CN112578776A - Sweeping robot sweeping path planning method and system, storage medium and processor - Google Patents
Sweeping robot sweeping path planning method and system, storage medium and processor Download PDFInfo
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- CN112578776A CN112578776A CN201910923677.5A CN201910923677A CN112578776A CN 112578776 A CN112578776 A CN 112578776A CN 201910923677 A CN201910923677 A CN 201910923677A CN 112578776 A CN112578776 A CN 112578776A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004891 communication Methods 0.000 claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000013519 translation Methods 0.000 claims abstract description 10
- 238000004140 cleaning Methods 0.000 claims description 31
- 238000012546 transfer Methods 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- 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
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses a sweeping robot sweeping path planning method and system, a storage medium and a processor. Wherein, the method comprises the following steps: the floor sweeping robot is connected with the handheld terminal through the communication module; firstly, constructing an initial environment map and generating an initial operation route, and starting the sweeping robot to work according to the initial operation route from the first starting point; if the sweeping robot encounters an obstacle on the initial operation route, directly translating to the next route, and performing sweeping operation by taking the translated point as a second starting point; if the sweeping robot encounters an obstacle in the translation process, the sweeping robot directly returns to the starting point of the current operation route and then moves to the end point of the next route. In the actual operation process, if the sweeping robot encounters an obstacle, the sweeping robot automatically transfers to the next route for sweeping operation. The technical problem of robot repeatedly remove reduction efficiency in barrier department of sweeping the floor has been solved in this application.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to a sweeping path planning method and system for a sweeping robot, a storage medium and a processor.
Background
With the development of artificial intelligence technology, the research and development of mobile robots are very rapid, and some service robots have gradually entered into people's daily life. Regardless of the type of robot, navigation positioning is required in a home or other environment as long as the robot moves autonomously.
The floor sweeping robot is one kind of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot. The development direction of the sweeping robot is to achieve higher sweeping effect, higher sweeping efficiency and larger sweeping area caused by higher artificial intelligence.
In recent years, mobile robots are increasingly used in various industries, such as meal delivery robots, AGV transfer robots, and floor sweeping robots. When the robot completes tasks, the robot moves back and forth to different working areas, the walking efficiency of the robot is a key factor for efficiently completing the tasks, and particularly, the sweeping robot is widely applied to family life.
At present, the sweeping robots mainly comprise a roaming sweeping robot and a planning sweeping robot. The roaming type sweeping robot walks freely on the ground, so that certain places are cleaned repeatedly, and certain places are never cleaned. The planning type sweeping robot only plans the current working subarea where the sweeping robot is located, and then cleans the working subareas one by one, so that the aim of cleaning the whole place is fulfilled.
However, based on the variability of the home environment, the roaming type sweeping robot and the planning type sweeping robot inevitably encounter some new obstacles after the map is constructed when cleaning, and the sweeping robot repeatedly moves at the obstacle or directly blocks the obstacle, so that the sweeping robot can take some unnecessary paths in the cleaning process, and the work efficiency of the sweeping robot is reduced.
Disclosure of Invention
The invention provides a sweeping path planning method and system of a sweeping robot, a storage medium and a processor, which are used for at least solving the technical problem that the sweeping robot repeatedly moves at an obstacle and the efficiency is reduced. The specific scheme is as follows:
a sweeping robot sweeping path planning method comprises the following steps: step 1, connecting a sweeping robot with a handheld terminal through a communication module, controlling the sweeping robot to start through the handheld terminal, constructing an initial environment map through a ranging sensor on the sweeping robot, and generating an initial operation route according to the initial environment map; step 2, the sweeping robot sends the initial environment map and the initial operation route to the handheld terminal through the communication module; step 3, the handheld terminal controls the sweeping robot to start sweeping operation from a first starting point, and the sweeping robot starts working according to the initial operation route from the first starting point; step 4, if the sweeping robot encounters an obstacle on the initial operation route, the sweeping robot directly translates to the next route, and the translated point is used as a second starting point to carry out sweeping operation; or step 5, if the sweeping robot encounters an obstacle in the translation process, the sweeping robot directly returns to the starting point of the current operation route and then moves to the end point of the next route, and the second starting point is the end point.
Furthermore, an initialization button and a start button are arranged on a display interface of the handheld terminal and are respectively used for a user to select so as to construct the initial map and the initial operation route and instruct to formally start cleaning work.
Further, the initial working path is an arcuate line.
Further, the translation is in a direction perpendicular to the arcuate line.
Further, the sweeping robot carries out sweeping operation along the course of the initial operation route at the second starting point.
Further, if the sweeping robot encounters a blockage in the translation process, the sweeping robot works to the blockage at the second starting point along the reverse direction of the initial working route, then does not work at the blockage and runs to the second starting point, and then performs sweeping operation at the second starting point along the course of the initial working route.
Further, the method further comprises a step 6, if the sweeping robot encounters an obstacle in the process of operating on the next route, the steps 4 and 5 are executed again until all the long sides of the arch line are operated.
A sweeping robot sweeping path planning system comprises: the sweeping robot comprises a distance measuring sensor, wherein the distance measuring sensor is used for constructing an environment map; the handheld terminal comprises a graphical display interface, and is used for enabling a user to select a function button on the graphical display interface, wherein an initialization button and a start button are arranged on the graphical display interface and are respectively used for the user to select so as to construct the initial map and the initial operation route and instruct to formally start cleaning work; and the communication pairing module is respectively arranged on the sweeping robot and the user handheld terminal and is used for connecting the sweeping robot and the user handheld terminal in a communication manner so as to transmit data.
A storage medium, which includes a stored program, and when the program runs, the apparatus on which the storage medium is located is controlled to execute the cleaning path planning method of the cleaning robot.
A processor, configured to execute a program, where the program executes the cleaning path planning method for a cleaning robot as described in any one of the above paragraphs.
According to the scheme, the hand-held terminal and the sweeping robot are connected through the communication module, the sweeping robot is used for constructing the initial map and the initial operation route, and in the actual operation process, if the sweeping robot encounters an obstacle, the sweeping robot is automatically transferred to the next route for sweeping operation, so that the technical problem that the efficiency is reduced due to the fact that the sweeping robot repeatedly moves at the obstacle is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a logic diagram of a cleaning path planning method of a cleaning robot according to an embodiment of the present application;
FIG. 2 is a diagram of a cell phone operator interface for an initial map and airline according to an embodiment of the present application;
FIG. 3 is a diagram of an operation interface of a mobile phone when an obstacle is encountered according to an embodiment of the application;
fig. 4 is a diagram of an operation interface of a mobile phone when a complex obstacle is encountered according to an embodiment of the application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with embodiments of the present application, there is provided an embodiment of a method for distinguishing between work areas of a sweeping robot, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a logic diagram of a cleaning path planning method of a cleaning robot according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
s10, the user pairs the sweeping robot with the mobile phone through Bluetooth;
s20, the user sends an instruction for constructing an initial environment map to the sweeping robot through the mobile phone;
s30 the sweeping robot builds An initial environment map and An initial operation route (as shown in FIG. 2, wherein A1, A2 and A3 … An are starting points of long sides of the arc route, and B1, B2 and B3 … Bn are end points of the long sides of the arc route);
s40, the sweeping robot sends the map and the route to the mobile phone through the Bluetooth;
s50, the mobile phone receives the environment map and displays the environment map to the user through the graphical display interface;
s60, the user controls the floor sweeping robot to start working on the touch screen of the mobile phone;
s70 the sweeping robot determines whether there is an obstacle on the work route, if there is an obstacle, it moves to the next route to continue working (as shown in fig. 3, the black figure represents the obstacle), and if there is no obstacle, it continues sweeping;
s80, if an obstacle is met in the translation process (as shown in FIG. 4), the method returns to the starting point of the current route and then moves to the end point of the next route to continue the operation.
In some optional embodiments of the present application, an "initialization" button and a "start" button (as shown in fig. 2) are provided on the display interface of the mobile phone, and are respectively used for the user to select to construct the initial map and the initial working route and to instruct to formally start the cleaning work.
In some alternative embodiments of the present application, the initial working path is an arcuate line (as shown in FIG. 2).
In some alternative embodiments of the present application, the direction of translation when an obstacle is encountered is in the direction perpendicular to the arcuate line (C1, C2 … Cn are vertical points, representing the new start of the next course, as shown in fig. 3).
Optionally, the sweeping robot performs sweeping operation at the second starting point along the heading of the initial operation route.
Optionally, if the sweeping robot encounters an obstacle during the translation process, the sweeping robot performs a reverse operation at the second starting point along the initial operation route to the obstacle, then performs a non-operation at the obstacle to the second starting point, and then performs a sweeping operation at the second starting point along the heading of the initial operation route (as shown in fig. 3).
Optionally, the method further includes step 6, if the sweeping robot encounters an obstacle during the operation on the next route, re-executing the steps 4 and 5 until all the long sides of the arch line are operated (as shown in fig. 4).
According to another aspect of the embodiments of the present application, there is also provided a sweeping robot sweeping path planning system, including: the sweeping robot comprises a distance measuring sensor, wherein the distance measuring sensor is used for constructing an environment map; the mobile phone comprises a graphical display interface, wherein a function button is selected on the graphical display interface by a user, and an initialization button and a start button are arranged on the graphical display interface and are respectively used for the user to select so as to construct the initial map and the initial operation route and indicate to formally start cleaning work; and the communication pairing module is respectively arranged on the sweeping robot and the user mobile phone and is used for connecting the sweeping robot with the user mobile phone in a communication manner so as to transmit data.
In some optional embodiments of the application, a user can select a part of routes as non-sweeping areas, the robot can identify the frequent infant activity areas, warning information is sent to the user before sweeping the frequent infant activity areas to remind the user whether the sweeping robot needs to be cleaned, and after an instruction which can be swept by the user is obtained, key operation for the areas is started.
In some optional embodiments of the application, a user may further set a job start time or a job time period for the job-free area through the handheld terminal, and the sweeping robot starts and completes a job task according to the job start time or the job time period.
The embodiment of the application also provides a storage medium, the storage medium comprises a stored program, and when the program runs, the equipment where the storage medium is located is controlled to execute the sweeping robot operation path planning method.
The storage medium stores a program for executing the following functions: the sweeping robot is connected with a handheld terminal through a communication module, the handheld terminal controls the sweeping robot to be started, an initial environment map is constructed through a ranging sensor on the sweeping robot, and an initial operation route is generated according to the initial environment map; the sweeping robot sends the initial environment map and the initial operation route to the handheld terminal through the communication module; the hand-held terminal controls the sweeping robot to start sweeping operation from a first starting point, and the sweeping robot starts working according to the initial operation route from the first starting point; if the sweeping robot encounters an obstacle on the initial operation route, the sweeping robot directly translates to the next route, and the translated point is used as a second starting point for sweeping operation; if the sweeping robot encounters an obstacle in the translation process, the sweeping robot directly returns to the starting point of the current operation route and then moves to the end point of the next route, and the second starting point is the end point.
The embodiment of the application further provides a processor, the processor is used for running a program, and the method for distinguishing the operation area of the sweeping robot is executed when the program runs.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
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 units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A cleaning path planning method of a sweeping robot is characterized by comprising the following steps:
step 1, connecting a sweeping robot with a handheld terminal through a communication module, controlling the sweeping robot to start through the handheld terminal, constructing an initial environment map through a ranging sensor on the sweeping robot, and generating an initial operation route according to the initial environment map;
step 2, the sweeping robot sends the initial environment map and the initial operation route to the handheld terminal through the communication module;
step 3, the handheld terminal controls the sweeping robot to start sweeping operation from a first starting point, and the sweeping robot starts working according to the initial operation route from the first starting point;
step 4, if the sweeping robot encounters an obstacle on the initial operation route, the sweeping robot directly translates to the next route, and the translated point is used as a second starting point to carry out sweeping operation;
and 5, if the sweeping robot encounters an obstacle in the translation process, the sweeping robot directly returns to the starting point of the current operation route and then moves to the end point of the next route, and the second starting point is the end point.
2. The cleaning path planning method for the cleaning robot as claimed in claim 1, wherein an "initialization" button and a "start" button are provided on a display interface of the hand-held terminal, and are respectively used for a user to select to construct the initial map and the initial working route and to instruct to formally start cleaning work.
3. The sweeping robot sweeping path planning method of claim 1, wherein the initial working route is an arcuate line.
4. The method of claim 3, wherein the translating is along a direction perpendicular to the arcuate line.
5. The method of claim 1, wherein the sweeping robot performs the sweeping operation at the second starting point along the course of the initial operation route.
6. The method for planning a cleaning path of a cleaning robot as claimed in claim 1, wherein if the cleaning robot encounters an obstacle during the translation process, the cleaning robot works in a reverse direction of the initial working route to the obstacle at the second starting point, then does not work at the obstacle to run to the second starting point, and then performs the cleaning work along the course of the initial working route at the second starting point.
7. The sweeping path planning method of the sweeping robot as claimed in claim 1, further comprising: and 6, if the sweeping robot encounters an obstacle in the process of operating on the next route, re-executing the step 4 and the step 5 until all the long edges of the arch line are operated.
8. The utility model provides a robot of sweeping floor cleans route planning system which characterized in that includes:
the sweeping robot comprises a distance measuring sensor, wherein the distance measuring sensor is used for constructing an environment map;
the handheld terminal comprises a graphical display interface, and is used for enabling a user to select a function button on the graphical display interface, wherein an initialization button and a start button are arranged on the graphical display interface and are respectively used for the user to select so as to construct the initial map and the initial operation route and instruct to formally start cleaning work;
and the communication pairing module is respectively arranged on the sweeping robot and the user handheld terminal and is used for connecting the sweeping robot and the user handheld terminal in a communication manner so as to transmit data.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein when the program runs, the storage medium is controlled to execute a cleaning path planning method of a cleaning robot as claimed in any one of claims 1 to 7.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is executed to execute a sweeping path planning method of a sweeping robot according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910923677.5A CN112578776A (en) | 2019-09-27 | 2019-09-27 | Sweeping robot sweeping path planning method and system, storage medium and processor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910923677.5A CN112578776A (en) | 2019-09-27 | 2019-09-27 | Sweeping robot sweeping path planning method and system, storage medium and processor |
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| Publication Number | Publication Date |
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| CN112578776A true CN112578776A (en) | 2021-03-30 |
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| CN201910923677.5A Withdrawn CN112578776A (en) | 2019-09-27 | 2019-09-27 | Sweeping robot sweeping path planning method and system, storage medium and processor |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104199449A (en) * | 2014-09-16 | 2014-12-10 | 湖南格兰博智能科技有限责任公司 | Smart phone based remote control system and method of automatic ground cleaning robot |
| WO2015039621A1 (en) * | 2013-09-23 | 2015-03-26 | 科沃斯机器人有限公司 | Method for controlling cleaning robot by smart phone |
| CN106707843A (en) * | 2016-11-23 | 2017-05-24 | 河池学院 | A hardware system of a sweeping robot |
| CN106983460A (en) * | 2017-04-07 | 2017-07-28 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot region cleans display control method |
| US20190129433A1 (en) * | 2016-12-29 | 2019-05-02 | Amicro Semiconductor Corporation | A path planning method of intelligent robot |
-
2019
- 2019-09-27 CN CN201910923677.5A patent/CN112578776A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015039621A1 (en) * | 2013-09-23 | 2015-03-26 | 科沃斯机器人有限公司 | Method for controlling cleaning robot by smart phone |
| CN104199449A (en) * | 2014-09-16 | 2014-12-10 | 湖南格兰博智能科技有限责任公司 | Smart phone based remote control system and method of automatic ground cleaning robot |
| CN106707843A (en) * | 2016-11-23 | 2017-05-24 | 河池学院 | A hardware system of a sweeping robot |
| US20190129433A1 (en) * | 2016-12-29 | 2019-05-02 | Amicro Semiconductor Corporation | A path planning method of intelligent robot |
| CN106983460A (en) * | 2017-04-07 | 2017-07-28 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot region cleans display control method |
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