CN116149314A - Robot full-coverage operation method and device and robot - Google Patents
Robot full-coverage operation method and device and robot Download PDFInfo
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Abstract
The invention discloses a robot full-coverage operation method and device and a robot. The method comprises the following steps: dividing a robot to-be-operated field into a plurality of operation areas; for each operation area, planning paths one by one according to a first operation coverage mode, controlling a robot to traverse the paths to operate after planning each path, collecting environment data for positioning in the process of traversing the paths by the robot, and creating a three-dimensional or two-dimensional map of the current operation area according to the environment data; after the robot operation coverage of all the operation areas is completed by adopting the first operation coverage mode, the position information of each obstacle is determined according to the three-dimensional or two-dimensional map, and the edge operation is respectively executed on each obstacle by adopting the second operation coverage mode. The method improves the quality of environment data collected by the robot for positioning, improves the positioning precision of the robot, and further improves the operation efficiency of the robot.
Description
Technical Field
The invention relates to the field of artificial intelligence, in particular to a robot full-coverage operation method and device and a robot.
Background
For the cleaning robot, the task is to perform full-coverage cleaning operation on a designated area or an area where the robot is located, different operation flows have different operation efficiencies and operation qualities, and reasonable operation flows can improve the cleaning capability of the cleaning robot, so that the full-coverage operation flows are necessary capabilities of the cleaning robot.
The full-coverage operation flow comprises linear coverage and object coverage, wherein the path track left by the linear coverage is similar to a Chinese character 'bow', so that the full-coverage operation flow is called as a 'bow-shaped coverage path', namely 'bow cleaning'; covering along an object may also be referred to as "edge sweeping".
For example, the workflow of the existing cleaning robot is: the robot performs arc cleaning in the appointed area, when the robot encounters an obstacle, the robot is switched to edge cleaning, after the robot finishes edge cleaning of the obstacle, an uncovered starting point is found, the robot firstly walks to the starting point and then is switched to arc cleaning, and the process is repeated until the appointed area is completely covered.
The existing cleaning robot adopts the working flow to operate, and the modes of 'edge cleaning' and 'bow cleaning' are switched at any time, so that the environment data for positioning are not collected by the robot. However, accurate positioning is critical for the robot, and the accurate positioning is based on whether the robot has high-quality environmental data for positioning at the working site. Therefore, for unfamiliar or greatly-changed sites, the positioning accuracy of the robot can be greatly reduced, so that the path planning and motion control of the robot are affected, the working efficiency of the robot is reduced, and even serious accidents of collision of the robot with other objects occur.
Disclosure of Invention
The invention mainly aims to disclose a full-coverage operation method and device for a robot and the robot, which at least solve the problems that in the related art, the cleaning robot is switched between 'edge cleaning' and 'bow cleaning' at any time in the working process, the robot is not easy to collect environmental data for positioning, the positioning accuracy of the robot is greatly reduced, and the like.
According to one aspect of the present invention, a robotic full-coverage work method is provided.
The robot full-coverage operation method comprises the following steps: dividing a robot to-be-operated field into a plurality of operation areas; for each operation area, planning paths one by one according to a first operation coverage mode, controlling a robot to traverse the paths to operate after planning each path, collecting environment data for positioning in the process of traversing the paths by the robot, and creating a three-dimensional or two-dimensional map of the current operation area according to the environment data; after the robot operation coverage of all the plurality of operation areas is completed by the first operation coverage mode, position information of each obstacle is determined according to the three-dimensional or two-dimensional map, and the edge operation is respectively executed on each obstacle by the second operation coverage mode.
According to another aspect of the present invention, a robotic full-coverage work device is provided.
The robot full-coverage work device according to the present invention includes: the dividing module is used for dividing a robot to-be-operated field into a plurality of operation areas; the first operation module is used for planning paths one by one for each operation area according to a first operation coverage mode, controlling a robot to traverse the paths to operate after planning each path, collecting environment data for positioning in the process of traversing the paths by the robot, and creating a three-dimensional or two-dimensional map of the current operation area according to the environment data; and the second operation module is used for determining the position information of each obstacle according to the three-dimensional or two-dimensional map after the operation coverage of the robot in all the plurality of operation areas is completed by adopting the first operation coverage mode, and executing the edge operation on each obstacle by adopting the second operation coverage mode.
According to yet another aspect of the present invention, a robot is provided.
The robot according to the present invention includes: the memory is used for storing computer execution instructions; the processor is configured to execute the computer-executable instructions stored in the memory, so that the robot performs the method according to any one of the above.
According to the invention, a robot to-be-operated area is divided into a plurality of operation areas, each operation area is provided with a path one by one according to a first operation coverage mode, the robot is controlled to traverse the path to operate after each path is provided with the path, and after the operation coverage of the robot in all the plurality of operation areas is completed by adopting the first operation coverage mode, the operation along the edges of each obstacle is respectively executed by adopting a second operation coverage mode. The problems that in the related art, the cleaning robot is switched between 'edge cleaning' and 'bow cleaning' at any time in the working process, the robot is not beneficial to collecting environment data for positioning, the positioning accuracy of the robot is greatly reduced, and the like are solved. The quality of the environment data used for positioning by the robot is improved, and the positioning accuracy of the robot is further improved, so that the path planning of the robot is more reasonable, the motion control of the robot is more accurate, and the operation efficiency of the robot is higher.
Drawings
FIG. 1 is a flow chart of a robot full coverage job method in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of a grid map in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic illustration of planning an arcuate working path in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of an optimized planned path in accordance with a preferred embodiment of the present invention;
fig. 5 is a flowchart of a robot full coverage operation method according to a preferred embodiment of the present invention;
fig. 6 is a block diagram of a robot full-coverage work device according to an embodiment of the present invention;
fig. 7 is a block diagram of a robot full-coverage work device according to a preferred embodiment of the present invention;
fig. 8 is a block diagram of a robot according to an embodiment of the present invention.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, 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 is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. The english letters, numbers herein are for illustrative reference only and are not to be construed as indicating or implying relative importance or implying any particular component of the indicated technical feature. In the following description of the embodiments, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The invention is described in detail below with reference to the drawings.
According to the embodiment of the invention, a full-coverage operation method of a robot is provided.
Fig. 1 is a flowchart of a robot full coverage operation method according to an embodiment of the present invention. As shown in fig. 1, the robot-based full coverage operation method includes:
step S101: dividing a robot to-be-operated field into a plurality of operation areas;
step S102: for each operation area, planning paths one by one according to a first operation coverage mode, controlling a robot to traverse the paths to operate after planning each path, collecting environment data for positioning in the process of traversing the paths by the robot, and creating a three-dimensional or two-dimensional map of the current operation area according to the environment data;
step S103: after the robot operation coverage of the whole operation area is completed by adopting the first operation coverage mode, position information of each obstacle is determined according to the three-dimensional or two-dimensional map, and the edge operation is respectively executed on each obstacle by adopting the second operation coverage mode.
The method shown in fig. 1 is adopted to divide a robot to-be-operated field into a plurality of operation areas, each operation area is provided with a path one by one according to a first operation coverage mode, the robot is controlled to traverse the path to operate after each path is provided with the path, and after the operation coverage of the robot in all the plurality of operation areas is completed by adopting the first operation coverage mode, the operation along the edge is respectively executed on each obstacle by adopting a second operation coverage mode. The quality of the environment data used for positioning by the robot is improved, and the positioning accuracy of the robot is further improved, so that the path planning of the robot is more reasonable, the motion control of the robot is more accurate, and the operation efficiency of the robot is higher.
In a preferred implementation process, for a to-be-operated field, the to-be-operated field may be divided into a plurality of operation areas, the robot may perform operations in the operation area where the robot is located (for example, the cleaning robot needs to perform cleaning operation on the to-be-cleaned field, etc.), then the next area where the operation is not completed may be selected to perform operations according to the principle of proximity until all the areas complete the covering operation, and then the robot returns to the operation starting point.
For example, the robot may or may not be started on the charging stake. After the robot starts to start, the robot can be repositioned first, so that the accuracy of the current pose is ensured. The correct real-time pose is a precondition for ensuring the effective operation of the robot. There are two types of repositioning results: success or failure. The repositioning is successful, which means that the robot comes to the current working environment and records the current environment information; failure to reposition indicates that the robot first comes to the current working environment or that the robot has come to the current working environment, but the current working environment has changed greatly.
When the robot is repositioned, the robot begins the work. The robot first performs operation in the current operation area. After the operation is completed in the current operation area, the robot determines the next operation area according to the current pose information, and specifically, the robot can select the operation area closest to the current pose of the robot to perform the operation. This step is performed in a loop until the robot can reach the work area to complete the work.
For each working area, the working flow of the robot in each working area is consistent, namely, a path is planned one by one according to a first working coverage mode (for example, an arc coverage working mode), the robot is controlled to traverse the path to carry out working after planning each path, in the process of traversing the path by the robot, environment data for positioning are collected, and a three-dimensional or two-dimensional map of the current working area is created according to the environment data. After the robot operation coverage of all the plurality of operation areas is completed by the first operation coverage method, position information of each obstacle is determined based on the three-dimensional or two-dimensional map, and the bordering operation is performed on each obstacle by a second operation coverage method (for example, a bordering coverage operation method). For example, the robot preferentially performs arcuate cleaning in a passable area in a current working area, then selects a nearest non-working area according to the current pose of the robot to perform arcuate cleaning until arcuate cleaning of all working areas is completed, and then performs edge cleaning on each obstacle one by one according to the position information of each obstacle in an established map. By adopting the method, for the robot adopting the multi-vision module, under the condition that the environment detection distance of the robot is short, the robot is firstly subjected to arc cleaning to facilitate environment detection and positioning, and then the robot performs edge operation on each obstacle, so that the robot is fully covered.
Specifically, the above-mentioned robot may be partitioned as follows: the operation area is divided into a plurality of square areas (of course, areas with other shapes) in a checkerboard form, and the square size can be set according to practical requirements, for example, the square area of each square is set to be 4m by 4m, and the square area of each square can also be set to be 4m by 5 m. Each square is a cleaning area.
In the practical environment, each cleaning area consists of a passable area, an obstacle area and a forbidden area. The robot can only work in the passable area. The robot should avoid entering obstacles and forbidden zones.
In the process of traversing the path by the robot, environment data for positioning is collected, and a three-dimensional or two-dimensional map of the current working area can be created according to the environment data. For example, the robot may build a navigation map, an overlay map, a forbidden zone map, a semantic obstacle map, etc. using a form of a grid map, which may use a gray scale map, the properties of the grid map include: the resolution (e.g., each grid value range is 0-255, the resolution is equal to 0.05m, the side length of one grid represents 0.05m of the real world), the origin world coordinates (the point of grid coordinates (0, 0) are at the real world coordinate locations, e.g., the origin world coordinates are equal to (-30.0 ), the real world coordinates corresponding to the point of grid coordinates (0, 0) are (-30.0 )), the grid attribute type (different meanings represented by different grid values, e.g., 0 represents a passable area, 100 represents an inflated area of an obstacle, 254 represents an obstacle, 255 represents an unknown area, etc.). See in particular the example shown in fig. 2.
The navigation map is a map established according to binocular depth information, along-edge sensors, collision sensors and cliff detection sensor information. From this map, it can be reflected where traffic is possible and where traffic is not possible;
wherein the coverage map is a map established by the robot according to the pose of the robot and the coverage width of the cleaning equipment of the robot, wherein the robot plans a working path and performs a working according to a first working coverage mode (for example, an arc-shaped cleaning coverage mode), and plans a working path and performs a working according to a second working coverage mode (for example, an edge-cleaning coverage mode). From this map, the already-worked areas, as well as the areas that have not been worked on, can be presented.
The forbidden zone map is a map established according to the manually set area information which is forbidden to enter. From this map, an artificially set area where the robot is prohibited from entering can be presented.
The semantic obstacle map is a map built according to semantic obstacles detected by a multi-vision module of the robot, such as shoes, an electric fan base, dogs, cats, wires and the like. Specific attribute information (such as category information) of the obstacle can be presented through the map, and meanwhile, the map can be used as a supplement of a navigation map to assist the robot in obstacle avoidance.
The first work coverage may be an arcuate work coverage, a ring work coverage, or the like, and the second work coverage may be a side-by-side work coverage, or the like, in which the side-by-side work coverage is to perform side-by-side work (e.g., side-by-side cleaning, or the like) around each obstacle in the work area.
Preferably, the above-mentioned planning path piece by piece according to the first job coverage manner may further include the following processing for each job area:
step 1: searching a position point which is closest to the starting point and accessible in a working area by taking the current position of the robot as the starting point;
step 2: extending from the accessible position point to a plurality of directions around, detecting the accessible furthest position point, and determining the traversing direction of the working path according to the furthest distance which can be extended in each direction;
step 3: after planning a path between the starting point and the accessible position point, controlling the robot to navigate to the accessible position point;
step 4: starting from the accessible position points, planning the operation paths one by one according to the traversing direction of the operation paths until the operation paths cannot be planned, and circularly executing the steps 1 to 4;
Step 5: when a position point closest to the starting point and accessible by traffic cannot be searched in the current working area, it is determined that planning of a working path using the first working coverage method (for example, an arcuate working coverage method) is completed for the working area.
Preferably, extending from the above accessible location point to a plurality of directions around, detecting the accessible furthest location point, determining the traversing direction of the working path according to the furthest distance that each direction can extend may further include the following processing: extending from the accessible position points to X-axis positive direction, X-axis negative direction, Y-axis positive direction and Y-axis negative direction under the world coordinate system, and respectively detecting the accessible farthest position points in all directions; according to the distance between the farthest position point corresponding to each direction and the accessible position point, respectively determining the farthest distance dltx1 which can extend in the positive direction of the X axis, the farthest distance dltx2 which can extend in the negative direction of the X axis, the farthest distance dlty1 which can extend in the positive direction of the Y axis and the farthest distance dlty2 which can extend in the negative direction of the Y axis; comparing the sizes of dltx1 and dltx2, and the sizes of dlty1 and dlty2; when dltx1 is greater than dltx2, determining that the positive direction of the linear main path in the working path is consistent with the positive direction of the X axis, otherwise, determining that the positive direction of the linear main path in the working path is consistent with the negative direction of the X axis; and when dlty1 is larger than dlty2, determining that the positive direction of the linear connection path between two adjacent linear main paths in the operation path is consistent with the positive direction of the Y axis, otherwise, determining that the positive direction of the linear connection path in the operation path is consistent with the negative direction of the Y axis.
In the following, an arcuate working path will be described as an example, before planning the arcuate working path, it is first necessary to determine two directions (i.e., the traversing directions of the working path), wherein one direction is the traversing direction of the arcuate long-side straight-line path (i.e., the straight-line main path, as shown in fig. 3), and the other direction is the traversing direction of the arcuate short-side straight-line path (i.e., the straight-line connecting path between the adjacent two straight-line main paths, as shown in fig. 3). In the specific implementation process, in the same operation area, the direction of the arched long-side linear path can be kept parallel to the X-axis or Y-axis direction of world coordinates, and the direction of the arched short-side linear path needs to be dynamically adjusted according to the following adjustment criteria: more arcuate paths can be planned by the robot along the direction of the arcuate short side linear path, the direction of the arcuate long side linear path and the arcuate short side linear path being determined at the time of search.
In a preferred implementation, the following two application scenarios are: first, the robot just begins under the scene of the operation; secondly, the robot is in a scene that the cleaning path cannot be planned in the current working area; the robot may search for the nearest and passable unclean location point from the robot as a reference point for planning the next (or first) arcuate cleaning path, starting from the current location. In a specific implementation, a Breadth-First-Search (BFS) algorithm, which is a graphical Search algorithm that traverses the nodes of the tree along the width of the tree from the root node, can be used to Search for the nearest and passable unclean location points to the robot, and if a target is found, the algorithm terminates. After the above-mentioned uncleaned position point is found, it can be extended from this position point in several directions, for example, it can find the furthest coordinate point which can pass through and not cover in the positive direction of X axis, the negative direction of X axis, the positive direction of Y axis and the negative direction of Y axis under the world coordinate system, in which the furthest coordinate point which can be extended in the positive direction of X axis is px1, the furthest coordinate point which can be extended in the negative direction of X axis is px2, the furthest coordinate point which can be extended in the positive direction of Y axis is py1, and the furthest coordinate point which can be extended in the negative direction of Y axis is py2. The distance from px1 to p point is dltx1, and the distance from px2 to p point is dltx2; according to the distance from py1 to p point being dlty1, the distance from py2 to p point being dlty2. Comparing dltx1 with dltx2, if dltx1 is greater than dltx2, the positive direction of the straight line main path in the working path (i.e., the longer side path of the arcuate working path) is coincident with the positive direction of the X-axis, and if dltx1 is less than or equal to dltx2, the positive direction of the straight line main path in the working path (i.e., the longer side straight line path of the arcuate working path) is coincident with the negative direction of the X-axis; if dlty1 is greater than dlty2, the positive direction of the straight-line connection path between two adjacent straight-line main paths in the working path (i.e., the shorter-side straight-line path of the arcuate working path) coincides with the positive direction of the X-axis, and if dlty1 is less than or equal to dlty2, the positive direction of the straight-line connection path between two adjacent straight-line main paths in the working path (i.e., the shorter-side straight-line path of the arcuate working path) coincides with the negative direction of the X-axis.
After determining the traversing direction of the working route, the robot plans a path from the current position to the nearest and passable unclean position point, and the robot reaches the unclean position point along the planned path. Specifically, the robot may select an a-or RRT navigation algorithm, etc., to plan a path from the current location to the point of the unclean location.
Preferably, starting from the accessible location point, planning the job path item by item according to the travelling direction of the job path may further include the following processes: from the above-mentioned accessible location point P 0 Initially, the three-dimensional or two-dimensional map is traversed stepwise along the forward direction of the main straight line path, and the current traversal point P is determined during the traversal 1 Is in the non-passable area or the worked coverage area, P will 1 Recording the position information of the (b); from the above P 1 Starting to gradually traverse the three-dimensional or two-dimensional map along the forward direction of the straight connecting path, and when the next traversing point of the current traversing point is determined to be in an unperforable area or a worked coverage area and the distance between the current traversing point and the P1 is smaller than the distance value between the adjacent two straight main paths in the traversing process 0 And P 1 The traversed path is determined as a working path planned according to the first working coverage mode.
In a preferred implementation, a job path may be routed through two points (P 0 And P 1 ) To determine that the distance between the main paths of adjacent straight lines of arcuate shape is known as d (the length of the straight line path of the shorter side of the arcuate working path), based on the search result (e.g., the position point P reachable at the above-mentioned pass 0 Point-start planning path, direction along longer and shorter side straight paths of the arcuate working path), at P 0 The two-dimensional or three-dimensional grid map (including navigation map, forbidden zone map, semantic obstacle map, covering map and the like) is traversed gradually along the forward direction of the longer straight line path (namely the straight line main path), and the traversing is stopped when the next traversing point is an impassable zone or covering zone in the traversing process, and the current grid is marked as P 1 A dot; then at P 1 Gradually traversing a two-dimensional or three-dimensional grid map (comprising a navigation map, a forbidden zone map, a semantic obstacle map, an overlay map and the like) along the forward direction of a shorter side by taking a point as a starting point, wherein the point which is encountered next traversing in the traversing process is in an impassable area or a worked coverage area, and the point is matched with the P 1 The distance between the two is smaller than d, P is 0 And P 1 The traversed path is determined as a job path planned in an arcuate job coverage manner. If at P 1 If none of the points has been traversed, determining that the planning has failed, and searching for a position point instead of P 0 And (5) a dot.
Preferably, starting from the accessible location point, planning the job path item by item according to the travelling direction of the job path includes: is accessible from the abovePosition point P of (2) 0 Initially, the three-dimensional or two-dimensional map is traversed stepwise along the forward direction of the main straight line path, and the current traversal point P is determined during the traversal 1 Is in the non-passable area or the worked coverage area, P will 1 Recording the position information of the (b); from the above P 1 Initially, traversing the three-dimensional or two-dimensional map step by step along the forward direction of the straight line connecting path, traversing to the position point P 2 Stopping traversing, wherein P 1 And P 2 The distance between the two adjacent straight main paths is a preset distance value between the two adjacent straight main paths; from the above P 2 Initially, traversing the three-dimensional or two-dimensional map step by step along the negative direction of the main path of the straight line, if the current traversing point P is in the traversing process 3 And P 2 When the distance between the two is a preset distance value, P is determined 3 Is recorded from P 0 Initially, go through P 1 、P 2 、P 3 The traversed path is determined as a job path planned in the first job overlay manner described above.
In the preferred implementation, a job path may be defined by two points (P 0 、P 1 ) Is determined by means of four points (P 0 、P 1 、P 2 、P 3 ) To determine that the distance between the main paths of adjacent straight lines of arcuate shape is known as d (the length of the straight line path of the shorter side of the arcuate working path), based on the search result (e.g., the position point P reachable at the above-mentioned pass 0 Point-start planning path, direction along longer and shorter side straight paths of the arcuate working path), at P 0 The two-dimensional or three-dimensional grid map (including navigation map, forbidden zone map, semantic obstacle map, covering map and the like) is traversed gradually along the forward direction of the longer straight line path (namely the straight line main path), and the traversing is stopped when the next traversing point is an impassable zone or covering zone in the traversing process, and the current grid is marked as P 1 A dot; then at P 1 Traversing two-dimensional or three-dimensional grid map (including navigation map, forbidden zone map, semantic obstacle map, overlay map, etc.) step by step along shorter side with point as starting point ) When traversing to P 2 (P 2 To P 1 Stopping traversing when the distance of (d) is the point; then from P 2 Starting point, traversing two-dimensional or three-dimensional grid map (including navigation map, forbidden zone map, semantic obstacle map, coverage map and the like) along the negative direction of longer straight path (i.e. straight main path), stopping traversing when the next traversing point is an impassable area or a worked coverage area in the traversing process, and traversing to P 3 ，P 3 And P 2 When the distance between the two paths is a preset distance value (for example, the preset distance value can be set to be equal to the distance d between the main paths of the adjacent straight lines), the traversal is stopped, and P is calculated 3 Is recorded. Will be from P 0 Initially, go through P 1 、P 2 、P 3 The traversed path is determined as a working path planned according to the arch working coverage mode, namely, a path defined by P is obtained 0 、P 1 、P 2 、P 3 Four points define a single arcuate path.
Preferably, from the above P 2 Initially, traversing the three-dimensional or two-dimensional map step by step along the negative direction of the straight line main path may further include the following processes: in the traversal process, if the next traversal point of the current traversal point is in the non-passable area or the worked coverage area, and the current traversal point and P 2 When the distance between the two is smaller than the preset distance value, P is calculated 1 And P 2 Discarding the traversed path, and adding P 0 The path traversed with P1 is determined as a job path planned in the first job overlay manner.
In the preferred embodiment, when the material is selected from P 0 Initially, go through P 1 Traversing to P 2 After that, from P 2 Starting to continue traversing, in the traversing process, if the next traversing point of the current traversing point is in the non-passable area or the operated coverage area, and the current traversing point is in the P 1 The distance therebetween is smaller than the above-mentioned preset distance value (for example, may be set to a value equal to the distance d between the arcuate adjacent straight-line main paths), then P is not taken into consideration 1 And P 2 The traversed path between, P 1 And P 2 Discarding the traversed path, and adding P 0 And P 1 The traversed path is determined as a job path planned in an arcuate job coverage manner.
Preferably, will be from P 0 Initially, go through P 1 、P 2 、P 3 After determining the traversed path as a job path planned according to the first job coverage manner, the method may further include the following processing:
step 1: at P 1 And P 2 Determining position point A on the traversed path and at P 0 And P 1 Determining a position point C on the traversed path;
Step 2: according to the selected position point D on the path traversed between P1 and A, the position points between C and P 1 Determining a position point E on the traversed path, wherein the linear distance between A and D is equal to the linear distance between A and P 1 Straight line distance between = P 1 Straight line distance from E/P 1 A linear distance from C;
step 3: a straight line is adopted to connect the position point D and the position point E, the position point F is determined on a line segment between the position point D and the position point E, wherein the straight line distance between A and D is between A and P 1 Straight line distance between = P 1 Straight line distance from E/P 1 Linear distance from c=linear distance between D and F/linear distance between D and E;
step 4: at A and P 1 Along the path traversed from A to P 1 Selecting the position points D one by one, and circulating the steps 1 to 4 until a plurality of position points F are obtained;
step 5: connecting all the obtained position points F to obtain a connected path, and replacing C and P by adopting the connected path 1 Path traversed by and P 1 And a path traversed between a and a.
In a preferred implementation, in order to ensure smooth travel of the robot, it is necessary to perform smoothing processing on the arcuate working path and a part of the path of the robot navigation path so that the travel path is smoother during the travel of the robot. The way in which the travel path of the robot is optimized is described below in connection with the example of fig. 4.
As shown in fig. 4, the arcuate working path of the robot includes: from P 0 Starting from, pass through P 1 Then go through to P 2 Is a segment of the path. In order to ensure the smooth running of the robot, the path needs to be subjected to smoothing treatment, which specifically comprises the following steps:
step 1: at P 0 And P 1 Determining a position point C on the traversed path and at P 1 And P 2 Determining a position point A on the traversed path, wherein the position point A can be determined according to A and P 1 Preset linear distance |ap between 1 The position of the point A is determined according to C and P 1 Preset linear distance between |cp 1 The position of point C is determined.
Step 2: according to P 1 A position point D selected on the path traversed between the point D and the point A, and a position point D selected on the path traversed between the point D and the point A 1 Determining a location point E on the path traversed by the two, wherein AD/AP 1 |＝|P 1 E|/|P 1 C and AD represent the linear distance between A and D, AP 1 I represents A and P 1 Straight line distance between, |P 1 E| represents P 1 Straight line distance from E, |P 1 C| represents P 1 Straight line distance from C.
Step 3: connecting the position point D and the position point E by adopting a straight line, and determining the position point F on a line segment between the position point D and the position point E, wherein I AD I/I AP 1 |＝|P 1 E|/|P 1 C= |df|/|de|, where df| represents a linear distance between D and F, and de| represents a linear distance between D and E.
Step 4: at A and P 1 Along the path traversed from A to P 1 And (3) selecting the position points D one by one, and circularly executing the steps 2 to 4 until a plurality of position points F are acquired.
Step 5: connecting all the obtained position points F to obtain a connected path, and replacing C and P by the path connected by all the F points 1 Path traversed by and P 1 And a path traversed between a and a.Wherein the path connected by all F points is a smooth curve, and the curve is adopted to replace the path from C to P 1 And then traversing a path to A, so that the robot can be ensured to be more stable, safer and more reliable in the running process.
Preferably, determining the position information of each obstacle according to the three-dimensional or two-dimensional map, and performing the edge operation on each obstacle in the second operation coverage manner may further include: determining an obstacle to be subjected to the current edge operation according to the pose information of the robot and the position information of each obstacle; determining shortest distance information of the robot and the obstacle to be subjected to the edge operation when the operation is performed according to the category information of the obstacle; and detecting the real-time distance between the robot and the obstacle to be subjected to the edge operation in the operation process, and adjusting the traveling direction and the traveling speed of the robot in real time according to the real-time distance and the shortest distance information.
In the preferred implementation process, as the robot plans the paths one by one according to the first operation coverage mode, and traverses the paths to operate after planning each path, in the process of traversing the paths by the robot, a three-dimensional or two-dimensional map of the current operation area is created according to the environment data. In conjunction with the created three-dimensional or two-dimensional map, position information of each obstacle can be determined. The robot adopts a second operation coverage mode to respectively execute the processes of the edge operation on each obstacle, and the process comprises the following steps: the robot can search for an obstacle next to perform the edgewise operation according to its own pose information, for example, find an obstacle nearest to the current position of the robot. The robot then plans a path and navigates to the perimeter of the obstacle to be edgewise worked, performing an edgewise work (e.g., edge sweep, etc.) on the obstacle. After finishing the edgewise operation, the robot continues to search for an obstacle for the next edgewise operation to be performed based on its own position information, then continues to plan a path, and navigates to the periphery of the obstacle for which the edgewise operation is to be performed, performs the edgewise operation (e.g., edgewise cleaning, etc.) on the obstacle, and loops through this step until the robot completes the edgewise operation on all the obstacles.
In a preferred implementation, the edgewise operation may be performed by an edgewise sensor and a collision detection sensor of the robot. The distance of the robot from the obstacle can be detected by the edge sensor, and the advancing direction and speed of the robot can be adjusted according to the distance, thereby realizing the proximate operation to the obstacle, and in particular, the edge operation can be realized using a proportional-differential integral (PID) algorithm in the related art. For some obstacles which are not detected by the edge sensors, the advancing direction and speed of the robot can be adjusted by the detection data of the collision detection sensor and the cliff detection sensor.
In the case where specific type information of the obstacle can be determined from the semantic map, for example, for a moving living body (for example, pedestrians, pet dogs, etc.), a moving non-living body (for example, other robots, etc.), a non-moving non-living body (for example, tables, chairs, etc.), different borderline operation strategies can be set according to the type information of the obstacle. Specifically, the along-semantic-obstacle cleaning is an edge cleaning by the current pose information of the robot and the semantic map. There are two implementations: the minimum distance from the robot to the semantic obstacle is calculated in real time through the pose and the semantic map of the robot, and the advancing direction and the advancing speed of the robot are adjusted in real time through the pose and the minimum distance of the robot in combination with the edge operation strategy corresponding to the category information of the obstacle (for example, the minimum distances corresponding to different categories of obstacles are different). In addition, a path surrounding the semantic obstacle can be planned in advance through the semantic map, and the robot can clean the semantic obstacle along the edge after traversing the path.
The preferred implementation is further described below in conjunction with fig. 5.
Fig. 5 is a flowchart of a robot full coverage operation method according to a preferred embodiment of the present invention. As shown in fig. 5, the robot full coverage operation method includes:
step S501: the to-be-operated field is divided into a plurality of operation areas, for example, the to-be-operated field is divided into a plurality of rectangular areas of 4m x 5m, and each rectangular area is an operation area.
Step S502: the robot is started from the charging stake, but may of course also be started from other positions. The robot is repositioned to ensure the correct current pose. The correct real-time pose is the precondition of robot operation. There are two types of repositioning results: success or failure. Successfully indicates that the robot has come to the current working environment and records the current environment information; failure indicates that the robot first arrived at the current work environment or that the robot had arrived at the current work environment, but the current work environment changed significantly.
Step S503: after the robot is repositioned, searching an unclean position point p which is closest to the starting point and accessible by passing in a field to be operated by using a BFS algorithm by taking the current position of the robot as the starting point;
Step S504: the robot starts to extend to 4 directions (positive X-axis direction, negative X-axis direction, positive Y-axis direction and negative Y-axis direction) around by taking the p point as a datum point, and detects the furthest position point which can be reached by passing in each direction;
step S505: according to the distance between the farthest position point corresponding to each direction and the accessible position point, respectively determining the farthest distance dltx1 which can extend in the positive direction of the X axis, the farthest distance dltx2 which can extend in the negative direction of the X axis, the farthest distance dlty1 which can extend in the positive direction of the Y axis and the farthest distance dlty2 which can extend in the negative direction of the Y axis;
step S506, comparing the sizes of the dltx1 and dltx2 and the sizes of the dlty1 and dlty2;
s507, when dltx1 is larger than dltx2, determining that the positive direction of the linear main path in the operation path is consistent with the positive direction of the X axis, otherwise, determining that the positive direction of the linear main path in the operation path is consistent with the negative direction of the X axis; and when dlty1 is larger than dlty2, determining that the positive direction of the linear connection path between two adjacent linear main paths in the operation path is consistent with the positive direction of the Y axis, otherwise, determining that the positive direction of the linear connection path in the operation path is consistent with the negative direction of the Y axis.
Step S508, after planning the paths of the starting point and the p point, controlling the robot to navigate to the p point, where the path planning algorithm may use a, RRT, etc.
In the preferred implementation process, the planned navigation path can be optimized, and the optimized smooth path is adopted to replace part of paths in the original path, so that the robot can move more stably and safely, and the specific path optimization method can be referred to the previous description and is not repeated here.
Step S509, starting from the point p, planning a working path one by one according to the traversing direction of the working path, after planning each path, controlling a robot to traverse the path to carry out working, collecting environment data for positioning in the process of traversing the path by the robot, and creating a three-dimensional or two-dimensional map of the current working area according to the environment data; returning to the execution step S503 until the job path cannot be planned, and circularly executing the steps S503 to S509; the specific path planning method may adopt a method of determining a path by 2 points or a method of determining a path by 4 points, and is specifically referred to the foregoing path planning method, which is not described herein.
In the preferred implementation process, the planned working path can be optimized, and the optimized smooth path is adopted to replace part of paths in the original path, so that the robot can move more stably and safely, and the specific path optimization method can be referred to the previous description and is not repeated here.
And S510, when the position point closest to the starting point and accessible through the starting point cannot be searched in the current working area, determining that the working path is planned by using the arch working coverage mode for the end of the current working area, determining that the working path is planned by using the arch working coverage mode for the next working area, returning to the step S503, and circularly executing the steps S503 to S510.
Step S511, after finishing robot operation coverage of all operation areas in the to-be-operated field by adopting an arc operation coverage mode, determining position information of each obstacle according to the created three-dimensional or two-dimensional map, and respectively executing edge operation on each obstacle by adopting an edge operation coverage mode.
According to the embodiment of the invention, a robot full-coverage operation device is also provided.
Fig. 6 is a block diagram of a robot full-coverage work apparatus according to an embodiment of the present invention. As shown in fig. 6, the robot full-coverage work device includes: a dividing module 60 for dividing a robot to-be-operated field into a plurality of operation areas; the first operation module 62 is configured to plan a path one by one for each operation area according to a first operation coverage manner, and control the robot to traverse the path to perform an operation after planning each path, collect environmental data for positioning during the path traversing process of the robot, and create a three-dimensional or two-dimensional map of the current operation area according to the environmental data; and a second operation module 64 for determining positional information of each obstacle from the three-dimensional or two-dimensional map after completing robot operation coverage of all the plurality of operation areas by the first operation coverage method, and performing a bordering operation on each obstacle by the second operation coverage method.
With the apparatus shown in fig. 6, the partitioning module divides the robot area to be operated into a plurality of operation areas, the first operation module plans paths one by one according to a first operation coverage mode for each operation area, and controls the robot to traverse the path to operate after planning each path, and after completing the operation coverage of the robot in all the plurality of operation areas by adopting the first operation coverage mode, the second operation module executes the edge operation on each obstacle by adopting a second operation coverage mode. The quality of the environment data used for positioning by the robot is improved, and the positioning accuracy of the robot is further improved, so that the path planning of the robot is more reasonable, the motion control of the robot is more accurate, and the operation efficiency of the robot is higher.
Preferably, as shown in fig. 7, the first job module 62 may further include: a searching unit 620, configured to search for a location point in the working area that is closest to the starting point and accessible by traffic, with the current position of the robot as the starting point; a determining unit 622 configured to extend from the accessible location point to a plurality of directions around, detect the accessible furthest location point, and determine a traversing direction of the working path according to the furthest distance that each direction can extend; a control unit 624 configured to control the robot to navigate to the accessible location point after planning a path between the start point and the accessible location point; and a calling unit 626, configured to, starting from the accessible location point, plan a job path one by one according to a travelling direction of the job path, and, until the job path cannot be planned, circularly call the searching unit, the determining unit, and the control unit to execute corresponding operations, and, when the location point closest to the starting point and accessible to the starting point cannot be searched in the current job area, determine that the first job coverage mode is used to plan a path for the job area.
It should be noted that, in the above-mentioned preferred embodiments of each module in the apparatus, reference may be made to the descriptions of fig. 1 to 5, and no further description is given here.
According to an embodiment of the invention, a robot is also provided.
Fig. 8 is a block diagram of a robot according to an embodiment of the present invention. As shown in fig. 8, the robot according to the present invention includes: a memory 80 and a processor 82, the memory 80 storing computer-executable instructions; the processor 82 is configured to execute the computer-executable instructions stored in the memory, so that the robot performs the full coverage operation method of the robot provided in the above embodiment.
The processor 82 may be a central processing unit (Central Processing Unit, CPU). Processor 52 may also be a chip such as other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-Programmable gate arrays (FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory 80 is used as a non-transitory computer readable storage medium for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the robot full-coverage operation method in the embodiment of the invention. The processor executes various functional applications of the processor and data processing by running non-transitory software programs, instructions, and modules stored in memory.
Memory 80 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created by the processor, etc. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 80 may optionally include memory located remotely from the processor, such remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 80 and when executed by the processor 82 perform the robotic full coverage job method of the embodiment shown in fig. 1-5.
The specific details of the robot may be understood correspondingly with reference to the corresponding relevant descriptions and effects in the embodiments shown in fig. 1 to 5, and will not be repeated here.
In summary, by means of the embodiment provided by the invention, the quality of environment data collected by the robot for positioning is improved, and the positioning precision of the robot in unfamiliar environments or environments with more moving objects is further improved, so that the path planning of the robot is more reasonable, the motion control of the robot is more accurate, and the operation efficiency of the robot is higher.
The foregoing disclosure is merely illustrative of some embodiments of the present invention, and the present invention is not limited thereto, as modifications may be made by those skilled in the art without departing from the scope of the present invention.
Claims (11)
1. The full-coverage operation method of the robot is characterized by comprising the following steps of:
dividing a robot to-be-operated field into a plurality of operation areas;
for each operation area, planning paths one by one according to a first operation coverage mode, controlling a robot to traverse the paths to operate after planning each path, collecting environment data for positioning in the process of traversing the paths by the robot, and creating a three-dimensional or two-dimensional map of the current operation area according to the environment data;
after the robot operation coverage of all the plurality of operation areas is completed by adopting the first operation coverage mode, determining the position information of each obstacle according to the three-dimensional or two-dimensional map, and respectively executing the edge operation on each obstacle by adopting the second operation coverage mode.
2. The method of claim 1, wherein for each job area, planning the path piece by piece in the first job coverage manner comprises:
S21: searching a position point which is closest to the starting point and accessible in a working area by taking the current position of the robot as the starting point;
s22: extending from the accessible position point to a plurality of directions around, detecting the accessible furthest position point, and determining the traversing direction of the working path according to the furthest distance which can be extended in each direction;
s23: after planning a path between the starting point and the accessible position point, controlling the robot to navigate to the accessible position point;
s24: starting from the accessible position points, planning a working path one by one according to the traversing direction of the working path until the working path cannot be planned, and circularly executing the steps S21 to S24;
s25: and when the position point closest to the starting point and accessible in the current working area cannot be searched, determining that the working area is finished and planning a working path by using the first working coverage mode.
3. The method of claim 2, wherein extending from the point of the reachable traffic in a plurality of directions around, detecting the point of the farthest reachable traffic, determining the direction of traversal of the job path based on the farthest distances that the respective directions can extend, comprises:
Extending from the accessible position points to X-axis positive direction, X-axis negative direction, Y-axis positive direction and Y-axis negative direction under the world coordinate system, and respectively detecting the accessible farthest position points in all directions;
according to the distance between the farthest position point corresponding to each direction and the accessible position point, respectively determining the farthest distance dltx1 which can extend in the positive direction of the X axis, the farthest distance dltx2 which can extend in the negative direction of the X axis, the farthest distance dlty1 which can extend in the positive direction of the Y axis and the farthest distance dlty2 which can extend in the negative direction of the Y axis;
comparing the sizes of dltx1 and dltx2, and the sizes of dlty1 and dlty2;
when dltx1 is greater than dltx2, determining that the positive direction of the linear main path in the working path is consistent with the positive direction of the X axis, otherwise, determining that the positive direction of the linear main path in the working path is consistent with the negative direction of the X axis;
and when dlty1 is larger than dlty2, determining that the positive direction of the linear connection path between two adjacent linear main paths in the operation path is consistent with the positive direction of the Y axis, otherwise, determining that the positive direction of the linear connection path in the operation path is consistent with the negative direction of the Y axis.
4. A method according to claim 3, wherein planning the job path strip by strip according to the direction of traversal of the job path, starting from the transit reachable location point, comprises:
From the location point P accessible by the pass 0 Initially, the three-or two-dimensional map is traversed progressively in a forward direction along the main path of the line, during which a current traversal point P is determined 1 Is in the non-passable area or the worked coverage area, P will 1 Recording the position information of the (b);
from the P 1 Starting to gradually traverse the three-dimensional or two-dimensional map along the forward direction of the straight connecting path, determining that the next traversing point of the current traversing point is in an unperforated area or a worked coverage area in the traversing process, and combining the current traversing point with the P 1 When the distance between the two adjacent straight main paths is smaller than the distance value between the two adjacent straight main paths, P is calculated 0 And P 1 The traversed path is determined as a job path planned according to the first job coverage mode.
5. A method according to claim 3, wherein planning the job path strip by strip according to the direction of traversal of the job path, starting from the transit reachable location point, comprises:
from the location point P accessible by the pass 0 Initially, the three-or two-dimensional map is traversed stepwise in the forward direction of the straight main path, during which the current traversal point P is determined 1 Is in the non-passable area or the worked coverage area, P will 1 Recording the position information of the (b);
from the P 1 Initially, traversing the three-dimensional or two-dimensional map step by step along the forward direction of the straight connecting path, traversing to a location point P 2 Stopping traversing, wherein P 1 And P 2 The distance between the two adjacent straight main paths is a preset distance value between the two adjacent straight main paths;
from the P 2 Initially, traversing the three-dimensional or two-dimensional map step by step along the negative direction of the straight line main path, if the current traversing point P is in the traversing process 3 And P 2 When the distance between the two is a preset distance value, then P is calculated 3 Is recorded from P 0 Initially, go through P 1 、P 2 、P 3 The traversed path is determined as a job path planned in the first job overlay manner.
6. The method according to claim 5, wherein the method comprises the steps ofThe P is 2 Initially, traversing the three-dimensional or two-dimensional map step by step along the negative direction of the straight line main path, further comprises:
in the traversal process, if the next traversal point of the current traversal point is in the non-passable area or the worked coverage area, and the current traversal point and P 2 When the distance between the two is smaller than the preset distance value, P is determined 1 And P 2 Discarding the traversed path, and adding P 0 And P 1 The traversed path is determined as a job path planned according to the first job coverage mode.
7. The method according to claim 5, wherein the step of adding a new value to the value of P 0 Initially, go through P 1 、P 2 、P 3 After determining the traversed path as a job path planned according to the first job coverage manner, the method further comprises:
s71: at P 0 And P 1 Determining a position point C on the traversed path and at P 1 And P 2 Determining a position point A on the traversed path;
s72: according to P 1 A position point D selected on the path traversed between the point D and the point A, and a position point D selected on the path traversed between the point D and the point A 1 Determining a position point E on the traversed path, wherein the linear distance between A and D is equal to the linear distance between A and P 1 Straight line distance between = P 1 Straight line distance from E/P 1 A linear distance from C;
s73: a straight line is adopted to connect the position point D and the position point E, the position point F is determined on a line segment between the position point D and the position point E, wherein the straight line distance between A and D is between A and P 1 Straight line distance between = P 1 Straight line distance from E/P 1 Linear distance from c=linear distance between D and F/linear distance between D and E;
s74: at A and P 1 Along the path traversed from A to P 1 Selecting the position points D one by one, and performing S72 to S74 in a loop until a plurality of position points F are acquired;
s75: all acquisitions are takenThe position point F of (1) is connected to obtain a connected path, and the connected path is adopted to replace C and P 1 Path traversed by and P 1 And a path traversed between a and a.
8. The method of claim 1, wherein determining the position information of each obstacle according to the three-dimensional or two-dimensional map, and performing the edge-following operation on each obstacle in the second operation coverage manner comprises:
determining an obstacle to be subjected to the current edge operation according to the pose information of the robot and the position information of each obstacle;
determining shortest distance information of the robot and the obstacle to be subjected to the edge operation when the operation is executed according to the category information of the obstacle;
and detecting the real-time distance between the robot and the obstacle to be subjected to the edge operation in the operation process, and adjusting the traveling direction and the traveling speed of the robot in real time according to the real-time distance and the shortest distance information.
9. A robot full-coverage work device, comprising:
The dividing module is used for dividing a robot to-be-operated field into a plurality of operation areas;
the first operation module is used for planning paths one by one for each operation area according to a first operation coverage mode, controlling a robot to traverse the paths to operate after planning each path, collecting environment data for positioning in the process of traversing the paths by the robot, and creating a three-dimensional or two-dimensional map of the current operation area according to the environment data;
and the second operation module is used for determining the position information of each obstacle according to the three-dimensional or two-dimensional map after the operation coverage of the robot in all the plurality of operation areas is completed by adopting the first operation coverage mode, and respectively executing the edge operation on each obstacle by adopting the second operation coverage mode.
10. The apparatus of claim 9, wherein the first job module comprises:
the searching unit is used for searching a position point which is closest to the starting point and accessible in passing in the working area by taking the current position of the robot as the starting point;
the determining unit is used for extending from the accessible position point to a plurality of directions around, detecting the accessible furthest position point, and determining the traversing direction of the working path according to the furthest distance which can be extended in each direction;
The control unit is used for controlling the robot to navigate to the accessible position point after planning the path of the starting point and the accessible position point;
and the calling unit is used for planning the operation path one by one according to the travelling direction of the operation path from the accessible position point until the operation path cannot be planned, circularly calling the searching unit, the determining unit and the control unit to execute corresponding operations, and determining that the operation area is ended to be planned by using the first operation coverage mode when the position point closest to the starting point and accessible to the passing point cannot be searched in the current operation area.
11. A robot, comprising: a memory and a processor, wherein,
the memory is used for storing computer execution instructions;
the processor for executing computer-executable instructions stored in the memory, causing the robot to perform the method of any one of claims 1 to 8.
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| CN117268401A (en) * | 2023-11-16 | 2023-12-22 | 广东碧然美景观艺术有限公司 | Gardening path generation method of dynamic fence |
| CN117268401B (en) * | 2023-11-16 | 2024-02-20 | 广东碧然美景观艺术有限公司 | Gardening path generation method of dynamic fence |
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