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Cleaning robot and method for complete-coverage path planning of cleaning robot under dynamic environment

A technology for cleaning robots and dynamic environments, applied to instruments, measuring devices, re-radiation of electromagnetic waves, etc., can solve problems such as robot coverage

Active Publication Date: 2017-06-13
海博(苏州)机器人科技有限公司
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a cleaning robot and its full-coverage path planning method in a dynamic environment to solve the robot's coverage problem in a dynamic environment

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Embodiment Construction

[0034] In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] An embodiment of the present invention discloses a cleaning robot. The cleaning robot is equipped with a laser radar sensor. The laser radar sensor can perform 360° rotation scanning to obtain environmental information in a rolling window, so as to ensure that the area around the cleaning robot can be detected in re...

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Abstract

The invention discloses a cleaning robot and a method for complete-coverage path planning of the cleaning robot under a dynamic environment. The method includes: S1, establishing a global environment showing raster map; S2, if the whole raster map is covered, allowing the cleaning robot to stop working; if not, executing S3; S3, updating environmental information in a current planning window; S4, adopting a wave-front algorithm for generating a wave-front graphic in the current planning window; S5, calling a distance conversion algorithm to generate a local coverage path; S6, allowing the cleaning robot to move by a cell along the planned path, allowing the planning window to advance by a cell if raster cells on the lateral side of the current planning window are all covered, and if not, keeping the planning window unchanged; S7, returning to S2 until the whole raster map is covered. A local region environment is detected in real time by a laser radar sensor, a local region coverage path is planned on the basis of detected data, and a function of autonomous coverage in the dynamic environment is realized.

Description

technical field [0001] The invention relates to the technical field of mobile robots and path planning, in particular to a cleaning robot and a full coverage path planning method in a dynamic environment. Background technique [0002] Looking back at the development of cleaning robot technology at home and abroad for more than ten years, the development trend has changed from the initial realization of cleaning functions to the pursuit of higher intelligence today. At present, the main innovation is mainly for autonomous navigation technology for robots, such as real-time path planning technology. [0003] The premise of full coverage path planning for cleaning robots is the ability to create environmental maps and self-positioning. In the aspect of environment map creation, the sensors installed on the robot can be used to obtain environmental information by adopting edge learning and other methods, and based on this, a grid map describing the characteristics of the enviro...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01S17/93
Inventor 孙荣川周永正郁树梅陈国栋任子武孙立宁
Owner 海博(苏州)机器人科技有限公司
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