CN-121979217-A - Sweeping robot edge sweeping control method and sweeping robot

CN121979217ACN 121979217 ACN121979217 ACN 121979217ACN-121979217-A

Abstract

The invention provides a sweeping robot edge sweeping control method and a sweeping robot, and determining grids with barriers in the grid map according to the detected barrier information around the sweeping robot, and performing expansion processing to determine the barrier grids. And searching a non-obstacle grid which is closest to the sweeping robot and is adjacent to the obstacle grid as a starting point. From the start point, a plurality of non-obstacle grids are searched along the boundary between the obstacle grid and the non-obstacle grid to construct a travel path, and the sweeping robot is driven to travel along the edges based on the travel path and to perform a sweeping operation. In the scheme, the grid with the obstacle is determined based on the detected obstacle information, so that the expanded grid is obtained by expansion, and the collision between the sweeping robot and the obstacle can be effectively avoided. In addition, by searching along the travel path of the boundary between the obstacle grid and the non-obstacle grid, a good welt state can be maintained, and a good cleaning effect can be ensured.

Inventors

QIU TAO
LEI HANG
YU XIAOYUE
XIE BO

Assignees

广东盈峰智能环卫科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260204

Claims (10)

1. The method for controlling the edge cleaning of the sweeping robot is characterized by comprising the following steps of: Constructing a grid map in a robot coordinate system, and determining a grid with an obstacle in the grid map according to the detected obstacle information around the sweeping robot; Performing expansion processing based on the grid with the obstacle to obtain an expansion grid, and determining the grid with the obstacle and the expansion grid as the obstacle grid; searching a non-obstacle grid which is closest to the sweeping robot and is adjacent to the obstacle grid as a starting point; searching a plurality of non-obstacle grids along a boundary between the obstacle grid and the non-obstacle grid from the starting point; and constructing a driving path based on the searched non-obstacle grid, driving the sweeping robot to travel along the edge based on the driving path, and executing sweeping operation.
2. The method according to claim 1, wherein the step of constructing a travel path based on the found non-obstacle grid comprises: Constructing an initial driving path based on the searched non-obstacle grid; constructing a plurality of optimization indexes, optimizing the initial driving path by adopting a multi-objective optimization algorithm based on the plurality of optimization indexes, and obtaining an optimized driving path.
3. The method according to claim 1, wherein the step of determining a grid having an obstacle in the grid map based on the detected obstacle information around the robot comprises: obtaining a detected obstacle point cloud around the sweeping robot; For each three-dimensional point in the obstacle point cloud, acquiring grid coordinates of the three-dimensional point in the grid map based on coordinates of the three-dimensional point in the robot coordinate system and grid parameters of the grid map; and determining the grid to which the three-dimensional point belongs according to the grid coordinates so as to determine the grid with the obstacle.
4. The method according to claim 1, wherein the step of expanding the grid based on the grid with the obstacle to obtain an expanded grid comprises: obtaining size information of a vehicle body structure circumcircle of the sweeping robot, and determining an expansion thickness based on the size information; and performing expansion processing around the grid with the obstacle in the grid map according to the expansion thickness to obtain an expansion grid.
5. The method according to claim 4, wherein the step of performing expansion processing around a grid with an obstacle in the grid map according to the expansion thickness to obtain an expanded grid comprises: determining corresponding expansion times according to the expansion thickness; in each round of expansion, converting the grids with the obstacle or the grids around the determined expansion grid into expansion grids; And determining a final expansion grid until the expansion corresponding to the expansion times is completed.
6. The method according to claim 1, wherein the step of searching for a plurality of non-obstacle grids along a boundary between the obstacle grid and the non-obstacle grid from the start point includes: starting from the starting point, rolling along the boundary between the barrier grid and the non-barrier grid in the clockwise direction or the counterclockwise direction to construct four adjacent domains, and determining the extending directions of a plurality of constructed four adjacent domains; and positioning a non-obstacle grid adjacent to the obstacle grid in the four neighborhood and closest to the extending direction aiming at each constructed four neighborhood so as to find a plurality of non-obstacle grids.
7. The method according to claim 2, wherein the plurality of optimization indexes include a distance deviation index of a brush of the sweeping robot from an obstacle; the distance deviation index is obtained by the following method: acquiring position information and orientation information of each point position included in the initial driving path, and acquiring the relative position of a sweeping circle center of the sweeping robot relative to the sweeping robot body; Determining coordinates of the sweeping circle center according to the position information, the orientation information and the relative position; obtaining the minimum distance between the sweeping circle center and the obstacle based on the coordinates of the sweeping circle center; and constructing and obtaining a distance deviation index based on the minimum distance and the radius of the sweeping brush.
8. The method according to claim 2, wherein the plurality of optimization indexes include a distance index between the robot and an obstacle; The distance index between the sweeping robot and the obstacle is calculated by the minimum distance between the collision detection safety frame of the sweeping robot and the obstacle and the set robot safety distance.
9. The method according to claim 1, wherein the travel path includes a plurality of points and a time interval between every two adjacent points; The step of driving the sweeping robot to travel along the edge based on the travel path and executing the sweeping operation comprises the following steps: position information, an orientation angle and a time interval respectively contained in the two latest points in the running path are obtained; Obtaining a linear speed control instruction according to the position information of the two points and the time interval; obtaining an angular speed control instruction according to the orientation angles and the time intervals of the two points; and driving the sweeping robot to travel along the edge and execute the sweeping operation based on the linear speed control command and the angular speed control command.
10. A robot for sweeping floor, comprising: One or more processors; A storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1 to 9.

Description

Sweeping robot edge sweeping control method and sweeping robot Technical Field The invention relates to the technical field of control, in particular to a sweeping robot edge sweeping control method and a sweeping robot. Background The outdoor sweeping robot is mainly used for sweeping operations in urban roads, parks, streets, auxiliary roads, sidewalks, parks or squares and other areas. In road cleaning scenes, the dust and dirt are concentrated on the road edges. In the cleaning scene of parks and squares, the areas such as flower beds, steps, wall roots and the like are also important cleaning areas. The outdoor cleaning robot should have the road and square coverage cleaning function in a general scene, and should also have the edge-attaching cleaning function of the road edge and the square edge. The key of the outdoor robot welt cleaning is to control the robot to sweep and walk close to the edge of a road or a square. In the prior art, the problems that the welt distance is too large and a good cleaning effect is difficult to obtain or the welt distance is not well controlled and is easy to collide with the road edge, the building and the like at the edge of a road or a square, so that equipment damage or property loss and the like are caused. In addition, the welt cleaning requires that the robot be able to accommodate complex geometries of the edge, such as irregular corners such as camber, sag, inside corners, outside sharp corners, etc., or edges with messy obstacles. Such places often cause the robot to run side to side and to jam, which affects the actual work smoothness and work efficiency of the robot. Disclosure of Invention The invention aims to provide a sweeping robot edge sweeping control method and a sweeping robot, which are used for avoiding collision between the sweeping robot and an obstacle while guaranteeing a good edge pasting state. In a first aspect, the present invention provides a method for controlling the edge cleaning of a robot, the method comprising: Constructing a grid map in a robot coordinate system, and determining a grid with an obstacle in the grid map according to the detected obstacle information around the sweeping robot; Performing expansion processing based on the grid with the obstacle to obtain an expansion grid, and determining the grid with the obstacle and the expansion grid as the obstacle grid; searching a non-obstacle grid which is closest to the sweeping robot and is adjacent to the obstacle grid as a starting point; searching a plurality of non-obstacle grids along a boundary between the obstacle grid and the non-obstacle grid from the starting point; and constructing a driving path based on the searched non-obstacle grid, driving the sweeping robot to travel along the edge based on the driving path, and executing sweeping operation. In an alternative embodiment, the step of constructing the driving path based on the found non-obstacle grid includes: Constructing an initial driving path based on the searched non-obstacle grid; constructing a plurality of optimization indexes, optimizing the initial driving path by adopting a multi-objective optimization algorithm based on the plurality of optimization indexes, and obtaining an optimized driving path. In an optional embodiment, the step of determining the grid with the obstacle in the grid map according to the detected obstacle information around the sweeping robot includes: obtaining a detected obstacle point cloud around the sweeping robot; For each three-dimensional point in the obstacle point cloud, acquiring grid coordinates of the three-dimensional point in the grid map based on coordinates of the three-dimensional point in the robot coordinate system and grid parameters of the grid map; and determining the grid to which the three-dimensional point belongs according to the grid coordinates so as to determine the grid with the obstacle. In an alternative embodiment, the step of performing expansion processing based on the grid with the obstacle to obtain an expanded grid includes: obtaining size information of a vehicle body structure circumcircle of the sweeping robot, and determining an expansion thickness based on the size information; and performing expansion processing around the grid with the obstacle in the grid map according to the expansion thickness to obtain an expansion grid. In an optional embodiment, the step of performing expansion processing around the grid with the obstacle in the grid map according to the expansion thickness to obtain an expanded grid includes: determining corresponding expansion times according to the expansion thickness; in each round of expansion, converting the grids with the obstacle or the grids around the determined expansion grid into expansion grids; And determining a final expansion grid until the expansion corresponding to the expansion times is completed. In an alternative embodiment, the step of searching for a plurality of non-obstacle grids along