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A cleaning path planning method for a sweeping and dragging integrated robot

A path planning and robot technology, which is applied in the direction of robot cleaning machines, cleaning machinery, cleaning equipment, etc., can solve the problems of robots stuck, stuck, and low work efficiency, so as to avoid stuck and stuck, ensure cleaning effect, The effect of improving work efficiency

Active Publication Date: 2021-09-07
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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  • A cleaning path planning method for a sweeping and dragging integrated robot
  • A cleaning path planning method for a sweeping and dragging integrated robot
  • A cleaning path planning method for a sweeping and dragging integrated robot

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Embodiment Construction

[0030] The present invention is described in further detail now in conjunction with accompanying drawing.

[0031] Such as figure 1 As shown, a cleaning path planning method for a sweeping and dragging integrated robot, the edge of the side wall of the sweeping and dragging integrated robot is provided with edge sensors, the side wall of the sweeping and dragging integrated robot is evenly provided with a number of collision sensors, the sweeping and dragging integrated robot An image ranging navigation system is installed on the top of the integrated robot, which is characterized in that: the initial cleaning path is planned by constructing a visual map; the robot detects the road conditions and obstacle distribution during the sweeping and dragging process according to the initial cleaning path, and according to the obstacle attributes and According to the distribution situation, the path around the obstacle is re-planned, and the specific steps are as follows:

[0032] Ste...

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Abstract

The invention relates to a cleaning path planning method for a sweeping and dragging integrated robot. The robot is equipped with an edge sensor, a collision sensor and an image ranging navigation system, and a preliminary cleaning path is planned by constructing a visual map; the road condition is adjusted during the sweeping and dragging process according to the preliminary cleaning path. and obstacle distribution, and plan the cleaning path of the sweeping and dragging integrated robot according to whether the obstacle is moving, the size of the obstacle, and the distribution of the obstacle. efficiency.

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 integrated sweeping and dragging robot helps people clean the ground, liberates people's hands, and frees up valuable rest time for people. Therefore, the integrated sweeping and dragging robot is more and more popular among people. [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 the existing sweeping and dragging integrated robot is far from complet...

Claims

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Application Information

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Patent Type & Authority Patents(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