Unlock instant, AI-driven research and patent intelligence for your innovation.

Path planning method, apparatus, computer equipment and storage medium

A path planning and path technology, applied in motor vehicles, transportation and packaging, two-dimensional position/channel control, etc., can solve the problems of robots unable to move forward, unable to complete full-coverage cleaning work, etc., and achieve the effect of ensuring safe movement.

Active Publication Date: 2022-07-15
SHENZHEN PUDU TECH CO LTD
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, for an environment with many obstacles, the existing dead zone will prevent the robot from moving forward, so that it cannot complete the full-coverage cleaning work

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, apparatus, computer equipment and storage medium
  • Path planning method, apparatus, computer equipment and storage medium
  • Path planning method, apparatus, computer equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0060] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

[0061] With the application of robots in covered work fields such as cleaning, mowing, and mine sweeping, autonomous robots need to plan their own moving paths based on the environment they are in to achieve safe movement and full coverage operations.

[0062] In general, the coverage path planning adopts the bow strategy and the spiral strategy. Among them, the spiral coverage strategy is to let the robot gradually expand the search range one by one along the boundary of the wall, search for the nearest grid to be operated around the robot, and then follow the back-sh...

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 present application relates to a path planning method, apparatus, computer equipment and storage medium. The method includes: acquiring an environmental image of a robot working environment, where the environmental image includes a working area and an obstacle area of ​​the robot; determining a plurality of target pixel points from the working area, and performing distance transformation processing on the pixel values ​​of the plurality of target pixel points, Obtain the distance value of each target pixel point; the distance value represents the distance between the target pixel point and the obstacle area; according to the distance value of each target pixel point, determine the path point set during the robot operation; the path point set represents the robot operation time. Path circle: According to the robot's starting point and the set of path points, the robot's operation path is constructed. In this way, the selected path points are all located in the working area of ​​the robot. When the robot moves according to the path points in the path circle, there is no moving dead zone, which ensures the safe movement of the robot and realizes full coverage in the working area.

Description

technical field [0001] The present application relates to the technical field of path planning, and in particular, to a path planning method, apparatus, computer equipment and storage medium. Background technique [0002] With the development of artificial intelligence technology, various robots are used to replace manual operations such as cleaning, mowing, and mine sweeping. [0003] In the related art, when the robot performs the covering operation, the robot may be allowed to follow the boundary of the wall to gradually expand the search range to search for the grid to be cleaned around the robot. During the cleaning process, when the robot detects an obstacle or wall in front of it through the carried sensor, it will turn to avoid the obstacle or wall, and finally the robot will stop at the center of the environment after completing the cleaning work. [0004] However, for environments with many obstacles, the existing dead zone will prevent the robot from moving forwa...

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
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 林世城闫瑞君
Owner SHENZHEN PUDU TECH CO LTD