CN110388920A

CN110388920A - The path planning of robot

Info

Publication number: CN110388920A
Application number: CN201810335071.5A
Authority: CN
Inventors: 张舒怡
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-04-15
Filing date: 2018-04-15
Publication date: 2019-10-29
Also published as: WO2019201188A1

Abstract

When robot traverses operation in a panel region, the approximate point (movement 1) of starting point or starting point must be first detoured one week and returned along the boundary in region, when robot is when along boundary operational process or around the operation of independent barrier, detect that there are when a relatively independent closed area between the route walked and the route passed by, suspense is P point herein, the direction of travel of script be denoted as q to, the relatively independent region is traversed first, then it walks to P point, continue along q to operation, in later ergodic process, it does not go further the relatively independent region, but simple and direct route or approximate path are walked close to the edge of inner ring along the region, when traversal afterwards encounters big independent barrier from O point when running for the first time, suspense is A point herein, the direction of travel of script be denoted as OA to, it also must be along the side of barrier Boundary detours one week and returns the approximate point (movement 2) of A point or A, then passes around barrier, run to from A point along OA extend to independent barrier another side Z point or Z point away from one parking stall of barrier point (acting 3).

Description

The path planning of robot

Technical field

The present invention relates to a kind of path plannings of robot, and relating generally to the classes such as clean robot need to be in a relative closure Region in, the path planning mode of the robot all gone over especially encounters big independent obstacle during going over Path planning when object.

Background technique

In the prior art, the path planning that clean robot moves in the room has kinds of schemes, such as Publication No. The patent of invention of WO0038025 or CN1365647A or CN1463658A, CN1129053C, CN1287722C, CN102138769 Described in application specification, but no matter which kind of scheme, cannot the 100% closed region for going over an arbitrary shape, it is right The more complex barrier of some shapes, above-mentioned path planning scheme cannot all be effectively treated, therefore all such pursuit traversals at present Path planning in example diagram (including patent or paper) be all made of the arrangement of simple obstacle object without exception, although seemingly Meet the traversal in most of rooms, but some regions relative complex for office space etc., existing published path planning It cannot be effectively treated.In existing intelligent robot dust catcher product, the path planning of more successful commercialization volume production is led Boat system has the RPS Laser Mapping System(RPS laser drawing system of Neato company), Samsung company Visionary Mapping System(phantom drafting system) and the room Evolution company NorthStar in coelonavigation System etc. is also all based on the path planning of simple obstacle object, there is respective defect, also all can not accurately realize 100% Clean coverage rate.And remaining most of product is all made of the iAdapt random collision Pathfinding system of similar iRobot company, including Product including Roomba not can avoid the problem of cleaning is omitted.According to " Mo Fei " law, if mistake is likely to occur, that It is just bound to occur.

Summary of the invention

The purpose of the present invention is to provide a kind of path planning scheme that can effectively handle complex-shaped barrier, into And energy 100% goes over the region of arbitrary shape, the closing of arbitrarily complicated barrier, relatively flat --- referred to as " traverse ".

The present invention plans in this way: when robot traversed in a panel region operation when, must first along region boundary around Row one week and the approximate point (movement 1) for returning to starting point or starting point, when robot is along boundary operational process or around independent barrier When object being hindered to run, detect that there are a relatively independent closed areas between the route walked and the route passed by When, herein suspense be P point, the direction of travel of script be denoted as q to, traverse the relatively independent region first, then walk to P point, Continue in later ergodic process, no longer to come into the relatively independent region along q to operation.

When traversal afterwards encounters big independent barrier from O point when running for the first time, suspense is A point herein, former This direction of travel is denoted as OA to must also detour one week along the boundary of barrier and return A point or the approximate point (acting 2) of A, then Cut-through object, run to from A point along OA extend to independent barrier another side Z point or Z point away from one vehicle of barrier The point (movement 3) of position.

Movement 3 is to run to Z point on the right side of barrier along just now from A point to Z point detour line with simple and direct route.

Movement 3 is to run to Z point away from one vehicle of barrier along just now from A point to the approximate path of Z point detour line The point of position.

Movement 3 is to run to Z point along just now from A point to the simple and direct route in Z point detour line part, part approximate path Or Z point deviates from the point of one parking stall of barrier.

Movement 3 is that Z point is run on the left of barrier with simple and direct route along the opposite direction of the route of Z point to A point.

Afterwards from the right side n(n of O >=1) begin stepping through operation again from a parking stall when, in m(m > 1) secondary encounter or will meet When to the barrier to have detoured, it can be executed according to the similar route of above-mentioned 3 any one route of movement.

If encountering big independent barrier for the first time from O point in the traversal operation after zone boundary of having detoured When, suspense is A point herein, during A point sets out along the boundary of barrier detour, detects and is walking in a certain intersecting point Route on the right side of be no more than 2 parking stalls distance have the parallel line of this non-detour barrier passed by, illustrate residue Barrier bypass route and the route passed by between there are when a relatively independent closed area S1, suspense is P herein Point, direction of travel are denoted as q to continuing to execute movement to operation along q and 2 walk to the approximate point of A point, it is opposite then to traverse this Independent region S1, returns to the point that P point deviates from one parking stall of barrier, regards the point as Z point, direction be adjusted to q to negative side To walking adjacent side and passed by the approximate path of route.

If encountering big independent barrier for the first time from O point in the traversal operation after zone boundary of having detoured When, suspense is A point herein, and during A point sets out along the boundary of barrier detour, detecting in a certain intersecting point will walk Route on the right side of be no more than 2 parking stalls distance have the parallel line of this non-detour barrier passed by, illustrate residue Barrier bypass route and the route passed by between there are when a relatively independent closed area S1, suspense is P herein Point, will direction of travel be denoted as q to continuing to execute movement to operation along q and 2 walk to the approximate point of A point, it is opposite then to traverse this Independent region S1 after having traversed S1, returns to P point, regards the P point as Z point, direction is adjusted to q to opposite direction, walks adjacent side It has passed by the approximate path of route.

N-th in the walking process of (n >=1) secondary non-process independence barrier, detect the channel walked with There are when a relatively independent closed area S1 between the route passed by, suspense is P point herein, and the direction of travel of script is denoted as Q is to traversing the relatively independent region S1 first, after having traversed S1, return to P point, continue along q to operation.

Essence of the invention is that complicated boundary or obstacle processing method are simplified, disposable fragment solves region Property challenge.

Fig. 1 ~ 4 are definition schematic diagram of the present invention for part relative closure region.

Fig. 5 (a, b, c) is the method schematic diagram to barrier disposed of in its entirety.

Fig. 6 ~ 7 are complete traversal path example figure.

Embodiment

When robot traversed in a panel region operation when, must first along region boundary detour one week and return starting point or The approximate point (movement 1) of starting point detects when robot is when along boundary operational process or around the operation of independent barrier It is deposited between the route of walking and the route passed by (adjacent route on the outside of the route and barrier of the independent barrier that detours) At a relatively independent closed area, suspense is P point herein, and the direction of travel of script is denoted as q to it is opposite to traverse this first Then independent region is walked to P point, is continued along q to operation, in later ergodic process, do not go further the relatively independent area In domain, such as Fig. 1.If necessary to pass through the region, simple and direct route or approximate path can be walked close to the edge of inner ring along the region.

In the traversal operation after zone boundary of having detoured from O point, if encountering big independent barrier for the first time When, suspense is A point herein, and the direction of travel of script is denoted as OA to must also detour along the boundary of barrier and one week and return A point or A Approximate point, (movement 2, the approximate point of A point refers to point of the direction the OA A point left hand position less than a parking stall distance herein), then Cut-through object is deposited between the route walked and the route passed by during execution movement 2 if detected In a relatively independent closed area S1, the first traversal relatively independent region S1, then proceed to detour and return A point or The approximate point of A, then run to from A point along OA extend to independent barrier another side Z point or Z point away from barrier one The point (movement 3) of a parking stall, such as Fig. 1 (a).

Movement 3 is to run to Z point along just now from A point to the simple and direct route in Z point detour line part, part approximate path Or Z point deviates from the point of one parking stall of barrier.In Fig. 2 (a), route, can be with the approximation of HI than more tortuous at G-H-I-J-K Gradually the track route at G to K is straightened with FG for route.

If encountering big independent barrier for the first time from O point in the traversal operation after zone boundary of having detoured When, suspense is A point herein, during A point sets out along the boundary of barrier detour, detects and is walking in a certain intersecting point Route on the right side of be no more than 2 parking stalls distance have the parallel line of this non-detour barrier passed by, illustrate residue Barrier bypass route and the route passed by between there are when a relatively independent closed area S1, suspense is P herein Point, direction of travel are denoted as q to continuing to execute movement to operation along q and 2 walk to the approximate point of A point, it is opposite then to traverse this Independent region S1, returns to the point that P point deviates from one parking stall of barrier, regards the point as Z point, direction be adjusted to q to negative side To continuing to move towards next target point, that is, walk adjacent side and passed by the approximate path of route, such as Fig. 2 (a).

If encountering big independent barrier for the first time from O point in the traversal operation after zone boundary of having detoured When, suspense is A point herein, and during A point sets out along the boundary of barrier detour, detecting in a certain intersecting point will walk Route on the right side of be no more than 2 parking stalls distance have the parallel line of this non-detour barrier passed by, illustrate residue Barrier bypass route and the route passed by between there are when a relatively independent closed area S1, suspense is P herein Point, will direction of travel be denoted as q to continuing to execute movement to operation along q and 2 walk to the approximate point of A point, it is opposite then to traverse this Independent region S1 after having traversed S1, returns to P point, regards the P point as Z point, direction is adjusted to q to opposite direction, walks adjacent side It has passed by the approximate path of route, such as Fig. 2 (b), P point is F point, Fig. 3 in figure, and P point is E point.

N-th in the walking process of (n >=1) secondary non-process independence barrier, detect the channel walked with There are when a relatively independent closed area S1 between the route passed by, suspense is P point herein, and the direction of travel of script is denoted as Q is to traversing the relatively independent region S1 first, after having traversed S1, return to P point, continue along q to operation, such as Fig. 4.

So-called boundary: for (such as the door of indoor wall and closing) in the region of a closed relatively flat, it is same Sample is suitable for a piece of open region, and the length of specified setting, width are formed by a rectangular region, rectangular side It is exactly that boundary or open region are locally closed by barrier once, then boundary is exactly the rectangle not being closed While and be not closed it is rectangular while the barrier that connects together collectively form, if barrier is not attached to one It rises, but the width between barrier is connected in less than the width (robot is walked to enter) of a robot then being also considered as Barrier together, width between barrier and rectangle boundary less than a robot width, then being also considered as Rectangular boundary and barrier connect together, if barrier has two sections and rectangle boundary connects together or and rectangle As soon as the width between boundary is respectively less than the width of a robot, then rectangular a part is enclosed by barrier.

Region can be traversed not include and be enclosed within barrier or the region that do not enter is walked at all by robot, for Have the rising step (more than the span ability of robot itself) of drop either decline step or hanging floor edge also by It is considered boundary detected by the sensor of barrier or boundary or robot, for example the curtain that drop down or falls Clothes socks on the ground etc. can be detected by non-contact sensor and be considered barrier (or boundary), but if being to encounter Harder robotic contact type sensor can be shoved along by robot, cannot can be regarded as barrier (or boundary), for machine People detects or the mobile such as human or animal of meeting encountered or other robot etc., and robot just encounters and begins around fortune It is disappeared again suddenly when row, such case can be regarded as special case, and robot can return to test point (turning point) detection obstacle Object whether there is, if it does not, continuing return robot can return to previous test point (turning point) detection.

So-called big barrier refers to that the length or width of barrier reaches a specified value (such as robot Width is preset by program), if what robot encountered is not big barrier, as special case (such as chair legs), machine People can not follow rule of the invention, directly around the rule for the circle that can also detour certainly according to big barrier.

So-called independent barrier refers to that barrier each edge (can at a distance from least one robot width between boundary To pass through robot) barrier.

So-called direction of circling is the operation of setting Robot zone boundary or is clockwise run also when running along barrier It is to run counterclockwise, generally set robot from the directly forward direction of cradle (or starting point) as the absolute front of operation, If operation is to run clockwise around boundary, whether the left hand direction that robot just preferentially detects it can walk, also It is whether the fourth direction (a upper target direction) detected in front right rear left (clockwise) four direction can walk, if can Row, that is just turned left away, preferentially detected after turning left away it is left front it is right after four direction in four direction, that is, rear To such.If left direction is boundary (or barrier), and front is feasible when moving forwards along boundary, your robots With regard to along walking forward when front direction, if front is also boundary (or barrier) --- the generally corner in room, that is just forward Second direction (next target direction) of right rear left is exactly that right direction walking preferentially detects just in right direction walking It is the four direction front direction before right rear left, if the left front right side of robot cannot walk (blind alley), robot can only It walks toward rear direction, toward the fourth direction i.e. right direction for preferentially detecting rear left front right when rear direction walking, Robot side The schematic diagram of walking such as outermost in Fig. 6 ~ 7 make a circle, this be definition " around boundary operation be to run clockwise ", certainly according to This rule, robot be around the trend of independent barrier run counterclockwise, that is, walk in region be run clockwise, but It is to run counterclockwise relative to barrier when encountering independent barrier, it is also assumed that this is the preferential lefft-hand rule of left hand.When Robot inverse hour hands can also so be set to run around boundary or barrier, run according to the preferential right-hand rule of the right hand, it is corresponding Direction is completely on the contrary, can regard one kind " mirror image " of robot (by left hand sequence rule) operation as.Traversing operation logic is The same.

So-called approximate point refers to that robot starts the walking of one section of route in certain point, then there is the trend for returning to the point (direction is the upper direction for originating traffic direction), when at a distance from the point less than a parking stall, it is believed that this section of line Road has been covered, and this approximate point generally starts to walk along boundary in robot, setting or robot when preparation is gone around An independent barrier, setting when preparation takes a round along barrier peripheral row are encountered for the first time.But distinguish current operation side To right side (lefft-hand rule) adjacent position, otherwise just can start to walk and be just mistaken as having covered, the approximate point of broad sense refers to a certain Point be all around no more than on four direction with robot current goal direction opposite direction distance a parking stall length point (as The starting point of approximate path) or positive direction distance be no more than a parking stall length point (terminal as approximate path) or current road The adjacent side of line and distance are no more than the point of a parking stall length.

The region of so-called relative closure refers to:

1) at some direction change during bypassing areas boundary or big independent obstacles borders, n-th (n >=1) it is secondary into When after entering and producing, into channel, no more than two parking stalls, (robot ambulation is covered with the channel width that produces at channel Width is referred to as a parking stall, it can be understood as the width perpendicular to direction of travel of robot is not more than two parking stalls, indicates There is no barrier presence between the two positions) --- determine when outlet, the region in openning is after n-th detour, and there are energy The region walked but do not gone to, such as S1, S2 in the region S1 in Fig. 1 (b), Fig. 1 (c).

2) some turning in robot ergodic process, walking passageway that it has just walked and the region passed by it Between width be not more than two parking stalls, at the turning of another identical clockwise (same suitable or same inverse), it Walking passageway and the region passed by between width be also not more than two parking stalls, and rotate at this --- it is previous Turning and produce --- walking route between the latter turning with passed by interregional, existing can walk but not have The region gone to.It is above-mentioned rotate into refer to if the direction of robot obstacle object be counterclockwise, robot it is every Secondary turning counterclockwise may be rotated into, and it may produce that next another n times are turned counterclockwise；If robot obstacle The direction of object is clockwise direction, then, each turning clockwise of robot may be rotated into, and next another n times are suitable Hour hands turning may be produced, such as S1, S2 in S1, Fig. 3 in Fig. 1 (a) in S1, Fig. 2 (a, b), this relative closure Region is present in independent barrier between adjacent route of having passed by or normal walking (is not at the independent barrier mistake that detours In journey) route between.

3) n-th during (n >=1) subnormal walking (non-process independence barrier), detect the route just walked with The independent barrier (route 3) of previous detour or the Some routes of zone boundary it is adjacent (channel walked with passed by Barrier outer route between width be not more than two parking stalls), can be with such as S1, S2 in S1, Fig. 4 (b) in Fig. 4 (a) Regard special case 2) as.

The region of relative closure is likely to be present on the contour line (boundary) in the region that one needs to be traversed for, or is present in barrier Hinder on the contour line of object, or be present in other routes (related or unrelated with the barrier to detour) walked with Traversed region or the route passed by between.

The region of relative closure is there are one needing especially to mark off, precisely due to by operative sensor range or ranging The limitation of method (mainly triangulation), ranging is just more correct within the scope of some, then needing can entirely traverse At the zonule of independent fixed size (such as 5 meters of length) one by one, the boundary of this zonule is considered as region division The contour line (boundary) in the region of above-mentioned relative closure.If the region of the relative closure detected is less than small by calculating Region (such as 5 meters multiply 5 meters) does not consider then that it is marked off zonule (even if it crosses over multiple zonules predetermined again Between), if being greater than zonule by the region for calculating relative closure, it is still necessary to which the region division of the relative closure is gone out cell Domain successively traverses.

After so-called simple and direct route refers to if robot once passes in and out in a certain region, which has been traversed, next time When need to walk same route, a shortcut can be walked directly around the region.In Fig. 2 (a, b), Fig. 3, robot detours barrier for the first time Object is hindered to be passed by A-B-C-D-E-F, the distance between CD is not more than a parking stall, then such as Fig. 2 (a), because AB, EF are in a straight line On, then when needing same routes (or adjacent parallel line) next time, directly walk straight line (or the approximate line of AF between AF Road)；For Fig. 2 (b), the close of A-B-E ' (E ' be intersection point of the FE on BC) this section of route of-E-F or this section of route can be walked next time Liny road；For Fig. 3, A-B-B ' (B ' be intersection point of the AB on DE) this section of route of-E-F or this section of route can be walked next time Approximate route.

Or there are the regions of a relative closure in travelling route, and this panel region had stepped through, then next It is secondary walk the region when can the right hand edge (lefft-hand rule) directly in the region pass by.One is also considered as between CD in a upper paragragh The entrance in the region for the opposing seal that piece has been gone over and outlet.When more complicated simple and direct route can also calculate cut-through object from A left side around with from the right side around simple and direct line length, select shorter one section of route to walk.

In the walking process of robot in front, pass by by the region or the region route q1, present machine When people need to walk same route, the same route of the q1 perhaps simple and direct route of q1 or a parking stall adjacent with q1 can be walked The route (the approximate route of referred to as q1) in the direction of (that also unbeaten side of robot) and q1 consistent (parallel), or become deformed Adjacent side has been passed by the approximate path of route, or part and the simple and direct route of q1(or q1) it is overlapped, locally one adjacent with q1 The direction of parking stall (that also unbeaten side of robot) and the consistent route of q1 walk the simple and direct of the same route of q1 or q1 Route is in order to carry out positioning and rectifying to robot in some specified points (such as turn point of barrier), or for robot The simplification for controlling program, the approximate route for walking the adjacent parking stall q1 are quickly collected time to lack to walk repetition circuit as far as possible Region is gone through, the disadvantage is that program is complicated and increases the quantity of closed area, and increases the number of transition movement between closed area Amount.

The above-mentioned region traversed indicates that in certain region, robot is all gone over, in addition to wheel that may be present Profile outside and barrier, have been not present the region not gone to.

So-called next target point, refer to robot after the independent barrier of detouring returns to the approximate point of A, the target then to be gone Point, it is common there are two, one for from A point along the direction OA extend to independent barrier another side Z point or Z approximate point (Z Point leaves the point of one, barrier direction parking stall), such as Fig. 1 (a), another is the point A ' ' of the adjacent parking stall of A point right-hand direction The approximate point (point that A ' ' leaves one, barrier direction parking stall) of point or A ' '." returning " font way to get there (is also known as spirally walked Method), target point is the approximate point of Z point or Z, for " river " font way to get there (also known as reciprocation type way to get there), next target point be can be A The approximate point of ' ' point or A ' ', or the approximate point of Z point or Z.But due to there are the region of relative closure, independent obstacle Region where the Z point of the another side of object may have stepped through, then the position (next target point) of Z point and after leaving Z point Direction (next target direction) can also change, such as Fig. 2 (a, b), Fig. 3: during obstacle object Boundary Moving for the first time The position of the point (the F point in L point, Fig. 2 (b), the E point in Fig. 3 in Fig. 2 (a)) is recorded when detecting the region of relative closure It sets and current moving direction, is moved to the point (L/F/E point) in a point-to-point fashion behind the region for having traversed relative closure, And the moving direction for adjusting robot is the opposite direction of moving direction when arriving point (the F/E point) for the first time, regards the point as Z point, Direction is adjusted to arrive next target direction of point (the F/E point) Shi Fangxiang for the first time, and next target position is left side adjacent paths The approximate point of target position walk the approximate path of F ' X in Fig. 2 (b), wherein F ' is intersection point of the EF line segment on WX line segment； Or as walked the approximate path of E ' Y in Fig. 3, wherein E ' is intersection point of B ' the E line segment on XY line segment；Or it returns to P point and deviates from barrier The point of one parking stall regards the point as Z point, direction be adjusted to q to opposite direction, walk adjacent side and passed by the approximate road of route Line walks the approximate path of L '-W-X such as Fig. 2 (a), and wherein L ' is intersection point of the ML line segment on VW line segment.

As Fig. 4 (a, b) recorded at the region for detecting relative closure the point (B or E) position and current movement Direction is moved to the point (B or E) in a point-to-point fashion behind the region for having traversed relative closure, and adjusts the shifting of robot Dynamic direction is consistent with moving direction when arriving point (B or the E) for the first time, continues to walk to original target point.

So-called next target direction refer to when robot follow " left hand sequence rule " execution " return " font way to get there traversal when, If current operational objective direction is front, next object run direction is exactly right direction, then next (third) target fortune Line direction is exactly rear, and another (the 4th) object run direction is exactly left direction, and the 5th object run direction is former target side To (successively right-hand circular change direction), if current goal direction is right certainly, next target direction is exactly rear, then Next target direction is exactly left, such；For " river " font way to get there, next target direction is then the negative side when front direction To.

A so-called upper target direction is the opposite direction of above-mentioned next target direction.

A so-called parking stall refers generally to the width of robot, can also be the functional parts of robot (such as sweeper When device people advances, cleaning part) covering width of the width as a parking stall, generally covered using the functional parts of robot Width of the width of lid as a parking stall, the width that can also cover the functional parts of robot is as the width of a parking stall Degree walks simple and direct route, the differentiation width (such as Fig. 2, Fig. 3) of approximate path also uses function for the spacing between the route of traversal Property component covering width of the width as a parking stall, and can be used when differentiating opposing seal region or when detection barrier The width of robot, the width that can also be used functional parts to cover certainly.Route and phase when around row bound or barrier The route passed by of neighbour is not necessarily the width of a parking stall, but robot paste certainly more close close to boundary or barrier more It is good, therefore traversal route of the invention does not need to limit and (show at a distance from one parking stall of every route and adjacent paths fixed intervals It is intended to so mark for the sake of simplifying).

When robot encounters independent barrier for the first time during traveling, this center for sentencing robot (can also To be the point of other agreements) suspense is A point, so-called substantially one circle refers to following two kinds of situations: it a) is exactly a circle, i.e. return A Point；B) central point in floor projection of robot goes to the adjacent position A ' point (the approximate point of A) of A point, less than a circle, A ' point Apart it is no more than at a distance from a parking stall with A point.

Rectangular-ambulatory-plane way to get there is generally speaking that a circle circle successively walk by loop wire mode from outside to inside, such as Fig. 5 (a), Fig. 6 ~ 7, is risen Initial point (such as clean robot cradle or go down the place of cradle) it is general require on the boundary in region, each circle Terminal can be the starting point (returning to origin) of the circle, the starting point of next circle be then a upper circle finally close to this when approximation Point；Or the terminal of each circle be around a circle finally close to starting point when approximate point, the starting point of next circle is exactly the terminal. The starting point that (such as Fig. 6 ~ 7) use in embodiment is the position of the adjacent parking stall before upper circle first segment line segment terminal, figure Middle to be indicated with small " ", the purpose being arranged in this way is as it is possible that starting point or terminal are located at the week of an independent barrier It encloses, going setting starting point again around this barrier, comparatively program is complicated slightly.

If (crash sensor detection or machine can be used in the edge that the starting point begun stepping through is not located at region Device people only simply changes direction four times counterclockwise and has walked four steps --- illustrate robot be placed on one it is four unrealistic Place is spinned in situ), then robot is needed to any direction, it is preferred to use distance measuring sensor is detected from that direction Boundary (barrier) is moved up to encountering barrier recently, or forward, also needs the barrier that detours after encountering barrier One circle returns to origin or approximate point, and judges that this barrier is independent barrier or zone boundary, and the principle of judgement is During the starting point of detour barrier starts to robot in detour turn left or turn right count, if robot around Change clockwise when returning to the approximate point of starting point or starting point after row nyctitropic number than change counterclockwise it is nyctitropic often Three times (or more) then show to run the robot of lefft-hand rule, this barrier is that the boundary in region (is looped around boundary Inner ring), if to change nyctitropic number ratio clockwise when returning to the approximate point of starting point or starting point after detouring inverse for robot Hour hands change nyctitropic number it is few three times (or more) then show that robot is (to be looped around barrier around the operation of independent barrier Periphery), if only run at present around independent barrier, robot also needs to continue around barrier (according to step counting Selection it is left around or the right side around (the few side of step number), if it is simple to be intended merely to algorithm, specify it is right around), along original side To going ahead, independent barrier is continued around until really in the inner boundary of encircled area and having returned to the starting that this time surround Point (or approximate point), and using this starting point as the origin begun stepping through.

Robot also needs to carry out in ergodic process point-to-point movement, and point-to-point be mainly used in has traversed a phase To returning to the starting point for beginning stepping through this relative closure region behind closed region, or after all having traversed a panel region The starting point (such as cradle) of robot start-up operation is returned to, point-to-point working method can find starting point according to the preceding paragraph Method execute, what slightly different is because know that the specific location of target point does not need to return to when detouring independent barrier Origin or approximate point, the barrier other side for directly going to former direction can be detached from barrier, and point-to-point algorithm can also be further Optimization: because know target point in which position, it is assumed that not having barrier or only simple obstacle object (shape between target point Shape is not very complicated fritter), then can regard starting point and target point as rectangular two angle steel joints, selection is walked Rectangular side length side (it is exactly preferentially to walk clockwise that program, which is simply put, --- for lefft-hand rule), it certainly can also be direct Walk diagonal line (oblique line), in place after correct direction again.

" river " font way to get there seems fairly simple in form, is to go ahead (or to walk to the right, be considered as going ahead nothing but Mode turn over 90 degree) to boundary, then the then distance for (lefft-hand rule is a to move right) parking stall of laterally passing by moves back Dynamic (can also regard as and turn around to keep straight on again) or opposite direction are mobile, until going to the boundary of opposite direction, this boundary can refer to barrier Hinder object (or zone boundary), the boundary passed by (when beginning bypassing areas boundary build within one week map either for the first time around The barrier map established when the independent barrier of row), as each straight trip of Fig. 5 (c), " river " font way to get there can not also go to side Boundary, but the approximate point on boundary (because the circle of boundary one has been passed by), such as Fig. 5 (b), traversal is quicker, goes to the good of boundary Place is: can use the orientation that physical barrier adjusts lower robot." river " font way to get there can be a kind of simple front and back (or Left and right) before and after direction is mobile or independent barrier front and back position to movement, independent barrier or so orientation or so to movement Hybrid mode, even independent barrier front and back position or so to before and after movement, independent barrier or so orientation to movement.Often The target point (arrive target point turn around back the place of walking) of secondary movement can be in the boundary or moving process of whole region according to The boundary of the secondary independent barrier of first encountered, can entirely traversing region division zonule if necessary, (for example 5 meters multiply 5 Rice), target point is also possible to the boundary of zonule.

" river " font way to get there is also returned comprising initial position, the setting of target position (contain terminal), the mobile etc. of point-to-point The similar problem of font way to get there, can refer to the processing mode of rectangular-ambulatory-plane.

It is (such as indoor) for the region of a closed relatively flat to the identifying way of barrier in the present invention, It is equally applicable in a piece of open or partial closure, locally open region, does not include the barrier being enclosed within barrier Hindering object, perhaps the region that do not enter is walked for having the rising step of drop or decline step to be also considered as at all by robot Barrier.

For open region such as garden, region can be traversed and refer to that the length and width range of fixation than setting is big Region；Partial closure, the open region in part refer to the region part there are obstacles borders, and part needs artificial setting side Boundary, such as the panel region that can be surrounded with certain article (such as line) or fence mode.

Thick line indicates the route (adjacent part) passed by Fig. 1 ~ 4, and filament indicates this subtask, and (detouring independent barrier Hinder object or walk (not in detour barrier) to target point) route walked, dotted line indicate to detour outer barrier or Target route next time behind relative closure region (from Z or Z apparent position).

It is not complete a whole set of traversal side although the method that the present invention provides is only intended to processing boundary or barrier Case, but region or big opposite envelope because robot is fairly simple in spacious occasion way to get there, for multiple relative closures The available the method processing in the region of the small relative closure of the nested domain closed, multiple is successively to handle one by one, and covering greatly small is It is handled using recursive algorithm (art of programming of routine call itself is known as recurrence).

Barrier is all put square-folded for the sake of simplicity in exemplary diagram, if it is what is tiltedly put, bevel edge can be quantified For the line segment of sawtooth (ladder) shape, such as the part of Fig. 1 (b).The route that thick segment mark has been passed by example diagram (has only been drawn associated Part part), filament indicates the route that (or positive be intended to) walks, the route that dotted line mark target is walked, and route typicallys represent machine The motion track at the center in floor projection of device people.

The present invention cannot be seen as the perfect of existing some traverse path planning, but propose new method and solve now Specific defect in some schemes, in fact the present inventor be also in the world unique one dare to declare to work out successfully " any In the case of complex barrier object 100% traversal and not by CPU(MPU) speed, storage unit size limited " people of program, see attached drawing 6 ~ 7。

Claims

1. the paths planning method of robot, it is characterised in that:, must the area Xian Yan when robot traverses operation in a panel region The boundary in domain detours one week and returns to the approximate point (movement 1) of starting point or starting point, when robot is along boundary operational process Or it when around the operation of independent barrier, detects relatively independent there are one between the route walked and the route passed by Closed area when, suspense is P point herein, and the direction of travel of script is denoted as q to traversing the relatively independent region first, so After walk to P point, continue in later ergodic process, no longer to come into the relatively independent region along q to operation.

2. the paths planning method of dust-collecting robot according to claim 1, it is characterised in that: in zone boundary of having detoured If when encountering big independent barrier for the first time, suspense is A point, the row of script herein from O point when later traversal is run OA is denoted as to the approximate point (acting 2) of A point or A must be also detoured one week and returned along the boundary of barrier, then passes around barrier into direction Hinder object, during execution movement 2, if detecting that there are one between the route walked and the route passed by When relatively independent closed area, the first traversal relatively independent region then proceedes to the approximate point for detouring and returning A point or A, Then run to from A point along OA extend to independent barrier another side Z point or Z point deviate from one parking stall of barrier point (movement 3).

3. the local paths planning method of dust-collecting robot according to claim 2, it is characterised in that: movement 3 is along rigid Just from A point to Z point detour line, Z point is run to simple and direct route on the right side of barrier.

4. the paths planning method of robot according to claim 2, it is characterised in that: movement 3 be along just now from A point to The approximate path of Z point detour line runs to the point that Z point deviates from one parking stall of barrier.

5. the paths planning method of robot according to claim 2, it is characterised in that: movement 3 be along just now from A point to The simple and direct route in Z point detour line part, part approximate path, run to Z point or Z point deviates from the point of one parking stall of barrier.

6. the paths planning method of robot according to claim 2, it is characterised in that: movement 3 is along Z point to A point The opposite direction of route runs to Z point with simple and direct route on the left of barrier.

7. the paths planning method of robot according to claim 2, it is characterised in that: afterwards from the right side n(n of O >= 1) when beginning stepping through operation again at a parking stall, in m(m > 1) it secondary encounter or when by encountering the barrier to have detoured, can shine The approximate path any one of claim 3,4,5 executes.

8. the paths planning method of robot according to claim 1, it is characterised in that: after zone boundary of having detoured If traversal operation when from O point, when encountering big independent barrier for the first time, suspense is A point herein, is set out edge in A point During the boundary of barrier is detoured, a certain intersecting point detect be no more than on the right side of the route walked 2 parking stalls away from From the parallel line for having this non-detour barrier passed by, illustrate remaining barrier bypass route and the road passed by There are when a relatively independent closed area S1 between line, suspense is P point herein, and direction of travel is denoted as q to along q Movement 2 is continued to execute to operation to walk to the approximate point of A point, then traverses the relatively independent region S1, is returned to P point and is deviated from obstacle The point of one parking stall of object regards the point as Z point, direction be adjusted to q to opposite direction, walk adjacent side and passed by the approximation of route Route.

9. the paths planning method of robot according to claim 1, it is characterised in that: after zone boundary of having detoured If traversal operation when from O point, when encountering big independent barrier for the first time, suspense is A point herein, is set out edge in A point During the boundary of barrier is detoured, a certain intersecting point detect be no more than on the right side of the route that will be walked 2 parking stalls away from From the parallel line for having this non-detour barrier passed by, illustrate remaining barrier bypass route and the road passed by There are when a relatively independent closed area S1 between line, suspense is P point herein, will direction of travel be denoted as q to along q Movement 2 is continued to execute to operation to walk to the approximate point of A point, then traverses the relatively independent region S1, after having traversed S1, is returned P point regards the P point as Z point, and direction is adjusted to q to opposite direction, walks adjacent side and has passed by the approximate path of route.

10. the local paths planning method of dust-collecting robot according to claim 1, it is characterised in that n-th (n >=1) In the walking process of secondary non-process independence barrier, detect that there are one between the channel walked and the route passed by When a relatively independent closed area S1, suspense is P point herein, and the direction of travel of script is denoted as q to it is relatively only to traverse this first Vertical region S1 after having traversed S1, returns to P point, continues along q to operation.