Zigzag regression path planning method for automatic dust collection robot

Abstract

Provided in the invention is a zigzag regression path planning method for an automatic dust collection robot. The automatic dust collection robot is composed of two driving wheels and two driving motors connected to the driving wheel; and encoders are installed at the driving motors. Besides, the robot also includes a support wheel, an obstacle detection device installed at the front side, an omnidirectional infrared receiving device installed at the top, and a charging base providing a charging power supply. The driving motors, the encoders, the obstacle detection device, and the omnidirectional infrared receiving device are connected with a controller. An infrared signal transmitting device is arranged at the top of the charging base and emits a linear feature signal forward. The regression path planning method is set inside the controller and is implemented by four steps; and the rotation directions after collision with obstacles by two adjacent times are opposite and the rotation angles are controlled to ensure the zigzag walking path. Therefore, the searching speed is increased and the regression success rate is ensured.

Description

technical field [0001] The invention relates to a zigzag regression path planning method for an automatic vacuuming robot, belonging to the technical field of intelligent household appliances. Background technique [0002] With the acceleration of people's life rhythm and the requirement of more and more rich life content, smart home appliances have entered our life. Among them, the automatic vacuum robot has given us a lot of help. Household cleaning is heavy and frequent. The automatic vacuuming robot can automatically clean the floor of the home. It uses its own rechargeable battery to power various electrical appliances. The vacuum motor forms a sufficient vacuum inside the automatic vacuum robot, and sucks the garbage on the ground into the internal dust box through the strip suction port, while the drive motor and drive wheels can Realize the free walking of the automatic vacuum robot. The automatic cleaning robot realizes the cleaning of the ground through its own...

AI Technical Summary

Problems solved by technology

At present, due to the limitation of hardware configuration, the automatic vacuum cleaner cannot calculate its own position and the position of the charging stand, and can only search for the charging stand randomly and disorderly. It is too long or the battery is too low, but it stops at a certain position and waits for human help

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