Full-coverage path planning method of cleaning robot

A cleaning robot and path planning technology, applied in the direction of instruments, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problems of inability to complete the full-coverage cleaning work and the inability to move forward in dead zones, achieving less Energy saving, power saving, and the effect of reducing the cost of use

Inactive Publication Date: 2019-11-15
CHINA UNIV OF MINING & TECH
View PDF36 Cites 20 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the common operation mode is "back" path planning. This mode has a simple algorithm and is easy to improve. However, in an environment with many obstacles, there will be a situation where the dead zone cannot move forward, resulting in the inability to complete the full-coverage cleaning work.
[0003] The dead zone refers to that the grid in front of the sweeping robot has been marked as an obstacle area, cleaned area or reaching the boundary, and other directions have been marked as cleaned areas or obstacle areas, so that the sweeping robot cannot continue to follow the original schedule. Plowing and mulching routes for sweeping

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Full-coverage path planning method of cleaning robot
  • Full-coverage path planning method of cleaning robot
  • Full-coverage path planning method of cleaning robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0034] Example: The cleaner cleans counterclockwise according to the set inner spiral running track, such as figure 2 As shown in , the cleaning robot needs to complete full-coverage cleaning from the lower left corner of the grid map, which is the black disc, as shown in image 3 As shown, the completed working environment map, the circle connection in the figure indicates the cleaning path of the cleaning robot, and the small black square indicates the path of the cleaning robot jumping out of the dead zone after falling into the dead zone, as shown in figure 1 As shown, the specific path planning method is as follows:

[0035] S1 Construct a grid map of the cleaning area of ​​the cleaning robot. Starting from any grid on the grid map boundary, the cleaning robot cleans counterclockwise according to the set inner spiral trajectory, and records the cleaned grids. It is recorded that the grid cleaning robot no longer performs repeated cleaning; the grid map construction meth...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a full-coverage path planning method of a cleaning robot and belongs to the field of intelligent control technologies. According to the method, when the cleaning robot enters adead zone and cannot advance, a non-swept grid closest to the cleaning robot is found through a wildfire algorithm, then the shortest path from the cleaning robot to the closest non-swept grid is planned through an A* algorithm, the cleaning robot jumps out of the dead zone according to the planned path and then continues to move forwards to perform sweeping work, and therefore it can be guaranteed that the cleaning robot completes full-coverage sweeping work.

Description

technical field [0001] The invention relates to a robot path planning method, in particular to a full-coverage path planning method for a cleaning robot, belonging to the technical field of intelligent control. Background technique [0002] The full-coverage path planning of the cleaning robot includes the reciprocating "comb"-shaped path planning and the inner-spiral "back"-shaped path planning. The cleaning rules for round-trip path planning are: first, prevent the cleaning robot from being in a certain corner of the room; then, travel in a certain direction, adopt an obstacle avoidance strategy when encountering an obstacle, and move a car body to turn around and continue when it encounters a wall Marching, moving back and forth in such a way as to traverse the entire environment. Inner helical path planning is to let the robot move clockwise or counterclockwise along the boundary of the wall according to the "back" path. When the sensor carried by the robot detects that...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0219
Inventor 缪燕子罗浩航马小平王贺升赵忠祥
Owner CHINA UNIV OF MINING & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap