A Climbing Stairs Type Integrated Sweeping and Mopping Bionic Robot and a Full Coverage Path Planning Algorithm

Abstract

A stair-climbing integrated sweeping and mopping bionic robot relates to the field of robot technology and includes a clamping device, a camera, an infrared detection device, an ultrasonic ranging sensor, a stepping device, Mecanum wheels, a vacuum cleaner, a storage tank, a control mechanism, a storage battery, a GPS positioning module, and a WIFI module. A full-coverage path planning algorithm for the stair-climbing integrated sweeping and mopping bionic robot, and the full-coverage path planning algorithm is improved based on the ploughing-style full-coverage path planning in the region division method. The present invention solves the problems that existing floor-sweeping robots cannot smoothly and safely climb stairs to the upper layer for cleaning in residences with indoor stairs such as duplex structures and villas, and the cleaning paths are messy and inefficient due to unreasonable path planning.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a stair-climbing sweeping and mopping bionic robot and a full-coverage path planning algorithm. Background Art

[0002] A sweeping robot is a smart household appliance that can automatically vacuum the floor. Its automated and intelligent cleaning method brings great convenience to people and is deeply loved by consumers. As the consumer group grows, some consumers live in duplex structures or multi-story villas. Existing sweeping robots cannot achieve the climbing function. When the sweeping robot finishes cleaning the lower floor and needs to clean the upper floor, the consumer needs to move the sweeping robot from the lower floor to the upper floor. Therefore, existing sweeping robots have not yet reached the level of fully intelligent and automatic cleaning capabilities for duplex structures or multi-story structures.

[0003] Generally speaking, sweeping robots involve many technologies, such as path planning, sensors, positioning and mapping algorithms, cleaning, suction, sweeping and mopping, etc. They can be divided into two categories according to the walking method: random collision and path planning. Random collision is an early and relatively low-end technology, and the common method is through infrared sensing. There are two mainstream technologies for path planning: laser navigation and visual navigation. The advantage of laser navigation is high accuracy and the disadvantage is high cost; the advantage of visual navigation is richer data and lower cost, and the disadvantage is that it is inconvenient to use in scenes with insufficient light, such as at night. At present, there is a trend of integration between laser navigation and visual navigation.

[0004] Regarding the problem of existing sweeping robots climbing floors:

[0005] (1) Yanshan University invented a robot called a stair-climbing sweeping robot (patent number: 201820376416.7). This patent uses the flipping of the front wheel flip plate and the driving force provided by the rear wheel to the robot to climb stairs and overcome obstacles. However, since it can only move one step at a time and does not take into account the instability of the front wheel during the up and down stage, it is prone to slipping, so it has the disadvantages of low efficiency and instability when going up and down stairs.

[0006] (2) Chongqing University of Technology invented a sweeping robot that can climb stairs and its working method (patent number: 202010358165.1). This patent uses retractable wheels to complete going up and down stairs. However, when going up and down stairs, the wheels are in contact with the ground and it is easy to slip sideways, resulting in great safety problems.

[0007] (3) Wenzhou Duxuchun Electronic Technology Co., Ltd. invented a stair-climbing floor cleaning robot (Patent No.: 202010620694.4). This patent drives the long wheel rod and the short wheel rod to contact the steps through the up and down movement of the slider, and then props up the cleaning shell to lift it to a higher step to complete the cleaning of the stairs. However, its time efficiency for going up and down the stairs is low, and the force is applied to the front rod, making it prone to uneven force, side tipping, or rod breakage, presenting potential safety hazards.

[0008] Currently, one of the research hotspots of floor cleaning robots is to optimize algorithms to enable them to plan paths, identify obstacles, and clean without dead corners. Existing path planning algorithms have defects such as unreasonable path planning, large computational complexity, and complex algorithms. Summary of the Invention

[0009] The present invention provides a stair-climbing mopping and sweeping integrated bionic robot and a full-coverage path planning algorithm. The present invention solves the problems that existing floor cleaning robots cannot smoothly and safely climb stairs to the upper floor for cleaning in residential buildings with stairs such as duplex structures and villas, and the cleaning paths are messy and inefficient due to unreasonable path planning.

[0010] To achieve the above object, the technical solution of the present invention is as follows:

[0011] A stair-climbing mopping and sweeping integrated bionic robot, including an ant-shaped body. At the front end of the head of the body, there is a clamping device, at the top of the head, there is a camera and an infrared detection device, at the bottom of the head, there is an ultrasonic ranging sensor. On both sides of the torso of the body, there are stepping devices imitating ant legs. At the four corners of the bottom of the torso, there are Mecanum wheels. At the bottom end of the torso, there is a vacuum cleaner. The vacuum cleaner sucks garbage and dust into a storage tank through a pipeline. The body also has a control mechanism and a storage battery. The control mechanism is electrically connected to the storage battery and is respectively electrically connected to the camera, the infrared detection device, the ultrasonic ranging sensor, the first drive unit of the stepping device, the second drive unit of the Mecanum wheel, and the third drive unit of the clamping device through wires. The body also has a GPS positioning module and a WIFI module. The GPS positioning module monitors and locates the position and attitude of the robot in real time. The attitude refers to the orientation of the robot, whether it is tilted or overturned. The WIFI module uploads the power of the storage battery, the traveling speed of the robot, and the position of the robot to the mobile phone terminal in real time, and the robot is intelligently identified, located, tracked, and supervised through the mobile phone terminal.

[0012] Preferably, the head is connected to the front end of the torso through a connecting member, and the rear end of the torso is connected to the tail through a connecting member. The camera and the infrared detection device are respectively arranged on the left and right sides of the top of the head. The ultrasonic ranging sensor is used to detect garbage and obstacles in front of the head. The control mechanism includes an image shooting and recognition system. The image shooting and recognition system takes a view through the camera, and after image preprocessing, it uses a deep learning algorithm to identify and learn the household environment. The infrared detection device is used to transmit detection information to the control mechanism to avoid obstacles through the control mechanism.

[0013] Preferably, the stepping device includes six ant legs. The ant legs are foldable robotic arm structures composed of pneumatic telescopic devices. The root of the thigh of the ant legs is connected to the side of the torso through a first servo motor to realize the turning of the thigh. The first driving unit for driving the telescoping of the ant legs is arranged inside the torso. The first driving unit is an air pump. The control mechanism is electrically connected to the air pump and the first servo motor.

[0014] Preferably, a suspension device is further arranged between the first servo motor and the torso to transmit the force between the ant legs and the torso and buffer the impact force transmitted from the uneven road surface to the body.

[0015] Preferably, the ant legs include two front ant legs on both sides of the front part of the torso, two middle ant legs on both sides of the middle part of the torso, and two rear ant legs on both sides of the rear part of the torso. The telescoping range of the front ant legs is located on the front side of the torso. The middle ant legs telescope towards the corresponding side of the torso. The telescoping range of the rear ant legs is located on the rear side of the torso. The Mecanum wheels are connected to the torso through a second driving unit. When the robot is in a simple cleaning mode, the control mechanism controls the Mecanum wheels to realize the movement of the robot. When the robot is in a stair climbing mode, the robot realizes the climbing action by controlling the ant legs.

[0016] Preferably, a first-stage cleaning brush and a second-stage cleaning brush are further arranged at the bottom of the torso where the outer periphery of the dust inlet of the vacuum cleaner is located. The first-stage cleaning brush is located on both sides of the front end of the dust inlet, and the second-stage cleaning brush is located on both sides of the middle part of the dust inlet. The first-stage cleaning brush and the second-stage cleaning brush are respectively rotationally connected to the torso through driving motors arranged at the bottom inside the torso.

[0017] Preferably, a rag is further arranged at the bottom of the torso behind the dust inlet of the vacuum cleaner. The rag is detachably and fixedly connected to a frame body. The frame body is connected to the bottom end of the torso through an electric telescopic device. A pressure sensor is connected between the electric telescopic device and the frame body. The pressure sensor and the electric telescopic device are respectively electrically connected to the control mechanism through wires.

[0018] Preferably, the third driving unit of the clamping device is a second servo motor arranged on the head. The clamping device includes a first clamping arm and a second clamping arm. The output shaft of the second servo motor is fixedly connected to a transmission shaft. A driving gear is arranged on the transmission shaft. It further includes a driven shaft arranged in the head and rotatably connected to the head. A second driven gear is arranged on the driven shaft. The driving gear and the driven gear mesh with each other. The end parts of the driving shaft and the driven shaft are respectively fixedly connected to the first clamping arm and the second clamping arm. The opening and closing of the first clamping arm and the second clamping arm are realized by the rotation of the second servo motor. Convex teeth that mesh with each other when closed are arranged at the relative ends of the first clamping arm and the second clamping arm.

[0019] Preferably, a suction cup is further arranged at the end of the ant leg. The infrared detection device is configured to detect in the directions of the left side, the left front, the front, the right front, and the right side of the base body. The cleaning path of the robot is divided into 4 modes:

[0020] (1) Automatic cleaning mode: The robot travels along a straight line for cleaning. When it encounters an obstacle, it changes direction. During cleaning, if it senses a large amount of dust, it will automatically clean the ground in a "fan-shaped" or "spiral-shaped" route and then switch back to straight-line cleaning.

[0021] (2) Key cleaning mode: The robot spreads from the center to the outer circle along an involute spiral path. When it reaches the outermost circle, it slowly shrinks in the opposite direction until it returns to the origin to complete cleaning.

[0022] (3) Fixed-point cleaning mode: Suitable for dealing with relatively concentrated garbage on the ground. The robot sweeps the designated area intensively in a "bow-shaped" path from left to right.

[0023] (4) Automatic mopping mode: The first-stage cleaning brush, the second-stage cleaning brush, and the vacuum cleaner all stop working. Only the robot drives the rag to mop the floor along a "bow-shaped" path or other set paths.

[0024] A full-coverage path planning algorithm for a climbable sweeping and mopping integrated bionic robot. The full-coverage path planning algorithm is improved based on the plowing-style full-coverage path planning in the region division method, and includes the following steps:

[0025] (1) Obtain the global grid map. Extract a full-coverage range according to the boundary. Mark all areas outside the boundary and inside the obstacles as 1, and mark the cleaning area as 0. Calculate the spacing of the coverage lines according to the radius of the incoming robot.

[0026] (2) Preprocess the grid map to reduce the complexity of the map; according to whether the interior angle between two sides of the target polygon is greater than 180 degrees, extend the edges of these selected angles until they touch the boundary of the map, and decompose it into convex sub-regions.

[0027] (3) Under the premise of ensuring that the sub-region is a convex polygon, merge adjacent sub-polygons so that each sub-region can meet the algorithm operation requirements, reduce the sub-regions and the amount of calculation, extract the longest boundary according to the outer boundary, use it as the traversal direction when covering, and record a vertex as the origin;

[0028] (4) Use a genetic algorithm to solve the interval traversal order and generate a straight line coverage path from top to bottom. Generate one or more coverage lines for each sub-area and remove the coordinate points adjacent to obstacles.

[0029] (5) According to the distance between the current point and the vertex of the sub-area, the vertex closest to the current point is selected as the starting point of the bow-shaped path, and coordinate transformation is performed, that is, rotation and translation. The longest side is used as the positive direction of the X-axis, and coordinate transformation is performed to connect the last path point of the current covered line with the first path point of the next line;

[0030] (6) Then the algorithm is applied to each sub-area to complete the entire coverage path planning, using the comb traversal algorithm as a basis to complete full coverage;

[0031] (7) Find the starting point for cleaning, traverse from the top row of the grid from left to right, and find the first grid marked as 0, which is the starting coordinate; the robot covers the grid along the x-axis direction, starts to find the next point from the starting point, determines whether it is the end point or there is no next point, records the coordinates of each point, and restores the coordinates based on the origin and the long side vector; when encountering an obstacle, take a back-off operation, move a vehicle distance in the y-axis direction, and start a new coverage in the opposite direction; before moving, determine whether it can move in the y-axis direction, and if not, continue to take a back-off operation;

[0032] In the full coverage path planning algorithm, assuming that the overall cleaning direction of the robot is from top to bottom (referring to the direction in the grid map), in the free grid not covered by obstacles, the upper grid has a higher priority and the lower grid has a lower priority; the initial value x in the grid map j It can be expressed as formula (1):

[0033]

[0034] Considering the complexity of the robot in planning the path, in order to improve efficiency and obtain the optimal solution, a decision function is introduced to the grid F i Calculate the weight, F i It is expressed as formula (2):

[0035] F i =A*dist(i)+B*Free(i)+C*Dist(i) (2)

[0036] In formula (2), A, B, and C are preset initialization parameters. Among them, the sum of the distances from each point in the local path to the current point, Dist(i), is expressed by formula (3):

[0037]

[0038] Among them, the number of unvisited points Free(i) in the current local range of the robot is expressed by formula (4):

[0039] Free(i) = num total -num c (4)

[0040] The sum of the distances from each point in the global range to the current robot, Dist(i), can be expressed as formula (5):

[0041]

[0042] In formulas (1)-(5), x i is the x coordinate of each point in the local range, y i is the y coordinate of each point in the local range, x c is the x coordinate of the current point in the local range, y c is the y coordinate of the current point in the local range, num total is the number of coordinate points that have been passed in the local range, num c is the serial number of the current coordinate point.

[0043] Advantages of the present invention, a stair-climbing sweeping and mopping integrated bionic robot and a full-coverage path planning algorithm:

[0044] 1. The present invention uses infrared detection technology to detect the garbage on the ground ahead in real time and display its position. The detection result is transmitted to the receiver through the transmitter, and the receiver is interconnected with the control mechanism, facilitating the feedback of information and decision-making at any time, so as to achieve the purpose of cleaning garbage in a timely and accurate manner.

[0045] 2. The present invention applies Python image recognition and a full-coverage path planning algorithm technology based on grid activity values. Through programming, the path is recorded and optimized, and the optimal path is calculated, so as to achieve efficient and optimal garbage cleaning.

[0046] 3. The present invention combines the advantages of wheel legs and bionic ant legs and applies them to the "ant man" robot. The wheel legs can be lifted to facilitate obstacle crossing. The bionic ant legs are based on precise structural calculations and gait analysis of ants. The feet of the model cooperate with each other to achieve the effect of climbing forward similar to that of ants, so that it can climb stairs quickly, easily and safely.

[0047] 4. The connection between the ant leg and the torso of the present invention uses a suspension device, which can not only transmit the force and torque between the ant leg and the torso, but also buffer the impact force transmitted from the uneven road surface to the body, attenuate the vibration caused thereby, so as to ensure the smooth driving of the robot.

[0048] 5. The full-coverage path planning algorithm of the present invention is based on the plowing full-coverage path planning in the region segmentation method, simplifies the calculation method of the robot full-coverage, reduces the calculation amount while striving for the maximum coverage rate, and enables the robot to plan a better full-coverage path. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 、Schematic diagram of the overall structure of the robot of the present invention;

[0050] Figure 2 、Bottom view structure schematic diagram of the robot of the present invention;

[0051] Figure 3 、Schematic diagram of the principle of the control mechanism of the present invention;

[0052] Figure 4 、Schematic diagram of the principle of the obstacle avoidance and path planning algorithm of the present invention;

[0053] Figure 5 、Flow chart of the full-coverage path planning algorithm of the present invention;

[0054] Figure 6 、Simulated route map planned by the present invention (the upper is the "bow" shaped path and the lower is the "return" shaped path);

[0055] Figure 7 、Example of the final simulated route map when the present invention is in use;

[0056] 1. Control mechanism; 2. Storage tank; 3. Suction cup; 4. Storage battery; 5. Stepping device; 6. Infrared detection device; 7. Clamping device; 8. Camera; 9. Mecanum wheel; 10. Vacuum cleaner; 11. Ultrasonic ranging sensor; 12. Cleaning brush; 13. Rag; 14. Anti-collision sensor. DETAILED DESCRIPTION OF THE INVENTION

[0057] The following description details the embodiments of the present invention in a step-by-step manner. This description is only for the preferred embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0058] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, as well as a specific orientation structure and operation. Therefore, it should not be construed as a limitation to the present invention.

[0059] Embodiment 1:

[0060] A climbing and mopping integrated bionic robot, as Figures 1-6 shown, includes an ant-shaped body. A clamping device 7 is provided at the front end of the head of the body, a camera 8 and an infrared detection device 6 are provided at the top of the head, a ultrasonic ranging sensor 11 is provided at the bottom of the head. Step devices 5 imitating ant legs are provided on both sides of the torso of the body, Mecanum wheels 9 are provided at the four corners of the bottom of the torso, a vacuum cleaner 10 is provided at the bottom end of the torso, and a storage tank 2 is provided at the tail of the body. The vacuum cleaner 10 sucks garbage dust into the storage tank 2 through a pipeline. The body is also provided with a control mechanism 1 and a storage battery 4. The control mechanism is electrically connected to the storage battery and is respectively electrically connected to the camera 8, the infrared detection device 6, the ultrasonic ranging sensor 11, the first driving unit of the step device 5, the second driving unit of the Mecanum wheel 9, and the third driving unit of the clamping device 7 through wires. A GPS positioning module (not shown in the figure) and a WIFI module (not shown in the figure) are also provided on the body. The GPS positioning module monitors and locates the position and attitude of the robot in real time. The attitude refers to the orientation of the robot, whether it tilts or overturns. The WIFI module uploads the power of the storage battery, the traveling speed of the robot, and the position of the robot to the mobile phone terminal in real time, and the robot is intelligently identified, located, tracked and supervised through the mobile phone terminal.

[0061] Embodiment 2:

[0062] This embodiment is an improvement based on Embodiment 1. The difference lies in:

[0063] As Figure 1 、 2As shown, the head is connected to the front end of the torso through a connecting member, and the rear end of the torso is connected to the tail through a connecting member. According to needs, the above two connecting parts can be set as a fixed connection or movably connected through a structure similar to a robotic arm, and the latter is convenient for the head and tail to perform various rotational movements; the camera 8 and the infrared detection device 6 are respectively arranged on the left and right sides of the top of the head, and the ultrasonic ranging sensor 11 is used to detect garbage and obstacles in front of the head. The control mechanism includes an image shooting and recognition system. The image shooting and recognition system takes a view through the camera 8, and after image preprocessing, it uses a deep learning algorithm to recognize and learn the household environment; the infrared detection device 6 transmits the detection information to the control mechanism to avoid obstacles through the control mechanism.

[0064] Embodiment 3:

[0065] This embodiment is an improvement based on Embodiments 1 and 2, and the difference lies in:

[0066] As Figure 1 、 2 shown, the stepping device includes 6 ant legs. The ant legs are a foldable robotic arm structure composed of a pneumatic telescopic device (which is prior art and the detailed structure will not be elaborated). The root of the thigh of the ant leg is connected to the side of the torso through a first servo (not marked in the figure) to realize the turning of the thigh. The first driving unit for driving the telescopic movement of the ant leg is arranged inside the torso. The first driving unit is an air pump, and the control mechanism is electrically connected to the air pump and the first servo.

[0067] As Figure 1 、 2 shown, a suspension device (similar to that of a car, which is prior art and will not be elaborated) is also provided between the first servo and the torso to transmit the acting force between the ant leg and the torso and buffer the impact force transmitted from the uneven road surface to the body.

[0068] As Figure 1 、 2 shown, the ant legs include 2 front ant legs on both sides of the front part of the torso, 2 middle ant legs on both sides of the middle part of the torso, and 2 rear ant legs on both sides of the rear part of the torso. The telescopic range of the front ant legs is on the front side of the torso, the middle ant legs extend and contract towards the corresponding side of the torso, and the telescopic range of the rear ant legs is on the rear side of the torso. The Mecanum wheels are connected to the torso through a second driving unit. When the robot is in a simple cleaning mode, the control mechanism controls the Mecanum wheels to realize the movement of the robot. When the robot is in a stair climbing mode, the robot realizes the climbing action by controlling the ant legs. The action of the ant legs climbing the stairs is similar to that of an ant, and through the cooperation of 6 ant legs, fast, easy, and safe and stable stair climbing can be achieved.

[0069] Example 4:

[0070] This embodiment is an improvement based on Embodiments 1, 2, and 3, and the difference lies in:

[0071] As Figure 2 shown, a first-stage cleaning brush and a second-stage cleaning brush (collectively referred to as the cleaning brush 12) are further provided at the bottom of the trunk where the outer periphery of the dust inlet of the vacuum cleaner 10 is located. The first-stage cleaning brush is located on both sides of the front end of the dust inlet, and the second-stage cleaning brush is located on both sides of the middle of the dust inlet. The first-stage cleaning brush and the second-stage cleaning brush are respectively rotationally connected to the trunk through a drive motor arranged at the inner bottom of the trunk. The rotation of the motor driving the brush is a prior art and will not be described in detail. The first-stage cleaning brush is used to sweep some debris and other garbage into the dust inlet, and the remaining debris-like garbage that has not been swept is continuously swept into the dust inlet by the second-stage cleaning brush.

[0072] As Figure 2 shown, a rag is further provided at the bottom of the trunk behind the dust inlet of the vacuum cleaner. The rag is detachably and fixedly connected to a frame body, and the structure of the frame body can be designed according to needs. The frame body is connected to the bottom end of the trunk through an electric telescopic device, and a pressure sensor is connected between the electric telescopic device and the frame body. The pressure sensor and the electric telescopic device are respectively electrically connected to the control mechanism through wires. The electric telescopic device here can be an electric push rod or other electrically controlled telescopic devices. By sensing the pressure between the rag and the ground through the pressure sensor, effective mopping can be realized.

[0073] As Figure 1 、 2 shown, the third drive unit of the clamping device 7 is a second servo motor arranged on the head. The clamping device includes a first clamping arm and a second clamping arm. The output shaft of the second servo motor is fixedly connected to a transmission shaft, and a driving gear is arranged on the transmission shaft. It also includes a driven shaft arranged in the head and rotationally connected to the head, and a second driven gear is arranged on the driven shaft. The driving gear and the driven gear are meshed with each other. The ends of the driving shaft and the driven shaft are respectively fixedly connected to the first clamping arm and the second clamping arm. The opening and closing of the first clamping arm and the second clamping arm are realized by the rotation of the second servo motor. The relative ends of the first clamping arm and the second clamping arm are provided with convex teeth that mesh with each other when closed. Through the clamping device 7, it is convenient for the robot to clamp larger-volume garbage, and at the same time, it also improves the ability of the robot to operate in a more complex working environment, enabling the robot to realize the function of putting the garbage into a predetermined garbage recycling device. The specific structure of the clamping device 7 is a prior art. For example, the document with the application number CN201520253835.8 discloses a similar structure, and its connection method with the head is a common operation for those skilled in the art, so the details will not be described in detail.

[0074] Example 5:

[0075] This embodiment further discloses on the basis of Embodiments 1, 2, 3, and 4:

[0076] like Figure 1 , 2 As shown, the end of the ant leg is also provided with a suction cup, and the infrared detection device is configured to detect the directions of the left side, left front, front, right front, and right side of the substrate. The cleaning path of the robot is divided into 4 modes:

[0077] (1) Automatic cleaning mode: The robot moves in a straight line and changes direction when encountering an obstacle. During cleaning, if it senses that there is a lot of dust, it will automatically clean the ground in a "fan-shaped" (the entire back-and-forth cleaning path forms a fan-shaped) or "spiral" route, and then switch to straight-line cleaning;

[0078] (2) Focus cleaning mode: The robot spreads from the center to the outer circle in an involute spiral path, and slowly shrinks in the opposite direction when it reaches the outermost circle until it returns to the origin to complete the cleaning;

[0079] (3) Fixed-point cleaning mode: suitable for handling garbage that is relatively concentrated on the ground. The robot cleans the designated area from left to right in a "bow"-shaped path;

[0080] (4) Automatic mopping mode: The first-stage cleaning brush, the second-stage cleaning brush and the vacuum cleaner stop working, and only the robot drives the mop to mop the floor along a "bow"-shaped path or other preset paths.

[0081] Embodiment 6:

[0082] This embodiment further discloses on the basis of Embodiments 1, 2, 3, 4, and 5:

[0083] A full coverage path planning algorithm for a stair-climbing sweeping and mopping bionic robot. Figures 4-6 As shown, the full coverage path planning algorithm is improved based on the ox-ploughing full coverage path planning in the area segmentation method, and includes the following steps:

[0084] (1) Obtain a global grid map, extract a full coverage range based on the boundary, mark all areas outside the boundary and within obstacles as 1, and mark the cleaning area as 0, and calculate the spacing of the coverage lines based on the input robot radius; the robot radius in the present invention refers to the turning radius of the robot to ensure full coverage; input refers to the assignment parameter based on the turning radius;

[0085] (2) Preprocess the grid map to reduce the complexity of the map; according to whether the internal angle between the two sides of the target polygon is greater than 180 degrees, extend the edges of these selected angles until they hit the boundary of the map, and decompose it into convex sub-regions; a convex sub-region refers to each region after the region is divided, and the points on the line connecting any two points in the region are within this range;

[0086] (3) Under the premise of ensuring that the sub-region is a convex polygon, merge adjacent sub-polygons so that each sub-region can meet the algorithm operation requirements, reduce the sub-regions and the amount of calculation, extract the longest boundary according to the outer boundary, use it as the traversal direction when covering, and record a vertex as the origin (origin, the starting point of the planned path);

[0087] (4) Use a genetic algorithm to solve the interval traversal order and generate a straight line coverage path from top to bottom. Generate one or more coverage lines for each sub-area and remove the coordinate points adjacent to obstacles.

[0088] (5) According to the distance between the current point and the vertex of the sub-area, the vertex closest to the current point is selected as the starting point of the bow-shaped path, and coordinate transformation is performed, that is, rotation and translation. The longest side is used as the positive direction of the X-axis, and coordinate transformation is performed to connect the last path point of the current covered line with the first path point of the next line;

[0089] (6) Then the algorithm is applied to each sub-area to complete the entire coverage path planning, using the comb traversal algorithm as a basis to complete full coverage;

[0090] (7) Find the starting point for cleaning, traverse from the top row of the grid from left to right, and find the first grid marked as 0, which is the starting coordinate; the robot covers the grid along the x-axis direction, starts to find the next point from the starting point, determines whether it is the end point or there is no next point, records the coordinates of each point, and restores the coordinates based on the origin and the long side vector; when encountering an obstacle, take a back-off operation, move a vehicle distance in the y-axis direction, and start a new coverage in the opposite direction; before moving, determine whether it can move in the y-axis direction, and if not, continue to take a back-off operation;

[0091] In the full coverage path planning algorithm, assuming that the overall cleaning direction of the robot is from top to bottom (referring to the direction in the grid map), in the free grid not covered by obstacles, the upper grid has a higher priority and the lower grid has a lower priority; the initial value x in the grid map j It can be expressed as formula (1):

[0092]

[0093] Considering the complex situation when the robot plans a path, in order to improve efficiency and obtain the optimal solution, a decision function is introduced to calculate the weight of grid F i for which the calculation is as follows, and F i is expressed as Equation (2):

[0094] F i = A * dist(i) + B * Free(i) + C * Dist(i) (2)

[0095] In Equation (2), A, B, and C are preset initialization parameters. Among them, the sum of the distances from each point in the local path to the current point, Dist(i), is expressed by Equation (3):

[0096]

[0097] Among them, the number of unvisited points Free(i) in the current local range of the robot is expressed by Equation (4):

[0098] Free(i) = num total - num c (4)

[0099] The sum of the distances from each point in the global range to the current robot, Dist(i), can be expressed as Equation (5):

[0100]

[0101] In Formulas (1)-(5), x i is the x coordinate of each point in the local range, y i is the y coordinate of each point in the local range, x c is the x coordinate of the current point in the local range, y c is the y coordinate of the current point in the local range, num total is the number of coordinate points that have been passed in the local range, num c is the serial number of the current coordinate point.

[0102] When the present invention is in use, when the robot first enters the user's home, it first scans the user's environment through the camera on the top and walks around the edges of the walls and obstacles, and records the position coordinates of the center point of the robot in real time to obtain the cleaning environment profile and the distribution of obstacles. The robot can rotate clockwise by rotating the two left wheels forward and the two right wheels backward. Similarly, the robot can rotate counterclockwise by rotating the two left wheels backward and the two right wheels forward, ensuring that there are no dead zones left during the round-trip cleaning process. When the robot does not need to go up and down stairs, the six ant legs of the robot unfold slightly higher than the bottom of the robot, and the main power is provided by the Mecanum wheels on the chassis to achieve fast movement. When the robot goes up and down stairs, the six legs fall to support the body, imitating the climbing of ants, dividing the three pairs of legs into two groups, and moving forward alternately over steps or obstacles in a triangular support structure.

Claims

1. A climbing and mopping integrated bionic robot, characterized in that: It includes an ant-shaped body. At the front end of the head of the body, there is a clamping device. At the top of the head, there is a camera and an infrared detection device. At the bottom of the head, there is an ultrasonic ranging sensor. On both sides of the torso of the body, there are stepping devices imitating ant legs. At the four corners of the bottom of the torso, there are Mecanum wheels. At the bottom end of the torso, there is a vacuum cleaner. The vacuum cleaner sucks garbage and dust into a storage tank through a pipeline. The body also has a control mechanism and a storage battery. The control mechanism is electrically connected to the storage battery and is respectively electrically connected to the camera, the infrared detection device, the ultrasonic ranging sensor, the first driving unit of the stepping device, the second driving unit of the Mecanum wheel, and the third driving unit of the clamping device through wires. The body is also equipped with a GPS positioning module and a WIFI module. The GPS positioning module monitors and locates the position and posture of the robot in real time. The posture refers to the orientation of the robot, whether it tilts or overturns. The WIFI module uploads the power of the storage battery, the traveling speed of the robot, and the position of the robot to the mobile phone terminal in real time, and the robot is intelligently identified, located, tracked, and supervised through the mobile phone terminal. The stepping device includes six ant legs. The ant legs are foldable robotic arm structures composed of pneumatic telescopic devices. The root of the thigh of the ant legs is connected to the side of the torso through a first servo motor and realizes the turning of the thigh. The first driving unit for driving the telescoping of the ant legs is arranged in the torso. The first driving unit is an air pump. The control mechanism is electrically connected to the air pump and the first servo motor. There is also a suspension device between the first servo motor and the torso, which transmits the force between the ant legs and the torso and buffers the impact force transmitted from the uneven road surface to the body. The ant legs include two front ant legs on both sides of the front of the torso, two middle ant legs on both sides of the middle of the torso, and two rear ant legs on both sides of the rear of the torso. The telescoping range of the front ant legs is on the front side of the torso. The middle ant legs telescope towards the corresponding side of the torso. The telescoping range of the rear ant legs is on the rear side of the torso. The Mecanum wheels are connected to the torso through a second driving unit. When the robot is in a simple cleaning mode, the control mechanism controls the Mecanum wheels to realize the movement of the robot. When the robot is in a stair-climbing mode, the robot realizes the climbing action by controlling the ant legs.

2. The floor-sweeping and mopping integrated bionic robot capable of climbing stairs according to claim 1, characterized in that: The head is connected to the front end of the torso through a connecting piece, and the rear end of the torso is connected to the tail through a connecting piece. The camera and the infrared detection device are respectively arranged on the left and right sides of the top of the head. The ultrasonic ranging sensor is used to detect garbage and obstacles in front of the head. The control mechanism includes an image shooting and recognition system. The image shooting and recognition system takes a view through the camera, and after image preprocessing, it identifies and learns the house type environment through a deep learning algorithm. The infrared detection device is used to transmit the detection information to the control mechanism to avoid obstacles through the control mechanism.

3. The climbable integrated sweeping and mopping bionic robot according to claim 2, characterized in that: A first-stage cleaning brush and a second-stage cleaning brush are also provided at the bottom of the torso where the outer periphery of the dust inlet of the vacuum cleaner is located. The first-stage cleaning brush is located on both sides of the front end of the dust inlet, and the second-stage cleaning brush is located on both sides of the middle of the dust inlet. The first-stage cleaning brush and the second-stage cleaning brush are respectively rotationally connected to the torso through drive motors arranged at the inner bottom of the torso.

4. The integrated sweeping and mopping bionic robot capable of climbing stairs according to claim 3, characterized in that: A rag is also provided at the bottom of the torso behind the dust inlet of the vacuum cleaner. The rag is detachably and fixedly connected to a frame body. The frame body is connected to the bottom end of the torso through an electric telescopic device. A pressure sensor is connected between the electric telescopic device and the frame body. The pressure sensor and the electric telescopic device are respectively electrically connected to a control mechanism through wires.

5. The climbing and mopping integrated bionic robot according to claim 4, characterized in that: The third driving unit of the clamping device is a second servo motor arranged on the head. The clamping device includes a first clamping arm and a second clamping arm. The output shaft of the second servo motor is fixedly connected with a transmission shaft. A driving gear is arranged on the transmission shaft. It also includes a driven shaft arranged in the head and rotationally connected to the head. A second driven gear is arranged on the driven shaft. The driving gear and the driven gear are meshed with each other. The end parts of the driving shaft and the driven shaft are respectively fixedly connected to the first clamping arm and the second clamping arm. The opening and closing of the first clamping arm and the second clamping arm are realized by the rotation of the second servo motor. Convex teeth that mesh with each other when closed are arranged at the relative ends of the first clamping arm and the second clamping arm.

6. The climbable mopping and sweeping integrated bionic robot according to claim 5, characterized in that: A suction cup is also provided at the end of the ant leg. The infrared detection device is configured to detect in the directions of the left side, the front left, the front, the front right, and the right side of the base. The cleaning path of the robot is divided into 4 modes: (1) Automatic cleaning mode: The robot travels along a straight line for cleaning. When it encounters an obstacle, it changes direction. During cleaning, if it senses a large amount of dust, it will automatically clean the ground in a "fan-shaped" or "spiral-shaped" route and then switch back to straight-line cleaning; (2) Key cleaning mode: The robot spreads from the center to the outer circle along an involute spiral path. When it reaches the outermost circle, it slowly shrinks in the opposite direction until it returns to the origin to complete cleaning; (3) Fixed-point cleaning mode: Suitable for dealing with relatively concentrated garbage on the ground. The robot sweeps the designated area intensively from left to right along a "bow-shaped" path; (4) Automatic mopping mode: The first-stage cleaning brush, the second-stage cleaning brush, and the vacuum cleaner all stop working. Only the robot drives the rag to mop the floor along a "bow-shaped" path or other set paths.

7. A full-coverage path planning algorithm for a climbing and mopping integrated bionic robot, characterized in that: Adopt a climbable sweeping and mopping integrated bionic robot as described in claim 6. The full-coverage path planning algorithm is improved based on the ox-plowing full-coverage path planning in the region division method, and includes the following steps: (1) Obtain a global grid map. Extract a full-coverage range according to the boundary. Mark all areas outside the boundary and inside the obstacles as 1, and mark the cleaning area as 0. Calculate the spacing of the coverage lines according to the radius of the incoming robot; (2) Preprocess the grid map to reduce the complexity of the map; According to whether the interior angle between two sides of the target polygon is greater than 180 degrees, extend the edges of these selected angles until they touch the boundary of the map, and decompose it into convex sub-regions; (3) Under the premise of ensuring that the sub-region is a convex polygon, merge adjacent sub-polygons so that each sub-region can meet the algorithm operation requirements, reduce the sub-regions and the amount of calculation, extract the longest boundary according to the outer boundary, use it as the traversal direction when covering, and record a vertex as the origin; (4) Use a genetic algorithm to solve the interval traversal order and generate a straight line coverage path from top to bottom. Generate one or more coverage lines for each sub-area and remove the coordinate points adjacent to obstacles. (5) According to the distance between the current point and the vertex of the sub-area, the vertex closest to the current point is selected as the starting point of the bow-shaped path, and coordinate transformation is performed, that is, rotation and translation. The longest side is used as the positive direction of the X-axis, and coordinate transformation is performed to connect the last path point of the current covered line with the first path point of the next line; (6) Then the algorithm is applied to each sub-area to complete the entire coverage path planning, using the comb traversal algorithm as a basis to complete full coverage; (7) Find the starting point for cleaning, traverse from the top row of the grid from left to right, and find the first grid marked as 0, which is the starting coordinate; the robot covers the grid along the x-axis direction, starts to find the next point from the starting point, determines whether it is the end point or there is no next point, records the coordinates of each point, and restores the coordinates based on the origin and the long side vector; when encountering an obstacle, take a back-off operation, move a vehicle distance in the y-axis direction, and start a new coverage in the opposite direction; before moving, determine whether it can move in the y-axis direction, and if not, continue to take a back-off operation; In the full-coverage path planning algorithm, assuming that the overall cleaning direction of the robot is from top to bottom, among the free grids not covered by obstacles, the grids closer to the top have higher priority and the grids closer to the bottom have lower priority; the initial value x in the grid map j can be expressed as Equation (1): Considering the complex situation of the robot when planning the path, in order to improve the efficiency and obtain the optimal solution, a decision function is introduced to calculate the weight of grid F i as follows, for F i which is expressed as Equation (2): F i = A*dist(i) + B*Free(i) + C*Dist(i) (2) In formula (2), A, B, and C are preset initialization parameters. The distance from each point in the local path to the current point and Dist(i) are expressed by formula (3): Among them, the number of points Free(i) that have not been traversed in the current local range of the robot is expressed by formula (4): Free(i) = num total -num c (4) The sum of the distances from each point in the global range to the current robot Dist(i) can be expressed as formula (5): In formulas (1)-(5), x i is the x-coordinate of each point in the local range, y i is the y-coordinate of each point in the local range, x c is the x-coordinate of the current point in the local range, y c is the y-coordinate of the current point in the local range, num total is the number of coordinate points that have been traversed in the local range, num c is the serial number of the current coordinate point.

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