CN108873880A - Intelligent mobile device, route planning method, and computer-readable storage medium - Google Patents

Abstract

The embodiment of the invention provides intelligent mobile equipment, a path planning method thereof and a computer readable storage medium. The method comprises the following steps: determining an initial position of a moving path; establishing a coordinate system by taking the initial position as an origin, and establishing a map corresponding to the coordinate system; moving according to a preset moving mode based on the coordinate system, and marking in the map; and determining an unmarked unknown area in the map according to the information marked in the map, controlling the intelligent mobile equipment to move to the unknown area, moving according to the preset moving mode and updating the map. Therefore, in the embodiment of the invention, the coordinate system is established at the initial position of the moving path, the corresponding map is established, and the marking of the whole map is completed by moving according to the preset moving mode. For the automatic cleaning robot, the cleaning task of the whole room can be completed according to the mode, and efficient work is realized.

Description

Intelligent mobile device, route planning method, and computer-readable storage medium

technical field

The present invention relates to the technical field of robots, and more specifically relates to an intelligent mobile device, a path planning method thereof, and a computer-readable storage medium.

Background technique

The automatic cleaning robot is also called automatic cleaning equipment, etc., which can automatically move in the room to complete the floor cleaning work. And how to carry out path planning to make it efficiently and completely realize the basis of floor cleaning work.

When the automatic cleaning robot cleans in an unknown environment, it can clean in a random walking manner, but the cleaning path in this way is messy, which is easy to cause problems such as missed cleaning and repeated cleaning, which wastes time and reduces cleaning efficiency. . By installing hardware that can draw maps such as laser ranging sensors and cameras, the map can be drawn gradually during the cleaning process to complete the cleaning, but additional hardware will not only increase the cost, but also easily cause the automatic cleaning robot to fail to work due to hardware failures . Therefore, it is necessary to plan the cleaning path of the automatic cleaning robot without adding special map-drawing hardware to improve the cleaning coverage.

Contents of the invention

The present invention has been made in consideration of the above-mentioned problems. The invention provides an intelligent mobile device, its path planning method, and a computer-readable storage medium, which can realize path planning, thereby efficiently realizing the work of an automatic cleaning robot.

According to one aspect of the present invention, a method for planning a route of an intelligent mobile device is provided, the method comprising:

Determine the initial position of the moving path;

constructing a coordinate system with the initial position as the origin, and establishing a map corresponding to the coordinate system;

Based on the coordinate system, move according to a preset movement mode, and mark on the map;

Determine the unmarked unknown area in the map according to the information marked in the map, control the smart mobile device to move to the unknown area, move according to the preset movement mode and update the map.

In one embodiment of the present invention, the preset movement mode is:

moving along a first direction to form a first path;

deflecting in a second direction perpendicular to the first direction after encountering an obstacle, and then moving in a direction opposite to the first direction to form a second path;

After encountering an obstacle again, it deviates to the second direction, and then moves along the first direction to form a third path, and so on, wherein the distance between every two adjacent paths is equal to the first preset distance.

In one embodiment of the present invention, said determining the initial position of the moving path includes:

If the smart mobile device is at the reference object, the smart mobile device is controlled to advance a second preset distance away from the reference object, and the position after advancing is determined as the initial position.

In one embodiment of the present invention, said constructing a coordinate system with said initial position as the origin includes:

A direction away from the reference object is determined as the first direction of the coordinate system to construct the coordinate system.

In one embodiment of the present invention, said determining the initial position of the moving path includes:

If the smart mobile device is not at the reference object, then controlling the smart mobile device to advance along a third direction until encountering a first obstacle;

controlling the smart mobile device to move a third preset distance along the first obstacle;

In the moving route formed by moving the third preset distance along the first obstacle, if the proportion of straight lines in the moving route exceeds a preset ratio, the movement route after the third preset distance will be moved end point as the initial position.

In one embodiment of the present invention, said constructing a coordinate system with said initial position as the origin includes:

A direction perpendicular to the straight line and away from the first obstacle is determined as the first direction of the coordinate system, so as to construct the coordinate system.

In one embodiment of the present invention, said determining the initial position of the moving path includes:

If the smart mobile device is not at the reference object, then control the smart mobile device to advance along a third direction until encountering a second obstacle;

controlling the smart mobile device to move a third preset distance along the second obstacle;

In the moving route formed by moving the third preset distance along the second obstacle: if a part of the moving route forms a closed loop, the position of the formed closed loop is used as the initial position , if the proportion of straight lines in the moving route is less than a preset ratio, taking the end point after moving the third preset distance as the initial position.

In one embodiment of the present invention, said constructing a coordinate system with said initial position as the origin includes:

Determining the first direction and constructing the coordinate system according to the attitude of the smart mobile device at the initial position.

In an embodiment of the present invention, the third direction is the direction of the nose of the smart mobile device.

In an embodiment of the present invention, the moving according to a preset movement mode based on the coordinate system, and marking in the map include:

Taking the X direction of the coordinate system as the first direction, and using the Y direction or -Y direction of the coordinate system as the second direction, controlling the smart mobile device to move according to the preset movement mode ;

Marking the reached area of the smart mobile device on the map, and marking the positions of obstacles encountered during the moving process on the map.

In an embodiment of the present invention, determining an unmarked unknown area in the map according to information marked in the map, and controlling the smart mobile device to move to the unknown area includes:

When determining that the smart mobile device arrives at the end position of the marked area in the map, comparing the positional relationship between the end position and the unknown area;

determining a path from the end position to a boundary position at the boundary between the marked area and the unknown area according to the positional relationship;

controlling the smart mobile device to move from the end position to the boundary position along the path.

In one embodiment of the present invention, the determining that the smart mobile device reaches the end position of the marked area in the map includes:

In the process of moving according to the preset movement mode, when it is detected that the current position of the smart mobile device and the position adjacent to the current position are the positions of the marked areas in the map, determine the The current position is the end position.

In an embodiment of the present invention, the route is an existing route in the map; or,

The path is a polyline path determined according to the marker information of the map.

In one embodiment of the present invention, after the smart mobile device arrives at the boundary location:

controlling the smart mobile device to move the first preset distance to enter the unknown area;

determining the direction in which the smart mobile device will move according to the marker information on the map at the border position and near the border position;

According to the moving direction, move according to the preset moving manner and update the map.

In an embodiment of the present invention, determining an unmarked unknown area in the map according to information marked in the map, and controlling the smart mobile device to move to the unknown area includes:

In the process of moving according to the preset movement mode, if there is an unmarked area between the route where the current position of the smart mobile device is located and the existing route marked in the map, control the smart movement The device moves from the current position towards the unmarked area.

In one embodiment of the present invention, after marking the map, it also includes:

According to the obstacle marked in the map, start from the current position and move counterclockwise along the obstacle marked in the map until returning to the current position.

In an embodiment of the present invention, it further includes: if the obstacles marked in the map include an intermediate position obstacle, starting from the current position and moving along the intermediate position obstacle until returning to the current position .

In an embodiment of the present invention, it also includes: controlling the smart mobile device to return to the charging pile.

In one embodiment of the present invention, the smart mobile device is an automatic cleaning robot.

According to another aspect of the present invention, an intelligent mobile device is provided, including a memory, a processor, and a computer program stored on the memory and running on the processor, when the processor executes the computer program The steps of the path planning method described in the foregoing aspects and various examples are realized.

In one embodiment of the present invention, the smart mobile device further includes a positioning sensor, and sensing information of the positioning sensor is used to determine the posture of the smart mobile device.

In an embodiment of the present invention, the positioning sensor is any one of the following: optical mouse sensor, mileage sensor or gyroscope sensor.

In an embodiment of the present invention, the posture includes at least one of the following: angle, cumulative moving distance, and nose orientation.

According to yet another aspect of the present invention, a computer storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for generating images with different styles described in the foregoing aspects and various examples are implemented.

It can be seen that, in the embodiment of the present invention, a coordinate system is established at the initial position of the moving path and a corresponding map is established, and the marking of the entire map is completed by moving according to a preset moving mode. For the automatic cleaning robot, it is possible to complete the task of cleaning the entire room in this way to achieve efficient work.

Description of drawings

The embodiments of the present invention will be described in more detail below with reference to the accompanying drawings, and the above and other objects, features and advantages of the present invention will become more apparent. The accompanying drawings are used to further explain the embodiments of the present invention, the accompanying drawings constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute limitations to the present invention. In the drawings, the same reference numerals generally represent the same or similar components or steps.

Fig. 1 is the schematic diagram of automatic cleaning robot in the embodiment of the present invention;

Fig. 2 is a schematic diagram of a preset movement mode in an embodiment of the present invention;

Fig. 3 is a schematic flowchart of a path planning method for a smart mobile device in an embodiment of the present invention;

Fig. 4 is a schematic diagram of determining an initial position with a reference object in an embodiment of the present invention;

Fig. 5 is another schematic diagram of determining the initial position with a reference object in the embodiment of the present invention;

Fig. 6 is a schematic diagram of determining an initial position without a reference object in an embodiment of the present invention;

Fig. 7 is another schematic diagram of determining the initial position without a reference object in the embodiment of the present invention;

Fig. 8 is another schematic diagram of determining the initial position without a reference object in the embodiment of the present invention;

Fig. 9 is another schematic diagram of determining the initial position without a reference object in the embodiment of the present invention;

FIG. 10 is a schematic diagram of a moving path in an embodiment of the present invention;

Fig. 11 is another schematic diagram of the moving path in the embodiment of the present invention;

Fig. 12 is another schematic diagram of the moving path in the embodiment of the present invention;

Fig. 13 is another schematic diagram of the moving path in the embodiment of the present invention;

Fig. 14 is a schematic diagram of a circle along an obstacle in the embodiment of the present invention;

Figure 15 is a schematic diagram of a circle along the middle obstacle in the embodiment of the present invention;

Fig. 16 is a schematic block diagram of an intelligent mobile device according to an embodiment of the present invention.

Detailed ways

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only some embodiments of the present invention, rather than all embodiments of the present invention, and it should be understood that the present invention is not limited by the exemplary embodiments described here. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative effort shall fall within the protection scope of the present invention.

The smart mobile device in the embodiment of the present invention is, for example, an automatic cleaning robot. FIG. 1 is a schematic diagram of a smart mobile device 10 . The smart mobile device 10 may include a body 11 and wheels 12 .

Exemplarily, the smart mobile device 10 may further include a positioning sensor 13 , and sensing information of the positioning sensor 13 is used to determine the posture of the smart mobile device 10 . Wherein, the positioning sensor 13 can be any one of the following: optical mouse sensor, mileage sensor or gyroscope sensor. Wherein, the gesture of the smart mobile device 10 may include at least one of the following: angle, cumulative moving distance, and nose orientation.

Exemplarily, the smart mobile device 10 can also include a cliff (Cliff) sensor 14. When the signal emitted by the transmitting tube cannot be received by the receiving tube in time, it will be judged that the distance is far, that is, a cliff, such as a step, so that it can prevent The smart mobile device 10 moves towards the steps to prevent the smart mobile device 10 from falling. Optionally, the cliff sensor 14 can be symmetrically arranged at the front edge of the smart mobile device.

Exemplarily, the smart mobile device 10 may further include an odometer sensor (odograph, ODO), which is used to sense the travel mileage of the wheels 12 . It will be appreciated that an ODO (not shown in FIG. 1 ) may be connected to the wheel 12 .

Exemplarily, the smart mobile device 10 may further include a gyroscope (Gyro), which is used to test the angle of the smart mobile device 10 when it is driving. In addition, a magnetic compass (Compass) can be included, which defines absolute north and south poles to correct for angles being tested by the Gyro.

Exemplarily, the smart mobile device 10 can also include an optical mouse 15, which can be used in conjunction with the ODO. The optical mouse 15 can continuously take pictures of the ground, and judge whether the smart mobile device 10 is moving by analyzing the images on the photos. ODO can determine the movement of smart mobile device 10 through the mileage, but when the wheel 12 is slipping, the wheel 12 keeps rotating, and the mileage data measured by ODO is increasing continuously at this time, but because the wheel 12 is slipping in situ, the image taken by the optical mouse 15 remains unchanged , then it can be determined that the positioning data of the ODO is inaccurate at this time, and switch to the optical mouse 15 for positioning to correct the positioning data.

Exemplarily, the smart mobile device 10 may also include a light touch sensor 16, which may be arranged in the forward direction of the fuselage, and arranged between the buffer (bumper) and the fuselage, and several groups may be arranged along the fuselage. Light touch sensor 16, the several groups of light touch sensors 16 can sense obstacles from various directions, and when an obstacle is sensed, the smart mobile device 10 can be decelerated within a certain distance from the obstacle, or within a certain distance from the obstacle. Move along obstacles within a distance.

Exemplarily, the smart mobile device 10 further includes a roller brush, which is used to clean the ground while moving; and also includes a battery, which is used to provide power for the smart mobile device 10 while moving. Exemplarily, a WIFI module may also be included for connecting to home WIFI and communicating with smart phones connected to the same home WIFI.

It should be noted that FIG. 1 is only a schematic diagram of the smart mobile device 10 , and those skilled in the art can make appropriate changes to the quantity or structure of its hardware on this basis, which is not limited by the present invention.

The embodiment of the present invention predefines a movement manner, which may be called a preset movement manner. The preset movement method is: move along the first direction to form the first path; after encountering an obstacle, move to the second direction perpendicular to the first direction, and then move in the direction opposite to the first direction to form the first path. Form the second path; continue to deviate in the second direction after encountering an obstacle again, and then move in the first direction to form the third path, and so on. Wherein, the distance between every two adjacent paths is equal to the first preset distance. Exemplarily, the preset moving manner may be called a zigzag covering method.

Referring to FIG. 2 , it is assumed that the smart mobile device 10 starts from point O and moves along a first direction (from left to right in FIG. 2 ) to form a first path (denoted as 1). After encountering the obstacle 101, it moves in the second direction (from top to bottom in Figure 2), and after a certain distance, moves in the direction opposite to the first direction (from right to left in Figure 2) A second path (marked as 2) is formed, and the distance between the path 2 and the path 1 is equal to the first preset distance (marked as H). After encountering the obstacle 102, it deviates to the second direction. After a certain distance, it moves along the first direction to form a third path (denoted as 3), and the distance between path 3 and path 2 is equal to H. After encountering the obstacle 103, it deviates to the second direction. After a certain distance, it moves in the direction opposite to the first direction to form the fourth path (marked as 4), and the distance between path 4 and path 3 equal to H. After encountering the obstacle 104 , it deviates to the second direction. After a certain distance, it moves along the first direction to form a fifth path (denoted as 5 ), and the distance between path 5 and path 4 is equal to H. After encountering the obstacle 105, it deviates to the second direction. After a certain distance, it moves in the direction opposite to the first direction to form the sixth path (marked as 6), and the distance between path 6 and path 5 equal to H. After that, the situation of encountering obstacles and moving is similar, so I won't list them one by one here.

Referring to Fig. 2, encountering an obstacle and shifting to the second direction may refer to: moving to the second direction along the surface of the obstacle after encountering an obstacle until the vertical component of the moving distance in the second direction is equal to the first until the preset distance H. It can be understood that the offset path when encountering an obstacle may be a straight line, a broken line, or a curve, etc., and the offset path is related to the surface shape of the encountered obstacle.

When the automatic cleaning robot cleans the room, obstacles encountered may be walls, furniture (tables, chairs, beds, etc.), pets, family members, and the like. Wherein, the first preset distance H may be related to the size of the automatic cleaning robot, specifically, H may be equal to the rolling distance of the automatic cleaning robot. For example, H=15 centimeters (cm).

Exemplarily, the first direction may be one direction of the coordinate system (such as X direction or -X direction), and the second direction may be another direction of the coordinate system (such as Y direction or -Y direction). Wherein, the first direction may be parallel to (or perpendicular to) the wall, or, the first direction may form a certain angle with the wall.

Fig. 3 is a schematic flow chart of the route planning method of the smart mobile device 10 according to the embodiment of the present invention. The methods shown in Figure 3 include:

S110, determine the initial position of the moving path;

S120, constructing a coordinate system with the initial position as the origin, and establishing a map corresponding to the coordinate system;

S130. Based on the coordinate system, move according to a preset movement mode, and mark on the map;

S140. Determine an unmarked unknown area in the map according to the information marked in the map, control the smart mobile device 10 to move to the unknown area, move according to the preset moving mode, and update the map.

Exemplarily, taking an automatic cleaning robot as an example, it may execute the method shown in FIG. 3 after receiving a cleaning instruction. For example, it may receive an instruction to perform cleaning input by a user from a mobile terminal (such as a smart phone, a wearable device, etc.). Exemplarily, in S101, the smart mobile device 10 may determine an initial position of the moving path according to its position when the instruction is received. For the convenience of description, the location at which the smart mobile device 10 receives the instruction may be referred to as the departure location.

As an implementation, in S101, if the smart mobile device 10 is at the reference object, control the smart mobile device 10 to advance a second preset distance away from the reference object, and The location is determined as the initial location. Among them, the reference objects can be charging piles, walls, furniture such as beds, or other graphics, pictures, sounds, light, smells, etc. with special logos, which can be recognized and interacted with by smart mobile devices, so as to determine the orientation of the machine head, and Further determine the initial position. Further, in S102, a direction away from the reference object may be determined as the first direction of the coordinate system, so as to construct the coordinate system. It can be understood that if the direction of the nose of the smart mobile device 10 is towards the reference object at the starting position, then advancing the smart mobile device 10 for a second preset distance away from the reference object may include: controlling the smart mobile device 10 to rotate After 180 degrees, advance the second preset distance. Optionally, the second preset distance may be any value from 30cm to 50cm.

Assuming that the reference object is a charging pile (or wall), that is, the starting position is at the charging pile (or wall), and the starting position of the smart mobile device 10 is the charging pile 20 as shown in FIG. If the direction of the pile 20 moves a second preset distance (such as H2 in FIG. 4 ) to point A, then point A can be determined as the initial position. Further, an XY coordinate system can be established at point A. The X direction shown in FIG. i.e. towards the left as shown in the illustration). It can be understood that the coordinate system at point A can also be established in other ways, and the established coordinate system can be a right-handed system or a left-handed system, which is not limited in the present invention. Since the charging piles are generally arranged along the wall, that is, close to the wall, the situation when the reference object is a wall is similar to that in Figure 4, and will not be repeated here.

Assuming that the reference object is furniture such as a bed, that is, the starting position is at the furniture such as a bed, as shown in FIG. In H2) to reach point A, then point A can be determined as the initial position. Further, an XY coordinate system can be established at point A, as shown in Figure 5, the X direction is the direction away from the charging pile (that is, the downward direction shown in the illustration), and the direction perpendicular to it is set as the Y direction ( i.e. towards the left as shown in the illustration). It can be understood that the coordinate system at point A can also be established in other ways, and the established coordinate system can be a right-handed system or a left-handed system, which is not limited in the present invention.

As another implementation, in S101, if the smart mobile device 10 is not at the reference object or does not detect reference object information at the starting position, control the smart mobile device 10 to advance along the third direction until Encountering an obstacle; controlling the smart mobile device 10 to move a third preset distance along the encountered obstacle, and determining an initial position of the moving path based on the moving route.

That is to say, if there is no reference object at the starting position, the smart mobile device 10 can move towards the third direction until encountering an obstacle, and finally the initial position can be determined according to the situation of the obstacle with reference to the obstacle. As an example, the third direction may be any direction, for example, it may be the direction of the nose of the smart mobile device 10 at the starting position. As another example, an initial coordinate system may be established at the starting position, and the third direction may be the X direction or the Y direction of the initial coordinate system.

Situation 1: If the smart mobile device 10 is not at the reference object, then control the smart mobile device 10 to advance along a third direction until encountering a first obstacle; control the smart mobile device 10 to move along the The first obstacle moves a third preset distance; in the moving route formed by moving the third preset distance along the first obstacle, if the proportion of straight lines in the moving route exceeds a preset ratio, then Taking the end point after moving the third preset distance as the initial position.

As shown in Figure 6 and Figure 7, the smart mobile device 10 is at the starting position A0, and there is no reference object at A0, then the smart mobile device 10 can move forward along the third direction (such as the nose direction) until it encounters the first obstacle Objects (such as walls or furniture, etc.) arrive at A1 as shown in FIG. 6 and FIG. 7 . Subsequently, the smart mobile device 10 may move along the first obstacle for a third preset distance (denoted as H3, for example H3=1 meter) to arrive at A. In the moving route from A1 to A, if the proportion of straight lines exceeds a preset ratio (eg, 80%), then A may be determined as the initial position. Wherein, the moving routes from A1 to A shown in Figure 6 are all straight lines; due to the existence of additional obstacles (such as obstacles such as kittens, toys, etc.), the straight lines in the moving routes from A1 to A shown in Figure 7 The proportion is greater than the preset proportion (80%) and less than 1.

Further, an XY coordinate system can be established at point A, as shown in Figure 6 and Figure 7, the X direction is the direction perpendicular to the straight line in the moving route (that is, the downward direction shown in the illustration), and the direction perpendicular to it The direction is set as the Y direction (that is, the left direction shown in the figure). It can be understood that the X direction of the coordinate system may be a direction away from the first obstacle. It can be understood that the coordinate system at point A can also be established in other ways, and the established coordinate system can be a right-handed system or a left-handed system, which is not limited in the present invention.

Situation 2: If the smart mobile device 10 is not at the reference object, then control the smart mobile device 10 to advance along a third direction until encountering a second obstacle; control the smart mobile device 10 to move along the The second obstacle moves a third preset distance; in the moving route formed by moving the third preset distance along the second obstacle, if the proportion of straight lines in the moving route is less than a preset ratio, then The initial position is determined according to the state of the movement route.

As a case of case 2: if the proportion of straight lines in the moving route is less than a preset ratio, the initial position may be the end point after moving the third preset distance.

As shown in FIG. 8 , the smart mobile device 10 is at the starting position A0, and there is no reference object at A0, then the smart mobile device 10 can move forward in a third direction (such as the direction of the nose) until it encounters a second obstacle (such as clothing, etc.) arrive at the A1 place shown in Figure 8. Subsequently, the smart mobile device 10 may move a third preset distance (for example, 1 meter) along the second obstacle to arrive at A. In the moving route from A1 to A, if the proportion of straight lines is less than a preset ratio (eg 20%), then A may be determined as the initial position. Wherein, during the process of moving from A1 to A, the orientation (angle) of the smart mobile device 10 is always changing.

Further, an XY coordinate system can be established at point A according to the attitude of the smart mobile device 10 at A, where the attitude can include the head orientation of the smart mobile device 10, the accumulated moving distance, angle, and the like. As an example, the direction opposite to the third direction (the direction from A0 to A1 ) may be used as the X direction of the coordinate axis. As another example, the vertical direction of the machine head at A may be used as the X direction of the coordinate axis. As yet another example, the outer normal direction of the second obstacle at point A may be used as the X direction of the coordinate axis. The X direction shown in FIG. 8 is the outer normal direction of the second obstacle at point A, and the direction perpendicular to it is the Y direction. It can be understood that the coordinate system at point A can also be established in other ways, and the established coordinate system can be a right-handed system or a left-handed system, which is not limited in the present invention.

As another situation of situation 2: if a part of the moving route forms a closed loop, the position of the formed closed loop may be used as the initial position.

As shown in FIG. 9 , the smart mobile device 10 is at the starting position A0, and there is no reference object at A0, then the smart mobile device 10 can move forward in a third direction (such as the direction of the nose) until it encounters a second obstacle (such as Kittens, toys, etc.) arrive at the A place shown in Figure 9. Subsequently, the smart mobile device 10 may move a third preset distance (for example, 1 meter) along the second obstacle. During or after moving the third preset distance, the smart mobile device 10 returns to point A, that is, the moving route along the second obstacle moving the third preset distance includes a closed loop. Then the position forming the closed loop (that is, A) can be determined as the initial position. Wherein, in the closed-loop movement route, the orientation (angle) of the smart mobile device 10 is always changing.

Further, an XY coordinate system at point A may be established according to the posture of the smart mobile device 10 at A, where the posture may include the head orientation and angle of the smart mobile device 10 . As an example, the direction opposite to the third direction (the direction from A0 to A) may be taken as the X direction of the coordinate axis, as shown in FIG. 9 , and the direction perpendicular thereto may be taken as the Y direction. As another example, the vertical direction of the machine head at A may be used as the X direction of the coordinate axis. As yet another example, the outer normal direction of the second obstacle at point A may be used as the X direction of the coordinate axis. It can be understood that the coordinate system at point A can also be established in other ways, and the established coordinate system can be a right-handed system or a left-handed system, which is not limited in the present invention.

In this way, the initial position of the moving path (denoted as A) can be determined, and an XY coordinate system can be constructed at the initial position. Exemplarily, the map corresponding to the coordinate system created in S102 may include unknown areas. The smart mobile device 10 in the embodiment of the present invention can be an automatic cleaning robot used in a home environment, and the range of the corresponding map can be set to an area of 30m×30m. Before performing the cleaning task, the range in the map is an unknown area . It can be understood that the area of the map can be enlarged or reduced according to actual usage conditions, which is not limited in the present invention.

Further, in S103, the mobile can be moved according to the preset moving mode, and the position of the obstacle and the reached area are marked on the map, so that the unknown area in the map is gradually reduced, and the marking of the entire map is completed.

Exemplarily, the X direction of the coordinate system may be used as the first direction, and the Y direction or -Y direction of the coordinate system may be used as the second direction, and the smart mobile device 10 may be controlled to follow the predetermined direction. Move according to the set moving mode; mark the reached area of the smart mobile device 10 on the map, and mark the positions of obstacles encountered during the moving process on the map.

As an implementation, referring to FIG. 2, the X direction of the coordinate axis can be used as the first direction in FIG. 2, and the Y direction can be used as the second direction in FIG. 2. Assuming that the initial position A is point O in FIG. 2, Like this just can move according to the moving mode shown in Fig. 2. Taking the initial position A shown in FIG. 4 as an example, its moving path may be as shown in FIG. 10 . That is to say, the smart mobile device 10 can move from A to B0 according to the preset moving manner shown in FIG. 2 . Specifically, as shown in FIG. 10, after going from B1 to B0, due to the existence of obstacles (walls), the deviation of the smart mobile device 10 toward the Y direction is less than the first preset distance, then the smart mobile device 10 moves along the obstacle (Wall) Go forward from B0 until B2. When the obstacle reaches B2 and encounters an open area, it continues to shift toward the Y direction, so that there is a first preset distance between the next path and the B1-B0 path. Generally, the open area leads to the next room, and the smart mobile device 10 can continue to move to the next room according to the preset moving manner shown in FIG. 2 . Taking the automatic cleaning robot as an example, after cleaning from A to B0, it can move to B2, and continue to shift from B2 to the Y direction to perform the cleaning task of the next room.

As another implementation manner, if it is determined that the smart mobile device 10 reaches the end position of the marked area in the map, the smart mobile device 10 is controlled to move to an unmarked unknown area in the map. Optionally, when it is detected that the current location of the smart mobile device 10 and a location adjacent to the current location are locations in marked areas in the map, the current location is determined to be the end location. Optionally, it is possible to determine a first route from the end position to a border position at the border between the marked area and the unknown area in the map; and control the smart mobile device 10 to move from the end position to the border along the first route Location. Optionally, the first route may be the shortest route from the end location to the unknown area. Optionally, the first route may be determined according to marked areas and marked obstacles in the map.

In one embodiment, as shown in FIG. 11, after going from B1 to B0, due to the existence of obstacles (walls), the deviation of the smart mobile device 10 toward the Y direction is less than the first preset distance, then the smart mobile device 10 moves along the Keep going from B0 to B1 with obstacles (walls). The smart mobile device 10 detects that B1 and its nearby locations are all marked areas, and then determines that B1 is the end location. Alternatively, the smart mobile device 10 can record the coordinates of point B1, assuming (x1, y1), when the path meets the closed-loop requirements, it can be determined that the current position B1 is the end position, specifically, when the smart mobile device 10 detects that it has walked This section of the path, and the coordinate points coincide, in the process from B1 to B0, the coordinates change from (x1, y1) to (x2, y1); and in the process from B0 to B1, y1 can no longer increase the first preset distance, that is Blocked by an obstacle, it is impossible to move to the next row as shown in Figure 2, thus forming a closed loop, that is, B1→B0→B1. At the end position (B1), the smart mobile device 10 can judge the positional relationship between the marked area and the unknown area according to the marked area in the map (ie from A to B1), and determine the nearest boundary position. Specifically, the smart mobile device 10 can determine that the unknown area includes a first part and a second part according to the marking information of the map, wherein the first part is the -Y axis direction on the other side of the X axis, that is, the right side of A in FIG. 11 ; Part is below the obstacle 106 . By comparing the position relationship between the end position B1 and the first part and the second part, it is determined that the closest boundary position is the boundary related to the second part, that is, at C. For example, if it is determined by comparison that the distance from B1 to the second part is smaller than the distance from B1 to the first part, then the boundary position is determined to be C in the first part. Then the smart mobile device 10 can be controlled to move from the end position B1 to the boundary position C, such as along the dotted line B1-C in FIG. 11 . Further, the smart mobile device 10 can start from C and move according to the moving manner shown in FIG. 2 , that is, from C to D to E1 to E0 as shown in FIG. 11 . When the smart mobile device 10 moves from E0 to E1, similar to that from B0 to B1, E1 is determined as the end location. And determine the boundary position G from the end position E1 to the unknown area (the first part above), and then control the smart mobile device 10 to move from E1 to the boundary position G, such as along the dotted line E1-G in FIG. 11 .

Exemplarily, the first route moving from B1 to C, or moving from E1 to G may be an existing route in the map, or may be a polyline route determined according to the marker information of the map. It can be understood that although FIG. 11 shows a zigzag path, the first path may also be other forms of paths, such as the shortest straight path or curved path from the end position to the boundary position, which is not limited by the present invention.

In another embodiment, as shown in FIG. 12 , the smart mobile device 10 shifts from C1 to B1 due to the obstacle 106, moves from B1 to B0, and then moves from B0 to B1' due to the restriction of the wall. However, due to the movement of the user to the obstacle 106, or the obstacle 106 is a temporary obstacle, after the smart mobile device 10 hits the obstacle 106 at point B1, the obstacle 106 moves to other positions immediately, then the smart mobile device 10 moves from B0 to After moving to B1', the obstacle 106 no longer exists, that is to say, the smart mobile device 10 does not meet the requirement that "its current position and the nearby positions of the current position are all marked areas" at B1', then the smart mobile device 10 Continue moving along the path B0 to B1' until E1. After reaching E1, you can shift to -Y direction and continue to move. As an example, a preset movement path may be offset by a first preset distance, but such a path will be inconsistent with a previously marked path. As another example, the offset at E1 can be determined according to the moving path from B1 to B0. Referring to Figure 12, you can offset from E1 to E2 and move from E2 to B1. Since B1 to B0 are marked areas, then Offset from B1 to C1 and move from C1 to E3. In this way, the moving route from E1 to E3 can be kept consistent with the marked route in the map, realizing the unification of route planning in the map. After the smart mobile device 10 arrives at E3, since E3 and its nearby positions are all marked areas, it is determined that E3 is the end position, and then it can be determined and ended according to the marked areas in the map (from A→B1'→E3). The location is closest to the boundary position G of the unknown area, and then the smart mobile device 10 can be controlled to move from E3 to the boundary position G, such as along the dotted line E3-G in FIG. 12 . Exemplarily, the first route moving from E3 to G may be an existing route in the map, or may be a polyline route determined according to marker information of the map. It can be understood that although the path shown in FIG. 12 is a zigzag path, the first path may also be in other forms, such as the shortest straight path or curved path from the end position to the boundary position, which is not limited in the present invention.

As another implementation, after the smart mobile device 10 arrives at the boundary position: control the smart mobile device 10 to move the first preset distance to enter the unknown area; And the marking information near the boundary position, determine the direction in which the smart mobile device 10 will move; according to the direction in which to move, move according to the preset movement mode and update the map.

Exemplarily, the boundary position may be located on a marked path, as shown in FIG. 11 or FIG. 12 , the boundary position G is located on the path from A along the X direction. Since the unknown area is in the -Y direction of G, it can be shifted toward the -Y direction by a first preset distance to G', as shown in FIG. 12 . Referring to Fig. 2 subsequently, the -X direction of the coordinate axis can be taken as the first direction in Fig. 2, and the -Y direction can be taken as the second direction in Fig. 2, assuming that G' is point O in Fig. 2, so that Move as shown in Figure 2.

Since the obstacle 107 has been marked on the map, the smart mobile device 10 located at G' can first move towards the obstacle 107, as shown in Figure 12 from G' to H, and then from H along -X Direction movement, that is, starting from H and moving according to the preset movement mode shown in Figure 2 until reaching J.

As yet another implementation, during the process of moving according to the preset movement method, if there is an unmarked area, then control the smart mobile device 10 to move from the current position toward the unmarked area.

Referring to FIG. 12 , after the smart mobile device 10 arrives at J, since both sides of J are unmarked areas, the smart mobile device 10 needs to determine which side to shift to. Due to the existence of the obstacle 108 , there is an unmarked area between the marked path 7 and the current path 8 where J is located (such as the area above the obstacle 108 and between paths 7 and 8 in FIG. 12 ). Based on the marking information of the map, the smart mobile device 10 can determine the area of the unmarked area, or can roughly determine the area of the unmarked area; while the other side of the current position J is a completely unknown area, that is, the smart mobile device 10 cannot determine how much the right side of J shown in FIG. 12 is, so at this time the smart mobile device 10 chooses to move to the unmarked area first. As shown in FIG. 13 , the smart mobile device 10 moves from J to J'.

Since J' and its nearby positions are all marked areas, J' can be determined as the end position, similar to determining G at E3, the boundary position K can be determined at J', and then the smart mobile device 10 is controlled to move from J' to K . Similar to the movement path starting from G, the smart mobile device 10 is controlled to shift the first preset distance to K' in the -Y direction, and then move from K' toward the wall to L and then move from L along the X direction until reaching M.

Since M and its nearby positions are all marked areas, M can be determined as the end position, similar to determining G at E3, the boundary position N can be determined at M, and then the smart mobile device 10 is controlled to move from M to N. Similar to the moving path starting from G, the smart mobile device 10 is controlled to offset the first preset distance to N' in the -Y direction, and then move from N' towards the obstacle 109 and then move along the -X direction until reaching P.

In this way, the smart mobile device 10 has just completed the scanning process of the entire room, if it is an automatic cleaning robot, it has just completed the cleaning process of the entire room, and the cleaning path and obstacles have been marked on the map.

As an implementation, after marking the map, it may further include: starting from the current position and moving counterclockwise along the obstacles marked in the map according to the obstacles marked in the map until returning to The current location. Exemplarily, if the obstacles marked in the map include an intermediate position obstacle, starting from the current position and moving along the intermediate position obstacle until returning to the current position.

Referring to Figure 14, the current position after completing the map marking is P, that is to say, the current position after completing the cleaning task is P. At this time, you can start from P and move counterclockwise for one week according to the obstacles marked in the map, as shown in the figure 14 shows the path 9 starting from P and ending at P.

Since the obstacles marked in the map include the intermediate obstacle 108 , wherein the intermediate obstacle means that its surroundings include moving paths. Then after that, as shown in Figure 15, you can also start from the current position P and move to the intermediate obstacle 108 (that is, point P' in Figure 15), and then you can start from P' and move counterclockwise for one week, as shown in Figure 15. 15 shows a path 9' starting from P and ending at P'. For example, if there are other intermediate obstacles in the map, start from P' to move to other intermediate obstacles and move along the other intermediate obstacles for a circle according to the method shown in FIG. 15 . Optionally, after completing the movement of all intermediate obstacles, the smart mobile device 10 may return to P, or may stay at P', or may return to the charging pile for charging, which is not limited in the present invention.

In addition, it should be noted that although the paths 9 and 9' shown in FIGS. 14 and 15 are moving in a counterclockwise direction, the smart mobile device 10 can also move in a clockwise direction, or the paths 9 and 9' move in a counterclockwise direction, respectively. and clockwise movement, the present invention is not limited to this.

If the intelligent mobile device 10 is an automatic cleaning robot, then through the moving path shown in Figure 14 and Figure 15, it can realize the cleaning along the walls and other obstacles, prevent the corners from accumulating dust, avoid cleaning dead ends, and make the automatic cleaning robot The cleaning efficiency is higher.

In addition, it should be noted that although FIGS. 10 to 15 show the movement path of the initial position situation in FIG. 4, for any of the initial positions shown in FIGS. 5 to 8, the movement of the smart mobile device 10 can be obtained similarly. path. Taking the automatic cleaning robot as an example, it can complete the task of cleaning the room.

Based on the above description, the path planning strategy (the cleaning strategy of the automatic cleaning robot) in the embodiment of the present invention may include the preset movement method as shown in Figure 2, and include moving from the end position of the marked area to the unknown area The goto strategy. The goto strategy is also called goto logic, which includes the movement strategy from B1 to C, the movement strategy from E1 to G, etc. as shown in FIG. 11 .

It can be seen that, in the embodiment of the present invention, a coordinate system is established at the initial position of the moving path and a corresponding map is established, and the marking of the entire map is completed by moving according to a preset moving mode. For an automatic cleaning robot, the task of cleaning the entire room can be completed in this way.

Fig. 16 is a schematic block diagram of the smart mobile device 10 according to the embodiment of the present invention. The smart mobile device 10 shown in FIG. 16 may include a determination module 610 , an establishment module 620 and a control module 630 .

Determining module 610, configured to determine the initial position of the moving path;

An establishment module 620, configured to construct a coordinate system with the initial position as the origin, and establish a map corresponding to the coordinate system;

A control module 630, configured to move according to a preset movement mode based on the coordinate system, and mark on the map;

The control module 630 is further configured to determine an unmarked unknown area in the map according to the information marked in the map, and control the smart mobile device 10 to move to the unknown area according to the preset movement method. Move and update said map.

In one embodiment of the present invention, the preset movement mode is:

moving along a first direction to form a first path;

deflecting in a second direction perpendicular to the first direction after encountering an obstacle, and then moving in a direction opposite to the first direction to form a second path;

After encountering an obstacle again, it deviates to the second direction, and then moves along the first direction to form a third path, and so on, wherein the distance between every two adjacent paths is equal to the first preset distance.

In one embodiment of the present invention, the determining module 610 may be specifically configured to control the smart mobile device 10 to move away from the reference object for a second preset distance if the smart mobile device 10 is at the reference object. , and determine the advanced position as the initial position.

In an embodiment of the present invention, the establishment module 620 may be specifically configured to determine a direction away from the reference object as the first direction of the coordinate system, so as to construct the coordinate system.

In one embodiment of the present invention, the determining module 610 may be specifically configured to control the smart mobile device 10 to move forward along a third direction until the first obstacle is encountered if the smart mobile device 10 is not at the reference object thing;

controlling the smart mobile device 10 to move a third preset distance along the first obstacle;

In the moving route formed by moving the third preset distance along the first obstacle, if the proportion of straight lines in the moving route exceeds a preset ratio, the movement route after the third preset distance will be moved end point as the initial position.

In an embodiment of the present invention, the establishing module 620 may be specifically configured to determine a direction perpendicular to the straight line and away from the first obstacle as the first direction of the coordinate system, so as to construct the coordinate Tie.

In an embodiment of the present invention, the determination module 610 may be specifically configured to control the smart mobile device 10 to move forward along a third direction until the second obstacle is encountered if the smart mobile device 10 is not at the reference object thing;

controlling the smart mobile device 10 to move a third preset distance along the second obstacle;

In the moving route formed by moving the third preset distance along the second obstacle: if a part of the moving route forms a closed loop, the position of the formed closed loop is used as the initial position , if the proportion of straight lines in the moving route is less than a preset ratio, taking the end point after moving the third preset distance as the initial position.

In one embodiment of the present invention, the establishment module 620 may be specifically configured to determine the first direction and construct the coordinate system according to the posture of the smart mobile device 10 at the initial position.

In an embodiment of the present invention, the third direction is the nose direction of the smart mobile device 10 .

In one embodiment of the present invention, the control module 630 may be specifically used for:

Taking the X direction of the coordinate system as the first direction, and taking the Y direction or -Y direction of the coordinate system as the second direction, controlling the smart mobile device 10 to follow the preset movement mode move;

Mark the reached area of the smart mobile device 10 on the map, and mark the positions of obstacles encountered during the moving process on the map.

In one embodiment of the present invention, the control module 630 may be specifically used for:

When determining that the smart mobile device 10 arrives at the end position of the marked area in the map, comparing the positional relationship between the end position and the unknown area;

determining a path from the end position to a boundary position at the boundary between the marked area and the unknown area according to the positional relationship;

Controlling the smart mobile device 10 to move along the path from the end position to the boundary position.

In one embodiment of the present invention, in the process of moving according to the preset movement mode, when it is detected that the current position of the smart mobile device 10 and the positions adjacent to the current position are in the map When the position of the marked area is determined, the current position is determined as the end position.

In an embodiment of the present invention, the path is an existing path in the map; or, the path is a polyline path determined according to marking information of the map.

In an embodiment of the present invention, the control module 630 can also be used to: after the smart mobile device 10 arrives at the boundary position:

controlling the smart mobile device 10 to move the first preset distance to enter the unknown area;

determining the direction in which the smart mobile device 10 will move according to the marker information on the map at the border position and near the border position;

According to the moving direction, move according to the preset moving manner and update the map.

In one embodiment of the present invention, the control module 630 can be used to move according to the preset movement method, if the path where the current location of the smart mobile device 10 is located is different from the path already marked in the map If there is an unmarked area between the existing paths, the smart mobile device 10 is controlled to move from the current position toward the unmarked area.

In an embodiment of the present invention, the control module 630 can also be used to move counterclockwise from the current position along the obstacles marked in the map until returning to the obstacle marked in the map. current position.

In an embodiment of the present invention, the control module 630 can also be used to start from the current position and move along the intermediate position obstacle until returning to The current location.

Exemplarily, the smart mobile device 10 may be an automatic cleaning robot.

In one embodiment of the present invention, the smart mobile device 10 may include a positioning sensor, and sensing information of the positioning sensor is used to determine the posture of the smart mobile device 10 .

Exemplarily, the positioning sensor is any one of the following: optical mouse sensor, mileage sensor or gyroscope sensor.

Exemplarily, the posture includes at least one of the following: angle, cumulative moving distance, and nose orientation.

The smart mobile device 10 shown in FIG. 16 can implement the aforementioned path planning methods shown in FIGS. 3 to 15 , and details are not repeated here to avoid repetition.

In addition, the embodiment of the present invention also provides another smart mobile device 10, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the program, the aforementioned The steps of the path planning method shown in FIG. 3 to FIG. 15 .

In addition, an embodiment of the present invention also provides a computer storage medium on which a computer program is stored. When the computer program is executed by the processor, the steps of the aforementioned path planning method shown in FIG. 3 to FIG. 15 can be realized. For example, the computer storage medium is a computer readable storage medium.

It can be seen that, in the embodiment of the present invention, a coordinate system is established at the initial position of the moving path and a corresponding map is established, and the marking of the entire map is completed by moving according to a preset moving mode. For an automatic cleaning robot, the task of cleaning the entire room can be completed in this way. Moreover, the path planning method of the embodiment of the present invention ensures that the smart mobile device 10 can cover the whole area with less distance, ensures the optimal path, and correspondingly saves the power consumption of the smart mobile device 10, making it more efficient .

Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described example embodiments are exemplary only and are not intended to limit the scope of the invention thereto. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

Furthermore, those skilled in the art will understand that although some embodiments described herein include some features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention. and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

The above is only a specific embodiment of the present invention or a description of the specific embodiment, and the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily Any changes or substitutions that come to mind should be covered within the protection scope of the present invention. The protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A path planning method for an intelligent mobile device, characterized in that the method comprises: Determine the initial position of the moving path; constructing a coordinate system with the initial position as the origin, and establishing a map corresponding to the coordinate system; Based on the coordinate system, move according to a preset movement mode, and mark on the map; Determine the unmarked unknown area in the map according to the information marked in the map, control the smart mobile device to move to the unknown area, move according to the preset movement mode and update the map. 2. The method according to claim 1, wherein the preset movement mode is: moving along a first direction to form a first path; deflecting in a second direction perpendicular to the first direction after encountering an obstacle, and then moving in a direction opposite to the first direction to form a second path; After encountering an obstacle again, it deviates to the second direction, and then moves along the first direction to form a third path, and so on, wherein the distance between every two adjacent paths is equal to the first preset distance. 3. The method according to claim 2, wherein said moving according to a preset movement mode based on said coordinate system, and marking in said map comprises: Taking the X direction of the coordinate system as the first direction, and using the Y direction or -Y direction of the coordinate system as the second direction, controlling the smart mobile device to move according to the preset movement mode ; Marking the reached area of the smart mobile device on the map, and marking the positions of obstacles encountered during the moving process on the map. 4. The method according to claim 3, characterized in that, determining an unmarked unknown area in the map according to information marked in the map, controlling the smart mobile device to move to the unknown area, include: When determining that the smart mobile device arrives at the end position of the marked area in the map, comparing the positional relationship between the end position and the unknown area; determining a path from the end position to a boundary position at the boundary between the marked area and the unknown area according to the positional relationship; controlling the smart mobile device to move from the end position to the boundary position along the path. 5. The method according to claim 4, wherein the determining that the smart mobile device reaches the end position of the marked area in the map comprises: In the process of moving according to the preset movement mode, when it is detected that the current position of the smart mobile device and the position adjacent to the current position are the positions of the marked areas in the map, determine the The current position is the end position. 6. The method according to claim 4, wherein after the smart mobile device arrives at the boundary position: controlling the smart mobile device to move the first preset distance to enter the unknown area; determining the direction in which the smart mobile device will move according to the marker information on the map at the border position and near the border position; According to the moving direction, move according to the preset moving manner and update the map. 7. The method according to claim 3, characterized in that, determining an unmarked unknown area in the map according to information marked in the map, controlling the smart mobile device to move to the unknown area, include: In the process of moving according to the preset movement mode, if there is an unmarked area between the route where the current position of the smart mobile device is located and the existing route marked in the map, control the smart movement The device moves from the current position towards the unmarked area. 8. The method according to claim 1, characterized in that, after marking the map, further comprising: According to the obstacle marked in the map, start from the current position and move counterclockwise along the obstacle marked in the map until returning to the current position. 9. An intelligent mobile device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, wherein claim 1 is realized when the processor executes the computer program to the step of any one of the methods described in 8. 10. A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are realized.