CN111290388B - Path tracking method, system, robot and readable storage medium - Google Patents
Path tracking method, system, robot and readable storage medium Download PDFInfo
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- 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
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Abstract
The invention provides a path tracking method, a system, a robot and a readable storage medium, wherein the method comprises the following steps: driving the robot to walk according to a preset direction to traverse a working area, and synchronously tracking a path; driving the robot to turn in the third direction in situ when each road meets the turning mark; when the robot is confirmed to turn to the third direction, the robot is driven to take the current turning position as a starting point and to do linear motion along the third direction; when the robot moves to a preset distance, driving the robot to pivot to the opposite direction before the turning identifier is encountered in the current route, and traversing along the opposite direction before the turning identifier is encountered until the turning identifier is encountered in the second route or the traversing of the current working area is finished; and determining the size of the preset distance according to the diameter of a cutter disc of the robot and the cutting contact ratio, and determining the starting point of the preset distance according to the position of the route turning identifier and/or the route before the route turning identifier. The invention improves the working efficiency of the robot mower.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a path tracking method, a path tracking system, a robot and a readable storage medium.
Background
The low repetition rate and the high coverage rate are the objectives of the traversing robot such as the mobile robot for dust collection, grass cutting, swimming pool cleaning and the like.
Taking a mobile robot as an intelligent mowing robot as an example, in order to improve the coverage rate and coverage efficiency of mowing a lawn by the robot in a mowing process, a mowing robot generally uses the following methods and steps: positioning and establishing a lawn electronic map by using a GPS (global positioning system), a laser, a UWB (ultra-wideband) or other methods, then planning a path, and finally tracking the path to complete traversal operation; however, under the condition of controlling cost, the mowing robot usually does not select a high-performance controller, a large amount of calculation and real-time control are needed during path tracking, and if a common controller is used, the mowing robot has the defects of slow running speed, distorted walking path and the like, so that missed cutting is caused; on the other hand, the rough and soft lawn, the grass density, the consistency of parts and the positioning precision all influence the path tracking precision of the mower robot, so that missed cutting is caused;
in the prior art, a path tracking method corrects position deviation, but too frequent position adjustment can cause the problem of unsmooth walking path, and the working efficiency and quality are reduced.
Disclosure of Invention
To solve the above technical problems, an object of the present invention is to provide a path tracking method, system, robot and readable storage medium.
In order to achieve one of the above objects, an embodiment of the present invention provides a path tracking method, including: driving the robot to walk according to a preset direction to traverse a working area, and synchronously tracking a path; the preset direction comprises a first direction and a second direction opposite to the first direction;
driving the robot to turn in the third direction in situ when each road meets the turning mark;
when the robot is confirmed to turn to the third direction, the robot is driven to take the current turning position as a starting point and to do linear motion along the third direction; the third direction is different from the preset direction;
when the robot moves to a preset distance, driving the robot to pivot to the opposite direction before the turning identifier is encountered in the current route, and traversing along the opposite direction before the turning identifier is encountered until the turning identifier is encountered in the second route or the traversing of the current working area is finished;
and determining the size of the preset distance according to the diameter of a cutter disc of the robot and the cutting contact ratio, and determining the starting point of the preset distance according to the position of the route turning identifier and/or the route before the route turning identifier.
As a further improvement of an embodiment of the present invention, before driving the robot to walk in the preset direction to traverse the working area, the method further includes:
establishing an electronic map covering a working area, and configuring a preset direction, a third direction and an in-situ rotation rule of the robot;
the electronic map comprises coordinates of each position point and a turning mark in a working area, wherein the turning mark comprises: inner and outer boundaries of the working area, obstacles;
in the process that the robot traverses the working area, the method further comprises the following steps: and updating the traversed work area as a turning mark.
As a further improvement of an embodiment of the present invention, the method further comprises: an included angle between the third direction and the preset direction is greater than 0 degrees and less than or equal to 90 degrees.
As a further improvement of an embodiment of the present invention, the method further comprises: the third direction is perpendicular to the preset direction.
As a further improvement of an embodiment of the present invention, in the process of driving the robot to walk according to the preset direction, the method further includes:
judging whether the current advancing direction of the robot is the same as the preset direction in real time,
if so, driving the robot to continue to walk along the current preset direction until the intersection turning mark or the current working area is traversed and ended;
if not, keeping the robot in the original position and correcting the traveling direction of the robot, so that the traveling direction of the robot is the same as the current preset direction, and driving the robot to continue traveling along the preset direction until the intersection turning mark or the current working area is traversed and finished.
As a further improvement of an embodiment of the present invention, the determining the size of the predetermined distance according to the cutter disc diameter and the cutting overlap ratio of the robot specifically includes:
calculating the predetermined distance according to the formula L-D (1-K), wherein L represents the predetermined distance, and D represents the diameter of the cutter head of the robot; k represents the degree of cleavage overlap, K.epsilon. (0,100%).
As a further improvement of an embodiment of the present invention, the determining the starting point of the predetermined distance according to the position of the encounter turn indicator specifically includes:
and taking the position of the road turning mark as a starting point of the preset distance.
As a further improvement of an embodiment of the present invention, the determining the starting point of the predetermined distance according to the path before the encounter turn indicator specifically includes:
performing straight line fitting on the path before the turning identifier is encountered;
and taking the intersection point of the fitted straight line and the straight line in the third direction as the starting point of the preset distance.
As a further improvement of an embodiment of the present invention, "performing straight line fitting on a path before a road meeting turn sign" specifically includes:
obtaining a location position (x) for a path record preceding a encounter turn marker1,y1)，(x2,y2)，…，(xn,yn)；xn,ynRespectively representing the coordinate value of the horizontal axis and the coordinate value of the vertical axis of any positioning position;
and (3) fitting the plurality of positioning positions by adopting a least square method to form a straight line m, wherein a linear regression equation of the straight line m is expressed as follows: y is kx + a, and y is kx + a,
the step of taking the intersection point of the fitted straight line and the straight line in the third direction as the starting point of the preset distance specifically comprises the following steps:
if the position of the robot road-meeting turning mark and the position of the preset distance end point are positioned on two sides of the fitting straight line, taking a point which is at a distance of d from the position of the road-meeting turning mark as a starting point of the preset distance in the forward extension direction of the third direction;
if the position of the robot road turning mark and the position of the preset distance end point are on the same side of the fitting straight line, taking a point which is at a distance d from the position of the road turning mark in the reverse extension direction of the third direction as a starting point of the preset distance;
wherein, the position (x) of the turning sign is encountered by the robotn,yn) The distance d to the fitted straight line m is represented as:
in order to achieve one of the above objects, an embodiment of the present invention provides a robot, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the path tracking method when executing the computer program.
In order to achieve one of the above objects, an embodiment of the present invention provides a readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps of the path tracking method as described above.
In order to achieve the above object, another embodiment of the present invention provides a traversal system, including: the planning driving module is used for driving the robot to walk according to a preset direction so as to traverse a working area and synchronously perform path tracking; the preset direction comprises a first direction and a second direction opposite to the first direction;
the processing module is used for driving the robot to turn in the third direction in situ when each path meets the turning mark;
when the robot is confirmed to turn to the third direction, the robot is driven to take the current turning position as a starting point and to do linear motion along the third direction; the third direction is different from the preset direction;
when the robot moves to a preset distance, driving the robot to pivot to the opposite direction before the turning identifier is encountered in the current route, and traversing along the opposite direction before the turning identifier is encountered until the turning identifier is encountered in the second route or the traversing of the current working area is finished;
and determining the size of the preset distance according to the diameter of a cutter disc of the robot and the cutting contact ratio, and determining the starting point of the preset distance according to the position of the route turning identifier and/or the route before the route turning identifier.
Compared with the prior art, the path tracking method, the system, the robot and the readable storage medium of the invention determine the position of the turning direction according to the position of the road turning mark and/or the previous walking route and the preset distance when the robot changes the walking direction to be opposite in the process of driving the robot to walk and tracking the path, so that the robot keeps stable and smooth movement in the process of tracking the path, the coverage rate of a lawn is improved, and the working efficiency and the working quality of the robot mower are improved.
Drawings
FIG. 1 is a schematic structural view of a robot lawnmower system according to the present invention;
FIG. 2 is a flow chart illustrating a path tracking method according to an embodiment of the present invention;
FIGS. 3, 4 and 5 are schematic structural diagrams of a specific example of the present invention;
fig. 6 is a block diagram of a path tracking system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
The robot system of the present invention may be a mowing robot system, or a sweeping robot system, which automatically walks in a working area to perform mowing and dust collecting operations.
As shown in fig. 1, the robot lawnmower system of the present invention includes: a robot device (RM), a charging station 20, a boundary line 30, a boundary line signal station and a positioning base station 40.
The robot lawnmower includes: a body 10, a traveling unit and a control unit which are arranged on the body 10. The walking unit comprises: a driving wheel 111, a driven wheel 113, and a motor for driving the driving wheel 111; the motor can be a brushless motor with a reduction box and a Hall sensor; after the motor is started, the driving wheel 111 can be driven to travel through the reduction gearbox, and the traveling actions such as forward and backward linear running, in-situ turning, circular arc running and the like can be realized by controlling the speed and the direction of the two wheels; the driven wheel 113 may be a universal wheel, which is generally provided in 1 or 2, and mainly plays a role of supporting balance.
The control unit includes at least: a data storage 131 for storing various information obtained during the walking of the machine walking robot along the patrol path, the data storage being, for example: EPROM, Flash, or SD card, etc.
The boundary line 30 is, for example, a power-on wire, the boundary line signal station is typically integrated in the charging station, and the positioning base station 40 is typically a signal transmitting station based on infrared, ultrasonic, bluetooth, ZigBee, UWB and other technologies, or a light reflecting mark adapted to a laser transmitter on the RM; wherein the charging stations 20 are normally arranged on the boundary line; the control unit of the RM further includes: boundary sensors and positioning sensors 133; the boundary sensor is usually an inductor and is used for sensing signals loaded on the boundary line; the positioning sensor 133 is typically a sensor that receives infrared, ultrasonic, bluetooth, ZigBee, UWB signals, or a laser transmitter/receiver including a turntable, and is capable of receiving signals sent from or reflected from a positioning base station.
In this specific example, the positioning base stations 40 are located on the lawn 50, and the number and positions of the positioning base stations 40 are generally arranged in suitable positions according to the shape of the lawn and the power supply; in addition, the lawn 50 of the present invention is provided with an obstacle 60 such as a pool or a flower clump which is required to prevent the entry of the mowing robot.
Further, the robot lawnmower further comprises: the working mechanism is used for working, and the power supply is used for supplying power; in this embodiment, the working mechanism is a mower deck, and various sensors for sensing the walking state of the walking robot, such as: the sensors for tilting, lifting off the ground, collision, etc. are not described in detail herein.
With reference to fig. 2, a method for creating an obstacle map according to an embodiment of the present invention includes the following steps:
driving the robot to walk according to a preset direction to traverse a working area, and synchronously tracking a path; the preset direction comprises a first direction and a second direction opposite to the first direction;
driving the robot to turn in the third direction in situ when each road meets the turning mark;
when the robot is confirmed to turn to the third direction, the robot is driven to take the current turning position as a starting point and to do linear motion along the third direction; the third direction is different from the preset direction;
when the robot moves for a preset distance, driving the robot to pivot to the opposite direction before the turning identifier is encountered in the current route, and traversing along the opposite direction before the turning identifier is encountered until the turning identifier is encountered again or the traversing of the current working area is finished; and determining the size of the preset distance according to the diameter of a cutter disc of the robot and the cutting contact ratio, and determining the starting point of the preset distance according to the position of the route turning identifier and/or the route before the route turning identifier.
In a preferred embodiment of the present invention, before driving the robot to walk in the preset direction to traverse the working area, the method further includes:
establishing an electronic map covering a working area, and configuring a preset direction, a third direction and an in-situ rotation rule of the robot; the electronic map comprises coordinates of each position point and a turning mark in a working area, wherein the turning mark comprises: inner and outer boundaries of the working area, obstacles; in the process that the robot traverses the working area, the method further comprises the following steps: and updating the traversed work area as a turning mark.
In a preferred embodiment of the present invention, an included angle between the third direction and the predetermined direction is greater than 0 ° and less than or equal to 90 °.
Further, in a specific example of the present invention, the method further includes: the third direction is perpendicular to the preset direction.
It should be noted that, in the specific embodiment of the present invention, before the robot works, a planned path is advanced on a working area, the planned path is a theoretical path, and the robot traverses and mows along the planned path in the process of traversing the working area, but in practical applications, the robot may deviate from the planned path to traverse due to the influence of an external environment with a small probability. Correspondingly, in the process of planning a path, as shown in fig. 3, the path planned in a certain local working area is a zigzag path indicated by a dotted line, and the extending directions of the long sides of the zigzag path are respectively defined as a first direction and a second direction; the extending direction of the bow-shaped short side is defined as a third direction, and the distance of the bow-shaped short side is defined as a predetermined distance L. In addition, the establishment of the electronic map is convenient for recording the coordinates of the robot at any time in the working process of the robot so as to facilitate later-stage calculation application, and the subsequent content can be described continuously.
For the in-place rotation rule of the robot, after the preset direction and the third direction are determined, the in-place rotation rule of the robot is correspondingly generated, for example: and driving the robot to walk along the first direction and synchronously mow from the starting point of the zigzag-shaped planned path, when the robot reaches a first turning mark, namely the first turning, rotating by 90 degrees clockwise, turning to the third direction and continuing to advance along the third direction, and further driving the robot to reach a second preset position according to a specific rule and rotating by 90 degrees clockwise to turn to the second direction.
In a preferred embodiment of the present invention, in the process of driving the robot to walk in the preset direction, the method further includes: judging whether the current advancing direction of the robot is the same as the preset direction or not in real time, if so, driving the robot to continue to walk along the current preset direction until the intersection turning mark or the current working area is traversed and ended; if not, keeping the robot in place and correcting the traveling direction of the robot, so that the traveling direction of the robot is the same as the current preset direction, and driving the robot to continue to travel along the preset direction until the intersection turning mark or the current working area is traversed and finished.
Referring to fig. 4 and 5, the maps and planned routes shown in fig. 4 and 5 are the same as those shown in fig. 3, and the solid lines in fig. 4 and 5 are the actual routes traveled by the robot; correspondingly, in an initial state, the global positioning navigation is utilized to drive the robot to reach the initial point a, the robot is rotated in situ, the course of the robot is adjusted to be consistent with the planned first direction, and then the robot is driven to linearly run along the first direction and synchronously mow; in the process that the robot walks along the first direction, the heading of the robot is continuously monitored by using methods such as global positioning or built-in gyroscopes, and when the current heading of the robot is found to be inconsistent with the preset direction, for example: when the robot moves in the first direction, and the robot is driven to walk along the first direction and synchronously mow the grass after the course of the robot is adjusted to be consistent with the first direction; when the robot travels from the point c to the point d along the parallel planning path and reaches the point e from the point d, the course of the robot is found to deviate from the first direction again, so that the course of the robot is corrected again at the point e, and the robot is driven to continue to travel along the first direction after the course of the robot is corrected to the first direction.
In the process that the robot travels along the planned straight line, the course of the robot is monitored in real time and kept consistent with the preset direction, so that the robot keeps stable and smooth movement when tracking the path, and the coverage rate of the robot on the lawn when working is indirectly improved.
In an implementation manner of the present invention, for the setting of the predetermined distance, it may be set as a fixed value according to specific requirements, or may be set as a group of fixed values; in practical application, when the parameter is set as a set of fixed values, one parameter is selected according to a certain rule or randomly selected each time the parameter needs to be called, which is not described in detail herein. In a preferred implementation of the present invention, the predetermined distance is determined according to a cutter diameter and a cutting overlap ratio of the robot, and specifically, the predetermined distance is calculated according to a formula L ═ D (1-K), where L represents the predetermined distance and D represents the cutter diameter of the robot; k represents the cutting contact ratio, and belongs to the element of 0,100 percent; for example: and K takes 20 percent.
In a first preferred embodiment of the present invention, determining the starting point of the predetermined distance according to the position of the route turning identifier specifically includes: and taking the position of the road turning mark as a starting point of the preset distance.
To facilitate understanding of this manner, the following description is made with reference to the example shown in fig. 4, and when the robot reaches the position point f, it is determined that the position point f is a turn sign, and at this time, the robot is driven to travel in a third direction by rotating the position point f clockwise at the original position by 90 degrees and taking the position point f as a starting point of a predetermined distance, in this example, the direction from the position point f to the position point g is the third direction; and after walking the preset distance L from the position point f, reaching a position point g, and driving the robot to rotate clockwise by 90 degrees at the position point g, so that the heading of the robot is adjusted to be in a second direction opposite to the first direction.
In a second preferred embodiment of the present invention, determining the starting point of the predetermined distance according to the route before the encounter turn sign specifically includes: and performing straight line fitting on the path before the turning identifier is encountered on the path, and taking the intersection point of the fitted straight line and the straight line of the third direction as the starting point of the preset distance.
It can be understood that if the position of the turning identifier and the position of the preset distance end point are positioned at two sides of the fitted straight line, the intersection point of the fitted straight line and the reverse extension line of the third direction is used as the starting point of the preset distance; and if the position of the turning mark when the robot encounters the road and the position of the preset distance end point are positioned on the same side of the fitted straight line, taking the intersection point of the fitted straight line and the forward extension line of the third direction as the starting point of the preset distance.
In the specific embodiment of the present invention, "performing straight line fitting on a path before a turn mark in the path" specifically includes: obtaining a location position (x) for a path record preceding a encounter turn marker1,y1)，(x2,y2)，…，(xn,yn)；xn,ynRespectively representing the coordinate value of the horizontal axis and the coordinate value of the vertical axis of any positioning position; and (3) fitting the plurality of positioning positions by adopting a least square method to form a straight line m, wherein a linear regression equation of the straight line m is expressed as follows: y is kx + a, and y is kx + a,
further, "using an intersection point of the fitted straight line and the straight line along which the third direction is located as a starting point of the preset distance" specifically includes: if the position of the robot road-meeting turning mark and the position of the preset distance end point are positioned on two sides of the fitting straight line, taking a point which is at a distance of d from the position of the road-meeting turning mark as a starting point of the preset distance in the forward extension direction of the third direction; if the position of the turning mark when the robot encounters the road and the position of the preset distance end point are on the same side of the fitted straight line, the position is on the same side of the fitted straight lineTaking a point which is d away from the position of the road-meeting turning mark as a starting point of a preset distance in the reverse extension direction; wherein, the position (x) of the turning sign is encountered by the robotn,yn) The distance d to the fitted straight line m is expressed as:
it can be understood that, in the specific application of the invention, if the position of the road turning sign of the robot and the position of the preset distance end point are positioned at two sides of the fitting straight line, the position of the robot is taken as the starting point of the preset distance after the robot is driven to move to the position of the fitting straight line along the forward direction of the third direction by the distance d from the position of the road turning sign; and if the position of the road turning sign of the robot and the position of the preset distance end point are on the same side of the fitting straight line, driving the robot to move a distance d from the position of the road turning sign in the third direction to the position of the fitting straight line in the reverse direction, and taking the position of the robot as the starting point of the preset distance.
In a preferred implementation manner of the present invention, if the position of the turning identifier encountered by the robot and the position of the predetermined distance end point are on the same side of the fitting straight line, the robot is driven to travel forward along the third direction for the distance L-d and then traverse along the opposite direction before encountering the turning identifier until the turning identifier encountered again or the traverse of the current working area is finished, which is not further described herein.
To facilitate understanding of the manner, the specific description is made with reference to the example shown in fig. 5, and the above description is continued, when the robot reaches the position point f, it is determined that the position point f is a turn sign, at this time, the position point f is rotated clockwise by 90 degrees in situ, and the position points a, b, c, d, e, f are subjected to straight line fitting by using the formula of the third embodiment to form a straight line m, the robot starts from the position point f and walks in a third direction, and the direction in which the position point f extends to the position point g is the third direction; when the robot walks a preset distance L + d from the position point f, the robot reaches a position point g, and the robot is driven to rotate clockwise by 90 degrees at the position point g, so that the course of the robot is adjusted to be in a second direction opposite to the first direction; after walking d from the point f along the third direction, the point f 'is reached, and the point f' is an intersection point of the third direction and the fitting straight line m, which is not further described herein.
In an embodiment of the present invention, there is further provided a robot including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the path tracking method when executing the computer program.
In an embodiment of the present invention, a readable storage medium is further provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the path tracking method described above.
As shown in connection with fig. 6, there is provided a traversal system, the system comprising: a plan driver module 100 and a process module 200.
The planning driving module 100 is used for driving the robot to walk in a preset direction to traverse a working area and synchronously perform path tracking; the preset direction comprises a first direction and a second direction opposite to the first direction;
the processing module 200 is configured to drive the robot to pivot to a third direction when each route meets the turning identifier; when the robot is confirmed to turn to the third direction, the robot is driven to take the current turning position as a starting point and to do linear motion along the third direction; the third direction is different from the preset direction; when the robot moves to a preset distance, driving the robot to pivot to the opposite direction before the turning identifier is encountered in the current route, and traversing along the opposite direction before the turning identifier is encountered until the turning identifier is encountered in the second route or the traversing of the current working area is finished; and determining the size of the preset distance according to the diameter of a cutter disc of the robot and the cutting contact ratio, and determining the starting point of the preset distance according to the position of the route turning identifier and/or the route before the route turning identifier.
In addition, in a preferred embodiment of the present invention, the plan driver module 100 is further configured to: before the robot is driven to walk in a preset direction to traverse a working area, establishing an electronic map covering the working area, and configuring a preset direction, a third direction and an in-situ rotation rule of the robot; the electronic map comprises coordinates of each position point and a turning mark in a working area, wherein the turning mark comprises: inner and outer boundaries of the working area, obstacles; in the process that the robot traverses the working area, the method further comprises the following steps: and updating the traversed work area as a turning mark. The processing module 200 is used to implement other unnumbered steps.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In summary, in the path tracking method, the system, the robot and the readable storage medium of the present invention, when the robot is driven to travel and perform path tracking, and when the robot changes the traveling direction to the opposite direction, the position of the turning direction is determined according to the position of the road-meeting turning mark and/or the previous traveling route, and the predetermined distance, so that the robot keeps stable and smooth movement during path tracking, the coverage of the lawn is improved, and the working efficiency and the working quality of the robot mower are improved.
In the several embodiments provided in the present application, it should be understood that the disclosed modules, systems and methods may be implemented in other manners. The above-described system embodiments are merely illustrative, and the division of the modules into only one logical functional division may be implemented in practice in other ways, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, that is, may be located in one place, or may also be distributed on a plurality of network modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional module in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or 2 or more modules may be integrated into one module. The integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the embodiments of the present application.
Claims (11)
1. A method for path tracing, the method comprising:
driving the robot to walk according to a preset direction to traverse a working area, and synchronously tracking a path; the preset direction comprises a first direction and a second direction opposite to the first direction;
driving the robot to turn to a third direction in situ when each road meets the turning mark;
when the robot is confirmed to turn to the third direction, the robot is driven to take the current turning position as a starting point and to do linear motion along the third direction; the third direction is different from the preset direction;
when the robot moves for a preset distance, driving the robot to pivot to the opposite direction before the turning identifier is encountered in the current route, and traversing along the opposite direction before the turning identifier is encountered until the turning identifier is encountered again or the traversing of the current working area is finished;
the determining the size of the preset distance according to the diameter of a cutter disc of the robot and the cutting contact ratio, and the determining the starting point of the preset distance according to the path before the route turning identifier specifically include:
performing straight line fitting on the path before the turning identifier is encountered;
and taking the intersection point of the fitted straight line and the straight line in the third direction as the starting point of the preset distance.
2. The path tracing method of claim 1, wherein before driving the robot to walk in the preset direction to traverse the work area, the method further comprises:
establishing an electronic map covering a working area, and configuring a preset direction, a third direction and an in-situ rotation rule of the robot;
the electronic map comprises coordinates of each position point and a turning mark in a working area, wherein the turning mark comprises: inner and outer boundaries of the working area, obstacles;
in the process that the robot traverses the working area, the method further comprises the following steps: and updating the traversed work area as a turning mark.
3. The path tracking method according to claim 1, further comprising: an included angle between the third direction and the preset direction is greater than 0 degrees and less than or equal to 90 degrees.
4. The path tracking method according to claim 3, further comprising: the third direction is perpendicular to the preset direction.
5. The path tracing method according to claim 1, wherein, during the driving of the robot in the preset direction, the method further comprises:
judging whether the current advancing direction of the robot is the same as the preset direction in real time,
if so, driving the robot to continue to walk along the current preset direction until the intersection turning mark or the current working area is traversed and ended;
if not, keeping the robot in the original position and correcting the traveling direction of the robot, so that the traveling direction of the robot is the same as the current preset direction, and driving the robot to continue traveling along the preset direction until the intersection turning mark or the current working area is traversed and finished.
6. The path-tracking method of claim 1, wherein determining the predetermined distance based on the cutterhead diameter and the cutting overlap ratio of the robot specifically comprises:
calculating the predetermined distance according to the formula L-D (1-K), wherein L represents the predetermined distance, and D represents the diameter of the cutter head of the robot; k represents the degree of cleavage overlap, K.epsilon. (0,100%).
7. The method for path tracing according to claim 1, wherein determining the starting point of the predetermined distance based on the location of the encounter turn indicator specifically comprises:
and taking the position of the road turning mark as a starting point of the preset distance.
8. The method for path tracing according to claim 7, wherein the step of fitting a straight line to the path before the sign of the encounter turn comprises:
obtaining a location position (x) for a path record preceding a encounter turn marker1,y1)，(x2,y2)，…，(xn,yn)；xn,ynRespectively representing the coordinate value of the horizontal axis and the coordinate value of the vertical axis of any positioning position;
and (3) fitting the plurality of positioning positions by adopting a least square method to form a straight line m, wherein a linear regression equation of the straight line m is expressed as follows: y is kx + a, and y is kx + a,
the step of taking the intersection point of the fitted straight line and the straight line in the third direction as the starting point of the preset distance specifically comprises the following steps:
if the position of the robot road-meeting turning mark and the position of the preset distance end point are positioned on two sides of the fitting straight line, taking a point which is at a distance of d from the position of the road-meeting turning mark as a starting point of the preset distance in the forward extension direction of the third direction;
if the position of the robot road turning mark and the position of the preset distance end point are on the same side of the fitting straight line, taking a point which is at a distance d from the position of the road turning mark in the reverse direction extension direction of the third direction as a starting point of the preset distance;
wherein, the position (x) of the turning sign is encountered by the robotn,yn) The distance d to the fitted straight line m is represented as:
9. a robot comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, performs the steps of the path tracking method according to any of claims 1-8.
10. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the path tracing method according to any one of claims 1 to 8.
11. A path tracking system, the system comprising:
the planning driving module is used for driving the robot to walk according to a preset direction so as to traverse a working area and synchronously perform path tracking; the preset direction comprises a first direction and a second direction opposite to the first direction;
the processing module is used for driving the robot to turn in the third direction in situ when each path meets the turning mark;
when the robot is confirmed to turn to the third direction, the robot is driven to take the current turning position as a starting point and to do linear motion along the third direction; the third direction is different from the preset direction;
when the robot moves to a preset distance, driving the robot to pivot to the opposite direction before the turning identifier is encountered in the current route, and traversing along the opposite direction before the turning identifier is encountered until the turning identifier is encountered in the second route or the traversing of the current working area is finished;
the determining the size of the preset distance according to the diameter of a cutter disc of the robot and the cutting contact ratio, and the determining the starting point of the preset distance according to the path before the route turning identifier specifically include:
performing straight line fitting on the path before the turning identifier is encountered;
and taking the intersection point of the fitted straight line and the straight line in the third direction as the starting point of the preset distance.
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| PCT/CN2020/108832 WO2021169188A1 (en) | 2020-02-25 | 2020-08-13 | Path tracking method and system, robot, and readable storage medium |
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