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Universal sweeping robot sweeping path planning method

A sweeping robot and path planning technology, which is applied in the field of sweeping robots, can solve problems such as not being able to adapt well to complex dynamic environments, cleaning path planning is not intelligent enough, and easy to miss uncleaned areas, so as to save battery energy consumption and robot The effect of less turns and lower production costs

Inactive Publication Date: 2019-10-25
SHANGHAI XPARTNER ROBOTICS +1
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AI Technical Summary

Problems solved by technology

[0002] At present, the cleaning path planning of intelligent sweepers on the market is not intelligent enough, and there are too many disorderly and repeated cleanings
Intelligent but not well adapted to the complex dynamic environment, it is easy to miss the uncleaned area
In addition, the cleaning path planning algorithms used by these sweepers are heavily dependent on the type of sensors on the robot itself

Method used

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Examples

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Embodiment Construction

[0026] In order to have a further understanding and understanding of the structural features of the present invention and the achieved effects, the preferred embodiments are used for detailed descriptions, as follows:

[0027] A general sweeping robot cleaning path planning method, including the following steps: first step, start the sweeping robot, start from the charging point, and remember the coordinates of the charging point position, and at the same time, the robot determines its current movement according to the information fed back by the sensor Whether the method is within expectations, the robot performs closed-loop control according to the pose information; the second step, the sweeping robot collects environmental information in real time while moving, and looks for objects with laser reflection properties in the surrounding environment; the third step, extracts The area between the laser reflection materials and the area is partitioned, and the area between the las...

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Abstract

The invention relates to a universal sweeping robot sweeping path planning method comprising the following steps: (1) starting, pose control based on a closed loop of a robot; (2) finding objects witha laser reflection property; (3) extracting an area between the laser reflection substances and partitioning the area; (4) carrying out cleaning on each partition in sequence; (5) checking whether all the partitions are cleaned or not, entering the next step if yes, otherwise returning to the step (2); and (6) returning a charging point. The method in the invention has the beneficial effects thatin the solution of the invention, a mode of executing a cleaning task while collecting environment information is adopted in comparison with the mode of some sweeping robot products on the market that a target environment is traversed in advance so as to collect the environment information and then the cleaning task is executed.

Description

technical field [0001] The invention relates to a sweeping robot, in particular to a general cleaning path planning method for a sweeping robot. Background technique [0002] At present, the cleaning path planning of intelligent sweepers on the market is not intelligent enough, and there are too many disorderly and repeated cleanings. Intelligent ones cannot adapt well to complex dynamic environments, and it is easy to miss uncleaned areas. In addition, the cleaning path planning algorithms used by these sweepers rely heavily on the type of sensors the robot itself has. For example, the path planning algorithm used by the laser sensor-based sweeper cannot be used on the vision sensor-based sweeper, and vice versa. Contents of the invention [0003] The object of the present invention is to solve the defects of the sweeping robot in the prior art, and provide a general cleaning path planning method for the sweeping robot to solve the above problems. [0004] In order to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0225G05D1/0276
Inventor 恽为民张栋翔庞作伟
Owner SHANGHAI XPARTNER ROBOTICS
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