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Sweeping and mopping integrated robot cleaning path planning method

A path planning and robot technology, which is applied to robot cleaning machines, cleaning machinery, cleaning equipment, etc., can solve problems such as robot trapping, low work efficiency, and jamming, so as to ensure cleaning effect, improve work efficiency, and avoid jamming and trapped effect

Active Publication Date: 2020-11-17
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing path planning methods for sweeping and dragging integrated robots include random and straight-line crossing. Path work, when cleaning in complex road conditions (such as wardrobes, under the dining table), the robot is often trapped and stuck, not only the work efficiency is low, but also the user experience is poor
It can be seen that there are still some defects in the existing sweeping and dragging integrated robot from completely replacing people to clean the ground.

Method used

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  • Sweeping and mopping integrated robot cleaning path planning method
  • Sweeping and mopping integrated robot cleaning path planning method
  • Sweeping and mopping integrated robot cleaning path planning method

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Embodiment Construction

[0030] The present invention will now be described in further detail with reference to the drawings.

[0031] Such as figure 1 As shown, a cleaning path planning method for a sweeping and dragging robot is provided. The edge of the sweeping and dragging robot is provided with edge sensors, and the sidewalls of the sweeping and dragging robot are evenly provided with several collision sensors. The top of the integrated robot is equipped with an image ranging navigation system, which is characterized by: planning a preliminary cleaning path by constructing a visual map; the robot detects road conditions and obstacle distribution during the sweeping and dragging process according to the preliminary cleaning path, and according to obstacle attributes and The distribution situation re-plans the path around the obstacle, the specific steps are as follows:

[0032] Step 1. Determine the boundary of the clean area, construct a visual map, establish an initial coordinate system, and plan a ...

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Abstract

The invention relates to a sweeping and mopping integrated robot cleaning path planning method, a robot is provided with an edge sensor, a collision sensor and an image distance measurement navigationsystem, and a preliminary cleaning path is planned by constructing a visual map; according to the sweeping and mopping integrated robot, road conditions and obstacle distribution are detected in thesweeping and mopping process according to the preliminary cleaning path, the cleaning path of the sweeping and mopping integrated robot is planned according to whether obstacles move or not, the sizesof the obstacles and the obstacle distribution density, the robot can be prevented from being stuck by the obstacles in the advancing process, and the cleaning efficiency can also be improved.

Description

Technical field [0001] The invention relates to the technical field of robot automatic control, in particular to a cleaning path planning method for a sweeping and dragging integrated robot. Background technique [0002] With the rapid development of science and technology, smart devices have entered people's lives. The sweeping and mopping robot helps people clean the ground, freeing people's hands, and freeing up valuable rest time for people. Therefore, sweeping and mowing robots are becoming more and more popular. [0003] The existing path planning methods of sweeping and dragging robots include random and straight-line crossing methods. The random method changes direction by collision with obstacles and cleans dead corners. The straight-line crossing method cannot change the cleaning path according to the change of road conditions in the cleaning area, but according to the initial Path work. When cleaning under complicated road conditions (such as wardrobes and under the din...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40G05D1/02
CPCA47L11/24A47L11/4008A47L11/4061A47L2201/00A47L2201/04G05D1/0225G05D1/0251G05D1/0276
Inventor 温秀兰崔伟祥赵艺兵乔贵方吕仲艳姚波王东霞
Owner NANJING INST OF TECH