Path planning method for cleaning robot

Abstract

The invention discloses a path planning method for a cleaning robot. The method comprises: positions of a cleaning robot and a dynamic obstacle are obtained; and according to pre-calibrated active hot region and active cold region of the dynamic obstacle as well as the positions of the cleaning robot and the dynamic obstacle, a working path is determined, wherein the active hot region and active cold region of the dynamic obstacle are calibrated based on a map contour of a predetermined cleaning robot working region. Therefore, the cleaning robot has a self-learning ability; the error rate of the navigation path is reduced; and the navigation frequency is reduced.

Description

technical field [0001] The invention relates to the field of intelligent cleaning robots, and more specifically, to a path planning method for a cleaning robot. Background technique [0002] With the development of science and technology, more and more emerging electronic consumer products and robot products have begun to be popularized in the home environment, more typical ones, such as intelligent cleaning robots. This type of robot has preliminary navigation and planning capabilities. Through modules such as cameras and laser radars, it can realize the functions of map establishment and path planning. [0003] However, in order to achieve navigation and path planning functions for existing cleaning robots, the sensors they rely on are not only expensive, but also have malfunctions and misjudgments. For example, lidar will generate noise under the interference of external light. The area where there is no obstacle is misjudged as an obstacle and avoided, resulting in the ...

AI Technical Summary

Problems solved by technology

The traditional navigation method is relatively accurate for the detection of static obstacles, because no matter where the cleaning robot moves, the position of the static obstacles on the map will not change; for dynamic obstacles, during the movement of the cleaning robot, its position will not change. The position on the map is also constantly changing, which affects the formulation of the working path of the cleaning robot

However, the dynamic obstacles detected by the cleaning robot are not necessarily real. They may be noises caused by interference from factors such as external light. These noises will also appear in different locations on the map as the cleaning robot moves. , which will also affect the path planning of the cleaning robot

Therefore, the traditional navigation method will lead to unreasonable path planning due to misjudgment of obstacles.

[0005] At the same time, existing cleaning robots cannot distinguish between dynamic obstacles and static obstacles, and adopt corresponding strategies to avoid them according to different types of obstacles

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