Optimal random path selection method for automatic vacuum cleaner

Abstract

The invention discloses a random path planning method of an automatic vacuum cleaner. The automatic vacuum cleaner comprises two driving wheels, and a driving motor connected with the driving wheels,and further includes a supporting wheel and an obstacle detection device arranged at the front part, wherein encoders are arranged on the driving wheels, the distance between the driving wheels is L;the driving motor, the encoders and the obstacle detection device are connected with the controller, and the random path planning method is arranged in the controller. The random path planning methodcomprises the following steps of (1), recording the coordinates (Xi,Yi) of the current point Pi, and then moving straightly forward; (2), detecting an obstacle, and recording the coordinates (Xi +1, Yi +1) of the current point Pi +1, randomly selecting a rotation direction, and moving straightly forward; (3), detecting the obstacle and recording the coordinates (Xi+2, Yi+2) of the current point Pi+2; (4), calculating the distance L0 between the two points of Pi and Pi+1, and the distance L1 between the two points of Pi+1 and Pi+2, and the distance L2 between the two points of Pi+2 and Pi; (5),comparing the L0, L1, and L2, and selecting the maximum distance direction as the new advancing direction.

Description

technical field [0001] The invention relates to an optimal random path selection method for an automatic vacuuming robot, and belongs to the technical field of intelligent household appliance control. Background technique [0002] With the acceleration of people's life rhythm and the requirement of more and more rich life content, smart home appliances have entered our life. Among them, the automatic vacuum robot has given us a lot of help. Household cleaning is heavy and frequent. The automatic vacuuming robot can automatically clean the floor of the home. It uses its own rechargeable battery to power various electrical appliances. The vacuum motor forms a sufficient vacuum inside the automatic vacuum robot, and sucks the garbage on the ground into the internal dust box through the strip suction port, while the drive motor and drive wheels can Realize the free walking of the automatic vacuum robot. The automatic cleaning robot realizes the cleaning of the ground through...

AI Technical Summary

Problems solved by technology

[0003] Because the current automatic vacuum robot does not have very precise positioning and planning capabilities, the efficiency of its cleaning path has become a very important and difficult issue.

At present, the commonly used strategy is a random path. The automatic vacuum robot walks randomly on the ground, giving up any planning method. less likely to enter other areas

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