CN112515558A - Robot path planning method, robot and master control chip - Google Patents
Robot path planning method, robot and master control chip Download PDFInfo
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- CN112515558A CN112515558A CN202011156018.2A CN202011156018A CN112515558A CN 112515558 A CN112515558 A CN 112515558A CN 202011156018 A CN202011156018 A CN 202011156018A CN 112515558 A CN112515558 A CN 112515558A
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a robot path planning method, a robot and a main control chip. The method comprises the following steps: dividing an area to be cleaned into at least two cleaning sub-areas, each of the at least two cleaning sub-areas being along a wall; when the robot enters any one of the at least two cleaning subareas, correcting the direction of the robot by taking the wall along which the cleaning subarea is along as a reference; in the at least two cleaning subareas according to the corrected direction, each cleaning subarea corrects the direction of the robot once, so that the accumulated error caused by a gyroscope can be reduced, the cleaning coverage can be improved, and the cleaning effect of the robot can be enhanced.
Description
Technical Field
The invention relates to the field of robots, in particular to a path planning method of a robot, the robot and a main control chip.
Background
There are several methods for planning the cleaning of the existing cleaning robot. One of them is global sweeping, and its idea is to take the whole area to be swept as a whole and carry out global sweeping. The other is fixed zone cleaning. The entire area to be cleaned is divided into a plurality of small areas before cleaning. And then, the divided small areas are sequentially cleaned one by one, so that the integral cleaning is completed.
Cleaning robots often use gyroscopes to implement the planning of the cleaning path, avoiding the time waste caused by repeated or random cleaning. Micro-mechanical gyroscopes (micro-electromechanical systems) are widely used in existing sweeping machines due to their small size, light weight, easy integration, and good reliability. A micromechanical gyroscope is a device that measures angular velocity. The horizontal rotation angle of the sweeper can be calculated through time integration. However, when the micromechanical gyroscope is in operation, it may be affected by external noise or the like. The angle of the output of the micromechanical gyroscope is always deviated compared with the actual angle, and along with the increase of the integration time, the deviation is larger and larger, the walking path of the cleaning robot is deviated, the area to be cleaned is subjected to the condition of missing cleaning, the cleaning coverage rate is low, and the cleaning effect of the sweeper is seriously influenced.
Disclosure of Invention
The application provides a path planning method of a robot, the robot and a main control chip. When each cleaning subarea is cleaned, the direction of the robot is corrected by taking the wall along which the cleaning subarea is along as a reference, so that the accumulated error caused by a gyroscope can be reduced, the cleaning coverage range is improved, and the cleaning effect of the robot is enhanced.
In view of the above, a first aspect of the present application provides a method for robot path planning, the method including: dividing an area to be cleaned into at least two cleaning sub-areas, each of the at least two cleaning sub-areas being along a wall; when the robot enters any one of the at least two cleaning subareas, correcting the direction of the robot by taking the wall along which the cleaning subarea is along as a reference; sweeping in the clean sub-area in the corrected direction. The method for planning the robot path can correct the direction of the robot once in each of the at least two cleaning subareas, so that the accumulated error caused by the gyroscope can be reduced, the cleaning coverage can be improved, and the cleaning effect of the robot can be enhanced.
Optionally, with reference to the first aspect, each time the robot enters any one of the at least two cleaning subregions, correcting the direction of the robot with reference to a wall along which the cleaning subregion is located includes: collecting at least two points from the intersection of the wall and the ground; fitting a straight line with a slope according to the at least two points; and correcting the direction of the robot according to the straight line with the slope.
Optionally, in combination with the first aspect, the collecting at least two points from an intersection of the wall and the ground includes: determining coordinates of at least two points on an intersection line of the wall and the ground by taking the starting point of the cleaning sub-region as an origin, taking the 0-degree direction of the robot gyroscope as the positive direction of an X axis and taking the 90-degree direction of the robot gyroscope as the positive direction of a Y axis; the fitting of a straight line with a slope according to the at least two points comprises: substituting the coordinates of the at least two points into a formula
Determining the slope k of the straight line; the correcting the direction of the robot according to the straight line with the slope comprises: determining an included angle Q formed by the straight line which is fit to be synthesized according to the at least two points and the positive direction of the Y axis of the gyroscope according to the slope K of the straight line; deflecting both the X-axis and the Y-axis of the robotic gyroscope clockwise by a degree Q.
Optionally, in combination with the first aspect, the dividing the area to be cleaned into at least two cleaning sub-areas includes: dividing the cleaning area into at least two cleaning sub-areas by a preset length and a preset width, wherein the at least two cleaning sub-areas completely cover the cleaning area, and in the at least two cleaning sub-areas, the starting point of the first cleaning sub-area is the end point of the second cleaning sub-area.
Optionally, in combination with the first aspect, the method further includes: judging whether to return to the starting point of the first cleaning subarea in the cleaning area; when returning to the starting point of the first cleaning sub-zone, the sweeping is ended.
A second aspect of the present application provides a robot, characterized in that the robot includes: the cleaning device comprises an area dividing module, a cleaning module and a cleaning module, wherein the area dividing module is used for dividing an area to be cleaned into at least two cleaning sub-areas, and each cleaning sub-area of the at least two cleaning sub-areas is along a wall; the direction correcting module is used for correcting the direction of the robot by taking a wall along which the cleaning subarea is located as a reference when the robot enters any one of the at least two cleaning subareas; and the sweeping module is used for sweeping the cleaning subarea according to the corrected direction.
Optionally, in combination with the second aspect, the direction correction module is specifically configured to collect at least two points from an intersection line of the wall and the ground; the direction correcting module is specifically used for fitting a straight line with a slope according to the at least two points; the direction correction module is specifically used for correcting the direction of the robot according to the straight line with the slope.
Optionally, with reference to the second aspect, the direction correcting module is specifically configured to determine coordinates of the at least two points with a starting point of the cleaning sub-region as an origin, with a 0-degree direction of the robot gyroscope as a positive X-axis direction, and with a 90-degree direction of the robot gyroscope as a positive Y-axis direction; the direction correction module is specifically configured to bring the coordinates of the at least two points into a formula
Determining the slope k of the straight line; the direction correction module is further used for determining an included angle Q formed by the straight line fit-synthesized according to the at least two points and the positive direction of the Y axis of the gyroscope according to the slope K of the straight line; the direction correction module is further used for deflecting the X axis and the Y axis of the robot gyroscope clockwise by a degree Q.
Optionally, with reference to the second aspect, the region dividing module is specifically configured to divide the cleaning region into at least two cleaning sub-regions with a preset length and a preset width, where the at least two cleaning sub-regions completely cover the cleaning region, and a starting point of a first cleaning sub-region in the at least two cleaning sub-regions is an end point of a second cleaning sub-region.
Optionally, in combination with the second aspect, the robot further includes: the judging module is used for judging whether the cleaning area returns to the starting point of the first cleaning subarea in the cleaning area; and the sweeping module is used for finishing sweeping when the cleaning module returns to the starting point of the first cleaning subarea.
A third aspect of the present application provides a main control chip, where the main control chip is assembled in a robot, and the main control chip is used to control the robot to execute the method for planning a robot path as described in the first aspect of the present application and any optional implementation manner of the first aspect of the present application.
The application provides a robot path planning method, a robot and a main control chip. The method comprises the following steps: dividing an area to be cleaned into at least two cleaning sub-areas, each of the at least two cleaning sub-areas being along a wall; when the robot enters any one of the at least two cleaning subareas, correcting the direction of the robot by taking the wall along which the cleaning subarea is located as a reference; in the at least two cleaning subareas according to the corrected direction, each cleaning subarea corrects the direction of the robot once, so that the accumulated error caused by a gyroscope can be reduced, the cleaning coverage can be improved, and the cleaning effect of the robot can be enhanced.
Drawings
Fig. 1 is a schematic block diagram of a cleaning robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a path planning method for a robot according to an embodiment of the present disclosure;
fig. 3 is a scene schematic diagram of a robot dividing sub-regions according to an embodiment of the present disclosure;
fig. 4 is a block diagram of a robot according to an embodiment of the present disclosure;
fig. 5 is a block diagram of a robot according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The shape of the robot disclosed in the present embodiment is not limited, and may be configured in any suitable shape. The robot in this application can be domestic cleaning robot, also can be commercial cleaning robot.
Referring to fig. 1, in one implementation, the robot 10 may include a control unit 11, a wireless communication unit 12, a sensing unit 13, an audio unit 14, a camera unit 15, and an obstacle detection device 16.
The control unit 11 is a control core of the robot 10, and coordinates operations of the respective units. The control unit 11 may be a general purpose processor (e.g., central processing unit CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field programmable gate array (FPGA, CPLD, etc.), a single chip microcomputer, an arm (acorn RISC machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the control unit 11 may be any conventional processor, controller, microcontroller, or state machine. The control unit 11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The wireless communication unit 12 is used for wireless communication with the user terminal, and the wireless communication unit 12 is electrically connected with the control unit 11. The user transmits a control instruction to the robot 10 through the user terminal, the wireless communication unit 12 receives the control instruction and transmits the control instruction to the control unit 11, and the control unit 11 controls the robot 10 according to the control instruction.
The wireless communication unit 12 includes one or more of a combination of a broadcast receiving module, a mobile communication module, a wireless internet module, a short-range communication module, and a location information module. Wherein the broadcast receiving module receives a broadcast signal and/or broadcast associated information from an external broadcast management server via a broadcast channel. The broadcast receiving module may receive a digital broadcast signal using a digital broadcasting system such as terrestrial digital multimedia broadcasting (DMB-T), satellite digital multimedia broadcasting (DMB-S), media forward link only (MediaFLO), digital video broadcasting-handheld (DVB-H), or terrestrial integrated services digital broadcasting (ISDB-T).
The mobile communication module transmits or may receive a wireless signal to or from at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include a voice call signal, a video call signal, or various forms of data according to the reception and transmission of the character/multimedia message.
The wireless internet module refers to a module for wireless internet connection, and may be built in or out of the terminal. Wireless internet technologies such as wireless lan (wlan) (Wi-Fi), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), High Speed Downlink Packet Access (HSDPA) may be used.
The short-range communication module refers to a module for performing short-range communication. Short range communication technologies such as Bluetooth (Bluetooth), Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), or ZigBee may be used.
The positioning information module is a module for acquiring current position information of the robot 10, such as a Global Positioning System (GPS) module.
The audio unit 14 is configured to control the robot 10 to stop working and send an off-ground alarm signal when the position status information is in a hold-up state. The audio unit 14 is electrically connected to the control unit 11.
In some embodiments, the audio unit 14 may be an electroacoustic transducer such as a speaker, a loudspeaker, a microphone, etc., wherein the number of speakers or loudspeakers may be one or more, the number of microphones may be multiple, and multiple microphones may form a microphone array so as to effectively collect sound. The microphone may be of an electric type (moving coil type, ribbon type), a capacitive type (direct current polarization type), a piezoelectric type (crystal type, ceramic type), an electromagnetic type, a carbon particle type, a semiconductor type, or the like, or any combination thereof. In some embodiments, the microphone may be a microelectromechanical systems (MEMS) microphone.
The camera unit 15 is used for shooting the environment where the robot 10 is located, the camera unit 15 is electrically connected with the control unit 11, the camera unit 15 obtains an image of the environment where the robot 10 is located, and outputs the image to the control unit 11, so that the control unit 11 can perform the next logical operation according to the image.
The obstacle detecting device 16 is configured to detect walls and obstacles, and to emit detection signals to the walls and obstacles in real time, and may be, for example, a light sensor, including but not limited to an infrared sensor.
There are several methods for planning the cleaning of the existing cleaning robot. One of them is global sweeping, and its idea is to take the whole area to be swept as a whole and carry out global sweeping. The other is fixed zone cleaning. The entire area to be cleaned is divided into a plurality of small areas before cleaning. And then, the divided small areas are sequentially cleaned one by one, so that the integral cleaning is completed.
Cleaning robots often use gyroscopes to implement the planning of the cleaning path, avoiding the time waste caused by repeated or random cleaning. The micromechanical gyroscope has the characteristics of small volume, light weight, easiness in integration, good reliability and the like, and is widely applied to the existing sweeper. A micromechanical gyroscope is a device that measures angular velocity. The horizontal rotation angle of the sweeper can be calculated through time integration. However, when the micromechanical gyroscope is in operation, it may be affected by external noise or the like. The angle of the output of the micromechanical gyroscope is always deviated compared with the actual angle, and along with the increase of the integration time, the deviation is larger and larger, the walking path of the cleaning robot is deviated, the area to be cleaned is subjected to the condition of missing cleaning, the cleaning coverage rate is low, and the cleaning effect of the sweeper is seriously influenced.
Therefore, the present application provides a method for planning a path of a robot, please refer to fig. 2, the method includes:
201. the cleaning area is divided into at least two cleaning sub-areas.
The cleaning area is divided into at least two cleaning sub-areas. Wherein each of the at least two cleaning sub-areas is along a wall.
Furthermore, the cleaning area is divided into at least two cleaning sub-areas by a preset length and a preset width, the at least two cleaning sub-areas completely cover the cleaning area, and the starting point of the first cleaning sub-area in the at least two cleaning sub-areas is the ending point of the second cleaning sub-area. Illustratively, each cleaning sub-area is a 3 m by 3 m area. For example, please refer to the schematic diagram shown in fig. 3. Fig. 3 only illustrates the division of the indoor environment into four clean sub-areas of the same size. In actual practice, the cleaning sub-regions divided into are not necessarily the same size. Fig. 3 is merely an example, and is not intended as a limitation of the present application.
202. The direction of the robot is corrected with reference to the wall along which the sub-area is cleaned.
When the robot enters each cleaning subarea in each of the at least two divided cleaning subareas, correcting the direction of the robot by taking the wall along which each cleaning subarea is along as a reference.
Specifically, the robot collects at least two points from the wall and fits a straight line with a slope according to the at least two points. And correcting the direction of the robot according to the straight line with the slope of the strip. Illustratively, the robot takes the starting point of the cleaning sub-region as the origin, the 0-degree direction of the robot gyroscope as the positive X-axis direction, and the machineThe 90-degree direction of the human gyroscope is the positive direction of the Y axis, and a rectangular coordinate system is established. Coordinates of points along the wall are collected. For example, the coordinates of the collected points along the wall include: (x1, y1), (x2, y2), (x3, y 3). Fitting the coordinate data of the points along the wall into a least square formula to form a straight line according to the formula
The slope of the line is calculated. Specifically, the coordinates of the three points are substituted into the least square formula to calculate the slope: k ═ [ (x1 · y1+ x2 · y2+ x3 · y3)/3- (x1+ x2+ x3)/3 · (y1+ y2+ y3)/3 ·]/[(x12+x22+x32)/3-((x1+x2+x3)/3)2]. It should be noted that, here, only three points are collected by the robot as an example, in practice, at least two points of other numbers may be collected to calculate the slope. And are not intended as limitations on the present application.
And after the slope of the straight line is calculated, if the slope is determined to be not zero, calculating an included angle formed by the straight line and the positive direction of the Y axis according to the slope of the straight line. Specifically, the calculation formula of the included angle as the degree Q is as follows: q ═ arctan (k). The direction of the correction robot based on the wall may specifically be: the X-axis and Y-axis of the robot gyroscope are both deflected clockwise by a degree Q.
After the direction of the robot gyroscope is corrected, the direction of robot cleaning is determined according to the direction after robot correction. Specifically, the corrected Y-axis direction of the gyroscope is set as the cleaning direction.
It should be noted that, the top of the cleaning robot may be provided with a camera, the camera may be free from the influence of the robot and shoot the image of the environment without blocking, and an imaging plane of the camera forms an angle of 0 degree with the surface of the top of the robot, so that the robot can shoot the picture of the wall surface, and at least two points can be collected from the wall in the picture.
203. Sweeping is performed in the cleaned subarea according to the corrected direction.
Sweeping is performed in the clean sub-area in the corrected direction.
Specifically, sweeping is performed in the cleaning subarea in the corrected direction. The specific manner of the robot cleaning is not limited, and the robot cleaning may traverse in a bow shape or an X shape, for example, and is not limited herein.
When the robot returns to the first cleaning subarea divided by the robot, the cleaning is determined to be finished.
The application provides a robot path planning method. The method comprises the following steps: dividing an area to be cleaned into at least two cleaning sub-areas, each of the at least two cleaning sub-areas being along a wall; when the robot enters any one of the at least two cleaning subareas, correcting the direction of the robot by taking the wall along which the cleaning subarea is along as a reference; in the at least two cleaning subareas according to the corrected direction, each cleaning subarea corrects the direction of the robot once, so that the accumulated error caused by a gyroscope can be reduced, the cleaning coverage can be improved, and the cleaning effect of the robot can be enhanced.
The application also provides a robot, please see fig. 4. The robot 30 includes:
a region dividing module 301 for dividing a region to be cleaned into at least two cleaning sub-regions, each of the at least two cleaning sub-regions being along a wall;
a direction correcting module 302, configured to correct a direction of the robot with reference to a wall along which the cleaning subarea is located when the robot enters any one of the at least two cleaning subareas;
a sweeping module 303, configured to sweep the cleaning subarea according to the corrected direction.
Specifically, the direction correction module 302 is specifically configured to collect at least two points from the wall; the direction correction module 302 is specifically configured to fit a straight line with a slope according to the at least two points; the direction correcting module 302 is specifically configured to correct the direction of the robot according to the straight line with the slope. The correction process is understood with reference to step 202 and will not be described herein.
Further, the direction correcting module 302 is specifically configured to determine coordinates of the at least two points by using a starting point of the cleaning sub-region as an origin; the direction correction module 302 is specifically configured to substitute the coordinates of the at least two points into a formula
The slope k of the line is determined.
The area dividing module 301 is specifically configured to divide the cleaning area into at least two cleaning sub-areas with a preset length and a preset width, where the at least two cleaning sub-areas completely cover the cleaning area.
A decision block 304 for deciding whether to return to a first one of the cleaning sub-areas.
The application provides a robot. The robot may divide the area to be cleaned into at least two cleaning sub-areas, each of the at least two cleaning sub-areas being along a wall; when the robot enters any one of the at least two cleaning subareas, correcting the direction of the robot by taking the wall along which the cleaning subarea is along as a reference; in the at least two cleaning subareas according to the corrected direction, each cleaning subarea corrects the direction of the robot once, so that the accumulated error caused by a gyroscope can be reduced, the cleaning coverage can be improved, and the cleaning effect of the robot can be enhanced.
Fig. 5 is a block diagram of a robot 40 according to another embodiment of the present invention. As shown in fig. 5, the mobile robot 40 may include: a robot body, an obstacle detecting device, a processor 410, a memory 420, and a communication module 430.
The obstacle detection device is arranged on the robot main body and used for receiving a reflected signal reflected by an obstacle in real time. In this embodiment, the obstacle detection device is a light sensor, including but not limited to an infrared sensor.
And a traveling mechanism is arranged on the mobile robot main body. The processor 410 is built in the mobile robot main body.
The main body of the mobile robot is a main body structure of the mobile robot, and corresponding shape structures and manufacturing materials (such as hard plastics or metals such as aluminum and iron) can be selected according to actual needs of the mobile robot 40, for example, the main body of the mobile robot is arranged to be a flat cylinder shape common to sweeping mobile robots.
The traveling mechanism is a structural device that is provided on the mobile robot main body and provides the mobile robot 40 with a moving capability. The running gear can be realized in particular by means of any type of moving means, such as rollers, tracks, etc.
The processor 410, the memory 420 and the communication module 430 may establish a communication connection therebetween by way of a bus.
The processor 410 may be of any type, having one or more control chips for processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 420 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area can store the walking route of the robot, the walking control strategy of the robot and the like. Further, the memory 420 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 420 optionally includes memory located remotely from processor 310, which may be connected to robot 40 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 420 stores instructions executable by at least one control chip in the processor 410; the at least one control chip is used for executing the instruction so as to realize the path planning method of the robot in any method embodiment.
The communication module 430 is a functional module for establishing a communication connection and providing a physical channel. The communication module 430 may be any type of wireless or wired communication module including, but not limited to, a WiFi module or a bluetooth module, etc.
The embodiment of the application also provides a main control chip, and the main control chip is assembled in the robot. The main control chip is used for controlling the robot to execute the robot path planning method provided by the application.
The application also provides a robot, the robot is provided with the main control chip provided by the embodiment of the application, and the robot can be controlled to execute the method for planning the path of the robot provided by the application through the main control chip.
Further, an embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control chips in the processor 410, so that the one or more control chips execute the method for planning a robot path in any of the above-mentioned method embodiments.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the path planning method of the robot provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the path planning method of the robot. For details of the robot path planning method provided in the embodiment of the present invention, reference may be made to the technical details not described in detail in the embodiment.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention 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 still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A method of robot path planning, the method comprising:
dividing an area to be cleaned into at least two cleaning sub-areas, each of the at least two cleaning sub-areas being along a wall;
when the robot enters any one of the at least two cleaning subareas, correcting the direction of the robot by taking the wall along which the cleaning subarea is along as a reference;
sweeping in the clean sub-area in the corrected direction.
2. The method of claim 1, wherein correcting the direction of the robot with respect to a wall along which the cleaning sub-zone lies for each time the robot enters any of the at least two cleaning sub-zones comprises:
collecting at least two points from the intersection of the wall and the ground;
fitting a straight line with a slope according to the at least two points;
and correcting the direction of the robot according to the straight line with the slope.
3. The method of claim 2, wherein said capturing at least two points from the intersection of the wall and the ground comprises:
determining coordinates of at least two points collected on an intersection line of the wall and the ground by taking the initial point of the cleaning sub-region as an original point, taking the 0-degree direction of the robot gyroscope as the positive direction of an X axis and taking the 90-degree direction of the robot gyroscope as the positive direction of a Y axis;
the fitting of a straight line with a slope according to the at least two points comprises:
substituting the coordinates of the at least two points into a formula
Determining the slope k of the straight line;
the correcting the direction of the robot according to the straight line with the slope comprises:
determining an included angle Q formed by the straight line which is fit to be synthesized according to the at least two points and the positive direction of the Y axis of the gyroscope according to the slope K of the straight line;
deflecting both the X-axis and the Y-axis of the robotic gyroscope clockwise by a degree Q.
4. The method of claim 1, wherein the dividing the area to be cleaned into at least two cleaning sub-areas comprises:
dividing the cleaning area into at least two cleaning sub-areas with a preset length and a preset width, the at least two cleaning sub-areas completely covering the cleaning area.
5. The method of claim 4, further comprising:
determining whether to return to a first one of the clean zones;
when returning to the first cleaning sub-zone, the sweeping is ended.
6. A robot, characterized in that the robot comprises:
the cleaning device comprises an area dividing module, a cleaning module and a cleaning module, wherein the area dividing module is used for dividing an area to be cleaned into at least two cleaning sub-areas, and each cleaning sub-area of the at least two cleaning sub-areas is along a wall;
the direction correcting module is used for correcting the direction of the robot by taking a wall along which the cleaning subarea is located as a reference when the robot enters any one of the at least two cleaning subareas;
and the sweeping module is used for sweeping the cleaning subarea according to the corrected direction.
7. A robot as claimed in claim 6,
the direction correction module is specifically used for collecting at least two points from an intersection line of the wall and the ground;
the direction correcting module is specifically used for fitting a straight line with a slope according to the at least two points;
the direction correction module is specifically used for correcting the direction of the robot according to the straight line with the slope.
8. The robot of claim 7,
the direction correction module is specifically used for determining coordinates of at least two points acquired on an intersection line of the wall and the ground by taking the starting point of the cleaning sub-region as an origin, taking the 0-degree direction of the robot gyroscope as the positive direction of an X axis and taking the 90-degree direction of the robot gyroscope as the positive direction of a Y axis;
the direction correction module is specifically configured to bring the coordinates of the at least two points into a formula
Determining the slope k of the straight line;
the direction correction module is further used for determining an included angle Q formed by the straight line fit-synthesized according to the at least two points and the positive direction of the Y axis of the gyroscope according to the slope K of the straight line;
the direction correction module is further used for deflecting the X axis and the Y axis of the robot gyroscope clockwise by a degree Q.
9. A robot as claimed in claim 6,
the area dividing module is specifically configured to divide the cleaning area into at least two cleaning sub-areas with a preset length and a preset width, and the at least two cleaning sub-areas completely cover the cleaning area.
10. The robot of claim 9, further comprising:
the judging module is used for judging whether to return to a first cleaning subarea in the cleaning areas;
and the sweeping module is used for finishing sweeping when returning to the first cleaning subarea.
11. A master control chip assembled in a robot, wherein the master control chip is used for controlling the robot to execute the method for planning the robot path according to any one of claims 1 to 5.
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| CN113273927A (en) * | 2021-04-01 | 2021-08-20 | 浙江大学 | Differential wheel type robot based on multi-sensor fusion and wall navigation method |
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