CN115326078B - Path navigation method and device, intelligent sweeping and washing robot and storage medium - Google Patents
Path navigation method and device, intelligent sweeping and washing robot and storage medium Download PDFInfo
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- CN115326078B CN115326078B CN202211264842.9A CN202211264842A CN115326078B CN 115326078 B CN115326078 B CN 115326078B CN 202211264842 A CN202211264842 A CN 202211264842A CN 115326078 B CN115326078 B CN 115326078B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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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Abstract
The application relates to the technical field of obstacle avoidance navigation of sweeping robots, and particularly discloses a path navigation method, a sweeping robot and a storage medium, wherein the path navigation method comprises the steps of obtaining collision position information according to collision signals when the collision signals are received; searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information; and performing path navigation according to the path navigation information. Can know through receiving collision signal that collision has taken place with the barrier, can know collision position information through knowing collision position information, collision position information inquiry preset route navigation database, learn the route navigation information that corresponds with collision position information, after the guarantee is blockked by the barrier in the sweeping operation of intelligent sweeping and washing robot, the route navigation of the obstacle of detour of quick adjustment resumes normal sweeping and washing operation fast for the intelligent sweeping and washing robot can continue to sweep and wash the operation after the barrier blocks.
Description
Technical Field
The application relates to the technical field of obstacle avoidance navigation of sweeping robots, in particular to a path navigation method and device, an intelligent sweeping robot and a storage medium.
Background
With the development of intelligent science and technology, the household intelligent sweeping and washing robot becomes one of necessary intelligent household devices, and the intelligent sweeping and washing robot can automatically complete the ground sweeping and mopping operation, so that the housework load of a user is reduced;
when sweeping and washing are carried out by the existing intelligent sweeping and washing robot, sweeping and washing are usually carried out according to a preset sweeping and washing path; however, in daily life, the position of an object (obstacle) in a room is inevitably changed, which results in that a preset sweeping and washing path is inevitably occupied, and the intelligent sweeping and washing robot is blocked during sweeping and washing operation, so that normal sweeping and washing operation cannot be performed.
Therefore, how to provide a path navigation method for the intelligent sweeping and washing robot to continue to operate after being blocked by the obstacle becomes a technical problem to be solved urgently.
Disclosure of Invention
In view of the above deficiencies of the prior art, an object of the present application is to provide a path navigation method, an apparatus, an intelligent sweeping and washing robot and a storage medium, which aim to solve the problem that the obstacle of the intelligent sweeping and washing robot blocks the sweeping and washing operation in the prior art.
The technical scheme adopted by the application for solving the technical problem is as follows: a path navigation method is used for path navigation of an intelligent sweeping robot and comprises the following steps:
when a collision signal is received, collision position information is obtained according to the collision signal;
searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information;
and carrying out path navigation according to the path navigation information.
According to the embodiment, the fact that the robot collides with the obstacle can be known by receiving the collision signal, the collision position information can be known by obtaining the collision position information, the preset path navigation database is inquired by the collision position information, the path navigation information corresponding to the collision position information is obtained, the sweeping and washing operation of the intelligent sweeping and washing robot can be guaranteed, after the robot is blocked by the obstacle, the path navigation bypassing the obstacle can be adjusted quickly, the normal sweeping and washing operation can be recovered quickly, and the intelligent sweeping and washing robot can continue to sweep and wash the robot after the obstacle blocks.
Optionally, the intelligent sweeping and washing robot is provided with a plurality of trigger modules; the path navigation method further includes:
coding a plurality of trigger modules in advance to obtain trigger module coding information, and establishing a first corresponding relation between the trigger module coding information and the collision position information;
when receiving a collision signal, obtaining collision position information according to the collision signal, including:
when a collision signal is received, acquiring the trigger module coding information;
and searching the first corresponding relation to obtain collision position information corresponding to the trigger module coding information.
According to the embodiment, the plurality of trigger modules are coded in advance, so that collision position information can be quickly inquired when a collision signal is received, and guarantee is provided for immediately adjusting the running route of the intelligent sweeping and washing robot after collision.
Optionally, before obtaining collision position information according to the collision signal when receiving the collision signal, the method further includes:
and pre-establishing a path navigation database, wherein the path navigation database comprises collision position information, path navigation information and a second corresponding relation between the collision position information and the path navigation information.
According to the embodiment, the collision position information and the path navigation information can be associated by pre-establishing the path navigation database, and after the collision position information is found through the collision signal, the corresponding path navigation information can be inquired in real time, so that the rapid path navigation of the intelligent cleaning robot after collision is ensured.
Optionally, the path navigation information includes: direction information and route information;
and performing path navigation according to the path navigation information, wherein the path navigation comprises the following steps:
and adjusting the forward and reverse rotation directions of the driving wheel and the advancing angle of the guide wheel according to the direction information, and controlling the rotating speed and the rotating time of the driving wheel according to the path information.
According to the embodiment, when the sweeping and washing operation is collided, the intelligent sweeping and washing robot can move forward, backward, turn left, turn right and the like, so that obstacles can be effectively avoided, and the sweeping and washing operation can be continued; simultaneously, through control the adjustment distance of washing robot is swept to intelligence, and then can effectual promotion the robot is swept to intelligence sweep the efficiency of washing of sweeping of washing robot, avoid repeated operation and sweep the route waste time because of the adjustment, promote operation effect and energy utilization efficiency under sweeping the effectual electric energy storage of washing robot.
Optionally, the path navigation method further includes:
a room model is pre-established, wherein the room model comprises room layout coordinate information, obstacle layout coordinate information and sweeping path coordinate information.
In the embodiment, the room model is pre-established and is set as room layout coordinate information, obstacle layout coordinate information and sweeping path coordinate information; and the room layout coordinate information covers the obstacle layout coordinate information and the sweeping and washing path coordinate information, the sweeping and washing coordinate information is a sweeping and washing operation path preset by the intelligent sweeping and washing robot, the intelligent sweeping and washing robot performs sweeping and washing operation according to the sweeping and washing path coordinate information when performing sweeping and washing operation, and the obstacle layout coordinate information and the sweeping and washing path coordinate information cannot be overlapped, so that the intelligent sweeping and washing robot can perform normal sweeping and washing operation.
Optionally, the path navigation method further includes:
pre-storing obstacle image information and obstacle attribute information associated with the obstacle image information, the obstacle attribute information including a temporary obstacle and a fixed obstacle;
when a collision signal is received, acquiring current obstacle image information and collision coordinate information, and searching obstacle attribute information according to the current obstacle image information;
if the obstacle attribute information is a temporary obstacle, performing path navigation according to the path navigation information;
and if the obstacle attribute information is a fixed obstacle, performing path navigation according to the path navigation information, and updating the obstacle layout coordinate and the sweeping path coordinate according to the collision coordinate information.
According to the embodiment, the image information of the barrier during the sweeping and washing operation is effectively identified by pre-storing the image information of the barrier and combining the existing image identification technology; the obstacle image information is associated with the obstacle attribute information one by one, so that the intelligent sweeping and washing robot can acquire the obstacle image information in real time when sweeping and washing operation is carried out, the current obstacle attribute can be further judged, and the path navigation of the intelligent sweeping and washing robot in the next step is guaranteed; meanwhile, if the obstacle attribute information is a temporary obstacle, the obstacle is only required to be bypassed to perform sweeping and washing operation, and the obstacle layout coordinate and the sweeping and washing path coordinate in the room model do not need to be updated; and when the attribute of the obstacle is a fixed obstacle, the obstacle can occupy the sweeping and washing path coordinate information for a long time, and then when the attribute information of the obstacle is the fixed obstacle, the current obstacle coordinate can be obtained by collecting the collision coordinate information, so that the obstacle layout coordinate information and the sweeping and washing path coordinate information in the room model can be obtained, and the follow-up intelligent sweeping and washing robot can not be blocked by the same obstacle again during sweeping and washing operation.
Optionally, the path navigation method of the intelligent washing robot further includes: recording the coordinate information of the swept path in real time;
after the path navigation is performed according to the path navigation information, the method further includes:
acquiring current position coordinate information, and determining current non-sweeping path coordinate information according to current swept path coordinate information and the sweeping path coordinate information;
and performing sweeping and washing operation according to the current non-sweeping and washing path coordinate information.
According to the embodiment, the coordinate information of the swept and washed path can be recorded in real time, so that repeated sweeping and washing operations of the intelligent sweeping and washing robot are avoided, and meanwhile, guarantee is provided for efficient sweeping and washing operations again after path navigation after collision; simultaneously, sweeping and washing path coordinate information through real-time recording, and then avoiding the robot is swept to the intelligence is swept and is washed repeated sweeping and washing operation, also provides the guarantee for the operation is washed to high efficiency once more after the route navigation after the collision simultaneously.
Another technical solution adopted by the present application to solve the technical problem is as follows: a path navigation device for performing path navigation on an intelligent sweeping robot, comprising:
the acquisition module is used for acquiring collision position information according to the collision signal when the collision signal is received;
the query module is used for searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information;
and the navigation module is used for carrying out path navigation according to the path navigation information.
The other technical scheme adopted by the application for solving the technical problem is as follows: an intelligent sweeping and washing robot, comprising: a memory, a processor and a path navigation program stored on the memory and executable on the processor, the path navigation program when executed by the processor implementing the steps of the path navigation method as described above.
The other technical scheme adopted by the application for solving the technical problem is as follows: a storage medium, characterized in that the storage medium stores a computer program executable for implementing the steps of the path navigation method as described above.
Among the above-mentioned embodiment, intelligence is swept and is washed robot through adopting the radar that has crashproof structure that provides in this application, and then makes its radar be difficult for because of the structural damage takes place for the collision, ensures the life of radar.
Has the advantages that:
the application discloses route navigation method, robot and storage medium sweep floor, route navigation method for sweep the route navigation to intelligent robot and include: when a collision signal is received, collision position information is obtained according to the collision signal; searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information; and performing path navigation according to the path navigation information. Can know through receiving collision signal that collision has taken place with the barrier, can know collision position information through knowing collision position information, collision position information inquiry is preset route navigation database, learn the route navigation information that corresponds with collision position information, and then can ensure sweeping of intelligent sweeping and washing robot and wash the operation, after being blockked by the barrier, the route navigation of the obstacle of detour of quick adjustment, normal sweeping and washing operation provides the guarantee for the fast recovery for the intelligence is swept and is washed the robot and can continue to sweep and wash the operation after the barrier blocks.
Drawings
FIG. 1 is a flow chart illustrating a preferred embodiment of a method for route navigation provided herein;
FIG. 2 is a functional block diagram of a preferred embodiment of the route guidance device of the present invention.
FIG. 3 is a functional block diagram of a preferred embodiment of the intelligent sweeping robot of the present invention.
Description of the reference numerals:
10. a route guidance device; 11. an acquisition module; 12. a query module; 13. a navigation module; 20. the intelligent sweeping and washing robot; 21. a memory; 22. a processor; 23. and (5) a path navigation program.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1 in combination, a first embodiment of the present application provides a path navigation method for navigating a path of an intelligent washing robot, including:
s100, when a collision signal is received, collision position information is obtained according to the collision signal;
therefore, when the intelligent sweeping and washing robot performs sweeping and washing operation, the obstacle in a room needs to be avoided according to the preset sweeping and washing path, and when the position of the obstacle in the room changes, the obstacle exists in the preset sweeping and washing path, so that the intelligent sweeping and washing robot cannot perform sweeping and washing operation normally; when the intelligent sweeping and washing robot carries out sweeping and washing operation, the intelligent sweeping and washing robot collides with obstacles on a preset sweeping and washing path, the intelligent sweeping and washing robot is provided with a plurality of trigger modules, when the intelligent sweeping and washing robot collides with the obstacles, the trigger modules are in direct contact with the obstacles, collision signals can be generated through the collided action trigger modules, and the intelligent sweeping and washing robot can know that the obstacles exist on the path of the current sweeping and washing operation when receiving the collision signals; and then can be when receiving the collision signal, can be according to collision position information is obtained to the collision signal, and then for intelligent sweeping robot with the route navigation when bumping with the barrier, provide basic information guarantee.
In some embodiments, the path navigation method further comprises: the method comprises the steps of coding a plurality of trigger modules in advance to obtain trigger module coding information, and establishing a first corresponding relation between the trigger module coding information and collision position information.
It can be known that the plurality of trigger modules are arranged at different angular positions of the intelligent sweeping and washing robot, and are coded, for example, numbered as a first trigger module, a second trigger module, a third trigger module, and the like; the trigger module coding information can be further obtained, and the collision position can be accurately obtained through the trigger module coding information or the specific trigger module which has collided; then, by establishing a first corresponding relation between the trigger module coding information and the collision position information, collision position information can be obtained according to a collision signal, and a guarantee is provided for timely and effective obstacle avoidance path navigation of the intelligent sweeping and washing robot; when the intelligent sweeping and washing robot receives the collision signal, the collision position information can be timely obtained, and then the position where the collision position occurs can be obtained.
In some specific embodiments, the step S100 specifically includes:
step S110, when a collision signal is received, acquiring the trigger module coding information;
therefore, when the triggering module collides with the barrier, a collision signal can be generated, and then the triggering module coding information can be known through the collision signal, and then which specific triggering module collides is known, and then which specific position part collides is known, so that the accurate path navigation for the intelligent sweeping and washing robot is guaranteed.
And S120, searching the first corresponding relation to obtain collision position information corresponding to the trigger module coding information.
Therefore, when the intelligent sweeping and washing robot is operated, the robot is informed of the coded information of the trigger module, and then collision position information can be accurately known through the pre-stored first corresponding relation of inquiry, so that the collision position information can be accurately known, and further basic position guarantee is provided for the path navigation of the intelligent sweeping and washing robot.
In other embodiments, before step S100, the method further includes: and pre-establishing a path navigation database, wherein the path navigation database comprises collision position information, path navigation information and a second corresponding relation between the collision position information and the path navigation information.
The intelligent cleaning robot comprises a path navigation database, a path navigation database and a barrier, wherein the path navigation database is established in advance, and after collision signals are detected and collision position information is obtained, the path navigation database can be quickly inquired, path navigation information corresponding to the collision position information is obtained, a guarantee is provided for accurately and quickly obtaining a navigation path after the intelligent cleaning robot collides, and a guarantee is provided for quickly navigating the intelligent cleaning robot after the intelligent cleaning robot is blocked by the barrier.
Further, the path navigation information includes: direction information and route information; specifically, the direction information includes a forward command, a backward command, a left-turn angle command, a right-turn angle command, and the like; the route information includes: the information of the rotating speed of the driving wheel, the information of the positive and negative rotation of the driving wheel and the instruction of the rotating time of the driving wheel. Therefore, the path navigation information includes path direction control and path distance control of the intelligent sweeping and washing robot, and the path navigation method in this embodiment performs short path navigation operation on the intelligent sweeping and washing robot when the sweeping and washing operation of the intelligent sweeping and washing robot is collided, so that the preset path of the sweeping and washing operation of the intelligent sweeping and washing robot is not continuously interfered, and the intelligent sweeping and washing robot is ensured to perform comprehensive sweeping and washing operation on the whole room.
In some embodiments, step S100 is followed by step S200, and step S200 includes:
searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information;
the method can be understood that the route navigation information after collision can be quickly found by quickly searching the route navigation database searched in advance according to the collision position information, so that the detour route after the obstacle is encountered can be quickly identified after the obstacle layout coordinate information is collided, and quick guarantee is provided for quickly recovering normal sweeping and washing operation.
In some embodiments, navigating a route according to the route guidance information comprises: and adjusting the forward and reverse rotation directions of the driving wheel and the advancing angle of the guide wheel according to the direction information, and controlling the rotating speed and the rotating time of the driving wheel according to the path information. Therefore, when the intelligent sweeping and washing robot performs sweeping and washing operations and collides, the intelligent sweeping and washing robot can move forward, backward, turn left, turn right and the like, preferably backward, so that obstacles can be effectively avoided, and sweeping and washing operations can be continued; simultaneously, through control the adjustment distance of washing the robot is swept to intelligence, and then can effectual promotion the efficiency is washed in sweeping of washing the robot is swept to intelligence, avoids the repeated operation and sweeps because the adjustment sweeps and washes the route waste time, promotes operation effect and energy efficiency under sweeping the effectual electric energy storage of washing the robot.
In further embodiments, the path navigation method further comprises: a room model is pre-established, and the room model comprises room layout coordinate information, obstacle layout coordinate information and sweeping path coordinate information.
It can be understood that when the intelligent sweeping and washing robot operates for the first time, a room model is pre-established, and further guarantee is provided for the intelligent sweeping and washing robot to finish sweeping and washing operations accurately; further, setting the room model as room layout coordinate information, obstacle layout coordinate information and sweeping path coordinate information; the room layout coordinate information covers the obstacle layout coordinate information and the sweeping and washing path coordinate information, the sweeping and washing coordinate information is a sweeping and washing operation path preset by the intelligent sweeping and washing robot, the intelligent sweeping and washing robot can sweep and wash according to the sweeping and washing path coordinate information when sweeping and washing operation is carried out, the obstacle layout coordinate information and the sweeping and washing path coordinate information cannot be overlapped, and therefore normal sweeping and washing operation of the intelligent sweeping and washing robot can be guaranteed.
In some embodiments, step S200 is followed by step S300, and step S300 includes:
and carrying out path navigation according to the path navigation information.
Therefore, after the intelligent sweeping and washing robot is blocked by the barrier, the bypassing path navigation route can be rapidly and accurately acquired, and the intelligent sweeping and washing robot can be ensured to rapidly recover to the normal sweeping and washing operation.
In some embodiments, the path navigation method further comprises:
storing obstacle image information and obstacle attribute information associated with the obstacle image information in advance, the obstacle attribute information including a temporary obstacle and a fixed obstacle;
when a collision signal is received, acquiring current obstacle image information and collision coordinate information, and searching obstacle attribute information according to the current obstacle image information;
if the obstacle attribute information is a temporary obstacle, performing path navigation according to the path navigation information;
and if the obstacle attribute information is a fixed obstacle, performing path navigation according to the path navigation information, and updating the obstacle layout coordinate and the sweeping path coordinate according to the collision coordinate information.
The method can be understood that image information of the barricade obstacle during sweeping and washing operation is effectively identified by pre-storing the image information of the obstacle and further combining the existing image identification technology; the obstacle image information is associated with the obstacle attribute information one by one, so that the intelligent sweeping and washing robot can acquire the obstacle image information in real time by utilizing a scanner or a camera when sweeping and washing operation is carried out, and then can acquire the obstacle attribute information, thereby providing guarantee for path navigation of the follow-up intelligent sweeping and washing robot. Therefore, when the collision information is received, the intelligent sweeping and washing robot collides with the obstacle, and at the moment, the attribute of the current obstacle can be judged by acquiring the image information of the current obstacle, so that the next step of path navigation of the intelligent sweeping and washing robot is guaranteed; if the obstacle attribute information is a temporary obstacle (such as a movable clamp, an electric toy, a user or a small animal), the obstacle is only required to be bypassed for sweeping and washing operation, namely the temporary obstacle is only required to be normally navigated according to the path navigation information, and the obstacle layout coordinate and the sweeping and washing path coordinate in the room model are not required to be updated; and when the attribute of the obstacle is a fixed obstacle, the obstacle can occupy the sweeping and washing path coordinate information for a long time, and then when the attribute information of the obstacle is the fixed obstacle, the current obstacle coordinate can be obtained by collecting the collision coordinate information, so that the obstacle layout coordinate information and the sweeping and washing path coordinate information in the room model can be obtained, and the follow-up intelligent sweeping and washing robot can not be blocked by the same obstacle again during sweeping and washing operation.
In further embodiments, the path navigation method further comprises: and recording the coordinate information of the swept path in real time. Therefore, the coordinate information of the swept and washed path is recorded in real time, so that the repeated sweeping and washing operation of the intelligent sweeping and washing robot is avoided, and meanwhile, the guarantee is provided for the secondary efficient sweeping and washing operation after the path navigation after the intelligent sweeping and washing robot collides.
In some embodiments, after the performing the route guidance according to the route guidance information, the method further includes:
acquiring current position coordinate information, and determining current non-sweeping path coordinate information according to current swept path coordinate information and the sweeping path coordinate information;
and performing sweeping and washing operation according to the current non-sweeping and washing path coordinate information.
It can be understood that, the intelligence is swept and is washed the robot and when being interrupted the normal operation of washing of sweeping by the barrier, after carrying out route navigation and evading, has swept through the record and has washed route coordinate information, then can learn and sweep route coordinate information at present, and then can avoid the intelligence is swept and is washed the robot and repeatedly sweep and wash the operation, also avoids the intelligence is swept and is washed the robot and leave and sweep and wash the blank region, promotes to sweep and wash operation effect and efficiency.
Referring to fig. 2, in a second embodiment of the present application, a path navigation apparatus is further provided for performing path navigation on an intelligent washing robot, including: the acquisition module is used for acquiring collision position information according to a collision signal when the collision signal is received; the query module is used for searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information; the navigation module is used for carrying out path navigation according to the path navigation information; for details, refer to the description in the first embodiment of the present application.
Referring to fig. 3, in a third embodiment of the present application, an intelligent sweeping robot is further provided, which includes: a memory, a processor and a path guidance program stored on the memory and executable on the processor, the path guidance program when executed by the processor implementing the steps of the path guidance method as described in the first embodiment of the application; for details, refer to the description in the first embodiment of the present application.
A storage medium is also provided in a fourth embodiment of the present application, the storage medium storing a computer program, and the storage medium being a computer-readable storage medium, the computer program being executable to implement the steps of the path guidance method as described in the first embodiment of the present application; for details, refer to the description in the first embodiment of the present application.
In summary, the present application provides a path navigation method, an apparatus, an intelligent cleaning robot and a storage medium, where the path navigation method includes: when a collision signal is received, collision position information is obtained according to the collision signal; searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information; and carrying out path navigation according to the path navigation information. Can know through receiving collision signal that collision has taken place with the barrier, can know collision position information through knowing collision position information, collision position information inquiry is preset route navigation database, learn the route navigation information that corresponds with collision position information, and then can ensure sweeping of intelligent sweeping and washing robot and wash the operation, after being blockked by the barrier, the route navigation of the obstacle of detour of quick adjustment, normal sweeping and washing operation provides the guarantee for the fast recovery for the intelligence is swept and is washed the robot and can continue to sweep and wash the operation after the barrier blocks.
It should be understood that the application of the present application is not limited to the above examples, and that modifications or changes may be made by those skilled in the art based on the above description, and all such modifications and changes are intended to fall within the scope of the appended claims.
Claims (5)
1. A path navigation method is used for path navigation of an intelligent sweeping and washing robot and is characterized by comprising the following steps:
when a collision signal is received, collision position information is obtained according to the collision signal;
searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information;
performing path navigation according to the path navigation information;
the intelligent sweeping and washing robot is provided with a plurality of trigger modules; the path navigation method further includes:
coding a plurality of trigger modules in advance to obtain trigger module coding information, and establishing a first corresponding relation between the trigger module coding information and the collision position information;
when receiving a collision signal, obtaining collision position information according to the collision signal, including:
when a collision signal is received, acquiring the trigger module coding information;
searching the first corresponding relation to obtain collision position information corresponding to the trigger module coding information;
when receiving the collision signal, before obtaining collision position information according to the collision signal, the method further comprises:
pre-establishing a path navigation database, wherein the path navigation database comprises collision position information, path navigation information and a second corresponding relation between the collision position information and the path navigation information;
the path navigation information includes: direction information and route information;
and performing path navigation according to the path navigation information, comprising:
adjusting the forward and reverse rotation directions of the driving wheel and the advancing angle of the guide wheel according to the direction information, and controlling the rotating speed and the rotating time of the driving wheel according to the path information;
the path navigation method further includes:
pre-establishing a room model, wherein the room model comprises room layout coordinate information, obstacle layout coordinate information and sweeping path coordinate information;
the path navigation method further includes:
pre-storing obstacle image information and obstacle attribute information associated with the obstacle image information, the obstacle attribute information including a temporary obstacle and a fixed obstacle;
when a collision signal is received, acquiring current obstacle image information and collision coordinate information, and searching obstacle attribute information according to the current obstacle image information;
if the obstacle attribute information is a temporary obstacle, performing path navigation according to the path navigation information;
and if the obstacle attribute information is a fixed obstacle, performing path navigation according to the path navigation information, and updating the obstacle layout coordinate and the sweeping path coordinate according to the collision coordinate information.
2. The path guidance method of claim 1, wherein the path guidance method of the intelligent washing robot further comprises: recording the coordinate information of the swept path in real time;
after the path navigation is performed according to the path navigation information, the method further comprises the following steps:
acquiring current position coordinate information, and determining current non-sweeping path coordinate information according to current swept path coordinate information and the sweeping path coordinate information;
and performing sweeping and washing operation according to the current non-sweeping and washing path coordinate information.
3. The utility model provides a route navigation head for sweep intelligent washing machine people and carry out route navigation, its characterized in that includes:
the acquisition module is used for acquiring collision position information according to the collision signal when the collision signal is received;
the query module is used for searching a pre-stored path navigation database according to the collision position information to obtain path navigation information corresponding to the collision position information;
the navigation module is used for carrying out path navigation according to the path navigation information;
the intelligent sweeping and washing robot is provided with a plurality of trigger modules;
coding a plurality of trigger modules in advance to obtain trigger module coding information, and establishing a first corresponding relation between the trigger module coding information and the collision position information;
when receiving a collision signal, obtaining collision position information according to the collision signal, including:
when a collision signal is received, acquiring the trigger module coding information;
searching the first corresponding relation to obtain collision position information corresponding to the trigger module coding information;
when receiving the collision signal, before obtaining collision position information according to the collision signal, the method further comprises:
pre-establishing a path navigation database, wherein the path navigation database comprises collision position information, path navigation information and a second corresponding relation between the collision position information and the path navigation information;
the path navigation information includes: direction information and route information;
and performing path navigation according to the path navigation information, comprising:
adjusting the forward and reverse rotation directions of the driving wheel and the advancing angle of the guide wheel according to the direction information, and controlling the rotating speed and the rotating time of the driving wheel according to the path information;
pre-establishing a room model, wherein the room model comprises room layout coordinate information, obstacle layout coordinate information and sweeping path coordinate information;
pre-storing obstacle image information and obstacle attribute information associated with the obstacle image information, the obstacle attribute information including a temporary obstacle and a fixed obstacle;
when a collision signal is received, acquiring current obstacle image information and collision coordinate information, and searching obstacle attribute information according to the current obstacle image information;
if the obstacle attribute information is a temporary obstacle, performing path navigation according to the path navigation information;
and if the obstacle attribute information is a fixed obstacle, performing path navigation according to the path navigation information, and updating the obstacle layout coordinate and the sweeping path coordinate according to the collision coordinate information.
4. The utility model provides a robot is washed in intelligence, its characterized in that includes: a memory, a processor and a route guidance program stored on the memory and executable on the processor, the route guidance program when executed by the processor implementing the steps of the route guidance method of any one of claims 1~2.
5. A storage medium storing a computer program executable to perform the steps of the path navigation method of any one of claims 1~2.
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| CN106527424B (en) * | 2016-09-20 | 2023-06-09 | 深圳银星智能集团股份有限公司 | Mobile robot and navigation method for mobile robot |
| CN110119136A (en) * | 2018-02-05 | 2019-08-13 | 苏州宝时得电动工具有限公司 | From mobile device and its obstacle detection method |
| CN108762273B (en) * | 2018-06-05 | 2021-09-10 | 北京智行者科技有限公司 | Sweeping method |
| CN109000655B (en) * | 2018-06-11 | 2021-11-26 | 东北师范大学 | Bionic indoor positioning and navigation method for robot |
| KR20210039232A (en) * | 2019-10-01 | 2021-04-09 | 엘지전자 주식회사 | Robot cleaner and method for determining a cleaning path |
| CN111358378A (en) * | 2020-04-29 | 2020-07-03 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
| CN111700544A (en) * | 2020-05-07 | 2020-09-25 | 苏州品坤智能科技有限公司 | Anti-collision control system and control method of intelligent cleaning robot |
| CN111949017B (en) * | 2020-06-30 | 2024-05-07 | 珠海一微半导体股份有限公司 | Robot obstacle crossing edge path planning method, chip and robot |
| CN114995376A (en) * | 2022-04-21 | 2022-09-02 | 北自所(北京)科技发展股份有限公司 | Automatic guided vehicle navigation and map updating method and system |
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