CN107102294A - A kind of method in sweeping robot intelligent planning path - Google Patents
A kind of method in sweeping robot intelligent planning path Download PDFInfo
- Publication number
- CN107102294A CN107102294A CN201710464049.6A CN201710464049A CN107102294A CN 107102294 A CN107102294 A CN 107102294A CN 201710464049 A CN201710464049 A CN 201710464049A CN 107102294 A CN107102294 A CN 107102294A
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- Prior art keywords
- barrier
- cleaned
- sweeping robot
- robot
- room
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- 238000010408 sweeping Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims abstract description 22
- 238000004140 cleaning Methods 0.000 claims abstract description 13
- 238000010926 purge Methods 0.000 claims description 5
- 241001417527 Pempheridae Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of method in sweeping robot intelligent planning path, it is main include being automatically positioned, path planning, be hampered three parts of pathfinding, sweeping robot is positioned by triangle centroid algorithm, then bow word is carried out along room longest edge to clean, traversal cleaning can be carried out when running into barrier automatically along side pathfinding.The cleaning path of sweeping robot is as much as possible planned, operating efficiency is improved, allows household cleaning to become simpler more efficient.
Description
Technical field
The present invention relates to triangle center coordination technology, the present invention provides a kind of sweeping robot intelligent planning path
Method, as much as possible plans the cleaning path of sweeping robot, improves operating efficiency, allows household cleaning to become simpler higher
Effect.
Background technology
Now the sweeping robot that occurs on the market mostly when cleaning can not Intelligent Recognition path, run about, do not have
Some rules, so cause robot in cleaning, repeat to clean, although eventually clean up, but time-consuming, efficiency
It is low, it is also inconvenient.
The content of the invention
In view of this, the main object of the present invention is to provide a kind of method in sweeping robot intelligent planning path, to the greatest extent most
The cleaning path of sweeping robot may be planned greatly, operating efficiency is improved, and allow household cleaning to become simpler more efficient.
It is of the present invention to solve the problems, such as that used method is：
This method mainly includes being automatically positioned, path planning, be hampered three parts of pathfinding, and sweeping robot passes through triangle barycenter
Algorithm is positioned, and then carrying out bow word along room longest edge cleans, and can be traveled through when running into barrier automatically along side pathfinding
Clean.
Described be automatically positioned refer to lay positioning node in three corners in room first, and three positioning nodes are to surrounding
Electromagnetic signals, sweeping robot is received after electromagnetic wave signal, according to the power of electromagnetic wave signal, calculates sweeper
Device people and the distance of three nodes, by triangle centroid algorithm, are positioned to robot.
Described path planning refers to sweeping robot after positioning, by the position of three nodes, calculates room
Length and width distance and position, using one of node as starting point, with a width of coordinate in length and breadth of the length in room, will clean space acquiescence automatically
Rectangular purging zone, the bow word for carrying out 90 ° of corner along ordinate is cleaned, and automatic Memory sweep-out pattern, is not retraced one's steps,
Prevent to repeat to clean.
The described pathfinding that is hampered refers to run into barrier when robot is in orderly clean（Tables and chairs wardrobe etc.）, it is impossible to it is preceding
Enter, at this moment, robot can detour pathfinding along barrier along side, until searching out the straight trip before can continuing with detour footpath
Path is cleaned.If after detouring, discovery can be sought without road, i.e., region shared by this barrier is defaulted as without sweeping area
Domain, the bow word that the point of barrier proceeds by 90 ° of corner with the side seat of barrier position abscissa of running into before being then back to is clear
Sweep, until region shared by swept barrier, then carries out the bow word of 90 ° of corner with a width of coordinate in length and breadth of the length in room again
Clean, be finally reached the purpose that traversal is cleaned.
Embodiment
Herein it should be noted that the explanation for these embodiments is used to help understand invention, but composition pair
The restriction of the present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below is each other
Not constituting conflict can just be mutually combined.
The main object of the present invention is to provide a kind of method in sweeping robot intelligent planning path, and sweeping robot passes through
Triangle centroid algorithm is positioned, and then carrying out bow word along room longest edge cleans, and can be sought automatically along side when running into barrier
Road, carries out traversal cleaning.The cleaning path of sweeping robot is as much as possible planned, operating efficiency is improved, allows household cleaning to become
Obtain simpler more efficient.
In the present embodiment, the present invention room daily for sweeping robot is cleaned.Sweeping robot is used in user
Before, positioning node is installed in three corners in a room at home first, positioning node to electromagnetic signals around,
Sweeping robot is received after electromagnetic wave signal, according to the power of electromagnetic wave signal, calculates sweeping robot and three nodes
Distance, by triangle centroid algorithm, be accurately positioned, it is a width of vertical with the length in room using one of node as starting point
Abscissa, will clean space and give tacit consent to rectangular purging zone, the bow word for carrying out 90 ° of corner along ordinate is cleaned automatically, and from
Dynamic memory sweep-out pattern, does not retrace one's steps, and prevents to repeat to clean, if sweeping robot runs into barrier in way is cleaned（Table
Chair wardrobe etc.）, it is impossible to advance, at this moment, robot can detour pathfinding along barrier along side, until searching out what can be detoured
Straight trip path before path is continued is cleaned.If after detouring, discovery can be sought without road, i.e., by region shared by this barrier
It is defaulted as without purging zone, the point of barrier that runs into before being then back to is proceeded by with the side seat position abscissa of barrier
The bow word of 90 ° of corner is cleaned, until region shared by swept barrier, is then entered with a width of coordinate in length and breadth of the length in room again
The bow word of 90 ° of row corner is cleaned, and is finally reached the purpose that traversal is cleaned.
Claims (4)
1. a kind of method in sweeping robot intelligent planning path, is primarily characterized in that, methods described includes：
It is main include being automatically positioned, path planning, be hampered three parts of pathfinding, sweeping robot is entered by triangle centroid algorithm
Row is positioned, and then carrying out bow word along room longest edge is cleaned, and traversal cleaning can be carried out automatically along side pathfinding when running into barrier.
2. according to the method described in claim 1, it is characterised in that being automatically positioned part includes：
Refer to first lay positioning node in three corners in room, three positioning nodes are swept the floor to electromagnetic signals around
Robot is received after electromagnetic wave signal, according to the power of electromagnetic wave signal, calculate sweeping robot and three nodes away from
From by triangle centroid algorithm, being positioned to robot.
3. according to the method described in claim 1, it is characterised in that path planning part includes：
Refer to sweeping robot after positioning, by the position of three nodes, length and width distance and the position in room are calculated, with it
In node be starting point, with a width of coordinate in length and breadth of the length in room, space will be cleaned automatically and gives tacit consent to rectangular purging zone, along vertical
The bow word that coordinate carries out 90 ° of corner is cleaned, and automatic Memory sweep-out pattern, is not retraced one's steps, and prevents to repeat to clean.
4. according to the method described in claim 1, it is characterised in that the pathfinding part that is hampered includes：
Refer to run into barrier when robot is in orderly clean（Tables and chairs wardrobe etc.）, it is impossible to advance, at this moment, robot can be along
Barrier detours pathfinding along side, until the straight trip path searched out before being continued with detour footpath be cleaned, if around
After row, discovery can be sought without road, i.e., region shared by this barrier is defaulted as without purging zone, running into before being then back to
The bow word that the point of barrier proceeds by 90 ° of corner with the side seat position abscissa of barrier is cleaned, until swept barrier institute
Occupied area domain, then again with a width of coordinate in length and breadth of the length in room, the bow word for carrying out 90 ° of corner is cleaned, and is finally reached traversal and is cleaned
Purpose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710464049.6A CN107102294A (en) | 2017-06-19 | 2017-06-19 | A kind of method in sweeping robot intelligent planning path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710464049.6A CN107102294A (en) | 2017-06-19 | 2017-06-19 | A kind of method in sweeping robot intelligent planning path |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107102294A true CN107102294A (en) | 2017-08-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710464049.6A Pending CN107102294A (en) | 2017-06-19 | 2017-06-19 | A kind of method in sweeping robot intelligent planning path |
Country Status (1)
| Country | Link |
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| CN (1) | CN107102294A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107456163A (en) * | 2017-09-06 | 2017-12-12 | 太仓埃特奥数据科技有限公司 | A kind of unmanned supermarket's health automation clean method |
| CN108627172A (en) * | 2018-04-26 | 2018-10-09 | 杭州晶智能科技有限公司 | A kind of indoor mobile robot traverse path planing method based on fingerprint map |
| CN108829100A (en) * | 2018-06-06 | 2018-11-16 | 杭州晶智能科技有限公司 | Indoor mobile robot traverse path planing method based on wireless network and Geomagnetic signal |
| CN109343521A (en) * | 2018-09-27 | 2019-02-15 | 深圳乐动机器人有限公司 | A kind of robot cleans the method and robot in room |
| CN109528090A (en) * | 2018-11-24 | 2019-03-29 | 珠海市微半导体有限公司 | The area coverage method and chip and clean robot of a kind of robot |
| WO2019109229A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市沃特沃德股份有限公司 | Indoor area dividing method and sweeping robot |
| CN110579213A (en) * | 2019-09-30 | 2019-12-17 | 湖南格兰博智能科技有限责任公司 | sweeping robot sweeping path planning navigation algorithm applied to low-cost chip |
| CN111006652A (en) * | 2019-12-20 | 2020-04-14 | 深圳无境智能机器人有限公司 | Method for running robot close to edge |
| CN111123932A (en) * | 2019-12-24 | 2020-05-08 | 深圳乐动机器人有限公司 | Robot cleaning method and robot |
| CN111938519A (en) * | 2020-08-19 | 2020-11-17 | 南京工程学院 | Sweeping and mopping integrated robot cleaning path planning method |
| CN112274063A (en) * | 2019-07-23 | 2021-01-29 | 惠州拓邦电气技术有限公司 | Robot cleaning method, control device, readable storage medium and robot |
| CN112525198A (en) * | 2020-11-23 | 2021-03-19 | 广州极飞科技有限公司 | Operation route planning method and related device |
| CN112596508A (en) * | 2019-08-29 | 2021-04-02 | 美智纵横科技有限责任公司 | Control method and device of sensor and storage medium |
| CN112729300A (en) * | 2020-12-03 | 2021-04-30 | 广州极飞科技股份有限公司 | Path planning method for separating from dead zone and related device |
| WO2023070840A1 (en) * | 2021-10-29 | 2023-05-04 | 美智纵横科技有限责任公司 | Robot edgewise path planning method and apparatus, and robot and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536447A (en) * | 2014-12-29 | 2015-04-22 | 重庆广建装饰股份有限公司 | Navigation method for sweeping robot |
| CN105320140A (en) * | 2015-12-01 | 2016-02-10 | 浙江宇视科技有限公司 | Robot cleaner and cleaning path planning method thereof |
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2017
- 2017-06-19 CN CN201710464049.6A patent/CN107102294A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536447A (en) * | 2014-12-29 | 2015-04-22 | 重庆广建装饰股份有限公司 | Navigation method for sweeping robot |
| CN105320140A (en) * | 2015-12-01 | 2016-02-10 | 浙江宇视科技有限公司 | Robot cleaner and cleaning path planning method thereof |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107456163A (en) * | 2017-09-06 | 2017-12-12 | 太仓埃特奥数据科技有限公司 | A kind of unmanned supermarket's health automation clean method |
| WO2019109229A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市沃特沃德股份有限公司 | Indoor area dividing method and sweeping robot |
| CN108627172A (en) * | 2018-04-26 | 2018-10-09 | 杭州晶智能科技有限公司 | A kind of indoor mobile robot traverse path planing method based on fingerprint map |
| CN108829100A (en) * | 2018-06-06 | 2018-11-16 | 杭州晶智能科技有限公司 | Indoor mobile robot traverse path planing method based on wireless network and Geomagnetic signal |
| CN108829100B (en) * | 2018-06-06 | 2021-01-12 | 杭州晶一智能科技有限公司 | Indoor mobile robot traversal path planning method based on wireless network and geomagnetic signals |
| CN109343521A (en) * | 2018-09-27 | 2019-02-15 | 深圳乐动机器人有限公司 | A kind of robot cleans the method and robot in room |
| CN109528090A (en) * | 2018-11-24 | 2019-03-29 | 珠海市微半导体有限公司 | The area coverage method and chip and clean robot of a kind of robot |
| CN112274063A (en) * | 2019-07-23 | 2021-01-29 | 惠州拓邦电气技术有限公司 | Robot cleaning method, control device, readable storage medium and robot |
| CN112596508A (en) * | 2019-08-29 | 2021-04-02 | 美智纵横科技有限责任公司 | Control method and device of sensor and storage medium |
| CN110579213A (en) * | 2019-09-30 | 2019-12-17 | 湖南格兰博智能科技有限责任公司 | sweeping robot sweeping path planning navigation algorithm applied to low-cost chip |
| CN111006652A (en) * | 2019-12-20 | 2020-04-14 | 深圳无境智能机器人有限公司 | Method for running robot close to edge |
| CN111006652B (en) * | 2019-12-20 | 2023-08-01 | 深圳市飞瑶电机科技有限公司 | Robot side-by-side operation method |
| CN111123932A (en) * | 2019-12-24 | 2020-05-08 | 深圳乐动机器人有限公司 | Robot cleaning method and robot |
| CN111938519B (en) * | 2020-08-19 | 2021-09-07 | 南京工程学院 | Sweeping and mopping integrated robot cleaning path planning method |
| CN111938519A (en) * | 2020-08-19 | 2020-11-17 | 南京工程学院 | Sweeping and mopping integrated robot cleaning path planning method |
| CN112525198A (en) * | 2020-11-23 | 2021-03-19 | 广州极飞科技有限公司 | Operation route planning method and related device |
| CN112729300A (en) * | 2020-12-03 | 2021-04-30 | 广州极飞科技股份有限公司 | Path planning method for separating from dead zone and related device |
| WO2023070840A1 (en) * | 2021-10-29 | 2023-05-04 | 美智纵横科技有限责任公司 | Robot edgewise path planning method and apparatus, and robot and storage medium |
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Application publication date: 20170829 |