CN112486182A - Sweeping robot for realizing construction of unknown environment map and path planning and use method thereof - Google Patents
Sweeping robot for realizing construction of unknown environment map and path planning and use method thereof Download PDFInfo
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Abstract
The invention discloses a sweeping robot for realizing construction of an unknown environment map and path planning, which comprises: the invention also discloses a using method of the sweeping robot, which mainly comprises the following steps: establishing a two-dimensional dynamic matrix map, recording parameters of the two-dimensional dynamic matrix map, and expanding the width, the length and the backtracking of the two-dimensional dynamic matrix map; the method adopts a dynamic matrix algorithm, can simultaneously realize two-dimensional map construction and full-coverage cleaning in the first time of facing strange environment, does not need to relate to an interactive platform, and reduces the labor cost.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to a sweeping robot for realizing construction of an unknown environment map and path planning and a using method thereof.
Background
At present, when a sweeping robot based on slam technology realizes map construction, although the definition of the constructed map is high, the robot is generally positioned by adding an artificial beacon by means of a human-computer interaction platform, the labor cost is high, the equipment cost is high, and the sweeping robot is not suitable for changeable strange environments.
For strange environment modeling, the existing sweeping robot based on slam is generally completed by means of a human-computer interaction platform, and an artificial beacon is often added in the robot positioning process, so that the labor cost is high, and the independence is poor.
In the prior art, a mainstream path planning method for a sweeping robot generally divides a connected domain after obtaining map information, traverses each connected domain to realize full coverage, and often generates a necessary backtracking path when traversing sub-connected domains, so that the sweeping efficiency of the sweeping robot is reduced.
Disclosure of Invention
In view of the above, the invention aims to provide a sweeping robot for realizing map construction and path planning in an unknown environment, which can solve the technical problems that in the prior art, manual beacons are often added in the process of realizing robot positioning, the labor cost is high, and the independence is poor, and can realize backtracking based on two-dimensional space grid map modeling and by using an a-algorithm under completely unknown strange environments, so that full-coverage collection of map information is independently realized, manual dependence is reduced, and the independence of the robot for constructing a map is enhanced.
Aiming at the technical problems of high repetition rate and low operation efficiency of the traditional path planning algorithm in the prior art, the invention carries out improved design. In the sweeping process after the map modeling is finished, once a closed area is detected, the priority processing is carried out, and the sub-area path planning is carried out by adopting a method combining the edgewise tracking and the cattle-ploughing coverage, so that the total length of the backtracking path is effectively reduced, and the path repetition rate is reduced.
The specific technical scheme for solving the technical problems is as follows: a sweeping robot for realizing unknown environment map construction and path planning comprises:
the first acquisition module is used for acquiring environmental data and current position coordinate information through an infrared sensor of the sweeping robot and generating a two-dimensional dynamic matrix map;
the second acquisition module is used for acquiring distance data between the sweeping robot and an obstacle and the in-situ turning angle of the sweeping robot through the infrared sensor of the sweeping robot;
the motion control module is used for controlling the sweeping robot to complete the cattle-ploughing type motion according to the set motion direction priority;
the judging module is used for judging whether the sweeping robot enters a dead point, whether full coverage detection is finished and whether a backtracking path is selected;
and the path planning module is used for planning the path of the sweeping robot.
Further, the first obtaining module includes:
the first acquisition unit is used for acquiring distance data of the infrared sensors in the east direction, the west direction, the south direction and the north direction of the sweeping robot;
the second acquisition unit is used for acquiring the position coordinate information of the real-time movement of the sweeping robot in the current two-dimensional dynamic matrix map;
the judging unit is used for judging whether the two-dimensional dynamic matrix map should be expanded or not according to the mathematical relationship between the current position coordinate information and the distance data acquired by the infrared sensor;
the establishing unit is used for establishing a final map model according to cloud point information in the two-dimensional dynamic matrix map;
and the marking unit is used for marking backtracking points which may exist in the two-dimensional dynamic matrix map.
Further, the second obtaining module includes:
the acquisition unit is used for sending a stop signal to the motion control module according to the distance data between the sweeping robot and the obstacle acquired by the infrared sensor and once the judgment result shows that the distance is smaller than the radius of a half sweeping robot;
and the rotating unit is used for controlling the sweeping robot to rotate 90 degrees on site and enter the next line for sweeping.
Further, the judging module includes:
the storage unit is used for storing the final map model obtained by the establishing unit and sending the information of the final map model to the first judging unit;
the first judging unit is used for judging whether a backtracking point exists in the current two-dimensional dynamic matrix map or not, and if the backtracking point exists in the current two-dimensional dynamic matrix map, the backtracking point information is sent to the second judging unit;
the second judging unit is used for judging whether an uncleaned point exists in the current two-dimensional dynamic matrix map or not according to the backtracking point information, and if the uncleaned point exists in the current two-dimensional dynamic matrix map, the uncleaned point information is sent to the planning unit;
and the planning unit is used for selecting a point with the minimum Euclidean distance from the current position to backtrack according to the information of the points which are not cleaned.
Further, the path planning module includes:
the detection unit is used for detecting whether the traveled path and the obstacle form a closed area or not;
and the planning unit is used for planning the sweeping robot to trace to the bottom end of the closed area along the boundary of the closed area according to the detection result obtained by the detection unit and then sweep out the area from the bottom end in a cattle-ploughing type sweeping mode.
The invention also provides a use method of the sweeping robot for realizing the construction of the unknown environment map and the path planning, which comprises the following steps:
step S1, establishing a two-dimensional dynamic matrix map;
step S101, the sweeping robot receives environmental data acquired by a sensor to obtain distances between the sweeping robot and obstacles in the east direction, the west direction, the south direction and the north direction, wherein the distances are sequentially as follows: ey、Wy、Sx、Nx；
Step S102, taking the northwest angle of an initial matrix as a coordinate origin, setting X as the width of the two-dimensional dynamic matrix map, setting Y as the length of the two-dimensional dynamic matrix map, and defining the eastern direction as the positive direction of a Y axis and the southern direction as the positive direction of an X axis;
step S103, dividing the two-dimensional dynamic matrix map into a plurality of cells by taking the diameter of the sweeping robot as a unit, recording the coordinates of the sweeping robot in the current two-dimensional dynamic matrix map, and updating the coordinates once when the sweeping robot moves one cell;
the expressions of X and Y are:
X＝Nx+Sx-1 (1)
Y＝Ey+Wy-1 (2)
in the formula (1) and the formula (2), the variable Ey、Wy、Sx、NxRespectively represent: the distance between the sweeping robot and the obstacle is measured in the east direction, the west direction, the south direction and the north direction;
step S2, recording parameters of the two-dimensional dynamic matrix map;
the sweeping robot alternately cleans in a reciprocating way by a cattle-ploughing type motion track in a working area, and the priority of the motion direction is as follows: the east is greater than the west and greater than the north is greater than the south, and when obstacles are met in the cleaning process, the robot turns 90 degrees to the direction of the next priority to move according to the priority of the moving direction;
during the movement, recording N detected by each sensor in the current rowx、SxAnd generating a line list;
generating a corresponding number of line lists by how many lines the sweeping robot sweeps, and enabling N in each line listx、SxRespectively, is recorded as Nxmax、Sxmax；
Step S3, expanding the width and the length of the two-dimensional dynamic matrix map;
expanding the width of the two-dimensional dynamic matrix map, specifically:
the sweeping robot alternately and reciprocally sweeps in a working area in a cattle-ploughing type motion track, and once E is monitoredy0 or WyWhen the value is 0;
extracting N from a line list of a current sweeping robotx max、Sx maxSetting the nth line of the current behavior of the sweeping robot;
if N in the line list of the nth linex maxIf x is greater than x, x is the value of the ordinate of the sweeping robot in the nth row, and after the sweeping robot enters the next row, namely n +1 rows, the T is extended towards the north on the basis of the original two-dimensional dynamic matrix map1Unit of unit, generateA new two-dimensional dynamic matrix map, said T1The expression of (a) is:
T1＝Nxmar-X (3)
in the formula (3), NxmaxExpressed as the maximum distance from the obstacle in the north direction of the sweeping robot in the line list of the nth line, and X is the width of the original two-dimensional dynamic matrix map;
the coordinates of the sweeping robot are changed correspondingly immediately;
if S in the line list of the nth linex max> (X-X), then after the sweeping robot enters the next row, namely n +1 rows, on the basis of the original two-dimensional dynamic matrix map, a T is extended to the south2Generating a new two-dimensional dynamic matrix map by each unit, T2The expression of (a) is:
T2＝Sxmax-(X-x) (4)
in the formula (4), SxmaxExpressed as the maximum distance from the obstacle in the line list of the nth row in the south direction of the sweeping robot, wherein X is the width of the original two-dimensional dynamic matrix map, and X is the value of the ordinate of the sweeping robot in the nth row;
the coordinates of the sweeping robot are changed correspondingly immediately;
expanding the length of the two-dimensional dynamic matrix map, specifically:
the sweeping robot alternately and reciprocally sweeps in a working area in a cattle-ploughing type motion track, and once E is monitoredy0 or WyWhen the position data of the n +1 line is not equal to 0, the sweeping robot turns to enter the next line, namely n +1 line for sweeping immediately, and the position data of the n +1 line is acquired
And
if it is
Then is at the placeAfter the sweeping robot enters n +1 rows, expanding T towards the west on the basis of the original two-dimensional dynamic matrix map3Generating a new two-dimensional dynamic matrix map by each unit, T3The expression of (a) is:
T3＝Wyn+1-y (5)
in the formula (5), Wyn+1Expressed as the maximum distance between the sweeping robot and the obstacle in the western direction in the line list of the (n + 1) th line, and y is expressed as the value of the ordinate of the sweeping robot in the (n + 1) th line;
the coordinates of the sweeping robot are changed correspondingly immediately;
if it is
Expanding T to east on the basis of the original two-dimensional dynamic matrix map after the sweeping robot enters n +1 rows4Generating a new two-dimensional dynamic matrix map by each unit, T4The expression of (a) is:
T4＝Eyn+1-(Y-y) (6)
in the formula (6), Eyn+1Expressed as that in the line list of the (n + 1) th line, the sweeping robot is in the eastern direction, the maximum distance between the sweeping robot and the obstacle is obtained, Y is expressed as the length of the original two-dimensional dynamic matrix map, and Y is expressed as the value of the vertical coordinate of the sweeping robot in the (n + 1) th line;
the coordinates of the sweeping robot are changed correspondingly immediately;
step S4, backtracking
And when the sweeping robot is transported to the dead point position according to the basic motion mechanism, selecting the latest backtracking point from the backtracking point list, returning to the step S1 to execute the operation command, if the number of the backtracking points in the backtracking point list is 0 and no grid which is not traversed exists in the current two-dimensional dynamic matrix map, indicating that the working area is fully covered and collected, finally finishing the construction of the map model, and ending the circulation.
Further, in the step S4, a trace point is set by using a marker trace method.
Further, the sweeping robot detects whether a traveled path and an obstacle form a closed area while sweeping, and if the closed area is detected, the current position is set as a starting point, and a bottom end point of the closed area is set as an end point;
tracking along the boundary of the closed area to the end point of the closed area, and after reaching the end point of the closed area, sending a cattle-farming traversal track from the end point to clean and return to the position of the start point of the closed area.
The invention has the beneficial effects that:
1. the dynamic matrix algorithm is used, the two-dimensional map construction and the full-coverage cleaning can be simultaneously realized when the system is faced with a strange environment for the first time, an interaction platform is not needed, and the labor cost is reduced.
2. In the process of using the dynamic matrix algorithm to complete the map construction, the invention can realize the two-dimensional coordinate positioning of the robot in the current map by using the vertical and horizontal vertical characteristics of the cattle-ploughing type motion track of the robot without additionally arranging artificial beacons.
3. The invention uses a marking method for backtracking, so that a proper backtracking point can be selected to help the robot to separate from a dead point on the premise that the boundary condition of the map is unknown.
4. The invention adopts a method combining edge tracking and cattle cultivation coverage to plan the path of the subareas, thereby effectively reducing the repetition rate.
Drawings
Fig. 1 is a block diagram of a sweeping robot in embodiment 1.
Fig. 2 is a flowchart of the dynamic matrix algorithm used in example 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, the present embodiment provides a sweeping robot for implementing unknown environment map construction and path planning, including:
the first acquisition module is used for acquiring environmental data and current position coordinate information through an infrared sensor of the sweeping robot and generating a two-dimensional dynamic matrix map;
the first acquisition module includes:
the first acquisition unit is used for acquiring distance data of the infrared sensors in the east direction, the west direction, the south direction and the north direction of the sweeping robot;
the second acquisition unit is used for acquiring the position coordinate information of the real-time movement of the sweeping robot in the current two-dimensional dynamic matrix map;
the judging unit is used for judging whether the two-dimensional dynamic matrix map should be expanded or not according to the mathematical relationship between the current position coordinate information and the distance data acquired by the infrared sensor;
the establishing unit is used for establishing a final map model according to cloud point information in the two-dimensional dynamic matrix map;
and the marking unit is used for marking backtracking points which may exist in the two-dimensional dynamic matrix map.
The second acquisition module is used for acquiring distance data between the sweeping robot and an obstacle and the in-situ turning angle of the sweeping robot through the infrared sensor of the sweeping robot;
the second acquisition module includes:
the acquisition unit is used for sending a stop signal to the motion control module according to the distance data between the sweeping robot and the obstacle acquired by the infrared sensor and once the judgment that the distance is smaller than the radius of a half sweeping robot;
and the rotating unit is used for controlling the sweeping robot to rotate 90 degrees on site and enter the next line for sweeping.
The motion control module is used for controlling the sweeping robot to complete the cattle-ploughing type motion according to the set motion direction priority;
the judging module is used for judging whether the sweeping robot enters a dead point, whether full coverage detection is finished and whether a backtracking path is selected;
the judging module comprises:
the storage unit is used for storing the final map model obtained by the establishing unit and sending the information of the final map model to the first judging unit;
the first judging unit is used for judging whether a backtracking point exists in the current two-dimensional dynamic matrix map or not, and if the backtracking point exists in the current two-dimensional dynamic matrix map, the backtracking point information is sent to the second judging unit;
the second judging unit is used for judging whether an uncleaned point exists in the current two-dimensional dynamic matrix map or not according to the backtracking point information, and if the uncleaned point exists in the current two-dimensional dynamic matrix map, the uncleaned point information is sent to the planning unit;
and the planning unit is used for selecting the point with the minimum Euclidean distance from the current position to backtrack according to the information of the points which are not cleaned.
And the path planning module is used for planning the path of the sweeping robot.
The path planning module comprises:
the detection unit is used for detecting whether the traveled path and the obstacle form a closed area or not;
and the planning unit is used for planning the sweeping robot to trace to the bottom end of the closed area along the boundary of the closed area according to the detection result obtained by the detection unit and then sweep out the area from the bottom end in a cattle-ploughing type sweeping mode.
Example 2
The implementation provides a use method of a sweeping robot for realizing construction of an unknown environment map and path planning, which comprises the following steps:
step S1, establishing a two-dimensional dynamic matrix map;
step S101, the sweeping robot receives environmental data acquired by a sensor to obtain distances between the sweeping robot and obstacles in the east direction, the west direction, the south direction and the north direction, wherein the distances are sequentially as follows: ey、Wy、Sx、Nx；
Step S102, taking the northwest angle of the initial matrix as a coordinate origin, setting X as the width of the two-dimensional dynamic matrix map, setting Y as the length of the two-dimensional dynamic matrix map, and defining the eastern direction as the positive direction of the Y axis and the southern direction as the positive direction of the X axis;
step S103, carrying out cell division on the two-dimensional dynamic matrix map by taking the diameter of the floor sweeping robot as a unit, dividing the two-dimensional dynamic matrix map into a plurality of cells, recording the coordinates of the floor sweeping robot in the current two-dimensional dynamic matrix map, and recording the coordinates as (y, x), wherein the coordinates are updated once when the floor sweeping robot moves one cell;
the expressions for X and Y are:
X＝Nx+Sx-1 (1)
Y＝Ey+Wy-1 (2)
in the formula (1) and the formula (2), the variable Ey、Wy、Sx、NxRespectively represent: the distance between the sweeping robot and the obstacle is measured in the east direction, the west direction, the south direction and the north direction;
step S2, recording parameters of the two-dimensional dynamic matrix map;
the sweeping robot alternately cleans in a reciprocating way in a working area by a cattle-ploughing type motion track, and the priority of the motion direction is as follows: the east is greater than the west and greater than the north is greater than the south, and when obstacles are met in the cleaning process, the robot turns 90 degrees to the direction of the next priority to move according to the priority of the moving direction;
during the movement, recording N detected by each sensor in the current rowx、SxAnd generating a line list;
generating a corresponding number of line lists by the cleaning robot according to the number of the lines to be cleaned, and enabling N in each line listx、SxRespectively, is recorded as Nx max、Sx max；
Step S3, expanding the width and the length of the two-dimensional dynamic matrix map;
expanding the width of the two-dimensional dynamic matrix map, specifically:
floor sweeping robot workingAlternately and reciprocally cleaning the working area by a cattle-ploughing type motion track once E is monitoredy0 or WyWhen the value is 0;
extracting N from a line list of a current sweeping robotx max、Sx maxSetting the nth line of the current behavior of the sweeping robot;
if N in the line list of the nth linex maxX is the value of the ordinate of the sweeping robot in the nth row, and the T is expanded to the north on the basis of the original two-dimensional dynamic matrix map after the sweeping robot enters the next row, namely the n +1 row1Generating a new two-dimensional dynamic matrix map T by each unit1The expression of (a) is:
T1＝Nxmax-X (3)
in the formula (3), NxmaxThe maximum distance between the sweeping robot and the obstacle in the north direction in the line list of the nth line is represented, and X is the width of the original two-dimensional dynamic matrix map;
the coordinate of the sweeping robot is changed correspondingly immediately;
if S in the line list of the nth linex max> (X-X), then after the sweeping robot enters the next row, namely n +1 rows, on the basis of the original two-dimensional dynamic matrix map, a T is extended to the south2Generating a new two-dimensional dynamic matrix map T by each unit2The expression of (a) is:
T2＝Sxmax-(X-x) (4)
in the formula (4), SxmaxThe maximum distance between the sweeping robot and the obstacle in the south direction in the line list of the nth row is represented, X is the width of the original two-dimensional dynamic matrix map, and X is the value of the ordinate of the sweeping robot in the nth row;
the coordinate of the sweeping robot is changed correspondingly immediately;
the method for expanding the length of the two-dimensional dynamic matrix map specifically comprises the following steps:
the sweeping robot alternately and reciprocally sweeps in a working area in a cattle-ploughing type motion track, and once E is monitoredy0 or WyWhen the speed is 0, the sweeping robot turns to enter the next lineThat is, n +1 lines are swept, and position data of n +1 lines are acquired
And
if it is
Then after the sweeping robot enters n +1 rows, expanding T towards the west on the basis of the original two-dimensional dynamic matrix map3Generating a new two-dimensional dynamic matrix map T by each unit3The expression of (a) is:
T3＝Wyn+1-y (5)
in the formula (5), Wyn+1Expressed as the maximum distance between the sweeping robot and the obstacle in the western direction in the line list of the (n + 1) th line, and y is expressed as the value of the ordinate of the sweeping robot in the (n + 1) th line;
the coordinate of the sweeping robot is changed correspondingly immediately;
if it is
After the sweeping robot enters n +1 rows, expanding T to the east on the basis of the original two-dimensional dynamic matrix map4Generating a new two-dimensional dynamic matrix map T by each unit4The expression of (a) is:
T4＝Eyn+1-(Y-y) (6)
in the formula (6), Eyn+1Expressed as that in the line list of the (n + 1) th line, the sweeping robot is in the eastern direction, the maximum distance between the sweeping robot and the obstacle is obtained, Y is expressed as the length of the original two-dimensional dynamic matrix map, and Y is expressed as the value of the ordinate of the sweeping robot in the (n + 1) th line;
the coordinate of the sweeping robot is changed correspondingly immediately;
step S4, backtracking
When the sweeping robot is transported to the dead point position according to the basic motion mechanism, the nearest backtracking point backtracking is selected from the backtracking point list, the step S1 is returned to execute the operation command, if the number of the backtracking points in the backtracking point list is 0 and no grid which is not traversed exists in the current two-dimensional dynamic matrix map, the full-coverage collection of the working area is represented, the construction of the map model is finally completed, and the cycle is ended.
Specifically, in step S4, a mark backtracking method is used to set a backtracking point, after the map model is finally constructed, the sweeping robot detects whether the traveled path and the obstacle form a closed area while sweeping, and if the closed area is detected, the current position is set as a starting point, and the bottom end point of the closed area is set as an end point; tracking along the boundary of the closed area to the end point of the closed area, and after reaching the end point of the closed area, sending a cattle-farming traversal track from the end point to clean and return to the position of the start point of the closed area.
More specifically, the obstacles include obstacles encountered by the sweeping robot in a work area, such as table legs, chair legs, other furniture and the like, and also include boundaries of the work area, such as walls and the like;
the specific rule is that if the heading direction and the north direction are both unobstructed and are not traversed, the robot preferentially moves and detects in the heading direction (east or west) according to the movement priority east > west > north, so that spaces which are not traversed yet exist in the north direction and a north backtracking point is needed to traverse and detect the grid spaces. When the forward direction and the north direction are both free of obstacles and are not traversed, and obstacles exist in the northeast or northwest grids, a point of the north grid in the current position is selected as a marked north backtracking point, the backtracking point selected according to the principle is usually a corner point of a space which is not detected in the north direction, and the south backtracking point selection principle is similar to the north backtracking point.
The invention is not described in detail, but is well known to those skilled in the art.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A sweeping robot for realizing construction of an unknown environment map and path planning is characterized by comprising:
the first acquisition module is used for acquiring environmental data and current position coordinate information through an infrared sensor of the sweeping robot and generating a two-dimensional dynamic matrix map;
the second acquisition module is used for acquiring distance data between the sweeping robot and an obstacle and the in-situ turning angle of the sweeping robot through the infrared sensor of the sweeping robot;
the motion control module is used for controlling the sweeping robot to complete the cattle-ploughing type motion according to the set motion direction priority;
the judging module is used for judging whether the sweeping robot enters a dead point, whether full coverage detection is finished and whether a backtracking path is selected;
and the path planning module is used for planning the path of the sweeping robot.
2. The sweeping robot for realizing mapping and path planning of unknown environments of claim 1, wherein the first obtaining module comprises:
the first acquisition unit is used for acquiring distance data of the infrared sensors in the east direction, the west direction, the south direction and the north direction of the sweeping robot;
the second acquisition unit is used for acquiring the position coordinate information of the real-time movement of the sweeping robot in the current two-dimensional dynamic matrix map;
the judging unit is used for judging whether the two-dimensional dynamic matrix map should be expanded or not according to the mathematical relationship between the current position coordinate information and the distance data acquired by the infrared sensor;
the establishing unit is used for establishing a final map model according to cloud point information in the two-dimensional dynamic matrix map;
and the marking unit is used for marking backtracking points which may exist in the two-dimensional dynamic matrix map.
3. The sweeping robot for realizing mapping and path planning of unknown environments of claim 2, wherein the second obtaining module comprises:
the acquisition unit is used for sending a stop signal to the motion control module according to the distance data between the sweeping robot and the obstacle acquired by the infrared sensor and once the judgment result shows that the distance is smaller than the radius of a half sweeping robot;
and the rotating unit is used for controlling the sweeping robot to rotate 90 degrees on site and enter the next line for sweeping.
4. The sweeping robot for realizing mapping and path planning of unknown environments of claim 3, wherein the determining module comprises:
the storage unit is used for storing the final map model obtained by the establishing unit and sending the information of the final map model to the first judging unit;
the first judging unit is used for judging whether a backtracking point exists in the current two-dimensional dynamic matrix map or not, and if the backtracking point exists in the current two-dimensional dynamic matrix map, the backtracking point information is sent to the second judging unit;
the second judging unit is used for judging whether an uncleaned point exists in the current two-dimensional dynamic matrix map or not according to the backtracking point information, and if the uncleaned point exists in the current two-dimensional dynamic matrix map, the uncleaned point information is sent to the planning unit;
and the planning unit is used for selecting a point with the minimum Euclidean distance from the current position to backtrack according to the information of the points which are not cleaned.
5. The sweeping robot for realizing the mapping and path planning of the unknown environment according to claim 4,
the path planning module comprises:
the detection unit is used for detecting whether the traveled path and the obstacle form a closed area or not;
and the planning unit is used for planning the sweeping robot to trace to the bottom end of the closed area along the boundary of the closed area according to the detection result obtained by the detection unit and then sweep out the area from the bottom end in a cattle-ploughing type sweeping mode.
6. The use method of the sweeping robot applied to any one of claims 1 to 5 is characterized by comprising the following steps:
step S1, establishing a two-dimensional dynamic matrix map;
step S101, the sweeping robot receives environmental data acquired by a sensor to obtain distances between the sweeping robot and obstacles in the east direction, the west direction, the south direction and the north direction, wherein the distances are sequentially as follows: ey、Wy、Sx、Nx；
Step S102, taking the northwest angle of an initial matrix as a coordinate origin, setting X as the width of the two-dimensional dynamic matrix map, setting Y as the length of the two-dimensional dynamic matrix map, and defining the eastern direction as the positive direction of a Y axis and the southern direction as the positive direction of an X axis;
step S103, dividing the two-dimensional dynamic matrix map into a plurality of cells by taking the diameter of the sweeping robot as a unit, recording the coordinates of the sweeping robot in the current two-dimensional dynamic matrix map, and updating the coordinates once when the sweeping robot moves one cell;
the expressions of X and Y are:
X＝Nx+Sx-1 (1)
Y＝Ey+Wy-1 (2)
in the formula (1) and the formula (2), the variable Ey、Wy、Sx、NxRespectively represent: the sweeping robot and the barrier can sweep in the east, the west, the south and the north directionsThe distance between obstacles;
step S2, recording parameters of the two-dimensional dynamic matrix map;
the sweeping robot alternately cleans in a reciprocating way by a cattle-ploughing type motion track in a working area, and the priority of the motion direction is as follows: the east is greater than the west and greater than the north is greater than the south, and when obstacles are met in the cleaning process, the robot turns 90 degrees to the direction of the next priority to move according to the priority of the moving direction;
during the movement, recording N detected by each sensor in the current rowx、SxAnd generating a line list;
generating a corresponding number of line lists by how many lines the sweeping robot sweeps, and enabling N in each line listx、SxRespectively, is recorded as Nxmax、Sxmax；
Step S3, expanding the width and the length of the two-dimensional dynamic matrix map;
expanding the width of the two-dimensional dynamic matrix map, specifically:
the sweeping robot alternately and reciprocally sweeps in a working area in a cattle-ploughing type motion track, and once E is monitoredy0 or WyWhen the value is 0;
extracting N from a line list of a current sweeping robotxmax、SxmaxSetting the nth line of the current behavior of the sweeping robot;
if N in the line list of the nth linexmaxIf x is greater than x, x is the value of the ordinate of the sweeping robot in the nth row, and after the sweeping robot enters the next row, namely n +1 rows, the T is extended towards the north on the basis of the original two-dimensional dynamic matrix map1Generating a new two-dimensional dynamic matrix map by each unit, T1The expression of (a) is:
T1＝Nxmax-X (3)
in the formula (3), NxmaxExpressed as the maximum distance from the obstacle in the north direction of the sweeping robot in the line list of the nth line, and X is the width of the original two-dimensional dynamic matrix map;
the coordinates of the sweeping robot are changed correspondingly immediately;
if S in the line list of the nth linexmax> (X-X), then after the sweeping robot enters the next row, namely n +1 rows, on the basis of the original two-dimensional dynamic matrix map, a T is extended to the south2Generating a new two-dimensional dynamic matrix map by each unit, T2The expression of (a) is:
T2＝Sxmax-(X-x) (4)
in the formula (4), SxmaxExpressed as the maximum distance from the obstacle in the line list of the nth row in the south direction of the sweeping robot, wherein X is the width of the original two-dimensional dynamic matrix map, and X is the value of the ordinate of the sweeping robot in the nth row;
the coordinates of the sweeping robot are changed correspondingly immediately;
expanding the length of the two-dimensional dynamic matrix map, specifically:
the sweeping robot alternately and reciprocally sweeps in a working area in a cattle-ploughing type motion track, and once E is monitoredy0 or WyWhen the position data of the n +1 line is not equal to 0, the sweeping robot turns to enter the next line, namely n +1 line for sweeping immediately, and the position data of the n +1 line is acquired
And
if it is
Expanding T towards the west on the basis of the original two-dimensional dynamic matrix map after the sweeping robot enters n +1 rows3Generating a new two-dimensional dynamic matrix map by each unit, T3The expression of (a) is:
in the formula (5), the first and second groups,
expressed as the maximum distance between the sweeping robot and the obstacle in the western direction in the line list of the (n + 1) th line, and y is expressed as the value of the ordinate of the sweeping robot in the (n + 1) th line;
the coordinates of the sweeping robot are changed correspondingly immediately;
if it is
Expanding T to east on the basis of the original two-dimensional dynamic matrix map after the sweeping robot enters n +1 rows4Generating a new two-dimensional dynamic matrix map by each unit, T4The expression of (a) is:
in the formula (6), the first and second groups,
expressed as that in the line list of the (n + 1) th line, the sweeping robot is in the eastern direction, the maximum distance between the sweeping robot and the obstacle is obtained, Y is expressed as the length of the original two-dimensional dynamic matrix map, and Y is expressed as the value of the vertical coordinate of the sweeping robot in the (n + 1) th line;
the coordinates of the sweeping robot are changed correspondingly immediately;
step S4, backtracking
And when the sweeping robot is transported to the dead point position according to the basic motion mechanism, selecting the latest backtracking point from the backtracking point list, returning to the step S1 to execute the operation command, if the number of the backtracking points in the backtracking point list is 0 and no grid which is not traversed exists in the current two-dimensional dynamic matrix map, indicating that the working area is fully covered and collected, finally finishing the construction of the map model, and ending the circulation.
7. The method for using the sweeping robot for realizing the construction of the unknown environment map and the path planning as claimed in claim 6, wherein in the step S4, a back tracing point is set by using a mark back tracing method.
8. The use method of the sweeping robot for realizing the construction of the unknown environment map and the path planning as claimed in claim 7, wherein the sweeping robot detects whether the traveled path and the obstacle form a closed area while sweeping, and if the closed area is detected, the current position is set as a starting point, and the bottom end point of the closed area is set as an end point;
tracking along the boundary of the closed area to the end point of the closed area, and after reaching the end point of the closed area, sending a cattle-farming traversal track from the end point to clean and return to the position of the start point of the closed area.
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