WO2023142931A1 - Procédé et système de planification de trajet de déplacement de robot et robot de nettoyage - Google Patents

Procédé et système de planification de trajet de déplacement de robot et robot de nettoyage Download PDF

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Publication number
WO2023142931A1
WO2023142931A1 PCT/CN2023/070480 CN2023070480W WO2023142931A1 WO 2023142931 A1 WO2023142931 A1 WO 2023142931A1 CN 2023070480 W CN2023070480 W CN 2023070480W WO 2023142931 A1 WO2023142931 A1 WO 2023142931A1
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Prior art keywords
cleaning
area
sub
areas
cleaning sub
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PCT/CN2023/070480
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English (en)
Chinese (zh)
Inventor
高斯
丘伟楠
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追觅创新科技(苏州)有限公司
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Publication of WO2023142931A1 publication Critical patent/WO2023142931A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present disclosure relates to the technical field of cleaning equipment, in particular to a robot movement path planning method, system and cleaning robot.
  • the technical problem to be solved in this disclosure is that in the traditional technology, the bow-shaped coverage path in the working area changes randomly, causing the cleaning robot to enter the next working area without cleaning the current working area, resulting in poor cleaning effect .
  • the present disclosure provides a robot movement path planning method, which is applied to cleaning robots, and the method includes:
  • the area to be cleaned that the cleaning robot needs to clean is divided into multiple cleaning sub-areas, including:
  • the area to be cleaned is divided into a plurality of sub-areas to be cleaned.
  • setting the entry point and exit point of each cleaning sub-area according to the boundary line of each cleaning sub-area includes:
  • the walking path of the cleaning robot in the cleaning sub-area is set, so that the cleaning robot performs cleaning in the cleaning sub-area.
  • the bow-shaped coverage achieves full coverage when walking.
  • setting the entry point for the cleaning robot to enter each of the cleaning sub-areas and the exit point for leaving each of the cleaning sub-areas includes:
  • the exit point of the cleaning robot from each cleaning sub-area is set so that the exit point is located on another boundary line of the cleaning sub-area, or at a position adjacent to the boundary line of the cleaning sub-area.
  • making the entry point located on a boundary line of the cleaning sub-area includes:
  • the making the exit point is located on a boundary line of the cleaning sub-area comprises:
  • the exit point is set on another boundary line of the cleaning sub-area, and the exit point is another corner point of the cleaning sub-area in a square shape.
  • generating a cleaning path for each of the cleaning sub-areas according to the obtained entry point and exit point of each of the cleaning sub-areas includes:
  • the method further includes:
  • the cleaning robot is controlled to clean the cleaning sub-area according to the cleaning lines.
  • the area to be cleaned that the cleaning robot needs to clean is divided into multiple cleaning sub-areas, including:
  • the area to be cleaned is divided into a plurality of cleaning sub-areas.
  • the present disclosure also proposes a robot movement path planning system, which is applied to cleaning robots, including:
  • the area division module is used to divide the area to be cleaned that the cleaning robot needs to clean into multiple cleaning sub-areas
  • the area entrance and exit planning module is communicatively connected with the area division module, and is used to set the entry point and exit point of each cleaning sub-area according to the boundary line of each cleaning sub-area;
  • the cleaning line generation module is communicatively connected with the area entrance and exit planning module, and is used to generate cleaning paths for each of the cleaning sub-areas according to the obtained entry points and exit points of each of the cleaning sub-areas.
  • a cleaning robot including:
  • a control processor is arranged on the robot body
  • control processor is used for:
  • the robot movement path planning method provided by the present disclosure divides the area to be cleaned by the cleaning robot into multiple cleaning sub-areas, and sets entry points and exit points for each cleaning sub-area, and in each cleaning sub-area Sweeping paths connecting entry and exit points are generated in the region, so that reasonable cleaning paths can be generated in each sweeping subregion.
  • the cleaning robot can enter each cleaning sub-area according to the set entry point, clean the cleaning sub-area according to the set cleaning path, and then clean the cleaning sub-area according to the set exit point Leave each dissection sub-area.
  • the cleaning robot when the cleaning robot walks and covers the area to be cleaned multiple times, the position of leaving the previous cleaning sub-area and entering the next cleaning sub-area is determined, and there will be no random changes in the bow-shaped coverage path in the cleaning sub-area, making The cleaning robot will enter the next cleaning sub-area after cleaning the current cleaning sub-area, which can achieve a good cleaning effect.
  • FIG. 1 is a schematic flow chart of the steps of the robot movement path planning method according to an embodiment of the present disclosure
  • Fig. 2 is a schematic block diagram of the structure of the robot movement path planning system according to the embodiment of the present disclosure
  • Fig. 3 is a schematic perspective view of the three-dimensional structure of the cleaning robot according to an embodiment of the present disclosure.
  • orientation words such as “up, down, top, bottom” generally refers to the direction shown in the drawings, or refers to the vertical, vertical, or vertical orientation of the component itself.
  • orientation words in terms of vertical or gravitational direction; similarly, for the convenience of understanding and description, “inside and outside” refer to inside and outside relative to the outline of each component itself, but the above orientation words are not used to limit the present disclosure.
  • the present disclosure proposes a robot movement path planning method, system and cleaning robot.
  • the robot movement path planning method and system proposed in this disclosure can not only be applied to cleaning robots that need to plan cleaning paths, but also can be applied to other machinery and equipment that need to plan movement paths (such as automatically moving transportation equipment or autonomous driving vehicles) tools, etc.).
  • a cleaning robot such as a sweeper
  • the application of the present disclosure to a cleaning robot is taken as an example for illustration.
  • This embodiment provides a method for planning a moving path of a robot, which is applied to a cleaning robot. As shown in Figure 1, the method includes:
  • the cleaning robot can enter each cleaning sub-area according to the set entry point, clean the cleaning sub-area according to the set cleaning path, and then clean the cleaning sub-area according to the set exit point Leave each dissection sub-area.
  • the cleaning robot when the cleaning robot walks and covers the area to be cleaned multiple times, the position of leaving the previous cleaning sub-area and entering the next cleaning sub-area is determined, and there will be no random changes in the bow-shaped coverage path in the cleaning sub-area, making The cleaning robot will enter the next cleaning sub-area after cleaning the current cleaning sub-area, which can achieve a good cleaning effect.
  • dividing the area to be cleaned by the cleaning robot into a plurality of cleaning sub-areas may specifically include the following steps:
  • the full-coverage cleaning path of the cleaning robot in the area to be cleaned can be planned. At this time, it is necessary to first divide the area to be cleaned into multiple cleaning sub-areas.
  • dividing the area to be cleaned by the cleaning robot into a plurality of cleaning sub-areas may specifically include the following steps:
  • the area shape of the area to be cleaned (referring to the plane outline shape of the area to be cleaned, which is mainly formed by the obstacle boundary and the area boundary), so as to facilitate the area shape characteristics of the area to be cleaned , divide the area to be cleaned into multiple cleaning sub-areas.
  • the area to be cleaned can be divided into fewer cleaning sub-areas.
  • different division methods can be used to divide the area to be cleaned to obtain a plurality of cleaning area sets, and each cleaning area set can include at least one cleaning sub-area; then, in multiple The cleaning area set selects the cleaning area set containing the least number of cleaning sub-areas as the current working area of the cleaning robot. This enables the cleaning robot to minimize the number of cleaning sub-areas to be cleaned and the minimum number of turns when working in the current working area.
  • step S200 the entry point and exit point of each cleaning sub-area are set according to the boundary line of each cleaning sub-area, which may specifically include the following steps:
  • each cleaning sub-area After the area to be cleaned is divided into multiple cleaning sub-areas, the shape and position of each cleaning sub-area are determined, and its boundary line is also determined accordingly, so that the boundary line of each cleaning sub-area can be determined according to the obtained cleaning sub-area.
  • the entry point for the cleaning robot can be set in the area of each cleaning sub-area, or on the boundary line of each cleaning sub-area, or one of the entry point and the exit point can be set on each cleaning sub-area. within the area of the sub-area, and another set on the boundary line of each sub-area to be cleaned.
  • a cleaning path ie, walking path
  • the cleaning robot can achieve full coverage when walking in the cleaning sub-area.
  • setting the entry point for the cleaning robot to enter each cleaning sub-area and the exit point for leaving each cleaning sub-area may specifically include the following steps:
  • both the entry point and the exit point can also be set inside the cleaning sub-area, and make the two adjacent to a boundary line respectively. At this time, the entry point and the exit point can also be closer to the two adjacent cleaning sub-areas. Allows quick and easy access to and from the sweeping sub-area.
  • one of the entry point and the exit point can also be set inside the cleaning sub-area and adjacent to the boundary line, and the other can be set on the boundary line of the cleaning sub-area, so that the cleaning robot can easily and quickly leave a Sweep a subarea and enter another sweep subarea.
  • both the entry point and the exit point can also be set inside the cleaning sub-area so that they are not close to the boundary line of the cleaning sub-area.
  • the cleaning robot can also conveniently and quickly leave one cleaning sub-area and enter another cleaning sub-area.
  • the exit point of the previous cleaning sub-area can be set as the entry point of the next cleaning sub-area, and the entry point and exit point of two adjacent cleaning sub-areas can also be set separately.
  • the entry point is located on a boundary line of the cleaning sub-area, which may specifically include:
  • each cleaning sub-area can be set as a rectangle or a square, and the entry point of the cleaning path of each cleaning sub-area can be set at the corner of the boundary line of the rectangle or square, so that the cleaning robot has a larger activity angle, It is relatively free to enter the cleaning sub-area, and it is convenient to plan and set the cleaning path in the cleaning sub-area.
  • making the exit point located on a boundary line of the cleaning sub-area may specifically include:
  • the exit point of the cleaning path of each cleaning sub-area can be set at the corner of the rectangular or square boundary line, which also makes the cleaning robot have a larger activity angle, and can move away from the previous cleaning sub-area relatively freely. Area and enter the next cleaning sub-area, making the cleaning path setting in the cleaning sub-area more flexible.
  • the entry point and exit point of the cleaning sub-area can also be set at other positions on the boundary line.
  • the cleaning path of each cleaning sub-area is generated, which may specifically include the following steps:
  • a cleaning path connecting the entry point and the exit point can be set. Since the general cleaning path is set as a bow-shaped path, a plurality of continuous walking paths can be set in the cleaning sub-area to form a cleaning path for the entire cleaning sub-area. By reasonably setting the cleaning path, the cleaning robot can achieve full coverage when walking in the cleaning sub-area.
  • the cleaning robot When the cleaning robot cleans the area to be cleaned, it will generate a cleaning track with a certain width in the area to be cleaned during the moving process.
  • This cleaning track with a certain width can be called a walking coverage track.
  • the purpose of adjusting the walking coverage trajectory can be achieved by adjusting the cleaning parts of the cleaning robot to shrink or expand.
  • the walking coverage trajectory of the cleaning robot can be adjusted so that when the cleaning robot walks in accordance with the walking path, the walking coverage trajectory of the cleaning robot on one walking path is different from that on the other adjacent path.
  • the walking coverage track on the walking path achieves the effect of edge alignment, or achieves the effect of partially overlapping the edges. In this way, when the cleaning robot is controlled to install the cleaning path to clean in the cleaning sub-area, the coverage effect can be achieved for each position, that is, the full coverage effect can be achieved for the cleaning sub-area.
  • the walking coverage trajectories corresponding to each walking path may be the same or different, or partly the same and partly different, so as to better achieve full coverage according to the shape of the cleaning sub-area.
  • step S300 after generating the cleaning path for each cleaning sub-area, the following steps may also be included:
  • the cleaning robot After cleaning all the cleaning lines of all sub-areas in the area to be cleaned, the cleaning robot can be controlled to walk and clean in the area to be cleaned according to all the cleaning lines, so as to achieve the effect of comprehensive cleaning.
  • the robot movement path planning system 100 may include:
  • the area division module 102 is used to divide the area to be cleaned that the cleaning robot needs to clean into a plurality of cleaning sub-areas;
  • the area entrance and exit planning module 104 is communicatively connected with the area division module 102, and is used to set the entry point and exit point of each cleaning sub-area according to the boundary line of each of the cleaning sub-areas;
  • the cleaning line generation module 106 is communicated with the area entrance and exit planning module 104, and is used to generate the cleaning of each of the cleaning sub-areas according to the obtained entry point and the exit point of each of the cleaning sub-areas. path.
  • the robot movement path planning system 100 described in this embodiment corresponds to the above-mentioned robot movement path planning method for cleaning robots.
  • the functions of each module in the robot movement path planning system 100 in this embodiment are described in detail in the corresponding method embodiments. , which will not be repeated here.
  • the cleaning robot 10 may include a robot body 12 and a control processor (not shown in the figure) disposed on the robot body 12 .
  • the robot body 12 can be controlled by the control processor so that the robot body 12 walks in the area to be cleaned and cleans the area to be cleaned.
  • control processor can be used to: divide the area to be cleaned by the cleaning robot into multiple cleaning sub-areas; set the entry point and exit point of each cleaning sub-area according to the boundary line of each cleaning sub-area; The entry point and exit point of each cleaning sub-area generate the cleaning path of each cleaning sub-area.
  • control processor can be used to control the cleaning robot to implement the steps in the above robot movement path planning method.
  • control processor can be used to control the cleaning robot to implement the steps in the above robot movement path planning method.
  • the cleaning robot may be a sweeper.
  • the cleaning robot can also be set as a scrubber, a vacuum cleaner, etc. that need to plan a moving path.
  • the present disclosure also proposes a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the robot movement path planning method as described above All or part of the method steps.
  • the present disclosure realizes all or part of the processes in the above methods, and can also be completed by instructing related hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium.
  • the computer program includes computer program code
  • the computer program code may be in the form of source code, object code, executable file or some intermediate form.
  • the computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.
  • the content contained on computer readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media does not include Electrical carrier signals and telecommunication signals.
  • an embodiment of the present application also provides an electronic device, including a memory and a processor, the memory stores a computer program running on the processor, and when the processor executes the computer program, the above-mentioned robot movement path planning method All method steps or some method steps.
  • the so-called processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor, etc.
  • the processor is the control center of the computer device, and uses various interfaces and lines to connect various parts of the entire computer device.
  • the memory can be used to store computer programs and/or models, and the processor implements various functions of the computer device by running or executing the computer programs and/or models stored in the memory and calling the data stored in the memory.
  • the memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); The created data (such as audio data, video data, etc.) is used.
  • the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • non-volatile memory such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the embodiments of the present disclosure may be provided as methods, systems, servers or computer program products. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure 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, optical storage, etc.) having computer-usable program code embodied therein.
  • a computer-usable storage media including but not limited to disk storage, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Procédé et système de planification de trajet de déplacement de robot, et robot de nettoyage (10). Le procédé de planification de trajet de déplacement consiste : à diviser une zone à balayer qui doit être nettoyée par le robot de nettoyage (10) en de multiples sous-zones de balayage (S100) ; à définir des points d'entrée et de sortie de chaque sous-zone de balayage en fonction d'une ligne de démarcation de chaque sous-zone de nettoyage (S200) ; et à générer un trajet de balayage de chaque sous-zone de balayage en fonction des points d'entrée et de sortie obtenus de chaque sous-zone de balayage (S300). Le problème technique de l'état de la technique selon lequel un trajet de couverture ayant la forme d'un mot chinois "弓" change de manière aléatoire dans une zone de travail, ce qui amène le robot de nettoyage (10) à entrer dans une zone de travail suivante sans achever le nettoyage d'une zone de travail actuelle, et donne lieu à mauvais effet de nettoyage, est résolu.
PCT/CN2023/070480 2022-01-27 2023-01-04 Procédé et système de planification de trajet de déplacement de robot et robot de nettoyage WO2023142931A1 (fr)

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CN202210102225.2 2022-01-27
CN202210102225.2A CN116548870A (zh) 2022-01-27 2022-01-27 机器人移动路径规划方法、系统及清洁机器人

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CN112161629A (zh) * 2020-09-30 2021-01-01 深圳市银星智能科技股份有限公司 清洁机器人的路径规划方法、装置、清洁机器人及介质
CN112799398A (zh) * 2020-12-25 2021-05-14 珠海市一微半导体有限公司 基于寻径代价的清洁路径规划方法、芯片及清洁机器人

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