CN114431771B - Sweeping method of sweeping robot and related device - Google Patents
Sweeping method of sweeping robot and related device Download PDFInfo
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- CN114431771B CN114431771B CN202111670545.XA CN202111670545A CN114431771B CN 114431771 B CN114431771 B CN 114431771B CN 202111670545 A CN202111670545 A CN 202111670545A CN 114431771 B CN114431771 B CN 114431771B
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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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The application discloses a sweeping robot sweeping method and a related device, and the method comprises the following steps: controlling the sweeping robot to move along the area boundary of the area to be swept to obtain first path information; generating an area planning map based on the first path information, and performing full-coverage path planning on an area to be cleaned according to the area planning map to obtain second path information; and in response to that the full-house cleaning according to the second path information is not finished, dispatching the cleaning robot to the next area to be cleaned, and returning to the step of controlling the cleaning robot to move along the area boundary of the area to be cleaned where the cleaning robot is located to obtain the first path information. This can improve the cleaning efficiency.
Description
Technical Field
The application belongs to the technical field of sweeping robots, and particularly relates to a sweeping method and a related device of a sweeping robot.
Background
With the development of science and technology, smart home devices gradually appear in daily life of people. The robot of sweeping the floor is one kind of intelligent household equipment, because it can accomplish ground cleaning work at indoor intelligence, can liberate people's both hands to a certain extent, therefore it receives consumer's favor more and more. The design of the cleaning method is one of the important preconditions that the sweeping robot can realize the cleaning function of the whole house, and the high-performance cleaning method often needs to meet the following conditions: the cleaning path needs to cover the whole house; the cleaning path can be adjusted in real time in the face of dynamic/static obstacles; ensuring the high efficiency of cleaning. However, the existing sweeping robot sweeping method starts the full-coverage path planning and sweeping only after the whole house edge operation is completed, and when the house area is too large, the sweeping method has low efficiency and can not carry out simple obstacle avoidance operation on the known obstacles on the map, and the obstacles can not be swept close to the edges of the obstacles, so that the problems of low sweeping coverage rate and poor sweeping effect are caused. Therefore, a new cleaning method of the cleaning robot is needed to solve the above problems.
Disclosure of Invention
The application provides a sweeping robot sweeping method and a related device, which are used for solving the problems that when a whole house is swept, the whole house moves edgewise and then covers a path completely and the sweeping coverage rate of the edge of an obstacle is low.
In order to solve the technical problem, the application adopts a technical scheme that: provided is a sweeping method of a sweeping robot, comprising the following steps: controlling the sweeping robot to move along the area boundary of the area to be swept to obtain first path information; wherein the zone boundary comprises a wall and/or a virtual boundary of the zone to be cleaned; generating an area planning map based on the first path information, and performing full-coverage path planning on the area to be cleaned according to the area planning map to obtain second path information; and in response to that the whole-house cleaning according to the second path information is not finished, dispatching the sweeping robot to a next area to be cleaned, and returning to the step of controlling the sweeping robot to move along the area boundary of the area to be cleaned where the sweeping robot is located so as to obtain the first path information.
The step of controlling the sweeping robot to move along the boundary of the area to be swept, where the sweeping robot is located, to obtain the first path information includes: controlling the sweeping robot to move along the region boundary, and dynamically generating the virtual boundary in the process of moving along the region boundary; the sweeping robot comprises a sweeping robot body, a first path information storage unit, a second path information storage unit and a control unit, wherein the sweeping robot body records and obtains the first path information in the moving process of the sweeping robot body, and the first path information comprises an x coordinate, a y coordinate and a steering angle of the sweeping robot body in a world coordinate system.
The virtual boundary is generated based on a local coordinate system, the origin of the local coordinate system is the closest point of the sweeping robot to the regional boundary, the x axis is the straight line where the regional boundary is located, and the y axis is the straight line perpendicular to the regional boundary; the step of dynamically generating the virtual boundary during the movement along the region boundary includes: in response to the sweeping robot moving to a first preset position and the direction of the sweeping robot being parallel to the x-axis, and in response to no region boundary existing within a preset distance right in front of the sweeping robot, generating a virtual boundary perpendicular to the x-axis at the first preset position; wherein the first preset position is associated with the x-axis.
Wherein the step of dynamically generating the virtual boundary during the movement along the region boundary further comprises: in response to the sweeping robot moving to a second preset position and the direction of the sweeping robot being perpendicular to the x-axis, and in response to no region boundary existing within a preset distance directly in front of the sweeping robot, generating a virtual boundary parallel to the x-axis at the second preset position; wherein the second preset position is associated with the y-axis.
Wherein the area planning map has a grid boundary thereon; the step of generating an area planning map based on the first path information includes: fitting the first path information to obtain a first endpoint set of the edge of the area to be cleaned through an iterative endpoint fitting algorithm; wherein the first set of endpoints includes a plurality of polygon endpoints; traversing the polygon endpoints, generating a first grid label on the area planning map by using the polygon endpoints, and setting a grid at the first grid label as a first boundary of the area planning map; setting a grid inside the first boundary to an idle value and setting a grid outside the first boundary to an obstacle value.
Wherein, in response to that the whole-house sweeping according to the second path information is not finished, the method further includes, before the step of dispatching the sweeping robot to the next area to be swept and returning to the step of controlling the sweeping robot to move along the area boundary of the area to be swept where the sweeping robot is located to obtain the first path information: responding to the situation that the sweeping robot meets an obstacle in the process of sweeping according to the second path information, controlling the sweeping robot to detour the obstacle for one circle and obtaining obstacle detouring path information; and updating the area planning map according to the obstacle detouring path information, and returning to the step of carrying out full-coverage path planning on the area to be cleaned according to the area planning map to obtain second path information.
Wherein the step of updating the regional planning map according to the obstacle detour path information comprises: fitting the obstacle detouring path information to obtain a second endpoint set of the barrier region edge through an iterative endpoint fitting algorithm; wherein the second set of endpoints includes a plurality of obstacle points therein; traversing the plurality of obstacle points, generating a second grid label on the regional planning map by using the obstacle points, and setting a grid at the second grid label as a second boundary of the regional planning map; setting a grid inside the second boundary to an obstacle value.
Wherein, the step of controlling the sweeping robot to detour the obstacle for a circle and obtain obstacle detouring path information in response to the sweeping robot encountering the obstacle in the process of sweeping according to the second path information includes: controlling the sweeping robot to sweep according to the second path information; and in response to the fact that the sweeping robot detects the obstacle in the sweeping process according to the second path information, and in response to the fact that the distance between the sweeping robot and the obstacle is smaller than or equal to a first threshold value, the sweeping robot is controlled to detour the obstacle for a circle and obstacle detouring path information is obtained.
Wherein, the step of dispatching the sweeping robot to the next area to be swept in response to the fact that the whole house sweeping is not finished, and returning to the step of controlling the sweeping robot to move along the area boundary of the area to be swept where the sweeping robot is located so as to obtain the first path information comprises the following steps: obtaining the area of a first area which is swept by the sweeping robot; and responding to the fact that the difference value between the area of the whole area and the area of the first area is larger than an area threshold value, judging that the whole-house cleaning is not finished, dispatching the sweeping robot to the next area to be cleaned, and returning to the step of controlling the sweeping robot to move along the area boundary of the area to be cleaned where the sweeping robot is located so as to obtain first path information.
Wherein, after the step of obtaining the area of the first area which is cleaned by the sweeping robot, the method further comprises the following steps: and responding to the fact that the difference value between the whole area and the first area is larger than the area threshold value, judging that the whole house cleaning is not finished, dispatching the sweeping robot to an un-cleaned area, and returning to the step of controlling the sweeping robot to move along the area boundary of the area to be cleaned where the sweeping robot is located so as to obtain first path information.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided an electronic device, comprising a memory and a processor, which are coupled to each other, wherein the memory stores program instructions, and the processor is configured to execute the program instructions to implement the cleaning method of the sweeping robot mentioned in any of the above embodiments.
In order to solve the above technical problem, the present application adopts another technical solution: there is provided a computer-readable storage medium storing a computer program for implementing the cleaning method of the sweeping robot in any one of the above embodiments.
Different from the prior art, the beneficial effects of the application are that: the sweeping robot sweeping method provided by the application comprises the following steps: controlling the sweeping robot to move along the area boundary of the area to be swept to obtain first path information; wherein the zone boundary comprises a wall and/or a virtual boundary of the zone to be cleaned; generating an area planning map based on the first path information, and performing full-coverage path planning on an area to be cleaned according to the area planning map to obtain second path information; and in response to that the whole-house cleaning according to the second path information is not finished, dispatching the cleaning robot to the next area to be cleaned, and returning to the step of controlling the cleaning robot to move along the area boundary of the area to be cleaned where the cleaning robot is located so as to obtain the first path information. Therefore, the problem that the whole house is moved along the edge and then the path is covered completely when the whole house is cleaned can be solved, the cleaning coverage rate of the edge of the barrier can be improved, and the cleaning efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic flow chart of a cleaning method of a cleaning robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of an embodiment corresponding to step S2 in FIG. 1;
FIG. 3 is a schematic diagram of a curve fitting based on an iterative endpoint fitting algorithm;
FIG. 4 is a schematic flow chart diagram illustrating one embodiment corresponding to steps S3-S5 in FIG. 1;
FIG. 5 is a schematic flow chart of an embodiment corresponding to step S6 in FIG. 1;
FIG. 6 is a schematic flow chart diagram illustrating one embodiment corresponding to steps S7-S9 in FIG. 1;
fig. 7 is a schematic frame diagram of an embodiment of a sweeping robot cleaning device according to the present application;
FIG. 8 is a block diagram of an embodiment of an electronic device of the present application;
FIG. 9 is a block diagram of an embodiment of a computer-readable storage medium of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
At present, the cleaning method of the sweeping robot generally has the following defects: the cleaning method is implemented on the premise that the sweeper completes construction of a map, the map must be constructed firstly and then cleaned in the face of an unknown environment, namely complete house edge operation needs to be executed, full-coverage path planning cleaning is started, and when the area of a house is too large, the cleaning method is low in efficiency; the method comprises the following steps of performing simple obstacle avoidance operation on a known obstacle on a map, and failing to close to the edge of the obstacle for cleaning, thereby causing the problems of low cleaning coverage rate and poor cleaning effect; because the obstacle information is obtained by means of the edgewise movement, the sweeper does not have the adaptability to the dynamic environment in the full-coverage sweeping process. The robot for sweeping the floor has the concrete embodiment that the sweeping robot cannot avoid the obstacle for the temporarily placed obstacle. The sweeping robot sweeping method provided by the application can solve the problems. The sweeping method of the sweeping robot provided by the application is described in detail.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a cleaning method of a sweeping robot according to the present application. The sweeping method of the sweeping robot comprises the following steps:
s1: and controlling the sweeping robot to move along the area boundary of the area to be swept, where the sweeping robot is located, so as to obtain first path information.
In particular, the zone boundaries include walls and/or virtual boundaries of the zone to be cleaned. In this embodiment, the whole house is divided into a plurality of areas to be cleaned, the area length of the area to be cleaned is l, the width of the area to be cleaned is w, and the area boundary of the area to be cleaned may be a solid wall or a virtual boundary. Of course, in other embodiments, the length and the width of the region to be cleaned may be set according to actual needs, and the present application is not limited herein.
In an application scenario, step S1 specifically includes: and controlling the sweeping robot to move along the boundary of the area, and dynamically generating a virtual boundary in the process of moving along the boundary of the area. Optionally, in this embodiment, the first path information is recorded and obtained during the movement of the sweeping robot, and the first path information includes an x coordinate, a y coordinate, and a steering angle of the sweeping robot in a world coordinate system. Specifically, the first Path information is pose information of the sweeping robot, and the first Path information may be specifically represented by Path = [ x, y, th ], where x, y, and th respectively represent an x coordinate, a y coordinate, and a steering angle of the sweeping robot in a world coordinate system.
Specifically, the sweeping robot moves to the wall/virtual boundary of the area to be swept after being powered on, and establishes a local coordinate system (right-hand coordinate system) to generate the virtual boundary. Optionally, the virtual boundary is generated based on a local coordinate system, where an origin O of the local coordinate system is a point of the sweeping robot closest to the area boundary, an x-axis is a straight line where the area boundary is located, and a y-axis is a straight line perpendicular to the area boundary. The boundary along which the sweeping robot is positioned is a physical wall/dynamically generated virtual boundary. Specifically, in this embodiment, the step of dynamically generating the virtual boundary in the process of moving along the region boundary specifically includes:
A. and generating a virtual boundary perpendicular to the x axis at the first preset position in response to the sweeping robot moving to the first preset position and the sweeping robot facing in parallel with the x axis and in response to the sweeping robot being not located within a preset distance directly in front of the area boundary. Preferably, the first predetermined position is associated with the x-axis. Specifically, in the embodiment, in the process of the edgewise movement, when the sweeping robot moves to the w/2 position of the x axis and the direction of the sweeping robot is parallel to the x axis, whether an area boundary exists in the range of the preset distance Dist right in front of the sweeping robot is judged; if the region boundary exists, continuing to move along the edge; if no region boundary exists, a virtual boundary of length l perpendicular to the x-axis is generated at the w/2 position of the x-axis, and the edge motion is continued. When the sweeping robot moves for one circle and then continues to move edgewise, in the edgewise moving process, when the sweeping robot moves to the position of x axis-w/2 and the direction of the sweeping robot is parallel to the x axis, judging whether an area boundary exists in the range of a preset distance Dist right in front of the sweeping robot or not; if the region boundary exists, continuing to move along the edge; if no region boundary exists, a virtual boundary which is perpendicular to the x-axis and has the length of l is generated at the position of-w/2 of the x-axis, and the motion along the edge is continued. The preset distance Dist generally takes the value of 1m, the width w and the length l generally take the value of 5m, and the width w and the length l generally take the value of the initially set region length and width; of course, in other embodiments, these values may be set according to actual needs, and the present application is not limited herein.
B. And generating a virtual boundary parallel to the x axis at the second preset position in response to the sweeping robot moving to the second preset position and the sweeping robot facing perpendicular to the x axis, and in response to the sweeping robot not having an area boundary within a preset distance right in front of the sweeping robot. Preferably, the second predetermined position is associated with the y-axis. Specifically, in the embodiment, in the process of the edgewise movement, when the sweeping robot moves to the position l of the y axis and the direction of the sweeping robot is perpendicular to the x axis, whether an area boundary exists in the range of the preset distance Dist right in front of the sweeping robot is judged; if the region boundary exists, continuing to move along the edge; if there is no region boundary, a virtual boundary of length w parallel to the x-axis is generated at position l on the y-axis and motion is continued edgewise. When the sweeping robot moves for one circle and then continues to move edgewise, in the edgewise moving process, when the sweeping robot moves to the position 0 of the y axis and the direction of the sweeping robot is perpendicular to the x axis, judging whether an area boundary exists in the range of a preset distance Dist right in front of the sweeping robot or not; if the region boundary exists, continuing to move along the edge; otherwise, a virtual boundary of length w parallel to the x-axis is generated at y-axis 0, and the edgewise motion continues. If there is no region boundary, a virtual boundary of length w parallel to the x-axis is generated at the 0 position of the y-axis and motion along the edge is continued. The preset distance Dist is generally 1m, the width w and the length l are the length and the width of the initially set area, and the width w and the length l are generally 5m; of course, in other embodiments, these values may be set according to actual needs, and the present application is not limited herein.
By the aid of the cleaning mode for dynamically dividing the area, the problem of excessive division caused by the fact that a virtual boundary generated only by setting a maximum area is too close to a solid wall is solved, and accordingly cleaning efficiency is improved.
After that, judging whether the sweeping robot moves to the coordinate origin O again; if yes, ending; if not, controlling the sweeping robot to continue moving along the edge.
S2: and generating an area planning map based on the first path information, and performing full-coverage path planning on the area to be cleaned according to the area planning map to obtain second path information.
Specifically, in this embodiment, the area planning map has a grid boundary thereon. Referring to fig. 2, fig. 2 is a schematic flowchart illustrating an embodiment corresponding to step S2 in fig. 1. The step of generating the area planning map based on the first path information in step S2 specifically includes:
s10: and fitting the first path information to obtain a first endpoint set along the edge of the area to be cleaned through an iterative endpoint fitting algorithm.
Specifically, the first set of end points includes a plurality of polygon end points polygon points. And fitting the first Path information Path recorded in the previous step by an Iterative End Point fitting algorithm (IPEF) to obtain a polygon ordered End Point set along the edge of the area to be cleaned, namely a first End Point set. Specifically, the iterative endpoint fitting algorithm is a method for performing discrete point curve fitting in digital image processing, please refer to fig. 3, and fig. 3 is a schematic diagram of curve fitting based on the iterative endpoint fitting algorithm. The process of curve fitting is approximately a, 2 end points AB of a discrete point set are connected, and the distance from each point in the discrete point set to a straight line AB is calculated; b. setting a distance threshold, finding out a point C with the largest distance from the point AB, if the value of the distance from the point to the straight line AB is smaller than the distance threshold, considering that the points in the two end points belong to the same group of points, and fitting by using a certain function; c. otherwise, entering the step b; d. connecting the AC and the CB, then performing iterative fitting on each line segment according to the steps a and b until points with all distances exceeding a threshold value are found, namely turning points, and fitting by adopting a certain function if points in adjacent turning points are a group. In addition, the distance threshold of the iterative endpoint fitting algorithm is generally set to about 0.1 m. Of course, in other embodiments, the value may be set according to actual needs, and the present application is not limited herein.
S11: and traversing a plurality of polygon endpoints, generating a first grid label on the regional planning map by using the polygon endpoints, and setting a grid at the first grid label as a first boundary of the regional planning map.
Specifically, a plurality of polygon endpoints in the first endpoint set are traversed, each two polygon endpoints generate a first grid label on the regional planning map sequentially through Bresenham algorithm, and a grid at the first grid label is set as a boundary value, namely a first boundary of the regional planning map, so that the regional planning map with the grid boundary is obtained. Among them, bresenham's algorithm is the most widely used method for converting the linear scan in the field of computer graphics, and is not described herein again.
S12: the grid inside the first boundary is set to a free value and the grid outside the first boundary is set to an obstacle value.
Further, setting grids inside a first boundary on the area planning map as idle values to represent the area to be cleaned; a grid outside the first boundary on the area plan map is set to an obstacle value representing that there may be an obstacle.
Therefore, a complete area planning map of the whole house can be generated based on the first path information path, and then the full coverage path planning is performed on the area to be cleaned according to the area planning map to obtain the second path information, preferably the zigzag full coverage path planning. Specifically, the algorithm flow of the full coverage path planning is roughly: planning a path from an initial point to the upper left corner of the first cell; the depth-first search links each cell; performing BoustrophenoonPath full-coverage path planning in each cell; searching for an entrance into the next area; and searching for intersection connection paths, namely second path information. Through the mode of dynamic division area cleaning, the problem that when the area of a house is too large, the whole house moves along the edge and then the full-coverage path is cleaned efficiently is solved, hardware computing resources are saved, an initial map is not required to be built aiming at an unknown environment, the map can be built while the cleaning is carried out, and the cleaning efficiency is further improved.
S3: and judging whether the sweeping robot meets the obstacle or not in the sweeping process according to the second path information.
Specifically, after the second path information is obtained in step S2 and before step S7 is executed, the sweeping robot performs global guiding motion by using the second path information after the full coverage path planning, and determines whether the sweeping robot encounters an obstacle during the motion process.
S4: and if so, controlling the sweeping robot to detour the obstacle for a circle and acquiring obstacle detouring path information.
Specifically, if the sweeping robot encounters an obstacle during the sweeping process, the sweeping robot is controlled to detour the obstacle for a circle and obtain obstacle detouring path information, and the process proceeds to step S6.
S5: otherwise, controlling the sweeping robot to continue sweeping according to the second path information.
Specifically, if the sweeping robot does not encounter an obstacle in the sweeping process, the sweeping robot is controlled to continue to sweep according to the second path information.
In an application scenario, please refer to fig. 4, where fig. 4 is a schematic flowchart of an embodiment corresponding to steps S3-S5 in fig. 1. Steps S3-S5 specifically include:
s20: and controlling the sweeping robot to sweep according to the second path information.
S21: and judging whether the sweeping robot detects the obstacle in the sweeping process according to the second path information.
Specifically, in this embodiment, during the global guiding motion, the obstacle detection is performed according to a sensing sensor, which may be a laser radar, a line laser, an RGB-D camera, or the like, and is not limited herein. This senses obstacles in real time to perform an edge-wise obstacle detour.
S22: if so, judging whether the distance between the sweeping robot and the obstacle is smaller than or equal to a first threshold value.
Specifically, if an obstacle is detected, it is determined whether the distance between the sweeping robot and the obstacle is smaller than or equal to a first threshold value, where the first threshold value is set to dis, and the value of dis is generally a value larger than about 1cm of the radius of the body of the sweeping robot, which is not limited herein.
S23: otherwise, it returns to step S20.
Specifically, if no obstacle is detected, the control returns to the step of controlling the sweeping robot to carry out sweeping according to the second path information.
S24: if yes, the sweeping robot is judged to encounter the obstacle, the sweeping robot is controlled to detour the obstacle for a circle, and obstacle detouring path information is obtained.
Specifically, if the distance between the sweeping robot and the obstacle is smaller than or equal to a first threshold value, which indicates that the sweeping robot encounters the obstacle, the sweeping robot is controlled to detour the obstacle for a circle, and obstacle detouring path information is obtained.
S25: otherwise, judging that the sweeping robot does not encounter the obstacle, and returning to the step S20.
Specifically, if the distance between the sweeping robot and the obstacle is greater than the first threshold value, which indicates that the sweeping robot does not encounter the obstacle, the step of controlling the sweeping robot to carry out sweeping according to the second path information is returned.
Through this kind of design, the robot of sweeping the floor adopts the mode of obstacle detouring along the limit when meetting the barrier, can clean closely the barrier periphery, has improved the coverage rate that cleans at barrier edge, and then has promoted the effect that cleans of robot of sweeping the floor.
S6: and updating the area planning map according to the obstacle detouring path information, and returning to the step of performing full-coverage path planning on the area to be cleaned according to the area planning map to obtain second path information.
By combining the regional planning map generation and updating mechanism, the adaptability of the sweeping robot to the dynamic environment in the sweeping process is enhanced. The mode not only can overcome the problem that the whole house is moved along the edge and then the path is covered completely when the whole house is cleaned, but also can improve the cleaning coverage rate of the edge of the barrier, thereby improving the cleaning efficiency.
Specifically, in this embodiment, please refer to fig. 5, wherein fig. 5 is a flowchart illustrating an embodiment corresponding to step S6 in fig. 1. The step of updating the regional planning map according to the obstacle detouring path information in the step S6 includes:
s30: and fitting the obstacle detouring path information to a second endpoint set of the barrier area edge through an iterative endpoint fitting algorithm.
Specifically, the second endpoint set includes a plurality of obstacle points obstacloepoints therein. In this embodiment, the obstacle detouring path information recorded in step S4 is fitted to a polygon ordered endpoint set along the obstacle area, that is, a second endpoint set, by an Iterative endpoint fitting algorithm (IPEF). In addition, the distance threshold of the iterative endpoint fitting algorithm is generally set to about 0.1 m. Of course, in other embodiments, the value may be set according to actual needs, and the present application is not limited herein. Please refer to fig. 3, the general process of fitting the polygon ordered endpoint set along the edge of the barrier region by using the iterative endpoint fitting algorithm is the same as the above, and is not described herein again.
S31: and traversing a plurality of obstacle points, generating a second grid label on the area planning map by using the obstacle points, and setting the grid at the second grid label as a second boundary of the area planning map.
Specifically, a plurality of barrier points in the second endpoint set are traversed, each two barrier points generate a second grid label on the area planning map through Bresenham algorithm in turn, and the grid at the second grid label is set as a boundary value, that is, the second boundary of the area planning map. Among them, bresenham's algorithm is the most widely used linear scan conversion method in the field of computer graphics, and is not described herein again.
S32: the grid inside the second boundary is set to the obstacle value.
Further, a grid inside the second boundary on the area plan map is set to an obstacle value, representing that an obstacle is present there. Up to this point, the regional plan map may be updated according to the detour path information. And after the updating is finished, returning to the step of carrying out full-coverage path planning on the area to be cleaned according to the area planning map so as to obtain second path information.
S7: and judging whether the whole house cleaning is finished or not.
S8: if yes, the process is ended.
S9: otherwise, the sweeping robot is dispatched to the next area to be cleaned, and the step S1 is returned to.
Specifically, in this embodiment, after step S6 is performed, the determining of the time of the motion state of the sweeping robot includes, in addition to determining whether an obstacle is encountered, determining whether the sweeping of the whole house according to the second path information is finished, where the whole house includes at least one area to be swept. Specifically, referring to fig. 6, fig. 6 is a flowchart illustrating an embodiment corresponding to steps S7-S9 in fig. 1. Specifically, steps S7-S9 include:
s40: and obtaining the area of a first area which is swept by the sweeping robot.
S41: and judging whether the difference value between the whole area and the first area is smaller than or equal to the area threshold value.
Specifically, the Area of the first region where cleaning has been performed is compared with the Area of the entire Area of the whole house, and when both areas approach an Area Threshold value Area Threshold, it is determined that the current region cleaning is finished. In this embodiment, the Area Threshold value is generally 0.05m 2 . Of course, in other embodiments, the value may also be set according to actual requirements, and the application is not limited herein.
S42: if yes, the whole house cleaning is judged to be finished.
Specifically, if the difference between the entire Area and the first Area is smaller than or equal to the Area Threshold value Area Threshold, it is determined that the whole house cleaning is completed, and the entire flow is terminated.
S43: otherwise, judging that the whole house cleaning is not finished, dispatching the cleaning robot to the next area to be cleaned, and returning to the step S1.
Specifically, if the difference between the area of the whole area and the area of the first area is larger than the area threshold, it is determined that the whole house cleaning is not finished, the sweeping robot is dispatched to the next area to be cleaned, and the step of controlling the sweeping robot to move along the area boundary of the area to be cleaned where the sweeping robot is located so as to obtain the first path information is returned. Therefore, the whole cleaning process can be more complete.
By combining the regional planning map generation and updating mechanism, the adaptability of the sweeping robot to the dynamic environment in the sweeping process is enhanced. The mode not only can overcome the problem that the whole house is moved along the edge and then the path is covered completely when the whole house is cleaned, but also can improve the cleaning coverage rate of the edge of the barrier, thereby improving the cleaning efficiency.
Referring to fig. 7, fig. 7 is a schematic frame diagram of a sweeping robot sweeping device according to an embodiment of the present application. This robot cleaning device sweeps floor specifically includes:
and the information module 10 is used for controlling the sweeping robot to move along the area boundary of the area to be swept, where the sweeping robot is located, so as to obtain the first path information.
And the planning module 12 is coupled to the information module 10, and configured to generate an area planning map based on the first path information, and perform full coverage path planning on an area to be cleaned according to the area planning map to obtain second path information.
And the scheduling module 14 is coupled with the planning module 12 and is used for scheduling the sweeping robot to the next area to be swept in response to the full-house sweeping is not finished, and returning to the step of controlling the sweeping robot to move along the area boundary of the area to be swept where the sweeping robot is located so as to obtain the first path information.
Referring to fig. 8, fig. 8 is a schematic frame diagram of an embodiment of an electronic device according to the present disclosure. The electronic device comprises a memory 20 and a processor 22 coupled to each other. Specifically, in the present embodiment, the memory 20 stores program instructions, and the processor 22 is configured to execute the program instructions to implement the cleaning method of the cleaning robot mentioned in any one of the above embodiments.
Specifically, the processor 22 may also be referred to as a CPU (Central Processing Unit). Processor 22 may be an integrated circuit chip having signal processing capabilities. The Processor 22 may also be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, processor 22 may be commonly implemented by a plurality of integrated circuit chips.
Referring to fig. 9, fig. 9 is a block diagram illustrating a computer-readable storage medium according to an embodiment of the present disclosure. The computer-readable storage medium 30 stores a computer program 300, which can be read by a computer, and the computer program 300 can be executed by a processor to implement the cleaning method of the cleaning robot in any of the embodiments. The computer program 300 may be stored in the computer readable storage medium 30 in the form of a software product, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. The computer-readable storage medium 30 having a storage function may be various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or may be a terminal device, such as a computer, a server, a mobile phone, or a tablet.
In summary, unlike the situation of the prior art, the sweeping robot provided by the present application comprises: controlling the sweeping robot to move along the area boundary of the area to be swept to obtain first path information; wherein the zone boundary comprises a wall and/or a virtual boundary of the zone to be cleaned; generating an area planning map based on the first path information, and performing full-coverage path planning on an area to be cleaned according to the area planning map to obtain second path information; and when the whole house cleaning according to the second path information is not finished, scheduling the cleaning robot to the next area to be cleaned, and returning to the step of controlling the cleaning robot to move along the area boundary of the area to be cleaned where the cleaning robot is located so as to obtain the first path information. Therefore, the problem that the whole house is moved along the edge firstly and then the path is covered completely when the whole house is cleaned can be solved, and the cleaning coverage rate of the edge of the barrier can be improved, so that the cleaning efficiency is improved; in addition, the method is suitable for both the known map and the unknown map environment, and can be used for building the map and cleaning the map at the same time under the unknown map environment, so that the cleaning efficiency is ensured.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. A sweeping method of a sweeping robot is characterized by comprising the following steps:
controlling the sweeping robot to move along the area boundary of the area to be swept to obtain first path information; wherein the zone boundary comprises a wall and/or a virtual boundary of the zone to be cleaned;
generating an area planning map based on the first path information, and carrying out full-coverage path planning on the area to be cleaned according to the area planning map to obtain second path information;
in response to that the whole-house cleaning according to the second path information is not finished, the sweeping robot is dispatched to a next area to be cleaned, and the step of controlling the sweeping robot to move along the area boundary of the area to be cleaned where the sweeping robot is located so as to obtain first path information is returned;
wherein the area planning map has a grid boundary thereon; the step of generating an area planning map based on the first path information includes: fitting the first path information to obtain a first endpoint set of the edge of the area to be cleaned through an iterative endpoint fitting algorithm; wherein the first set of endpoints includes a plurality of polygon endpoints; traversing the polygon endpoints, generating a first grid label on the area planning map by using the polygon endpoints, and setting a grid at the first grid label as a first boundary of the area planning map; setting a grid inside the first boundary to an idle value and setting a grid outside the first boundary to an obstacle value.
2. The cleaning method of the cleaning robot as claimed in claim 1, wherein the step of controlling the cleaning robot to move along the area boundary of the area to be cleaned where the cleaning robot is located to obtain the first path information comprises:
controlling the sweeping robot to move along the region boundary, and dynamically generating the virtual boundary in the process of moving along the region boundary; the sweeping robot comprises a sweeping robot body, a first path information storage unit, a second path information storage unit and a control unit, wherein the sweeping robot body records and obtains the first path information in the moving process of the sweeping robot body, and the first path information comprises an x coordinate, a y coordinate and a steering angle of the sweeping robot body in a world coordinate system.
3. The sweeping robot sweeping method according to claim 2, wherein the virtual boundary is generated based on a local coordinate system, an origin of the local coordinate system is a point of the sweeping robot closest to the zone boundary, an x-axis is a straight line where the zone boundary is located, and a y-axis is a straight line perpendicular to the zone boundary; the step of dynamically generating the virtual boundary during the movement along the region boundary includes:
in response to the sweeping robot moving to a first preset position and the direction of the sweeping robot being parallel to the x-axis, and in response to no region boundary existing within a preset distance right in front of the sweeping robot, generating a virtual boundary perpendicular to the x-axis at the first preset position; wherein the first preset position is associated with the x-axis.
4. The sweeping robot sweeping method of claim 3, wherein the step of dynamically generating the virtual boundary during the movement along the zone boundary further comprises:
in response to the sweeping robot moving to a second preset position and the direction of the sweeping robot being perpendicular to the x-axis, and in response to no region boundary existing within a preset distance directly in front of the sweeping robot, generating a virtual boundary parallel to the x-axis at the second preset position; wherein the second preset position is associated with the y-axis.
5. The sweeping robot sweeping method of claim 1, wherein in response to the whole-house sweeping according to the second path information not being finished, the method further comprises, before the step of dispatching the sweeping robot to a next area to be swept and returning to the step of controlling the sweeping robot to move along the area boundary of the area to be swept where the sweeping robot is located to obtain the first path information:
responding to the situation that the sweeping robot meets an obstacle in the process of sweeping according to the second path information, controlling the sweeping robot to detour the obstacle for one circle and obtaining obstacle detouring path information;
and updating the area planning map according to the obstacle detouring path information, and returning to the step of carrying out full-coverage path planning on the area to be cleaned according to the area planning map to obtain second path information.
6. The cleaning method of the cleaning robot as claimed in claim 5, wherein the step of updating the area planning map according to the obstacle detouring path information includes:
fitting the obstacle detouring path information to obtain a second endpoint set of the barrier region edge through an iterative endpoint fitting algorithm; wherein the second set of endpoints includes a plurality of obstacle points;
traversing the plurality of obstacle points, generating a second grid label on the area planning map by using the obstacle points, and setting a grid at the second grid label as a second boundary of the area planning map;
setting a grid inside the second boundary to an obstacle value.
7. The cleaning method of claim 5, wherein the step of controlling the cleaning robot to move around the obstacle and obtain obstacle-moving path information in response to the cleaning robot encountering the obstacle during the cleaning according to the second path information comprises:
controlling the sweeping robot to sweep according to the second path information;
and in response to the fact that the sweeping robot detects the obstacle in the process of sweeping according to the second path information, and in response to the fact that the distance between the sweeping robot and the obstacle is smaller than or equal to a first threshold value, controlling the sweeping robot to detour the obstacle for a circle and obtaining obstacle detouring path information.
8. The sweeping robot sweeping method of claim 6, wherein the step of dispatching the sweeping robot to a next area to be swept and returning to the step of controlling the sweeping robot to move along an area boundary of the area to be swept where the sweeping robot is located to obtain the first path information in response to the full house sweeping not being finished comprises:
obtaining the area of a first area which is cleaned by the sweeping robot;
and responding to the fact that the difference value between the area of the whole area and the area of the first area is larger than an area threshold value, judging that the whole-house cleaning is not finished, dispatching the sweeping robot to the next area to be cleaned, and returning to the step of controlling the sweeping robot to move along the area boundary of the area to be cleaned where the sweeping robot is located so as to obtain first path information.
9. An electronic device, comprising a memory and a processor coupled to each other, wherein the memory stores program instructions, and the processor is configured to execute the program instructions to implement the cleaning method of the cleaning robot as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for implementing the cleaning method of the cleaning robot as claimed in any one of claims 1 to 8.
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| CN107368079B (en) * | 2017-08-31 | 2019-09-06 | 珠海市一微半导体有限公司 | The planing method and chip in robot cleaning path |
| CN107943058A (en) * | 2017-12-26 | 2018-04-20 | 北京面面俱到软件有限公司 | Sweeping robot and its cleaning paths planning method |
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