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Cleaning path planning method and device

A path planning and path planning technology, which is applied in the field of data processing, can solve the problems such as the decrease of path planning calculation efficiency and the inability to meet the needs of outdoor path driving, and achieve the effect of ensuring effectiveness and rationality, reducing the amount of calculation, and improving efficiency

Active Publication Date: 2022-02-15
BEIJING ZHIXINGZHE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] The purpose of the embodiments of the present invention is to provide a cleaning path planning method and device to solve the problem in the prior art that the calculation efficiency of path planning decreases and cannot meet the needs of outdoor path driving

Method used

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  • Cleaning path planning method and device
  • Cleaning path planning method and device

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Embodiment Construction

[0053] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0054]It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0055] figure 1 It is a schematic flowchart of the cleaning path planning method provided by Embodiment 1 of the present invention. The subject of execution of this application is a terminal, server or processor with computing functions. This application takes the applicati...

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Abstract

The invention provides a cleaning path planning method and device. The method includes: processing the area to be cleaned to obtain the central skeleton line of the area to be cleaned; taking the central skeleton line as the baseline and taking the technical parameters of the vehicle as the translation distance, respectively upward and downward Translate down to obtain the first polyline set and the second polyline set; respectively process the edges of the first polyline set and the second polyline set to obtain the first curve set on the first side of the area to be cleaned and the first curve set of the area to be cleaned. The second set of curves on both sides; splicing the first set of folded lines, the second set of folded lines, the first set of curves and the second set of curves to obtain the original planning path covering the area to be cleaned; After smoothing, the target planning path covering the area to be cleaned is obtained. Thus, it is ensured that the path planning satisfies the vehicle kinematics constraints, thereby ensuring the validity and rationality of the generated planned path.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a cleaning path planning method and device. Background technique [0002] In recent years, with the rapid development of artificial intelligence technology, autonomous driving technology has increasingly entered people's field of vision. Especially in some specific areas, unmanned vehicles used for logistics, cleaning, etc. are gradually changing people's lives. [0003] For unmanned sweepers, how to clean as much as possible in a specific area is particularly important. Therefore, how to design a full-coverage path that satisfies the motion constraints of the vehicle and can traverse the entire area as much as possible is of great significance. [0004] At present, the most widely used full-coverage path planning method is grid-based planning, which is mainly applied to small sweeping robots. [0005] The grid-based full-coverage path planning method is mainly realized by using...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 张富强颜波徐成张放李晓飞张德兆王肖霍舒豪
Owner BEIJING ZHIXINGZHE TECH CO LTD
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