物业用室内清扫机器人自主作业的改进螺旋回溯法  

Improved Backtracking Spiral Method for Autonomous Operation of Indoor Cleaning Robots for Property

作　　者：张建刚 刘海宁[1] 于庆江 张留 杨奉钦 ZHANG Jiangang;LIU Haining;YU Qingjiang;ZHANG Liu;YANG Fengqin(School of Mechanical Engineering,University of Jinan,Jinan 250022,Shandong,China;Chengyang District Yuhangxin Automobile Service Department,Qingdao 266111,Shandong,China;Jining Antai Mine Equipment Manufacturing Co.,Ltd.,Jining 272300,Shandong,China;Tongya Automobile Co.,Ltd.,Jining 272613,Shandong,China)

机构地区：[1]济南大学机械工程学院,山东济南250022 [2]青岛市城阳区钰航鑫汽车服务部,山东青岛266111 [3]济宁安泰矿山设备制造有限公司,山东济宁272300 [4]通亚汽车制造有限公司,山东济宁272613

出　　处：《济南大学学报（自然科学版）》2024年第5期564-572,共9页Journal of University of Jinan(Science and Technology)

基　　金：山东省重点研发计划项目(2019GGX105009)。

摘　　要：针对现有物业用室内清扫机器人清洁作业存在的覆盖率低、重复率高等问题,提出一种物业用室内清扫机器人自主作业的改进螺旋回溯法,通过先验地图提供的楼宇内部信息改善自主清扫效果,在保证全覆盖的同时降低重复率;改进螺旋回溯法包含全覆盖路径规划和避障,利用先验地图将待清扫区域划分为多个子区域,单个子区域内采取螺旋式遍历,基于回溯机制和回溯点筛选实现子区域衔接,子区域内按静态及随机障碍物避障策略实时避障,完成自主作业任务;在机器人操作系统中仿真验证改进螺旋回溯法,并利用物业用室内清扫机器人样机实物进行实际测试。结果表明:与基本回溯法相比,改进螺旋回溯法能使回溯点个数精简50%,有效降低重复率和缩短覆盖时间,避障策略能使物业用室内机器人灵活避障;改进螺旋回溯法生成轨迹简单易行,重复率低,可实现物业用室内清扫机器人的有效自主作业。Aiming at the problems of low coverage and high repetition rate in cleaning operation of existing indoor cleaning robots for property,an improved backtracking spiral method for autonomous operation of indoor cleaning robots for property was proposed.Effects of autonomous cleaning were improved according to internal information in the building provided by using the prior map to ensure full coverage while reduce the repetition rate.The improved backtracking spiral method included full coverage path planning and obstacle avoidance.The prior map was used to divide the region to be cleaned into multiple sub-regions.Spiral traversal was adopted in the single sub-region.On the basis of the backtracking mechanism and backtracking point screening,the sub-regions were connected.In the sub-regions,static and random obstacle avoidance strategies were used to avoid obstacles in real time to complete the autonomous operation task.The improved backtracking spiral method was simulated and verified in the robot operating system,and an actual test was carried out by using a prototype of indoor cleaning robot for property.The results show that compared with the basic backtracking method,the improved backtracking spiral method can simplify numbers of backtracking points by 50%,and effectively reduce the repetition rate and coverage time.The obstacle avoidance strategies can make indoor cleaning robots for property avoid obstacles flexibly.The improved backtracking spiral method is simple and easy to generate trajectories with low repetition rate,which can realize effective autonomous operation of indoor cleaning robots for property.

关 键 词：室内清扫机器人 自主作业 改进螺旋回溯法 先验地图 避障 

分 类 号：TP306.1[自动化与计算机技术—计算机系统结构]