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Underwater wall-climbing cleaning robot full traversal path planning method and system
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A technology for cleaning robots and traversing paths, which is applied in the field of full-traversal path planning methods and systems for underwater wall-climbing cleaning robots, which can solve problems such as repeated cleaning and large total path lengths, reduce power consumption and working time, and improve work efficiency Effect
Pending Publication Date: 2022-05-17
SHANDONG ACAD OF SCI INST OF AUTOMATION
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[0004] The existing full-traversal path planning method does not take into account the particularity of the working environment of the underwater wall-climbing cleaning robot, and directly applying it to the underwater wall-climbing cleaning robot for path planning will cause repeated cleaning and excessive total path length.
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Embodiment 1
[0039] The present invention adopts an underwater wall-climbing cleaning robot that has both floating and wall-climbing functions. The underwater environment is different from the land plane and belongs to a three-dimensional interval. Float straight up and over obstacles.
[0040] Such as figure 1 As shown, this embodiment provides a method for planning a full traversal path for an underwater wall-climbing cleaning robot. This embodiment uses the method applied to a server for illustration. It can be understood that, in this embodiment, the method includes the following steps :
[0041] Step S1: Establish an environment model map according to the information fed back by the sensor;
[0043] Step S3: Based on the established grid map model, use the inner layer enclosing window traversal method to traverse;
[0044] Step S4: When the robot falls into a dead ...
Embodiment 2
[0081] This embodiment provides a full traversal path planning system for an underwater wall-climbing cleaning robot, including:
[0082] The environment model map establishment module is configured to establish the environment model map according to the information fed back by the sensor;
[0084] The grid traversal module is configured to perform traversal based on the established grid map model by using the inner layer enclosing window traversal method;
[0085] The grid escaping module is configured to use the water ripple diffuseable enclosing window search method to find the escape grid when the robot is stuck in a dead corner;
[0086] The traversal completion module is configured to judge whether all traversable grids have been traversed, and when all the traversable grids in the grid map model have been traversed, the t...
Embodiment 3
[0091] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the full traversal path planning method of an underwater wall-climbing cleaning robot as described in the first embodiment is implemented. A step of.
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Abstract
The invention provides a full-traversal path planning method and system for an underwater wall-climbing cleaning robot. The method comprises the steps that an environment model map is established according to information fed back by a sensor; carrying out environment modeling by adopting a grid map method based on the environment model map; traversing by adopting an inner layer surrounding window traversal method based on the established grid map model; when the robot sinks into a dead angle, a water ripple diffusible surrounding window searching method is adopted to search for an escape grid; and judging whether all the traversal grids are traversed, and when all the traversal grids in the grid map model are traversed, completing the traversing process. According to the method, 100% of complete coverage of the working area and 0% of traversal repetition rate can be realized, the total length of the path is reduced, the performance index is improved, and the planning efficiency of the underwater wall-climbing cleaning robot is improved.
Description
technical field [0001] The invention belongs to the technical field of special robots, and in particular relates to a full-traversal path planning method and system for an underwater wall-climbing cleaning robot. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] The underwater wall-climbing cleaning robot is a robot carrying cleaning equipment to move to realize the cleaning operation on the underwater parts such as the hull, dam body and gate. Path planning is a necessary guarantee for its autonomous operation. For underwater wall-climbing cleaning robots As far as the path planning is concerned, its path planning is mainly full traversal path planning. [0004] The existing full traversal path planning method does not take into account the particularity of the working environment of the underwater wall-climbing cleaning robot, and directl...
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