start point a. When it is determined that one path can be passed by the mobile robot, continuing to determine whether a next path can be passed by the mobile robot; when it is determined that one path cannot be passed by the mobile robot, subsequent paths do not need to be determined whether the path can be passed by the mobile robot, and the straight line fitting is finished. For example, upon determination, it may be determined that the path AF can be passed by the mobile robot, the path AI can be passed by the mobile robot, and the path AK cannot be passed by the mobile robotAnd (4) passing. As shown in fig. 5, the dashed lines indicate the paths AF, AI, AK, up to which the first straight line fitting ends. Since the paths AF and AI can be passed by the mobile robot, the path points D between the paths AF and AI can be deleted, and then the path points F between the paths AI can be deleted, resulting in the path point set L after the first straight line fitting1，L1Including waypoints<A,I,K,M,P,R>。
Continuing with a second straight line fit from the set of waypoints L1Begins at the second waypoint I. It may be sequentially determined whether paths IM, IP, and IR each composed of the current waypoint I and the at least one non-adjacent waypoint M, P, R following the current waypoint I can be passed through by the mobile robot. Similarly as described above, when it is determined that one path can be passed by the mobile robot, it is continuously determined whether the next path can be passed by the mobile robot; when it is determined that one path cannot be passed by the mobile robot, subsequent paths do not need to be determined whether the path can be passed by the mobile robot, and the straight line fitting is finished. For example, upon determination, it may be determined that the path IM is passable by the mobile robot and the path IP is not passable by the mobile robot. As shown in fig. 5, the dashed lines mark the paths IM and IP until the second straight line fit is complete. Since the paths IM can be passed by the mobile robot, path points K between the paths IM can be deleted, and a path point set L after the second straight line fitting is obtained2，L2Including waypoints<A,I,M,P,R>。
Continuing with a third straight line fit from the set of waypoints L2The third waypoint M begins. It may be sequentially determined whether a path MR composed of the current path point M and at least one non-adjacent path point R following the current path point M can be passed by the mobile robot. For example, upon judgment, it can be determined that the path MR can be passed by the mobile robot. As shown in fig. 5, the dashed line marks the path MR until this third straight line fit is complete. Path points P between the paths MR can be deleted because the paths MR can be passed by the mobile robot, and the path point set after the third linear fitting is obtained after the whole linear fitting process is finished after the third linear fitting is combined because R is the end point of the whole pathAnd then L3I.e. the final set of waypoints, which contains the waypoints<A,I,M,R>As shown in fig. 6.
The straight line fitting process of the navigation path generation method for a mobile robot according to the embodiment of the present application is exemplarily shown above.
In one embodiment of the present application, determining whether a path composed of the current waypoint and the non-adjacent waypoint can be passed through by the mobile robot may be performed by: calculating the angle of a connecting line of the current path point and the non-adjacent path point on a geodetic coordinate system relative to a reference coordinate axis, wherein the reference coordinate axis is a horizontal coordinate axis or a vertical coordinate axis in the geodetic coordinate axis; rotating the geodetic coordinate axis based on the angle to enable the connecting line to be parallel to the reference coordinate axis to obtain a new geodetic coordinate system; based on the size of the mobile robot, expanding a connecting line of the current path point and the non-adjacent path point on the new geodetic coordinate system into a geometric area; determining whether the position of the geometric area on the grid map can be passed by the mobile robot, thereby determining whether a path composed of the current waypoint and the non-adjacent waypoint can be passed by the mobile robot.
Specifically, the calculating an angle of a connecting line of the current waypoint and the non-adjacent waypoint on the geodetic coordinate system with respect to a reference coordinate axis may include: converting coordinates of the current path point and the non-adjacent path points from grid map coordinates to geodetic coordinates; and calculating the angle of the connecting line of the current path point and the non-adjacent path point on the geodetic coordinate system relative to the reference coordinate axis based on the converted geodetic coordinates.
In addition, the expanding, based on the size of the mobile robot, a connection line between the current waypoint and the non-adjacent waypoint on the new geodetic coordinate system into a geometric region may include: converting coordinates of the current waypoint and the non-adjacent waypoint from geodetic coordinates to coordinates on the new geodetic coordinate system; and expanding a connecting line of the current path point and the non-adjacent path point on the new geodetic coordinate system into a rectangular area based on the coordinates on the new geodetic coordinate system and the size of the mobile robot.
Further, the determining whether the position of the geometric area on the grid map is passable by the mobile robot, so as to determine whether a path composed of the current waypoint and the non-adjacent waypoint is passable by the mobile robot, may include: converting the vertex coordinates of the geometric area from the coordinates on the new geodetic coordinate system into grid map coordinates to obtain a new geometric area on the grid map; determining whether each point in the new geometric region is passable by the mobile robot; determining that a path composed of the current waypoint and the non-adjacent waypoint is passable by the mobile robot when it is determined that each point in the new geometric region is passable by the mobile robot; when determining that any point in the new geometric area cannot be passed by the mobile robot, determining that a path formed by the current waypoint and the non-adjacent waypoint cannot be passed by the mobile robot.
An exemplary process of determining whether the path composed of the current waypoint and the non-adjacent waypoint can be passed by the mobile robot in the above-described embodiment is described below with reference to fig. 7.
Fig. 7 is a schematic process diagram illustrating a process of determining whether a path composed of a current waypoint and non-adjacent waypoints can be passed through by a mobile robot in a navigation path generation method for a mobile robot according to an embodiment of the present application.
As shown in fig. 7, following the examples of fig. 5 and 6, assuming that it is currently necessary to determine whether or not a path AF composed of a current waypoint a and a non-adjacent waypoint F can be passed through by the mobile robot, coordinates of the waypoint a and the waypoint F may be converted from grid map coordinates to geodetic coordinates, resulting in waypoint a 'and waypoint F'. Based on the transformed geodetic coordinates, i.e., the coordinates of the path point a 'and the path point F', the a 'F' connecting line is calculated with respect to a reference coordinate axis (shown as a horizontal coordinate axis in fig. 7, and in other examples, may be a vertical coordinate axisAxis) of the shaft. Let the coordinates of the path point A 'and the path point F' be (x), respectively1，y1) And (x)2，y2) The calculation of the angle α is then seen in the following equation:
then, the geodetic coordinate axis is rotated based on the angle α so that the connecting line a 'F' is parallel to the reference coordinate axis, resulting in a new geodetic coordinate system. For example, the original geodetic coordinate axis may be rotated counterclockwise (or clockwise) by an angle α to obtain a new geodetic coordinate system. After the new coordinate system is obtained, the coordinates of waypoint a 'and waypoint F' are also converted into coordinates on the new geodetic coordinate system, i.e., the coordinates of waypoint a "and waypoint F". Arbitrary coordinates (x) of original geodetic coordinate system0,y0) The coordinates (x, y) after conversion into the new coordinate system can adopt the following formula:
x＝x0 cosα-y0 sinα
y＝x0 sinα+y0 cosα
then, the connecting line of the path point a "and the path point F" may be expanded into a geometric area based on the coordinates of the path point a "and the path point F" and the size of the mobile robot. Since the mobile robot is large and generally not a thin line, an area that the mobile robot can pass through on the a "F" connection line may be defined as the geometric area S. In one example, the geometric region is a rectangular region. In one example, the a "F" line is the horizontal centerline of the rectangular region. After obtaining the geometric area S, the coordinates of the area S may be converted back to grid map coordinates to obtain a geometric area S ', and then it is determined whether the mobile robot can pass through the geometric area S'. The new geodetic coordinate system can be converted into the original geodetic coordinate system and then into the grid map coordinate system. Wherein the new geodetic coordinate system has arbitrary coordinates (x)0,y0) And converted into the original coordinate system coordinates (x, y) through the following formula:
x＝x0 cosα+y0 sinα
y＝-x0 sinα+y0 cosα
since the mobile robot is already able to determine which areas on the grid map are accessible and which are not when building the grid map. Therefore, when the coordinates of the area S are converted back to the grid map coordinates, the geometric area S 'is obtained, and it can be directly determined whether the mobile robot can pass through the geometric area S'. When it is determined that the mobile robot can pass through the geometric area S', it may be finally determined that the path AF composed of the current waypoint a and the non-adjacent waypoint F can be passed through by the mobile robot. On the contrary, when it is determined that the mobile robot cannot pass through the geometric area S', it may be finally determined that the path AF composed of the current waypoint a and the non-adjacent waypoint F cannot be passed through by the mobile robot.
In one example, it may be determined whether the geometric region S' can be passed by the mobile robot by: determining whether each point in the geometric region S' can be passed by a mobile robot; when each point in the geometric area S 'is determined to be passed by the mobile robot, determining that the mobile robot can pass through the geometric area S', namely determining that a path AF formed by the current path point A and the non-adjacent path point F can be passed by the mobile robot; and when determining that any point in the geometric area S 'can not be passed by the mobile robot, determining that the mobile robot can not pass through the geometric area S', namely determining that a path AF formed by the current path point A and the non-adjacent path point F can not be passed by the mobile robot.
One example process for determining whether a path composed of a current waypoint and non-adjacent waypoints can be traversed by the mobile robot is described above in connection with fig. 7. In other embodiments of the present application, it may also be determined whether a path formed by the current waypoint and the non-adjacent waypoint can be passed through by the mobile robot in other manners. For example, in one embodiment, this may be accomplished by: and converting a path consisting of the current path point and the non-adjacent path point from the grid map into a geodetic coordinate system, and then determining whether a physical path corresponding to the path can pass through the mobile robot. And if the physical path corresponding to the path can be passed by the robot, indicating whether the path formed by the current path point and the non-adjacent path point can be passed by the mobile robot. On the contrary, if the physical path corresponding to the path cannot be passed by the robot, it indicates that the path formed by the current path point and the non-adjacent path point cannot be passed by the mobile robot.
Based on the above description, according to the navigation path generation method for the mobile robot in the embodiment of the application, the robot can move in any direction by performing linear fitting on the planned path points, so that redundant path points are reduced or even eliminated on the whole, a more accurate and shorter navigation path is obtained, broken lines in the planned path are reduced, the planned path of the robot is smoother, and the movement efficiency of the robot can be greatly improved. The method is particularly suitable for application scenes with few barrier areas and low map precision.
The above exemplarily illustrates a navigation path generation method for a mobile robot according to an embodiment of the present application. A mobile robot provided according to another aspect of the present application is described below in conjunction with fig. 8. Fig. 8 shows a schematic block diagram of a mobile robot 800 according to an embodiment of the present application. As shown in fig. 8, the mobile robot 800 includes a memory 810, a processor 820, a motion module 830, and a cleaning assembly 840. Wherein: the memory 810 has stored thereon computer readable instructions executed by the processor 820, which when executed by the processor 820, cause the processor 820 to execute a navigation path generation method for a mobile robot according to an embodiment of the present application (the navigation path generation method 200 for a mobile robot as described above) to generate a navigation path; the motion module 830 is configured to drive the mobile robot 800 to move based on the navigation path generated by the processor 820; the cleaning assembly 840 is used to clean an area to be cleaned after the mobile robot 800 moves to the area to be cleaned (such as a floor, a table, a carpet, etc.), and/or to clean a location where the mobile robot 800 is located (such as a floor, a table, a carpet, etc.) during movement of the mobile robot 800. The mobile robot 800 according to an embodiment of the present application may perform the navigation path generating method 200 for a mobile robot according to an embodiment of the present application described above. The structure of the mobile robot 800 and its specific operation can be understood by those skilled in the art with reference to the foregoing description, and therefore, for brevity, will not be described in detail herein.
In an embodiment of the present application, the mobile robot 800 may further include a sensor (not shown), which may be used to collect map information of an area to be moved, and the processor 820 may also be used to construct a grid map based on the map information. In other embodiments, the mobile robot 800 may not include a sensor, and the processor 820 may obtain map information from other approaches to construct a grid map, such as from other robots or other electronic devices that have obtained map information for the same area to be moved.
Further, according to an embodiment of the present application, there is also provided a storage medium on which program instructions are stored, which when executed by a computer or a processor, are used to execute the corresponding steps of the navigation path generation method for a mobile robot of the embodiment of the present application. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media.
Further, according to an embodiment of the present application, there is also provided a computer program for executing the corresponding steps of the navigation path generation method for a mobile robot of the embodiment of the present application when the computer program is executed by a computer or a processor.
Based on the above description, according to the navigation path generation method for the mobile robot and the mobile robot of the embodiment of the application, the robot can move in any direction by performing linear fitting on the planned path points, so that redundant path points are reduced or even eliminated as a whole, a more accurate and shorter navigation path is obtained, broken lines in the planned path are reduced, the planned path of the robot is smoother, and the movement efficiency of the robot can be greatly improved.
Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above-described example embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present application should not be construed to reflect the intent: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present application. The present application may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiments of the present application or the description thereof, and the protection scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope disclosed in the present application, and shall be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A navigation path generation method for a mobile robot, the method comprising:
constructing a grid map, determining a starting point and an end point in the grid map, and generating an initial path point set for navigating the mobile robot from the starting point to the end point;
filtering the path points in the initial path point set, filtering intermediate path points in the same direction, and reserving a direction inflection point to obtain a filtered path point set, wherein the filtered path point set comprises the starting point, the direction inflection point and the end point;
and performing straight line fitting on the path points in the filtered path point set to delete at least part of the direction inflection points in the filtered path point set to obtain a final path point set which is used as a navigation path for navigating the mobile robot from the starting point to the end point.
2. The method of claim 1, wherein the line fitting to the waypoints in the filtered set of waypoints comprises at least one line fitting, each line fitting comprising:
determining whether a path composed of the current path point and at least one non-adjacent path point behind the current path point can be passed by the mobile robot;
deleting path points between the current path point and the non-adjacent path points when determining that the path composed of the current path point and the non-adjacent path points can be passed by the mobile robot;
and when the path formed by the current path point and the non-adjacent path point is determined not to be passed by the mobile robot, finishing the linear fitting.
3. The method according to claim 2, wherein for the at least one straight line fitting, a first straight line fitting is performed from the starting point, and the remaining straight line fittings are performed from the ith path point in the path point set obtained by the previous straight line fitting, wherein i is equal to the number of times the current straight line fitting belongs to, and when the ith path point is the end point, the straight line fitting of the whole path is finally completed.
4. The method of claim 2, wherein determining whether a path formed by a current waypoint and the non-adjacent waypoint is passable by the mobile robot comprises:
calculating the angle of a connecting line of the current path point and the non-adjacent path point on a geodetic coordinate system relative to a reference coordinate axis, wherein the reference coordinate axis is a horizontal coordinate axis or a vertical coordinate axis in the geodetic coordinate axis;
rotating the geodetic coordinate axis based on the angle to enable the connecting line to be parallel to the reference coordinate axis to obtain a new geodetic coordinate system;
based on the size of the mobile robot, expanding a connecting line of the current path point and the non-adjacent path point on the new geodetic coordinate system into a geometric area;
determining whether the position of the geometric area on the grid map can be passed by the mobile robot, thereby determining whether a path composed of the current waypoint and the non-adjacent waypoint can be passed by the mobile robot.
5. The method of claim 4, wherein calculating the angle of the line connecting the current waypoint and the non-adjacent waypoint on the geodetic coordinate system with respect to a reference coordinate axis comprises:
converting coordinates of the current path point and the non-adjacent path points from grid map coordinates to geodetic coordinates;
and calculating the angle of the connecting line of the current path point and the non-adjacent path point on the geodetic coordinate system relative to the reference coordinate axis based on the converted geodetic coordinates.
6. The method of claim 4, wherein expanding the line connecting the current waypoint and the non-adjacent waypoint on the new geodetic coordinate system to a geometric area based on the size of the mobile robot comprises:
converting coordinates of the current waypoint and the non-adjacent waypoint from geodetic coordinates to coordinates on the new geodetic coordinate system;
and expanding a connecting line of the current path point and the non-adjacent path point on the new geodetic coordinate system into a rectangular area based on the coordinates on the new geodetic coordinate system and the size of the mobile robot.
7. The method of claim 6, wherein the connecting line is a horizontal center line of the rectangular region.
8. The method of any one of claims 4-7, wherein said determining whether the location of the geometric region on the grid map is passable by the mobile robot, and thereby determining whether the path formed by the current waypoint and the non-adjacent waypoint is passable by the mobile robot, comprises:
converting the vertex coordinates of the geometric area from the coordinates on the new geodetic coordinate system into grid map coordinates to obtain a new geometric area on the grid map;
determining whether each point in the new geometric region is passable by the mobile robot;
determining that a path composed of the current waypoint and the non-adjacent waypoint is passable by the mobile robot when it is determined that each point in the new geometric region is passable by the mobile robot;
when determining that any point in the new geometric area cannot be passed by the mobile robot, determining that a path formed by the current waypoint and the non-adjacent waypoint cannot be passed by the mobile robot.
9. A mobile robot, comprising a memory, a processor, a motion module, and a cleaning assembly, wherein:
the memory has stored thereon computer-readable instructions executed by the processor, which, when executed by the processor, cause the processor to generate a navigation path by executing the navigation path generation method for a mobile robot of any one of claims 1-8;
the motion module is used for driving the mobile robot to move based on the navigation path generated by the processor;
the cleaning assembly is used for cleaning the area to be cleaned after the mobile robot moves to the area to be cleaned, and/or is used for cleaning the position of the mobile robot in the moving process of the mobile robot.
10. The mobile robot of claim 9, further comprising a sensor configured to collect map information of an area to be moved, the processor further configured to construct a grid map based on the map information.
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