An Optimal Path Planning Method for Automatic Vacuum Cleaning Robot Based on Path Density Analysis

An optimal path planning and automatic vacuuming technology, applied in vehicle position/route/height control, instruments, motor vehicles, etc., can solve problems such as low cleaning efficiency, achieve flexible working methods, easy implementation, and improve cleaning coverage Effect

CN108873892BActive Publication Date: 2022-02-01GUANGDONG JOY INTELLIGENT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-02-01

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Abstract

An optimal path planning method for an automatic vacuuming robot based on path density analysis is disclosed. The automatic vacuuming robot includes two driving wheels and two driving motors connected to the driving wheels. An encoder is installed, and an obstacle detection device installed on the front of the automatic vacuuming robot, the optimal path planning method is set inside the controller, and the optimal path planning method includes the following steps: (1) Set data linked list L 0 ; (2) when the automatic vacuuming robot detects an obstacle, it records the current position coordinates and stores them in the data link table L 0 ; (3) Obtain the data linked list L 0 The center point O, and the center point O to the data linked list L 0 point P in i (x i ,y i ) direction angle α j , and stored in the data linked list L 1 {α j}; (4), set the data linked list L 2 ={b k}, b k Represents the data linked list L 1 The number of elements in the k×π / 4 area; (5) calculate the data linked list L 1 middle element α j at b k Correspond to the number of areas, and find the minimum value, and the corresponding direction is used as the new cleaning direction.
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Description

Technical field

[0001] The present invention relates to an optimal path planning method based on path density analysis, belonging to the technical field of smart household appliance control technology. Background technique

[0002] With the speed of life, the intelligent home appliances have entered our lives. Among them, automatic vacuum cleaning robots gave us a lot of help. The cleaning work of the family is very heavy and very frequent. Automatic vacuum cleaning robots can automatically clean the home floor. It utilizes the rechargeable battery carrying a variety of electrical appliances, in which the vacuum motor is formed inside the automatic vacuum machine, and the garbage of the ground will inhale the ground in the internal dust box, drive the motor and drive wheels. Free walking of automatic vacuum cleaning robots. Automatic vacuum cleaning robots achieve cleaning of the ground through its own walking process.

[0003] Because the current automatic vacuum robot does not ...

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Embodiment Construction

[0026] The present invention is further illustrated in conjunction with the drawings:

[0027] Refer Figure 1-2 , An automatic vacuum cleaning robot optimal path planning method based on path density analysis, the automatic vacuuming robot includes two drive wheels 1, two drive motors 2 connected to the drive wheel 1, the drive The encoder is mounted on the motor 2, further comprising a support wheel 3, the support wheel 3 functions, not for driving. The drive motor 2 and the encoder are connected to the controller. The controller implements free movement of the automatic vacuum robot by providing the speed and direction of the two of the drive wheels 1, and can calculate the automatic vacuum cleaning robot based on the signal of the encoder. The relative moving distance and the direction of rotation are in the original position of the coordinate (X, Y). Due to mechanical gaps, calculation errors, coordinates (x, y) will have accumulated errors, that is, over time, error will be l...