CN114489076A - Rectangular sweeping robot control method and device and rectangular sweeping robot - Google Patents
Rectangular sweeping robot control method and device and rectangular sweeping robot Download PDFInfo
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- 238000010408 sweeping Methods 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 66
- 230000008569 process Effects 0.000 claims abstract description 24
- 230000006870 function Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000011156 evaluation Methods 0.000 claims description 7
- 238000004088 simulation Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 11
- 230000001960 triggered effect Effects 0.000 description 5
- 125000004122 cyclic group Chemical group 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The embodiment of the application provides a rectangular sweeping robot control method and device and a rectangular sweeping robot, and the method comprises the following steps: when collision of the rectangular sweeping robot in the traveling direction is detected, determining obstacle information according to the collision position; determining a rotating collision-free curvature based on the collision position and the robot model, and controlling the rectangular sweeping robot to move a corresponding distance along the opposite direction of the traveling direction according to the curvature; determining a to-be-rotated angle according to the obstacle information, controlling the rectangular sweeping robot to rotate by the angle, and then controlling the rectangular sweeping robot to move by a first preset distance along a new advancing direction; and in the process of moving along the new advancing direction, if a wall body is detected at the side, controlling the rectangular sweeping robot to move along the wall along the side. The method can realize the wall-following cleaning function of the rectangular sweeping robot and the like.
Description
Technical Field
The application relates to the technical field of rectangular floor sweeping robots, in particular to a rectangular floor sweeping robot control method and device and a rectangular floor sweeping robot.
Background
At present, the sweeping robot is widely used in household life. However, the existing sweeping robots are mostly circular, which is often difficult to clean the corners of walls, especially the house-type structural environments of different users are different, and for rectangular sweeping robots, although the cleaning of the corners of walls can be realized, how to clean the walls as close as possible without hitting the walls is a difficult problem.
Disclosure of Invention
In view of the above, embodiments of the present application provide a rectangular floor sweeping robot control method and apparatus, and a rectangular floor sweeping robot, where the method can implement wall-following movement of the rectangular floor sweeping robot without collision.
In a first aspect, an embodiment of the present application provides a rectangular floor sweeping robot control method, including:
when the collision of the robot in the traveling direction is detected, determining obstacle information according to the collision position;
determining a rotating collision-free curvature based on the collision position and a robot model, and controlling the robot to move a corresponding distance along a direction opposite to the traveling direction according to the curvature;
determining an angle to be rotated according to the obstacle information, controlling the robot to rotate the angle, and then controlling the robot to move a first preset distance along a new traveling direction;
and in the process of moving along the new advancing direction, if a wall body is detected at the side, controlling the robot to move along the wall along the side where the wall body is located.
In some embodiments, the rectangular sweeping robot control method further includes:
in the moving process along the new advancing direction, if no wall is detected on the side, controlling the robot to move for a second preset distance again;
and in the process of moving again, if no collision occurs in the current traveling direction, controlling the robot to enter clockwise or counterclockwise circular motion.
In some embodiments, the rectangular sweeping robot control method further includes:
and in the moving process, if collision occurs again in the current traveling direction, returning to the step of determining the obstacle information according to the collision position.
In some embodiments, the rectangular sweeping robot control method further includes:
in the process of the clockwise or anticlockwise circular motion, if collision occurs again in the traveling direction, returning to the step of determining the obstacle information according to the collision position; otherwise, stopping until the end condition of the circular motion is met.
In some embodiments, said controlling said robot to perform wall-following movements along said sides comprises:
calculating a velocity window of the robot based on a robot motion model;
generating a plurality of motion tracks of the robot according to the calculated speed window;
evaluating each group of motion tracks by utilizing an evaluation function, and sending the speed corresponding to the motion track with the highest score to the robot as the running speed; wherein the evaluation function is constructed in advance based on an object that moves with a maximum curvature and moves toward an obstacle without collision.
In some embodiments, the obstacle information includes a position and a size of the obstacle in a robot motion map, and the determining the angle to be rotated according to the obstacle information includes:
and according to the position and the size of the obstacle in the map, performing turning track simulation of different angles on the robot to obtain the minimum rotation angle which cannot collide with the obstacle again after turning.
In a second aspect, an embodiment of the present application further provides a rectangular floor sweeping robot control device, including:
the collision detection module is used for determining barrier information according to a collision position when detecting that the robot collides in the traveling direction;
the curvature moving module is used for determining a rotary collision-free curvature based on the collision position and a robot model and controlling the robot to move a corresponding distance along the direction opposite to the advancing direction according to the curvature;
the rotating and advancing module is used for determining an angle to be rotated according to the obstacle information, controlling the robot to rotate by the angle and then controlling the robot to move a first preset distance along a new advancing direction;
and the wall-following motion module is used for controlling the robot to carry out wall-following motion along the side direction if a wall body is detected on the side direction in the process of moving along the new advancing direction.
In a third aspect, an embodiment of the present application further provides a rectangular floor sweeping robot, where the rectangular floor sweeping robot includes a sensing unit, a processor, and a memory, the sensing unit is configured to acquire external environment information, the memory stores a computer program, and the processor is configured to execute the computer program to implement the rectangular floor sweeping robot control method.
In some embodiments, the sensing unit comprises a protective sensing mechanism located in front of the robot, a time-of-flight sensor located to the side of the robot, a lidar located above a chassis, and a plurality of cliff sensors located below the chassis;
the protection sensing mechanism is used for detecting whether a collision occurs in the front, the flight time sensor is used for measuring the distance from the robot to an obstacle, the laser radar is used for collecting point cloud data of a robot motion space, and the cliff sensors are used for detecting whether wheels of the robot are suspended.
In a fourth aspect, an embodiment of the present application further provides a readable storage medium, which stores a computer program, and when the computer program is executed on a processor, the rectangular sweeping robot control method is implemented.
The embodiment of the application has the following beneficial effects:
according to the rectangular floor sweeping robot control method, when collision of the rectangular floor sweeping robot in the traveling direction is detected, obstacle information is determined according to the collision position; determining a rotating collision-free curvature based on the collision position and the robot model, and controlling the rectangular sweeping robot to move a corresponding distance along the opposite direction of the traveling direction according to the curvature; determining a to-be-rotated angle according to the obstacle information, controlling the rectangular sweeping robot to rotate by the angle, and then controlling the rectangular sweeping robot to move by a first preset distance along a new advancing direction; and in the process of moving along the new advancing direction, if a wall body is detected at the side, controlling the rectangular sweeping robot to move along the wall along the side. The method can realize the wall-following cleaning function of the rectangular sweeping robot, can reduce the collision times based on curvature, corner control and the like, and can walk close to the wall body as far as possible without colliding with the wall body, thereby realizing smooth wall-following driving.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a schematic structural diagram of a rectangular sweeping robot according to an embodiment of the present application;
fig. 2 shows a schematic diagram of a plurality of sensor arrangements of a rectangular sweeping robot according to an embodiment of the present application;
fig. 3 shows a first flowchart of the rectangular sweeping robot control method according to the embodiment of the present application;
fig. 4 shows a schematic diagram of a rectangular sweeping robot control method according to an embodiment of the present application in collision;
fig. 5a to 5c are schematic diagrams illustrating that the rectangular sweeping robot in the embodiment of the present application performs backward movement, turning movement and wall-following movement in sequence;
fig. 6 shows a schematic flow chart of the wall-following movement of the rectangular floor-sweeping robot control method according to the embodiment of the present application;
fig. 7 shows a second flowchart of the rectangular sweeping robot control method according to the embodiment of the present application;
fig. 8 shows a schematic diagram of the circular movement of the rectangular sweeping robot control method according to the embodiment of the present application;
fig. 9 shows a schematic structural diagram of a rectangular sweeping robot control device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present application, are intended to indicate only specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments.
Fig. 1 is a schematic structural diagram of a rectangular sweeping robot according to an embodiment of the present application. Exemplarily, the rectangular floor-sweeping robot 10 includes a processor 11, a memory 12, a sensing unit 13 and an execution unit 14, where the memory 12 stores a computer program, and the processor 11 runs the computer program to enable the rectangular floor-sweeping robot 10 to execute the rectangular floor-sweeping robot control method according to the embodiment of the present application, so as to implement cleaning as close as possible to a wall without collision with the wall.
The processor 11 may be an integrated circuit chip having signal processing capability. The Processor may be a general-purpose Processor including at least one of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that implements or executes the methods, steps and logic blocks disclosed in the embodiments of the present application.
The Memory 12 may be, but not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory is used for storing a computer program, and the processor can execute the computer program correspondingly after receiving the execution instruction.
The sensing unit 13 is mainly used for transmitting necessary external environment information and the like to a control system of the rectangular floor sweeping robot, so that necessary conditions are provided for the rectangular floor sweeping robot in different working modes such as wall cleaning or normal cleaning. In one embodiment, the sensing unit 13 may include, but is not limited to including, a lidar, a time-of-flight (ToF) sensor, a cliff (cliff) sensor, and the like.
For the rectangular floor sweeping robot in the embodiment of the application, in order to prevent the robot from colliding with the outside or falling in the air in the cleaning motion process, as shown in fig. 2, a plurality of different sensors are arranged on the rectangular floor sweeping robot, for example, a protection sensing mechanism is arranged in front of the robot, which can also be called a front bumper, and is used for detecting an obstacle that cannot be detected by a laser radar in front of the robot. Meanwhile, a one-dimensional flight time sensor is arranged on the side of the robot and can be used for measuring the distance from the robot to an obstacle. It can be understood that by marking the point cloud of the ToF sensor in the robot running map, the robot is moved, higher accuracy can be obtained, and the like. In addition, a laser radar is arranged above a chassis of the rectangular sweeping robot and used for collecting point cloud data of a robot motion space. In addition, the rectangular floor sweeping robot is also provided with a plurality of cliff sensors above the chassis, so that whether wheels of the robot are suspended in the air or not in the walking process can be detected, and the robot can be prevented from falling off at places such as a stair opening.
It should be noted that in the embodiment of the present application, the above-mentioned protection sensing mechanism is provided with 4 switches at different positions, and the 4 switches are used to form different combinations for assisting in positioning the position of the front obstacle. For example, the front area of the robot can be divided into 8 sub-areas by the 4 switches, each time when the protection sensing mechanism collides, specific collision positions in the 8 sub-areas can be determined according to the combination condition of the triggered switches, and the related information of the obstacle can be obtained according to the collision positions, such as the position and size of the current obstacle can be marked in the divided 8 sub-areas in the robot running map.
It is understood that the protection sensing mechanism and the cliff sensors are all involved in the control operation of the method in the embodiment of the present application, wherein when any one of the sensors is triggered, the collision position with the obstacle is determined according to the triggered position of the sensor, and further the position and the orientation of the obstacle relative to the robot are determined.
The execution unit 14 is mainly used for realizing the cleaning function of the rectangular sweeping robot, and may include, but is not limited to, a spray washing component, a dirt removing component, and the like, for example, wherein the specific structure of the execution unit 14 may be determined according to actual requirements, generally, the more types of the cleaning modes, the more execution components are correspondingly arranged, and the more the execution units 14 of the rectangular sweeping robot are used, the less description is made here, and the specific arrangement may be according to an actual use place.
It should be understood that, unlike the circular sweeping robot, the rectangular robot in the embodiment of the present invention has a relatively obvious straight boundary around its periphery, for example, the rectangular robot may have a standard rectangular shape surrounded by four sides of the robot, or may have a straight shape in the front and two equal sides of the robot.
Based on the structure of the sweeping robot, the rectangular sweeping robot control method of the embodiment of the application is specifically described below. In addition, to facilitate understanding of the movement of the robot, a planar coordinate system is first established, with the X direction pointing to the front of the robot and the Y direction pointing to the right side of the robot. The rectangular sweeping robot control method according to the embodiment of the present application will be described based on the coordinate system.
Referring to fig. 3, the exemplary rectangular sweeping robot control method includes steps S110 to S140:
and S110, when the robot is detected to collide in the traveling direction, determining obstacle information according to the collision position.
The traveling direction may include, but is not limited to, a forward direction toward the front of the robot, or, when the robot moves backward, the traveling direction may be a backward direction opposite to the front of the robot, and the like, which is not limited herein. In an exemplary embodiment, when the robot is moving, the sensing units such as the protection sensing mechanism and the cliff sensor are used for real-time detection, and if a sensor detects a corresponding abnormal signal, i.e., is triggered, it can be determined that a collision occurs at a corresponding position on the robot. At this time, the collision position may be determined according to the position of the triggered sensor. Further, information of the obstacle may be acquired according to the collision position so as to be marked in the robot operation map.
The obstacle information may include, but is not limited to, the position of the obstacle relative to the robot, the size and/or type of the obstacle, and the like. Taking the azimuth as an example, whether the obstacle is located on the left side, the right side, or directly in front of the robot, etc. may be determined according to the specific location where the collision occurs. For example, if the right side of the protection sensing mechanism collides, it is determined that the obstacle is in the front-right direction of the robot. Taking the size of the obstacle as an example, the obstacle can be detected by a laser radar and/or a time-of-flight sensor on the robot to obtain point cloud data corresponding to the obstacle, and further the shape, size and the like of the obstacle can be obtained, so that whether the obstacle is a wall or other objects and the like can be judged.
And S120, determining a curvature of rotation without collision based on the collision position and the robot model, and controlling the robot to move a corresponding distance along the direction opposite to the traveling direction according to the curvature.
The robot model is a two-dimensional plane model constructed based on the shape of the robot, and it can be understood that the robot model at least includes information such as the lengths of the front, rear, left and right sides of the robot. The above-mentioned turning collision-free curvature is a curvature for preventing the robot from colliding during turning, and is used to guide the robot to perform operations such as backward movement and turning when the robot is away from the collision.
As shown in fig. 4, if the robot collides with the front right side during traveling, assuming that the collision position is point a, it can be seen from the rectangular structure of the robot that if it is intended to perform collision-free rotation, it is necessary to consider whether point B at the right vertex of the robot collides with an obstacle again during rotation. The curvature at this time is related to the collision position a and the position of the right vertex angle B of the robot. Generally, the closer the collision position point a is to the right vertex angle point B, the less distance the robot needs to move in the opposite direction of the current direction of travel, and the smaller the curvature to be turned at this time. Conversely, when the collision position point a is farther away from the right vertex angle point B, the more the robot needs to move in the direction opposite to the current traveling direction, the larger the curvature to be turned at this time.
And S130, determining the angle to be rotated according to the obstacle information, controlling the robot to rotate the angle, and then controlling the robot to move a first preset distance along a new advancing direction.
The angle to be rotated is an angle that the robot needs to rotate after moving to a corresponding distance far away from the obstacle according to the curvature. In this embodiment, the rotation angle may be obtained by simulating a running track of the robot. For example, information such as the position and size of the obstacle may be marked in a robot running map, and then, according to the position and size of the obstacle in the map, turning trajectory simulation of different angles may be performed on the robot to obtain a minimum rotation angle at which the robot will not collide with the obstacle again after turning. For example, if the obstacle is determined to be a wall, the rotation angle may be an angle that enables the robot to perform parallel motion directly along the surface of the wall after rotating.
After the robot rotates by the angle, the traveling direction of the robot is changed, and the robot can be controlled to move for a certain distance in the new traveling direction, so that whether the wall-following operation mode is suitable to be currently entered or not is determined. The first preset distance may be set according to an empirical value or a test value, and is not limited herein.
And S140, in the process of moving along the new advancing direction, if the wall body is detected at the side, controlling the robot to move along the wall along the side where the wall body is located.
The side may be the left side of the robot or the right side of the robot, depending on the orientation of the obstacle. The above-mentioned motion along the wall means a parallel motion along the surface of the wall. In the embodiment of the application, three possibilities arise here due to the different types of obstacles, in each case with which different actions can be performed, when the robot is moving in the new direction of travel. The description is given here mainly in the case of entry into motion along a wall.
As shown in fig. 5a to 5c, if an obstacle, i.e., a wall, is detected at a side of the robot after the robot moves by a first predetermined distance, the robot may directly move along the wall. It is noted that the embodiments of the present application will use a modified Dynamic Windowing Algorithm (DWA) to track the wall with the goal of bringing the robot as close as possible to the obstacle without collision.
In one embodiment, as shown in FIG. 6, the above-mentioned wall motion control includes sub-steps S210-S230:
and S210, calculating a speed window of the robot based on the robot motion model.
The robot motion model is a motion model established based on a motion state of the robot, reflects a relationship between a moving position and a rotation angle of the robot, and a relationship between a linear velocity and an angular velocity, and may be pre-established according to a parameter of the motion state of the robot, which is not limited herein.
The speed window mentioned above can be understood as controlling the currently operable speed within a certain range according to the intrinsic characteristic limit and the current environmental limit of the robot. For example, in one embodiment, the speed window Vw may be obtained as Vm and Vb and n.va, considering the maximum and minimum speed limits Vm of the robot itself, the speed limit Vb due to the performance of the motor of the robot, the speed limit Va due to the external environment, and the like. The speed limit caused by the external environment may refer to a limit that the robot can stop in time when touching an obstacle.
And S220, generating a plurality of motion tracks of the robot according to the calculated speed window.
And S230, evaluating each group of motion tracks by utilizing the evaluation function, and sending the speed corresponding to the motion track with the highest score to the robot as the running speed.
The above evaluation function may be constructed in advance, for example, by constructing an objective function that the robot moves close to the wall without colliding with the wall, and maximizing the curvature during the movement as much as possible. For example, in one embodiment, the evaluation function g is expressed as follows:
g＝Ad+Bp；
in the formula, d is the distance from the robot to the wall, p is the curvature, and A and B are preset coefficients. It will be appreciated that the smaller g, the greater the selection priority.
Exemplarily, after determining some feasible speed ranges, motion trajectory simulation can be performed according to the speeds respectively. Further, the scores of the respective movement trajectories are evaluated based on the positional deviations between the movement trajectories and the trajectories expected when the vehicle travels along the wall. And then, taking the motion track with the highest score as the optimal collision-free track, and sending the corresponding running speed to the motion controller so as to control the robot to perform collision-free wall cleaning at the running speed.
It can be understood that the sensing unit of the robot always performs real-time detection in the wall-following process, and when the condition that the wall-following mode quitting is met is detected, the robot can be controlled to quit the wall-following mode. In one embodiment, the exit along-the-wall mode condition may include, but is not limited to, receiving an exit along-the-wall command, or detecting an end point of the current wall, etc., and is not limited herein.
As can be seen from step S130, there are other situations in the process of entering a new travel direction, and as an alternative, after step S130, as shown in fig. 7, the robot control method further includes:
and S150, in the process of moving along the new advancing direction, if the wall body is not detected on the side, controlling the robot to move for a second preset distance again.
After the robot turns and moves for a certain distance, no wall is detected on the side, and then the situation that a non-wall obstacle is possibly met or the rotation angle of the front side is too large is indicated. If no collision occurs again, step S160 is executed, otherwise step S170 is executed.
And S160, in the process of moving again, if no collision occurs in the current traveling direction, controlling the robot to enter clockwise or counterclockwise circular motion.
Exemplarily, if no collision occurs again in the process of moving again, it indicates that the robot is far away from the wall through the above-mentioned series of operations of backing, turning, moving, and the like, as shown in fig. 8, and at this time, the robot will move in a clockwise or counterclockwise circular motion to get close to the wall again. For example, the direction of the wall may be set to move clockwise or counterclockwise, which is not limited herein.
Further, if a collision occurs again during the cyclic movement, step S180 may be executed, i.e., the process returns to step S110, and new obstacle information is determined based on the collision position. If no collision occurs until the end of the cyclic movement, the current cyclic movement can be stopped.
S170, if the collision occurs again in the current traveling direction during the moving again, returning to the step of determining the obstacle information based on the collision position.
For example, in the step S150, if the collision occurs when the vehicle moves to the second preset distance, the operation returns to the step S110, that is, the operation of repositioning the new obstacle and determining whether the vehicle needs to move along the wall is performed again.
Through the operation, the robot can autonomously judge the wall body and can move along the wall body, wherein in the wall-following process, the wall surface tracking is carried out by utilizing an improved dynamic window method, the robot can walk against the wall as far as possible without colliding with the wall body, and the like, so that the robot is more intelligent, and the user experience and the like can be improved.
Referring to fig. 9, based on the method of the foregoing embodiment 1, the present embodiment provides a rectangular sweeping robot control device 100, where the rectangular sweeping robot control device 100 exemplarily includes:
and a collision detection module 110, configured to determine obstacle information according to a collision position when it is detected that the robot collides in the traveling direction.
And a curvature moving module 120, configured to determine a rotational collision-free curvature based on the collision location and a robot model, and control the robot to move a corresponding distance in a direction opposite to the traveling direction according to the curvature.
And a rotation traveling module 130, configured to determine an angle to be rotated according to the obstacle information, control the robot to rotate the angle, and then control the robot to move a first preset distance in a new traveling direction.
And a wall-following motion module 140 configured to control the robot to perform a wall-following motion along the side if a wall is detected on the side while moving in the new traveling direction.
It is to be understood that the apparatus of the present embodiment corresponds to the method of embodiment 1 described above, and the alternatives of embodiment 1 described above are equally applicable to the present embodiment, and therefore, the description thereof will not be repeated.
The application also provides a readable storage medium for storing the computer program used in the rectangular sweeping robot.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the 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 of the present application, and shall be covered by the scope of the present application.
Claims (10)
1. A rectangular sweeping robot control method is characterized by comprising the following steps:
when the collision of the robot in the traveling direction is detected, determining obstacle information according to the collision position;
determining a rotating collision-free curvature based on the collision position and a robot model, and controlling the robot to move a corresponding distance along a direction opposite to the traveling direction according to the curvature;
determining an angle to be rotated according to the obstacle information, controlling the robot to rotate the angle, and then controlling the robot to move a first preset distance along a new traveling direction;
and in the process of moving along the new advancing direction, if a wall body is detected at the side, controlling the robot to move along the wall along the side where the wall body is located.
2. The rectangular floor sweeping robot control method according to claim 1, further comprising:
in the moving process along the new advancing direction, if no wall is detected on the side, controlling the robot to move for a second preset distance again;
and in the process of moving again, if no collision occurs in the current traveling direction, controlling the robot to enter clockwise or counterclockwise circular motion.
3. The rectangular floor sweeping robot control method according to claim 2, further comprising:
and in the moving process, if collision occurs again in the current traveling direction, returning to the step of determining the obstacle information according to the collision position.
4. The rectangular floor sweeping robot control method according to claim 2, further comprising:
in the process of the clockwise or anticlockwise circular motion, if collision occurs again in the traveling direction, returning to the step of determining the obstacle information according to the collision position; otherwise, stopping until the end condition of the circular motion is met.
5. The rectangular floor sweeping robot control method of claim 2, wherein the controlling the robot to move along the wall along the lateral sides comprises:
calculating a velocity window of the robot based on a robot motion model;
generating a plurality of motion tracks of the robot according to the calculated speed window;
evaluating each group of motion tracks by utilizing an evaluation function, and sending the speed corresponding to the motion track with the highest score to the robot as the running speed; wherein the evaluation function is constructed in advance based on an object that moves with a maximum curvature and moves toward an obstacle without collision.
6. The rectangular sweeping robot control method according to claim 1, wherein the obstacle information includes a position and a size of the obstacle in a robot motion map, and the determining the angle to be rotated according to the obstacle information includes:
and according to the position and the size of the obstacle in the map, performing turning track simulation of different angles on the robot to obtain the minimum rotation angle which cannot collide with the obstacle again after turning.
7. The utility model provides a rectangle robot control device that sweeps floor which characterized in that includes:
the collision detection module is used for determining barrier information according to a collision position when detecting that the robot collides in the traveling direction;
the curvature moving module is used for determining a rotary collision-free curvature based on the collision position and a robot model and controlling the robot to move a corresponding distance along the direction opposite to the advancing direction according to the curvature;
the rotating and advancing module is used for determining an angle to be rotated according to the obstacle information, controlling the robot to rotate the angle and then controlling the robot to move a first preset distance along a new advancing direction;
and the wall-following motion module is used for controlling the robot to carry out wall-following motion along the side direction if a wall body is detected on the side direction in the process of moving along the new advancing direction.
8. A rectangular floor sweeping robot is characterized by comprising a sensing unit, a processor and a memory, wherein the sensing unit is used for collecting external environment information, the memory is stored with a computer program, and the processor is used for executing the computer program to implement the rectangular floor sweeping robot control method according to any one of claims 1 to 6.
9. The rectangular floor sweeping robot of claim 8, wherein the sensing unit comprises a protection sensing mechanism located in front of the robot, a time-of-flight sensor located at a side of the robot, a lidar located above a chassis, and a plurality of cliff sensors located below the chassis;
the protection sensing mechanism is used for detecting whether a collision occurs in the front, the flight time sensor is used for measuring the distance from the robot to an obstacle, the laser radar is used for collecting point cloud data of a robot motion space, and the cliff sensors are used for detecting whether wheels of the robot are suspended.
10. Readable storage medium, characterized in that it stores a computer program which, when executed on a processor, implements the rectangular sweeping robot control method according to any one of claims 1-6.
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