Method and device for planning full-coverage path of cleaning robot

A cleaning robot with full coverage technology, applied to cleaning carpets, cleaning floors, machine parts, etc., to simplify the path planning process and improve the efficiency of path planning

Active Publication Date: 2020-04-17
合肥哈工澳汀智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is how to provide a planning method

Method used

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  • Method and device for planning full-coverage path of cleaning robot
  • Method and device for planning full-coverage path of cleaning robot
  • Method and device for planning full-coverage path of cleaning robot

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Embodiment 2

[0059] figure 2 A schematic structural diagram of a planning device for a full-coverage path of a cleaning robot provided in an embodiment of the present invention, as shown in figure 2 As shown, the device includes:

[0060] The obtaining module 501 is used to obtain the map of the area to be cleaned, rasterize the map, and set the starting point and end point of the path preset for the rasterized map;

[0061] The weighting module 502 is configured to assign a preset weight to each grid in the map according to a preset weighting strategy, wherein the weighting strategy includes: decrementing or increasing the weight of the grid row by row, grid The weight of the grid decreases or increases column by column, or the weight ring gradient of the grid decreases or increases;

[0062] The path module 503 is configured to use the starting point of the path in the rasterized map as the current point, use the current point as the center point, use the eight-neighborhood traversal...

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Abstract

The embodiment of the invention provides a method and device for planning a full-coverage path of a cleaning robot, and the method comprises the following steps: obtaining a map of a to-be-cleaned region, rasterizing the map, and presetting a starting point and an ending point of a path for the rasterized map; endowing each grid in the map with a preset weight according to a preset weight endowingstrategy; taking a starting point of a path in the rasterized map as a current point, taking the current point as a central point, obtaining a next point by utilizing an eight-neighborhood traversalalgorithm, taking the next point as the current point, and returning to execute the step of obtaining the next point by taking the current point as the central point and utilizing the eight-neighborhood traversal algorithm until the current point reaches the ending point; and taking a path formed by all the current points from the starting point to the ending point as a full-coverage path. By applying the embodiment of the invention, the path planning process can be simplified, and the path planning efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a method and device for planning a full-coverage path of a cleaning robot. Background technique [0002] With the development of intelligent hardware and communication technology, more and more unmanned cleaning robots are used in shopping malls, airports, hospitals and other large places. Most of the unmanned cleaning robots on the market are equipped with a full-coverage path generation mode in order to achieve full coverage of the cleaning area and eliminate sanitary dead spots. [0003] The invention with the application number 201810556654.0 provides a path planning method for mobile vehicles, which belongs to the field of navigation, including dividing the operation area of ​​the mobile vehicle into blocks with the grid as the smallest unit to obtain operation blocks. The reciprocating operation is performed in the operation block by traversal; when the mobile carrie...

Claims

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Application Information

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IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/40A47L11/4011
Inventor 赵子建傅帅陈超勇孟德超张伟于振中李文兴
Owner 合肥哈工澳汀智能科技有限公司
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