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
View PDF0 Cites 5 Cited by
  • 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 t

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Path planning method and cleaning robot
  • Path planning method and cleaning robot
  • Path planning method and cleaning robot

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0034] Example 1:

[0035] figure 1 The flow schematic of a path planning method is shown in the embodiment of the present invention, and as an example, the path planning method can be applied to the cleaning robot, and the path planning method is detailed, the path planning method S100 includes :

[0036] S11, get a raster map, the grid map includes a regional grid, and the region grid is used to represent a grid of the area to be cleaned.

[0037] As an example, the raster map is generated based on the environment image corresponding to the target space, the target space includes the current space where the robot is currently located, for example, the target space is an overall indoor space, and the overall indoor space includes different life functions. All rooms, such as bedrooms, kitchen or living rooms, etc. The area maps indicated by the Route Map include bedroom maps, kitchen maps or living room maps, for example, the target space is the space in the corresponding room.

...

Example Embodiment

[0161] Example 2:

[0162] See Figure 7 , Figure 7 A circuit structure of a cleaning robot is provided for the embodiment of the present invention, wherein the cleaning robot of the embodiment of the present invention can be configured to be a suitable shape to achieve a particular service function, for example, in some embodiments, cleaning the robot Includes and is not limited to sweeping robots, vacuuming robots, mop robots, and washing robots, etc.

[0163] like Figure 7 As shown, the cleaning robot 700 includes one or more processors 71 and a memory 72. in, Figure 7 Taking a processor 71 as an example.

[0164] Processor 71 and memory 72 can be connected by bus or other means, Figure 7 In connection with the bus connection.

[0165] The memory 72 is used as a non-volatile computer readable storage medium, which can be used to store non-volatile software programs, non-volatile computer executables, and modules, such as program instructions corresponding to path planning method...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0236G05D1/024G05D1/0246G05D1/0257G05D1/0276
Inventor 刘然王楠楠其他发明人请求不公开姓名
Owner SHENZHEN XILUO ROBOT CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap