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Cleaning path planning method, cleaning path planning device and cleaning robot

A cleaning robot and path planning technology, applied in the field of cleaning robots, can solve problems such as poor cleaning effect of cleaning robots, achieve comprehensive cleaning and improve cleaning effect

Pending Publication Date: 2021-06-01
HUIZHOU TOPBAND ELECTRICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a cleaning path planning method, which aims to solve the problem of poor cleaning effect of the cleaning robot when there are many obstacles in the cleaning area

Method used

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  • Cleaning path planning method, cleaning path planning device and cleaning robot
  • Cleaning path planning method, cleaning path planning device and cleaning robot
  • Cleaning path planning method, cleaning path planning device and cleaning robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] see figure 1 and figure 2 , a cleaning path planning method, the cleaning path planning method includes:

[0037] Step 11, obtaining map information;

[0038] Step 12, identifying the area to be cleaned according to the map information, and the area to be cleaned includes a plurality of obstacles arranged at intervals;

[0039] Step 13, obtaining the distance between each group of adjacent obstacle objects;

[0040] Step 14, obtaining at least one path trajectory according to the spacing and the cleaning effective width of the cleaning robot; and

[0041] Step 15, generating a cleaning path according to the path trajectory.

[0042] In the embodiment of the present invention, firstly, the map information of the area to be cleaned is acquired through the database or the map information recorded after the cleaning robot walks around the area to be cleaned. Subsequently, the map information is recognized and the obstacles on the map information are marked. The obstac...

Embodiment 2

[0054] see further Figure 3 to Figure 7 , in the case where the path trajectories between adjacent obstacle objects are set to be in the same group, step S15 includes:

[0055] Step S151: Determine the first track point on the map information in an area adjacent to the leftmost obstacle object and far away from the passing track, and determine the second track point on the map information in an area adjacent to the rightmost obstacle object and far away from the passing track point;

[0056] Step S152: Polling extends the setting from the first track point to the path track in the first direction until reaching the second track point, and then extends the setting from the second track point to each group of another track track in the second direction until reaching the second track point A track point, the second direction is opposite to the first direction;

[0057] Step S153: After the polling is completed, a cleaning path is generated.

[0058] In such an embodiment, th...

Embodiment 3

[0068] see Figure 8 , the cleaning path planning method also includes the following steps:

[0069] Step S16: Obtain the turning radius of the cleaning robot;

[0070] Step S17: Polling starts from the first track point in the first direction according to the turning radius and sequentially selects and extends to the corresponding route track settings until reaching the second track point, and then starts from the second track point in the second direction according to the turning radius And choose to extend to another route track extension setting corresponding to each group in turn, until reaching the first track point;

[0071] Wherein, if the turning radius is greater than the preset value, it is determined to step over the current adjacent obstacle object and extend to the first trajectory point or the second trajectory point.

[0072] In such an embodiment, each cleaning robot is provided with a turning radius, and then the turning radius is compared, and when the tur...

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Abstract

The invention is applicable to the field of cleaning, and provides a cleaning path planning method which comprises the following steps: acquiring map information; identifying a to-be-cleaned area according to the map information, wherein the to-be-cleaned area comprises a plurality of obstacles arranged at intervals; obtaining the distance between each group of adjacent obstacles; obtaining at least one path track according to the distance and the effective cleaning width of the cleaning robot; and generating a cleaning path according to the path track. The distance between each group of adjacent obstacles can be acquired according to the map information, then at least one path track is acquired according to the distance and the effective cleaning width of the cleaning robot, and then the cleaning path is generated according to the path track, so that the cleaning robot can perform cleaning according to the generated cleaning path, thus the robot can effectively avoid obstacles and move back and forth between the obstacles, sweeping of a sweeping area is achieved, and the sweeping robot can conduct sweeping better and more comprehensively.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a cleaning path planning method, a cleaning path planning method device and a cleaning robot. Background technique [0002] With the rapid development of science and technology, more and more attention and investment have been paid to the research of robots. With the rapid development of computer technology and artificial intelligence, intelligent autonomous mobile robots have become an important research direction and research hotspot in the field of robotics. For example, intelligent cleaning robots that can solve the problem of automatic cleaning of areas. The intelligent cleaning robot combines key technologies in multiple fields such as sensors and mobile robot technology to realize automatic cleaning of the ground, replacing traditional manual cleaning work, and has a very broad market prospect. Localization, map creation, and path navigation of mobile robots ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0253G05D1/0223G05D1/0276
Inventor 不公告发明人
Owner HUIZHOU TOPBAND ELECTRICAL TECH CO LTD
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