CN113974494B - Route planning method and device, sweeping robot and storage medium - Google Patents
Route planning method and device, sweeping robot and storage medium Download PDFInfo
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- 238000010408 sweeping Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 32
- 125000004122 cyclic group Chemical group 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 claims description 7
- 238000003062 neural network model Methods 0.000 claims description 6
- 238000012163 sequencing technique Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 4
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The embodiment of the invention discloses a path planning method, a path planning device, a sweeping robot and a storage medium, wherein the path planning method comprises the following steps: dividing a region to be cleaned into a plurality of sub-regions; aiming at each sub-region, selecting a plurality of paths of specified types to perform virtual planning on the sub-region to obtain a plurality of virtual sub-paths corresponding to the sub-region; summarizing a plurality of virtual sub-paths of each sub-region to obtain a plurality of virtual global paths for the region to be cleaned; determining the time for executing each virtual global path by the preset sweeping robot; and selecting the virtual global path with the shortest time as a final path. According to the scheme, multiple schemes are generated in a mode of virtual planning in advance, the total time of each scheme is compared, and the virtual global path with the shortest time is selected as the final path, so that the effect that the time of the planned path is shortest is achieved, and the work efficiency of the sweeping robot is improved by adopting the planned path.
Description
Technical Field
The invention relates to the technical field of path planning of sweeping robots, in particular to a method and a device for path planning, a sweeping robot and a storage medium.
Background
At present, along with the improvement of people's standard of living day, the robot of sweeping the floor appears in a large number, for people clean ground, can effectively reduce the pressure that people do housework, convenience of customers does benefit to and improves user's life experience and quality of life, provides very big facility for people's life. However, when planning a path, the existing sweeping robot generally adopts a fixed mode to perform sweeping, and further careful planning of the path is not considered, so that the efficiency is not high enough, and the loss of the sweeping robot is relatively large.
Thus, there is a need for a better solution to the problems of the prior art.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for path planning, a sweeping robot and a storage medium, so as to solve the problems in the prior art.
Specifically, the present invention provides the following specific embodiments:
the embodiment of the invention provides a method for path planning, which comprises the following steps:
dividing a region to be cleaned into a plurality of sub-regions;
aiming at each sub-region, selecting a plurality of paths of specified types matched with the shape of the sub-region to perform virtual planning on the sub-region to obtain a plurality of virtual sub-paths corresponding to the sub-region;
connecting the virtual sub-paths of the sub-areas to obtain a plurality of virtual global paths aiming at the area to be cleaned;
determining the time for executing each virtual global path by a preset sweeping robot;
and selecting the virtual global path with the shortest time as a final path.
In a specific embodiment, the types include: a bow type, a U type, and an arc type.
In a specific embodiment, the dividing the area to be cleaned into a plurality of sub-areas includes:
and dividing the area to be cleaned into a plurality of sub-areas based on the neural network model.
In a specific embodiment, the shape of the sub-region comprises: polygonal, circular and elliptical.
In a specific embodiment, the method further comprises:
acquiring the final paths with the number exceeding the preset number;
determining the shape of each sub-region and the sub-path of each sub-region in the obtained final path;
counting sub-paths corresponding to the sub-regions in the same shape, and sequencing the sub-paths according to the quantity of each type corresponding to the sub-paths;
selecting the type of a plurality of the sub paths with the top ranking as a priority type;
the "selecting a plurality of paths of specified types to virtually plan the sub-region" includes:
and selecting paths of a plurality of types from the priority types to perform virtual planning on the sub-area.
In a specific embodiment, the virtual global path is composed of a plurality of virtual sub-paths and a connection path between two sub-regions; the virtual sub-path is composed of a plurality of cyclic path units; the virtual sub-paths of different types correspond to the cyclic path units of different types;
the determining the time for executing each virtual global path by the preset sweeping robot comprises the following steps:
determining the types and the number of all cyclic path units included in the virtual global path aiming at each virtual global path;
determining a sweeping time for sweeping each of the virtual global paths based on each unit time and the types and the number of all the cyclic path units; the unit time is preset time for the sweeping robot to execute one circulating path unit;
and determining the time for executing each virtual global path based on the cleaning time and the walking time of the preset sweeping robot for completing the connection path.
The embodiment of the present invention further provides a path planning apparatus, including:
the dividing module is used for dividing the area to be cleaned into a plurality of sub-areas;
the planning module is used for selecting a plurality of paths of specified types matched with the shapes of the sub-regions for each sub-region to carry out virtual planning on the sub-regions so as to obtain a plurality of virtual sub-paths corresponding to the sub-regions;
a linking module, configured to link the virtual sub-paths of the sub-areas to obtain a plurality of virtual global paths for the area to be cleaned;
the determining module is used for determining the time for executing each virtual global path by the preset sweeping robot;
and the selection module is used for selecting the virtual global path with the shortest time as a final path.
In a specific embodiment, the method further comprises the following steps:
a processing module to: acquiring the final paths with the number exceeding the preset number;
determining the shape of each sub-region and the sub-path of each sub-region in the obtained final path;
counting sub-paths corresponding to the sub-regions in the same shape, and sequencing the sub-paths according to the number;
selecting the type of a plurality of the sub paths with the top ranking as a priority type;
the planning module is configured to:
and selecting paths of a plurality of types from the priority types to perform virtual planning on the sub-area.
The embodiment of the invention also provides a sweeping robot, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor runs the computer program to enable the processor to execute the path planning method.
An embodiment of the present invention provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the method for path planning described above is implemented.
Therefore, the embodiment of the invention provides a method and a device for path planning, a sweeping robot and a storage medium, comprising: dividing a region to be cleaned into a plurality of sub-regions; aiming at each sub-region, selecting a plurality of paths of specified types matched with the shape of the sub-region to perform virtual planning on the sub-region to obtain a plurality of virtual sub-paths corresponding to the sub-region; connecting the virtual sub-paths of the sub-areas to obtain a plurality of virtual global paths for the area to be cleaned; determining the time for executing each virtual global path by a preset sweeping robot; and selecting the virtual global path with the shortest time as a final path. According to the scheme, multiple schemes are generated in a mode of virtual planning in advance, the total time of each scheme is compared, and the virtual global path with the shortest time is selected as the final path, so that the effect that the time of the planned path is shortest is achieved, and the work efficiency of the sweeping robot is improved by adopting the planned path.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 shows a schematic flow chart of a method for path planning according to an embodiment of the present invention;
fig. 2 shows a schematic diagram of a bow-type path in a method for path planning according to an embodiment of the present invention;
fig. 3 shows a U-shaped path diagram in a path planning method according to an embodiment of the present invention;
fig. 4 shows a schematic diagram of an arc-shaped path in a path planning method according to an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of a path planning apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are intended to indicate only specific features, numerals, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the presence of or adding to one or more other features, numerals, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Example 1
The embodiment 1 of the invention discloses a path planning method, as shown in fig. 1, comprising the following steps:
step S101, dividing a region to be cleaned into a plurality of sub-regions;
specifically, the dividing the area to be cleaned into a plurality of sub-areas in step S101 includes:
and dividing the area to be cleaned into a plurality of sub-areas based on the neural network model.
Specifically, a sample picture of a to-be-cleaned area (in which divided sub-areas are marked) is acquired in advance, a neural network model is trained through the sample picture, and then the to-be-cleaned area is divided into a plurality of sub-areas specifically based on the trained neural network model;
further, the shape of the sub-region comprises: polygonal, circular and elliptical.
Specifically, the shape of the divided sub-area may include the above, and the specific shape of the sub-area may be set based on the sweeping path of the sweeping robot.
S102, selecting a plurality of paths of specified types matched with the shape of the sub-region to perform virtual planning on the sub-region to obtain a plurality of virtual sub-paths corresponding to the sub-region;
further, the types include: a bow type, a U type, and an arc type.
Specifically, a bow-type path is shown in fig. 2, a U-type path is shown in fig. 3, and a spiral-type path is shown in fig. 4.
Step S103, the virtual sub-paths of the sub-areas are connected to obtain a plurality of virtual global paths aiming at the area to be cleaned;
because the area to be cleaned is composed of a plurality of sub-areas, and each sub-area can be planned with a plurality of virtual sub-paths, therefore, all the sub-areas are connected, and various combinations of the virtual sub-paths of each sub-area are converged, and for the area to be cleaned, a plurality of virtual global paths are formed;
specifically, the connection path between the sub-areas is a connection path, and since no cleaning is involved, the connection path can be directly moved by the sweeping robot.
Step S104, determining the time for executing each virtual global path by the preset sweeping robot;
specifically, the virtual global path is composed of a plurality of virtual sub-paths and a connection path between two sub-regions; the virtual sub-path is composed of a plurality of cyclic path units; the virtual sub-paths of different types correspond to the cyclic path units of different types;
thus, the determining the time for the preset sweeping robot to execute each virtual global path in step S104 includes:
determining the types and the number of all cyclic path units included in the virtual global path aiming at each virtual global path;
determining a sweeping time for sweeping each of the virtual global paths based on each unit time and the types and the number of all the cyclic path units; the unit time is preset time for the sweeping robot to execute one circulating path unit;
and determining the time for executing each virtual global path based on the cleaning time and the walking time of the preset sweeping robot for completing the connection path.
Specifically, referring to fig. 2, 3 and 4, the path is composed of a plurality of path units, as shown in fig. 2, one circular path unit includes a horizontal straight line and a vertical straight line, and for a preset sweeping robot, the running time can be known by running the circular path unit, the running time is the unit time corresponding to the path unit, and other types of paths also correspond to respective unit times, for example, the portion shown in fig. 4, the circular path unit is an arc with a certain time length; thus, the cleaning time for cleaning the virtual global path can be known.
The sub-regions are required to be connected, and are corresponding to connection paths, and the specific connection path taking time can be determined according to the length of the connection paths.
And subsequently determining the time for executing each virtual global path based on the sweeping time and the walking time.
In particular, the time may be determined based on the length of the complete virtual global path.
And step S105, selecting the virtual global path with the shortest time as a final path.
Therefore, multiple schemes are generated in a mode of virtual planning in advance, the total time of each scheme is compared, and the virtual global path with the shortest time is selected as the final path, so that the effect of shortest time of the planned path is achieved, and the work efficiency of the sweeping robot is improved by adopting the planned path.
Further, in order to optimize the scheme, the method further comprises:
acquiring the final paths with the number exceeding the preset number;
determining the shape of each sub-region and the sub-path of each sub-region in the obtained final path;
counting sub-paths corresponding to the sub-regions in the same shape, and sequencing the sub-paths according to the quantity of each type corresponding to the sub-paths;
selecting the type of a plurality of the sub paths with the top ranking as a priority type;
the step S102 of "selecting multiple paths of specified types to virtually plan the sub-area" includes:
and selecting paths of a plurality of types from the priority types to perform virtual planning on the sub-regions.
Specifically, after a lot of planning data is acquired, for example, sub-paths finally planned by sub-regions of a rectangle are counted, and if a path of an arch type and a path of a U type are sequentially ordered in the sub-paths, when planning a sub-region of a rectangle next time, a path of an arch type and a path of a U type may be selected to perform virtual planning on a current sub-region.
Example 2
For further explanation of the present invention, embodiment 2 of the present invention further discloses a path planning apparatus, as shown in fig. 5, including:
a dividing module 201, configured to divide an area to be cleaned into a plurality of sub-areas;
a planning module 202, configured to select, for each of the sub-regions, multiple paths of a specified type that are matched with the shape of the sub-region, and perform virtual planning on the sub-region to obtain multiple virtual sub-paths corresponding to the sub-region;
a linking module 203, configured to link the virtual sub-paths of each sub-area to obtain a plurality of virtual global paths for the area to be cleaned;
a determining module 204, configured to determine a time for executing each virtual global path by a preset sweeping robot;
a selecting module 205, configured to select the virtual global path with the shortest time as a final path.
In a specific embodiment, the types include: bow type, U type and spiral type.
In a specific embodiment, the dividing module 201 is configured to:
and dividing the area to be cleaned into a plurality of sub-areas based on the neural network model.
In a specific embodiment, the shape of the sub-region comprises: polygonal, circular, and elliptical.
In a specific embodiment, the method further comprises the following steps:
a processing module to: acquiring the final paths with the number exceeding the preset number;
determining the shape of each sub-region and the sub-path of each sub-region in the obtained final path;
counting sub paths corresponding to the sub regions in the same shape, and sequencing the sub paths from at most to at least according to the number of each type corresponding to the sub paths;
selecting the type of a plurality of the sub paths with the top ranking as a priority type;
the planning module 202 is configured to:
and selecting paths of a plurality of types from the priority types to perform virtual planning on the sub-area.
In a specific embodiment, the virtual global path is composed of a plurality of virtual sub-paths and a connection path between two sub-regions; the virtual sub-path is composed of a plurality of cyclic path units; the virtual sub-paths of different types correspond to the cyclic path units of different types;
the determining module 204 is configured to:
determining the types and the number of all cyclic path units included in the virtual global path aiming at each virtual global path;
determining a sweeping time for sweeping each of the virtual global paths based on each unit time and the types and the number of all the cyclic path units; the unit time is preset time for the sweeping robot to execute the circulating path unit;
and determining the time for executing each virtual global path based on the cleaning time and the walking time of the preset sweeping robot for completing the connection path.
Example 3
The embodiment 3 of the present invention further discloses a sweeping robot, which includes a memory and a processor, wherein the memory stores a computer program, and the processor runs the computer program to enable the processor to execute the path planning method described in the embodiment 1.
Example 4
The embodiment 4 of the present invention further discloses a storage medium, wherein a computer program is stored on the storage medium, and when being executed by a processor, the computer program implements the method for path planning described in the embodiment 1.
Therefore, the embodiment of the present invention provides a method and an apparatus for path planning, a sweeping robot and a storage medium, including: dividing a region to be cleaned into a plurality of sub-regions; aiming at each sub-region, selecting a plurality of paths of specified types matched with the shape of the sub-region to perform virtual planning on the sub-region to obtain a plurality of virtual sub-paths corresponding to the sub-region; and connecting the virtual sub-paths of the sub-areas to obtain a plurality of virtual global paths aiming at the area to be cleaned. According to the scheme, multiple schemes are generated in a mode of virtual planning in advance, the total time of each scheme is compared, and the virtual global path with the shortest time is selected as the final path, so that the effect that the time of the planned path is shortest is achieved, and the work efficiency of the sweeping robot is improved by adopting the planned path.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (8)
1. A method of path planning, comprising:
dividing a region to be cleaned into a plurality of sub-regions;
selecting a plurality of paths of specified types matched with the shapes of the sub-regions for each sub-region to perform virtual planning on the sub-regions to obtain a plurality of virtual sub-paths corresponding to the sub-regions;
connecting the virtual sub-paths of the sub-areas to obtain a plurality of virtual global paths for the area to be cleaned;
determining the time for executing each virtual global path by a preset sweeping robot;
selecting the virtual global path with the shortest time as a final path;
acquiring the final paths of which the number exceeds the preset number;
determining the shape of each sub-region and the sub-path of each sub-region in the obtained final path;
counting sub-paths corresponding to the sub-regions in the same shape, and sequencing the sub-paths according to the quantity of each type corresponding to the sub-paths;
selecting the type of a plurality of the sub paths with the top ranking as a priority type;
the "selecting a plurality of paths of specified types matching the shape of the sub-region to virtually plan the sub-region" includes:
and selecting paths of a plurality of types from the priority types to perform virtual planning on the sub-area.
2. The method of claim 1, wherein the type comprises: bow type, U type and spiral type.
3. The method of claim 1, wherein the dividing the area to be cleaned into a plurality of sub-areas comprises:
and dividing the area to be cleaned into a plurality of sub-areas based on the neural network model.
4. The method of claim 1, wherein the shape of the sub-region comprises: polygonal, circular and elliptical.
5. The method of claim 1, wherein the virtual global path is comprised of a plurality of the virtual sub-paths and an engagement path between two of the sub-regions; the virtual sub-path is composed of a plurality of cyclic path units; the virtual sub-paths of different types correspond to the cyclic path units of different types;
the determining the time for executing each virtual global path by the preset sweeping robot comprises the following steps:
determining the types and the number of all cyclic path units included in the virtual global path aiming at each virtual global path;
determining a sweeping time for sweeping each of the virtual global paths based on each unit time and the types and the number of all the cyclic path units; the unit time is preset time for the sweeping robot to execute the circulating path unit;
and determining the time for executing each virtual global path based on the cleaning time and the walking time of the preset sweeping robot for completing the joining path.
6. An apparatus for path planning, comprising:
the dividing module is used for dividing the area to be cleaned into a plurality of sub-areas;
the planning module is used for selecting a plurality of paths of specified types matched with the shapes of the sub-regions for each sub-region to carry out virtual planning on the sub-regions so as to obtain a plurality of virtual sub-paths corresponding to the sub-regions;
a linking module, configured to link the virtual sub-paths of the sub-areas to obtain multiple virtual global paths for the area to be cleaned;
the determining module is used for determining the time for executing each virtual global path by the preset sweeping robot;
the selection module is used for selecting the virtual global path with the shortest time as a final path;
a processing module to: acquiring the final paths with the number exceeding the preset number;
determining the shape of each sub-region and the sub-path of each sub-region in the obtained final path;
counting sub paths corresponding to the sub regions in the same shape, and sequencing the sub paths according to the number of the sub paths;
selecting the type of a plurality of the sub paths with the top ranking as a priority type;
the "selecting a plurality of paths of specified types matching the shape of the sub-region to virtually plan the sub-region" includes:
and selecting paths of a plurality of types from the priority types to perform virtual planning on the sub-regions.
7. A sweeping robot comprising a memory storing a computer program and a processor running the computer program to cause the processor to perform the method of path planning according to any one of claims 1 to 5.
8. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out a method of path planning according to any one of claims 1 to 5.
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| CN114224241A (en) * | 2022-02-17 | 2022-03-25 | 江苏天策机器人科技有限公司 | Automatic generation method for working area of commercial cleaning robot |
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| CN111603099B (en) * | 2020-05-06 | 2021-08-06 | 珠海市一微半导体有限公司 | Cleaning planning method with region traversal priority and chip |
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