초록 ▼

In a path planning method is disclosed for surface processing machines such as, for example, cleaning machines in a supermarket first, potential sub-paths are produced that, proceeding from boundary lines of obstacles or the work area parallel to these boundary lines shifted by the width of the proc

In a path planning method is disclosed for surface processing machines such as, for example, cleaning machines in a supermarket first, potential sub-paths are produced that, proceeding from boundary lines of obstacles or the work area parallel to these boundary lines shifted by the width of the processing device are erected in the form of concentric circles. These potential sub-paths are then sub-divided by maneuvering marks according to an heuristics, for example on the basis of the maneuverability of the mobile unit, and are connected to one another by sub-paths. The respective sub-paths are subsequently evaluated with a cost function that considers the distances, the area already covered, and the maneuverability of the unit, and the most cost-beneficial path is combined to form a planned path for the mobile unit. Preferably, sub-paths between the maneuvering marks are interpreted as graph edges and the maneuvering marks are interpreted as nodes and are evaluated with known evaluation methods for generating optimum graphs. Areas of employment are cleaning robots for supermarkets, lawnmowers, or painting devices and the like.

대표청구항 ▼

[ What is claimed is:] [1.]1. A path planning method for a mobile unit for surface processing, comprising the steps of:providing a contour line of the processing surface and at least a contour line of an obstacle to be traveled around within the processing surface in the form of a closed line train

[ What is claimed is:] [1.]1. A path planning method for a mobile unit for surface processing, comprising the steps of:providing a contour line of the processing surface and at least a contour line of an obstacle to be traveled around within the processing surface in the form of a closed line train composed of straight line sections connected in kinks;dependent on a width of a surface processing device attached to the mobile unit, first, potential paths with the processing width are planned essentially parallel to the contour lines that allow the mobile unit to guide the surface processing device along the processing strip which has arisen in this way between the first potential path and the contour line;in a further planning step, planning second potential paths in a same way as the first potential paths with the first potential paths as contour lines;dividing the potential paths into potential sub-path segments dependent on a length of kinks in the contour lines between which a respective maneuvering mark is marked;correcting at least two respective maneuvering marks of immediately adjacent, potential paths by potential sub-path segments; andplanning the path from interconnected, potential sub-path segments in that these are weighted with a cost function into which at least one of the following cost criteria enters: traversability criterion on the basis of kinematics of the mobile unit, area criterion on the basis of processing strips already traversed in relationship to the overall processing area, and length of the potential sub-path.