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Path planning method and cleaning robot

A path planning and cleaning technology, applied in the direction of instruments, vehicle position/route/height control, non-electric variable control, etc., can solve the problems of reducing cleaning efficiency, unscientific starting position and posture, spending more time, etc. The effect of cleaning efficiency, saving cleaning time and reducing the number of turns

Pending Publication Date: 2021-08-06
SHENZHEN XILUO ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current initial pose set by the cleaning robot is not scientific enough, resulting in the cleaning robot needing to make multiple turns to clean all the areas to be cleaned
Compared with going straight, the cleaning robot needs to spend more time turning, thus reducing cleaning efficiency

Method used

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  • Path planning method and cleaning robot
  • Path planning method and cleaning robot

Examples

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Embodiment 1

[0035] figure 1 It shows a schematic flowchart of a path planning method provided by an embodiment of the present invention. As an example but not a limitation, the path planning method can be applied to a cleaning robot. The path planning method is described in detail as follows. The path planning method S100 includes :

[0036] S11. Obtain a grid map. The grid map includes an area grid, and the area grid is a grid used to represent an area to be cleaned.

[0037] As an example and not limitation, the grid map is generated based on the environment image corresponding to the target space, the target space includes the space where the cleaning robot is currently located, for example, the target space is an overall indoor space, and the overall indoor space includes Each room is, for example, a bedroom, a kitchen, or a living room. Correspondingly, the area map indicated by the grid map includes a bedroom map, a kitchen map, or a living room map. For another example, the target...

Embodiment 2

[0162] see Figure 7 , Figure 7 A schematic diagram of the circuit structure of a cleaning robot provided in an embodiment of the present invention, wherein the cleaning robot in the embodiment of the present invention can be configured in any suitable shape in order to achieve a specific business function operation, for example, in some embodiments, the cleaning robot Including but not limited to sweeping robots, vacuuming robots, mopping robots, and scrubbing robots, etc.

[0163] Such as Figure 7 As shown, the cleaning robot 700 includes one or more processors 71 and memory 72 . in, Figure 7 A processor 71 is taken as an example.

[0164] Processor 71 and memory 72 can be connected by bus or other means, Figure 7 Take connection via bus as an example.

[0165] The memory 72, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as program instructions cor...

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Abstract

The invention relates to the technical field of path planning, and discloses a path planning method and a cleaning robot, and the path planning method comprises the steps: obtaining a grid map, wherein the grid map comprises regional grids, and the regional grids are grids used for representing a to-be-cleaned region; determining the pre-estimated number corresponding to each area grid, wherein the pre-estimated number is that the area grid serves as an initial cleaning point, and the number of arch-shaped main paths through which the cleaning robot needs to pass for achieving arch-shaped full-coverage cleaning of the to-be-cleaned area is pre-estimated; according to the pre-estimated number corresponding to each area grid, determining an optimal initial pose; and planning a cleaning path of the to-be-cleaned area according to the optimal initial pose. According to the path planning method provided by the embodiment of the invention, the optimal initial pose can be determined by scientifically estimating the number of paths possibly passing through the arch-shaped main path, and the cleaning path of the to-be-cleaned area is planned according to the optimal initial pose, so the turning frequency of the cleaning robot can be reduced, the cleaning time is saved, and the cleaning efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a path planning method and a cleaning robot. Background technique [0002] With the development of cleaning robot technology, cleaning robots have gradually entered ordinary families, gradually liberating people from heavy and trivial housework, thus providing great convenience for people. [0003] Existing cleaning robots use simultaneous localization and mapping (SLAM) algorithms to build maps and plan cleaning paths in real time. Usually, the cleaning robot chooses the bow-shaped cleaning mode to perform bow-shaped walking. Generally, the starting pose usually determines the cleaning direction and starting point of the bow-shaped cleaning path. However, the current initial pose set by the cleaning robot is not scientific enough, resulting in the cleaning robot needing to make multiple turns to clean all the areas to be cleaned. Compared with going straight, cleaning ro...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0246G05D1/0257G05D1/0214G05D1/0276
Inventor 刘然王楠楠其他发明人请求不公开姓名
Owner SHENZHEN XILUO ROBOT CO LTD
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