Way-finding method for ground cleaning robot

A sweeping robot and map technology, applied in the direction of instruments, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problem of low efficiency, low cleaning coverage of sweeping robots, and unclear maps of cleaned areas And other issues

Inactive Publication Date: 2017-12-15
NANJING CHINA UNIV INTPROP CO LTD
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  • Abstract
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Problems solved by technology

[0004] Aiming at the above-mentioned problems in the background technology, the present invention proposes a path-finding method for a sweeping rob...

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  • Way-finding method for ground cleaning robot
  • Way-finding method for ground cleaning robot

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Embodiment Construction

[0016] The present invention is applied to the existing path-planning floor sweeping robot. An edge infrared detector is added to the floor sweeping robot to detect the edge, find the way along the edge, and determine the layout map of the entire cleaned area.

[0017] The invention provides a pathfinding method for a sweeping robot.

[0018] The sweeping robot includes a control unit, a timer, an infrared edge detector, a map memory, and an obstacle detector. The control unit receives and saves the obstacle detection information output by the obstacle detector, and controls the direction of travel of the sweeping robot. The method comprises the steps of:

[0019] Step 1: Start the sweeping robot, detect the power of the sweeping robot, and alarm if the power is insufficient; the timer is initialized, the sweeping robot randomly selects a direction at the initial position, and the infrared edge detector determines an advancing edge, The sweeping robot walks along the edge;

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Abstract

The invention proposes a way-finding method for a ground cleaning robot. According to the invention, an edge infrared detection instrument is added into the ground cleaning robot to detect the edges so that the robot could find its way along the edges. More particularly, a distribution map about an entire cleaned area is determined; the distribution map is then decomposed into a plurality of matrix modules. The matrix modules are decomposed into the coordinate points in a plurality of coordinate systems so the robot find its way to clean according to the coordinate points. The method of the invention resolves the problems in prior art that a route planned ground cleaning robot's cleaning coverage is not high and efficient enough and that the cleaned area map is not clear.

Description

technical field [0001] The invention relates to the technical field of path planning for a sweeping robot, in particular to a pathfinding method for a sweeping robot. Background technique [0002] With the continuous improvement of people's living standards, more and more sweeping robots have entered people's lives, and sweeping robots have replaced manpower to complete daily ground cleaning work. [0003] There are sweeping robots from various manufacturers on the market, which can be roughly divided into two types according to the pathfinding methods of the robots: random collision type and path planning type. The two have their own advantages and disadvantages. The random collision type has low environmental requirements and high work reliability, but the cleaning efficiency is low, time-consuming, and the cleaning coverage is relatively random (cannot reach 100%); the path planning type has high overall cleaning efficiency and time-consuming Short, and the map of the ar...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0276
Inventor 王小绪王力董豪李秋盛
Owner NANJING CHINA UNIV INTPROP CO LTD
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