CN115167415A - Cleaning robot path planning method and device, server and cleaning robot - Google Patents
Cleaning robot path planning method and device, server and cleaning robot Download PDFInfo
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The application discloses a path planning method and device of a cleaning robot, a server and the cleaning robot. The path planning method comprises the following steps: receiving an alarm message sent by the cleaning robot; acquiring the current position of the cleaning robot and a map of a cleaning area where the cleaning robot is located, and recording a plurality of sub cleaning areas and access nodes of the sub cleaning areas on the map; determining the shortest path among a plurality of paths from the current position of the cleaning robot to the entrance node and the exit node of the candidate sub-cleaning area through the entrance node and the exit node of the sub-cleaning area where the cleaning robot is located, wherein the candidate sub-cleaning area is a sub-cleaning area to be cleaned, which is adjacent to the sub-cleaning area where the cleaning robot is located; and sending the shortest path to the cleaning robot, so that the cleaning robot can drive to the target sub-cleaning area to perform operation according to the shortest path. The method and the device can dynamically plan the path of the cleaning robot, and improve the flexibility of path planning of the cleaning robot, so that the working efficiency of the cleaning robot is improved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a path planning method and device for a cleaning robot, a server and the cleaning robot.
Background
At present, movable robots are widely applied in industries such as industry, agriculture, medical treatment, service and the like. For example, mobile cleaning robots are commonly used in homes and businesses. The cleaning robot may interrupt the cleaning task due to an obstacle or the like while performing the work. For example, when the current cleaning area encounters an obstacle, access to the next cleaning area is required. In this case, if the cleaning robot enters the next cleaning area set in advance according to the preset path, the cleaning robot may easily repeat the work. For another example, the preset next cleaning area may be piled up with too many sundries or temporarily closed, and the cleaning robot cannot enter the next cleaning area, which may easily cause the situation that the cleaning robot cannot advance. Therefore, the prior art has the problem of inflexibility in path planning of the cleaning robot, thereby affecting the working efficiency of the cleaning robot.
Disclosure of Invention
An embodiment of the application aims to provide a path planning method and device for a cleaning robot, a server and the cleaning robot, so as to solve the problem that the path planning of the cleaning robot is inflexible in the prior art.
In order to achieve the above object, a first aspect of the present application provides a path planning method for a cleaning robot, applied to a server, the path planning method including:
receiving an alarm message sent by the cleaning robot, wherein the alarm message indicates that the cleaning robot meets a cleaning obstacle;
acquiring the current position of the cleaning robot and a map of a cleaning area where the cleaning robot is located, and recording a plurality of sub cleaning areas and access nodes of the sub cleaning areas on the map;
determining the shortest path among a plurality of paths from the current position of the cleaning robot to the entrance node and the exit node of the candidate sub-cleaning area through the entrance node and the exit node of the sub-cleaning area where the cleaning robot is located, wherein the candidate sub-cleaning area is a sub-cleaning area to be cleaned, which is adjacent to the sub-cleaning area where the cleaning robot is located;
and sending the shortest path to the cleaning robot, so that the cleaning robot can drive to the target sub-cleaning area to perform operation according to the shortest path.
In the embodiment of the present application, a plurality of sub-cleaning regions have a preset cleaning sequence therebetween.
In an embodiment of the present application, the path planning method further includes: acquiring adjacent sub-cleaning areas of the sub-cleaning areas where the cleaning robot is located currently; and determining whether the adjacent sub-cleaning areas are candidate sub-cleaning areas or not according to the times of all the cleaning robots entering the access nodes of the adjacent sub-cleaning areas in the preset time.
In an embodiment of the present application, the path planning method further includes: determining whether an adjacent sub-cleaning area of the sub-cleaning area where the cleaning robot is currently located has an entrance prohibition identifier; in the case where the adjacent sub-cleaning region has the entry prohibition flag, it is determined that the adjacent sub-cleaning region is not the candidate sub-cleaning region.
The second aspect of the present application provides a path planning method for a cleaning robot, which is applied to the cleaning robot, the cleaning robot communicates with a server, and the path planning method includes:
sending an alarm message to a server, the alarm message indicating that the cleaning robot encounters a cleaning obstacle;
receiving a shortest path sent by a server, wherein the shortest path is the shortest path among a plurality of paths from the current position of the cleaning robot to an access node of a candidate sub-cleaning area through an access node of the current sub-cleaning area, the candidate sub-cleaning area is a sub-cleaning area to be cleaned adjacent to the sub-cleaning area where the cleaning robot is currently located, a map of the cleaning area where the cleaning robot is currently located is arranged on the server, and the map records the plurality of sub-cleaning areas and the access node of the sub-cleaning area;
and driving to the target sub-cleaning area according to the shortest path to perform operation.
In an embodiment of the present application, the path planning method further includes:
acquiring position information of access nodes of a plurality of sub-cleaning areas sent by a server;
and sending a card punching signal to the server under the condition that the current position is matched with the position information of the access node of any sub-cleaning area.
A third aspect of the present application provides a path planning apparatus for a cleaning robot, including:
a message receiving module configured to receive an alarm message transmitted by the cleaning robot, the alarm message indicating that the cleaning robot encounters a cleaning obstacle;
the map acquisition module is configured to acquire the current position of the cleaning robot and a map of a cleaning area where the cleaning robot is located, and the map records a plurality of sub cleaning areas and access nodes of the sub cleaning areas;
a path determination module configured to determine a shortest path among a plurality of paths that the cleaning robot reaches an entrance node and an exit node of a candidate sub-cleaning area from a current position via the entrance node and the exit node of the sub-cleaning area where the cleaning robot is currently located, the candidate sub-cleaning area being a sub-cleaning area to be cleaned adjacent to the sub-cleaning area where the cleaning robot is currently located;
and the sending module is configured to send the shortest path to the cleaning robot, so that the cleaning robot can drive to the target sub-cleaning area to perform work according to the shortest path.
A fourth aspect of the present application provides a server, the server being in communication with at least one cleaning robot, the server comprising a processor configured to perform the method for path planning for a cleaning robot as described above.
A fifth aspect of the present application provides a cleaning robot in communication with a server, the cleaning robot comprising a processor configured to perform the method of path planning for a cleaning robot described above.
A sixth aspect of the present application provides a machine-readable storage medium having instructions stored thereon for causing a machine to perform the above-described path planning method for a cleaning robot.
According to the technical scheme, a server is introduced, the server is communicated with at least one cleaning robot, the server receives an alarm message sent by the cleaning robot, the alarm message indicates that the cleaning robot encounters a cleaning obstacle, and a current position of the cleaning robot and a map of a cleaning area where the cleaning robot is currently located are obtained, the map records a plurality of sub-cleaning areas and access nodes of the sub-cleaning areas, so that the shortest path among a plurality of paths from the current position of the cleaning robot to the access nodes of the candidate sub-cleaning area through the access nodes of the current sub-cleaning area is determined, and the candidate sub-cleaning area is adjacent to the sub-cleaning area where the cleaning robot is currently located; and then the shortest path is sent to the cleaning robot, so that the cleaning robot can drive to the target sub-cleaning area to perform operation according to the shortest path. Therefore, the path of the cleaning robot can be dynamically planned, the flexibility of path planning of the cleaning robot is improved, and the working efficiency of the cleaning robot is improved.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
fig. 1 schematically illustrates an application environment diagram of a path planning method for a cleaning robot according to an embodiment of the present application;
FIG. 2 schematically illustrates a flow chart of a path planning method for a cleaning robot in accordance with an embodiment of the present application;
FIG. 3 is a block diagram schematically illustrating a walking path of a cleaning robot according to an embodiment of the present application;
FIG. 4 schematically illustrates a block diagram of a walking path of a cleaning robot according to another embodiment of the present application;
fig. 5 is a view schematically illustrating a structure of a walking path of a cleaning robot according to still another embodiment of the present application;
FIG. 6 schematically illustrates a block diagram of a work area directed graph according to an embodiment of the present application;
FIG. 7 schematically illustrates a flow chart of a method for path planning for a cleaning robot in accordance with another embodiment of the present application;
fig. 8 schematically shows a structure diagram of a path planning apparatus of a cleaning robot according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of 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 should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present application, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Fig. 1 schematically illustrates an application environment diagram of a path planning method for a cleaning robot according to an embodiment of the present application. The path planning method for the cleaning robot provided by the embodiment of the application can be applied to the application environment shown in fig. 1. The server 101 is in communication with at least one cleaning robot 102. The server 101 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers. The cleaning robot 102 may be a mobile cleaning robot, including but not limited to a sweeping robot or the like. Fig. 1 illustrates 3 cleaning robots 102, and the cleaning robots 102 may include a cleaning robot 1, a cleaning robot 2, and a cleaning robot 3. When a single cleaning robot works, each cleaning robot needs to establish a map, and the map information includes a working area. The embodiment of the application introduces the server which is used as a scheduling device, map information is placed on the server, and multiple cleaning robots can work cooperatively without mutual influence according to a defined regional information format.
The cleaning robot may interrupt a cleaning task of a current cleaning area due to encountering an obstacle or the like during performing a cleaning process. The cleaning path is not necessarily the shortest if the next area is cleaned according to a previously preset path. Therefore, the embodiment of the application provides a way for planning the shortest path when the cleaning robot cannot continue the cleaning task in the cleaning process through the communication between the server and the cleaning robot.
Fig. 2 schematically shows a flow chart of a path planning method of a cleaning robot according to an embodiment of the present application. As shown in fig. 2, in an embodiment of the present application, a path planning method for a cleaning robot is provided and applied to a server, and the path planning method may include the following steps.
In the embodiment of the application, when the cleaning robot works, an accident situation may occur, so that the cleaning robot cannot move forward continuously. For example, too much debris is piled in front of the cleaning robot and cannot move forward, or the front of the cleaning robot is closed and cannot move forward. At this time, the server is required to dynamically adjust the cleaning robot so that the cleaning robot changes the cleaning or walking path. In the embodiment of the application, the alarm message is a message which is sent to the server and indicates that the cleaning robot meets a cleaning obstacle when the cleaning robot is determined to be unable to move forward, so that the server knows that the cleaning robot is unable to move forward. In one example, the warning message may include position information, and the server may determine a position where the cleaning robot is currently located according to the position information. In another example, the warning message does not include the position information, the server sends an instruction to acquire the position information to the cleaning robot after receiving the warning message sent by the cleaning robot, and the cleaning robot feeds back the current position information to the server according to the instruction to acquire the position information. In this way, the server can determine the current position of the cleaning robot while acquiring the warning message.
In this embodiment of the application, the map is a work area directed graph, and the map may include a plurality of sub-cleaning areas that do not overlap with each other, and each of the plurality of sub-cleaning areas includes an entrance node and an exit node, i.e., an entrance and exit node. The work area directed graph is determined from the entrance node and the exit node of any sub-cleaning area, and the entrance and exit nodes of adjacent sub-cleaning areas of any sub-cleaning area.
In the embodiment of the application, the working area directed graph is constructed in advance as follows: dividing an operation map of an area to be cleaned into a plurality of sub-cleaning areas which are not overlapped with each other; respectively arranging an inlet node and an outlet node in each sub-cleaning area; and determining a working area directed graph according to the inlet node and the outlet node of any sub-cleaning area in the sub-cleaning areas and the inlet and outlet nodes of any sub-cleaning area.
Specifically, a work map of the area to be cleaned, i.e., all cleaning areas where the cleaning robot needs to perform work. In one example, an image of the area to be cleaned may be captured by the image capture device and a job map of the area to be cleaned may be created therefrom. The operation map of the area to be cleaned can also be established through the architectural planning map.
In order to improve cleaning efficiency and reduce repeated cleaning, the work map may be divided into a plurality of sub-cleaning regions that do not overlap with each other. In one example, the area to be cleaned may be divided into 6 sub-cleaning areas, and each square frame encloses one sub-cleaning area respectively. The 6 sub-cleaning areas are not overlapped with each other, so that repeated operation can be reduced, and the operation efficiency of the cleaning robot is improved.
The server may be provided with one entry node and one exit node for each sub-cleaning zone, respectively. Fig. 3 schematically shows a structure diagram of a walking path of a cleaning robot according to an embodiment of the present application. Fig. 4 schematically shows a configuration diagram of a walking path of a cleaning robot according to another embodiment of the present application. Fig. 5 schematically shows a configuration diagram of a walking path of a cleaning robot according to still another embodiment of the present application.
In the present embodiment, as shown in fig. 3 to 5, the open circles may represent the inlet nodes, and the filled circles may represent the outlet nodes. Each sub-cleaning zone comprises an inlet and an outlet node. The entry node and the exit node shown in fig. 3 are only one reference point, and the robot can determine whether the cleaning robot enters or exits from the entry node or the exit node according to the current position during actual operation, so as to dynamically perform path planning.
As shown in fig. 3, the cleaning robot is a triangular icon, a is an entrance node, and b is an exit node. When the cleaning robot is closer to the point a, the cleaning robot enters the area through the point a and leaves the area from the point b. As shown in fig. 4, when the cleaning robot is closer to the point b, it enters the area through the point b and leaves the area from the point a. As shown in fig. 5, the cleaning robot may also enter the area through point a and also leave the area from point a. That is, according to the working position of the cleaning robot, the entry and exit of the cleaning robot in the current working area can be dynamically determined, thereby minimizing the path of the cleaning robot.
For any sub-cleaning area, the inlet node and the outlet node of any sub-cleaning area are respectively connected with the inlet node or the outlet node of the adjacent sub-cleaning area, and a working area directed graph can be obtained. And judging whether the inlet node or the outlet node of the adjacent sub-cleaning area is connected based on the distance between the inlet node and the outlet node in the adjacent sub-cleaning area and any sub-cleaning area, and selecting the node closer to the any sub-cleaning area for connection.
Fig. 6 schematically shows a structure diagram of a work area directed graph according to an embodiment of the present application. As shown in fig. 6, the area to be cleaned may be divided into 6 sub-cleaning areas, and each square frame encloses one sub-cleaning area. The 6 sub-cleaning areas do not overlap each other. In fig. 6, taking region 1, region 2, region 4, and region 5 as examples, the distances between the nodes of the job region directed graph may be L1, L2, L3, …, L9, respectively. Taking the cleaning robot in zone 1 as an example, when the cleaning robot is in zone 1, the adjacent sub-cleaning zones may be zone 2 or zone 4. If the entry node of the area 2 is closer to the area 1, the entry node of the area 2 needs to be connected to the area 1; if the entry node of the area 4 is also close to the area 1, the entry node of the area 4 also needs to be connected to the area 1. While for zone 2, the egress node of zone 1 is closer to zone 2, and for zone 2, it is necessary to connect the egress nodes of zone 1. It should be noted that there are arrows communicating between the area 1 and the area 2 and the area 4, which indicate that the cleaning robot can directly reach the area 2 or the area 4 from the area 1. There may be an elevator or patio area between areas 1 and 5, so there is no communicating arrow between areas 1 and 5, indicating that area 1 cannot reach area 5 directly. According to the definition mode, a working area directed graph of the whole area to be cleaned can be constructed, so that the server can dynamically plan the path of the cleaning robot according to the working area directed graph to determine the shortest path of the cleaning robot.
In the embodiment of the application, the shortest path is determined most, so that the working efficiency of the cleaning robot can be improved. The server may calculate the shortest path for the cleaning robot to reach these areas by a graph search or Dijkstra algorithm.
In one example, the server may first determine at least one candidate sub-cleaning region according to a current position of the cleaning robot and a working region directed graph, where the candidate sub-cleaning region is a sub-cleaning region to be cleaned adjacent to a sub-cleaning region where the cleaning robot is currently located; determining a plurality of paths of the cleaning robot entering at least one candidate sub-cleaning area according to the working area directed graph; and finally, determining the shortest path in the paths as the shortest path for the cleaning robot to enter the next working area.
Specifically, the candidate sub-cleaning regions are sub-cleaning regions where no other cleaning robot is working and has not been cleaned. The target sub-cleaning region is an adjacent sub-cleaning region of the candidate sub-cleaning regions having the shortest path to the current sub-cleaning region. By determining the candidate sub-cleaning regions first, it is possible to avoid a situation in which repeated cleaning or a collision of the current cleaning robot with another cleaning robot occurs. For the case where the cleaning robot cannot continue to travel in the current sub-cleaning region, the candidate sub-cleaning region is a candidate sub-cleaning region in the neighboring sub-cleaning regions of the current sub-cleaning region. The server may regard, as the candidate sub-cleaning regions, neighboring sub-cleaning regions that are not cleaned and have no other cleaning robot work among the neighboring sub-cleaning regions.
Wherein the determination that the sub-cleaning area is not cleaned and the determination that the sub-cleaning area has no other cleaning robot jobs may be determined by acquiring a card-punching signal of each node. In the embodiment of the application, the cleaning robot sends a card punching signal to the server every time the cleaning robot passes through the access node. When the cleaning robot passes through the entrance and exit node of the sub-cleaning area only once, it is described that the cleaning robot is working in the sub-cleaning area. When the cleaning robot passes through the entrance and exit nodes of the sub-cleaning areas twice, it is described that the sub-cleaning areas are completely cleaned. When the exit node of the sub-cleaning area has no card punching signal of the cleaning robot, that is, the number of times that all the cleaning robots enter the entrance and exit nodes of the adjacent sub-cleaning area at the preset time is zero, it is proved that the sub-cleaning area is not cleaned and no other cleaning robot is working, and the adjacent sub-cleaning area is a candidate sub-cleaning area.
After the candidate sub-cleaning regions are determined, a plurality of paths for the cleaning robot to enter the candidate sub-cleaning regions may be determined from the work area directed graph. The plurality of paths may be paths from the current position of the cleaning robot to the entrance and exit nodes of the candidate sub-cleaning regions via the entrance and exit nodes of the currently located sub-cleaning region. Still taking fig. 6 as an example, assume that the triangle is the position where the cleaning robot is located. The adjacent sub-cleaning region adjacent to the region 1 may be the region 2 or the region 4. Assume that neither zone 2 nor zone 4 is being cleaned and that no other cleaning robot is working. Then both region 2 and region 4 are candidate sub-clean regions. At this time, the path of the cleaning robot entering the area 2 includes: a first path (i.e., S0-L1) from an ingress node a of area 1 to an ingress node D of area 2, and a second path (i.e., S1-L2) from an egress node B of area 1 to an ingress node D of area 2. Meanwhile, the path of the cleaning robot entering the area 4 includes: a third path (i.e., S0-L3) from ingress node a of zone 1 to ingress node C of zone 4, and a fourth path (i.e., S1-L4) from egress node B of zone 4 to ingress node C of zone 4. And finally, determining the shortest path of the first path, the second path, the third path and the fourth path as the shortest path for the cleaning robot to enter the next working area. In one example, the distance value of each path may be calculated according to the coordinates by acquiring the current position of the cleaning robot and the coordinates of the entrance and exit nodes, thereby selecting the path having the smallest distance value as the shortest path. According to the method and the device, the shortest path is determined according to the directed graph of the operation area, and the calculation mode is simpler and more convenient and has higher efficiency.
And step 204, sending the shortest path to the cleaning robot, so that the cleaning robot can drive to the target sub-cleaning area to perform operation according to the shortest path. The target sub-cleaning region is one of the candidate sub-cleaning regions.
In an embodiment of the application, the server may send the shortest path to the cleaning robot after determining the shortest path. The shortest path includes location information of the gateway node. The cleaning robot is also provided with map information of the cleaning area, which is mainly used for local navigation and is not used for scheduling among the sub-cleaning areas. The cleaning robot receives the shortest path sent by the server and can drive to the target sub-cleaning area according to the shortest path.
According to the technical scheme, a server is introduced, the server is communicated with at least one cleaning robot, the server receives an alarm message sent by the cleaning robot, the alarm message indicates that the cleaning robot encounters a cleaning obstacle, and a current position of the cleaning robot and a map of a cleaning area where the cleaning robot is currently located are obtained, the map records a plurality of sub-cleaning areas and access nodes of the sub-cleaning areas, so that the shortest path among a plurality of paths from the current position of the cleaning robot to the access nodes of the candidate sub-cleaning area through the access nodes of the current sub-cleaning area is determined, and the candidate sub-cleaning area is adjacent to the sub-cleaning area where the cleaning robot is currently located; and then the shortest path is sent to the cleaning robot, so that the cleaning robot can drive to a target sub-cleaning area to carry out operation according to the shortest path. Therefore, the path of the cleaning robot can be dynamically planned, the flexibility of path planning of the cleaning robot is improved, and the working efficiency of the cleaning robot is improved.
In the embodiment of the present application, a plurality of sub-cleaning regions may have a preset cleaning sequence therebetween.
Specifically, the server may also specify a cleaning order of the cleaning robot such that there is a preset cleaning order between the plurality of sub cleaning regions. The work area can be divided into area 1 to area 6. In the initial sequence, the cleaning sequence may be set to perform the jobs in the order of area 1, area 2, area 3, area 6, area 5, and area 4. However, when the cleaning robot is working, there may be accidents, such as too many sundries may be piled up in the area 6, or the area 6 is closed, and the cleaning area needs to be dynamically adjusted. At this time, when the cleaning robot works to the area 3, the server finds that the area 6 is not available for work and needs to perform dynamic calculation. At this time, if the areas 1 and 2 are cleaned, the server needs to determine whether the next working area is modified to be the area 4 or the area 5. The cleaning sequence of the cleaning robot is dynamically changed in the cleaning process of the cleaning robot, and the working efficiency of the cleaning robot is improved.
In this embodiment, the path planning method may further include:
acquiring adjacent sub-cleaning areas of the sub-cleaning areas where the cleaning robot is located currently;
and determining whether the adjacent sub-cleaning areas are candidate sub-cleaning areas according to the times that all the cleaning robots enter the inlet and outlet nodes of the adjacent sub-cleaning areas in the preset time.
In particular, the cleaning robot may have a case where the current sub-cleaning region cannot be continuously moved forward during the cleaning process. For the case where the cleaning robot cannot proceed in the current sub-cleaning area, the server needs to plan the cleaning robot to enter the candidate sub-cleaning area. The candidate sub-cleaning regions refer to adjacent sub-cleaning regions that are not cleaned and no other cleaning robot is working. This can prevent repeated cleaning or collision of the current cleaning robot with other cleaning robots.
In the embodiment of the application, the cleaning robot sends a card punching signal to the server every time the cleaning robot passes through the entrance node and the exit node. When the cleaning robot passes through the access node of the sub-cleaning area only once within the preset time, namely within the set working time period, the sub-cleaning area is indicated to have the cleaning robot in operation. When the cleaning robot passes through the entrance and exit nodes of the sub-cleaning areas twice, it is described that the sub-cleaning areas are completely cleaned. When none of the exit nodes of the sub-cleaning regions has a card punch signal of the cleaning robot, it is proved that the sub-cleaning region is not cleaned and no other cleaning robot is working, and it may be determined as a candidate sub-cleaning region.
In this embodiment, the path planning method may further include: determining whether an adjacent sub-cleaning area of the sub-cleaning area where the cleaning robot is currently located has an entrance prohibition identifier; in the case where the adjacent sub-cleaning region has the entry prohibition flag, it is determined that the adjacent sub-cleaning region is not the candidate sub-cleaning region.
Specifically, the adjacent sub-cleaning area of the sub-cleaning area where the cleaning robot is located may not enter the set adjacent sub-cleaning area due to too many sundries being stacked, or the adjacent sub-cleaning area of the cleaning robot is closed, so that the cleaning robot cannot enter the set adjacent sub-cleaning area, and the server needs to dynamically plan the path of the cleaning robot.
In one example, the server may determine whether the neighboring sub-cleaning region is a candidate sub-cleaning region by determining whether the neighboring sub-cleaning region of the sub-cleaning region where the cleaning robot is currently located has the no entry flag. In the case where the adjacent sub-cleaning region has the entry prohibition flag, it is determined that the adjacent sub-cleaning region is not the candidate sub-cleaning region. The entry prohibition identifier may be a signal fed back by the cleaning robot when detecting the stack of sundries or some preset identifier information. In this way, the server also needs to re-plan the path of the cleaning robot when the cleaning robot cannot enter the set adjacent sub-cleaning area.
Fig. 7 schematically shows a flow chart of a path planning method of a cleaning robot according to another embodiment of the present application. As shown in fig. 7, in another embodiment of the present application, there is provided a path planning method for a cleaning robot, applied to the cleaning robot, the cleaning robot communicating with a server, the path planning method may include the steps of:
and step 703, driving to the target sub-cleaning area according to the shortest path to perform operation.
In the embodiment of the application, when the cleaning robot works, an accident situation may occur, so that the cleaning robot cannot move forward continuously. For example, too much debris is piled in front of the cleaning robot and cannot move forward, or the front of the cleaning robot is closed and cannot move forward. At this time, the cleaning robot may send an alarm message to the server so that the server dynamically adjusts the cleaning robot to change a cleaning or walking path. In the embodiment of the application, the alarm message is a message which is sent to the server and indicates that the cleaning robot meets a cleaning obstacle when the cleaning robot is determined to be unable to move forward, so that the server knows that the cleaning robot is unable to move forward. In one example, the warning message may include position information, and the server may determine a position where the cleaning robot is currently located according to the position information. In another example, the warning message does not include the position information, the server sends an instruction to acquire the position information to the cleaning robot after receiving the warning message sent by the cleaning robot, and the cleaning robot feeds back the current position information to the server according to the instruction to acquire the position information. In this way, the server can determine the current position of the cleaning robot while acquiring the warning message.
The server acquires the current position of the cleaning robot and a map of the cleaning area where the cleaning robot is located according to the alarm message, and the map records a plurality of sub-cleaning areas and access nodes of the sub-cleaning areas. And then determining the shortest path in a plurality of paths from the current position of the cleaning robot to the entrance node and the exit node of the candidate sub-cleaning area through the entrance node and the exit node of the current sub-cleaning area. The server may transmit the shortest path to the cleaning robot after determining the shortest path. The shortest path includes location information of the gateway node. The cleaning robot is also provided with map information of the cleaning area, which is mainly used for local navigation and is not used for scheduling among the sub-cleaning areas. After receiving the shortest path sent by the server, the cleaning robot can drive to the target sub-cleaning area according to the shortest path.
According to the technical scheme, a server is introduced, the cleaning robot is communicated with the server, the cleaning robot sends an alarm message to the server under the condition that the cleaning robot cannot move forward continuously, the alarm message indicates that the cleaning robot encounters a cleaning obstacle, the server acquires the current position of the cleaning robot and a map of a cleaning area where the cleaning robot is located according to the alarm message, the map records a plurality of sub-cleaning areas and access nodes of the sub-cleaning areas, so that the shortest path among a plurality of paths from the current position of the cleaning robot to the access nodes of the candidate sub-cleaning areas is determined, the candidate sub-cleaning areas are adjacent to the sub-cleaning areas where the cleaning robot is located; and then the shortest path is sent to the cleaning robot, so that the cleaning robot can drive to the target sub-cleaning area to perform operation according to the shortest path. Therefore, the path of the cleaning robot can be dynamically planned, the flexibility of path planning of the cleaning robot is improved, and the working efficiency of the cleaning robot is improved.
In this embodiment, the path planning method may further include:
acquiring position information of access nodes of a plurality of sub-cleaning areas sent by a server;
and sending a card punching signal to the server under the condition that the current position is matched with the position information of the access node of any sub-cleaning area.
Specifically, the cleaning robot sends a card punch signal to the server every time it passes through the entrance and exit node. Accordingly, the cleaning robot may acquire position information, such as coordinate information, of the entrance and exit nodes of the plurality of sub cleaning regions through the server. And under the condition that the current position of the cleaning robot is matched with the position of the access node, the cleaning robot sends a card punching signal to the server. So that the server judges whether the sub-cleaning area is a candidate sub-cleaning area or not through the card punching signal. For example, when the cleaning robot passes through the entrance and exit node of the sub-cleaning area only once, it is described that the cleaning robot is working in the sub-cleaning area; when the cleaning robot passes through the access node of the sub-cleaning area twice, the sub-cleaning area is completely cleaned; when none of the exit nodes of the sub-cleaning area has a card punch signal of the cleaning robot, it is verified that the sub-cleaning area is not cleaned and no other cleaning robot is working. And sending a card punching signal to the server so that the server records the information of the cleaning robot entering and exiting the sub-cleaning area.
Fig. 8 schematically shows a structure diagram of a path planning apparatus of a cleaning robot according to an embodiment of the present application. As shown in fig. 8, an embodiment of the present application provides a path planning apparatus for a cleaning robot, which may include:
a message receiving module 801 configured to receive an alarm message transmitted by the cleaning robot, the alarm message indicating that the cleaning robot encounters a cleaning obstacle;
a map acquisition module 802 configured to acquire a current position of the cleaning robot and a map of a cleaning area where the cleaning robot is currently located, the map recording a plurality of sub cleaning areas and access nodes of the sub cleaning areas;
a path determining module 803 configured to determine a shortest path among a plurality of paths that the cleaning robot reaches an entrance node and an exit node of a candidate sub-cleaning region from a current position via the entrance node and the exit node of the sub-cleaning region where the cleaning robot is currently located, the candidate sub-cleaning region being a sub-cleaning region to be cleaned adjacent to the sub-cleaning region where the cleaning robot is currently located;
a sending module 804 configured to send the shortest path to the cleaning robot so that the cleaning robot can drive to the target sub-cleaning area to perform the job according to the shortest path.
In the embodiment of the application, when the cleaning robot works, an accident situation may occur, so that the cleaning robot cannot move forward continuously. For example, too much debris is piled in front of the cleaning robot and cannot move forward, or the front of the cleaning robot is closed and cannot move forward. The message receiving module 801 receives the alarm message sent by the cleaning robot, and the server is required to dynamically adjust the cleaning robot according to the alarm message, so that the cleaning robot changes the cleaning or walking path. In the embodiment of the application, the alarm message is a message which is sent to the server and indicates that the cleaning robot meets a cleaning obstacle when the cleaning robot is determined to be unable to move forward, so that the server knows that the cleaning robot is unable to move forward. In one example, the warning message may include position information, and the server may determine a position where the cleaning robot is currently located according to the position information. In another example, the warning message does not include the position information, the server sends an instruction to acquire the position information to the cleaning robot after receiving the warning message sent by the cleaning robot, and the cleaning robot feeds back the current position information to the server according to the instruction to acquire the position information. In this way, the server can determine the current position of the cleaning robot while acquiring the warning message.
In this embodiment of the application, the map is a work area directed graph, the map may include a plurality of sub-cleaning areas that do not overlap with each other, and each of the plurality of sub-cleaning areas may include an entrance node and an exit node, i.e., an entrance and exit node. The work area directed graph is determined from the entrance node and the exit node of any sub-cleaning area, and the entrance and exit nodes of adjacent sub-cleaning areas of any sub-cleaning area. The map acquisition module 802 acquires a current position of the cleaning robot and a map of a cleaning area where the cleaning robot is currently located, so as to dynamically plan a path of the cleaning robot to determine a shortest path of the cleaning robot.
In the embodiment of the present application, the shortest path may be the shortest path to improve the working efficiency of the cleaning robot. The path determination module 803 may calculate the shortest path for the cleaning robot to reach these areas by a graph search or Dijkstra algorithm. In one example, the server may first determine at least one candidate sub-cleaning region from a current position of the cleaning robot and a work area directed graph; determining a plurality of paths of the cleaning robot entering at least one candidate sub-cleaning area according to the working area directed graph; and finally, determining the shortest path in the paths as the shortest path for the cleaning robot to enter the next working area. According to the method and the device, the shortest path is determined according to the directed graph of the operation area, and the calculation mode is simpler and more convenient and has higher efficiency.
After the server determines the shortest path, the sending module 804 may send the shortest path to the cleaning robot. The shortest path includes location information of the gateway node. The cleaning robot is also provided with map information of the cleaning area, which is mainly used for local navigation and is not used for scheduling among the sub-cleaning areas. The cleaning robot receives the shortest path sent by the server and can drive to the target sub-cleaning area according to the shortest path.
By the technical scheme, a server is introduced and is communicated with at least one cleaning robot, a message receiving module 801 receives an alarm message sent by the cleaning robot, the alarm message indicates that the cleaning robot encounters a cleaning obstacle, a map obtaining module 802 obtains the current position of the cleaning robot and a map of the cleaning area where the cleaning robot is located, and the map records a plurality of sub-cleaning areas and access nodes of the sub-cleaning areas; the path determining module 803 determines the shortest path among a plurality of paths from the current position of the cleaning robot to the entrance node and the exit node of the candidate sub-cleaning area via the entrance node and the exit node of the current sub-cleaning area, where the candidate sub-cleaning area is adjacent to the sub-cleaning area where the cleaning robot is currently located; and then the shortest path is sent to the cleaning robot through the sending module 804, so that the cleaning robot can drive to the target sub-cleaning area to perform operation according to the shortest path. Therefore, the path of the cleaning robot can be dynamically planned, the flexibility of path planning of the cleaning robot is improved, and the working efficiency of the cleaning robot is improved.
The embodiment of the application also provides a server, wherein the server is communicated with at least one cleaning robot, and the server comprises a processor which is configured to execute the path planning method of the cleaning robot.
Embodiments of the present application also provide a cleaning robot, which is in communication with a server, and includes a processor configured to execute the path planning method of the cleaning robot.
The embodiment of the application also provides a machine-readable storage medium, which stores instructions for causing a machine to execute the path planning method of the cleaning robot.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A path planning method of a cleaning robot is applied to a server, and is characterized in that the server is communicated with at least one cleaning robot, and the path planning method comprises the following steps:
receiving an alarm message transmitted by the cleaning robot, the alarm message indicating that the cleaning robot encounters a cleaning obstacle;
acquiring the current position of the cleaning robot and a map of a cleaning area where the cleaning robot is located, wherein the map records a plurality of sub cleaning areas and access nodes of the sub cleaning areas;
determining the shortest path among a plurality of paths from the current position of the cleaning robot to the entrance node and the exit node of a candidate sub-cleaning area through the entrance node and the exit node of the sub-cleaning area where the cleaning robot is located, wherein the candidate sub-cleaning area is a sub-cleaning area to be cleaned, which is adjacent to the sub-cleaning area where the cleaning robot is located;
and sending the shortest path to the cleaning robot, so that the cleaning robot can drive to a target sub-cleaning area to perform operation according to the shortest path.
2. The method of claim 1, wherein the plurality of sub-cleaning zones have a predetermined cleaning sequence therebetween.
3. The method of claim 1, wherein the path planning method further comprises:
acquiring adjacent sub-cleaning areas of the sub-cleaning areas where the cleaning robot is currently located;
and determining whether the adjacent sub-cleaning areas are candidate sub-cleaning areas or not according to the times that all the cleaning robots enter the inlet and outlet nodes of the adjacent sub-cleaning areas in preset time.
4. The method of claim 1, wherein the path planning method further comprises:
determining whether an adjacent sub-cleaning area of the sub-cleaning area where the cleaning robot is currently located has an entry prohibition identifier;
determining that the neighboring sub-cleaning region is not a candidate sub-cleaning region in a case where the neighboring sub-cleaning region has an entry prohibition flag.
5. A path planning method of a cleaning robot is applied to the cleaning robot and is characterized in that the cleaning robot is communicated with a server, and the path planning method comprises the following steps:
sending an alarm message to the server, the alarm message indicating that the cleaning robot encounters a cleaning obstacle;
receiving a shortest path sent by the server, wherein the shortest path is the shortest path in a plurality of paths from a current position of the cleaning robot to an access node of a candidate sub-cleaning area through an access node of the current sub-cleaning area, the candidate sub-cleaning area is a sub-cleaning area to be cleaned adjacent to the sub-cleaning area where the cleaning robot is currently located, a map of the cleaning area where the cleaning robot is currently located is arranged on the server, and the map records the plurality of sub-cleaning areas and the access nodes of the plurality of sub-cleaning areas;
and driving to a target sub-cleaning area according to the shortest path to perform operation.
6. The path planning method according to claim 5, further comprising:
acquiring position information of access nodes of a plurality of sub-cleaning areas sent by the server;
and sending a card punching signal to the server under the condition that the current position is matched with the position information of the access node of any sub-cleaning area.
7. A path planning device for a cleaning robot, comprising:
a message receiving module configured to receive an alarm message transmitted by a cleaning robot, the alarm message indicating that the cleaning robot encounters a cleaning obstacle;
a map acquisition module configured to acquire a current position of the cleaning robot and a map of a cleaning area where the cleaning robot is currently located, the map recording a plurality of sub cleaning areas and access nodes of the sub cleaning areas;
a path determination module configured to determine a shortest path among a plurality of paths that the cleaning robot reaches an entrance node and an exit node of a candidate sub-cleaning area from a current position via the entrance node and the exit node of the sub-cleaning area where the cleaning robot is currently located, the candidate sub-cleaning area being a sub-cleaning area to be cleaned adjacent to the sub-cleaning area where the cleaning robot is currently located;
a sending module configured to send the shortest path to the cleaning robot so that the cleaning robot can drive to a target sub-cleaning area to perform work according to the shortest path.
8. A server, characterized in that the server is in communication with at least one cleaning robot, the server comprising a processor configured to perform the path planning method for a cleaning robot according to any of claims 1-4.
9. A cleaning robot, characterized in that the cleaning robot is in communication with a server, the cleaning robot comprising a processor configured to perform the path planning method of the cleaning robot according to claim 5 or 6.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the path planning method for a cleaning robot according to any one of claims 1 to 6.
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| CN202210772458.3A CN115167415A (en) | 2022-06-30 | 2022-06-30 | Cleaning robot path planning method and device, server and cleaning robot |
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| CN202210772458.3A CN115167415A (en) | 2022-06-30 | 2022-06-30 | Cleaning robot path planning method and device, server and cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116274170A (en) * | 2023-03-27 | 2023-06-23 | 中建三局第一建设工程有限责任公司 | Control method, system and related device of laser cleaning equipment |
| CN117553804A (en) * | 2024-01-11 | 2024-02-13 | 深圳市普渡科技有限公司 | Path planning method, path planning device, computer equipment and storage medium |
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2022
- 2022-06-30 CN CN202210772458.3A patent/CN115167415A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116274170A (en) * | 2023-03-27 | 2023-06-23 | 中建三局第一建设工程有限责任公司 | Control method, system and related device of laser cleaning equipment |
| CN116274170B (en) * | 2023-03-27 | 2023-10-13 | 中建三局第一建设工程有限责任公司 | Control method, system and related device of laser cleaning equipment |
| CN117553804A (en) * | 2024-01-11 | 2024-02-13 | 深圳市普渡科技有限公司 | Path planning method, path planning device, computer equipment and storage medium |
| CN117553804B (en) * | 2024-01-11 | 2024-04-09 | 深圳市普渡科技有限公司 | Path planning method, path planning device, computer equipment and storage medium |
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