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Improved potential grid method applied to floor cleaning robots

A sweeping robot and robot technology, applied in the field of robotics, can solve problems such as failure to reach target points, trap areas, robot vibration, etc., and achieve the effect of reducing dead nodes in the path and cleaning blind spots

Inactive Publication Date: 2016-02-10
广东雷洋智能科技股份有限公司 +1
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Problems solved by technology

[0002] At present, in the field of sweeping robots, in the artificial potential field method, the robot oscillates near obstacles and cannot reach the target point, there are trap areas, and paths cannot be found between adjacent obstacles. Objects, and when the target point is close to the obstacle, the direction of the resultant force is often changed, so that the robot will oscillate, swing and fail to reach the target point during the moving process.

Method used

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  • Improved potential grid method applied to floor cleaning robots
  • Improved potential grid method applied to floor cleaning robots
  • Improved potential grid method applied to floor cleaning robots

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Embodiment Construction

[0025] The present invention will be described below in conjunction with specific embodiments.

[0026] like figure 1 As shown, an improved potential field grid method applied to sweeping robots includes the following steps:

[0027] Step 1: Express the indoor environment map through the grid method. The size of the divided grid is determined according to the size of the sweeping robot on the market. Each cell is about 35cm2. If the obstacle exceeds 1 / 3 of the cell, it is determined that the grid robot is not reachable;

[0028] Step 2: Determine the starting position C of the robot in the grid map, and statically plan the global total path L for traversing the environment map through the cattle farming full coverage algorithm;

[0029] Step 3: On the grid map, split the global total path L into a continuous set of grid points: ,like figure 2 As shown, the value of n is related to the length of the path, but it is guaranteed that the last point On coincides with the end ...

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Abstract

The invention discloses an improved potential grid method applied to floor cleaning robots, aiming to solve the problem that in an artificial potential method, a robot vibrates nearby a barrier while can not arrive at a target point or discover a path among close obstacles, and trap areas exist. The improved potential grid algorithm is based on a boustrophedon complete coverage path planning algorithm, allowing a robot to plan an overall cleaning path within a given context, and meanwhile possess a dynamic collision-free obstacle avoidance capability. According to the invention, a cleaning robot can perform cleaning after statically building a complete coverage path within a given context, and still smoothly realize collision-free obstacle avoidance even in the case of obstacles which are not recorded in a map file, thereby effectively reducing path dead nodes and cleaning blind spots.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an improved potential field grid method applied to sweeping robots. Background technique [0002] At present, in the field of sweeping robots, in the artificial potential field method, the robot oscillates near obstacles and cannot reach the target point, there are trap areas, and paths cannot be found between adjacent obstacles. Objects, and when the target point is close to the obstacle, the direction of the resultant force is often changed, so that the robot will oscillate, swing and fail to reach the target point during the moving process. Contents of the invention [0003] The purpose of the present invention is to provide an improved potential field grid method applied to the sweeping robot for the deficiencies of the prior art. The improved potential field grid method allows the sweeping robot to statically construct a full coverage path in a known environment. After cle...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/2464G05D2105/10G05D2109/10G05D1/648G05D2107/21
Inventor 杜元源曾碧何元烈
Owner 广东雷洋智能科技股份有限公司
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