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Method for traversing working environment and method for building raster map

A working environment and traversal technology, applied in cleaning carpets, cleaning floors, installation of electrical equipment, etc., can solve unsolved problems

Inactive Publication Date: 2018-11-06
杨扬
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

Spiral traversal can deal with oblique walls, but how to select a reference after leaving the wall during the internal loop has not been solved by the existing technology

Method used

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  • Method for traversing working environment and method for building raster map
  • Method for traversing working environment and method for building raster map
  • Method for traversing working environment and method for building raster map

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Embodiment Construction

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0039] Review of prior art

[0040] Existing obstacle avoidance methods for vacuuming robots mainly include precise obstacle avoidance and fuzzy obstacle avoidance. "Mobile Robot Path Planning" (Northeast Electric Power University master's degree thesis, Meng Xiangfu) discloses a fuzzy obstacle avoidance method, which uses a fuzzy logic algorithm, and the system has a large amount of calculation, which is not suitable for low-cost vacuum cleaners. And "Kiron Neural Network Autonomous Vacuum Robot Hybrid Sensing System Design and Obstacle Avoidance Planning" (Master's Thesis of Zhejiang University, Xu Yong) disclosed the intelligent obstacle avoidance algorithm of vacuum robot based on neural network. Used in actual vacuum cleaner robots. "Robot Traversal Algorithm Based on...

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Abstract

The invention discloses a method for traversing a working environment. The method includes system presetting, maximum working area building and internal circulation traversing. O3 tracks (x, y) and O4tracks (x', y') are recorded, and a maximum working area y=F(x) is generated according to the O3 tracks if (x, y)=(0, 0). A virtual boundary line y'=gi(x') is generated according to the O4 tracks, t=0, t=t+1, and a t O3 default route (xt, yt, theta t) is built according to y'=g(t-1)(x'). The working environment is read in a spiral traversing mode, and an internal circulation area is built according to a previous track. The invention further discloses a method for building a raster map.

Description

technical field [0001] The invention relates to a method for traversing a working environment, which belongs to the field of smart home. Background technique [0002] There are many kinds of inner loop traversal in the working area, and the existing technologies mainly focus on three methods: area segmentation, combing traversal and spiral traversal. Combing traversal is the most common type of existing technology. The system calculation is simple, but if there is an obstacle in the middle of the work area, the system will generate many repeated paths to cover the work area behind the obstacle. Area segmentation can solve the path planning when there are obstacles in the working area. This method refers to "Research on Path Planning for Full Coverage of Cleaning Robots" (Master's Thesis of Chongqing University, Zhang Yue). Region segmentation is less efficient for walls and obstacles with long slopes. "Research on Cleaning Robot Based on ARM Controller" (Jiangxi University...

Claims

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Application Information

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IPC IPC(8): A47L11/24A47L11/40A47L9/28
CPCA47L9/28A47L11/24A47L11/4011A47L11/4061A47L2201/04
Inventor 杨扬
Owner 杨扬
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