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A platform for research: civil engineering, architecture and urbanism
Intelligent snow sweeping method, snow sweeping robot and intelligent snow sweeping equipment
The invention discloses an intelligent snow sweeping method applied to a snow sweeping robot, and the method comprises the following steps: obtaining a target snow throwing area and latitude and longitude coordinates of a target snow sweeping area through a GPS-RTK positioning technology, so as to generate a snow sweeping map; wherein a boundary exists between the target snow throwing area and the target snow sweeping area; rasterizing the snow sweeping map; the grid where the target snow throwing area is located serves as a starting point, and the grid where the target snow throwing area is located is endowed with the potential energy value in an outward diffusion mode through a breadth-first search algorithm; wherein the potential energy value is gradually increased along with the increase of the diffusion layer number; the snow sweeping robot is controlled to advance on the unswept grid with the highest current potential energy value one by one so as to sweep snow on the arrived grid; and the snow sweeping robot advances to the target snow throwing area. According to the intelligent snow sweeping method disclosed by the invention, the purpose of sweeping multiple areas through one-time setting is achieved, and the intelligent degree of the snow sweeping robot is improved while the snow sweeping efficiency is improved.
本申请公开一种智能扫雪方法，应用于扫雪机器人，该方法包括以下步骤：通过GPS‑RTK定位技术获取目标抛雪区域、目标扫雪区域的经纬度坐标，以生成扫雪地图；其中，目标抛雪区域与目标扫雪区域存在交界；将扫雪地图栅格化；将扫雪地图势场化：以目标抛雪区域所在的栅格为起点，通过广度优先搜索算法将势能值以向外扩散的方式赋予目标扫雪区域所在的栅格；其中，势能值随扩散层数的增加而递增；控制扫雪机器人在当前势能值最高的未清扫栅格上逐格行进，以对到达的栅格进行扫雪操作；直至扫雪机器人行进至目标抛雪区域处。本申请公开的智能扫雪方法达到了通过一次设置即可对多个区域进行清扫的目的，在提高了扫雪效率的同时提升了扫雪机器人的智能化程度。
Intelligent snow sweeping method, snow sweeping robot and intelligent snow sweeping equipment
The invention discloses an intelligent snow sweeping method applied to a snow sweeping robot, and the method comprises the following steps: obtaining a target snow throwing area and latitude and longitude coordinates of a target snow sweeping area through a GPS-RTK positioning technology, so as to generate a snow sweeping map; wherein a boundary exists between the target snow throwing area and the target snow sweeping area; rasterizing the snow sweeping map; the grid where the target snow throwing area is located serves as a starting point, and the grid where the target snow throwing area is located is endowed with the potential energy value in an outward diffusion mode through a breadth-first search algorithm; wherein the potential energy value is gradually increased along with the increase of the diffusion layer number; the snow sweeping robot is controlled to advance on the unswept grid with the highest current potential energy value one by one so as to sweep snow on the arrived grid; and the snow sweeping robot advances to the target snow throwing area. According to the intelligent snow sweeping method disclosed by the invention, the purpose of sweeping multiple areas through one-time setting is achieved, and the intelligent degree of the snow sweeping robot is improved while the snow sweeping efficiency is improved.
本申请公开一种智能扫雪方法，应用于扫雪机器人，该方法包括以下步骤：通过GPS‑RTK定位技术获取目标抛雪区域、目标扫雪区域的经纬度坐标，以生成扫雪地图；其中，目标抛雪区域与目标扫雪区域存在交界；将扫雪地图栅格化；将扫雪地图势场化：以目标抛雪区域所在的栅格为起点，通过广度优先搜索算法将势能值以向外扩散的方式赋予目标扫雪区域所在的栅格；其中，势能值随扩散层数的增加而递增；控制扫雪机器人在当前势能值最高的未清扫栅格上逐格行进，以对到达的栅格进行扫雪操作；直至扫雪机器人行进至目标抛雪区域处。本申请公开的智能扫雪方法达到了通过一次设置即可对多个区域进行清扫的目的，在提高了扫雪效率的同时提升了扫雪机器人的智能化程度。
Intelligent snow sweeping method, snow sweeping robot and intelligent snow sweeping equipment
智能扫雪方法、扫雪机器人及智能扫雪设备
HUANG YANG (author) / LI JIALAI (author)
2024-09-06
Patent
Electronic Resource
Chinese
| European Patent Office | 2021
| European Patent Office | 2020