CN108628316A - The method for establishing dust-collecting robot grating map - Google Patents
The method for establishing dust-collecting robot grating map Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000009885 systemic effect Effects 0.000 claims abstract description 11
- 230000009184 walking Effects 0.000 claims description 18
- 239000000428 dust Substances 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 7
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- 238000010586 diagram Methods 0.000 description 13
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- 238000005259 measurement Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- 238000003379 elimination reaction Methods 0.000 description 1
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- 125000001400 nonyl group Chemical group [H]C([*])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])[H] 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a kind of methods for establishing dust-collecting robot grating map, mainly by systemic presupposition, establish maximum functional region, interior searching loop and establish four steps of work grid network and form.This method defines rectangular area（H_width, H_len）And rectangular area is divided into multiple grids（I, j）.y=F（x）Or y=f_t（x）In grid that only one group or zero group of track are passed through（I, j）When, CellValue [i] [j]=0, otherwise CellValue [i] [j]=1.Whether this method can reach according to equipment both sides to grid assignment, and grating map is more acurrate.
Description
Technical field
The present invention relates to a kind of methods for establishing dust-collecting robot grating map, belong to smart home field.
Background technology
《The location navigation of dust-collecting robot based on three-dimensionalreconstruction》(Jilin University's master thesis, Zhang Shuming) is open
The gridding method read based on camera data.This method determines the content of grid whether passing through predetermined grid according to route.
This route is defined as the path at car body center.In practical map, even if the grid that the path of car body Road passes through
Lattice, grid itself also not necessarily can all enter.Not enterable grid, which is defined as work grid, to cause robot to work
It is chaotic.
Invention content
Whether the present invention proposes a kind of method for establishing dust-collecting robot grating map, can reach pair according to equipment both sides
Grid assignment, grating map are more acurrate.
The technical proposal of the invention is realized in this way：
A method of establishing dust-collecting robot grating map, it is characterised in that including：Systemic presupposition establishes maximum functional
Region, interior searching loop and establish work grid network, wherein establishing work grid network includes：
step41：Define rectangular area (Hwidth, Hlen) and rectangular area is divided into multiple grids (i, j), HwidthFor y
Maximum x value in=F (x), HlenFor maximum y values, i=x/B, j=y/B,
step42：Define CellValue [i] [j], y=F (x) or y=ft(x) there was only one group or zero group of track process in
Grid (i, j) when, CellValue [i] [j]=0, otherwise CellValue [i] [j]=1 store grating map.
In establishing in the method for dust-collecting robot grating map for the present invention, the systemic presupposition includes：
step11：Absolute reference point O1, the O2 of setting at least two in the side of purging zone,
step12：Setting walking sensor C1, C2, C3, C4, C5, adjacent walking sensor angle are on the outside of car body
45 ° and C3 arrangement dust catchers advance front, and C1 and C5 are located on wheel axis, each sensor at a distance from entity with
The sum of car body radius is defined as s1, s2, s3, s4, s5,
step13：Define dust catcher diameter B, dust catcher wheel distance D, C1 side vehicle wheel rotational speed ω1, the sides C2 vehicle wheel rotational speed
ω2,
step14：C1 is car body reference point O3, and C5 is car body reference point O4, systemic presupposition safe distance d,
step15：Dust catcher is equal to d along when front direction straight line moving to s1, s2, s3, s4, s5 any one, executes levelling
Pattern establishes coordinate system (xoy) by origin of the position of O3 at this time, and x is car body conduct direction,
step16：The origin and O1 are detected, the distance (a, b) of O2 reference points simultaneously stores.
In establishing in the method for dust-collecting robot grating map for the present invention, the maximum functional region of establishing includes：
step21：WithAnd s1=d walkings, avoidance, it records the tracks O3 (x, y) and the tracks O4 (x ', y '),
step22：If (x, y)=(0,0), maximum functional region y=F (x) is generated according to O3 path lines, according to the tracks O4
Line generates virtual boundary line y '=gi(x '), t=0.
In establishing in the method for dust-collecting robot grating map for the present invention, the interior searching loop includes：
step31：T=t+1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt), xt, ytFor coordinate value,
yt=gt-1(xt),
step32：Demarcate O3 starting points (xmin, ymin) walk along predetermined paths, record O3 path lines (x, y) and the tracks O4
(x ', y '),
step33：Walking, avoidance,
step34：If current track (x, y)=(xt, yt), it is travelled again along predetermined paths,
step35：(if x, y)=(xmin, ymin), according to O3 Track Pick-up t subslot lines y=ft(x), according to O4 rails
Mark generates the t times virtual boundary line y '=gt(x '),
step36：If this time path line is overlapped with the path line of arbitrary previous storage, into step40, otherwise it is back to
step31。
In establishing in the method for dust-collecting robot grating map for the present invention, the interior searching loop includes：
step31：T=t+1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt, θt), xt, ytFor coordinate
Value, θtFor corner, yt=gt-1(xt), θt=gt-1′(xt), gt-1' it is gt-1In xtThe derivative at place,
step32：Demarcate O3 starting points (xmin, ymin) along predetermined paths walking, avoidance, record O3 path lines (x, y) and O4
Track (x ', y '),
step33：If current track (x, y)=(xt, yt), it is travelled again along predetermined paths,
step34：(if x, y)=(xmin, ymin), according to O3 Track Pick-up t subslot lines y=ft(x), according to O4 rails
Mark generates the t times virtual boundary line y '=gt(x '),
step35：If this time path line is overlapped with the path line of arbitrary previous storage, completion is traversed, is otherwise back to
step31。
Whether this of the present invention establishes dust-collecting robot grating map, can reach to grid assignment according to equipment both sides,
Grating map is more acurrate.
Description of the drawings
Fig. 1 is the schematic diagram for establishing dust-collecting robot grating map of the present invention；
Fig. 2 is the dust-collecting robot systemic presupposition schematic diagram of the present invention；
Fig. 3 is the schematic diagram of the dust-collecting robot working environment of the present invention；
Fig. 4 is that the dust-collecting robot of the present invention traverses the track schematic diagram of working region；
Fig. 5 is the schematic diagram of the rasterizing working region of the present invention；
Fig. 6 is dust-collecting robot two sub-slot map of the present invention, and main presentation establishes lower subslot according to upper subslot；
Fig. 7 is the schematic diagram of the dust-collecting robot detour barrier of the present invention；
Fig. 8 is that the dust-collecting robot of the present invention finds the schematic diagram of initial point close to wall；
Fig. 9 is a kind of barrier schematic diagram of right-hand bend detour of the dust-collecting robot of the present invention；
Figure 10 is another barrier schematic diagram of right-hand bend detour of the dust-collecting robot of the present invention；
Figure 11 is that the right-hand bend of the dust-collecting robot of the present invention is detoured another barrier schematic diagram；
Figure 12 is a kind of barrier schematic diagram of left-hand bend detour of the dust-collecting robot of the present invention；
Figure 13 is another barrier schematic diagram of left-hand bend detour of the dust-collecting robot of the present invention；
Figure 14 is that the left-hand bend of the dust-collecting robot of the present invention is detoured another barrier schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.
The prior art is summarized
Existing dust-collecting robot barrier-avoiding method includes mainly accurate avoidance and fuzzy avoidance.《It advises in mobile robot path
It draws》The method that (Northeast Electric Power University's master thesis, Meng Xiangfu) discloses fuzzy avoidance is adopted as fuzzy logic calculation
Method, system-computed amount is larger, is not suitable for the dust-collecting robot of low cost.And《The Intellectual Autonomous Cleaning Robot of base nonyl neural network
Mix sensory perceptual system design and avoidance planning》(Zhejiang University's master thesis, Xu Yong) discloses the suction based on neural network
Dirt intelligent robot obstacle avoidance algorithm, the algorithm are incomplete, it is difficult to be used in practical dust-collecting robot.《Based on circumstances not known
Under robot ergodic algorithm》(Kunming University of Science and Technology's master thesis, Wang Yu) discloses the multiple avoidance of dust-collecting robot
Method, but as described in the case, barrier-avoiding method are suitable for right angle obstacle more, and the obstacle of detour oblique angle obstacle or wall will produce
More can not enter space (omitting grid).
In the prior art, the map component of dust-collecting robot mostly uses Grid Method, and Grid Method can reduce system data amount simultaneously
Easy to maintain and path planning.The premise of Grid Method is the reading of operation interval, and the prior art is mostly used walks along side, the application
Also it is such.Along side, walking obtains the premise that maximum functional environment is interior searching loop.《Intelligence based on ultrasonic sensor is inhaled
The research of dirt Algorithms of Robots Navigation System》(Zhejiang University's master thesis, Wang Huoliang) discloses the mode that this map is read.
《Family's sweeping robot path covers the design and realization of system》(Harbin Institute of Technology's master thesis, Zhou Yanan) exists
Grid assignment is carried out while searching loop, does not pay attention to the amendment of traversal route.Meanwhile it can not during searching loop
Avoid there are path overlap, the document does not pay attention to eliminating the part that computes repeatedly.《Dust-collecting robot based on three-dimensionalreconstruction
Location navigation》(Jilin University's master thesis, Zhang Shuming) discloses the gridding method read based on camera data.It should
Method determines the content of grid whether passing through predetermined grid according to route.This route is defined as the path at car body center.
In practical map, even if not necessarily can all enter if the grid grid of the path process of car body Road itself.It will not
Enterable grid, which is defined as work grid, can cause robot work chaotic.The document also discloses that the positioning of dust-collecting robot
Technology can be used as the reference of the application.
There are many interior searching loops of operation interval, and the prior art is concentrated mainly on region segmentation, dressing traversal and spiral shell
In rotation three kinds of methods of traversal.Dressing traversal is prior art the most common type, and system operations are simple, but if working region
There are barrier, system is that the working region at covering barrier rear will produce many duplicate paths at middle part.Region segmentation can solve
Certainly there are path planning when barrier, this method references for operation interval《Clean robot complete coverage path planning is studied》(weight
Celebrate university's master thesis, Zhang Yue).For having the wall and barrier on long inclined-plane, region segmentation less efficient.《Based on ARM
The research of the clean robot of controller》(Institutes Of Technology Of Jiangxi's master thesis, Wang Zhongfeng) is adopted when selecting path planning
The mode that broken line approaches walking can detour oblique barrier, also as the reference of the application.Spiral traversal can be coped with oblique
Wall, but how to select prior art when reference still unsolved after being detached from wall when internal cycle.
The invention discloses a kind of methods for establishing dust-collecting robot grating map, including systemic presupposition, the maximum work of foundation
Make region, interior searching loop, establish work grid network, such as Fig. 1 to 8.This method can be in the sensor of installation predetermined quantity
On the basis of embedded existing dust-collecting robot hardware system.Hardware system may include microprocessor unit, and sensor unit drives
Dynamic execution unit.Sensor unit is primarily referred to as being mounted on five ultrasonic sensors of surrounding on front side of dust-collecting robot and touches
Hit sensor and Hall sensor.It includes step motor control module and left and right sides stepper motor to drive execution unit.Microprocessor
Device unit includes master control, display and communication module etc..Concrete structure can refer to《Clean robot based on ARM controller is ground
Study carefully》Described in (Institutes Of Technology Of Jiangxi's master thesis, Wang Zhongfeng) etc..
Referring to figs. 1 to 5, systemic presupposition refers to the bulk for setting robot and the designated position cloth in dust-collecting robot
Set sensor.It generally comprises following steps.step11：The absolute reference point of setting at least two in the side of purging zone
O1, O2.Absolute reference point is set to the side of wall, and two absolute reference points can determine the current absolute position of dust-collecting robot
It sets.After working map is established, the dust-collecting robot of anywhere booting can determine the location information of its residing working map.
step12：Setting walking sensor C1, C2, C3, C4, C5 on the outside of car body, adjacent walking sensor angle is 45 ° and C3
Arrange that dust catcher advances front, C1 and C5 are located on wheel axis, each sensor at a distance from entity with car body radius
The sum of be defined as s1, s2, s3, s4, s5.Dust-collecting robot hinders according to the location determination car body of each sensor with wall and other
Hinder the distance of object.The sum of the distance and car body radius indicate at a distance from car body geometric circular and barrier (s1, s2, s3, s4,
s5).Sensor is, for example,《The Intellectual Autonomous Cleaning Robot development of Driven by Ultrasonic Motors》(Nanjing Aero-Space University, Wang Hongjian),
《Autonomous mobile robot navigation system research based on ultrasonic measuring distance technology》(Wuhan University of Technology, Hu Jingcao) etc. is adopted
Ultrasonic distance-measuring sensor.step13：Define dust catcher diameter B, dust catcher wheel distance D, C1 side vehicle wheel rotational speed ω1,
The sides C2 vehicle wheel rotational speed ω2.Wheel rated speed ωp.In general, the driving motor of dust-collecting robot is encoded using angular speed, angle is defined
Speed, which is more advantageous to, weighs car body state.
step14：C1 is car body reference point O3, and C5 is car body reference point O4, systemic presupposition safe distance d.O3 is used for O4
Record the position in outside in car body.D is more thanAbout 50mm.The distance can prevent any position of car body
Collision obstacle.Step15 and step16 is used to find initial point close to wall.step15：Dust-collecting robot is straight along front direction is worked as
Line runs to s1, s2, s3, s4, s5 any one and is equal to d.After the completion of avoidance, coordinate system is established as origin using the position of O3 at this time
(xoy), x is car body direction of travel.step16：The origin and O1 are detected, the distance (a, b) of O2 reference points simultaneously stores.The present invention
Wheel pulse positioning mode can be used, such as in the method for not limiting dust-collecting robot coordinate setting《Under dust-collecting robot non-structure environment
The research of autonomous paths planning method》(Zhejiang University's master thesis, Feng Shenkun) is described.Dust-collecting robot command range side
The distance of edge, welt walking change fine tuning direction of travel according to wall.It is measured caused by avoid the improper transformation of barrier
Software for jitters elimination filtering can be used in error (accidental error), the present invention, and such mode mainly utilizes in the compiling procedure of program
Time delays detect, and are detected again after delay 30 to 50ms after detecting the ultrasonic signal met the requirements, if error model
Data in enclosing still are detected, then it is assumed that the data-signal is correct believable.Kalman filtering drop can be used in simultaneity factor
Error (systematic error) on low measurement method.Kalman filtering mode with for as it is known to those skilled in the art that do not do herein
It repeats, concrete structure principle can refer to《Intelligent sweeping machine device people designs and its research of path planning》(Harbin industry is big
Learn, Zhang Chao) it is described.
It refers to taking a round along indoor lateral wallflow to establish maximum functional region, records room maximum coordinates position, is follow-up
It traverses working region and outer non-economic is provided.Such as Fig. 8, which also referred to as walks along side, and the prior art has been disclosed for feasible
Realization algorithm, such as《Intelligent sweeping machine device people designs and its research of path planning》(Harbin Institute of Technology, Zhang Chao),
《The research of autonomous paths planning method under dust-collecting robot non-structure environment》(Zhejiang University's master thesis, Feng Shenkun) etc.
It is described.step21：WithAnd s1=d walkings, avoidance, it records the tracks O3 (x, y) and the tracks O4 (x ', y ').
step22：If (x, y)=(0,0), maximum functional region y=F (x) is generated according to O3 path lines, is generated according to O4 path lines empty
Quasi- boundary line y '=gi(x '), t=0.Virtual boundary line is the expected trajectory of O3 next time.
With reference to Fig. 6 to 7, interior searching loop refers to traversing entire working region, Wu Fajin in maximum functional region inside spin
The space entered is recorded into barrier, and the whole region that can be walked is determined with this.In the prior art, interior searching loop mostly uses
It turns back reciprocal walking manner, which easy tos produce blind area.The application reduces depositing for blind area by the way of spiral traversal
.step31：T=t+1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt, θt), xt, ytFor coordinate value, θt
For corner, yt=gt-1(xt), θt=gt-1′(xt), gt-1' it is gt-1In xtThe derivative at place.Limit the coordinate of dust-collecting robot state
Can also include direction coordinate other than the coordinate of calibration point.To keep body movement smooth, the application is led by predetermined paths
Number determines direction of travel.step32：Demarcate O3 starting points (xmin, ymin), which is generally in predetermined paths near upper
The position of subslot terminal.Dust-collecting robot along predetermined paths walk, avoidance, record O3 path lines (x, y) and the tracks O4 (x ',
y′).In practical walking process, due to the presence of barrier, O3 path lines (x, y) and predetermined paths (xt, yt, θt) not exclusively
Unanimously.step33：If current track (x, y)=(xt, yt), show dust-collecting robot cut-through object, again along default road
Line travels.step34：(if x, y)=(xmin, ymin), indicate that dust-collecting robot has been returned to the initial of this track route
Point.System is according to O3 Track Pick-up t subslot lines y=ft(x), according to the t times virtual boundary line y '=g of O4 Track Pick-upst
(x′).step35：If this time path line is overlapped with the path line of arbitrary previous storage, show that dust-collecting robot comes into cycle
Route, traversal are completed.Otherwise it is back to step31, again interior searching loop.In the running center of dust-collecting robot, there are minimum
When irregular barrier, the interior searching loop it is less efficient.It is contemplated that indoor environment is mostly the space of rule, obstacle
Object is again relatively low just at the possibility for recycling center in dust-collecting robot, and the method for this interior searching loop of the application has
Feasibility.
It refers to that working region is divided into grid screen after dust-collecting robot traverses working region to establish work grid network
The method of network.step41：Define rectangular area (Hwidth, Hlen) and rectangular area is divided into multiple grids (i, j), HwidthFor
Maximum x value in y=F (x), HlenFor maximum y values, i=x/B, j=y/B.Relative to absolute reference point O1, O2 to grid (i, j)
Coordinate make definitions, no matter when dust-collecting robot is switched on operation, as long as measuring it relative to reference point O1, the position of O2,
The position that can determine this grating map, to avoid the dust-collecting robot moment from recording self-position.step42：Definition
CellValue [i] [j], y=F (x) or y=ft(x) when there was only grid (i, j) that one group or zero group of track are passed through in,
CellValue [i] [j]=0, otherwise CellValue [i] [j]=1, stores grating map.Grid is passed through in two groups of tracks simultaneously
Indicate that dust-collecting robot traversal working map is to enter the grid when (i, j), the grid is generally in can enter state.Only one
Group track enters grid or no track enters grid, indicates grid generally in can not enter state.Although the storage is sentenced
Disconnected mode can regard as cell portion domain (being less than dust-collecting robot size) can not enter grid, but be waited for clearly relative to entire
For sweeping space, abandon segment space and improve storage efficiency and path planning efficiency to be worth.
The barrier-avoiding method of the present invention can be used for avoiding the fixed obstacle of regular shape, be particularly suitable for evading with oblique angle
Wall or cabinet.This barrier-avoiding method includes the following steps：step01：It walks along track, measures s2, s3, s4, s5 value, according to
Measurement result enters step02 or step03.Measurement result surface dust-collecting robot faces the barrier of different conditions.If s2,
S3, s4, s5 be all higher than d andReferring to Fig.1 1.Dust-collecting robot enters increased working region, and dust catcher executes
And it is flipped outward along preceding barrier.If s2, s3, s4, s5 be all higher than d andWith reference to Fig. 8 to 9, right side finds oblique
To entity.Dust catcher turns and keeps straight on along new route.If s2, s3, s4, s5 any one are less than or equal to d, referring to Fig.1 0, it is preceding
Side or left side find that oblique entity, front can not enter, and original place big angle rotary is simultaneously returned along new route.
With reference to Fig. 9 to 14, the present invention realizes the turning of different angle using vehicle wheel rotational speed difference.The movement shape of dust-collecting robot
State reference《The region-wide path planning of indoor cleaning machine people and avoidance research》(Southern Yangtze University, Zeng Cen) is described.Specifically,
step02：If s2, s3, s4, s5 are all higher than d, step04, step05 or step06 are entered according to the value of s2.step03：If s2,
S3, s4, s5 any one are less than or equal to d, and discovery can not enter boundary, be entered according to the value of s2 after rotating in place to s1=d
Step04, step05 or step06.step04：If s2 is less thanIt was found that entity boundary, executes the first cornering mode, untilReturn to step01.step05：If s2 is more thanIt was found that working region, executes the second cornering mode, untilReturn to step01.step06：IfReturn to step01.With reference to Fig. 9 to 14, inhale in the present invention
The rotating manner of dirt robot is divided into three kinds：There is the right-hand bend of working region in right side, and the left-hand rotation of physical obstacles occurs in right side
There is rotating in place for barrier in curved and front or left side.It refers to rotation center substantially about dust-collecting robot to rotate in place
Rotation, ω1=ωp, ω2=-ωp.For the travel region of raising dust-collecting robot, the region that can not be traversed is reduced as far as possible,
Dust-collecting robot must be made to keep to the side to walk, one of feasible method is exactly the turning radius that limitation turns right and turns left.It turns right
It is curved to use the first cornering mode：
Turn left to use the second cornering mode：
ω1=ωp；
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (5)
1. a kind of method for establishing dust-collecting robot grating map, it is characterised in that including：Systemic presupposition establishes maximum functional area
Domain, interior searching loop and establish work grid network, wherein establishing work grid network includes：
step41：Define rectangular area (Hwidth, Hlen) and rectangular area is divided into multiple grids (i, j), HwidthFor y=F
(x) maximum x value in, HlenFor maximum y values, i=x/B, j=y/B,
step42：Define CellValue [i] [j], y=F (x) or y=ft(x) there was only the grid of one group or zero group of track process in
When (i, j), CellValue [i] [j]=0, otherwise CellValue [i] [j]=1, stores grating map.
2. the method according to claim 1 for establishing dust-collecting robot grating map, which is characterized in that the systemic presupposition
Including：
step11：Absolute reference point O1, the O2 of setting at least two in the side of purging zone,
step12：On the outside of car body setting walking sensor C1, C2, C3, C4, C5, adjacent walking sensor angle be 45 ° simultaneously
And C3 arrangement dust catchers advance front, C1 and C5 are located on wheel axis, and each sensor is at a distance from entity and car body
The sum of radius is defined as s1, s2, s3, s4, s5,
step13：Define dust catcher diameter B, dust catcher wheel distance D, C1 side vehicle wheel rotational speed ω1, the sides C2 vehicle wheel rotational speed ω2,
step14：C1 is car body reference point O3, and C5 is car body reference point O4, systemic presupposition safe distance d,
step15：Dust catcher is equal to d along when front direction straight line moving to s1, s2, s3, s4, s5 any one, executes levelling mould
Formula establishes coordinate system (xoy) by origin of the position of O3 at this time, and x is car body conduct direction,
step16：The origin and O1 are detected, the distance (a, b) of O2 reference points simultaneously stores.
3. the method according to claim 2 for establishing dust-collecting robot grating map, which is characterized in that the foundation is maximum
Working region includes：
step21：WithAnd s1=d walkings, avoidance, it records the tracks O3 (x, y) and the tracks O4 (x ', y '),
step22：If (x, y)=(0,0), maximum functional region y=F (x) is generated according to O3 path lines, is given birth to according to 4 path lines of O
At virtual boundary line y '=gi(x '), t=0.
4. the method according to claim 3 for establishing dust-collecting robot grating map, which is characterized in that the interior cycle time
Go through including：
step31：T=t+1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt), xt, ytFor coordinate value, yt=
gt-1(xt),
step32：Demarcate O3 starting points (xmin,ymin) along predetermined paths walk, record O3 path lines (x, y) and the tracks O4 (x ',
Y '),
step33：Walking, avoidance,
step34：If current track (x, y)=(xt, yt), it is travelled again along predetermined paths,
step35：(if x, y)=(xmin,ymin), according to O3 Track Pick-up t subslot lines y=ft(x), according to O4 Track Pick-ups
The t times virtual boundary line y '=gt(x '),
step36：If this time path line is overlapped with the path line of arbitrary previous storage, into step40, otherwise it is back to
step31。
5. the method according to claim 3 for establishing dust-collecting robot grating map, which is characterized in that the interior cycle time
Go through including：
step31：T=t+1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt, θt), xt, ytFor coordinate value, θt
For corner, yt=gt-1(xt), θt=gt-1′(xt), gt-1' it is gt-1In xtThe derivative at place,
step32：Demarcate O3 starting points (xmin,ymin) along predetermined paths walking, avoidance, record O3 path lines (x, y) and the tracks O4
(x ', y '),
step33：If current track (x, y)=(xt, yt), it is travelled again along predetermined paths,
step34：(if x, y)=(xmin,ymin), according to O3 Track Pick-up t subslot lines y=ft(x), according to O4 Track Pick-ups
The t times virtual boundary line y '=gt(x '),
step35：If this time path line is overlapped with the path line of arbitrary previous storage, completion is traversed, is otherwise back to
step31。
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