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Low-energy loss robot full coverage path planning method and system

A path planning, robot technology, applied in the field of mobile robots, can solve the problem of low efficiency of full coverage cleaning

Active Publication Date: 2019-11-01
ZHEJIANG UNIV
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  • Application Information

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Problems solved by technology

[0005] The present invention provides a low-energy-loss robot full-coverage path planning method and system, aiming to solve the problem of low efficiency of full-coverage cleaning by existing sweeping robots

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  • Low-energy loss robot full coverage path planning method and system
  • Low-energy loss robot full coverage path planning method and system
  • Low-energy loss robot full coverage path planning method and system

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Embodiment Construction

[0072] In order to better understand the technical solutions of the present invention, the implementation manners of the present invention will be further described below in conjunction with the accompanying drawings.

[0073] see figure 1 , figure 1 It is a schematic flowchart of a low-energy-loss robot full-coverage path planning method of the present invention, and the specific process is as follows:

[0074] S1: Integrate the robot encoder, IMU and range finder information, and use real-time positioning and map construction algorithms to establish an environmental grid map. The specific steps are as follows:

[0075] S11: Starting from the charging pile of the cleaning robot, initialize the grid map, and divide the space into a limited number of grid units by occupying the grid map:

[0076] m=m i

[0077] Among them, m i Indicates the i-th grid cell, each m i Corresponds to a three-valued occupancy variable that indicates whether the unit is occupied. If the grid i...

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Abstract

The present invention discloses a low-energy loss robot full coverage path planning method and system. The system comprises a robot, a ranging sensor, an encoder and an IMU. The method comprises: establishing an environment grid map by using an instant positioning and map construction algorithm; preprocessing a grid map, and adjusting a resolution and a reachable cleaning area of the grid map; defining the energy loss cost function of a mobile cleaning robot full coverage path, and calculating an optimal grid map segmentation direction by using a finite heuristic search algorithm; using the segmentation direction to perform area segmentation on the grid map through each vertex in the grid map; performing matching detection on the adjacent segmented areas, and combining the segmented areaswith a higher matching degree into a segmentation area; and determining a traversal direction according to the map segmentation direction, and sequentially traversing each segmentation area to plan afull coverage path. According to the technical scheme of the present invention, the concave polygon is segmented into convex polygons, so that planning an arch full coverage path can be facilitated, and the cleaning efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method and system for planning a full-coverage path of a cleaning robot. Background technique [0002] In the 1960s, robots were born due to industrial development. With the development of society and the advancement of technology, the functions of robots have become diversified. At present, service robots are becoming more and more popular. Indoor cleaning robot is a kind of household service robot, which can replace human labor to reduce labor burden, and has become a hotspot in the research of intelligent robots, among which path planning technology is one of the core issues in the field of intelligent robots. [0003] The main research content of robot path planning technology includes point-to-point path planning and full coverage path planning. Among them, full-coverage path planning refers to finding a continuous path that passes through all accessible points in a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 王进徐志楠陆国栋郑涛喻志勇
Owner ZHEJIANG UNIV
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