Optimal path selecting method for automatic dust collecting robot
A technology of automatic dust collection and optimal path, which is applied in the direction of vacuum cleaners, robot cleaners, automatic detection of obstacles, etc., can solve the problems of low cleaning efficiency and difficult cleaning path efficiency, achieve high-definition cleaning efficiency, increase hardware costs, and facilitate Achieved effect
Inactive Publication Date: 2018-11-13
HANGZHOU JINGYI INTELLIGENT SCI & TECH
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Problems solved by technology
[0003] Because the current automatic vacuum robot does not have very precise positioning and planning capabilities, the efficiency of its cleaning path has become a very important and difficult issue.
At present, the commonly used strategy is a random path. The automatic vacuum robot walks randomly on the ground, giving up any planning method, so the cleaning efficiency is low, and it often happens that a certain area is cleaned repeatedly, while other areas have not yet entered
Method used
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[0020] The present invention will be further explained in conjunction with the drawings:
[0021] Reference Figure 1-4 , A method for selecting the best path of an automatic cleaning robot, the automatic cleaning robot includes two drive wheels 1, two drive motors 2 connected to the drive wheels 1, and the drive motors 2 are installed The encoder also includes a supporting wheel 3, and the supporting wheel 3 functions as a support and is not used for driving. Wherein, the driving motor 2 and the encoder are connected to the controller. The controller realizes the free movement of the automatic cleaning robot by setting the speed and direction of the two driving wheels 1 respectively, and can calculate the automatic cleaning robot according to the signal of the encoder The relative movement distance and rotation direction of, with the starting position as the origin of the coordinates, the coordinates (X, Y) of the current position can be calculated. Due to factors such as mech...
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The invention discloses an optimal path selecting method for an automatic dust collecting robot. The automatic dust collecting robot comprises two drive wheels and two drive motors, wherein a coder ismounted on each drive motor, the automatic dust collecting robot further comprises a support wheel and an obstacle detection device, the drive motors, the coders and the obstacle detection device areconnected with a controller, and the optimal path selecting method is set in the controller. The optimal path selecting method comprises the following steps: (1) recording the coordinate (Xi, Yi) ofthe current point Pi, and performing advancing along the straight line; (2) when detecting an obstacle, recording the coordinate (Xi+1, Yi+1) of the current point Pi+1, randomly selecting one rotationdirection, and performing advancing along the straight line; (3) when detecting the obstacle, recording the coordinate (Xi+2, Yi+2) of the current point Pi+2; (4) calculating the distance L0 betweenthe points Pi and Pi+1, the distance L1 between the points Pi+1 and Pi+2, and the distance L2 between the points Pi+2 and Pi; and (5) comparing the values of L0, L1 and L2, selecting the maximal distance direction as the new advancing direction, and entering the sweeping route through the shortest path.
Description
Technical field [0001] The invention relates to a method for selecting an optimal path of an automatic cleaning robot, which belongs to the technical field of intelligent household appliances control. Background technique [0002] With the acceleration of people's life pace and the demand for more and more abundant life content, smart home appliances have entered our lives. Among them, the automatic vacuuming robot gave us a great help. Home cleaning is very heavy and very frequent. The automatic vacuuming robot can automatically clean the home floor. It uses its own rechargeable battery to power various electrical appliances. Among them, the vacuum motor forms sufficient vacuum inside the automatic vacuum robot, and sucks the garbage on the ground into the internal dust box through the strip-shaped suction port, and the drive motor and drive wheel can Realize the free walking of the automatic cleaning robot. The automatic cleaning robot cleans the ground through its own walk...
Claims
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Login to View More IPC IPC(8): A47L9/28
CPCA47L9/2805A47L9/2852A47L2201/00A47L2201/04
Inventor 刘瑜
Owner HANGZHOU JINGYI INTELLIGENT SCI & TECH