CN107256019A - A kind of paths planning method of clean robot - Google Patents
A kind of paths planning method of clean robot Download PDFInfo
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- CN107256019A CN107256019A CN201710490911.0A CN201710490911A CN107256019A CN 107256019 A CN107256019 A CN 107256019A CN 201710490911 A CN201710490911 A CN 201710490911A CN 107256019 A CN107256019 A CN 107256019A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000013439 planning Methods 0.000 title claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims abstract description 135
- 238000004140 cleaning Methods 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 9
- 238000003331 infrared imaging Methods 0.000 claims description 6
- 238000000638 solvent extraction Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 8
- 241001122767 Theaceae Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000002372 labelling Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000005192 partition Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000013515 script Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000002604 ultrasonography Methods 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present invention is disclosed a kind of paths planning method of clean robot, including：Obtain the position of clean robot and dynamic barrier；Operating path is determined according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone, and the position of clean robot and dynamic barrier；Wherein, the movable hot-zone of dynamic barrier is that the map outline based on the clean robot working region pre-established is demarcated with movable cold-zone.Disclosed method, can make clean robot possess self-learning capability, reduce the error rate of guidance path, and reduce navigation number of times.
Description
Technical field
The present invention relates to Intelligent cleaning robot field, more specifically to a kind of path planning of clean robot
Method.
Background technology
With the development of science and technology, the increasing new electronic consumer goods and robot product start in domestic environment
Popularization, than more typical, such as Intelligent cleaning robot.Such robot tentatively have navigation programming ability, by camera,
The modules such as laser radar, can realize the function of map foundation and path planning.
Navigated and path planning function however, existing clean robot will be realized, its sensor relied on etc. is no
It is only with high costs, but also can have the phenomenons such as failure, erroneous judgement, made an uproar for example, laser radar can be produced under the interference of ambient light
Point, the region that script is not present into barrier has been mistaken for barrier and evaded, and causes corresponding region not cleaned.
Specifically, for traditional air navigation aid, clean robot can not be distinguished when detecting barrier and detected
The barrier arrived be dynamic barrier or static-obstacle thing, no matter which kind of barrier, series of points is all shown as in map.
Conventional navigation method is relatively accurate for the detection of static-obstacle thing, quiet because being moved to which position regardless of clean robot
Position of the state barrier in map is all without changing；And for dynamic barrier, the process moved in clean robot
In, its position in map also constantly changes, so as to influence the formulation of clean robot operating path.However, clear
Dynamic barrier not necessarily necessary being detected by clean robot, it may be possible to the factor such as ambient light interference institute shape
Into noise, these noises can equally appear in the diverse location in map with moving for clean robot, thus also can
The path planning of clean robot is impacted.Therefore, traditional air navigation aid can cause road due to the erroneous judgement to barrier
Footpath planning is unreasonable.
Meanwhile, existing clean robot also cannot be distinguished by dynamic barrier and static-obstacle thing, and according to barrier
The difference of type takes corresponding strategy to be evaded.
The content of the invention
There is provided a kind of path of clean robot rule to solve technical problem present in above-mentioned prior art by the present invention
The method of drawing, this method can make a distinction to dynamic barrier and static-obstacle thing, and the frequency occurred according to dynamic barrier
Rate plans that different paths are cleaned to corresponding region.
To reach above-mentioned purpose, the technical solution adopted by the present invention is as follows：
A kind of paths planning method of clean robot, including：Obtain the position of clean robot and dynamic barrier；Root
It is true according to the movable hot-zone and movable cold-zone, and the position of clean robot and dynamic barrier for the dynamic barrier demarcated in advance
Determine operating path；Wherein, the movable hot-zone of dynamic barrier and movable cold-zone are worked based on the clean robot pre-established
The map outline demarcation in region.
Further, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone, and clean robot
Determine that operating path step includes with the position of dynamic barrier：Same activity is in clean robot and dynamic barrier
During hot-zone, clean robot is advanced according to the path for evading dynamic barrier.
Further, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone, and clean robot
Determine that operating path step includes with the position of dynamic barrier：Same activity is in clean robot and dynamic barrier
During cold-zone, clean robot is continued on according to original route.
Further, clean robot by position sensor obtain dynamic barrier position, clean robot according to
During original route is continued on, by crash sensor detect dynamic barrier after according still further to evading dynamic barrier
Advance in path.
Further, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone, and clean robot
Determine that operating path step includes with the position of dynamic barrier：In clean robot and dynamic barrier office in different
When movable hot-zone and/or movable cold-zone, clean robot is continued on, until the two is cold in same movable hot-zone or activity
Qu Hou, then determine the operating path of clean robot.
Further, method also includes：When not detecting dynamic barrier in movable hot-zone, clean robot preferentially enters
Enter movable hot-zone to be cleaned.
Further, movable hot-zone and movable cold-zone are demarcated according to one of in the following manner：Dynamically hinder according in working region
The frequency of occurrence of thing is hindered to be demarcated；Or, demarcated according to the degree of fouling on ground in working region.
Further, method also includes：To map partitioning grid, and count dynamic in each grid region in preset time period
The number of times that state barrier occurs is to define movable hot-zone and movable cold-zone；Or, to map partitioning grid, and detect each grid zone
The degree of fouling on the ground in domain is to define movable hot-zone and movable cold-zone.
Further, method also includes：The detection means that breaks the barriers carries out area to static-obstacle thing and dynamic barrier
Point.
Further, obstacle detector is the camera module or infrared imaging mould being arranged on clean robot
Block；Or, obstacle detector be arranged in clean robot working region and can with clean robot interconnect take the photograph
As head module or infrared imaging module.
Technical solution of the present invention has the beneficial effect that：
The paths planning method of disclosed clean robot, can be carried out to the working region of clean robot
Divide, and respective regions cleaned according to the location of clean robot and dynamic barrier planning different path,
So as to compensate for the defect that traditional navigation module is easily judged by accident, cleaning efficiency is improved.
Brief description of the drawings
Fig. 1 is the step block diagram of the method for the invention wherein embodiment；
Fig. 2 is the schematic diagram of a scenario of the method for the invention wherein embodiment；
Fig. 3 is the schematic diagram of a scenario of the another embodiment of the method for the invention；
Fig. 4 is the schematic diagram that the method for the invention is divided to movable cold-zone and movable hot-zone.
Embodiment
More detailed description is done to technical scheme provided by the present invention below by way of the drawings and specific embodiments：
Accompanying drawing 1 discloses the specific embodiment of the method for the invention.As shown in Figure 1, it is the method for the invention
Disclosed in step block diagram, the embodiment：
A kind of paths planning method of clean robot, including：
Step 101, the position of clean robot and dynamic barrier is obtained；
Step 102, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone, and the cleaning machine
The position of people and dynamic barrier determines operating path；Wherein, the movable hot-zone of dynamic barrier and movable cold-zone are based on pre-
The map outline demarcation for the clean robot working region first set up.
In the embodiment, clean robot can be according to the map of the working region of foundation, with reference to its of clean robot
His position sensor, judges and knows itself and the position of dynamic barrier；And in advance to dynamic barrier in map
Movable hot-zone and movable cold-zone are demarcated, therefore clean robot can determine that itself and dynamic barrier are located at activity
Hot-zone or movable cold-zone, and whether it is located at same movable hot-zone or behaviour area；Clean robot is according to information above
Operating path is can determine, different Path Plannings are taken for different situations, clean up task is completed.In the present embodiment
Method dynamic barrier and static-obstacle thing can be made a distinction, and according to the mechanics of dynamic barrier, determine
Corresponding operating path under different situations, so that path caused by solving existing air navigation aid due to being judged by accident to barrier
Plan unreasonable problem.Wherein it is possible to be detected to determine to surrounding enviroment using laser radar, ultrasonic distance measuring module etc.
The location of clean robot and dynamic barrier；The movable hot-zone of dynamic barrier and movable cold-zone are according to cleaning machine
The observed result of people or conventional cleaning history are obtained；And the map outline of working region can be prestore or
Clean robot is obtained by sensor scan surrounding enviroment.
As shown in Figure 2, it is the schematic diagram of a scenario of the method for the invention wherein embodiment.In the embodiment, according to
The position of the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone, and the clean robot and dynamic barrier
Determine that operating path step includes：It is described clear when the clean robot and dynamic barrier are in same movable hot-zone
Clean robot advances according to the path for evading the dynamic barrier.As shown in Figure 2, the scene in simulation domestic environment is built
Map outline 201 has been found, in the map outline 201, sofa 202, tea table 203 and cabinet for TV 204 etc. has been respectively arranged with quiet
State barrier.Find that the region between tea table 203 and cabinet for TV 204 belongs to user or pet is frequent according to conventional observation
The region walked about, thus it is demarcated as the movable hot-zone 205 of dynamic barrier in advance.The direction of arrow in Fig. 2 is clean robot
The angle of visual field 208 of clean robot 206 is also marked in 206 initial direct of travel, Fig. 2.In this embodiment, cleaning machine
People 206 is in same movable hot-zone 205 with dynamic barrier 207, and now, clean robot 206 detects dynamic disorder
After thing 207, operating path will be adjusted in time, will be advanced according to the path for evading dynamic barrier 207, for example, turning to the left or to the right
Continue to advance forward after dynamic barrier 207 to bypassing.In that case, clean robot 206 once detects dynamic barrier
Thing 207 is hindered to occur, no matter it is noise or barrier that result of that probe is actual, clean robot 206 will all be evaded, reason
It is the result that the region belongs to movable hot-zone, is detected in movable hot-zone, is comparatively more likely necessary being
Barrier, therefore no matter the result is really barrier or noise, the barrier for being all defaulted as necessary being is evaded.
As shown in Figure 3, it is the schematic diagram of a scenario of the another embodiment of the method for the invention.In the embodiment, according to
The position of the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone, and the clean robot and dynamic barrier
Determine that operating path step includes：It is described clear when the clean robot and dynamic barrier are in same movable cold-zone
Clean robot is continued on according to original route.As shown in Figure 3, equally it is simulation domestic environment, establishes map outline 301,
The static-obstacle things such as sofa 302, tea table 303 and cabinet for TV 304 are respectively arranged with the map outline 301.According to conventional
Clean history to find, usual few people or pet occur at the position in room corner, thus corresponding region is pre-
First it is demarcated as movable cold-zone 305.The direction of arrow is designated in the initial direct of travel of clean robot 306, Fig. 3 also in Fig. 3
Designate the angle of visual field 308 of clean robot 306.In this embodiment, clean robot 306 is in dynamic barrier 307
In same movable cold-zone 305, now, clean robot 306 is detected after dynamic barrier 307, and clean robot 306 will be after
It is continuous to advance along initial direct of travel, without changing set programme path.In that case, clean robot 306 is detected
After occurring to dynamic barrier 307, no matter it is noise or barrier that result of that probe is actual, clean robot 306 all will be temporary
Shi Buzuo evades, and continuation is advanced according to original route.Reason is that the region belongs to movable cold-zone, the movable cold-zone model in such as corner
In enclosing, the general less activity that there is people or pet, thus the result detected in movable cold-zone, comparatively more having can
Can be noise caused by disturbing factor, therefore no matter the result is really barrier or noise, is all defaulted as disturbing factor and leads
The noise of cause is planned again without doing, and continues to advance according to initial direct of travel.
Detection of the clean robot to barrier, generally mainly by means of all kinds of position sensors, such as laser radar, ultrasound
Wave sensor etc., such position sensor can find the barrier of distant place earlier, but such sensor is easily by dry
Disturb；Meanwhile, an also class crash sensor, such sensor only can just be judged after clean robot collides barrier
There is barrier in relevant position, but the result that such sensor is obtained is relatively very accurate, is less subject to the dry of other factors
Disturb.Therefore, in the method for the invention wherein an embodiment, clean robot 306 obtains dynamic barrier by position sensor
Hinder during the position of thing 307, clean robot 306 continue on according to original route, dynamic is detected by crash sensor
Advanced after barrier 307 according still further to the path for evading dynamic barrier 307.In this embodiment, clean robot 306 is with moving
State barrier 307 is in same movable cold-zone 305, and clean robot 306 gets dynamic barrier by position sensor first
Hinder the position of thing 307, now because clean robot 306 and dynamic barrier 307 are all in movable cold-zone 305, the detection
As a result it is more likely the noise that position sensor is disturbed generation, therefore clean robot 306 temporarily is not made to evade, and continues edge
Initial direct of travel to advance.During continuing on, if the crash sensor of clean robot 306 is not detected
Corresponding barrier, then it is correct to illustrate original route；If on the contrary, the crash sensor of clean robot 306 detects phase
The barrier answered, then it is necessary being to illustrate the barrier detected by position sensor, then in crash sensor detection
To after corresponding barrier, clean robot 306 adjusts route at once, is advanced according to the path for evading dynamic barrier 307, example
Such as, turned to the left or to the right after collision, bypass and continue to advance forward after dynamic barrier 307.The embodiment is according to dynamic barrier
Hinder the mechanics point situation of thing to be navigated and path planning, reduce the error rate of navigation way, and reduce path rule
The number of times drawn.
As shown in Figure 4, it is the schematic diagram that the method for the invention is divided to movable hot-zone and movable cold-zone.At this
In an invention wherein embodiment, the movable hot-zone and movable cold-zone are demarcated according to one of in the following manner：According in working region
The frequency of occurrence demarcation of dynamic barrier；Or, demarcated according to the degree of fouling on ground in working region.As shown in Figure 4,
In a wherein embodiment of the invention, to the map partitioning grid, and count in preset time period described in each grid region
The number of times that dynamic barrier occurs is to define movable hot-zone and movable cold-zone；Or, to the map partitioning grid, and detect each
The degree of fouling on the ground of grid region is to define movable hot-zone and movable cold-zone.The embodiment discloses how right in the present invention
Movable cold-zone and movable hot-zone are bound.The angle of visual field 408 of clean robot 406 is also designated in Fig. 4, the direction of arrow is indicated
The initial direct of travel of clean robot 406.
As a wherein embodiment, map outline 401 is divided into 1-9 9 regions, wherein shadow region 5 and shade
Region 7 belongs to movable hot-zone, and other regions belong to movable cold-zone.In the embodiment, frequency circle occurred according to dynamic barrier
Fixed activity hot-zone and movable cold-zone, for example, clean robot 406 has been found in the cleaning since one week and observation process, are moved
The number of times that state barrier occurs in shadow region 5 and shadow region 7 reaches more than 50 times, and is detected in other regions dynamic
State barrier only occurred more than 10 times, and dynamic barrier is even never detected in some regions.Therefore, existed according to dynamic barrier
The frequency that relevant work region occurs, the region labeling that can be will appear from often is movable hot-zone, and it is few to will appear from number of times
Region labeling is movable cold-zone.
As a wherein embodiment, map outline 401 is divided into 1-9 9 regions, shadow region 7 belongs to movable heat
Area, other regions belong to movable cold-zone.In the embodiment, movable hot-zone and movable cold-zone are defined according to the degree of fouling on ground,
Because the dirtier region in ground, it is often as what user or pet were often caused in respective regions activity, and ground is cleaner
Region, then user or pet seldom pass through, thus simply product have some micronic dusts.In this embodiment, clean robot 406 leads to
The degree of fouling that dust detection detects ground is crossed, and is movable hot-zone by dirtier region labeling, by the area of relative clean
Domain is demarcated as movable cold-zone, according to calibration result, as shown in Figure 4, and shadow region 5 and shadow region 7 are dirtier and belong to activity
Hot-zone, other region relative cleans thus belong to movable cold-zone.
In a wherein embodiment of the invention, according to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone,
And the position of the clean robot and dynamic barrier determines that operating path step includes：In the clean robot and
Dynamic barrier office is when different movable hot-zones and/or movable cold-zone, and the clean robot is continued on, until the two
Behind same movable hot-zone or movable cold-zone, then determine the operating path of clean robot.In this embodiment, such as Fig. 4
Shown, after the partition of map outline 401 in a room, wherein including multiple movable hot-zones, and multiple movable cold-zones.Clearly
Clean robot is possible to find dynamic barrier earlier, and clean robot 406 and dynamic barrier are also in difference during discovery
Movable hot-zone and/or movable cold-zone in, for example, it is possible to which clean robot 406 is in region 1 (movable cold-zone), and move
State barrier is in region 5 (movable cold-zone)；Or, clean robot 406 is in region 5 (movable hot-zone), and dynamic
Barrier is in region 7 (movable hot-zone).In the case of above-mentioned, because clean robot 406 had both been not at dynamic barrier
Same movable hot-zone, not also in same movable cold-zone, the two at a distance of also farther out, even if therefore clean robot detect
Dynamic barrier, also temporarily will not path planning again, and can be continued on according to initial direct of travel, until the two is in same
Behind one movable hot-zone or movable cold-zone, then determine the operating path of clean robot.And same movable hot-zone or same
The Path Planning of movable cold-zone has been stated in embodiment before, and clean robot is according to corresponding path row
Enter, here is omitted.
The present invention can not only reduce the error rate of path planning, path planning number of times be reduced, while can also make cleaning
Robot self-learning capability, more hommization are cleaned to room.Clean robot can according to historical data or
Observed result during person's cleaning, intelligently carries out partition, and take accordingly for different regions to room map outline
Strategy advance and clean.In a wherein embodiment of the invention,：The dynamic disorder is not detected in the movable hot-zone
During thing, the clean robot preferentially enters the movable hot-zone and cleaned.For example, as shown in Figure 4, clean robot
406 scripts will clean corresponding region successively according to 1-9 order, but be found during cleaning, at this in movable hot-zone 5
The section time has no dynamic barrier presence, therefore clean robot 406 will change set cleaning strategy, preferentially enter movable hot-zone
Cleaned in 5, so as to avoid reappearing in the movable hot-zone 5 user afterwards after a time or pet carry out activity causes
Interference.If on the contrary, in cleaning process, there is dynamic barrier activity in discovery activity hot-zone 5, it is likely that be user or dote on
Thing is movable just in respective regions, and now clean robot 406 will be cleaned first to movable cold-zone, and movable hot-zone 5 is left to
Finally clean, so as to avoid bothering user or influence pet.Therefore, the method described in the embodiment, can make cleaner
The more hommization of the course of work of device people 406.
In a wherein embodiment of the invention, methods described also includes：Detection means break the barriers to static-obstacle thing
Made a distinction with dynamic barrier.By distinguishing the type of barrier, clean robot can be made to be directed to different types of obstacle
Thing takes different Path Plannings, while also improving the self-learning capability of clean robot, makes the work of clean robot
Make process more hommization.In a wherein embodiment of the invention, the obstacle detector is to be arranged at the cleaner
Camera module or infrared imaging module on device people；Or, the obstacle detector is to be arranged at the cleaning machine
In people working region and can with the clean robot interconnect camera module or infrared imaging module.Pass through image recognition
Technology, or infrared imagery technique, can be identified and judge to the dynamic barrier under indoor environment.Corresponding barrier
Detection means can be arranged on clean robot, can also be arranged in domestic environment.
Above-mentioned embodiment is only intended to the design method of the explanation present invention, can not be used for limiting the guarantor of the present invention
Protect scope.For the deformation and conversion under the thought guidance of technical solution of the present invention, it should all be attributed to the scope of the present invention
Within.
Claims (10)
1. a kind of paths planning method of clean robot, it is characterised in that including：
Obtain the position of clean robot and dynamic barrier；
According to the movable hot-zone for the dynamic barrier demarcated in advance and movable cold-zone, and the clean robot and dynamic disorder
The position of thing determines operating path；
Wherein, the movable hot-zone of the dynamic barrier and movable cold-zone are based on the clean robot working region pre-established
Map outline demarcation.
2. according to the method described in claim 1, it is characterised in that according to the movable hot-zone for the dynamic barrier demarcated in advance with
Movable cold-zone, and the position of the clean robot and dynamic barrier determine that operating path step includes：In the cleaning
When robot and dynamic barrier are in same movable hot-zone, the clean robot is according to evading the dynamic barrier
Advance in path.
3. according to the method described in claim 1, it is characterised in that according to the movable hot-zone for the dynamic barrier demarcated in advance with
Movable cold-zone, and the position of the clean robot and dynamic barrier determine that operating path step includes：In the cleaning
When robot and dynamic barrier are in same movable cold-zone, the clean robot is continued on according to original route.
4. method according to claim 3, it is characterised in that the clean robot obtains dynamic by position sensor
The position of barrier, during the clean robot is continued on according to original route, is detected described by crash sensor
Advanced after dynamic barrier according still further to the path for evading the dynamic barrier.
5. according to the method described in claim 1, it is characterised in that according to the movable hot-zone for the dynamic barrier demarcated in advance with
Movable cold-zone, and the position of the clean robot and dynamic barrier determine that operating path step includes：In the cleaning
Robot and dynamic barrier office are when different movable hot-zones and/or movable cold-zone, and the clean robot continues to go
Enter, until the two is behind same movable hot-zone or movable cold-zone, then determine the operating path of clean robot.
6. according to the method described in claim 1, it is characterised in that methods described also includes：Visited not in the movable hot-zone
When measuring the dynamic barrier, the clean robot preferentially enters the movable hot-zone and cleaned.
7. the method according to claim any one of 1-6, it is characterised in that the movable hot-zone and movable cold-zone according to
One of under type is demarcated：
According to the frequency of occurrence demarcation of dynamic barrier in working region；Or,
According to the degree of fouling demarcation on ground in working region.
8. method according to claim 7, it is characterised in that methods described also includes：To the map partitioning grid, and
Count the number of times that dynamic barrier described in each grid region occurs in preset time period cold to define movable hot-zone and activity
Area；Or, to the map partitioning grid, and detect each grid region ground degree of fouling to define movable hot-zone and work
Dynamic cold-zone.
9. the method according to any one of claim 1-6, it is characterised in that methods described also includes：Break the barriers
Detection means makes a distinction to static-obstacle thing and dynamic barrier.
10. method according to claim 9, it is characterised in that the obstacle detector is to be arranged at the cleaning
Camera module or infrared imaging module in robot；Or, the obstacle detector is to be arranged at the cleaner
In device people working region and can with the clean robot interconnect camera module or infrared imaging module.
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| CN108344414A (en) * | 2017-12-29 | 2018-07-31 | 中兴通讯股份有限公司 | A kind of map structuring, air navigation aid and device, system |
| CN108814434A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | The barrier-avoiding method of automatic running sweeper |
| CN109664309A (en) * | 2018-12-21 | 2019-04-23 | 深圳乐动机器人有限公司 | A kind of clean method, apparatus of intelligent robot and robot |
| CN110383192A (en) * | 2018-03-16 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Moveable platform and its control method |
| CN111026136A (en) * | 2020-03-11 | 2020-04-17 | 广州赛特智能科技有限公司 | Port unmanned sweeper intelligent scheduling method and device based on monitoring equipment |
| CN111338330A (en) * | 2018-12-19 | 2020-06-26 | 科沃斯机器人股份有限公司 | Job position determination method, self-moving device, and storage medium |
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| CN111693045A (en) * | 2019-03-13 | 2020-09-22 | 北京奇虎科技有限公司 | Sweeping route generation method and device of sweeper |
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