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Covering method of map self-established by mobile platform in unknown region

A mobile platform and unknown area technology, applied in the coverage field of the mobile platform's self-built maps in unknown areas, can solve the problems of low coverage rate and complex algorithm, and achieve the effect of simple algorithm and improved coverage efficiency.

Inactive Publication Date: 2013-03-13
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a coverage method for a mobile platform to self-build a map in an unknown area to solve the problems of complex algorithms and low coverage in the prior art. The technical solution is as follows:

Method used

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  • Covering method of map self-established by mobile platform in unknown region
  • Covering method of map self-established by mobile platform in unknown region
  • Covering method of map self-established by mobile platform in unknown region

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] Embodiment 1 of the present invention provides a coverage method for a mobile platform to build a map in an unknown area in advance. A virtual map with a starting point as the center and including multiple sub-areas is pre-established. figure 1 As a schematic flowchart of the method, the method may include:

[0054] S101: When the mobile platform enters the unknown area, the current position of the mobile platform corresponds to the sub-area where the starting point of the map storage system is located.

[0055] figure 2 This is a schematic diagram of the mobile platform M in the unknown area in this embodiment, wherein the dotted line marks are to facilitate the technicians to understand the division of the actual area and correspond to the sub-areas in the virtual map, that is, the mobile platform M is in the actual unknown area. Each location in has a corresponding sub-area in the virtual map. in, figure 2 The black areas in the box indicate obstacles or boundar...

Embodiment 2

[0069] The second embodiment of the present invention provides a covering method for a mobile platform to build a map in an unknown area. figure 1 . Different from the first embodiment, in the first embodiment, as figure 2 As shown, the size of the sub-area in the virtual map is basically the same as the size of the mobile platform in the virtual map, and in the second embodiment, as Figure 12 As shown, the size of the sub-region in the virtual map is about 1 / 2 of the size of the mobile platform in the virtual map.

[0070] In the following description of the specific steps of the second embodiment, emphasis is placed on describing the differences from the first embodiment, and for the same points, reference may be made to the first embodiment.

[0071] S101: When the mobile platform enters the unknown area, the current position of the mobile platform corresponds to the sub-area where the starting point of the map storage system is located.

[0072] S102: Mark the sub-reg...

Embodiment 3

[0090] Embodiment 3 of the invention provides a coverage system for self-construction of maps by mobile platforms in unknown areas, including: a drive system, a relative positioning system, a map storage system, and a control system. in:

[0091] The drive system is used to drive the displacement of the mobile platform.

[0092] The relative positioning system is used to determine the relative position of the area where the mobile platform is located after the movement relative to the area where it was located before the movement.

[0093] The map storage system is used to mark sub-areas in the pre-stored virtual map centered on the starting point and including multiple sub-areas as traversed areas.

[0094] The control system is used to control the map storage subsystem to correspond the starting point of the pre-stored virtual map with the current position of the mobile platform when the mobile platform enters an unknown area, and control the map storage subsystem to compar...

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Abstract

The invention provides a covering method of a map self-established by a mobile platform in an unknown region, wherein a virtual map is established in advance. The method comprises the following steps of: (1) when the mobile platform enters the unknown region, enabling the current position of the mobile platform to correspond to a subregion in which the original point of the virtual map is arranged; (2) marking the subregion corresponding to the current position of the mobile platform as a traversed subregion and marking other subregions as non-traversed subregions; (3) marking the non-traversed subregion adjacent to the traversed subregion as a target subregion; (4) moving the mobile platform to the region corresponding to the target subregion; (5) marking the subregion corresponding to the current position of the mobile platform as the traversed subregion, and determining a target subregion from the non-traversed subregions adjacent to the traversed subregion; and (6) repeating the step (4) and (5) until no target subregion exists. The method provided by the invention is simple in realization, high in converge rate and capable of reducing the repeated coverage rate of the mobile platform in the unknown region.

Description

technical field [0001] The invention relates to the technical field of mobile platforms, in particular to a covering method for a mobile platform to build a map in an unknown area. Background technique [0002] The path planning of the mobile platform in the unknown area has always been the focus and difficulty in the field of the mobile platform. Since there may be obstacles in the unknown area, the mobile platform cannot fully cover the area. [0003] In view of the above problems, Chinese patent ZL02137830.4 discloses a path planning method for an intelligent vacuum cleaner, which determines the boundary of an unknown area and then covers and cleans the area within the boundary, but when there is an obstacle in the unknown area, the obstacle is first The boundary of the smart vacuum cleaner is confirmed, and then the cleaning action is performed. The algorithm is very complicated. At the same time, the smart vacuum cleaner repeats the cleaned area for many times, which re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/34
CPCA47L11/24G05D1/00G05D1/0219G05D1/0274
Inventor 肖双良
Owner SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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