Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Advancing path planning method and device and intelligent equipment advancing path planning method and device

A technology of traveling path and grid, which is applied in the field of path planning, can solve the problems of complex cleaning equipment, complex motion control, and large volume, and achieve the effect of ensuring reasonableness and safety, and preventing collisions

Active Publication Date: 2020-08-18
汇智机器人科技(深圳)有限公司
View PDF14 Cites 9 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, smart devices have entered the lives of the public, and path planning is the key technology for smart devices to realize the autonomous mobile cleaning process; smart devices include robots, some of which are small in size, such as household cleaning robots; and some robots are bulky, such as Large-scale autonomous mobile cleaning robots, such as household cleaning robots, are small in size, light in weight, able to rotate in situ, and relatively simple in motion control. During the cleaning process, they are even allowed to be close to furniture or even collide, which makes it difficult to plan cleaning paths. There is no need to strictly consider factors related to motion constraints and safety. The cleaning path planning method is to first define a polygonal area on the map, and then plan an optimal cleaning path that can cover the entire area in this area; and for shopping malls Large-scale autonomous mobile cleaning robots in public areas such as residential areas, basements, etc. are larger in size, more complex in cleaning equipment, and more complex in motion control. Questions of Efficiency and Coverage

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
  • Advancing path planning method and device and intelligent equipment advancing path planning method and device

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment 1

[0050] A method of traveling path planning in the present invention, such as figure 1 shown, including the following steps:

[0051] S1, start;

[0052] S2. Generate a cost map using sensor data;

[0053] S3. Intercepting the required polygonal area from the cost map;

[0054] S4. Convert the cost map including the polygonal area into a gray-scale path planning picture, and mark the obstacle grid, the boundary grid, and the non-obstacle grid;

[0055] S5. Calculate the obstacle distance value between the non-obstacle grid and the obstacle grid or the boundary grid in the polygon area, and find the first obstacle with the smallest distance from the current grid;

[0056] S6. Generating equidistance lines based on the obstacle distance value;

[0057] S7. Generate a planning path based on the current grid point, the width of the traveling body, and the equidistance line;

[0058] S8, end.

[0059] In a specific embodiment of the present application, the traveling subject i...

specific Embodiment 2

[0088] A smart device travel path planning device of the present application includes a smart device body, a sensing device, and a control center; the sensing device and the control center are installed on the smart device body, and the sensing device is used to sense surrounding environment data and The environmental data is transmitted to the control center, and the control center is used to plan the path of the smart device by using the overlay path planning method; firstly, the environmental data is converted into a grid map, and then the grid map is converted into a cost map. In the cost map Intercept the required polygonal area, use grayscale to represent the obstacle grid, non-obstacle grid, and boundary grid in the required polygonal area, select a non-obstacle grid as the current grid, and calculate the current grid and the nearest obstacle The distance of the grid, and based on this, calculate the obstacle distance of the non-obstacle grid around the current grid, and...

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 an advancing path planning method and device and an intelligent equipment advancing path planning method and device. In the advancing path planning method, the method comprisesthe steps of: collecting environmental data in a target range; converting environmental data into a raster map; converting the grid map into a cost map; intercepting a required polygonal region in the cost map; representing an obstacle grid, a non-obstacle grid and a boundary grid by using gray scale in a required polygonal area; selecting one non-obstacle grid as a current grid, calculating thedistance between the current grid and the nearest obstacle grid, the obstacle distance of the non-obstacle grids around the current grid is calculated based on the distance, the non-obstacle grids with the equal obstacle distance are connected, and an equidistant line is obtained; calculating equidistant lines of all non-obstacle grids in the required polygonal area; and planning a path accordingto the equidistant lines around the non-obstacle grid with the obstacle distance greater than half of the width of the intelligent equipment. The planning path is generated based on the equidistant lines, obstacles in the advancing path are avoided, and advancing safety is guaranteed.

Description

technical field [0001] The present invention relates to the technical field of path planning, in particular to a method and device for planning a traveling path and an intelligent device traveling path. Background technique [0002] At present, smart devices have entered the lives of the public, and path planning is the key technology for smart devices to realize the autonomous mobile cleaning process; smart devices include robots, some of which are small in size, such as household cleaning robots; and some robots are bulky, such as Large-scale autonomous mobile cleaning robots, for robots like household cleaning robots, are small in size, light in weight, able to rotate in situ, and relatively simple in motion control. During the cleaning process, they are even allowed to be close to furniture or even collide, which makes it difficult to plan cleaning paths. There is no need to strictly consider factors related to motion constraints and safety. The cleaning path planning me...

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): A47L11/40G05D1/02
CPCG05D1/0214A47L11/4061A47L2201/04
Inventor 董敏杰潘何浩罗方龙陈兆先
Owner 汇智机器人科技(深圳)有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

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

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com