Title:
PATH PLANNING METHOD AND APPARATUS FOR SWIMMING POOL CLEANING ROBOT
Document Type and Number:
WIPO Patent Application WO/2024/012152
Kind Code:
A1
Abstract:
A path planning method for a swimming pool cleaning robot, comprising: (a) controlling a robot to search, at a first set angle, one or more peripheral grids surrounding a grid where the robot is currently located; (b) if a first uncleaned grid is found among the one or more peripheral grids, controlling the robot to move to the first uncleaned grid for cleaning, determining the first uncleaned grid to be the grid where the robot is currently located, and returning to step (a); (c) if no uncleaned grid is found among the one or more peripheral grids, determining whether a path planning ending condition is met; (d) if the path planning ending condition is not met, determining whether an accumulated angle of the robot rotating a second set angle in the current grid reaches one revolution; (e) if it is determined that the accumulated angle of the robot rotating the second set angle in the current grid does not reach one revolution, controlling the robot to rotate the second set angle, and returning to step (a).
Inventors:
WEI JIANCANG (CN)
GUO YONGGANG (CN)
SHANG CHUNXI (CN)
MA YUBIN (CN)
HE JIYANG (CN)
GUO YONGGANG (CN)
SHANG CHUNXI (CN)
MA YUBIN (CN)
HE JIYANG (CN)
Application Number:
PCT/CN2023/100755
Publication Date:
January 18, 2024
Filing Date:
June 16, 2023
Export Citation:
Assignee:
SUBLUE UNDERWATER AI CO LTD (CN)
DEEPINFAR OCEAN TECH INC (CN)
DEEPINFAR OCEAN TECH INC (CN)
International Classes:
G05D1/02
Foreign References:
| CN114895691A | 2022-08-12 | |||
| CN114721388A | 2022-07-08 | |||
| CN107895374A | 2018-04-10 | |||
| CN110456789A | 2019-11-15 | |||
| US20170344007A1 | 2017-11-30 |
Attorney, Agent or Firm:
BEIJING LAWSING IP FIRM (CN)
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