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Full-coverage path generation method and device, terminal equipment and storage medium

A path generation, full coverage technology, applied in transportation and packaging, two-dimensional position/channel control, vehicle position/route/altitude control, etc., which can solve the problems of low efficiency, low coverage, and high repetition rate of full coverage path algorithms , to achieve the effect of low repetition rate, high efficiency and high coverage

Pending Publication Date: 2021-12-14
UBTECH ROBOTICS CORP LTD
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AI Technical Summary

Problems solved by technology

[0003] The embodiment of the present application provides a full-coverage path generation method, device, terminal equipment and storage medium to solve the problems of traditional full-coverage path algorithms with low efficiency, low coverage and high repetition rate

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  • Full-coverage path generation method and device, terminal equipment and storage medium
  • Full-coverage path generation method and device, terminal equipment and storage medium
  • Full-coverage path generation method and device, terminal equipment and storage medium

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Embodiment Construction

[0036] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0037] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and / or collections thereof.

[0038] It should...

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Abstract

The invention is suitable for the technical field of path planning, and provides a full-coverage path generation method and device, terminal equipment and a storage medium, and the method comprises the steps: assigning all first grids which are not occupied by a grid map edge and a target object as first numerical values, and assigning all second grids which are occupied by the grid map edge and the target object edge as second numerical values; taking each second grid as a center to re-assign all the first grids within a preset radius range around the second grid as a target value; if the first grid comprises a plurality of target values, only retaining the maximum target value of the first grid; selecting a first grid with a target value equal to a preset value to generate an annular path; assigning a second value to each first grid occupied by the annular path as a new second grid; and by taking each new second grid as the center, re-assigning all the first grids within the preset radius range around as the target numerical values until the full-coverage path is generated, so that the efficiency and the coverage rate are high, and the repetition rate is low.

Description

technical field [0001] The present application belongs to the technical field of route planning, and in particular relates to a method, device, terminal equipment and storage medium for generating a full-coverage route. Background technique [0002] The traditional complete coverage path planning algorithm (Complete Coverage Path Planning, CCPP) requires a long calculation time, and it is difficult for most complete coverage paths to have high coverage and low repetition rate while ensuring real-time performance. The random collision method works inefficiently and takes no time to reach 100% coverage. The spiral planning method is easy to fall into a local dead zone. The bow-shaped search method can cover the map very well, but in an environment with many obstacles, there will be more repeated paths, resulting in frequent braking or turning of the mobile robot during the operation, and the efficiency is low. Contents of the invention [0003] Embodiments of the present a...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0274
Inventor 王涛毕占甲黄明强全王飞赵勇胜
Owner UBTECH ROBOTICS CORP LTD
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