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A Target Point Navigation Method for Sweeping Machine Based on Finite State Machine

A technology of finite state machine and navigation method, applied in the field of sweeping robots, can solve the problems such as the inability of unified management of various states, disorder of attitude control, and environmental interference.

Active Publication Date: 2021-09-10
HUNAN GRAND PRO ROBOT TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a sweeping machine target point navigation method based on a finite state machine, which can solve the problems of environmental interference, disordered attitude control, and inability to manage all states uniformly

Method used

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  • A Target Point Navigation Method for Sweeping Machine Based on Finite State Machine
  • A Target Point Navigation Method for Sweeping Machine Based on Finite State Machine
  • A Target Point Navigation Method for Sweeping Machine Based on Finite State Machine

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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0028] A sweeping machine target point navigation method based on a finite state machine, including start state S1, sweeping machine turning toward the target point state S2, along-line control state S3, edge-along control state S4, reaching the target point, ending state S5; target point navigation initialization After F1, switch from the start state S1 to the state S2 of the sweeper turning towards the target point; after the judgment F2 towards the target po...

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Abstract

A method for navigating a target point of a sweeping machine based on a finite state machine disclosed in the present invention includes a starting state, a state of turning the sweeping machine toward the target point, a state of control along the line, a state of control along the edge, and a state of reaching the target point and ending state; after the target point navigation is initialized , from the start state to the state of sweeping machine turning towards the target point; after the judgment towards the target point, the state of sweeping machine turning towards the target point is converted to the state of along-line control; Edge control state; after the judgment of exiting from edge control to edge control, the state of edge control is switched to the state of the sweeper turning towards the target point; after the judgment of deviation from the target point during the process of along the line, the state of edge control is switched to the state of sweeper turning towards the target Point state; After the judgment of reaching the target point, the control state along the line is transferred to the end state of reaching the target point.

Description

technical field [0001] The invention belongs to the technical field of sweeping robots, and in particular relates to a method for navigating a target point of a sweeping machine based on a finite state machine. Background technique [0002] The target point navigation method loaded on the sweeping robot currently on the market has the following defects: it needs to establish an environmental map, and has high requirements for the chip of the sweeping machine; dynamic obstacles cannot be considered during the navigation process, and it is vulnerable to environmental interference; the navigation process The attitude control in the system is disordered, precise control cannot be achieved, and the navigation point is far away from the target point; various states in the navigation process cannot be managed uniformly, and it is difficult to find problems. Contents of the invention [0003] (1) Solved technical problems [0004] Aiming at the deficiencies of the prior art, the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A47L11/24A47L11/40G01C21/20
CPCA47L11/24A47L11/4008A47L2201/00A47L2201/02G01C21/20
Inventor 张驰洲詹伟
Owner HUNAN GRAND PRO ROBOT TECH
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