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Self-mobile robot path planning method

A path planning and robot technology, applied in the directions of instruments, motor vehicles, road network navigators, etc., can solve the problems of low work efficiency, unreasonable walking paths, and poor environmental awareness of self-moving robots. The effect of improving efficiency and reasonable path planning

Pending Publication Date: 2019-03-05
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the self-mobile robot will have a certain height, the existing two-dimensional map cannot guide the robot to walk well, and the amount of data and calculations using the three-dimensional map are relatively large, which prolongs the data processing to a certain extent. time and working time, the work efficiency of the self-mobile robot is low, the ability to perceive the environment is poor, and the walking path is unreasonable

Method used

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Examples

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Embodiment 1

[0027] figure 1 It is a flow chart of the path planning method for the self-mobile robot of the present invention. Such as figure 1 As shown, the present invention provides a method for path planning of a self-mobile robot, comprising the following steps:

[0028] Step 100: The self-mobile robot walks in the space to be worked, collects obstacle information of different heights and generates a multi-layer environment map of the space to be worked;

[0029] Step 200: Comprehensively process the information in the multi-layer environment map to obtain comprehensively processed data;

[0030] Step 300: Planning the walking path of the self-mobile robot according to the comprehensively processed data.

[0031] Specifically, the multi-layer environment map in step 100 includes multiple two-dimensional maps, and each two-dimensional map corresponds to obstacle information of different heights. The multiple two-dimensional maps mentioned above are realized by the detection of sen...

Embodiment 2

[0037] The path planning method for a self-mobile robot provided in this embodiment includes the following steps:

[0038] Step 100: The self-mobile robot walks in the space to be worked, collects obstacle information of different heights and generates a multi-layer environment map of the space to be worked;

[0039] Step 200: Comprehensively process the information in the multi-layer environment map to obtain comprehensively processed data;

[0040] Step 300: Planning the walking path of the self-mobile robot according to the comprehensively processed data.

[0041] Specifically, the multi-layer environment map in step 100 includes multiple two-dimensional maps, and each two-dimensional map corresponds to obstacle information of different heights.

[0042] The comprehensive processing in step 200 includes: taking the intersection of the walkable areas in each two-dimensional map to obtain the walkable area. That is: as long as a certain place is identified as a walkable are...

Embodiment 3

[0048] A method for path planning of a self-moving robot, comprising the steps of:

[0049] Step 100: The self-mobile robot walks in the space to be worked, collects obstacle information of different heights and generates a multi-layer environment map of the space to be worked;

[0050] Step 200: Comprehensively process the information in the multi-layer environment map to obtain comprehensively processed data;

[0051] Step 300: Planning the walking path of the self-mobile robot according to the comprehensively processed data.

[0052] The comprehensive processing in step 200 includes: taking the union of the obstacle information in each two-dimensional map to obtain all the obstacle information in the space to be worked; and taking the intersection of the walkable areas in each two-dimensional map, The walkable area information of the space to be worked is obtained.

[0053] The walkable area is all areas in the space to be operated whose distance from obstacles is not less ...

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Abstract

A self-mobile robot path planning method includes: a step 100) in which a self-mobile robot walks in to-be-operated space, collects information of obstacles with different heights, and generates a multi-layer environment map of the to-be-operated space; a step 200) in which the information in the multi-layer environment map is integrated to obtain integrated processing data; and a step 300) in which a walking path of the self-mobile robot is planned according to the integrated processing data. The method is simple in program, rapid, high in calculation speed, and reasonable to plan and greatlyincreases the working efficiency of the self-mobile robot.

Description

technical field [0001] The invention relates to a path planning method for a self-moving robot, which belongs to the technical field of small home appliance manufacturing. Background technique [0002] For the self-mobile robot, in order to ensure its effective walking in the work space, it is necessary to establish an environmental map with spatial information to help the self-mobile robot judge whether it can pass through and perform path planning. However, since the self-mobile robot will have a certain height, the existing two-dimensional map cannot guide the robot to walk well, and the amount of data and calculations using the three-dimensional map are relatively large, which prolongs the data processing to a certain extent. Time and working time make the work efficiency of the self-mobile robot low, the ability to perceive the environment is poor, and the walking path is unreasonable. Contents of the invention [0003] The technical problem to be solved by the prese...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/343G01C21/3878G05D1/0274B62D57/02G05D1/0088G05D1/0214
Inventor 汤进举
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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