CN117270547B - Crystal face maintenance route planning method, maintenance robot and storable medium - Google Patents
Crystal face maintenance route planning method, maintenance robot and storable medium Download PDFInfo
- Publication number
- CN117270547B CN117270547B CN202311572484.2A CN202311572484A CN117270547B CN 117270547 B CN117270547 B CN 117270547B CN 202311572484 A CN202311572484 A CN 202311572484A CN 117270547 B CN117270547 B CN 117270547B
- Authority
- CN
- China
- Prior art keywords
- maintenance
- curing
- path
- robot
- length
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012423 maintenance Methods 0.000 title claims abstract description 164
- 239000013078 crystal Substances 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000013519 translation Methods 0.000 claims description 14
- 238000013459 approach Methods 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 abstract description 2
- 230000008439 repair process Effects 0.000 abstract description 2
- 230000001960 triggered effect Effects 0.000 abstract 1
- 239000004575 stone Substances 0.000 description 15
- 230000003993 interaction Effects 0.000 description 10
- 239000000463 material Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 241001122767 Theaceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004579 marble Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses a crystal face maintenance route planning method, a maintenance robot and a storable medium, wherein the route planning method comprises the steps of receiving information of a target area and establishing a coordinate system at an initial point; dividing a target area into at least one maintenance area in a first direction, wherein the maximum length of the maintenance area in the first direction is equal to a preset single crystal grinding advancing length; and planning a curing route in each curing zone respectively until the curing route planning of all the curing zones is completed in turn. When each curing zone plans a curing route, the minimum distance from the corresponding curing zone to the wall surface on one side far away from the initial position is acquired in real time, and when the minimum distance is smaller than a set threshold value, the welt curing mode is triggered. According to the method, the welt repair mode is added under the current map-free mode, so that the ground of the whole place can be completely maintained, and more environment adaptation is performed.
Description
Technical Field
The invention relates to the technical field of robot motion control, in particular to a crystal face maintenance route planning method, a maintenance robot and a storable medium.
Background
The stone materials such as marble and ceramic tile which are common in daily life can leave moist traces or generate color spots on the surface of the stone material when the stone material contacts water, tea juice, coffee solution and other stains for a long time, and the stone material can be protected by carrying out crystal face maintenance on the stone material through a maintenance robot at present. As the maintenance robot is a robot with most working time at night, the maintenance robot is often applied to places with a large amount of stone floors such as commercial complexes, hotels and the like. The characteristics of larger and changeable place areas and dim light working at night require that the obstacle avoidance capability and the recognition capability of the robot are stronger, but the current robot navigation and visual obstacle avoidance technology is limited, and the most commonly applied technology for planning the operation area and path of the robot by creating a place map is not suitable for maintenance robots. Therefore, in order to consider the safety, the existing machine does not use the operation mode, but an operator directly swings the robot to a proper position for maintenance to start the machine, and the length and the width of the stone area required to be maintained based on the current position are set, so that the safety of the environment of the night maintenance operation of the robot can be ensured, and the redundant work of repeated drawing and deployment of a large-area site can be avoided.
However, the crystal face maintenance operation in this way exposes a new problem, namely, when the operation is carried out only according to the set length and width, the operation area of the machine is basically regular quadrangles except for the obstacles such as pillars in the operation, but the environment of places with stone maintenance requirements on the ground often has irregular walls, if the ground maintenance is carried out only according to the quadrangles, the stone ground is not maintained, and the ground of the whole place cannot be completely maintained.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide a crystal face maintenance route planning method, which is added with a welt repair mode under the current map-free mode, so that the ground of the whole place can be completely maintained, and more environment adaptation can be performed.
In order to achieve the above purpose, the invention adopts the following technical scheme: the crystal face maintenance route planning method comprises the following steps:
receiving information of a target area, and establishing a coordinate system at an initial point;
dividing the target area into at least one maintenance area in a first direction, wherein the maximum length of the maintenance area in the first direction is equal to a preset single crystal grinding advancing length;
planning a curing route in each curing zone until the curing route planning of all the curing zones is completed in turn, wherein the planning of the curing route in each curing zone specifically comprises the following steps:
determining the initial position of the maintenance area;
starting from an initial position, planning a conventional path according to the single crystal grinding advancing length and a preset single crystal grinding translation width;
the maintenance robot acquires the minimum distance from the maintenance robot to the wall surface on one side of the corresponding maintenance area far away from the initial position in real time in the process of walking along the conventional path;
comparing the minimum distance with a set threshold;
when the minimum distance is smaller than a set threshold value, triggering a welt maintenance mode, calculating the residual maintenance length according to the minimum distance, and obtaining a safety path extending along a first direction;
the maintenance robot gradually approaches the safety path along the V-shaped path which is sequentially connected in the welt maintenance mode until the safety path is finished.
The invention has the beneficial effects that: the operation is abandoned by means of a map mode which is unchanged for a long time, the maintenance task is set by personnel in-situ judgment of the operation environment of the place, and the path planning can be carried out according to simpler minimum distance judgment, so that the safety of in-situ operation is greatly improved. Aiming at the irregular wall surface boundaries or funnels in places, a welt maintenance mode is added, safety paths of different wall surfaces are planned in real time, stone maintenance operation is carried out in the range beyond the safety distance of the maintenance robot from the different wall surfaces, most of stone ground can be covered, and maintenance area is increased to the greatest extent while safety is ensured.
Further, the maintenance robot gradually approaches the safety path along the V-shaped path connected in sequence in the welt maintenance mode until the safety path is completed, and the walking specifically comprises the following steps:
dividing the remaining maintenance length by the preset stepping distance between adjacent V-shaped paths to obtain the number of times that the maintenance robot needs to move in the remaining maintenance length;
taking the end point of the last V-shaped path as a starting point, and planning a path extending along the first direction as a safety path;
and the maintenance robot starts from the end point of the conventional path, moves the V-shaped path according to the number of times, and completes the walking of the safety path.
In order to be welted, the maintenance robot is gradually moved in, gradually approaches the safety path through the V-shaped path, and the principle is similar to that of oblique-direction parking of an automobile, so that the maintenance robot can accurately lean in a small range on the premise that the steering amplitude is possibly small.
Further, the remaining maintenance length is a difference between a minimum distance and a preset left and right safety distance.
Further, when the value of the remaining maintenance length divided by the preset step distance between adjacent V-shaped paths is not an integer, the value is rounded as the number of times. The fine distance difference can still ensure the maximum coverage of the target area.
Further, from the initial position, planning a conventional path according to the single crystal grinding advancing length and the preset single crystal grinding translation width specifically includes:
step 21, finding initial coordinates (0, yi) of the initial position in the coordinate system;
step 22, according to the set single crystal grinding advance length L, calculating a far point coordinate (0, yi+L) far from the initial position in the first direction, and planning a first main path extending along the first direction between the far point coordinate (0, yi+L) and the initial coordinate (0, yi);
step 23, according to the set single crystal grinding translation width D, calculating a node coordinate (D, yi) far from the initial position in the second direction, and taking the node coordinate (D, yi) as the initial coordinate of the next main path;
step 24, repeating the steps 22-23 until all the main paths are planned to form a conventional path.
The routine paths are obtained through repeated steps, planning of the next main path is conducted on one main path, an arched routine path is formed, and maintenance of the whole ground can be achieved without omission when the maintenance robot walks along the routine path. The single crystal grinding translation width X is required to be smaller than the width of the maintenance robot in the X direction.
Further, the maintenance robot can repeatedly move back and forth along the first direction on each main path. The maintenance robot on the main path can not turn or deviate, and can directly advance and retreat to finish ground maintenance.
Further, the initial coordinates of the initial position of the first curing zone are (0, 0), and the coordinates of the initial positions of the other curing zones are the far point coordinates of the last curing zone. The seamless splicing of each curing area is ensured, and the curing robot does not generate omission or repeated labor in the curing process.
Further, the minimum distance is a vertical distance from a side edge of the curing robot, which is close to the wall surface of the corresponding curing area, to a bump, which is closest to the curing robot, of the wall surface of the corresponding curing area, and the minimum distance is obtained by the method comprising the steps of; obtaining the linear distances from the side edge of the curing robot, which is close to the wall surface of the corresponding curing zone, to all points of the wall surface of the corresponding curing zone and the corresponding inclination angles of each linear distance in a horizontal plane of the curing robot;
calculating the vertical distance from the side edge of the curing robot, which is close to the wall surface of the corresponding curing zone, to the plane extending along the first direction where each point of the wall surface of the corresponding curing zone is located through the linear distance and the inclined angle;
and obtaining the minimum value in the vertical distance to be the minimum distance.
The maintenance robot is provided with a collection device, and the collection device can collect the linear distance and the inclination angle.
Further, when the length of the target area in the first direction is not an integral multiple of the single crystal grinding advancing length, the length of the last curing area in the first direction is an actual walkable length, and the actual walkable length is a difference between the vertical distance of the curing robot from the obstacle in the first direction and a preset front-back safety distance.
The invention also discloses a maintenance robot, which adopts the crystal face maintenance route planning method.
The invention also discloses a computer readable storage medium, wherein the computer readable storage medium is stored with instructions, and the execution instructions are used for realizing the crystal face maintenance route planning method when being executed by a processor.
Drawings
FIG. 1 is a flowchart of a method for route planning according to an embodiment of the present invention;
FIG. 2 is a second flowchart of a route planning method according to an embodiment of the present invention;
FIG. 3 is a flowchart of a route planning method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a structure of a target area divided into maintenance areas according to an embodiment of the present invention;
FIG. 5 is a schematic view of a planned maintenance route in a maintenance area according to an embodiment of the present invention;
FIG. 6 is a diagram showing a movement trace of a curing robot in a welt curing mode according to an embodiment of the present invention;
FIG. 7 is a schematic view showing a maintenance area having an obstacle in the Y direction according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating a minimum distance acquiring state according to an embodiment of the present invention;
FIG. 9 is a schematic view of a planned maintenance route according to an embodiment of the present invention;
fig. 10 is a system block diagram of a maintenance robot in an embodiment of the present invention.
In the figure:
1. a main path; 21. a start path; 22. a V-shaped path; 221. a first inclined path; 222. a second inclined path; 23. a secure path; 3. and (5) curing the robot.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
In an embodiment of the invention, a first feature "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The following disclosure provides many different embodiments, or examples, for implementing different structures of embodiments of the invention. In order to simplify the disclosure of embodiments of the present invention, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Embodiments of the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and do not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, embodiments of the present invention provide examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.
Referring to fig. 1, the crystal face maintenance route planning method of the present invention is used for the shield route planning of a maintenance robot 3, and includes the following steps:
step 100, receiving information of the target area, and establishing a coordinate system at an initial point.
The target area can be manually input, and the maintenance robot 3 is provided with a man-machine interaction module, wherein the man-machine interaction module provides a man-machine interaction interface, and information of the target area can be input in the man-machine interaction interface. The new model of the target area includes the location of the target area, the length (Y-direction) and width values (X-direction) of the target area, and the location of the initial point. The initial point is the initial position of the curing robot for starting curing operation, and is also the initial position of the first curing zone.
Step 200, dividing the target area into at least one maintenance area in the first direction.
The maximum length of the curing zone in the first direction is determined by the preset single crystal grinding advancing length L, and the length of the curing zone in the first direction is generally equal to the preset single crystal grinding advancing length L.
Referring to fig. 4, the first direction, i.e., the Y direction in the drawing, is the direction of the single grinding advance length, along which the maintenance robot 3 advances and retreats when maintaining the ground. The length of the maintenance zone in the first direction is typically the single grind run length. The target area is the length and width of the area set by the user, and then the length of the target area is changed by opening the single crystal grinding advancing length which can be changed by the user, so that the length of each target area works according to the single crystal grinding advancing length designated by the user, and the ground surface of the target area, which needs maintenance, is divided into an area 1, an area 2, an area 3 and the like.
There may be cases where the length of the target area in the first direction is not an integer multiple of the single seed advance length. Referring to fig. 7, at this time, an obstacle exists in the first direction in the last curing zone, and at this time, the length of the last curing zone in the first direction is the actual walkable length, where the actual walkable length is the difference between the vertical distance of the curing robot 3 from the obstacle in the first direction and the preset front-rear safety distance. Avoidance of distance in the Y direction is prior art and is not an improvement over the invention.
The front-back safety distance and the single crystal grinding advancing length can be set on a human-computer interaction interface, so that the collision of the maintenance robot 3 is avoided for ensuring the safety, and the front-back safety distance is usually not less than 0.2m.
And 300, respectively planning a curing route in each curing zone until the curing route planning of all the curing zones is completed in sequence.
And (3) carrying out rapid ground maintenance on the whole target area through regional maintenance line planning. Referring to fig. 4, since the wall surfaces of different curing areas are different in shape, the areas to be cured in the different curing areas are different, and the conventional arched path obviously cannot meet the curing requirements. Therefore, in this embodiment, at the position where each curing area is close to the wall surface, the welt curing mode is turned on to plan the curing route according to the actual situation of the curing area.
Referring to fig. 2, the planning of the curing route in each curing area specifically includes:
and step 1, determining the initial position of the maintenance area.
And 2, planning a conventional path from an initial position according to the single crystal grinding advancing length and a preset single crystal grinding translation width.
The single crystal grinding translation width L can be set on a man-machine interaction interface, is a changeable numerical value which is opened to a user, and is the distance that the maintenance robot 3 moves once along a second direction, wherein the second direction is the X direction. The single crystal grinding translation width is not larger than the width of the maintenance robot 3 in the X direction, namely the maintenance robot 3 covers a rectangular ground in one-time movement along the Y direction, and the single crystal grinding translation width is larger than the width of the rectangular ground in the X direction. Therefore, when the maintenance robot 3 moves for one time to grind crystal and translate width once, the maintenance ground is partially overlapped with the last maintenance ground when the robot moves in the Y direction, and therefore omission is avoided.
And 3, acquiring the minimum distance from the curing robot 3 to the wall surface of the side, far from the initial position, of the corresponding curing area in real time in the process of walking along the conventional path.
The minimum distance is the vertical distance from the side edge of the curing robot 3, which is close to the wall surface of the corresponding curing area, to the nearest salient point of the wall surface of the corresponding curing area, which faces the curing robot 3, and the minimum distance is obtained by the steps of;
obtaining straight line distances from the side edge of the curing robot 3, which is close to the wall surface of the corresponding curing zone, to all points of the wall surface of the corresponding curing zone, and inclination angles corresponding to each straight line distance; calculating the vertical distance from the side edge of the curing robot 3, which is close to the wall surface of the corresponding curing zone, to the plane extending along the first direction where each point of the wall surface of the corresponding curing zone is located through the linear distance and the inclined angle; the minimum value in the search vertical distance is the minimum distance.
Referring to fig. 8, the curing robot 3 has a square structure, the width in the X direction is a, the length in the Y direction is b, a collection point O is provided on the side of the curing robot 3, and a collection device is fixed at the collection point O of the curing robot 3 to form a wall into each continuous point. The straight line distances OA, 0B and 0C from the point O to the wall points A, B and C are acquired by the acquisition device on the maintenance robot 3, and meanwhile, angles alpha, beta and theta corresponding to the OA, 0B and 0C are acquired by the acquisition device, so that the corresponding vertical distance of each straight line distance is OA ', OB', OC ', wherein OA' =OA, OB '=OB, cos beta, OC' =OC, cos theta, and the sizes of the OA ', OB', OC 'are compared to obtain the minimum distance OB'.
In one embodiment, the acquisition means is an ultrasonic sensor fixed to the maintenance robot 3.
And 4, comparing the minimum distance with a set threshold value.
The threshold value can be set in the man-machine interface and is a changeable value which is opened to the user.
And step 5, triggering the welt maintenance mode when the minimum distance is smaller than the set threshold value, calculating the residual maintenance length according to the minimum distance, and obtaining a safety path 23 extending along the first direction.
Wherein, the residual maintenance length is the difference between the minimum distance and the preset left and right safety distances. The larger the left and right safety distance, the safer the maintenance robot 3, but the smaller the maintenance area.
And 6, gradually approaching the safety path 23 along the V-shaped path 22 which is sequentially connected in the welt maintenance mode by the maintenance robot 3 until the safety path 23 is completed.
After the maintenance robot 3 completes the walking of the safety path 23, there is no space for traveling, and the maintenance area completes the maintenance and enters the next maintenance area.
In the embodiment, the robot can run in a map mode which is unchanged for a long time, the maintenance task is set by the running environment of the field judgment place of personnel, the robot can judge according to the simpler left and right safety distances, and the path planning is carried out, so that the safety of field operation is greatly improved. Aiming at the irregular wall surface boundaries or funnels in places, a welt maintenance mode is added, safety paths 23 at different wall surfaces are planned in real time, stone maintenance operation is carried out in the range outside the left and right safety distances of the maintenance robot 3 from the different wall surfaces, most of stone ground can be covered, and the maintenance area is increased to the greatest extent while safety is ensured.
The conventional curing path only divides the target area into rectangular blocks, and curing is performed through the conventional path in the rectangular blocks. However, in the present application, the welt curing mode is added, and each curing area does not complete the same rectangular structure any more, but the remaining curing length is obtained by calculating the minimum distance from the wall surface of the different curing areas, and the curing areas gradually incline and move to the safety path 23 in the remaining curing length. Thus, each curing area has different curing lengths (X direction) according to different shapes of the wall surface, and the curing area can be greatly increased according to the change of the wall surface of each curing area, so that the stone material to be cured can be covered to the greatest extent.
Referring to fig. 5, in order to provide a curing route for the curing robot 3 in one curing zone, the curing robot 3 travels on the main path 1 in the Y direction from the point (0, 0) to cure the crystal plane, and then moves to the next main path 1 to cure the crystal plane. And the steps are repeated until the minimum distance from the wall surface to the main path 1 is smaller than the threshold value, at the moment, the curing robot 3 starts to walk along the V-shaped path 22 until reaching the safety path 23 and completing the safety path 23, and at the moment, the curing robot 3 completes the crystal face curing of the curing zone.
In one embodiment, the curing robot 3 gradually approaches the safety path 23 along the V-shaped path 22 connected in sequence in the welt curing mode until the walking of the safety path 23 is completed specifically includes:
the number of times the curing robot 3 needs to move within the remaining curing length is obtained by dividing the remaining curing length by the preset step distance between adjacent V-shaped paths 22. When the value of the remaining maintenance length divided by the preset step distance between adjacent V-shaped paths 22 is not an integer, the value is rounded up to the number of times.
A path extending in the first direction is planned, namely a safety path 23, starting from the end of the last V-shaped path 22.
The maintenance robot 3 moves the V-shaped path 22 in several times from the end point of the normal path, and completes the travel of the safety path 23.
In this embodiment, in order to make a border, the maintenance robot 3 is moved in step by step, and gradually approaches the safety path 23 through the V-shaped path 22, so that the principle is similar to parking in an oblique direction of an automobile, and the maintenance robot 3 is accurately made to border in a small range on the premise that the steering range is possibly small.
Referring to fig. 6, the V-shaped paths 22 have a step distance d, each V-shaped path 22 includes a first inclined path 221 and a second inclined path 222 inclined, the first inclined path 221 and the second inclined path 222 intersect to form a V-shape, and the first inclined path 221 and the second inclined path 222 have the same inclination angle with respect to one plane along the Y-direction, that is, the maintenance robot 3 travels the same distance in the X-direction while traveling along the first inclined path 221 and the second inclined path 222. The vertical distance of the start point and the end point of the first inclined path 221 and the second inclined path 222 in the X direction is half of the step distance d.
Referring to fig. 6, in order to illustrate the travel route of the maintenance robot 3 in the welt maintenance mode, in one embodiment, after the maintenance robot 3 performs the welt protection mode, a start path 21 is planned before performing the V-shaped path 22, that is, after translating a set distance in the X direction from the end point of the normal path, a path extending in the first direction is planned as the start path 21. The set distance is generally half of the width of the curing robot 3, because the curing robot 3 turns when walking along the V-shaped path 22, so that the curing robot 3 is guaranteed to perform linear motion in the Y direction before entering the V-shaped path 22 for turning movement, the X-direction distance is not moved, and collision risk caused by overlarge turning distance is prevented.
Wherein the stepping distance of each V-shaped path 22, that is, the distance between the start point and the end point of the V-shaped path 22 in the X direction is a set value, which is not adjustable. In this embodiment, the step distance d is 5cm.
In one embodiment, the conventional path is an arcuate path, and referring to fig. 3, from an initial position, the conventional path planning according to the single-pass progressive length and the preset single-pass translational width specifically includes:
step 21, finding initial coordinates (0, yi) of the initial position in the coordinate system.
Step 22, according to the set single crystal grinding advance length L, a far point coordinate (0, yi+l) far from the initial position in the first direction is calculated, and a first main path 1 extending along the first direction is planned between the far point coordinate (0, yi+l) and the initial coordinate (0, yi).
Main path 1 referring to fig. 5, the maintenance robot 3 can repeatedly move back and forth in the first direction on the main path 1 to perform ground maintenance a plurality of times.
Step 23, according to the set single crystal grinding translation width D, calculating a node coordinate (D, yi) far from the initial position in the second direction, and taking the node coordinate (D, yi) as the initial coordinate of the next conventional path;
step 24, repeating the steps 22-23 until all the main paths 1 are planned to form a conventional path.
Referring to fig. 5, two adjacent main paths 1 may be planned with respect to a turning path perpendicular thereto, that is, a moving path may be planned between an initial coordinate (0, yi) and a node coordinate (D, yi), or between a far point coordinate (0, yi+l) and a coordinate (D, yi+l), and one first main path 1 may be moved from the turning path to the next main path 1.
The initial coordinates of the initial position of the first curing zone are (0, 0), and the coordinates of the initial positions of the other curing zones are the far point coordinates of the last curing zone.
Referring to fig. 9, in this embodiment, a method for planning a maintenance route for stone floor is described in combination with a specific embodiment, in which the maintenance robot 3 is a robot with a length of 0.7m in the X direction and a length of 1.15m in the y direction. Single crystal grinding advancing length L=2m, single crystal grinding translational width D=0.6m. The initial point is the initial position of the first maintenance zone, at which point coordinates are established, at which point the central point of the maintenance robot 3 sits at coordinates (0, 0), a first main path 1 is planned between (0, 0) and (0, 2), a second main path 1 is planned between (0.6,0) and (0.6,2), and so on, until an eighth main path 1 is planned between (4.8,0) and (4.8,2). When the maintenance robot 3 moves forward and backward along the eighth main path 1, the minimum distance is detected to be 0.6m, and the minimum distance is smaller than the set threshold value of 0.7m. At this time, the eight main paths 1 form a normal path, and the maintenance robot 3 triggers the welt maintenance mode. The stepping distance of the V-shaped path 22 is set to 0.05m, and the left and right safety distances are set to 0.3m, resulting in the number of times the maintenance robot 3 needs to move within the remaining maintenance length being 6 times.
Referring to fig. 9, the first maintenance robot 3 moves from (4.8,2) to (4.825,0) along the first inclined path 221, then moves from (4.825,0) to (4.85,2) along the second inclined path 222, completes walking along a V-shaped path, and so on, sequentially moves along the first inclined path or the second inclined path to (4.875,0), (4.90,2), (4.925,0), (4.95,2), (4.975,0), (5.00,2), (5.025,0), (5.05,2), completes 6V-shaped paths, and then moves to (5.10,0). The safety path 23 is planned between (5.10,0) and (5.10,2), and the maintenance robot 3 does not incline when traveling on the last maintenance path, and moves only in the front-rear direction (Y direction) and does not move in the left-right direction (X direction). After the maintenance robot 3 completes the safety path 23, it completes the travel in this first maintenance area. The maintenance robot 3 moves to the position (0, 2), and (0, 2) is the initial position of the second maintenance area, and the path planning of the second maintenance area is performed.
In one embodiment, a curing robot 3 of the present invention adopts the above-described crystal face curing route planning method.
Referring to fig. 10, the maintenance robot 3 includes a man-machine interaction module, an acquisition module and a control module, the man-machine interaction module is opened to a user and is provided with a man-machine interaction interface, information of a target area, a single crystal grinding advancing length, a single crystal grinding translation width and a threshold value can be set on the man-machine interaction interface, and the acquisition module is used for acquiring a linear distance from the maintenance robot 3 to a wall surface in an embodiment. The control module is used for receiving the acquired linear distance of the acquisition module and planning a maintenance route according to the linear distance, the information of the target area, the single crystal grinding advancing length, the single crystal grinding translation width and the threshold value.
The maintenance robot 3 further comprises a movement module which moves according to the maintenance route planned by the control module.
In one embodiment, the present application further provides a computer readable storage medium having instructions stored thereon, which when executed by a processor, are configured to implement the above-described crystal face maintenance route planning method.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (9)
1. The crystal face maintenance route planning method is used for maintenance route planning of the maintenance robot and is characterized by comprising the following steps of: comprises the following steps of
Receiving information of a target area, and establishing a coordinate system at an initial point;
dividing the target area into at least one maintenance area in a first direction, wherein the maximum length of the maintenance area in the first direction is equal to a preset single crystal grinding advancing length;
planning a curing route in each curing zone until the curing route planning of all the curing zones is completed in turn, wherein the planning of the curing route in each curing zone specifically comprises the following steps:
determining the initial position of the maintenance area;
starting from the initial position, planning a conventional path according to the single crystal grinding advancing length and a preset single crystal grinding translation width;
the maintenance robot acquires the minimum distance from the maintenance robot to the wall surface on one side of the corresponding maintenance area far away from the initial position in real time in the process of walking along the conventional path;
comparing the minimum distance with a set threshold;
when the minimum distance is smaller than a set threshold value, triggering a welt maintenance mode, calculating the residual maintenance length according to the minimum distance, and obtaining a safety path extending along a first direction;
the maintenance robot is in the welt maintenance mode, gradually approaches the safety path along the V-shaped path which is connected in sequence until the safety path is completed, and specifically comprises:
the maintenance robot is in the welt maintenance mode, gradually approaches the safety path along the V-shaped path which is connected in sequence until the safety path is completed, and specifically comprises the following steps:
dividing the remaining maintenance length by the preset stepping distance between adjacent V-shaped paths to obtain the number of times that the maintenance robot needs to move in the remaining maintenance length, wherein the remaining maintenance length is the difference between the minimum distance and the preset left and right safety distance;
taking the end point of the last V-shaped path as a starting point, and planning a path extending along the first direction as a safety path;
and the maintenance robot starts from the end point of the conventional path, moves the V-shaped path according to the number of times, and completes the walking of the safety path.
2. The crystal face maintenance route planning method according to claim 1, characterized by: when the value of the remaining maintenance length divided by the preset stepping distance between adjacent V-shaped paths is not an integer, the value is rounded as the number of times.
3. The crystal face maintenance route planning method according to claim 1, characterized by: starting from the initial position, planning a conventional path according to the single crystal grinding advancing length and a preset single crystal grinding translation width specifically comprises the following steps:
step 21, finding initial coordinates (0, yi) of the initial position in the coordinate system;
step 22, according to the set single crystal grinding advance length L, calculating a far point coordinate (0, yi+L) far from the initial position in the first direction, and planning a first main path extending along the first direction between the far point coordinate (0, yi+L) and the initial coordinate (0, yi);
step 23, according to the set single crystal grinding translation width D, calculating a node coordinate (D, yi) far from the initial position in the second direction, and taking the node coordinate (D, yi) as the initial coordinate of the next main path;
step 24, repeating the steps 22-23 until all the main paths are planned to form a conventional path.
4. A crystal face maintenance route planning method according to claim 3, characterized in that: the maintenance robot can repeatedly move back and forth along the first direction on each main path.
5. A crystal face maintenance route planning method according to claim 3, characterized in that: the initial coordinates of the initial positions of the first curing zone are (0, 0), and the initial coordinates of the initial positions of the other curing zones are the far point coordinates of the last curing zone.
6. The crystal face maintenance route planning method according to claim 1, characterized by: the minimum distance is the vertical distance from the side edge of the curing robot, which is close to the wall surface of the corresponding curing area, to the nearest salient point of the wall surface of the corresponding curing area, which faces the curing robot, and the obtaining of the minimum distance comprises the steps of;
obtaining the linear distances from the side edge of the curing robot, which is close to the wall surface of the corresponding curing zone, to all points of the wall surface of the corresponding curing zone and the corresponding inclination angles of each linear distance in a horizontal plane of the curing robot;
calculating the vertical distance from the side edge of the curing robot, which is close to the wall surface of the corresponding curing zone, to the plane extending along the first direction where each point of the wall surface of the corresponding curing zone is located through the linear distance and the inclined angle;
and obtaining the minimum value in the vertical distance to be the minimum distance.
7. The crystal face maintenance route planning method according to any one of claims 1 to 6, characterized by comprising: when the length of the target area in the first direction is not an integral multiple of the single crystal grinding advancing length, the length of the last maintenance area in the first direction is the actual walkable length, and the actual walkable length is the difference between the vertical distance of the maintenance robot from the obstacle in the first direction and the preset front-back safety distance.
8. A maintenance robot, its characterized in that: a crystal face maintenance route planning method according to any one of claims 1 to 7.
9. A computer readable storage medium having instructions stored thereon, which when executed by a processor are adapted to carry out the crystal face maintenance route planning method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311572484.2A CN117270547B (en) | 2023-11-23 | 2023-11-23 | Crystal face maintenance route planning method, maintenance robot and storable medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311572484.2A CN117270547B (en) | 2023-11-23 | 2023-11-23 | Crystal face maintenance route planning method, maintenance robot and storable medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117270547A CN117270547A (en) | 2023-12-22 |
| CN117270547B true CN117270547B (en) | 2024-02-09 |
Family
ID=89203135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311572484.2A Active CN117270547B (en) | 2023-11-23 | 2023-11-23 | Crystal face maintenance route planning method, maintenance robot and storable medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117270547B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111736603A (en) * | 2020-06-22 | 2020-10-02 | 广州赛特智能科技有限公司 | Unmanned sweeper and long-distance welting sweeping method thereof |
| CN115718482A (en) * | 2021-08-24 | 2023-02-28 | 科沃斯机器人股份有限公司 | Path planning method, robot and storage medium |
| CN115769994A (en) * | 2022-12-20 | 2023-03-10 | 派特纳(上海)机器人科技有限公司 | Ground maintenance method based on robot and robot |
| WO2023125650A1 (en) * | 2021-12-31 | 2023-07-06 | 格力博(江苏)股份有限公司 | Control method for robot tool and robot tool |
| CN116839609A (en) * | 2023-06-01 | 2023-10-03 | 深兰人工智能(深圳)有限公司 | Full coverage path planning method, device and computer readable storage medium |
-
2023
- 2023-11-23 CN CN202311572484.2A patent/CN117270547B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111736603A (en) * | 2020-06-22 | 2020-10-02 | 广州赛特智能科技有限公司 | Unmanned sweeper and long-distance welting sweeping method thereof |
| CN115718482A (en) * | 2021-08-24 | 2023-02-28 | 科沃斯机器人股份有限公司 | Path planning method, robot and storage medium |
| WO2023125650A1 (en) * | 2021-12-31 | 2023-07-06 | 格力博(江苏)股份有限公司 | Control method for robot tool and robot tool |
| CN115769994A (en) * | 2022-12-20 | 2023-03-10 | 派特纳(上海)机器人科技有限公司 | Ground maintenance method based on robot and robot |
| CN116839609A (en) * | 2023-06-01 | 2023-10-03 | 深兰人工智能(深圳)有限公司 | Full coverage path planning method, device and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117270547A (en) | 2023-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111736603B (en) | Unmanned sweeper and long-distance welt sweeping method thereof | |
| EP3672762B1 (en) | Self-propelled robot path planning method, self-propelled robot and storage medium | |
| CN111830970B (en) | Regional cleaning planning method for robot walking along edge, chip and robot | |
| CN111857127B (en) | Clean partition planning method for robot walking along edge, chip and robot | |
| CN112137529B (en) | Cleaning control method based on dense obstacles | |
| CN107390698B (en) | Supplementary sweeping method and chip of sweeping robot | |
| CN107340768B (en) | Path planning method of intelligent robot | |
| CN108507578A (en) | A kind of construction method and its air navigation aid of overall situation border map | |
| US20160060820A1 (en) | Self-Propelled Construction Machine And Method For Controlling A Self-Propelled Construction Machine | |
| CN109997089A (en) | Floor treatment machine and floor treatment method | |
| CN110018686A (en) | A kind of paths planning method of intelligent grass-removing | |
| CN113190010B (en) | Edge obstacle detouring path planning method, chip and robot | |
| CN110019609A (en) | Map updating method, device and computer readable storage medium | |
| CN107443385B (en) | Detection method and chip for robot linear navigation based on vision and robot | |
| KR20220124199A (en) | Obstacle passing end judgment method, obstacle passing control method, chip and robot | |
| CN106946049A (en) | Container terminal mobile units automation traveling method | |
| CN103064424A (en) | Covering method for mobile platform on unknown area | |
| CN113739802B (en) | Unmanned bulldozer path planning method, system, storage medium and equipment | |
| CN113654556A (en) | Local path planning method, medium and equipment based on improved EM algorithm | |
| TWM568401U (en) | Detection system of sweeping robot | |
| CN112180924B (en) | Mobile control method for navigating to dense obstacle | |
| CN208859276U (en) | The trackless mobile platform of multisensor field domain perception | |
| JP2012145998A (en) | Autonomous traveling body | |
| CN117270547B (en) | Crystal face maintenance route planning method, maintenance robot and storable medium | |
| CN115223039A (en) | Robot semi-autonomous control method and system for complex environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |