Cleaning robot and shortest path planning method based on cleaning robot

Solution Overview

Problem

Current cleaning robots face high time complexity and storage space consumption issues during shortest path planning, leading to inefficient cleaning coverage and excessive operation time.

Innovation Solution

The method involves forming cleaning lines using a zigzag-shaped path and creating a node skeleton tree from midpoint association information, which is then compressed to determine the shortest path, reducing time complexity and storage requirements.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Loss of time

If traditional A-Star algorithm is used for path planning, then the robot can find the shortest path, but the time complexity and storage space consumption are high

Engineering Contradiction:

Improvepath planning timeVSAvoidalgorithm complexity

Core Design Contradiction:

Loss of timeVSDevice complexity

Solution Approach 1:

The patent segments the cleaning area into multiple sub-areas and divides the path planning into two stages: first planning paths between sub-area entry/exit points, then planning within each sub-area. This segmentation reduces the overall path planning complexity and computation time by breaking down the large-scale problem into smaller, more manageable sub-problems.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent performs preliminary path planning between sub-area entry and exit points before actual cleaning operations. By pre-calculating these inter-sub-area paths and storing them in advance, the robot avoids real-time complex computations during cleaning, significantly reducing path planning time and computational burden during operation.

Inventive Principle:

Principle #10Preliminary action

2Loss of time

If traditional A-Star algorithm is used for path planning, then the robot can find the shortest path, but the storage space consumption is high

Engineering Contradiction:

Improvepath planning timeVSAvoidstorage space

Core Design Contradiction:

Loss of timeVSQuantity of substance

Solution Approach 1:

The patent segments the cleaning area into multiple sub-areas and divides the path planning into two stages: first planning paths between sub-area entry/exit points, then planning within each sub-area. This segmentation reduces the overall path planning complexity and computation time by breaking down the large-scale problem into smaller, more manageable sub-problems.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent performs preliminary path planning between sub-area entry and exit points before actual cleaning operations. By pre-calculating these inter-sub-area paths and storing them in advance, the robot avoids real-time complex computations during cleaning, significantly reducing path planning time and computational burden during operation.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS10884420B2Cleaning robot and shortest path planning method based on cleaning robot

Publication Date: 2021.01.05 SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD

AI summary

A cleaning robot and a shortest path planning method based on a cleaning robot are disclosed, a plurality of cleaning lines are formed by controlling the cleaning robot to perform cleaning in an area according to a zigzag-shaped path; association information of midpoints of at least a part of the cleaning lines is recorded to form a node skeleton tree in which midpoints are represented by nodes, the association information of each midpoint includes: position information of a node corresponding to the midpoint, position information of a parent node, and information of the number of child nodes of the parent node; in the process of traversing upwardly from a current node or traversing upwardly from both a current node and a target node in the node skeleton tree, the node skeleton tree is compressed, so as to determine the shortest planned path from the current node to the target node.