Robot cleaner and cleaning path planning method thereof

Abstract

The invention discloses a robot cleaner and a cleaning path planning method thereof. The robot cleaner comprises a coordinate system establishing module, a map building module and a path planning module. The method comprises the steps of establishing a coordinate system by taking the corner point of a to-be-cleaned room found by the robot cleaner firstly as a reference system; building a map of the to-be-cleaned room according to the cleaning path of the robot cleaner, and recording the collision point, the corner point of the room and the peaks of barriers in the building process; and finally, planning the cleaning path according to the recorded collision point, the corner point of the room and the peaks of the barriers. The robot cleaner and the cleaning path planning method can well adapt to the unknown environment, the cleaning efficiency is improved, the cleaning area is increased, the cost is low, and the practicability is strong.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a sweeping robot and a cleaning path planning method thereof. Background technique [0002] With the continuous development of science and technology, sweeping machines (also known as sweeping robots) have gradually entered the homes of ordinary people and are accepted by more and more people. When sweeping robots perform cleaning tasks, they need to perform path planning, that is, to choose a safe and feasible path to avoid collisions with obstacles in the workspace. Path planning is also one of the key technologies of mobile robots, which involves the construction of environmental maps and robot positioning. It is an important direction of modern robot research. [0003] At present, the robot sweeps the floor using three path planning modes: spiral motion path planning, motion path planning along the object side, and linear cross motion path planning, plus the random cleaning m...

AI Technical Summary

Problems solved by technology

[0003] At present, the robot sweeps the floor using three path planning modes: spiral motion path planning, motion path planning along the object side, and linear cross motion path planning, plus the random cleaning mode is the four cleaning modes of sweeping robots that are common on the market today. The four modes cannot plan a cleaning path with high coverage and low repetition rate for rooms with different shapes and obstacles with different shapes and sizes.

Moreover, in the current path planning scheme, the sweeping robot has planned the cleaning route in advance, but when the owner moves tables, chairs or other furniture during the cleaning process, or when people walk around in the room at will, or when small animals are active at home, Bots don't react immediately

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