High-altitude glass intelligent cleaning robot

Abstract

The utility model discloses an intelligent high-altitude glass cleaning robot. The advancing mechanism is provided with the negative pressure cavity, air in the negative pressure cavity is exhausted through rotation of the fan, air pressure in the cavity is lower than that of the outside, pressure difference is generated, adsorption is achieved, and therefore the advancing mechanism advances on various smooth surfaces and is suitable for different working environments. Meanwhile, the cotton cloth cleaning mechanism achieves horizontal movement through a gear and rack transmission mechanism, rotation is achieved through a rotating shaft, a power transmission rod and a rotating shaft sleeve, cotton cloth can completely cover the surface of the glass, and efficient cleaning of the glass is achieved; and the rolling brush cleaning mechanism realizes high-speed water spraying and automatic recovery of sewage into the water circulation mechanism, so that efficient cleaning is realized, water resource waste is avoided, and environmental pollution is reduced. A plurality of cleaning robots which are connected in series and parallel through long cleaning mechanism shafts can be used for synchronous cleaning, and the cleaning efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to glass cleaning robot technical field, concretely relates to a high altitude glass intelligent cleaning robot. BACKGROUND

[0002] With the progress and development of society, glass curtain wall gradually becomes the first choice of many architectural designers because of its unique aesthetic effect and excellent lighting performance. The high-efficiency cleaning demand of glass curtain wall is gradually getting the widespread attention of the society, and the glass curtain wall cleaning operation environment is harsh, the operation difficulty is high, manual cleaning has various practical difficulties, and cannot efficiently complete the high-altitude glass cleaning task. The existing high-altitude glass cleaning robot cannot realize intelligent cleaning, intelligent obstacle crossing and has low water resource utilization rate, and cannot meet the operation demand in various operation environments, and does not conform to the green development concept. UTILITY MODEL CONTENT

[0003] Therefore, the utility model provides a high altitude glass intelligent cleaning robot, which can climb on a smooth surface and cross obstacles encountered in work, and is suitable for various working conditions.

[0004] The high-altitude glass intelligent cleaning robot of the utility model comprises a sensor, a traveling mechanism, a cleaning mechanism and a control unit.

[0005] The sensor is used for sensing the surrounding environment.

[0006] The cleaning mechanism is arranged on the front side of the robot and is used for cleaning glass.

[0007] The traveling mechanism adopts a multi-legged form and is installed on both sides of the robot. The traveling mechanism comprises a traveling mechanism motor, an upper hydraulic device, a universal joint, a lower hydraulic device and a suction device. The traveling mechanism motor is installed on the robot shell. The upper hydraulic device is connected with the traveling mechanism motor, and the other end is connected with the lower hydraulic device through the universal joint. The suction device comprises a suction disc, a side wall and a fan. The suction disc is connected with the lower end surface of the lower hydraulic device through the side wall, and the fan is installed on the lower end surface of the lower hydraulic device. The lower end surface of the lower hydraulic device, the side wall and the suction disc form a negative pressure cavity. The lower hydraulic device goes downward, and the fan rotates at the same time, so that the air in the negative pressure cavity and the suction disc is discharged. The air pressure in the negative pressure cavity is less than the atmospheric pressure, so that the suction disc is firmly adsorbed on the glass surface under the action of the atmospheric pressure. The fan stops rotating, so that the air pressure in the negative pressure cavity is equal to the atmospheric pressure, the adsorption of the suction disc and the glass surface is released, and the lower hydraulic device goes upward, so that the suction disc is separated from the glass. The traveling mechanism motor drives the upper hydraulic device to move forward, so that the robot walks.

[0008] Preferably, the sensor adopts a visual sensor, a laser radar or an infrared sensor.

[0009] More preferably, the cleaning mechanism comprises a cotton cloth cleaning mechanism; the cotton cloth cleaning mechanism comprises a wiping cloth translation disc, cotton cloth, an upper cover, a limiting wheel shaft, a power transmission rod, a limiting wheel, a rotating shaft sleeve, a rotating shaft, a translation rack, a spur gear, a scrubbing mechanism motor, and a connecting column; wherein the upper cover is fixed in a reserved position in the robot body; the limiting wheel is installed on the limiting wheel shaft and placed in a pre-set parallel groove in the upper cover; the lower end surface of the wiping cloth translation disc is fixed with the cotton cloth, and the upper end surface is fixed with the translation rack and the rotating shaft; one end of the power transmission rod is fixed on the limiting wheel shaft through the rotating shaft sleeve, and the other end is connected with the rotating shaft and rotates under the driving of the built-in motor in the rotating shaft; the spur gear is installed on the rotating shaft and engages with the translation rack; one end of the connecting column is fixed on the upper cover, and the other end is connected with the scrubbing mechanism motor, which is connected with the rotating shaft;

[0010] The control unit controls the scrubbing mechanism motor and the built-in motor in the rotating shaft to realize the translation and rotation of the cotton cloth.

[0011] More preferably, the cleaning mechanism comprises a rolling brush cleaning mechanism; the rolling brush cleaning mechanism is arranged on the rear side of the robot; the rolling brush cleaning mechanism comprises a horizontal shell, a water scraping plate, a water scraping plate clamp, a support frame, a water spraying mechanism, a fixing claw, a cleaning mechanism shaft, a rolling brush, a rolling brush cleaning mechanism fixing member, a shell fixing member, and a water receiving plate.

[0012] The horizontal shell is fixed on the shell of the robot and connected with the shell fixing member fixed on the shell through the rolling brush cleaning mechanism fixing member; the water scraping plate clamp and the water receiving plate are respectively fixed on the inner side of the edge of the two sides of the horizontal shell; the support frame is fixed on the bottom of the horizontal shell and is fixed with the water scraping plate clamp and the water receiving plate; the water scraping plate is fixed in the groove of the water scraping plate clamp; the rolling brush is installed on the cleaning mechanism shaft, and the two ends of the cleaning mechanism shaft are fixed on the support frame through the cleaning mechanism fixing claw; the water spraying mechanism is fixed on the lower surface of the support frame.

[0013] The control unit controls the water spraying mechanism to spray water and the rotation of the rolling brush.

[0014] More preferably, it further comprises a sewage recycling mechanism; the sewage recycling mechanism is installed in the robot shell and comprises a fixed clamp, a water pump, a pipeline one, a pipeline two, a filter holder, a filter holder cover, a connecting pipe, a filter, and a water tank.

[0015] The water tank and the filter holder are fixed in the robot shell; the water pump is fixed in the shell through the fixed clamp; the filter is installed in the filter holder and is closed by the filter holder cover; one end of the connecting pipe absorbs sewage, and the other end passes through the filter holder cover to connect the inlet of the filter; the outlet of the filter is connected to the water pump through the pipeline two, and then connected to the water tank through the pipeline one.

[0016] More preferably, a long cleaning mechanism shaft is used, which is fixed on the cleaning mechanism fixing claws of multiple parallel robots.

[0017] Preferably, the control unit adopts Astar heuristic search algorithm, DFS, BFS, GBFS or Dijkstra algorithm for path planning.

[0018] Advantages:

[0019] (1) The utility model discloses a sensor senses the surrounding environment, and the advancing mechanism adsorbs the working surface, and the fan rotates to discharge the gas in the negative pressure cavity, causes the cavity air pressure to be lower than the outside, generates the pressure difference and realizes adsorption, thereby realizing advancing on various smooth surfaces, and being applicable to different operation environments.

[0020] (2) The cotton cloth cleaning mechanism realizes horizontal movement through the gear and rack transmission mechanism, and realizes rotation through the rotating shaft-power transmission rod-rotating shaft sleeve, so that the cotton cloth can fully cover the glass surface and realize efficient cleaning of the glass.

[0021] (3) The roll brush cleaning mechanism realizes high-speed water spraying and automatic recovery of sewage into the water circulation mechanism, realizes efficient cleaning, and can realize efficient cleaning through the cooperation of the sewage recycling and recycling water supply mechanism and the cleaning mechanism.

[0022] (4) A plurality of cleaning robots can be connected in series and in parallel through the long cleaning mechanism shaft to improve the cleaning efficiency.

[0023] (5) The utility model is not limited to cleaning of glass, and any smooth material, such as ceramic tile, can be cleaned by the utility model robot. DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the utility model multi-scene obstacle-crossing high-altitude glass intelligent cleaning robot.

[0025] Figure 2 It is a structural schematic diagram of the advancing mechanism in the utility model.

[0026] Figure 3 It is a structural schematic diagram of the cotton cloth cleaning mechanism in the utility model.

[0027] Figure 4 It is a structural schematic diagram of the roll brush cleaning mechanism in the utility model.

[0028] Figure 5 It is a structural schematic diagram of the water circulation mechanism in the utility model.

[0029] Figure 6 It is a bottom view structural schematic diagram of the utility model multi-scene obstacle-crossing high-altitude glass intelligent cleaning robot.

[0030] Figure 7 It is a schematic diagram of double-machine operation of the utility model.

[0031] Wherein: 1 - shell, 2 - suction cup, 3 - negative pressure cavity bottom, 4 - fan, 5 - hydraulic cover, 6 - lower hydraulic shell, 7 - lower hydraulic rod, 8 - universal joint, 9 - upper hydraulic shell, 10 - upper hydraulic rod, 11 - traveling mechanism motor, 12 - motor transmission shaft, 13 - fixed screw, 14 - camera, 15 - cloth translation disc, 16 - cotton cloth, 17 - cleaning mechanism upper cover, 18 - limit wheel shaft, 19 - power transmission rod, 20 - limit wheel, 21 - rotating shaft sleeve, 22 - rotating shaft, 23 - translation rack, 24 - spur gear, 25 - scrubbing mechanism motor, 26 - connecting column, 27 - fixed clamping plate, 28 - water pump, 29 - pipeline one, 30 - pipeline two, 31 - filter holder, 32 - filter holder cover, 33 - connecting pipe, 34 - filter, 35 - water tank, 36 - width shell, 37 - squeegee, 38 - squeegee clamping plate, 39 - support frame, 40 - water spraying mechanism, 41 - cleaning mechanism fixing claw, 42 - cleaning mechanism shaft, 43 - roller brush, 44 - control unit, 45 - roller brush cleaning mechanism fixing piece, 46 - shell fixing piece, 47 - water receiving plate. DETAILED DESCRIPTION

[0032] The utility model is described in detail below with examples and drawings.

[0033] The utility model provides a high altitude glass intelligent cleaning robot, such as Figure 1 And Figure 2 As shown in the drawings, it comprises a sensor, a traveling mechanism, a cleaning mechanism and a control unit.

[0034] The sensor is installed on the robot shell and can be installed on the front or the periphery. It can adopt a visual sensor, a laser radar, an infrared sensor and the like and is used for environmental perception and analysis of the position of an obstacle.

[0035] The traveling mechanism adopts a multi-legged form and is respectively installed on both sides of the shell 1. Six traveling legs 1-6 are installed in this embodiment. The traveling mechanism comprises a traveling mechanism motor 11, an upper hydraulic device, a universal joint 8, a lower hydraulic device and a suction device. The upper hydraulic device is composed of an upper hydraulic shell 9 and an upper hydraulic rod 10, and the lower hydraulic device is composed of a lower hydraulic shell 6 and a lower hydraulic rod 7. The upper and lower hydraulic devices are connected through the universal joint 8 and are electrically connected with the control unit 44. The suction device is composed of a side wall, a fan 4 and a suction cup 2. The suction cup 2 is connected with the lower end surface of the lower hydraulic device through the side wall, and the suction cup, the side wall and the hydraulic cover 5 at the bottom end of the upper hydraulic device form a negative pressure cavity. The fan is installed on the lower end surface of the lower hydraulic device and is located in the negative pressure cavity and is electrically connected with the control unit 44. The fan discharges the air in the negative pressure cavity and forms negative pressure on the suction cup 2, thereby realizing the adsorption on the glass surface.

[0036] The control unit 44 controls the traveling mechanism motor 11, the upper hydraulic device, the lower hydraulic device, and the fan to achieve foot movement. Specifically, the lower hydraulic device moves downwards while the fan rotates, expelling air from the negative pressure chamber and suction cup. The air pressure in the negative pressure chamber is lower than atmospheric pressure, allowing the suction cup to firmly adhere to the glass surface under atmospheric pressure. When the machine is stationary, the suction device maintains adhesion. When adhesion needs to be released, the fan stops rotating, bringing the air pressure in the negative pressure chamber to atmospheric pressure, releasing the suction cup from the glass surface. Simultaneously, the lower hydraulic device moves upwards, detaching the suction cup from the glass, releasing the adhesion. The traveling mechanism motor then drives the upper hydraulic device forward, enabling the robot to walk.

[0037] When the robot moves, the suction devices on legs 1 and 4 first release their grip, then lift and move forward under the drive of the motor 11, upper hydraulic device, and lower hydraulic device. Under the control of control unit 44, it overcomes obstacles detected by sensors, and the two legs then land on the glass surface. After the suction cups make firm contact with the glass surface, the fan starts rotating, and the robot re-adheres. After legs 1 and 4 land, legs 2 and 5 complete the lifting, crossing, and landing actions, followed by legs 3 and 6. The other structures of the robot move with the moving mechanism.

[0038] The cleaning mechanism uses a cotton cloth cleaning system, which is located on the bottom front side of the outer casing 1. For example... Figure 3 As shown, the cotton cloth cleaning mechanism includes a cloth translation disc 15, a cotton cloth 16, a cleaning mechanism cover 17, a limiting wheel axle 18, a power transmission rod 19, limiting wheels 20, a rotating shaft sleeve 21, a rotating shaft 22, a translation rack 23, a spur gear 24, a cleaning mechanism motor 25, and a connecting column 26. The cleaning mechanism cover 17 is fastened to the robot body with screws. Four limiting wheels 20 are respectively installed at both ends of two limiting wheel axles 18 and placed in pre-set grooves in the cleaning mechanism cover 17. The cotton cloth 16 is fixed to the bottom of the cloth translation disc 15. Two translational racks 23 are fitted into the pre-set grooves of the cloth translation disk 15, and two spur gears 24 mesh with the translational racks 23 respectively. One end of the connecting column 26 is fixed to the upper cover 17 of the cleaning mechanism, and the other end is fixed to the motor 25 of the wiping mechanism. The motor 25 of the wiping mechanism is fixed to the center of the spur gear 24, driving the spur gear 24 to rotate, which in turn drives the cloth translation disk to move through the translational racks. The rotating shaft 22 is installed on the cloth translation disk 15. One end of the power transmission rod 19 is fixed to the limit wheel shaft 18 through the rotating shaft sleeve 21, and the other end is fixed to the rotating shaft 22. The power transmission rod 19 rotates under the drive of the motor built into the rotating shaft 22, and drives the cloth translation disk 15 to rotate.

[0039] The control unit 44 controls the built-in motor of the rotating shaft 22, drives the rotating shaft sleeve 21 and the limiting wheel shaft 18 to rotate by the rotating shaft 22 and the power transmission rod 19, and completes the rotation of the cotton cloth 16 in the cotton cloth cleaning mechanism; the control unit 44 synchronously controls the scrubbing mechanism motor 25, drives the horizontal movement of the spur gear 24 on the horizontal rack 23, thereby driving the horizontal movement of the cotton cloth cleaning mechanism. The utility model realizes that the cotton cloth cleaning mechanism moves in two directions of horizontal and rotation directions, so that the cotton cloth can cover the glass surface comprehensively, thereby realizing efficient cleaning of the glass. Meanwhile, the cotton cloth can be conveniently disassembled, washed and replaced.

[0040] The cleaning mechanism can further adopt a roller brush cleaning mechanism which is fixed to the bottom rear side of the shell 1. Figure 4 As shown in the figure, the roller brush cleaning mechanism includes a horizontal shell 36, a squeegee 37, a squeegee clamping plate 38, a support frame 39, a water spraying mechanism 40, a cleaning mechanism fixing claw 41, a cleaning mechanism shaft 42, a roller brush 43, a roller brush cleaning mechanism fixing piece 45, a shell fixing piece 46 and a water receiving plate 47. The horizontal shell 36 is connected with the shell fixing piece 46 fixed to the shell through the roller brush cleaning mechanism fixing piece 45 thereon. The five squeegee clamping plates 38 are uniformly fixed to the bottom left edge of the horizontal shell 36, and the two support frames 39 are fixed to the bottom of the horizontal shell 36 and are fixed to the squeegee clamping plates 38 through screws. The squeegee 37 is fixed in the groove of the squeegee clamping plate 38. The two cleaning mechanism fixing claws 41 are fixed in the reserved holes of the left support frame 39, the cleaning mechanism shaft 42 passes through the two cleaning mechanism fixing pieces 45 and is fixed, and the roller brush 43 is fixed to the cleaning mechanism shaft 42. The water spraying mechanism 40 is fixed to the lower surface of the right support frame 39, and the water receiving plate 47 is fixed to the right side of the right support frame 39 and is fixed through screws. The water spraying mechanism 40 and the roller brush 43 are electrically connected with the control unit 44 to realize water spraying and roller brush rolling cleaning.

[0041] In addition, a long cleaning mechanism shaft can be used, the long cleaning mechanism shaft passes through a plurality of parallel robots and is fixed by the cleaning mechanism fixing claws of the robots, so that the plurality of robots can be cooperatively operated in series. Figure 7 As shown in the figure, the cleaning efficiency is further improved.

[0042] When the two robots are cooperatively operated in series, during the movement, the two feet (2) and (5) are first released from the adsorption and then move forward, and then the two feet (1) and (3) and the two feet (4) and (6) move.

[0043] The utility model also includes a water circulation mechanism, as shown in the figure. Figure 5As shown, the water circulation mechanism comprises a fixing clamp plate 27, a water pump 28, a pipeline I 29, a pipeline II 30, a filter holder 31, a filter holder cover 32, a connecting pipe 33, a filter 34 and a water tank 35; wherein the water tank 35 and the filter holder 31 are installed inside the robot and are fixedly connected with the shell 1, the water tank 35 is connected with the cleaning mechanism through a pipeline, the filter 34 is inserted into the filter holder 31 and is closed by the filter holder cover 32, one end of the connecting pipe 33 is used for absorbing sewage and the other end penetrates through the filter holder cover 32 and is communicated with the filter 34. The water pump 28 is fixedly connected with the shell 1 through the fixing clamp plate 27, the pipeline I 29, the water pump 28 and the pipeline II 30 are communicated in sequence. The pipeline I is communicated with the water tank 35, the pipeline II is communicated with the filter 34, and the water pump is electrically connected with the control unit 44. The sewage enters the filtering device from the connecting pipe 33, is filtered and then reenters the water tank 35 under the action of the water pump 28, so that the sewage generated in the cleaning process is efficiently filtered and cleaned, a circulating water supply mechanism is formed, water resource waste is avoided, and environmental pollution is reduced.

[0044] The control unit can also use Astar heuristic search algorithm, DFS, BFS, GBFS or Dijkstra algorithm for path planning to realize intelligent cleaning.

[0045] To sum up, the above is only a preferred embodiment of the utility model, and is not used to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims

1. A high-altitude glass intelligent cleaning robot, characterized in that, The robot comprises a sensor, a traveling mechanism, a cleaning mechanism and a control unit (44); The sensor is used for sensing the surrounding environment; The cleaning mechanism is arranged on the front side of the robot and used for cleaning glass; The traveling mechanism adopts a multi-legged form and is installed on both sides of the robot; the traveling mechanism comprises a traveling mechanism motor (11), an upper hydraulic device, a universal joint (8), a lower hydraulic device and a suction device; the traveling mechanism motor (11) is installed on the robot shell; the upper hydraulic device is connected with the traveling mechanism motor (11), and the other end is connected with the lower hydraulic device through the universal joint (8); the suction device comprises a suction disc (2), a side wall and a fan (4); the suction disc is connected with the lower end surface of the lower hydraulic device through the side wall, and the fan (4) is installed on the lower end surface of the lower hydraulic device; the lower end surface of the lower hydraulic device, the side wall and the suction disc form a negative pressure cavity; The control unit (44) controls the traveling mechanism motor (11) and the fan (4) to realize the walking of the robot.

2. The high-rise glass intelligent cleaning robot of claim 1, wherein, The sensor adopts a visual sensor, a laser radar or an infrared sensor. 3.The high-altitude glass intelligent cleaning robot of claim 1, wherein, The cleaning mechanism comprises a cotton cloth cleaning mechanism; the cotton cloth cleaning mechanism comprises a wiping cloth translation disc (15), a cotton cloth (16), an upper cover (17), a limiting wheel shaft (18), a power transmission rod (19), a limiting wheel (20), a rotating shaft sleeve (21), a rotating shaft (22), a translation rack (23), a spur gear (24), a wiping mechanism motor (25) and a connecting column (26); The upper cover (17) is fixed in the robot body; the limiting wheel (20) is installed on the limiting wheel shaft (18) and is arranged in a preset parallel groove of the upper cover (17); the lower end surface of the wiping cloth translation disc (15) is fixed with the cotton cloth (16), and the upper end surface is fixed with the translation rack (23) and the rotating shaft (22); one end of the power transmission rod (19) is fixed on the limiting wheel shaft (18) through the rotating shaft sleeve (21), and the other end is connected with the rotating shaft (22) and rotates under the driving of the built-in motor in the rotating shaft (22); the spur gear (24) is installed on the rotating shaft (22) and is engaged with the translation rack (23); one end of the connecting column (26) is fixed on the upper cover (17), and the other end is connected with the wiping mechanism motor (25); the wiping mechanism motor (25) is connected with the rotating shaft (22); The control unit (44) controls the wiping mechanism motor (25) and the built-in motor in the rotating shaft (22) to realize the translation and rotation of the cotton cloth. 4.The high-altitude glass intelligent cleaning robot of claim 1 or 3, wherein, The cleaning mechanism comprises a rolling brush cleaning mechanism; the rolling brush cleaning mechanism is arranged on the rear side of the robot; The rolling brush cleaning mechanism comprises a horizontal shell (36), a water scraping plate (37), a water scraping plate clamping plate (38), a support frame (39), a water spraying mechanism (40), a fixing claw (41), a cleaning mechanism shaft (42), a rolling brush (43), a rolling brush cleaning mechanism fixing member (45), a shell fixing member (46) and a water receiving plate (47); The horizontal span shell (36) is fixed on the shell of the robot, and is connected with the shell fixing piece (46) fixed on the shell through the roll brush cleaning mechanism fixing piece (45); the squeegee clamping plate (38) and the water receiving plate (47) are respectively fixed on the inner side of the edge of the two sides of the horizontal span shell (36); the support frame (39) is fixed on the bottom of the horizontal span shell (36) and is fixed with the squeegee clamping plate (38) and the water receiving plate (47); the squeegee (37) is fixed in the groove of the squeegee clamping plate (38); the roll brush (43) is installed on the cleaning mechanism shaft (42), and the two ends of the cleaning mechanism shaft (42) are fixed on the support frame (39) through the cleaning mechanism fixing claw (41); the water spraying mechanism (40) is fixed on the lower surface of the support frame (39); The control unit (44) controls the water spraying of the water spraying mechanism (40) and the rotation of the roll brush (43). 5.The high-altitude glass intelligent cleaning robot of claim 4, wherein, The sewage recycling mechanism is also included; the sewage recycling mechanism is installed in the shell of the robot, and includes: a fixed clamping plate (27), a water pump (28), a pipeline I (29), a pipeline II (30), a filter frame (31), a filter frame cover (32), a connecting pipe (33), a filter (34) and a water tank (35); The water tank (35) and the filter frame (31) are fixed in the shell (1) of the robot; the water pump (28) is fixed in the shell (1) through the fixed clamping plate (27); the filter (34) is installed in the filter frame (31) and is closed by the filter frame cover (32); one end of the connecting pipe (33) absorbs sewage, and the other end passes through the filter frame cover (32) and connects the inlet of the filter (34); the outlet of the filter (34) is connected to the water pump (28) through the pipeline II (30), and then connected to the water tank (35) through the pipeline I (29). 6.The high-altitude glass intelligent cleaning robot of claim 3, wherein, A long cleaning mechanism shaft (42) is adopted, and the long cleaning mechanism shaft (42) is fixed on the cleaning mechanism fixing claws (41) of multiple parallel robots. 7.The high-altitude glass intelligent cleaning robot of claim 4, wherein, A long cleaning mechanism shaft (42) is adopted, and the long cleaning mechanism shaft (42) is fixed on the cleaning mechanism fixing claws (41) of multiple parallel robots. 8.The high-altitude glass intelligent cleaning robot of claim 1, wherein, The control unit adopts Astar heuristic search algorithm, DFS, BFS, GBFS or Dijkstra algorithm for path planning.

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