Cleaning path planning method and cleaning mobile carrier

• Main Authors: YANG BINGHONG, SHU WENLONG, WANG KUNZHU, YU JUNYING, XU YOUZHONG, XUE SONGHENG, QIU HONGDA, OU YUCHENG, WANG YUCHENG, WU JUNKUAN
• Format: Patent
• Language: Chinese; English
• Published: 03.03.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

A cleaning path planning method and a cleaning mobile vehicle, where the cleaning mobile vehicle includes an optical radar sensor, a camera, an ultrasonic sensor, a memory for storing a plurality of cleaning points and an obstacle threshold, and a processor. The cleaning path planning method includes: calculating, by a processor, a cleaning path based on a plurality of cleaning point locations; when the cleaning mobile carrier is located at a sensing point between the Nth cleaning point and the (N + 1) th cleaning point in the cleaning points, obstacle sensing is carried out through the optical radar sensor, the camera and the ultrasonic sensor to generate a plurality of sensing results, and N is a positive integer; analyzing, by the processor, the plurality of sensing results to calculate a barrier assessment score; and adjusting, by the processor, the cleaning path when the obstacle evaluation score is greater than the obstacle threshold. 一种清洁路径规划方法以及清洁移动载具，其中清洁移动载具包含光学雷达传感器、相机、超声波传感器、存储器以及处理器，存储器用于存储多个清洁点位