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Cleaning path planning method and device

A path planning and path planning technology, which is applied in the field of data processing, can solve the problems of not being able to meet the needs of outdoor path driving and the decrease of path planning calculation efficiency, and achieve the effect of ensuring effectiveness and rationality, reducing the amount of calculation, and improving efficiency

Active Publication Date: 2020-08-11
BEIJING ZHIXINGZHE TECH CO LTD
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Problems solved by technology

[0008] The purpose of the embodiments of the present invention is to provide a cleaning path planning method and device to solve the problem in the prior art that the calculation efficiency of path planning decreases and cannot meet the needs of outdoor path driving

Method used

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  • Cleaning path planning method and device
  • Cleaning path planning method and device

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Embodiment Construction

[0053] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0054]It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0055] figure 1 It is a schematic flowchart of the cleaning path planning method provided by Embodiment 1 of the present invention. The subject of execution of this application is a terminal, server or processor with computing functions. This application takes the applicati...

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Abstract

The invention provides a cleaning path planning method and device. The method comprises the steps of processing a to-be-cleaned area to obtain a central skeleton line of the to-be-cleaned area; respectively translating upwards and downwards by taking the central skeleton line as a base line and the technical parameters of the vehicle as translation distances to obtain a first broken line set and asecond broken line set; respectively processing the edge of the first broken line set and the edge of the second broken line set to obtain a first curve set on the first side of the to-be-cleaned area and a second curve set on the second side of the to-be-cleaned area; splicing the first broken line set, the second broken line set, the first curve set and the second curve set to obtain an original planned path covering the to-be-cleaned area; and smoothing the broken line position in the original planned path to obtain a target planned path covering the to-be-cleaned area. Therefore, the pathplanning is ensured to meet the kinematics constraint of the vehicle, so that the effectiveness and reasonability of the generated planned path are ensured.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a cleaning path planning method and device. Background technique [0002] In recent years, with the rapid development of artificial intelligence technology, autonomous driving technology has increasingly entered people's field of vision. Especially in some specific areas, unmanned vehicles used for logistics, cleaning, etc. are gradually changing people's lives. [0003] For unmanned sweepers, how to clean as much as possible in a specific area is particularly important. Therefore, how to design a full-coverage path that satisfies the motion constraints of the vehicle and can traverse the entire area as much as possible is of great significance. [0004] At present, the most widely used full-coverage path planning method is grid-based planning, which is mainly applied to small sweeping robots. [0005] The grid-based full-coverage path planning method is mainly realized by using...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 张富强颜波徐成张放李晓飞张德兆王肖霍舒豪
Owner BEIJING ZHIXINGZHE TECH CO LTD
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