Breadth-first search algorithm for sweeping robot to search unswept area

A sweeping robot, width-first technology, applied in the direction of instruments, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of sweeping robots not covering cleaning, etc., to achieve the effect of improving coverage efficiency, avoiding storage, and improving cleaning efficiency

Pending Publication Date: 2020-10-30
HUNAN GRAND PRO ROBOT TECH
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a breadth-first search algorithm for sweeping robots to find unswept areas, and to solve the technical problems of cleaning areas not covered by sweeping robots
This method aims to solve the problem of cleaning the uncovered area by the sweeping robot during the cleaning process.

Method used

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  • Breadth-first search algorithm for sweeping robot to search unswept area
  • Breadth-first search algorithm for sweeping robot to search unswept area
  • Breadth-first search algorithm for sweeping robot to search unswept area

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Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention clearer, preferred embodiments are given to further describe the present invention in detail. However, it should be noted that many of the details listed in the specification are only for readers to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0040] A breadth-first search algorithm for sweeping robots to find unswept areas, which can be applied to mid-range sweeping robots based on inertial navigation. like figure 1 As shown, the specific steps are as follows:

[0041] 1. When the area around the robot is cleaned, or when the robot accidentally collides with an obstacle, the algorithm will be invoked to search for the nearest uncleaned point in the world, obtain the passed grid map according to the linked list, and convert it into an action list out...

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Abstract

The invention discloses a width-first search algorithm for a sweeping robot to search an unswept area and belongs to the field of automatic control. The robot comprises the following steps of: searching a globally nearest unswept point, searching an unswept area, and outputting a path to the unswept area; optimizing the path by using a method of deleting redundant nodes, and outputting a shortestpath; and according to the output shortest path, converting the shortest path into an action table output, and controlling the sweeping robot to reach the unswept point to perform sweeping. The methodaims to solve the problem that the sweeping robot sweeps an uncovered area in a sweeping process. Grids with uncovered types are searched and scanned from a known grid map by adopting the breadth-first search algorithm; the output search path is returned; the output path is simplified into the shortest path; and therefore, the storage of redundant data is effectively avoided, the coverage efficiency of the sweeper is improved, and the sweeper successfully searches for the target of the unswept area and can accurately and quickly find the unswept area.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a breadth-first search algorithm for a sweeping robot to find unswept areas. Background technique [0002] The current method of finding unswept areas applied to sweeping robots has the following defects: (1) At present, the method of finding unswept areas for sweeping robots based on inertial navigation is relatively simple, and cannot search for unswept areas more accurately. (2) In general, sweeping robots used to search for unswept areas require cameras or radars, which are difficult to achieve by sweeping robots based on inertial navigation. (3) The searched path is generally not the optimal path, which affects the cleaning efficiency. (4) The search is easily affected by obstacles, such as interference from people, pets or other sweepers. [0003] Therefore, it is necessary to design a search algorithm to quickly find the areas that the robot has not cleaned, improve the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D2201/0203
Inventor 詹伟
Owner HUNAN GRAND PRO ROBOT TECH
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