CN110362079A - The traversal control method and chip and clean robot of robot - Google Patents
The traversal control method and chip and clean robot of robot Download PDFInfo
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- CN110362079A CN110362079A CN201910623713.6A CN201910623713A CN110362079A CN 110362079 A CN110362079 A CN 110362079A CN 201910623713 A CN201910623713 A CN 201910623713A CN 110362079 A CN110362079 A CN 110362079A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000009184 walking Effects 0.000 claims description 28
- 230000004888 barrier function Effects 0.000 claims description 27
- 235000013399 edible fruits Nutrition 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 description 6
- 238000010408 sweeping Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 229920002730 Poly(butyl cyanoacrylate) Polymers 0.000 description 2
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- 101000609949 Homo sapiens Rod cGMP-specific 3',5'-cyclic phosphodiesterase subunit beta Proteins 0.000 description 1
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- 238000005498 polishing Methods 0.000 description 1
- 238000004018 waxing Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to the traversal control methods and chip and clean robot of a kind of robot, wherein, the traversal control method of the robot, robot by using positioning while with along while in conjunction with mode draw a circle to approve a region to be traversed, after the area coverage, again by same mode, next region to be traversed is drawn a circle to approve, traversal is then proceeded by.And so on, complete the traversal of all areas.Region division to be cleaned is several zonules, is traversed by unit of zonule, this mode is relatively more suitable for the traversal in single section, and the traversal efficiency and user experience of robot can be improved by these traversal modes using the starting point of robot as the center of circle.In addition, robot can also avoid the lesser region of some entrances of drain sweep in this way.
Description
Technical field
The present invention relates to field in intelligent robotics, and in particular to the traversal control method and chip of a kind of robot and clear
Clean robot.
Background technique
Existing robot SLAM algorithm, there are mainly three types of used ground traversal modes: one is directly one by one into
The traversal of row grid region after all grid regions traverse, that is, completes the traversal of global area；Another is, first
The overall situation is carried out along side, after having drawn a circle to approve global scope, then carries out the traversal of grid region one by one；There are also one is first draw a circle to approve one
Next grid region is drawn a circle to approve and traversed to grid region after having traversed the grid region drawn a circle to approve, then.These traversal modes all respectively have
Pros and cons.Due to the complexity and diversity of domestic environment, current traversal mode is also unable to satisfy whole demands, and market also needs
The robot of more difference traversal modes.
Summary of the invention
The present invention provides the traversal control methods and chip and clean robot of a kind of robot, and machine can be improved
The traversal efficiency of people.Specific technical solution of the present invention is as follows:
A kind of traversal control method of robot, include the following steps: step S1: robot is using current location as origin, along N
Direction straight forward detects wall or after the wall barrier, determines that current location is N anchor point, from the origin to
The path that the N anchor point is walked is that N positions side, subsequently into step S2；Step S2: robot returns to origin, so
After enter step S3；Step S3: robot carries out pivot stud in origin, and judges since first positioning side, along pre-
If whether the sum of angle that rotation direction is rotated is equal to 360 °, if it is, S8 is entered step, if it is not, then entering step
S4；Step S4: robot goes to the direction N+1, and the angle between the direction the N+1 and the direction the N is N angle,
The N angle is less than 180 °, subsequently into step S5；Step S5: the walking of the direction N+1 described in Robot detects wall
Wall or after the wall barrier, determines that current location is N+1 anchor point, is gone from the origin to the N+1 anchor point
The path walked is that N+1 positions side, subsequently into step S6；Step S6: robot is turned in the N+1 anchor point, towards institute
State N anchor point carry out along side walk, along while walking path be N along while, the N is located at the N angle along side
In range, subsequently into step S7；Step S7: it when robot ambulation to N anchor point, has drawn a circle to approve one and has been determined by the N
Position while, N along while and the N that surrounds of N+1 positioning side draw a circle to approve region, robot traverses N delineation region,
Return step S2 after traversal；Step S8: robot stops operating, and runs to corresponding anchor point along current positioning side,
Then an anchor point walk along side upward, when the supreme anchor point of robot ambulation, has drawn a circle to approve one by when forward position side
Path and the remaining area surrounded with the positioning side being connect when forward position wing diameter both ends, robot is to the remaining area
Domain is traversed, and the traversal of all areas is finally completed.Wherein, the N is natural number.
Further, the numerical value of the N angle is the unspecified angle more than or equal to 60 °, and less than or equal to 90 °
Value.
Further, during the robot walks from the origin to the anchor point, if detected isolated
Barrier then executes following steps: the side that isolated danger described in Robot is located in the delineation region is carried out along side
Walking continues when rectilinear direction of the robot ambulation to the origin towards the anchor point along the rectilinear direction, towards institute
Anchor point is stated to move ahead.
Further, robot described in step S7 traverses N delineation region, specifically includes: machine
People is since N anchor point, along the N along side, runs to the first parallel point towards the N+1 anchor point, described first is flat
Line space where the straight line for being parallel to the direction the N where row point, N positioning side between straight line be it is default away from
From；Robot is turned in first parallel point, goes to the direction parallel with the direction the N, and keep straight on along when front direction, institute
The path of walking is the first parallel edges；When robot ambulation is to N+1 positioning side, wall or leans on wall barrier, with
Current location point is the second parallel point, and N+1 described in Robot positions side, wall or leans on wall barrier, towards the N+1
Anchor point runs to third parallel point, the straight line for being parallel to the direction the N where the third parallel point, with described first
Line space where parallel edges between straight line is pre-determined distance；Robot is turned in the third parallel point, is gone to and the N
The parallel direction in direction, and keep straight on along when front direction, the path walked is the second parallel edges；When robot ambulation to described
When N is along side, with current location point for the 4th parallel point, N described in Robot is run to along side towards the N+1 anchor point
5th parallel point, the straight line for being parallel to the direction the N where the 5th parallel point are straight with the second parallel edges place
Line space between line is pre-determined distance；Robot is turned in the 5th parallel point, goes to the side parallel with the direction the N
To, and keep straight on along when front direction, the path walked is third parallel edges；And so on, robot is planned by this parallel path
The mode of walking completes the traversal in N delineation region.
Further, the robot along parallel edges during walking, if detecting isolated danger, executes
Following steps: isolated danger described in Robot be located at the N positioning while side carry out along while walk, when robot row
When walking to rectilinear direction where the parallel edges, continue to walk along the parallel edges.
A kind of chip, for storing program instruction, described program instruction executes above-mentioned robot for controlling robot
Traversal control method.
A kind of clean robot, including main control chip, the main control chip are above-mentioned chip.
The traversal control method of the robot, robot by using positioning while with along while in conjunction with mode draw a circle to approve one
Region to be traversed, to the area coverage after, then by same mode, draw a circle to approve next region to be traversed, then proceed to
It is traversed.And so on, complete the traversal of all areas.These traversal modes will be to clear using the starting point of robot as the center of circle
Sweeping region division is several zonules, is traversed by unit of zonule, this mode is relatively more suitable for time in single section
It goes through, the traversal efficiency and user experience of robot can be improved.In addition, robot can also avoid drain sweep one in this way
A little lesser regions of entrance.
Detailed description of the invention
Fig. 1 is the traversal schematic diagram of robot of the present invention.
Fig. 2 is the schematic diagram that Robot of the present invention positions side walking.
Fig. 3 is the walking schematic diagram that isolated danger is detected when Robot parallel edges of the present invention is walked.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that disclosed below, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.Below
Description in, provide detail to provide a thorough understanding of embodiments.However, those skilled in the art will manage
Solution, may be practiced without these specific details embodiment.For example, circuit can be shown in block diagrams, avoid
Make embodiment fuzzy in unnecessary details.In other cases, it in order not to obscure embodiment, can not display the details of well known
Circuit, structure and technology.
The first parallel point, the second parallel point, the third parallel point etc. that following each embodiment is previously mentioned may be collectively referred to as parallel
Point；The first parallel lines, the second parallel lines, third parallel lines for being previously mentioned etc., may be collectively referred to as parallel lines.Similarly, a certain title
When front is titled with the first, second, third, etc. numeral-classifier compound, directly it can be referred to as being referred to as with the name.
What following each embodiment was previously mentioned refers to the object abutted against by wall by wall barrier, for example leans against the clothing on wall side
Cabinet, cabinet for TV and sofa etc..Isolated danger then refers to that the object for not leaning on wall, robot can be along the outer of object walkings one
Circle, such as tea table, the dining table in parlor center etc..
A kind of traversal control method of robot, the robot is can be with the intelligent robot of autonomous, the machine
Device people can position by sensors such as camera and laser radars, determine the behaviors such as obstacle identity and avoidance.It is described
Traversal refers to that robot all walks to go over to the ground of region.If the robot is clean robot, machine
It is out-of-date that people walks on ground, can carry out the clean operations such as dust suction simultaneously, when robot completes the traversal in the region, indicates machine
People has been completed the cleaning in the region.The cleaning is not limited to sweep the floor and dust suction, can also refer to mop floor, polish or beat
The cleaning functions such as wax.That is robot according to the traversal control method, can carry out sweeping, dust collecting, mop floor, the polishing on floor or
Person's waxing.
The traversal control method specifically comprises the following steps: in step S1 that robot is using current location as origin, along
One direction straight forward, robot detects wall by camera and obstacle sensor or after wall barrier, determination is worked as
Anteposition is set to the first anchor point.Robot walks from the origin towards first anchor point, and the path walked is first fixed
Position side.The first direction is the direction from the origin straight line towards first anchor point.Robot reaches the first positioning
After point, S2 is entered step.In step S2, robot returns to origin from first anchor point, subsequently into step S3.Step S3
In, robot carries out pivot stud in origin, and judges to be rotated since first positioning side along default rotation direction
Whether the sum of angle is equal to 360 °, and the default rotation direction can be configured according to specific design requirement, can be set
For direction clockwise or counter-clockwise.If the sum of angle rotated is equal to 360 °, show robot with origin for circle
The heart, has been completed the division of whole region, is only left last block zonule and needs to be traversed for, then enters step S8 and carry out finally
Traversal.If not reaching 360 °, show robot using origin as the center of circle, only starts or be only completed drawing for partial region
Divide and traverse, need to enter step S4, continues the division in region traversal.In step S4, robot goes to second direction,
Angle between the second direction and the first direction is the first angle, and first angle can be set less than 180 °
It is 60 ° or 90 °.Then, S5 is entered step.In step S5, the walking of second direction described in Robot, robot passes through camera shooting
Head and obstacle sensor detect wall or after the wall barrier, determines that current location is the second anchor point, and robot is from institute
It states origin to walk towards second anchor point, the path walked is the second positioning side.The second direction is from the origin
Straight line is towards the direction of second anchor point.After robot reaches the second anchor point, S6 is entered step.In step S6, machine
People turns in second anchor point, towards first anchor point carry out along side walk, along while walking path be first along while,
In the range of described first is located at first angle along side, subsequently into step S7.In step S7, when robot ambulation to
When one anchor point, drawn a circle to approve one by it is described first positioning while, first along while and second positioning side surround first delineation region,
Robot traverses first delineation region.After traversal, robot returns to origin, then proceedes to go to third party
To the angle between third direction and second direction is the second angle.Origin is first returned by this, turns again to determine angle angle
The mode of degree, the angle marked off is more acurrate, and the region divided is more accurate, and juncture area is avoided to repeat to clean or leak
The problem of sweeping.It it should be noted that the second angle is identical as the angle of the first angle, also, is all to carry out angle in the same direction
Degree calculates, for example the first angle then second is pressed from both sides from the first positioning side to the second positioning clockwise included angle in edge
Angle is exactly to position the clockwise included angle in edge from the second positioning side to third, and similarly, third angle is exactly from third
It positions side and positions the clockwise included angle in edge to the 4th, and so on.Third direction described in Robot to move ahead
It walks, detects wall or after the wall barrier, determine that current location is third anchor point, robot is from the origin towards described
The walking of third anchor point, the path walked are that third positions side.The third direction is from described in the origin straight line direction
The direction of third anchor point.After robot reaches third anchor point, robot is turned in the third anchor point, towards described second
Anchor point carry out along side walk, along while walking path be second along while, described second is located at the model of second angle along side
In enclosing.When robot ambulation to the second anchor point, drawn a circle to approve one by it is described second positioning while, second along while and third position
While the second delineation region surrounded, robot traverse second delineation region.And so on, until robot is in original
Point enters step S8 when the sum of angle rotated along default rotation direction is equal to 360 °.In step S8, robot turns at this time
One encloses and has gone to first direction, at this point, robot stops operating, then runs to along the first current positioning side corresponding
First anchor point.Robot is turned in the first fixed point, is carried out towards an adjacent upper anchor point (not being the second anchor point) along side row
It walks.When the supreme anchor point of robot ambulation, one has been drawn a circle to approve by working as forward position wing diameter two when forward position wing diameter and with described
The remaining area for holding connected positioning side to be surrounded, robot traverse the remaining area, are finally completed all areas
The traversal in domain.Wherein, the N is the natural numbers such as one, two, three, four.The traversal control method of the robot, robot pass through
Using position while with along while in conjunction with by the way of draw a circle to approve a region to be traversed (the delineation region described in i.e.), to the area coverage knot
Shu Hou, then by same mode, draw a circle to approve next region to be traversed, then proceed by traversal.And so on, it completes all
The traversal in region.Region division to be cleaned is several zonules, institute using the starting point of robot as the center of circle by these traversal modes
It states zonule and is different from the grid region with canonical form, which has similar to fan-shaped shape, specific shape
The edge shape of whole region is depended on again, if the included angle on adjacent positioned side is arranged rationally, robot only needs
The division and traversal for carrying out several zonule domains, can be completed the traversal of whole region.Division side relative to grid region
Formula, this mode is more flexible, and the case where can reduce drain sweep, for example, leading to when the entrance when some region is narrow
Cross the form of grid region traversal, it is easy to can't detect the entrance due to walking error etc., lead to corresponding region
Drain sweep.And our rule is by way of along side, it is possible to prevente effectively from these problems.In addition, this combine edge by positioning side
The mode on side can draw a circle to approve the proper traversal region of a range, more reasonable than the mode that the overall situation cleans again along side, because
Robot carries out the overall situation along side at the very start, and the overall situation is more long along side time-consuming, is easy that user is allowed to misread, and does not understand robot dry
What, our rule be directly carry out grid region traversal and first carry out the overall situation compromise is taken between both modes of side
Mode, it can avoid being easy misunderstanding, and can achieve preferable traversal effect, better user experience.In addition, robot is adopted
The lesser region of some entrances of drain sweep can also be avoided in this way.
As one of embodiment, by taking predetermined angle is 90 degree as an example, as shown in Figure 1, maximum outer rim HGEC
Circle for region to be cleaned, middle part indicates sweeping robot, and the location of robot is P point at this time.Sweeping robot is from P
Point starts starting and cleans, and robot is kept straight on forward to A point, detects wall, then returns to P point.After returning to P point, robot this
When be directed towards D point direction, so needing to turn 90 degrees to the left, towards B point direction.If robot is directed towards A point when returning to P point
Direction is then to turn to 90 degree to the right, towards B point direction.So that the folder of direction PB and the direction PA that final robot keeps straight on forward
Angle is 90 degree of predetermined angle.Then, robot straight forward detects wall when running to B point again.Robot is at B point
Turn to the left, using on the right side of it along while sensor carry out along while, it is described along side sensor can using infrared sensor or
The senser elements such as ultrasonic sensor.Robot side runs to C point from B point, finally reaches A point.At this point, robot is drawn a circle to approve
One first delineation region PBCA.Then, robot traverses the region.After traversal, robot returns to P point, so
Rear steering is kept straight on to D point, and towards the point direction D, and the angle of the PD and PB are also 90 degree of predetermined angle.Robot keeps straight on to D point
When also detected that wall, then robot turns to the left, using on the right side of it along while sensor carry out along while walk, by E point
And reach B point.At this point, one second delineation region PDEB has drawn a circle to approve in robot again.Robot traverses the region.With this
Analogize, robot successively draws a circle to approve and traversed the third delineation region PAHF of delineation region PFGD and the 4th, to be finally completed
The traversal of whole region cleans.
Preferably, the numerical value of the N angle is the unspecified angle value more than or equal to 60 °, and less than or equal to 90 °,
Set angle should not be too large, also unsuitable too small, the too large or too small cleaning traversal effect that can all influence robot.It can be with
70 ° or 80 ° are chosen, optimal is 90 °.
As one of embodiment, during the robot walks from the origin to the anchor point, such as
Fruit detects isolated danger, then executes following steps: isolated danger described in Robot is located in the delineation region
Side walk along side, when rectilinear direction of the robot ambulation to the origin towards the anchor point, continues along described
Rectilinear direction moves ahead towards the anchor point.
Specifically, as shown in Fig. 2, robot straight forward since P point, detects barrier M in V1 point, at this point, machine
Device people identifies barrier M by camera, in conjunction with the image data base of itself, judges that barrier M is not wall
Or wall barrier is leaned on, belong to an isolated object.So robot turns to the right, using on the left of it along side sensor,
The side for being located at delineation region PADCB barrier M walk along side.It should be noted that delineation region PADCB is not
It is originally present within, is that robot is estimated according to default rotation direction, for example, default rotation direction is square clockwise
To then drawing a circle to approve region must be on the right side in the direction PA；Default rotation direction be counterclockwise, then draw a circle to approve region must be
The left side in the direction PA.After robot is along the track V1-V2-V3-V4 cut-through object, continues to keep straight on along the direction PA, walk always
To A point, wall is detected.Then robot returns to P point from A point, and the mode of navigation can be directly used in when return, does not have to along side
It returns.Then, robot is turned to and is kept straight on towards the point direction B, detects wall at B point, then robot is along wall B-C-
The track of D-A runs to A point.At this point, a delineation region PADCB has drawn a circle to approve in robot, and the region is traversed.
As one of embodiment, robot described in step S7 traverses N delineation region, has
Body includes the following steps (by taking the first delineation region as an example): robot is since the first anchor point, along described first along side, towards institute
It states the second anchor point and runs to the first parallel point, the straight line for being parallel to the first direction where first parallel point, with
Line space where first positioning side between straight line is pre-determined distance.The pre-determined distance can be wanted according to specific design
It asks and is configured, it is preferred that can be set to the fuselage width of a robot.Robot is turned in first parallel point,
The direction parallel with the first direction is gone to, and is kept straight on along when front direction, the path walked is the first parallel edges.Work as machine
When people runs to second positioning side, wall or leans on wall barrier, with current location point for the second parallel point, Robot
Second positioning side, wall lean on wall barrier, run to third parallel point towards second anchor point.The third is flat
The straight line for being parallel to the first direction where row point, the line space between straight line where first parallel edges is described
Pre-determined distance.Robot is turned in the third parallel point, goes to the direction parallel with the first direction, and front direction is worked as on edge
Straight trip, the path walked are the second parallel edges.When robot ambulation to described first is along side, with current location point for the 4th
Parallel point, first along side described in Robot, runs to the 5th parallel point, the 5th parallel point institute towards second anchor point
The straight line for being parallel to the first direction, the line space between straight line where second parallel edges is pre-determined distance.
Robot is turned in the 5th parallel point, is gone to the direction parallel with the first direction, and keep straight on along when front direction, is gone
The path walked is third parallel edges, and so on, robot completes the first lap in the way of the planning walking of this parallel path
Determine the traversal in region.The method by using parallel path combination parallel path both ends along side spacing mode, relative to existing
Some arc types traverses mode, and which can be more suitable for the irregular area coverage of edge profile, it is ensured that edge and
Effective cleaning of corner.
Similarly, if it is by taking the second delineation region as an example, then corresponding first direction becomes second direction, the first positioning side
Become the second positioning side, the second positioning is when becoming third positioning.
As shown in Figure 1, having drawn a circle to approve the first delineation region PBCA when Robot side runs to A point.Then, robot opens
Beginning traverses the region.First from A point along side, walking is back to the first parallel point a point for robot, returns after can turning to,
Return can directly be fallen back.Robot is turned in a point, and towards b point position, the direction ab at this time is parallel with the direction PA, and the
Linear distance between the positioning of one parallel edges ab and first side PA is the fuselage width of a robot.Robot keeps straight on from a point
To the second parallel point b point, steering runs to third parallel point c point.Robot is turned in c point, and towards d point direction, straight trip is extremely
4th parallel point d point.The direction cd is parallel with the direction PA, and the linear distance between the second parallel edges cd and the first parallel edges ab
For the fuselage width of a robot.And so on, robot runs to the 5th parallel point e point from d point, and by identical parallel
Path planning mode is walked along route described in arrow, successively by f point, g point etc., runs to h point always.At this point, robot
By first delineation region all positions it is all right pass by, complete the traversal in the region.Similarly, robot is pressed described in arrow
Path direction reach the traversal that the second delineation region PBED is completed after n point successively by i point, j point, k point, l point, m point etc..
Then, path direction described in arrow is pressed by robot, is sequentially completed the third delineation of delineation region PFGD and the 4th region PAHF's
Traversal, and it is finally completed the traversal of all areas.
Similarly, as shown in Fig. 2, path direction described in arrow is pressed by robot, successively pass through a point, b point, c point, d point, e
Point, f point and g point etc. complete the traversal of current delineation region PADCB.
As one of embodiment, when robot traverses N delineation region, if robot is along parallel
Side detects isolated danger during walking, then executes following steps: isolated danger described in Robot is located at described
N positioning while side carry out along while walk, when the rectilinear direction where robot ambulation to the parallel edges, continuation along institute
State parallel edges walking.For example, robot traverses the 4th delineation region in the way of the planning walking of above-mentioned parallel path,
During parallel edges walking, barrier is detected, and show that the barrier is isolated by camera detection and analysis
Barrier, then isolated danger described in Robot be located at it is described 4th positioning while side carry out along while walk, work as robot
When running to the rectilinear direction where the parallel edges, show that robot has bypassed the barrier, robot continues along institute
State parallel edges walking.It is traversed if it is to the 6th delineation region, is then to be located at the described 6th along the isolated danger to determine
Position while side carry out along while walk.And so on.The method by control robot during walking along parallel edges,
When detecting isolated danger, along barrier be located at walked positioning while side carry out along while walk, it is ensured that machine
The planning of device people walking, the case where avoiding the occurrence of drain sweep, improves the cleaning quality of robot.
As shown in figure 3, robot traverses delineation region PADCB by path shown in arrow, work as robot ambulation
When to b point, isolated danger M is detected, then the side that Robot Selection isolated danger M is located at positioning side PA carries out edge
Side runs to e point according to the track of b-c-d-e, has returned in the rectilinear direction where parallel edges bf, and robot continues from e point
It keeps straight on to f point.Then, robot continues to walk by path described in arrow, when running to g point, continues along the left side of barrier M
It carries out running to h point according to the track of g-e-d-c-b-h along side, return in the rectilinear direction where parallel edges Bg, robot
Continue to keep straight on from h point, walk by path described in arrow, until completing the traversal in entire delineation region.
A kind of chip, for storing program instruction, described program instruction executes as above each embodiment for controlling robot
The traversal control method of the robot.The chip makes robot by using positioning by configuring described program instruction
While with along while in conjunction with mode draw a circle to approve a region to be traversed, to the area coverage after, then pass through same mode, delineation
Next region to be traversed, then proceeds by traversal.And so on, complete the traversal of all areas.These traversal modes, with
The starting point of robot is the center of circle, is several zonules by region division to be cleaned, is traversed by unit of zonule, this side
Formula is relatively more suitable for the traversal in single section, and the traversal efficiency and user experience of robot can be improved.
A kind of clean robot can be sweeping robot or floor-mopping robot, and master control core is equipped in the robot
Piece, the main control chip are chip described in each embodiment as above.Robot can control robot by assembling the chip
By using positioning while with along while combine mode draw a circle to approve a region to be traversed, to the area coverage after, then pass through together
The mode of sample draws a circle to approve next region to be traversed, then proceeds by traversal.And so on, complete the traversal of all areas.This
Region division to be cleaned is several zonules using the starting point of robot as the center of circle by a little traversal modes, using zonule as unit into
Row traversal, this mode are relatively more suitable for the traversal in single section, the traversal efficiency and user experience of robot can be improved.
Obstacle sensor described in the various embodiments described above refers to the infrared sensor or machinery for detecting barrier
Formula crash sensor.
The directions words such as the "upper" that is previously mentioned in above-described embodiment, "lower", " left side " and " right side ", if do not illustrated,
It is then to refer in attached drawing to wait directions up and down.If there is illustrating, then by illustrating definition, a such as left side for robot
Side is then the left side for referring to robot direction of advance, is not the left side for referring to attached drawing.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.These programs can store in computer-readable storage medium (such as ROM,
The various media that can store program code such as RAM, magnetic or disk) in.When being executed, it includes above-mentioned each for executing to the program
The step of embodiment of the method.Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than it is right
It is limited；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and the present invention is each
The range of embodiment technical solution.
Claims (7)
1. a kind of traversal control method of robot, which comprises the steps of:
Step S1: robot, along the direction N straight forward, detects wall or by wall barrier using current location as origin
Afterwards, determining that current location is N anchor point, the path walked from the origin to the N anchor point is that N positions side,
Subsequently into step S2；
Step S2: robot returns to origin, subsequently into step S3；
Step S3: robot carries out pivot stud in origin, and judges since first positioning side, along default rotation direction
Whether the sum of angle rotated is equal to 360 °, if it is, S8 is entered step, if it is not, then entering step S4；
Step S4: robot goes to the direction N+1, and the angle between the direction the N+1 and the direction the N is N angle,
The N angle is less than 180 °, subsequently into step S5；
Step S5: the walking of the direction N+1 described in Robot detects wall or after wall barrier, determines current location
For N+1 anchor point, the path walked from the origin to the N+1 anchor point is that N+1 positions side, subsequently into step
Rapid S6；
Step S6: robot is turned in the N+1 anchor point, walk along side towards the N anchor point, along side walking
Path is N along side, in the range of the N is located at the N angle along side, subsequently into step S7；
Step S7: when robot ambulation to N anchor point, drawn a circle to approve one by N positioning while, N along while and N+1
The N delineation region that positioning side surrounds, robot traverse N delineation region, return step after traversal
S2；
Step S8: robot stops operating, and runs to corresponding anchor point along current positioning side, then upward an anchor point into
Row is walked along side, when the supreme anchor point of robot ambulation, has drawn a circle to approve one by working as forward position when forward position wing diameter and with described
The remaining area that the positioning side that wing diameter both ends are connected is surrounded, robot traverse the remaining area, final complete
At the traversal of all areas；
Wherein, the N is natural number.
2. the method according to claim 1, wherein the numerical value of the N angle be more than or equal to 60 °, and
Unspecified angle value less than or equal to 90 °.
3. the method according to claim 1, wherein the robot walks from the origin to the anchor point
During, if detecting isolated danger, execute following steps:
Isolated danger described in Robot be located at it is described delineation region in side carry out along side walk, when robot ambulation extremely
The origin towards the anchor point rectilinear direction when, continue to be moved ahead towards the anchor point along the rectilinear direction.
4. the method according to claim 1, wherein area is drawn a circle to approve to the N by robot described in step S7
Domain is traversed, and is specifically included:
Robot is since N anchor point, along the N along side, runs to the first parallel point towards the N+1 anchor point, institute
The straight line for being parallel to the direction the N where the first parallel point is stated, with the line space between straight line where N positioning side
For pre-determined distance；
Robot is turned in first parallel point, goes to the direction parallel with the direction the N, and keep straight on along when front direction,
The path walked is the first parallel edges；
It is second parallel with current location point when robot ambulation is to N+1 positioning side, wall or leans on wall barrier
Point, the positioning of N+1 described in Robot side, wall or leans on wall barrier, and it is parallel to run to third towards the N+1 anchor point
Point, where the straight line for being parallel to the direction the N where the third parallel point, with first parallel edges between straight line
Line space is pre-determined distance；
Robot is turned in the third parallel point, goes to the direction parallel with the direction the N, and keep straight on along when front direction,
The path walked is the second parallel edges；
When robot ambulation to the N is along side, with current location point for the 4th parallel point, N described in Robot along side,
The 5th parallel point is run to towards the N+1 anchor point, is parallel to the straight of the direction the N where the 5th parallel point
Line space where line, with second parallel edges between straight line is pre-determined distance；
Robot is turned in the 5th parallel point, goes to the direction parallel with the direction the N, and keep straight on along when front direction,
The path walked is third parallel edges；
And so on, robot completes the traversal in N delineation region in the way of the planning walking of this parallel path.
5. according to the method described in claim 4, it is characterized in that, the robot during walking along parallel edges, such as
Fruit detects isolated danger, then executes following steps:
Isolated danger described in Robot be located at the N positioning while side carry out along while walk, when robot ambulation extremely
When rectilinear direction where the parallel edges, continue to walk along the parallel edges.
6. a kind of chip, for storing program instruction, which is characterized in that described program is instructed for controlling robot perform claim
It is required that the traversal control method of robot described in any one of 1 to 5.
7. a kind of clean robot, including main control chip, which is characterized in that the main control chip is core as claimed in claim 6
Piece.
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