The sweeping robot that turns the circle is not a robot, it can only be regarded as a machine that performs some kind of fixed program.
Roomba is the earliest popular sweeping robot. Its path planning is a random collision mode. It is based on infrared sensors and high-precision program algorithms. Although the algorithm is accurate enough, it hits the house and is not very efficient. It also looks stupid.
As a result, the rising stars have launched their own path planning models, and now there are several types:
First, laser range navigation system (LaserSmartTM Mapping and NavigaTIon)The Neato sweeping robot generates an indoor map by means of laser ranging. On this basis, it is reasonable to plan the cleaning route instead of trying to hit it. The intuitive feeling of the user is that it looks smarter. The principle is as follows: its top is provided with a rotatable laser emitting head and a matching receiver, which generates a digital map by scanning the laser to scan each point to each point on the boundary, and can also perform real-time according to the change of the furniture position in the house. Update.
Since there is an indoor map in the brain, Neato can also intelligently remember the storage location relationship, for example, when it automatically returns to the charging due to insufficient power, it can automatically continue to clean from the last return node.
This is the proper meaning of intelligence.
Second, the Polaris navigation system (NorthStar® NavigaTIon System)Similar to the indoor GPS positioning method, the realization principle of the Polaris navigation system is to establish a module for transmitting signals indoors, and the robot determines its position by measuring its own offset angle with the signal. Since it can't "see" objects in the room like Neato, it can only establish the positional relationship between the indoor map and the object by touching it itself during the cleaning process.
The Polaris navigation system is patented by EvoluTIon RoboTIcs in the United States. It was first applied to its ground-cleaning robot Mint. In September 2012, the company was acquired by iRobot and subsequently applied to the Braava series of wiping robots.
Dyson UK launched a sweeping robot 360Eye last year, but it has not yet been officially sold. It uses the 3 cameras on the top to scan the surrounding environment, then combines the infrared sensor, uses mathematical operations and geometry, trigonometry to map the room, to navigate, and judge the current position according to the position changes of the landmarks in the front and rear images. Move the route and update and adjust the environment model it builds.
How the sweeping robot worksThe sweeping robot is actually a smart vacuum cleaner. It is a car that automatically walks on the ground and cleans (dust) while walking. Generally, it has a universal wheel at the bottom of the bottom, and an independently driven traveling wheel on the left and right sides. There is a fan (vacuum cleaner), which is powered by a rechargeable battery and driven by a DC motor. There are also mops, and some also have water tanks. A wet mop without a water tank can be used for about 30 square meters at a time (not changing), and the water with a water tank is about 30 square meters. In fact, it is often dragged, and the mop can be replaced in the middle, not to mention the water tank. There is another minor problem - once the machine gets stuck and has been seeping water, the wooden floor is in trouble, so personally think that it is not a problem without a water tank. It should sweep the sweeping area and sweep it at the same time, so the suction and path planning is crucial. Of course, if you bring a mop, you can reduce the suction requirements.
How to identify indoor conditions and plan routes
Principles for planning a route:
First, the simpler the cleaning path, the better;
Secondly, it is necessary to be able to traverse all open spaces (clean up all places);
Third, the repetition rate should be low. Under normal circumstances, do not clean the same place multiple times;
Fourth, for dirty places, it should be cleaned as many times as possible;
Fifth, the less time to complete the cleaning, the better. Therefore, to achieve this, the means is that the combination of sensors and algorithms is needed. Because the home environment is different, it is not easy to achieve the universal requirements. There must be some artificial intelligence in it. For example, in a dark or strong light environment, or the floor color has a deep and very shallow environment, it causes great interference to the sensor detection and judgment of the sweeping robot. For example, in a dark environment, rely on the camera and image. The treatment technology will invalidate the environmental judgment; the depth of the floor will bring a big problem to the anti-drop sensor signal judgment, because the current anti-drop technology of the sweeping robot basically uses the downward emission of infrared light to detect it. The reflected signal, according to the strength of the reflection to determine whether the following is suspended, the light color reflection is very strong, the dark reflection is very weak, there is basically no reflection under the high dangling, how to set a value to define the following is floating, which is very Is it difficult to solve these problems?
In theory, there is no problem with composite sensors, but there is an increase in cost and installation space. At present, in order to achieve navigation and planning, there are mainly technologies such as laser ranging, camera processing, Polaris positioning and cruise navigation, but even if laser ranging navigation is used, algorithm support is still needed to achieve planning. The simple bow-shaped cleaning robot on the market is not really planned, because it just walks forward, and when it hits the obstacle, it turns 90 degrees to walk a small distance (generally not exceeding the width of the machine itself), and then walks 90 degrees in the same direction. Until it hits the obstacle, it will go back a 90 degree walk for a small distance, then continue to rotate 90 degrees and then walk until it hits the obstacle and it will cycle like this, there will be many sweeps. Like the United States Neato, domestic millet and domestic Cobos DR95 is laser navigation, South Korea Samsung uses the camera and image processing, the domestic Ai Yijia is using its own patented technology cruise navigation.
A pure gyroscope, which can achieve orientation, does not implement navigation itself, unless it is equipped with other navigation means or algorithms. There are many articles and patents on the optimization of the cleaning path and the algorithm (strategy). Please search for it and refer to it. On this basis, you can also improve, improve and innovate. In addition, random type can not guarantee full coverage, it is not easy to get out of trouble, and the repetition rate is high, it is not recommended.
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