CN114924574B - Control method and system of cleaning and disinfecting integrated robot - Google Patents
Control method and system of cleaning and disinfecting integrated robot Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 40
- 230000000249 desinfective effect Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000000670 limiting effect Effects 0.000 claims abstract description 48
- 230000008569 process Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 5
- 230000002829 reductive effect Effects 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 3
- 238000004659 sterilization and disinfection Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000002441 reversible effect Effects 0.000 claims description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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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- 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
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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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a control method and a system of a cleaning and disinfecting integrated robot, wherein the control method comprises the following steps: storing a mobile environment map of the robot, the mobile environment map including position data and size data of known obstacles in the mobile environment; the robot moves in a moving environment, cleaning and disinfecting operations are carried out simultaneously, the specific type of an obstacle is judged according to the distance value between the robot and the obstacle, and a movement limiting area of a known obstacle and a movement limiting area of an unknown obstacle are determined simultaneously; the invention can accurately set the movement limit area of the obstacle in the moving environment of the robot by determining the moving path of the robot at the next moment in the moving environment on the basis of excluding the determined movement limit area of the known obstacle and the movement limit area of the unknown obstacle from the moving environment map.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a control method and a control system of a cleaning and disinfecting integrated robot.
Background
With the continuous development of computer technology, a cleaning and disinfecting integrated robot gradually enters the daily life of people, the cleaning and disinfecting integrated robot can automatically plan a moving path in a moving environment, and perform cleaning and disinfecting work according to the moving path, so that manual work is reduced or avoided, and meanwhile, the cleaning and disinfecting integrated robot can actively avoid obstacles in the moving environment and avoid collision with the obstacles, so that normal work of the cleaning and disinfecting integrated robot is influenced.
Disclosure of Invention
The invention aims to solve the problem that the movement limit area of the robot cannot be accurately set in the prior art by detecting the distance value between the robot and an obstacle in a moving environment when the robot moves, judging the type of the obstacle according to the distance value, respectively calculating the movement limit area of a known obstacle and the movement limit area of an unknown obstacle, and finally determining the moving path of the robot under the condition that the movement limit area of the known obstacle and the movement limit area of the unknown obstacle are excluded from a moving environment map stored in advance.
In order to achieve the above-mentioned object, a control method for a cleaning and disinfecting integrated robot is provided, which mainly comprises the following steps:
storing a mobile environment map including a structural layout and corresponding dimension data in a mobile environment of the robot, and position data and dimension data of known obstacles in the mobile environment of the robot, the position data and the dimension data of the known obstacles remaining unchanged in the mobile environment of the robot;
the robot moves in a moving environment, cleaning and disinfecting operations are carried out simultaneously, the robot detects the position of an obstacle in the moving environment in real time and the distance value between the robot and the obstacle in the moving environment, the specific type of the obstacle is judged according to the distance value between the robot and the obstacle, for the known obstacle, the movement limiting area of the known obstacle is determined based on the current moving speed and fixed parameters of the robot, for the unknown obstacle, the moving speed of the unknown obstacle to the robot is further acquired, and meanwhile, the movement limiting area of the unknown obstacle is determined by combining the current moving speed and the fixed parameters of the robot, wherein the radius of the movement limiting area of the unknown obstacle is larger than that of the movement limiting area of the known obstacle;
the robot performs positioning of itself and maps the position of itself, together with the positions of the known obstacle and the unknown obstacle in the mobile environment that have been detected, onto the mobile environment map, while determining the moving path of the robot at the next time in the mobile environment on the basis of excluding the movement restriction area of the known obstacle and the movement restriction area of the unknown obstacle that have been determined from the mobile environment map.
As a preferred embodiment of the present invention, the process of determining the specific type of the obstacle according to the distance value between the robot and the obstacle includes: when the distance value between the robot and the obstacle is larger than a preset distance threshold value, the obstacle is judged to belong to the type of the unknown obstacle; and when the distance value between the robot and the obstacle is smaller than or equal to a preset distance threshold value, judging the obstacle to belong to the type of the known obstacle.
As a preferred technical solution of the present invention, after the robot maps the position of the robot itself, and the positions of the known obstacle and the unknown obstacle in the detected moving environment onto the moving environment map, the method further includes the following steps:
if no known obstacle exists at the map position corresponding to the position of the known obstacle in the moving environment detected by the robot in the moving environment map, correcting the known obstacle in the moving environment detected by the robot to be the unknown obstacle, and acquiring the moving speed of the unknown obstacle to the robot again, and determining the moving limit area of the unknown obstacle by combining the current moving speed of the robot and fixed parameters;
if a known obstacle exists at a map position in the moving environment map corresponding to the position of the unknown obstacle in the moving environment that the robot has detected, the unknown obstacle in the moving environment that the robot has detected is corrected to be the known obstacle, and a movement limit area of the known obstacle is determined based on the current moving speed of the robot and the fixed parameters.
As a preferred technical solution of the present invention, for a known obstacle, a movement restriction area of the known obstacle is determined based on a current moving speed and fixed parameters of the robot, and the determination is performed by the following calculation formula:
wherein the content of the first and second substances,R 1 the radius size of the movement restriction area for a known obstacle,v 1 for the current speed at which the robot is moving towards the known obstacle,a 1 is a fixed parameter of the robot, is the deceleration of the robot when the robot performs uniform deceleration linear motion,χand positioning errors when the robot is positioned.
As a preferred technical solution of the present invention, for an unknown obstacle, a movement restriction area of the unknown obstacle is determined according to a moving speed of the unknown obstacle to the robot and by combining a current moving speed of the robot and a fixed parameter, and the method is implemented by the following calculation formula:
wherein the content of the first and second substances,R 2 the size of the radius of the movement restriction area for unknown obstacles,v 1 for the current speed of the robot moving towards the unknown obstacle,v 2 the unknown barrier does uniform linear motion at the moving speed of the unknown barrier to the robot,a 1 is a fixed parameter of the robot, is the deceleration of the robot when the robot performs uniform deceleration linear motion,χpositioning error when positioning the position of the robot.
The invention also provides a control system of the cleaning and disinfecting integrated robot, which comprises the following modules:
the operation module is used for simultaneously carrying out cleaning and disinfection operations when the robot moves in a moving environment according to a moving path;
the mobile environment map comprises a structure layout and corresponding dimension data in the mobile environment, and position data and dimension data of known obstacles in the mobile environment;
the area determination module is used for detecting the position of an obstacle in a moving environment in real time by the robot and the distance value between the robot and the obstacle in the moving environment, judging the specific type of the obstacle according to the distance value between the robot and the obstacle, determining the movement limit area of the known obstacle based on the current moving speed and fixed parameters of the robot for the known obstacle, acquiring the moving speed of the unknown obstacle to the robot for the unknown obstacle, and determining the movement limit area of the unknown obstacle by combining the current moving speed and the fixed parameters of the robot;
and the path generating module is used for positioning the robot, mapping the position of the robot and the positions of the known obstacles and the unknown obstacles in the detected moving environment onto the moving environment map, correcting the known obstacles and the unknown obstacles detected by the robot, and determining the moving path of the robot at the next moment in the moving environment on the basis of excluding the movement limiting area of the determined known obstacles and the movement limiting area of the unknown obstacles from the moving environment map.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention stores a mobile environment map of a robot, the mobile environment map including position data and size data of known obstacles in a mobile environment; the robot moves in a moving environment, cleaning and disinfecting operations are carried out simultaneously, the specific type of an obstacle is judged according to the distance value between the robot and the obstacle, and a movement limiting area of a known obstacle and a movement limiting area of an unknown obstacle are determined simultaneously; determining a movement path of the robot at a next time in the moving environment on the basis of excluding the determined movement restriction area of the known obstacle and the movement restriction area of the unknown obstacle from the moving environment map;
2. the invention can accurately set the radius of the movement limiting area of the known obstacle and the radius of the movement limiting area of the unknown obstacle, solves the problem that the movement limiting area of the obstacle is not reasonable enough due to the fact that the method is lacked in the prior art to accurately set the movement limiting area of the obstacle, and ensures that the movement path of the robot can be generated while ensuring the movement safety of the robot by setting the radius of the movement limiting area of the unknown obstacle with changed positions to be larger than the radius of the movement limiting area of the known obstacle with unchanged positions.
Drawings
FIG. 1 is a flowchart illustrating the steps of a control method of a cleaning and disinfecting integrated robot according to the present invention;
fig. 2 is a structural diagram of a control system of a cleaning and disinfecting integrated robot according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of the present application.
Referring to fig. 1, the present invention provides a control method of a cleaning and disinfecting integrated robot, which is mainly realized by executing the following steps:
the method comprises the steps of firstly, storing a mobile environment map, wherein the mobile environment map comprises a structural layout and corresponding dimension data in the mobile environment of the robot, and position data and dimension data of known obstacles in the mobile environment of the robot, and the position data and the dimension data of the known obstacles are kept unchanged in the mobile environment of the robot;
secondly, the robot moves in a moving environment and carries out cleaning and disinfecting operations at the same time, the robot detects the position of an obstacle in the moving environment in real time and the distance value between the robot and the obstacle in the moving environment, the specific type of the obstacle is judged according to the distance value between the robot and the obstacle, for the known obstacle, the movement limiting area of the known obstacle is determined based on the current moving speed and fixed parameters of the robot, for the unknown obstacle, the moving speed of the unknown obstacle to the robot is further acquired, and meanwhile the movement limiting area of the unknown obstacle is determined by combining the current moving speed and the fixed parameters of the robot, wherein the radius of the movement limiting area of the unknown obstacle is larger than that of the movement limiting area of the known obstacle;
thirdly, the robot carries out self positioning, maps the self position, the detected positions of the known obstacles and the unknown obstacles in the moving environment onto the moving environment map, and determines the moving path of the robot at the next moment in the moving environment on the basis of excluding the determined movement limiting area of the known obstacles and the movement limiting area of the unknown obstacles from the moving environment map;
specifically, the inventor considers that when planning a moving path of a cleaning and disinfecting integrated robot, the cleaning and disinfecting integrated robot should be able to actively avoid an obstacle in a moving environment, and avoid collision with the obstacle, so as to affect normal operation of the cleaning and disinfecting integrated robot, wherein the prior art generally sets a moving restriction area for the obstacle in the moving environment, that is, in order to avoid collision of the cleaning and disinfecting integrated robot with the obstacle, the cleaning and disinfecting integrated robot cannot enter the moving restriction area, and plans the moving path on the basis of the moving restriction area, however, the prior art lacks a method capable of accurately setting the moving restriction area for the obstacle, so that the moving restriction area for the obstacle is not reasonable enough, when the moving restriction area for the obstacle is set to be large, the safety of the cleaning and disinfecting integrated robot can be ensured, that the cleaning and disinfecting integrated robot collides with the obstacle, but the movable range of the cleaning and disinfecting integrated robot is limited, so that the moving restriction area for the obstacle cannot be generated, when the moving restriction area for the obstacle is set to be large, the cleaning and disinfecting integrated robot cannot easily collide with the obstacle, but the cleaning and disinfecting integrated robot is also provided as a cleaning and disinfecting integrated robot control method for controlling the obstacle, and the cleaning and disinfecting integrated robot, hereinafter, the invention aims to control the invention.
Further, in the second step, the process of determining the specific type of the obstacle according to the distance value between the robot and the obstacle includes: when the distance value between the robot and the obstacle is larger than a preset distance threshold value, the obstacle is judged to belong to the type of the unknown obstacle; when the distance value between the robot and the obstacle is smaller than or equal to a preset distance threshold value, the obstacle is judged to belong to the type of the known obstacle;
specifically, in the first step, a moving environment map of the robot has been stored in advance, the moving environment map includes, but is not limited to, a structural layout and corresponding size data in a moving environment of the robot, and a known obstacle and corresponding size data in the moving environment of the robot, for example, the moving environment map is a floor plan of a room, includes known obstacles such as walls, beds, and wardrobes, and corresponding size data, and a position of the known obstacle in the floor plan of the room is fixed.
Further, in the second step, for the known obstacle, the movement limiting area of the known obstacle is determined based on the current moving speed and the fixed parameters of the robot, and the method is implemented by the following calculation formula:
wherein the content of the first and second substances,R 1 the radius size of the movement restriction area for a known obstacle,v 1 for the current speed of the robot moving towards the known obstacle,a 1 is a fixed parameter of the robot and is the deceleration of the robot when the robot does uniform deceleration linear motion,χpositioning error when positioning the position of the robot;
specifically, when the movement limiting area of the known obstacle is set, the moving distance of the robot can be calculated to be the moving distance of the robot when the robot starts to make uniform deceleration linear motion to the known obstacle from the current moving speed until the robot contacts the known obstacle, the speed of the robot is just reduced to 0, and the robot stops moving at the same time
Theoretically, when the radius of the movement limiting area for setting the known obstacle is larger than the movement distance, the robot cannot move into the area where the robot may collide with the known obstacle, however, it is also necessary to consider that when the robot performs the positioning for itself, a certain positioning error exists, and the calculated movement distance of the robot is assumed to be 10cm, that is, the robot cannot move to the known obstacle any longer when the distance is 10cm away from the known obstacle, but because the position of the robot has an error, when the actual distance of the robot is only 9cm away from the known obstacle, the robot detects that the distance is 10cm away from the known obstacle, the robot easily collides with the known obstacle, and in order to avoid the occurrence of collision, the radius of the movement limiting area for the known obstacle is set to be larger than the movement distance plus the positioning error.
Further, in the second step, for the unknown obstacle, the movement limiting area of the unknown obstacle is determined according to the moving speed of the unknown obstacle to the robot and the current moving speed and the fixed parameters of the robot, and the method is implemented by the following calculation formula:
wherein the content of the first and second substances,R 2 the size of the radius of the movement restriction area for unknown obstacles,v 1 for the current speed of the robot moving towards the unknown obstacle,v 2 the unknown barrier does uniform linear motion at the moving speed of the unknown barrier to the robot,a 1 is a fixed parameter of the robot, is the deceleration of the robot when the robot performs uniform deceleration linear motion,χpositioning error when positioning the position of the robot;
specifically, when setting a movement restriction area of an unknown obstacle, the inventor considers that the robot makes uniform deceleration linear motion from the current moving speed to the unknown obstacle, the unknown obstacle makes uniform motion to the robot, the unknown obstacle does not decelerate, the speed of the robot is reduced to 0 at a certain time in the process that the robot moves to the unknown obstacle, and the robot does not collide with the unknown obstacle, at this time, in order to avoid collision with the unknown obstacle, the robot starts reverse uniform acceleration motion, the unknown obstacle still makes uniform motion to the robot, and when the moving speed of the robot is consistent with the moving speed of the unknown obstacle, the unknown obstacle cannot catch up with the robot and collides with the robot, and the moving process is analyzed, so that the distance value between the robot and the unknown obstacle at the beginning can be calculated and obtained by adding the moving distance value of the unknown obstacle to the moving distance value of the robot, wherein the moving distance value of the unknown obstacle is the moving distance value of the unknown obstacle
The moving distance value of the robot is
Since the positioning error of the robot needs to be taken into consideration, the radius of the movement restriction area of the unknown obstacle is set to be larger than the radius of the movement restriction area
The robot cannot move to an area where it may collide with an unknown obstacle.
Further, in the third step, after the robot maps the position of the robot itself, and the positions of the known obstacle and the unknown obstacle in the detected moving environment onto the moving environment map, the method further includes the following steps:
if no known obstacle exists at the map position corresponding to the position of the known obstacle in the mobile environment detected by the robot in the mobile environment map, the known obstacle in the mobile environment detected by the robot is corrected to be an unknown obstacle, the moving speed of the unknown obstacle to the robot is acquired again, and meanwhile, the moving limit area of the unknown obstacle is determined by combining the current moving speed of the robot and fixed parameters;
if a known obstacle exists at a map position in the moving environment map corresponding to the position of the unknown obstacle in the moving environment which has been detected by the robot, correcting the unknown obstacle in the moving environment which has been detected by the robot to be the known obstacle, and determining a movement limit area of the known obstacle based on the current moving speed and fixed parameters of the robot;
specifically, the inventor considers that the accuracy of judging the type of an obstacle is not high enough only by the distance value between the robot and the obstacle, and in order to further solve the problem and avoid causing adverse effects on the movement path planning of the robot, firstly, the position of the robot is mapped into a moving environment map, meanwhile, the positions of the known obstacle and the unknown obstacle detected by the robot are also mapped into the moving environment map, secondly, whether a known obstacle exists in the map position corresponding to the position of the known obstacle detected by the robot in the moving environment map is judged, if so, the type judgment of the known obstacle is correct, otherwise, the known obstacle detected by the robot needs to be corrected to be an unknown obstacle, meanwhile, the movement limiting area of the unknown obstacle is re-determined, finally, whether a known obstacle exists in the map position corresponding to the position of the unknown obstacle detected by the robot in the moving environment map, if so, the unknown obstacle detected by the robot needs to be corrected to be the known obstacle, and the movement limiting area of the robot needs to be re-determined, and otherwise, the accuracy judgment of the type judgment of the unknown obstacle is improved by the method.
Referring to fig. 2, the present invention further provides a control system of a cleaning and disinfecting integrated robot, which is used to implement the control method of the cleaning and disinfecting integrated robot described above, and includes an operation module, a map storage module, an area determination module, and a path generation module, and specifically, the functions of the modules are described as follows:
the operation module is used for simultaneously carrying out cleaning and disinfection operations when the robot moves in a moving environment according to a moving path;
the mobile environment map comprises a structure layout and corresponding dimension data in the mobile environment, and position data and dimension data of known obstacles in the mobile environment;
the area determination module is used for detecting the position of an obstacle in a moving environment in real time by the robot and the distance value between the robot and the obstacle in the moving environment, judging the specific type of the obstacle according to the distance value between the robot and the obstacle, determining the movement limit area of the known obstacle based on the current moving speed and fixed parameters of the robot for the known obstacle, acquiring the moving speed of the unknown obstacle to the robot for the unknown obstacle, and determining the movement limit area of the unknown obstacle by combining the current moving speed and the fixed parameters of the robot;
and the path generation module is used for positioning the robot, mapping the position of the robot and the positions of the known obstacles and the unknown obstacles in the detected moving environment onto the moving environment map, correcting the known obstacles and the unknown obstacles detected by the robot, and determining the moving path of the robot at the next moment in the moving environment on the basis of excluding the movement limit area of the known obstacles and the movement limit area of the unknown obstacles from the moving environment map.
In summary, the present invention stores a mobile environment map of the robot, where the mobile environment map includes position data and size data of known obstacles in the mobile environment; the robot moves in a moving environment, cleaning and disinfecting operations are carried out simultaneously, the specific type of an obstacle is judged according to the distance value between the robot and the obstacle, and a movement limiting area of a known obstacle and a movement limiting area of an unknown obstacle are determined simultaneously; the invention can accurately set the radius of the movement limiting area of the known obstacle and the radius of the movement limiting area of the unknown obstacle, solves the problem that the movement limiting area of the obstacle is not reasonable enough due to the fact that a method is lacked in the prior art to accurately set the movement limiting area of the obstacle, and also ensures that the movement path of the robot can be generated while ensuring the movement safety of the robot by setting the radius of the movement limiting area of the unknown obstacle with a changed position to be larger than the radius of the movement limiting area of the known obstacle with a unchanged position.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a portion of sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of simplicity of description, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the technical features should be considered as the scope of description in the present specification.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A control method of a cleaning and disinfecting integrated robot is characterized by comprising the following steps:
storing a mobile environment map including a structural layout and corresponding dimension data in a mobile environment of the robot, and position data and dimension data of known obstacles in the mobile environment of the robot, the position data and the dimension data of the known obstacles remaining unchanged in the mobile environment of the robot;
the robot moves in a moving environment, cleaning and disinfecting operations are carried out simultaneously, the robot detects the position of an obstacle in the moving environment in real time and the distance value between the robot and the obstacle in the moving environment, the specific type of the obstacle is judged according to the distance value between the robot and the obstacle, for the known obstacle, the movement limiting area of the known obstacle is determined based on the current moving speed and fixed parameters of the robot, for the unknown obstacle, the moving speed of the unknown obstacle to the robot is further acquired, and meanwhile, the movement limiting area of the unknown obstacle is determined by combining the current moving speed and the fixed parameters of the robot, wherein the radius of the movement limiting area of the unknown obstacle is larger than that of the movement limiting area of the known obstacle;
the robot carries out positioning on the robot, maps the position of the robot and the positions of the known obstacles and the unknown obstacles in the detected moving environment onto the moving environment map, and determines the moving path of the robot at the next moment in the moving environment on the basis of excluding the movement limiting area of the determined known obstacles and the movement limiting area of the unknown obstacles from the moving environment map;
for the known obstacle, the movement limiting area of the known obstacle is determined based on the current moving speed and fixed parameters of the robot, and the method is realized by the following calculation formula:
wherein, the first and the second end of the pipe are connected with each other,R 1 the radius size of the movement restriction area for a known obstacle,v 1 for the current speed of the robot moving towards the known obstacle,a 1 is a fixed parameter of the robot, is the deceleration of the robot when the robot performs uniform deceleration linear motion,χpositioning error when positioning the position of the robot;
for an unknown obstacle, determining a movement limiting area of the unknown obstacle according to the moving speed of the unknown obstacle to the robot and the current moving speed and fixed parameters of the robot, and realizing the method through the following calculation formula:
wherein the content of the first and second substances,R 2 the size of the radius of the movement restriction area for unknown obstacles,v 3 for the current speed of the robot moving towards the unknown obstacle,v 2 the unknown barrier does uniform linear motion at the moving speed of the unknown barrier to the robot,a 1 is a fixed parameter of the robot, is the deceleration of the robot when the robot performs uniform deceleration linear motion,χpositioning error when positioning the position of the robot;
when a movement limiting area of an unknown obstacle is set, considering that the robot makes uniform deceleration linear motion to the unknown obstacle from the current moving speed, the unknown obstacle makes uniform motion to the robot, the unknown obstacle does not decelerate, the speed of the robot is reduced to 0 at a certain time in the moving process of the robot to the unknown obstacle, the robot does not collide with the unknown obstacle, the robot starts reverse uniform acceleration motion to avoid collision with the unknown obstacle at the moment, the unknown obstacle still makes uniform motion to the robot, and the unknown obstacle cannot collide with the robot until the moving speed of the robot is consistent with the moving speed of the unknown obstacle;
the process of judging the specific type of the obstacle according to the distance value between the robot and the obstacle comprises the following steps: when the distance value between the robot and the obstacle is larger than a preset distance threshold value, the obstacle is judged to belong to the type of the unknown obstacle; and when the distance value between the robot and the obstacle is smaller than or equal to a preset distance threshold value, judging the obstacle to belong to the type of the known obstacle.
2. The control method of a cleaning and disinfecting integrated robot as claimed in claim 1, wherein after the robot maps the position of the robot itself, and the positions of the known obstacle and the unknown obstacle in the detected moving environment onto the moving environment map, the method further comprises the following steps:
if no known obstacle exists at the map position corresponding to the position of the known obstacle in the moving environment detected by the robot in the moving environment map, correcting the known obstacle in the moving environment detected by the robot to be the unknown obstacle, and acquiring the moving speed of the unknown obstacle to the robot again, and determining the moving limit area of the unknown obstacle by combining the current moving speed of the robot and fixed parameters;
if a known obstacle exists at a map position in the moving environment map corresponding to the position of the unknown obstacle in the moving environment that the robot has detected, the unknown obstacle in the moving environment that the robot has detected is corrected to be the known obstacle, and a movement limit area of the known obstacle is determined based on the current moving speed of the robot and the fixed parameters.
3. A control system of a cleaning and disinfecting integrated robot for implementing the method according to any one of claims 1-2, characterized by comprising the following modules:
the operation module is used for simultaneously carrying out cleaning and disinfection operations when the robot moves in a moving environment according to a moving path;
the mobile environment map comprises a structure layout and corresponding dimension data in the mobile environment, and position data and dimension data of known obstacles in the mobile environment;
the area determination module is used for detecting the position of an obstacle in a moving environment in real time by the robot and the distance value between the robot and the obstacle in the moving environment, judging the specific type of the obstacle according to the distance value between the robot and the obstacle, determining the movement limit area of the known obstacle based on the current moving speed and fixed parameters of the robot for the known obstacle, acquiring the moving speed of the unknown obstacle to the robot for the unknown obstacle, and determining the movement limit area of the unknown obstacle by combining the current moving speed and the fixed parameters of the robot;
and the path generation module is used for positioning the robot, mapping the position of the robot and the positions of the known obstacles and the unknown obstacles in the detected moving environment onto the moving environment map, correcting the known obstacles and the unknown obstacles detected by the robot, and determining the moving path of the robot at the next moment in the moving environment on the basis of excluding the movement limit area of the known obstacles and the movement limit area of the unknown obstacles from the moving environment map.
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