Convolute path planning method, chip and cleaning robot
A cleaning robot and path planning technology, applied in the direction of instruments, motor vehicles, vehicle position/route/height control, etc., can solve problems such as frequent wall collisions, reduce the chance of walking, and ensure the effect of cleaning coverage
Pending Publication Date: 2022-05-17
AMICRO SEMICON CORP
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Problems solved by technology
[0003] In view of the above technical problems, the present invention discloses a convoluted path planning method, a chip and a cleaning robot to solve the problem of frequent collisions between the cleaning robot and the wall when cleaning in the indoor working environment, so that the cleaning robot starts periodically from the corner area Reduce collisions with wall boundaries while covering the area to be cleaned
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[0019] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention. To further illustrate the various embodiments, the present invention is provided with accompanying drawings. These drawings are a part of the disclosure of the present invention, which are mainly used to illustrate the embodiments, and can be combined with related descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those skilled in the art should understand other possible implementations and advantages of the present invention. A process or method depicted as a flowchart. Although the flowcharts describe the steps as sequential processing, many of the steps may be performed in parallel, concurrently, or simultaneously. Additionally, the order of steps may be rearranged. The process may be terminated when its operations ar...
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The invention discloses a convoluted path planning method, a chip and a cleaning robot, an execution main body of the convoluted path planning method is the cleaning robot, the cleaning robot has marked the contour of a wall in a map before executing the convoluted path planning method, and the map is used for reflecting the position characteristics of a to-be-cleaned area; the convoluted path planning method comprises the following steps: selecting a position point as a cleaning starting point, wherein the vertical distance between the position point and the contour line of a wall meets a preset starting point; wherein the contour line of the wall body is a part of boundary line of the to-be-cleaned area; starting from the cleaning starting point, performing convoluted path planning in the to-be-cleaned area, so that the planned convoluted path periodically covers the to-be-cleaned area; wherein a part of turning paths of the planned convolute path are farther from the wall body than the other part of turning paths, and a linear path of the planned convolute path is parallel to the longest boundary line of the to-be-cleaned area.
Description
technical field [0001] The invention relates to the technical field of path planning, in particular to a convoluted path planning method, a chip and a cleaning robot. Background technique [0002] For artificial intelligence, target detection and recognition, multi-sensor measurement and environmental perception technology, environmental perception is a necessary prerequisite for target detection and recognition, and target detection is an important part of environmental perception. Common target detection sensors are divided into : (1) The laser ranging image sensor emits light waves with different wavelengths, and then collects the echo signals of the emitted waves to obtain information such as the distance, angle, reflection intensity, and speed of the target, and generates a multi-dimensional image of the target. distance data, and is not easily affected by light, smoke, and the environment, but cannot perceive the state of the target, such as the blocking effect produce...
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0225G05D1/0276
Inventor 肖刚军许登科邓文拔
Owner AMICRO SEMICON CORP