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Intelligent mobile device and moving path planning method and device thereof, program and medium

A technology of moving equipment and moving paths, applied in the field of intelligent robots, can solve the problems of difficult implementation of cleaning robots, blind operations, and unsweeped, to avoid repeated walking, improve the efficiency of getting out of trouble, and avoid collisions.

Active Publication Date: 2018-11-23
北京石头创新科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, this random cleaning method is based on walking in random directions, and it is easy to cause some places not to be cleaned, while other places are repeatedly cleaned, which will cause multiple invalid cleanings, blindness of operation purpose and low intelligence level. Time-consuming
Moreover, if the cleaning of the entire area to be cleaned is to be completed, the cleaning robot needs to perform cleaning work in a random cleaning mode for a long time, which is usually difficult to achieve for cleaning robots with limited battery power

Method used

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  • Intelligent mobile device and moving path planning method and device thereof, program and medium
  • Intelligent mobile device and moving path planning method and device thereof, program and medium
  • Intelligent mobile device and moving path planning method and device thereof, program and medium

Examples

Experimental program
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Effect test

Embodiment 1

[0038] figure 1 It is a flow chart showing a moving route planning method for a smart mobile device according to Embodiment 1 of the present invention.

[0039] refer to figure 1 , in step S110, obtain the first movement path that the smart mobile device has walked randomly, and obtain several impact points and movement sections between the start position and the end position of the first movement path.

[0040] In the embodiment of the present invention, the smart mobile device may be any electronic device capable of autonomous walking, including but not limited to a sweeping robot.

[0041] Optionally, during the random walking process of the smart mobile device, related data such as the walking mileage of the smart mobile device is recorded by devices such as ODO (odograph, odometer) integrated in the smart mobile device, and intelligence is obtained based on these related data. The movement path that the mobile device has traveled. Wherein, the moving path includes seve...

Embodiment 2

[0053] figure 2 It is a flow chart showing the moving path planning method of the smart mobile device according to the second embodiment of the present invention.

[0054] refer to figure 2 , in step S210, acquire the first number of collisions of the smart mobile device within the first preset time period. Wherein, the first number of impacts is a sum value obtained by counting the number of impacts within the first preset time period.

[0055] In this embodiment, in the process of controlling the smart mobile device to walk, the current posture of the smart mobile device is acquired, and the smart mobile device is controlled to walk randomly with the current posture. That is, the smart mobile device is controlled to walk randomly.

[0056] In the process of controlling the random walking of the smart mobile device, the moving direction and distance of the smart mobile device are detected, and the impact operation of the smart mobile device is detected. According to the...

Embodiment 3

[0083] This embodiment provides an optimized walking control strategy for the smart mobile device, which is used for a method for getting out of trouble in a narrow space for the smart mobile device. In this embodiment, the smart mobile device includes an infrared sensor cluster, and the infrared sensor cluster is arranged around a position corresponding to the traveling direction on the smart mobile device. Here, the infrared sensor cluster is used for obstacle detection and is an obstacle sensor installed on the smart mobile device. However, those skilled in the art should understand that the obstacle sensor includes but is not limited to the infrared sensor cluster in this embodiment.

[0084] For example, Figure 7 The cleaning robot shown in the figure is provided with an infrared sensor cluster 70, and the infrared sensor cluster 70 is set on the area corresponding to the front of the cleaning robot. Obstacle detection can be effectively performed when deflecting sidewa...

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Abstract

The embodiment of the invention provides a moving path planning method and device of an intelligent mobile device, a computer program, a storage medium and the intelligent mobile device. The moving path planning method comprises the following steps: acquiring the first randomly walking moving path of the intelligent mobile device and acquiring multiple impact points and moving road sections between the start position and the end position of the first moving path; creating a limited area including the end position, determining the initial attitude of a second moving path to be traveled according to the distribution situation of the impact points and the moving road sections in the limited area and controlling the intelligent mobile device to continue to walk randomly according to the initial attitude. With application of the technical scheme, the intelligent mobile device can be controlled to travel in the direction that is traveled so that the walking control strategy of the intelligent mobile device can be effectively optimized, the working efficiency of the intelligent mobile device can be improved and the efficiency of controlling the intelligent mobile device to get out of thenarrow space can be improved.

Description

technical field [0001] The embodiments of the present invention relate to the field of intelligent robots, and in particular to a method, device, computer program, storage medium, and intelligent mobile equipment for planning a movement path of an intelligent mobile equipment. Background technique [0002] The cleaning robot can automatically perform cleaning operations, and automatically clean the area to be cleaned by directly sweeping, vacuuming, etc. At present, the main working mode of the cleaning robot is the random cleaning mode. In the random cleaning mode, the cleaning robot does not adopt path planning, and when encountering obstacles while walking, it randomly turns to a certain angle to continue walking and cleaning. The control of this random cleaning method is simple, and does not require too many high-precision sensors, and the cost is low. [0003] However, this random cleaning method is based on walking in random directions, and it is easy to cause some pl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/024G05D1/0242G05D1/0246G05D1/0276G05D1/0278
Inventor 谢濠键彭松
Owner 北京石头创新科技有限公司
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