CN107831773A - The method and sweeping robot that sweeping robot all standing cleans - Google Patents
The method and sweeping robot that sweeping robot all standing cleans Download PDFInfo
- Publication number
- CN107831773A CN107831773A CN201711243212.2A CN201711243212A CN107831773A CN 107831773 A CN107831773 A CN 107831773A CN 201711243212 A CN201711243212 A CN 201711243212A CN 107831773 A CN107831773 A CN 107831773A
- Authority
- CN
- China
- Prior art keywords
- dead band
- sweeping robot
- purging zone
- grating map
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004140 cleaning Methods 0.000 claims abstract description 122
- 238000010926 purge Methods 0.000 claims abstract description 90
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 4
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 14
- 238000009826 distribution Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000012797 qualification Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 241000283730 Bos primigenius Species 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 108010001267 Protein Subunits Proteins 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000010845 search algorithm Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of method and sweeping robot cleaned present invention is disclosed sweeping robot all standing, wherein, the method that sweeping robot all standing cleans, including：Grating map is initialized in the first starting point, so that the grid in the grating map is that grid occupied state is not clean the blank grid of state, first starting point is the origin of the grating map；Cleaned according to specified planning mode, and by marking the first grating map of purging zone formation；Judge whether to be absorbed in and clean dead band；If so, then flee from the cleaning dead band；The overlay area in the cleaning dead band is marked on first grating map, to form the second grating map；Judge to whether there is non-purging zone on second grating map；If so, then it is moved to the non-purging zone；Non- purging zone is cleaned according to the sweep-out pattern of planning.The sweeping robot of the present invention efficiently completes all standing cleaning works of zone of ignorance, avoids drain sweep, repeats the situation of cleaning, improves sweeping efficiency.
Description
Technical field
The present invention relates to robot field, especially relates to method and sweeper that sweeping robot all standing cleans
Device people.
Background technology
At present, the work for replacing manually being engaged in repetition or danger using robot turns into a kind of trend, and this requires machine
Device people is more intelligent.The mobile route of planning is the key technology of mobile robot, and the raising to robot automtion degree has
Significance.Route planning can be divided into two classes by the target of its realization：Point-to-point path planning and all standing route planning.Cover entirely
Lid route planning refers in two-dimentional Descartes's working space, can on the premise of ensureing that institute's programme path is reasonable and optimal
Reached home from starting point and pass through all non-barrier regions.Sweeping robot is since it is desired that all in cleaning designated environment
Region, it is therefore desirable to which all standing route of optimization ensures efficiently to complete cleaning task.The all standing road of existing sweeping robot
The mode of line has random sweep-out pattern：Robot first moves along a straight line, and rotates a random angles after encountering barrier, continues forward
Advance, repeat aforesaid operations until electricity is low or reaches the predetermined cleaning time；Ox ploughs sweep-out pattern and random sweep-out pattern
With reference to：Robot first carries out the reciprocal cleaning of arc type, somewhere after multiple impacts, that is, thinks that robot can not continue to plough with ox
Coverage mode works, and now then turns over an angle at random, continues ox and ploughs cleaning, makes robot repeat aforesaid operations until electricity
It is low or reach predetermined；Subdivision method sweep-out pattern：Space will be cleaned by barrier polygon to be split, mark off more sub-regions
(barrier is now not present in subregion), establishes a connection between subregion, is then used respectively in subregion
Ox is ploughed or inside spin carries out covering cleaning.But the method that above-mentioned random cleaning and random cleaning combine the cultivated covering of ox, has very strong
Randomness, coverage effect with clean the time it is relevant, easily occur drain sweep and repeat clean situation；Subdivision method is applied to
Know all standing (such as being equipped with the sweeper of laser radar) of map, and what general sweeper faced (in addition to laser radar) is
Circumstances not known, and be difficult map known to acquisition.
Therefore, prior art could be improved.
The content of the invention
The method that the main object of the present invention cleans for a kind of sweeping robot all standing of offer, it is intended to solve existing sweep the floor
Robot can not realize the technical problem that all standing cleans in circumstances not known.
The present invention proposes a kind of method that sweeping robot all standing cleans, including：
Grating map is initialized in the first starting point, so that the grid in the grating map is that grid occupied state is
The blank grid of state is not cleaned, and first starting point is the origin of the grating map；
Cleaned according to specified planning mode, and by marking the first grating map of purging zone formation；
Judge whether to be absorbed in and clean dead band；
If so, then flee from the cleaning dead band；
The overlay area in the cleaning dead band is marked on first grating map, to form the second grating map；
Judge to whether there is non-purging zone on second grating map；
If so, then it is moved to the non-purging zone；
Non- purging zone is cleaned according to the sweep-out pattern of planning.
Preferably, described the step of fleeing from the cleaning dead band, including：
The second starting point in the cleaning dead band, start the border along wall motor pattern along the cleaning dead band and transported along wall
It is dynamic；
Judge whether to reach the default termination condition moved along wall；
If so, then terminate the First terminal point for being moved along wall and marking the cleaning dead band, so as at described second
Put to the overlay area that the cleaning dead band is formed between the First terminal point.
Preferably, it is described judge whether to reach it is default it is described moved along wall termination condition the step of, including：
Judge whether to detect the space of the suitable specified planning mode；
If so, then judge to reach the termination condition moved along wall, and using the 3rd starting point of the space as institute
State First terminal point.
Preferably, after described the step of judging whether to detect the space of the suitable specified planning mode, also
Including：
If it is not, the statistics time moved along wall and/or distance；
Judge whether the time and/or distance reach preset value；
If reaching, judge that termination is cleaned according to the specified planning mode.
Preferably, described the step of judging whether to detect the space of the suitable specified planning mode, including：
Detect the grid occupied state around the cleaning dead band；
Judge whether the blank grid for being adapted to the specified planning mode；
If in the presence of judgement detects the space of the suitable specified planning mode；
If being not present, the space is not present in judgement.
Preferably, the sweep-out pattern according to planning cleans the step of non-purging zone, including：
Judge that the non-purging zone ploughs coverage mode if appropriate for ox；
If being adapted to, coverage mode is ploughed by ox and plans the first sweep-out pattern；
Cleaned according to first sweep-out pattern.
Preferably, after the step of non-purging zone described in the judgement ploughs coverage mode if appropriate for ox, in addition to：
If being not suitable for, the second sweep-out pattern is planned by inside spin cleaning method；
Cleaned according to second sweep-out pattern.
Preferably, described the step of being moved to the non-purging zone according to fixed route, including：
The distributed intelligence of the analysis non-purging zone；
The fixed route according to the distributed intelligence according to Hybr id-State A*Search algorithmic rules, the finger
Fixed line is smooth route；
The non-purging zone is moved to according to the smooth route.
Preferably, described the step of judging to whether there is non-purging zone on second grating map, including：
Region residing for the blank grid searched for according to the grid occupied state on second grating map；
Region residing for the blank grid is added to the candidate queue of non-purging zone.
Present invention also offers a kind of sweeping robot, including：
Initialization module, for initializing grating map in the first starting point, so that the grid in the grating map is equal
It is not clean the blank grid of state for grid occupied state, first starting point is the origin of the grating map；
First cleans module, for according to specifying planning mode to be cleaned, and by mark purging zone form the
One grating map；
First judge module, dead band is cleaned for judging whether to be absorbed in；
Module is fled from, for if so, then fleeing from the cleaning dead band；
Mark module, for marking the overlay area in the cleaning dead band on first grating map, to form the
Two grating maps；
Second judge module, for judging to whether there is non-purging zone on second grating map；
Mobile module, for if so, being then moved to the non-purging zone according to fixed route；
Second cleans module, for cleaning non-purging zone according to the sweep-out pattern of planning.
Preferably, it is described to flee from module, including：
Start submodule, for the second starting point in the cleaning dead band, start along wall motor pattern along the cleaning
Moved along wall on the border in dead band；
3rd judging submodule, for judging whether to reach the default termination condition moved along wall；
Terminate submodule, for if so, then terminate it is described moved along wall and mark it is described cleaning dead band First terminal point, with
Just in second starting point to the overlay area that the cleaning dead band is formed between the First terminal point.
Preferably, the 3rd judging submodule, including：
4th judging unit, for judging whether to detect the space for being adapted to specified planning mode；
First identifying unit, if being adapted to the space of specified planning mode for detecting, judgement reaches the edge
The termination condition of wall motion, and using the 3rd starting point of the space as the First terminal point.
Preferably, the 3rd judging submodule, in addition to：
Statistic unit, if being adapted to the space of specified planning mode for not detecting, statistics is described to move along wall
Time and/or distance；
5th judging unit, for judging whether the time and/or distance reach preset value；
Second identifying unit, if for reaching preset value,
Then judge to terminate the cleaning according to specified planning mode.
Preferably, the 4th judging unit, including：
Subelement is detected, for detecting the grid occupied state around the cleaning dead band；
7th judgment sub-unit, for the blank grid for judging whether to be adapted to specified planning mode；
3rd judges subelement, if in the presence of judgement detects the motion of the suitable specified planning mode
Space；
4th judges subelement, if for being not present, the space is not present in judgement.
Preferably, described second module is cleaned, including：
8th judging submodule, for judging that the non-purging zone ploughs coverage mode if appropriate for ox；
First planning submodule, if for being adapted to, coverage mode is ploughed by ox and plans the first sweep-out pattern；
3rd cleans submodule, for being cleaned according to first sweep-out pattern.
Preferably, described second module is cleaned, in addition to：
Second planning submodule, if for being not suitable for, the second sweep-out pattern is planned by inside spin cleaning method；
4th cleans submodule, for being cleaned according to second sweep-out pattern.
Preferably, the mobile module, including：
Submodule is analyzed, for analyzing the distributed intelligence of the non-purging zone；
3rd planning submodule, for according to the distributed intelligence according to Hybr id-State A*Search algorithmic rules
Fixed route, the fixed route are smooth route；
Mobile submodule, for being moved to the non-purging zone according to the smooth route.
Preferably, second judge module, including：
Submodule is searched for, for the blank grid institute searched for according to the grid occupied state on second grating map
Locate region；
Submodule is added, for region residing for the blank grid to be added to the candidate queue of non-purging zone.
Advantageous effects of the present invention：The sweeping robot of the present invention possesses grating map and builds figure function, with machine of sweeping the floor
The starting point that people starts to clean is origin, during being cleaned along specified planning mode simultaneously on grating map by sitting in length and breadth
The regions such as mark mark has cleaned, barrier, the map for having cleaned, not cleaned can be distinguished by ultimately forming sweeping robot, so as to machine
Device people targetedly efficiently completes all standing cleaning works of zone of ignorance, avoids drain sweep, repeats the situation of cleaning, improves
Sweeping efficiency；And the robot of the present invention is ploughed after coverage mode cleans completing ox, the stream that can be followed by sweeping robot
Smooth smooth route is moved to non-purging zone, and selects inside spin cleaning or ox to plough and cover according to the provincial characteristics of non-purging zone
Lid mode, which cleans, to be carried out benefit and sweeps, to complete all standing of zone of ignorance cleaning.
Brief description of the drawings
The method flow schematic diagram that the sweeping robot all standing of Fig. 1 one embodiment of the invention cleans；
The step S4 of Fig. 2 one embodiment of the invention schematic flow sheet；
The step S41 of Fig. 3 one embodiment of the invention schematic flow sheet；
The step S410 of Fig. 4 one embodiment of the invention schematic flow sheet；
The step S8 of Fig. 5 one embodiment of the invention schematic flow sheet；
The step S7 of Fig. 6 further embodiment of this invention schematic flow sheet；
The distribution schematic diagram in the cleaning dead band of Fig. 7 one embodiment of the invention；
The distribution schematic diagram in the cleaning dead band of Fig. 8 another embodiment of the present invention；
The structural representation of the sweeping robot of Fig. 9 one embodiment of the invention；
The structural representation for fleeing from module of Figure 10 one embodiment of the invention；
The structural representation of 3rd judging submodule of Figure 11 one embodiment of the invention；
The structural representation of 4th judging unit of Figure 12 one embodiment of the invention；
The second of Figure 13 one embodiment of the invention cleans the structural representation of module；
The structural representation of the mobile module of Figure 14 further embodiment of this invention；
The structural representation of second judge module of Figure 15 one embodiment of the invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Reference picture 1, the method for the sweeping robot all standing cleaning of one embodiment of the invention, including：
S1：Grating map is initialized in the first starting point, so that the grid in the grating map is grid filling shape
State is not clean the blank grid of state, and first starting point is the origin of the grating map.
The first starting point in this step refers to sweeping robot present position when starting to clean, and as the seat of grating map
Mark origin.The present embodiment sweeping robot is in cleaning process, by marking different grid occupied states to form grating map,
To be gradually reduced zone of ignorance, the layout information until all identifying former zone of ignorance, for all standing clean.Such as
It is each unknown on the grating map of the present embodiment to be expressed as f (x, y)=k, k=0,1, wherein 2, x, y expression transverse and longitudinal coordinates, k tables
Indicating value, 0 is unknown, and 1 is has cleaned, and 2 be barrier.
S2：Cleaned according to specified planning mode, and by marking purging zone to form the first grating map.
Specified planning mode in this step includes ox and ploughs coverage mode, and ploughing coverage mode in ox lead in cleaning process
Cross that coordinates logo in length and breadth has cleaned, the region such as barrier creates grating map, ultimately form sweeping robot can distinguish cleaned,
The map not cleaned, so that sweeping robot searches non-purging zone according to the occupied state of grid, it is clear that all standing is done step-by-step
Sweep, so that robot targetedly efficiently completes all standing cleaning works of zone of ignorance, avoid drain sweep, repeat what is cleaned
Situation, improve sweeping efficiency.
S3：Judge whether to be absorbed in and clean dead band.
Cleaning dead band in this step refers to, i.e., grid has been marked as barrier region, clear in front of sweeping robot
Sweep region or reach border, and other directions are marked as purging zone or barrier region, cause sweeping robot without
Method continuation is ploughed coverage mode route according to aurochs and cleaned.
S4：If so, then flee from above-mentioned cleaning dead band.
The present embodiment is fled from by the mode such as moving along wall and cleans dead band, so that sweeping robot continues to clean.
S5：The overlay area in above-mentioned cleaning dead band is marked on above-mentioned first grating map, to form the second grating map.
The overlay area in the cleaning dead band in this step starts to run into cleaning dead band, the area untill fleeing from and cleaning dead band
Domain scope, above-mentioned zone scope can be shown on grating map according to grid region is related to regular square or rectangular.
S6：Judge to whether there is non-purging zone on above-mentioned second grating map.
The present embodiment easily forms the non-purging zone of drain sweep around the overlay area for cleaning dead band, by unfilled
Region residing for grid determines non-purging zone.
S7：If so, then it is moved to above-mentioned non-purging zone.
S8：Non- purging zone is cleaned according to the sweep-out pattern of planning.
Sweeping robot can select inside spin cleaning or ox according to the Regional Distribution Characteristics of non-purging zone in the present embodiment
Cultivated coverage mode cleaning carries out benefit and swept, and to complete region all standing cleaning, improves and cleans effect.
Reference picture 2, further, the step S4 of the present embodiment, including：
S40：The second starting point in the cleaning dead band, start the border edge along wall motor pattern along the cleaning dead band
Wall moves.
The second starting point in this step refers to sweeping robot and just runs into the position for cleaning dead band；Refer to edge along wall motor pattern to lean on
It is near clean dead band side along side cleaning modes.
S41：Judge whether to reach the default termination condition moved along wall.
The termination condition of this step includes：Next suitable ox is searched out to plough the starting point of coverage mode or reach default edge
Wall moves the condition set in advance such as limiting time and/or distance.
S42：If so, then terminate the First terminal point for being moved along wall and marking the cleaning dead band, so as to described the
Two starting points to formed between the First terminal point it is described cleaning dead band overlay area.
First terminal point in this step refers to sweeping robot and just flees from the position for cleaning dead band, then according to just running into cleaning
The position in dead band and the grid distribution situation just fled between the position for cleaning dead band are easy with defined square or rectangular etc.
The filling graph for cleaning path is planned in sweeping robot, is shown in and sets on a map.
Reference picture 3, further, the step S41 of the present embodiment, including：
S410：Judge whether to detect the space of the suitable specified planning mode.
The space of this step refers to suitable continuous arc type and cleaned, and the region being not disrupted.Sweeping robot passes through
The occupied state of the periphery grid of present position is judged to analyze, such as：Left survey or the right survey side in front of present position and front
To being to be not filled by state, then the space of coverage mode is ploughed for suitable ox.
S411：If so, then judge to reach the termination condition moved along wall, and with the 3rd starting point of the space
For the First terminal point.
This step is to search out the position of suitable space as dead band end position is cleaned, so as to the shape in grid map
Into the overlay area in corresponding cleaning dead band.
The step S41 of one embodiment of the invention, in addition to：
S412：If it is not, the statistics time moved along wall and/or distance.
Sweeping robot is moved there is provided qualifications along wall in the present embodiment, to ensure that sweeping robot is only carried out
Short-term moves along wall, improves sweeping efficiency.As shown in figure 9, the overlay area for cleaning dead band is smaller, sweeping robot is passing through
Can be sought quickly along wall suitable ox plough coverage mode space outlet, and by moved along wall flee from clean dead band after
Continue ox and plough coverage mode；But the overlay area for cleaning dead band as shown in Figure 10 is larger, time for being moved along wall and distance compared with
Greatly, the time moved along wall can be shortened by setting the restrictive condition moved along wall, quickening, which is fled from, cleans dead band, improves and cleans effect
Rate.
S413：Judge whether the time and/or distance reach preset value.
For example set along the wall time as 10S or 15S；Or along wall apart from being 20m or 50m, other embodiments of the invention also may be used
Concurrently set along the wall time and along wall distance, the condition to reach at first is used as priority.
S414：If reaching, judge that termination is cleaned according to the specified planning mode.
For example after reaching the qualifications moved along wall, the space that suitable ox ploughs coverage mode is not found still, then
Judge that the region that can carry out the cultivated coverage mode of continuous ox according to planning mode in the zone of ignorance cleans completely to finish.
Reference picture 4, further, the step S410 of the present embodiment, including：
S4101：Detect the grid occupied state around the cleaning dead band.
The present embodiment represents that this grid region has cleaned by filling corresponding grid on grating map.
S4102：Judge whether the blank grid for being adapted to the specified planning mode.
The distribution of non-purging zone is monitored by monitoring blank grid, so as to analyse whether to exist be adapted to continue according to
The ox of the specified planning mode of original ploughs overlay area.
S4103：If in the presence of judgement detects the space of the suitable specified planning mode.
Blank grid in this step, which represents to clean, to be had non-purging zone and can specify the ox planned by former around dead band
Coverage mode is ploughed to reach.
S4104：If being not present, the space is not present in judgement.
Reference picture 5, further, the step S8 of the present embodiment, including：
S80：Judge that the non-purging zone ploughs coverage mode if appropriate for ox.
For example non-purging zone meets the continuous area requirements that sweeping robot arc type cleans, then judge to be adapted to ox to plough
Coverage mode.
S81：If being adapted to, coverage mode is ploughed by ox and plans the first sweep-out pattern.
First sweep-out pattern of this step refers to arc type ox and ploughs covering route.
S82：Cleaned according to first sweep-out pattern.
The step S8 of one embodiment of the invention, in addition to：
S83：If being not suitable for, the second sweep-out pattern is planned by inside spin cleaning method.
If non-purging zone is unsatisfactory for the continuous area requirements of sweeping robot arc type cleaning, or non-purging zone as not
Regular domain, then judge to clean using inside spin cleaning method.Inside spin cleaning method refers to since the outermost border of region not
Break inside spiral cleaning, progressively reduces non-purging zone, and do not influence purging zone.
S84：Cleaned according to second sweep-out pattern.
Reference picture 6, the method for the sweeping robot all standing cleaning of further embodiment of this invention, step S7, including：
S70：The distributed intelligence of the analysis non-purging zone.
Ox as shown in Figure 10 ploughs coverage mode 3 in the present embodiment, sweeping robot is fugitive leave clean dead band when
Wait, while there occurs fuselage steering, cause to generate drain sweep region around cleaning dead band.Distributed intelligence bag in this step
Include the distance between the quantity in drain sweep region, the distributed areas in drain sweep region and drain sweep region equal distribution information.
S71：The fixed route according to the distributed intelligence according to Hybr id-State A*Search algorithmic rules, on
It is smooth route to state fixed route.
Fixed route in this step refers to by specific path planning algorithm, plans and terminates ox from sweeping robot and plough to cover
The position that lid mode cleans, the smooth smooth route of above-mentioned non-purging zone is reached, move route compared to existing broken line, more just
Control and walk in robot, be more bonded the visual experience of user.Calculated in the present embodiment by Hybr id-State A*Search
Method has planned the path from current location to nearest drain sweep region, and from nearest drain sweep region to secondary near drain sweep region
Deng realizing the smoothing processing of route.
S72：Above-mentioned non-purging zone is moved to according to the smooth route.
Further, the step S6 of one embodiment of the invention, including：
S60：Region residing for the blank grid searched for according to above-mentioned grid occupied state on above-mentioned second grating map.
S61：Region residing for above-mentioned blank grid is added to the candidate queue of non-purging zone.
When candidate queue in this step refers to exist multiple non-purging zones, candidate team is passed through to multiple non-purging zones
The mode of row is identified, and to clean non-purging zone one by one, realizes the cleaning covered comprehensively.
Reference picture 9, the sweeping robot of one embodiment of the invention, including：
Initialization module 1, for initializing grating map in the first starting point, all areas are designated as not cleaning, will be certainly
Map value is labeled as having cleaned by own present position as origin.
The first starting point in the present embodiment refers to sweeping robot present position when starting to clean, and as grating map
The origin of coordinates.The present embodiment sweeping robot is in cleaning process, by marking different grid occupied states with forming grid
Figure, to be gradually reduced zone of ignorance, the layout information until all identifying former zone of ignorance, for all standing clean.Than
Such as, it is each unknown on the grating map of the present embodiment to be expressed as f (x, y)=k, k=0,1, wherein 2, x, y expression transverse and longitudinal coordinates, k
Expression value, 0 is unknown, and 1 is has cleaned, and 2 be barrier.
First cleans module 2, for according to specifying planning mode to be cleaned, and by mark purging zone form the
One grating map.
The specified planning mode of the present embodiment includes ox and ploughs coverage mode, and ploughing coverage mode in ox lead in cleaning process
Cross that coordinates logo in length and breadth has cleaned, the region such as barrier creates grating map, ultimately form sweeping robot can distinguish cleaned,
The map not cleaned, so that sweeping robot searches non-purging zone according to the occupied state of grid, it is clear that all standing is done step-by-step
Sweep, so that sweeping robot targetedly efficiently completes all standing cleaning works of zone of ignorance, avoid drain sweep, repeat clearly
Situation about sweeping, improve sweeping efficiency.
First judge module 3, dead band is cleaned for judging whether to be absorbed in.
Cleaning dead band in the present embodiment refers to, i.e., grid has been marked as barrier region, in front of sweeping robot
Purging zone reaches border, and other directions are marked as purging zone or barrier region, cause sweeping robot
It can not continue to plough coverage mode route according to aurochs and be cleaned.
Module 4 is fled from, for if so, then fleeing from the cleaning dead band.
The present embodiment is fled from by the mode such as moving along wall and cleans dead band, so that sweeping robot continues to clean.
Mark module 5, for marking the overlay area in the cleaning dead band on first grating map, to form the
Two grating maps.
The overlay area in the cleaning dead band in the present embodiment starts to run into cleaning dead band, untill fleeing from and cleaning dead band
Regional extent, above-mentioned zone scope can be shown in grating map according to grid region is related to regular square or rectangular
On.
Second judge module 6, for judging to whether there is non-purging zone on second grating map.
The present embodiment easily forms the non-purging zone of drain sweep around the overlay area for cleaning dead band, by unfilled
Region residing for grid determines non-purging zone.
Mobile module 7, for if so, being then moved to the non-purging zone.
Second cleans module 8, for cleaning non-purging zone according to the sweep-out pattern of planning.
Sweeping robot can select inside spin cleaning or ox according to the Regional Distribution Characteristics of non-purging zone in the present embodiment
Cultivated coverage mode cleaning carries out benefit and swept, and to complete region all standing cleaning, improves and cleans effect.
Reference picture 10, further, the present embodiment flee from module 4, including：
Start submodule 40, for the second starting point in the cleaning dead band, start along wall motor pattern along described clear
Moved along wall on the border for sweeping dead band.
The second starting point in the present embodiment refers to sweeping robot and just runs into the position for cleaning dead band；Refer to edge along wall motor pattern
Close to clean dead band side along side cleaning modes.
3rd judging submodule 41, for judging whether to reach the default termination condition moved along wall.
The termination condition of the present embodiment includes：Next suitable ox is searched out to plough the starting point of coverage mode or reach default
The condition set in advance such as limiting time and/or distance is moved along wall.
Terminate submodule 42, for if so, then terminate it is described moved along wall and mark it is described cleaning dead band First terminal point,
So as in second starting point to the overlay area that the cleaning dead band is formed between the First terminal point.
First terminal point in the present embodiment refers to sweeping robot and just flees from the position for cleaning dead band, then clear according to just running into
The grid distribution situation swept the position in dead band and just fled between the position for cleaning dead band, with defined square or rectangular etc.
It is easy to the filling graph that sweeping robot planning cleans path, is shown in and sets on a map.
Reference picture 11, further, the 3rd judging submodule 41 of the present embodiment, including：
4th judging unit 410, for judging whether to detect the space of the suitable specified planning mode.
The space of the present embodiment refers to suitable continuous arc type and cleaned, and the region being not disrupted.Sweeping robot leads to
The occupied state of the periphery grid for judging present position is crossed to analyze, such as：Left survey or the right survey in front of present position and front
Direction is to be not filled by state, then the space of coverage mode is ploughed for suitable ox.
First identifying unit 411, if the space for detecting the suitable specified planning mode, judgement reaches
The termination condition moved along wall, and using the 3rd starting point of the space as the First terminal point.
The present embodiment is to search out the position of suitable space as dead band end position is cleaned, so as in grid map
The overlay area in dead band is cleaned corresponding to being formed.
3rd judging submodule 41 of one embodiment of the invention, in addition to：
Statistic unit 412, if the space for not detecting the suitable specified planning mode, statistics is described along wall
The time of motion and/or distance.
Sweeping robot is moved there is provided qualifications along wall in the present embodiment, to ensure that sweeping robot is only carried out
Short-term moves along wall, improves sweeping efficiency.As shown in figure 9, the overlay area for cleaning dead band is smaller, sweeping robot is passing through
Can be sought quickly along wall suitable ox plough coverage mode space outlet, and by moved along wall flee from clean dead band after
Continue ox and plough coverage mode；But the overlay area for cleaning dead band as shown in Figure 10 is larger, time for being moved along wall and distance compared with
Greatly, the time moved along wall can be shortened by setting the restrictive condition moved along wall, quickening, which is fled from, cleans dead band, improves and cleans effect
Rate.
5th judging unit 413, for judging whether the time and/or distance reach preset value.
For example set along the wall time as 10S or 15S；Or along wall apart from being 20m or 50m, other embodiments of the invention also may be used
Concurrently set along the wall time and along wall distance, the condition to reach at first is used as priority.
6th judging unit 414, if for reaching preset value, judge to terminate according to the specified planning mode progress clearly
Sweep.
For example after reaching the qualifications moved along wall, the space that suitable ox ploughs coverage mode is not found still, then
Judge that the region that can carry out the cultivated coverage mode of continuous ox according to planning mode in the zone of ignorance cleans completely to finish.
Reference picture 12, further, the 4th judging unit 410 of the present embodiment, including：
Subelement 4101 is detected, for detecting the grid occupied state around the cleaning dead band.
The present embodiment detects corresponding grid by detecting subelement 4101 on grating map and had been filled with, and represents this grid
Region has cleaned.
7th judgment sub-unit 4102, for the blank grid for judging whether to be adapted to the specified planning mode.
The distribution of the non-purging zone of blank grid monitoring is monitored by the 7th judgment sub-unit 4102, is to analyze
It is no to continue in the presence of suitable according to the former cultivated overlay area of ox for specifying planning mode.
3rd judges subelement 4103, if in the presence of judgement detects the described of the suitable specified planning mode
Space.
Blank grid in this step, which represents to clean, to be had non-purging zone and can specify the ox planned by former around dead band
Coverage mode is ploughed to reach.
4th judges subelement 4104：If for being not present, the space is not present in judgement.
Reference picture 13, the second of one embodiment of the invention cleans module 8, including：
8th judging submodule 80, for judging that the non-purging zone ploughs coverage mode if appropriate for ox.
For example non-purging zone meets the continuous area requirements that sweeping robot arc type cleans, then judge to be adapted to ox to plough
Coverage mode.
First planning submodule 81, if for being adapted to, coverage mode is ploughed by ox and plans the first sweep-out pattern.
The first sweep-out pattern that the present embodiment is planned by the first planning submodule 81, covering route is ploughed for arc type ox.
3rd cleans submodule 82, for being cleaned according to first sweep-out pattern.
The second of one embodiment of the invention cleans module 8, in addition to：
Second planning submodule 83, if for being not suitable for, the second sweep-out pattern is planned by inside spin cleaning method.
If non-purging zone is unsatisfactory for the continuous area requirements of sweeping robot arc type cleaning, or non-purging zone as not
Regular domain, then judge to clean using inside spin cleaning method.Inside spin cleaning method refers to since the outermost border of region not
Break inside spiral cleaning, progressively reduces non-purging zone, and do not influence purging zone.
4th cleans submodule 84, for being cleaned according to second sweep-out pattern.
Reference picture 14, the sweeping robot of further embodiment of this invention, mobile module 7 include：
Submodule 70 is analyzed, for analyzing the distributed intelligence of the non-purging zone.
Ox as shown in Figure 10 ploughs coverage mode 3 in the present embodiment, sweeping robot is fugitive leave clean dead band when
Wait, while there occurs fuselage steering, cause to generate drain sweep region around cleaning dead band.Distributed intelligence in the present embodiment
The distance between quantity including drain sweep region, the distributed areas in drain sweep region and drain sweep region equal distribution information.
3rd planning submodule 71, for being advised according to the distributed intelligence according to Hybr id-State A*Search algorithms
The fixed route is drawn, above-mentioned fixed route is smooth route.
Fixed route in the present embodiment refers to by specific path planning algorithm, plans that terminating ox from sweeping robot ploughs
The position that coverage mode cleans, the smooth smooth route of above-mentioned non-purging zone is reached, move route compared to existing broken line, more
It is easy to robot control walking, is more bonded the visual experience of user.Pass through Hybr id-State A*Search in the present embodiment
Algorithmic rule is from current location to the path in nearest drain sweep region, and from nearest drain sweep region to secondary near drain sweep area
Domain etc., realize the smoothing processing of route.
Mobile submodule 72, for being moved to above-mentioned non-purging zone according to the smooth route.
Reference picture 15, the sweeping robot of one embodiment of the invention, second judge module 6, including：
Submodule 60 is searched for, for the blank grid searched for according to the grid occupied state on second grating map
Residing region.
Submodule 61 is added, for region residing for the blank grid to be added to the candidate queue of non-purging zone.
When candidate queue in the present embodiment refers to exist multiple non-purging zones, candidate is passed through to multiple non-purging zones
The mode of queue is identified, and to clean non-purging zone one by one, realizes the cleaning covered comprehensively.
The sweeping robot of the embodiment of the present invention possesses grating map and builds figure function, is risen with what sweeping robot started to clean
Point is origin, cleaned simultaneously on grating map by coordinates logo in length and breadth during coverage mode is ploughed along ox and is cleaned,
The regions such as barrier, the map for having cleaned, not cleaned can be distinguished by ultimately forming sweeping robot, so as to robot targetedly
The all standing cleaning works of zone of ignorance is efficiently completed, drain sweep is avoided, repeats the situation of cleaning, improve sweeping efficiency；And
Completing ox, to plough the smoothness that after coverage mode cleans, can be followed by sweeping robot smooth for the robot of the embodiment of the present invention
Route is moved to non-purging zone, and selects inside spin cleaning or the cultivated coverage mode of ox clear according to the provincial characteristics of non-purging zone
Sweep into capable benefit to sweep, to complete all standing of zone of ignorance cleaning.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of method that sweeping robot all standing cleans, it is characterised in that including：
Grating map is initialized in the first starting point, so that the grid in the grating map is that grid occupied state is unclear
The blank grid of state is swept, first starting point is the origin of the grating map；
Cleaned according to specified planning mode, and by marking the first grating map of purging zone formation；
Judge whether to be absorbed in and clean dead band；
If so, then flee from the cleaning dead band；
The overlay area in the cleaning dead band is marked on first grating map, to form the second grating map；
Judge to whether there is non-purging zone on second grating map；
If so, then it is moved to the non-purging zone；
Non- purging zone is cleaned according to the sweep-out pattern of planning.
2. the method that the sweeping robot all standing according to right 1 cleans, it is characterised in that described to flee from described clean extremely
The step of area, including：
The second starting point in the cleaning dead band, start the border along wall motor pattern along the cleaning dead band and moved along wall；
Judge whether to reach the default termination condition moved along wall；
If so, then terminate it is described moved along wall and mark it is described cleaning dead band First terminal point, so as in second starting point extremely
The overlay area in the cleaning dead band is formed between the First terminal point.
3. the method that sweeping robot all standing according to claim 2 cleans, it is characterised in that described to judge whether to reach
To it is default it is described moved along wall termination condition the step of, including：
Judge whether to detect the space of the suitable specified planning mode；
If so, then judge to reach the termination condition moved along wall, and using the 3rd starting point of the space as described the
One terminal.
4. the method that sweeping robot all standing according to claim 3 cleans, it is characterised in that described to judge whether to visit
After the step of measuring the space of the suitable specified planning mode, in addition to：
If it is not, the statistics time moved along wall and/or distance；
Judge whether the time and/or distance reach preset value；
If reaching, judge that termination is cleaned according to the specified planning mode.
5. the method that sweeping robot all standing according to claim 1 cleans, it is characterised in that it is described be moved to it is described
The step of non-purging zone, including：
The distributed intelligence of the analysis non-purging zone；
It is according to Hybrid-State A*Search algorithmic rule fixed routes, the fixed route according to the distributed intelligence
Smooth route；
The non-purging zone is moved to according to the smooth route.
A kind of 6. sweeping robot, it is characterised in that including：
Initialization module, for initializing grating map in the first starting point, so that the grid in the grating map is grid
Lattice occupied state is not clean the blank grid of state, and first starting point is the origin of the grating map；
First cleans module, and the first grid of purging zone formation is marked for being cleaned, and being passed through according to specified planning mode
Lattice map；
First judge module, dead band is cleaned for judging whether to be absorbed in；
Module is fled from, for if so, then fleeing from the cleaning dead band；
Mark module, for marking the overlay area in the cleaning dead band on first grating map, to form second gate
Lattice map；
Second judge module, for judging to whether there is non-purging zone on second grating map；
Mobile module, for if so, being then moved to the non-purging zone；
Second cleans module, for cleaning non-purging zone according to the sweep-out pattern of planning.
7. according to the sweeping robot described in right 6, it is characterised in that it is described to flee from module, including：
Start submodule, for the second starting point in the cleaning dead band, start along wall motor pattern along the cleaning dead band
Border moved along wall；
3rd judging submodule, for judging whether to reach the default termination condition moved along wall；
Terminate submodule, for if so, then terminate it is described moved along wall and mark it is described cleaning dead band First terminal point, so as to
Second starting point to formed between the First terminal point it is described cleaning dead band overlay area.
8. sweeping robot according to claim 7, it is characterised in that the 3rd judging submodule, including：
4th judging unit, for judging whether to detect the space of the suitable specified planning mode；
First identifying unit, if the space for detecting the suitable specified planning mode, judgement reaches the edge
The termination condition of wall motion, and using the 3rd starting point of the space as the First terminal point.
9. sweeping robot according to claim 8, it is characterised in that the 3rd judging submodule, in addition to：
Statistic unit, if the space for not detecting the suitable specified planning mode, statistics is described to move along wall
Time and/or distance；
5th judging unit, for judging whether the time and/or distance reach preset value；
Second identifying unit, if for reaching preset value,
Then judge to terminate to be cleaned according to the specified planning mode.
10. sweeping robot according to claim 6, it is characterised in that the mobile module, including：
Submodule is analyzed, for analyzing the distributed intelligence of the non-purging zone；
3rd planning submodule, for being specified according to the distributed intelligence according to Hybrid-State A*Search algorithmic rules
Route, the fixed route are smooth route；
Mobile submodule, for being moved to the non-purging zone according to the smooth route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243212.2A CN107831773A (en) | 2017-11-30 | 2017-11-30 | The method and sweeping robot that sweeping robot all standing cleans |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711243212.2A CN107831773A (en) | 2017-11-30 | 2017-11-30 | The method and sweeping robot that sweeping robot all standing cleans |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107831773A true CN107831773A (en) | 2018-03-23 |
Family
ID=61647375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711243212.2A Pending CN107831773A (en) | 2017-11-30 | 2017-11-30 | The method and sweeping robot that sweeping robot all standing cleans |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107831773A (en) |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108592923A (en) * | 2018-06-05 | 2018-09-28 | 北京智行者科技有限公司 | A kind of working path planing method |
| CN108614558A (en) * | 2018-05-31 | 2018-10-02 | 北京智行者科技有限公司 | A kind of cleaning method for planning track |
| CN108663063A (en) * | 2018-05-09 | 2018-10-16 | 宁波拓邦智能控制有限公司 | Overlay path planing method, device, equipment, computer installation and storage medium |
| CN108931980A (en) * | 2018-07-26 | 2018-12-04 | 珠海市微半导体有限公司 | The labeling method and chip of the built-in map of robot and indoor cleaning machine people |
| CN108958238A (en) * | 2018-06-01 | 2018-12-07 | 哈尔滨理工大学 | A kind of robot area Dian Dao paths planning method based on covariant cost function |
| CN108983776A (en) * | 2018-07-19 | 2018-12-11 | 深圳市欢创科技有限公司 | A kind of robot control method and its device, electronic equipment |
| CN109085841A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device that control robot is cleaned |
| CN109799815A (en) * | 2019-01-04 | 2019-05-24 | 湖南省华铭环保有限公司 | A kind of automatic exploration path operational method |
| WO2019104694A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市沃特沃德股份有限公司 | Floor-sweeping robot full coverage cleaning method and floor-sweeping robot |
| CN110262512A (en) * | 2019-07-12 | 2019-09-20 | 北京机械设备研究所 | A kind of mobile robot is detached from the barrier-avoiding method and system of U-shaped obstacle trap |
| CN110361017A (en) * | 2019-07-19 | 2019-10-22 | 西南科技大学 | A kind of full traverse path planing method of sweeping robot based on Grid Method |
| CN110448241A (en) * | 2019-07-18 | 2019-11-15 | 广东宝乐机器人股份有限公司 | The stranded detection of robot and method of getting rid of poverty |
| WO2019228436A1 (en) * | 2018-06-01 | 2019-12-05 | 浙江亚特电器有限公司 | Route planning method for mobile vehicle |
| CN110702120A (en) * | 2019-11-06 | 2020-01-17 | 小狗电器互联网科技（北京）股份有限公司 | Map boundary processing method, system, robot and storage medium |
| CN110764513A (en) * | 2019-11-26 | 2020-02-07 | 小狗电器互联网科技（北京）股份有限公司 | Map blind area identification method |
| CN110955262A (en) * | 2019-12-10 | 2020-04-03 | 河海大学常州校区 | Control method and system for path planning and tracking of photovoltaic module cleaning robot |
| CN111060108A (en) * | 2019-12-31 | 2020-04-24 | 江苏徐工工程机械研究院有限公司 | Path planning method and device and engineering vehicle |
| CN111150331A (en) * | 2019-12-31 | 2020-05-15 | 江苏美的清洁电器股份有限公司 | Information processing method and device, mobile cleaning equipment and computer readable storage medium |
| CN111195104A (en) * | 2018-11-16 | 2020-05-26 | 北京奇虎科技有限公司 | Region dividing method and device, electronic equipment and computer readable storage medium |
| CN111708357A (en) * | 2019-09-17 | 2020-09-25 | 深圳市银星智能科技股份有限公司 | Cleaning end condition recognition method and device and sweeping robot |
| CN112150491A (en) * | 2020-09-30 | 2020-12-29 | 小狗电器互联网科技（北京）股份有限公司 | Image detection method, image detection device, electronic equipment and computer readable medium |
| CN112161629A (en) * | 2020-09-30 | 2021-01-01 | 深圳市银星智能科技股份有限公司 | Path planning method and device for cleaning robot, cleaning robot and medium |
| CN112237403A (en) * | 2020-09-07 | 2021-01-19 | 安克创新科技股份有限公司 | Covering path generation method for cleaning device and cleaning device |
| WO2021037116A1 (en) * | 2019-08-27 | 2021-03-04 | 南京德朔实业有限公司 | Self-propelled mowing system, and method of performing supplementary mowing operation on missed regions |
| CN112486157A (en) * | 2019-09-12 | 2021-03-12 | 苏州宝时得电动工具有限公司 | Automatic working system, steering method thereof and self-moving equipment |
| CN112562029A (en) * | 2020-12-07 | 2021-03-26 | 深圳市愚公科技有限公司 | Image reconstruction method, system, electronic device and computer-readable storage medium |
| CN112567958A (en) * | 2019-09-12 | 2021-03-30 | 南京德朔实业有限公司 | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system |
| CN112650250A (en) * | 2020-12-23 | 2021-04-13 | 深圳市杉川机器人有限公司 | Map construction method and robot |
| 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 |
| CN112932367A (en) * | 2021-03-05 | 2021-06-11 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
| CN112985405A (en) * | 2021-02-18 | 2021-06-18 | 湖南国科微电子股份有限公司 | Robot full-coverage path planning method, device, equipment and medium |
| CN113985866A (en) * | 2021-09-09 | 2022-01-28 | 浙江大华技术股份有限公司 | Sweeping robot path planning method and device, electronic equipment and storage medium |
| CN115444325A (en) * | 2022-07-21 | 2022-12-09 | 深圳银星智能集团股份有限公司 | Secondary cleaning method, device, cleaning robot and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005230044A (en) * | 2004-02-17 | 2005-09-02 | Funai Electric Co Ltd | Autonomous running robot cleaner |
| CN101847011A (en) * | 2010-03-31 | 2010-09-29 | 深圳市银星智能电器有限公司 | Method for positioning and covering portable areas of mobile robots |
| CN102138769A (en) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | Cleaning robot and cleaning method thereby |
| CN102778235A (en) * | 2012-06-28 | 2012-11-14 | 西北工业大学 | Multiple-unmanned aerial vehicle collaborative area searching method under communication constrains |
| CN104808671A (en) * | 2015-05-19 | 2015-07-29 | 东南大学 | Robot path planning method under home environment |
| CN104965518A (en) * | 2015-05-21 | 2015-10-07 | 华北电力大学 | Power inspection tour flying robot air route planning method based on three-dimensional digital map |
| CN105466429A (en) * | 2015-12-29 | 2016-04-06 | 江苏大学 | Complete-covering automatic and even feeding track planning method for aquaculture pond |
| CN105824310A (en) * | 2015-01-08 | 2016-08-03 | 江苏美的清洁电器股份有限公司 | Robot walking control method and robot |
| CN107065872A (en) * | 2017-04-11 | 2017-08-18 | 珠海市微半导体有限公司 | The grating map creating method of intelligent robot |
| CN107368079A (en) * | 2017-08-31 | 2017-11-21 | 珠海市微半导体有限公司 | Robot cleans the planing method and chip in path |
| CN110362069A (en) * | 2018-03-26 | 2019-10-22 | 智棋科技股份有限公司 | The method for controlling robot |
-
2017
- 2017-11-30 CN CN201711243212.2A patent/CN107831773A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005230044A (en) * | 2004-02-17 | 2005-09-02 | Funai Electric Co Ltd | Autonomous running robot cleaner |
| CN102138769A (en) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | Cleaning robot and cleaning method thereby |
| CN101847011A (en) * | 2010-03-31 | 2010-09-29 | 深圳市银星智能电器有限公司 | Method for positioning and covering portable areas of mobile robots |
| CN102778235A (en) * | 2012-06-28 | 2012-11-14 | 西北工业大学 | Multiple-unmanned aerial vehicle collaborative area searching method under communication constrains |
| CN105824310A (en) * | 2015-01-08 | 2016-08-03 | 江苏美的清洁电器股份有限公司 | Robot walking control method and robot |
| CN104808671A (en) * | 2015-05-19 | 2015-07-29 | 东南大学 | Robot path planning method under home environment |
| CN104965518A (en) * | 2015-05-21 | 2015-10-07 | 华北电力大学 | Power inspection tour flying robot air route planning method based on three-dimensional digital map |
| CN105466429A (en) * | 2015-12-29 | 2016-04-06 | 江苏大学 | Complete-covering automatic and even feeding track planning method for aquaculture pond |
| CN107065872A (en) * | 2017-04-11 | 2017-08-18 | 珠海市微半导体有限公司 | The grating map creating method of intelligent robot |
| CN107368079A (en) * | 2017-08-31 | 2017-11-21 | 珠海市微半导体有限公司 | Robot cleans the planing method and chip in path |
| CN110362069A (en) * | 2018-03-26 | 2019-10-22 | 智棋科技股份有限公司 | The method for controlling robot |
Non-Patent Citations (1)
| Title |
|---|
| 张伟刚: "室内自主机器人路径规划技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019104694A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市沃特沃德股份有限公司 | Floor-sweeping robot full coverage cleaning method and floor-sweeping robot |
| CN108663063A (en) * | 2018-05-09 | 2018-10-16 | 宁波拓邦智能控制有限公司 | Overlay path planing method, device, equipment, computer installation and storage medium |
| CN108663063B (en) * | 2018-05-09 | 2021-11-16 | 宁波拓邦智能控制有限公司 | Overlay path planning method, device, equipment, computer device and storage medium |
| CN108614558B (en) * | 2018-05-31 | 2020-12-25 | 北京智行者科技有限公司 | Cleaning track planning method |
| CN108614558A (en) * | 2018-05-31 | 2018-10-02 | 北京智行者科技有限公司 | A kind of cleaning method for planning track |
| CN108958238A (en) * | 2018-06-01 | 2018-12-07 | 哈尔滨理工大学 | A kind of robot area Dian Dao paths planning method based on covariant cost function |
| CN108958238B (en) * | 2018-06-01 | 2021-05-07 | 哈尔滨理工大学 | Robot point-to-area path planning method based on covariant cost function |
| US11385067B2 (en) | 2018-06-01 | 2022-07-12 | Zhejiang Yat Electrical Appliance Co., Ltd | Route planning method for mobile vehicle |
| WO2019228436A1 (en) * | 2018-06-01 | 2019-12-05 | 浙江亚特电器有限公司 | Route planning method for mobile vehicle |
| CN108592923A (en) * | 2018-06-05 | 2018-09-28 | 北京智行者科技有限公司 | A kind of working path planing method |
| CN108983776A (en) * | 2018-07-19 | 2018-12-11 | 深圳市欢创科技有限公司 | A kind of robot control method and its device, electronic equipment |
| CN108931980A (en) * | 2018-07-26 | 2018-12-04 | 珠海市微半导体有限公司 | The labeling method and chip of the built-in map of robot and indoor cleaning machine people |
| CN108931980B (en) * | 2018-07-26 | 2021-07-06 | 珠海市一微半导体有限公司 | Marking method and chip of robot built-in map and indoor cleaning robot |
| CN109085841A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device that control robot is cleaned |
| CN111195104A (en) * | 2018-11-16 | 2020-05-26 | 北京奇虎科技有限公司 | Region dividing method and device, electronic equipment and computer readable storage medium |
| CN109799815A (en) * | 2019-01-04 | 2019-05-24 | 湖南省华铭环保有限公司 | A kind of automatic exploration path operational method |
| CN110262512A (en) * | 2019-07-12 | 2019-09-20 | 北京机械设备研究所 | A kind of mobile robot is detached from the barrier-avoiding method and system of U-shaped obstacle trap |
| CN110262512B (en) * | 2019-07-12 | 2022-03-29 | 北京机械设备研究所 | Obstacle avoidance method and system for moving robot to separate from U-shaped obstacle trap |
| CN110448241A (en) * | 2019-07-18 | 2019-11-15 | 广东宝乐机器人股份有限公司 | The stranded detection of robot and method of getting rid of poverty |
| CN110448241B (en) * | 2019-07-18 | 2021-05-18 | 华南师范大学 | Robot trapped detection and escaping method |
| CN110361017A (en) * | 2019-07-19 | 2019-10-22 | 西南科技大学 | A kind of full traverse path planing method of sweeping robot based on Grid Method |
| CN110361017B (en) * | 2019-07-19 | 2022-02-11 | 西南科技大学 | Grid method based full-traversal path planning method for sweeping robot |
| WO2021037116A1 (en) * | 2019-08-27 | 2021-03-04 | 南京德朔实业有限公司 | Self-propelled mowing system, and method of performing supplementary mowing operation on missed regions |
| CN112486157B (en) * | 2019-09-12 | 2024-02-23 | 苏州宝时得电动工具有限公司 | Automatic working system, steering method thereof and self-moving equipment |
| CN112486157A (en) * | 2019-09-12 | 2021-03-12 | 苏州宝时得电动工具有限公司 | Automatic working system, steering method thereof and self-moving equipment |
| WO2021047063A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州宝时得电动工具有限公司 | Automatic work system and turning method therefor, and self-moving device |
| CN112567958A (en) * | 2019-09-12 | 2021-03-30 | 南京德朔实业有限公司 | Self-walking mowing system and method for supplementing operation of missed cutting area of self-walking mowing system |
| CN111708357A (en) * | 2019-09-17 | 2020-09-25 | 深圳市银星智能科技股份有限公司 | Cleaning end condition recognition method and device and sweeping robot |
| CN110702120A (en) * | 2019-11-06 | 2020-01-17 | 小狗电器互联网科技（北京）股份有限公司 | Map boundary processing method, system, robot and storage medium |
| CN110764513A (en) * | 2019-11-26 | 2020-02-07 | 小狗电器互联网科技（北京）股份有限公司 | Map blind area identification method |
| CN110955262A (en) * | 2019-12-10 | 2020-04-03 | 河海大学常州校区 | Control method and system for path planning and tracking of photovoltaic module cleaning robot |
| CN111150331A (en) * | 2019-12-31 | 2020-05-15 | 江苏美的清洁电器股份有限公司 | Information processing method and device, mobile cleaning equipment and computer readable storage medium |
| CN111060108B (en) * | 2019-12-31 | 2021-10-12 | 江苏徐工工程机械研究院有限公司 | Path planning method and device and engineering vehicle |
| CN111060108A (en) * | 2019-12-31 | 2020-04-24 | 江苏徐工工程机械研究院有限公司 | Path planning method and device and engineering vehicle |
| CN112237403A (en) * | 2020-09-07 | 2021-01-19 | 安克创新科技股份有限公司 | Covering path generation method for cleaning device and cleaning device |
| CN112237403B (en) * | 2020-09-07 | 2022-01-14 | 安克创新科技股份有限公司 | Covering path generation method for cleaning device and cleaning device |
| CN112150491A (en) * | 2020-09-30 | 2020-12-29 | 小狗电器互联网科技（北京）股份有限公司 | Image detection method, image detection device, electronic equipment and computer readable medium |
| CN112161629A (en) * | 2020-09-30 | 2021-01-01 | 深圳市银星智能科技股份有限公司 | Path planning method and device for cleaning robot, cleaning robot and medium |
| CN112150491B (en) * | 2020-09-30 | 2023-08-18 | 北京小狗吸尘器集团股份有限公司 | Image detection method, device, electronic equipment and computer readable 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 |
| CN112562029A (en) * | 2020-12-07 | 2021-03-26 | 深圳市愚公科技有限公司 | Image reconstruction method, system, electronic device and computer-readable storage medium |
| CN112562029B (en) * | 2020-12-07 | 2024-05-07 | 深圳市愚公科技有限公司 | Image reconstruction method, system, electronic device and computer readable storage medium |
| CN112650250A (en) * | 2020-12-23 | 2021-04-13 | 深圳市杉川机器人有限公司 | Map construction method and robot |
| CN112985405A (en) * | 2021-02-18 | 2021-06-18 | 湖南国科微电子股份有限公司 | Robot full-coverage path planning method, device, equipment and medium |
| CN112932367B (en) * | 2021-03-05 | 2022-06-17 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
| CN112932367A (en) * | 2021-03-05 | 2021-06-11 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
| CN113985866A (en) * | 2021-09-09 | 2022-01-28 | 浙江大华技术股份有限公司 | Sweeping robot path planning method and device, electronic equipment and storage medium |
| CN115444325A (en) * | 2022-07-21 | 2022-12-09 | 深圳银星智能集团股份有限公司 | Secondary cleaning method, device, cleaning robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107831773A (en) | The method and sweeping robot that sweeping robot all standing cleans | |
| CN108209741B (en) | Cleaning robot control method and cleaning robot | |
| CN109464074B (en) | Area division method, subarea cleaning method and robot thereof | |
| CN107340768B (en) | Path planning method of intelligent robot | |
| CN109195751B (en) | System and method for configurable operation of zone-based robots | |
| US11914391B2 (en) | Cleaning partition planning method for robot walking along boundry, chip and robot | |
| US20230393584A1 (en) | Cleaning Path Planning Method Based on Pathfinding cost, Chip, and Cleaning Robot | |
| CN111603099A (en) | Cleaning planning method with region traversal priority and chip | |
| CN106527423A (en) | Cleaning robot and control method therefor | |
| CN108983776B (en) | Robot control method and device and electronic equipment | |
| CN109540155A (en) | A kind of path planning and navigation method, computer installation and the computer readable storage medium of sweeping robot | |
| CN109298717A (en) | The cleaning method and chip and Intelligent cleaning robot of intelligent robot | |
| CN109276191A (en) | A kind of path cleaning method, system and the chip of clean robot | |
| CN108896048A (en) | Paths planning method for mobile carrier | |
| CN109528090A (en) | The area coverage method and chip and clean robot of a kind of robot | |
| CN105955280A (en) | Mobile robot path planning and obstacle avoidance method and system | |
| CN109240312A (en) | The cleaning control method and chip and clean robot of a kind of robot | |
| CN106647774A (en) | Method for realizing autonomous exploration mapping and autonomous path covering of indoor robot cleaner | |
| CN104615138A (en) | Dynamic indoor region coverage division method and device for mobile robot | |
| KR20220123297A (en) | Cleaning control method based on dense obstacles | |
| CN110353579A (en) | A kind of clean robot automatic path planning method | |
| CN102138769A (en) | Cleaning robot and cleaning method thereby | |
| CN105511485B (en) | For the creation method of self-movement robot grating map | |
| CN110874101B (en) | Method and device for generating cleaning path of robot | |
| JP2015535996A (en) | Autonomous robot and operation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190905 Address after: Room 402, 4th floor, Kanghe Sheng Building, New Energy Innovation Industrial Park, No. 1 Chuangsheng Road, Nanshan District, Shenzhen City, Guangdong Province, 518000 Applicant after: Shenzhen Infinite Power Development Co., Ltd. Address before: 518000 Nanshan District, Shenzhen, Guangdong Province, 1079 Nanhai Avenue, Shekou, Garden City Digital Building B Block 503, 602 Applicant before: SHENZHEN WOTE WODE CO., LTD. |
|
| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180323 |
|
| RJ01 | Rejection of invention patent application after publication |