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Full-traversal path planning method for sweeping robots based on grid method

A technology for sweeping robots and traversing paths, which is applied to road network navigators and other directions, and can solve problems such as area restrictions

Active Publication Date: 2019-10-22
SOUTHWEAT UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In view of the above-mentioned deficiencies in the prior art, the grid method-based path planning method for the sweeping robot's full traversal provided by the present invention solves the problem that the existing sweeping robot receives area restrictions when traversing and cleaning

Method used

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  • Full-traversal path planning method for sweeping robots based on grid method
  • Full-traversal path planning method for sweeping robots based on grid method
  • Full-traversal path planning method for sweeping robots based on grid method

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Embodiment Construction

[0100] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0101] like figure 1 As shown, a grid method-based full-traversal path planning method for sweeping robots includes the following steps:

[0102] S1. According to the working environment of the sweeping robot, establish a grid map and divide it into several rectangular partitions;

[0103] S2. Planning the non-repetitive traversal path of each rectangular partition in sequence;

[0104] S3. Determine the traversal order o...

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Abstract

The invention discloses a full-traversal path planning method for sweeping robots based on a grid method. An intelligent sweeping robot is taken as a point of penetration. The cleaning of a cleaned area by the intelligent robot is divided into five steps: the establishment of a grid map, the division of a rectangular area, the traversal within the rectangular area, the traversal sequence of the rectangular area and the traversal of the grid map. The full-traversal path obtained has high coverage. The planning method has a simple execution process, is less difficult to use and highly flexible,and can be widely used in the work scenes of various sweeping robots.

Description

technical field [0001] The invention belongs to the technical field of path planning, and in particular relates to a full-traversal path planning method for a sweeping robot based on a grid method. Background technique [0002] As a kind of service robot, sweeping robot is currently the most used service robot, which can clean indoor and outdoor floors. The sweeping robot combines robot technology with cleaning and vacuuming technology, integrates multiple disciplines such as machinery, sensors, intelligent control, human-computer interaction, and computers, and applies sensor technology, positioning technology, full-traversal cleaning path planning technology, autonomous recharging and power supply technology to achieve specific function. Environmental cleaning is time-consuming and highly repetitive work. The emergence of sweeping robots solves this problem and saves people from the single-handed and boring cleaning work, which greatly reduces labor costs and improves wor...

Claims

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Application Information

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IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 龙强陈飞阳
Owner SOUTHWEAT UNIV OF SCI & TECH
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