A method for planning edge paths

Abstract

The present application proposes a method for planning an edge path, which relates to the field of robotics. A method for planning an edge path, comprising the following steps: S1, traversing all grids that meet the first condition in the cost map, removing all grids that meet the second condition from all grids that meet the first condition, and obtaining all grids that meet the third condition; S2, traversing all grids that meet the third condition, taking the center point of the grid that meets the third condition and the fourth condition as the obstacle edge point, and forming a first point set by all obstacle edge points; S3, sorting all obstacle edge points in the first point set, and forming a first edge path by all sorted obstacle edge points. The method for planning an edge path proposed in the present application can obtain an edge path that is easy for the robot to track, thereby improving the coverage rate of the cleaning robot.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a method for planning an edge path. Background Art

[0002] Cleaning robots are special robots that serve humans. For indoor cleaning robots, they usually clean the edges of rooms and the edges of some indoor decorations, so an important indicator for evaluating cleaning robots is coverage. In order to ensure the coverage and effect of the operation, robots are generally required to perform edge-to-edge operations, which can be understood as working close to the edge of the operating area. The closer to the edge, the higher the degree of edge-to-edge. The higher the degree of edge-to-edge, the larger the area of ​​automatic operation of the robot, and the smaller the area requiring manual secondary operation, that is, the smaller the proportion of manual intervention. At this stage, the robot operation planning method, system and its application use the working trajectory of manual operation to determine the area of ​​automatic operation, so as to complete the deployment link of the robot and improve the edge coverage performance. However, the labor cost is high. Once the obstacle point in the automatic operation environment changes, personnel are required to perform manual operation again, which is very inconvenient. Summary of the invention

[0003] In order to solve the technical problem of how to improve the coverage rate of the cleaning robot, the present application provides a method for planning an edge path, which includes the following steps:

[0004] S1, traverse all grids that meet the first condition in the cost map, remove all grids that meet the second condition from all grids that meet the first condition, and obtain all grids that meet the third condition;

[0005] S2, traverse all grids that meet the third condition, take the center point of the grid that meets the third condition and the fourth condition as the obstacle edge point, and form a first point set from all the obstacle edge points;

[0006] S3, sorting all obstacle edge points in the first point set, and forming a first edge path with all sorted obstacle edge points.

[0007] The present application provides another method for planning an edge path, the method comprising the following steps:

[0008] H1, traverse all grids that meet the first condition in the cost map, remove all grids that meet the second condition from all grids that meet the first condition, and obtain all grids that meet the third condition;

[0009] H2, traverse all grids that meet the third condition, take the center point of the grid that meets the third condition and the fourth condition as the obstacle edge point, cluster all the obstacle edge points, and the obstacle edge points in the same cluster form a first point set;

[0010] The clustering of all obstacle edge points may adopt the Euclidean clustering algorithm.

[0011] H3, sort all the obstacle edge points in the first point set, and all the sorted obstacle edge points constitute the first edge path.

[0012] The first condition means that the cost value corresponding to the grid is 0 to 252; the second condition means that the number of grids with cost values ​​of 0 to 252 in the grids around the grid is less than the first threshold; the third condition means that the grid satisfies the first condition but does not satisfy the second condition; the fourth condition means that the number of grids with cost values ​​of 253 to 254 in the grids around the grid is greater than 0.

[0013] The rolling ball method may be used to sort all obstacle edge points in the first point set.

[0014] The step S3 may further include a step S4:

[0015] S4, performing smooth optimization on the first edge path to obtain a smooth optimized edge path.

[0016] The step H3 may further include the step H4:

[0017] H4, smoothing and optimizing the first edge path to obtain a smoothly optimized edge path.

[0018] The specific method of performing smooth optimization on the first edge path to obtain the smooth optimized edge path includes: taking the coordinates of the ordered obstacle edge points in the first edge path as input, adjusting the coordinates of each obstacle edge point so that the following formula obtains the minimum value, and forming the smooth optimized edge path by the obstacle edge points after adjusting the coordinates;

[0019] ;

[0020] in, is the weight of the obstacle penalty item; is the weight of the smoothing penalty term; is the weight of the curvature penalty term; It is an obstacle penalty item; is the smoothing penalty term; is the curvature penalty term; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; For the The horizontal and vertical coordinates of the nearest obstacle corresponding to the obstacle edge point, is a vector; It is The obstacle edge point and the The distance between the nearest obstacles corresponding to the edge points of the obstacles; The minimum distance between the pre-set obstacle edge point and the obstacle; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; is the number of obstacle edge points contained in the first edge path; is the maximum curvature of the preset obstacle edge point; For the The curvature of the obstacle edge point.

[0021] No. The curvature of the obstacle edge It is obtained by the following formula:

[0022] ;

[0023] in, It is obtained by the following formula:

[0024] ;

[0025] in, It is The obstacle edge point and the The distance between the edge points of obstacles; It is The obstacle edge point and the The distance between the edge points of obstacles; represents the dot product; It's the multiplication sign.

[0026] Compared with the prior art, the embodiments of the present application have at least the following advantages or beneficial effects:

[0027] A method for planning an edge path in the present application can automatically plan the edge path of a cleaning robot when performing edge operations, thereby improving the coverage rate of the cleaning robot and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A flowchart of a method for planning an edge path provided in an embodiment of the present application.

[0030] Figure 2 A flowchart of another method for planning an edge path provided in an embodiment of the present application.

[0031] Figure 3 A schematic diagram of a grid satisfying the second condition in a method for planning an edge path provided in an embodiment of the present application.

[0032] Figure 4 A schematic diagram of a grid where obstacle edge points are located in a method for planning an edge path provided in one embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0037] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0038] See also Figure 1 , an embodiment of the present application provides a method for planning an edge path, comprising the following steps:

[0039] S1, traverse all grids that meet the first condition in the cost map, remove all grids that meet the second condition from all grids that meet the first condition, and obtain all grids that meet the third condition;

[0040] S2, traverse all grids that meet the third condition, take the center point of the grid that meets the third condition and the fourth condition as the obstacle edge point, and form a first point set from all the obstacle edge points;

[0041] S3, sorting all obstacle edge points in the first point set, and forming a first edge path with all sorted obstacle edge points.

[0042] Please refer to Figure 2 Another method for planning an edge path provided by an embodiment of the present application includes the following steps:

[0043] H1, traverse all grids that meet the first condition in the cost map, remove all grids that meet the second condition from all grids that meet the first condition, and obtain all grids that meet the third condition;

[0044] H2, traverse all grids that meet the third condition, take the center point of the grid that meets the third condition and the fourth condition as the obstacle edge point, cluster all the obstacle edge points, and the obstacle edge points in the same cluster form a first point set;

[0045] H3, sort all the obstacle edge points in the first point set, and all the sorted obstacle edge points constitute the first edge path.

[0046] The first condition means that the cost value corresponding to the grid is 0 to 252; the second condition means that the number of grids with cost values ​​of 0 to 252 in the grids around the grid (i.e., the eight grids around the grid, centered on the grid and adjacent to the grid) is less than the first threshold; the third condition means that the grid satisfies the first condition but does not satisfy the second condition.

[0047] like Figure 3 As shown, in one embodiment of the present application, the first threshold is 2, Figure 3 The grid where "X" is located represents the grid with a cost value of 253-254, the blank grid represents the grid with a cost value of 0-252, and the grid where the red circle is located represents a grid that meets the second condition, because only one of the 8 grids around it has a cost value of 0-252, and the first threshold is 2.

[0048] The fourth condition means that the number of grids having cost values ​​of 253 to 254 among the grids surrounding the grid (ie, eight grids surrounding the grid, centered on the grid and adjacent to the grid) is greater than zero.

[0049] like Figure 4 As shown, in one embodiment of the present application, the red dots represent the edge points of obstacles.

[0050] Clustering all obstacle edge points is helpful to distinguish the obstacle edge points in different rooms. The obstacle edge points in the same cluster are the obstacle edge points in the same room.

[0051] In one embodiment of the present application, all obstacle edge points are clustered to obtain three clusters; the obstacle edge points in the same cluster form a first point set, and a total of three first point sets are formed. After sorting the first point set, a first edge path is obtained.

[0052] As a preferred implementation method, all obstacle edge points are clustered using the Euclidean clustering algorithm.

[0053] Euclidean Cluster Extraction is a point cloud clustering algorithm based on Euclidean distance, which is used to divide point cloud data into multiple clusters.

[0054] As a preferred implementation, a rolling ball method may be used to sort all obstacle edge points in the first point set, and all sorted obstacle edge points form a first edge path.

[0055] The step S3 may further include a step S4:

[0056] S4, performing smooth optimization on the first edge path to obtain a smooth optimized edge path.

[0057] The step H3 may further include the step H4:

[0058] H4, smoothing and optimizing the first edge path to obtain a smoothly optimized edge path.

[0059] As a preferred implementation, the first edge path is smoothly optimized to obtain a smoothed optimized edge path. The specific method includes: taking the coordinates of the ordered obstacle edge points in the first edge path as input, adjusting the coordinates of each obstacle edge point so that the following formula obtains the minimum value, and the obstacle edge points after the coordinates are adjusted constitute the smoothed optimized edge path;

[0060] ;

[0061] in, is the weight of the obstacle penalty item; is the weight of the smoothing penalty term; is the weight of the curvature penalty term; It is an obstacle penalty item; is the smoothing penalty term; is the curvature penalty term; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; For the The horizontal and vertical coordinates of the nearest obstacle corresponding to the obstacle edge point, is a vector; It is The obstacle edge point and the The distance between the nearest obstacles corresponding to the edge points of the obstacles; The minimum distance between the pre-set obstacle edge point and the obstacle; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; is the number of obstacle edge points contained in the first edge path; is the maximum curvature of the preset obstacle edge point; For the The curvature of the obstacle edge point.

[0062] No. The curvature of the obstacle edge It is obtained by the following formula:

[0063] ;

[0064] in, It is obtained by the following formula:

[0065] ;

[0066] in, It is The obstacle edge point and the The distance between the edge points of obstacles; It is The obstacle edge point and the The distance between the edge points of obstacles; represents the dot product; It's the multiplication sign.

[0067] During the smoothing optimization process, the order of the edge points of each obstacle is not changed.

[0068] For example, the first edge path includes sorted obstacle edge points A1, A2, A3, A4, and A5. The coordinates of the obstacle edge points A1, A2, A3, A4, and A5 are adjusted. The obstacle edge point after the adjusted coordinates corresponding to A1 is B1, the obstacle edge point after the adjusted coordinates corresponding to A2 is B2, the obstacle edge point after the adjusted coordinates corresponding to A3 is B3, the obstacle edge point after the adjusted coordinates corresponding to A4 is B4, and the obstacle edge point after the adjusted coordinates corresponding to A5 is B5. The obstacle edge points B1, B2, B3, B4, and B5 after the adjusted coordinates constitute a smoothed and optimized edge path.

[0069] Compared with the first edge path before smooth optimization, the edge path after smooth optimization is more convenient for the cleaning robot to move.

[0070] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

[0071] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for planning an edge path, characterized in that: The following steps are involved: S1, traverse all grids that meet the first condition in the cost map, remove all grids that meet the second condition from all grids that meet the first condition, and obtain all grids that meet the third condition; S2, traverse all grids that meet the third condition, take the center point of the grid that meets the third condition and the fourth condition as the obstacle edge point, and form a first point set from all the obstacle edge points; S3, sorting all obstacle edge points in the first point set, and forming a first edge path with all sorted obstacle edge points; The first condition means that the cost value corresponding to the grid is 0 to 252; The second condition means that the number of grids with cost values ​​of 0 to 252 in the grids surrounding the grid is less than the first threshold; The third condition means that the grid satisfies the first condition but does not satisfy the second condition; The fourth condition is that the number of grids with cost values ​​of 253 to 254 in the grids around the grid is greater than 0; The first threshold is 2.

2. The method for planning an edge path according to claim 1, characterized in that: The step S2 further comprises: All obstacle edge points are clustered, and the obstacle edge points in the same cluster form a first point set.

3. The method for planning an edge path according to any one of claims 1 or 2, characterized in that: The specific method for sorting all obstacle edge points in the first point set is the rolling ball method.

4. The method for planning an edge path according to claim 1, characterized in that: The step S3 further includes a step S4: S4, performing smooth optimization on the first edge path to obtain a smooth optimized edge path.

5. The method for planning an edge path according to claim 4, characterized in that: The specific method of performing smooth optimization on the first edge path to obtain the smooth optimized edge path includes: taking the coordinates of the ordered obstacle edge points in the first edge path as input, adjusting the coordinates of each obstacle edge point so that the following formula obtains the minimum value, and forming the smooth optimized edge path by the obstacle edge points after adjusting the coordinates; ； in, is the weight of the obstacle penalty item; is the weight of the smoothing penalty term; is the weight of the curvature penalty term; It is an obstacle penalty item; is the smoothing penalty term; is the curvature penalty term; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; For the The horizontal and vertical coordinates of the nearest obstacle corresponding to the obstacle edge point, is a vector; It is The obstacle edge point and the The distance between the nearest obstacles corresponding to the edge points of the obstacles; The minimum distance between the pre-set obstacle edge point and the obstacle; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; For the The horizontal and vertical coordinates of the obstacle edge points, is a vector; is the number of obstacle edge points contained in the first edge path; is the maximum curvature of the preset obstacle edge point; For the The curvature of the obstacle edge point.

6. The method for planning an edge path according to claim 5, characterized in that: The said The curvature of the obstacle edge It is obtained by the following formula: ； in, It is obtained by the following formula: ； in, It is The obstacle edge point and the The distance between the edge points of obstacles; It is The obstacle edge point and the The distance between the edge points of obstacles; represents the dot product; It's the multiplication sign.

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