CN111381590A - Sweeping robot and route planning method thereof - Google Patents
Sweeping robot and route planning method thereof Download PDFInfo
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- CN111381590A CN111381590A CN201811654024.3A CN201811654024A CN111381590A CN 111381590 A CN111381590 A CN 111381590A CN 201811654024 A CN201811654024 A CN 201811654024A CN 111381590 A CN111381590 A CN 111381590A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004140 cleaning Methods 0.000 claims abstract description 24
- 230000004888 barrier function Effects 0.000 claims abstract description 18
- 230000001788 irregular Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a sweeping robot and a route planning method thereof, and belongs to the field of intelligent robots. The robot identifies fixed obstacles and movable obstacles in an area to be cleaned; taking the short edge of the area to be cleaned as an initial cleaning side, and performing comb path planning on the area to be cleaned; if the movable barrier exists in the area to be cleaned, the movable barrier is ignored; if a fixed obstacle exists in the area to be cleaned, calculating a path bypassing the fixed obstacle, and planning according to the comb-shaped path; through the planning of pectination route, treat the fixed barrier in the region of cleaning and keep away the barrier planning, avoid because the existence of barrier leads to the robot of sweeping the floor to keep away the barrier, lead to the problem that the partial region can't clean, reduce and clean the omission.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a sweeping robot and a route planning method thereof.
Background
Along with the development of science and technology and the requirement of people for quality of life constantly increases, intelligent house appears in people's daily life gradually, and wherein, robot of sweeping the floor that especially has the representativeness more and more receives people's liking. The robot of sweeping the floor is cleaning the in-process, meets usually behind the obstacle, can rotate 90 degrees along present advancing direction, then continues to walk along pivoted 90 degrees directions again, collides the obstacle once more after, rotates 90 degrees again and walks, adopts this kind of method to keep away the obstacle and cleans, has the large tracts of land and waits to clean the region and is omitted, cleans unclean.
Disclosure of Invention
The invention provides a sweeping robot and a route planning method thereof, which are used for scanning an area to be swept in the sweeping process and planning a route according to a scanning result, so that the area to be swept is comprehensively cleaned without cleaning dead angles. The specific technical scheme is as follows:
a method of route planning for a sweeping robot, the method comprising: carrying out space scanning on an area to be cleaned, and identifying fixed obstacles and movable obstacles in the area to be cleaned; taking the short edge of the area to be cleaned as an initial cleaning side, and performing comb path planning on the area to be cleaned; if the movable obstacles exist in the area to be cleaned, neglecting the movable obstacles, and planning the path according to the obstacles-free objects; if a fixed obstacle exists in the area to be cleaned, calculating a path bypassing the fixed obstacle, and planning according to the comb-shaped path; and the sweeping robot cleans the area to be cleaned according to the planned comb-shaped path.
Further, if there is a fixed obstacle in the area to be cleaned, calculating a path that bypasses the fixed obstacle, specifically including: determining the length of a fixed obstacle on the long side of a to-be-cleaned area as the length of the long side of the fixed obstacle, calculating the length ratio of the length of the long side of the fixed obstacle to the length of the long side of the to-be-cleaned area, dividing the to-be-cleaned area into at least two sub-areas by taking the fixed obstacle as a boundary if the calculated length ratio is greater than a set threshold, and respectively performing comb path planning on each sub-area; if the calculated length ratio is not larger than the set threshold, the comb-shaped path is planned continuously along the comb-shaped path after the fixed obstacle is encountered and the fixed obstacle is bypassed along the edge of the fixed obstacle.
Further, if there is a fixed obstacle in the area to be cleaned, calculating a path that bypasses the fixed obstacle, specifically including: determining whether a gap exists between the fixed barrier and the ground and determining the height of the gap; and calculating whether the height of a gap between the fixed obstacle and the ground is greater than a set height threshold, and if so, planning a path according to the obstacle-free object.
Further, if there is a fixed obstacle in the area to be cleaned, calculating a path that bypasses the fixed obstacle, specifically including: if a plurality of fixed obstacles exist in the area to be cleaned, the short edge of one side of the area to be cleaned is used as a reference edge, whether a plurality of obstacles exist on one parallel line of the reference edge is judged, and if a plurality of obstacles exist, the area to be cleaned is divided into a plurality of sub-cleaning areas by taking the obstacles as a boundary.
Further, the robot of sweeping the floor cleans the region of waiting to clean according to the pectination route of planning, still includes: in the cleaning process, the position of a fixed obstacle in the area to be cleaned is changed, and the cleaning work is stopped; and space scanning is carried out on the rest area to be cleaned again, and comb-shaped route planning is carried out again.
Further, if there is a fixed obstacle in the area to be cleaned, calculating a path that bypasses the fixed obstacle, specifically including: and determining the volume and the shape of the fixed obstacle, and if the fixed obstacle is a regular polygon, calculating the detour path of the fixed obstacle according to the shape of the polygon.
Further, if there is a fixed obstacle in the area to be cleaned, calculating a path that bypasses the fixed obstacle, specifically including: and determining the volume and the shape of the fixed obstacle, if the fixed obstacle is in an irregular shape, calculating the longest radius of the fixed obstacle, and calculating the detour path of the fixed obstacle according to the longest radius.
A sweeping robot, comprising: the visual sensor is used for carrying out space scanning on the area to be cleaned; the infrared sensor is used for determining the position and the number of living bodies in the area to be cleaned, and taking the living bodies as movable obstacles and taking non-living bodies as fixed obstacles; the control device is used for planning a path of an area to be cleaned according to any one of the methods; and the movement device is used for cleaning the cleaning area according to the planned path.
The invention has the beneficial effects that: the robot identifies fixed obstacles and movable obstacles in an area to be cleaned; taking the short edge of the area to be cleaned as an initial cleaning side, and performing comb path planning on the area to be cleaned; if the movable barrier exists in the area to be cleaned, the movable barrier is ignored; if a fixed obstacle exists in the area to be cleaned, calculating a path bypassing the fixed obstacle, and planning according to the comb-shaped path; through the planning of pectination route, treat the fixed barrier in the region of cleaning and keep away the barrier planning, avoid because the existence of barrier leads to the robot of sweeping the floor to keep away the barrier, lead to the problem that the partial region can't clean, reduce and clean the omission. Meanwhile, the cleaning efficiency is also improved.
Drawings
Fig. 1 is a schematic flow chart of a route planning method of a sweeping robot in an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating the length analysis of a fixed obstacle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating comb path planning for an area to be cleaned according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a path planning of two sub-to-be-cleaned areas according to an embodiment of the present invention;
fig. 5 is a schematic view illustrating a path planning of the sweeping robot around an obstacle according to the embodiment of the present invention;
fig. 6 is a schematic block diagram of the mechanism of the sweeping robot in the embodiment of the 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a method for planning a route of a sweeping robot in an embodiment of the present invention includes: step 101: carrying out space scanning on an area to be cleaned, and identifying fixed obstacles and movable obstacles in the area to be cleaned; fixed obstacles and living bodies in the area to be cleaned are identified through the vision sensor and the infrared sensor, and the living bodies are used as movable obstacles. As shown in fig. 2, 11 is the area to be cleaned, 201 is the regular shape fixed obstacle, the base area of the fixed obstacle is calculated, and the rectangular shape with the closest fixed obstacle, the longest length of each side, is calculated. 202, if an obstacle is fixed, the longest length of each side is measured in accordance with the approximately regular rectangular shape 203, respectively. In the above embodiment, a rectangle having an approximate shape of a fixed obstacle may be used as the side length of the obstacle, and a circle having an approximate shape of a fixed obstacle may be used as the radius of the obstacle. Step 102: and taking the short edge of the area to be cleaned as an initial cleaning side, and planning a comb path of the area to be cleaned. As shown in fig. 3, the robot performs comb path planning on an area to be cleaned, where 11 is the area to be cleaned, and 301 is the comb path. Step 103: if the movable obstacles exist in the area to be cleaned, neglecting the movable obstacles, and planning the path according to the obstacles-free objects; if a movable obstacle, namely a living body obstacle, exists in the area to be cleaned, the obstacle can be considered to be avoided by self and is treated as a barrier-free object. When the sweeping robot approaches the movable barrier, an alarm prompt can be sent out firstly to prompt the movable barrier to leave the planned path. Step 104: if a fixed obstacle exists in the area to be cleaned, calculating a path bypassing the fixed obstacle, and planning according to the comb-shaped path. Step 105: and the sweeping robot cleans the area to be cleaned according to the planned comb-shaped path.
Preferably, step 104 specifically includes: determining the length of a fixed obstacle on the long side of a to-be-cleaned area as the length of the long side of the fixed obstacle, calculating the length ratio of the length of the long side of the fixed obstacle to the length of the long side of the to-be-cleaned area, dividing the to-be-cleaned area into at least two sub-areas by taking the fixed obstacle as a boundary if the calculated length ratio is greater than a set threshold, and respectively performing comb path planning on each sub-area; if the calculated length ratio is not larger than the set threshold, the comb-shaped path is planned continuously along the comb-shaped path after the fixed obstacle is encountered and the fixed obstacle is bypassed along the edge of the fixed obstacle.
That is, as shown in fig. 4, the length a of the fixed obstacle 401 corresponding to the long side of the region to be cleaned is calculated as the length ratio to the length e of the long side of the region to be cleaned, and if the length ratio is greater than a set threshold, such as 0.3, 0.4, etc., the region to be cleaned is divided into two or more sub-regions 402,403, and the path planning is performed on the regions 402, 403.
As shown in fig. 5, if the length a of the fixed obstacle 401 corresponding to the long side of the area to be cleaned is calculated as the length ratio to the length e of the long side of the area to be cleaned, and if the length ratio is not greater than the set threshold, the sweeping robot bypasses the obstacle and performs path planning.
Preferably, step 104 further comprises: determining whether a gap exists between the fixed barrier and the ground and determining the height of the gap; and calculating whether the height of a gap between the fixed obstacle and the ground is greater than a set height threshold, and if so, planning a path according to the obstacle-free object. Whether the gap between the fixed obstacle and the ground is larger than the height of the sweeping robot or not is calculated, if the gap is larger than the height of the sweeping robot, the sweeping robot can normally pass through, and then the fixed obstacle is considered to be absent, otherwise, the gap is not larger than the height of the sweeping robot, and the sweeping robot cannot enter the gap between the fixed obstacle and the ground, and then the fixed obstacle is considered to be the fixed obstacle.
Preferably, step 104 further comprises: if a plurality of fixed obstacles exist in the area to be cleaned, the short edge of one side of the area to be cleaned is used as a reference edge, whether a plurality of obstacles exist on one parallel line of the reference edge is judged, and if a plurality of obstacles exist, the area to be cleaned is divided into a plurality of sub-cleaning areas by taking the obstacles as a boundary.
Preferably, the volume and shape of the fixed obstacle are determined in step 104, and if the fixed obstacle is a regular polygon, the detour path of the fixed obstacle is calculated according to the shape of the polygon. If the fixed obstacle is rectangular, the planned path and the detour path of the sweeping robot are planned according to the relative position of the rectangle and the long edge of the area to be cleaned and the side length of the rectangle. If the shape of the fixed obstacle is circular or similar to a circle, a planned path and a detour path of the sweeping robot are planned according to the radius of the circle and the relative position of the fixed obstacle and the long edge of the area to be cleaned.
Preferably, in step 104, the volume and the shape of the fixed obstacle are determined, if the fixed obstacle is irregular, the longest radius of the fixed obstacle is calculated, and the detour path of the fixed obstacle is calculated according to the longest radius. If the fixed barrier is in an irregular shape, calculating the side length and the relative position of each most approximate rectangle or trapezoid, and planning a planning path and a detour path of the sweeping robot according to the side length and the relative position of each rectangle or trapezoid. Or, the fixed obstacle is in an irregular shape, the radius of the circle closest to the fixed obstacle is calculated, and the planned path and the bypassing path of the sweeping robot are planned according to the radius of the circle and the relative position of the long edge of the area to be cleaned.
Preferably, in the step 105, in the process of cleaning the area to be cleaned, the position of a fixed obstacle in the area to be cleaned is changed, and then the cleaning operation is stopped; and space scanning is carried out on the rest area to be cleaned again, and comb-shaped route planning is carried out again.
As shown in fig. 6, in an embodiment of the present invention, a sweeping robot includes: the vision sensor 601 is used for performing space scanning on an area to be cleaned; the infrared sensor 602 is used for determining the position and the number of living bodies in an area to be cleaned, and taking the living bodies as movable obstacles and taking non-living bodies as fixed obstacles; the control device 603 is configured to perform path planning on the area to be cleaned according to the method; and a movement device 604 for sweeping the cleaning area according to the planned path.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes instructions for causing a single chip, a chip, or a processor (processor) to execute all or part of the steps in 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.
In the embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Claims (8)
1. A route planning method of a sweeping robot is characterized by comprising the following steps:
carrying out space scanning on an area to be cleaned, and identifying fixed obstacles and movable obstacles in the area to be cleaned;
taking the short edge of the area to be cleaned as an initial cleaning side, and performing comb path planning on the area to be cleaned;
if the movable obstacles exist in the area to be cleaned, neglecting the movable obstacles, and planning the path according to the obstacles-free objects;
if a fixed obstacle exists in the area to be cleaned, calculating a path bypassing the fixed obstacle, and planning according to the comb-shaped path;
and the sweeping robot cleans the area to be cleaned according to the planned comb-shaped path.
2. The method for planning a route of a sweeping robot according to claim 1, wherein if there is a fixed obstacle in the area to be swept, calculating a path that bypasses the fixed obstacle specifically comprises:
determining the length of a fixed obstacle on the long side of a to-be-cleaned area as the length of the long side of the fixed obstacle, calculating the length ratio of the length of the long side of the fixed obstacle to the length of the long side of the to-be-cleaned area, dividing the to-be-cleaned area into at least two sub-areas by taking the fixed obstacle as a boundary if the calculated length ratio is greater than a set threshold, and respectively performing comb path planning on each sub-area;
if the calculated length ratio is not larger than the set threshold, the comb-shaped path is planned continuously along the comb-shaped path after the fixed obstacle is encountered and the fixed obstacle is bypassed along the edge of the fixed obstacle.
3. The method for planning a route of a sweeping robot according to claim 1, wherein if there is a fixed obstacle in the area to be swept, calculating a path that bypasses the fixed obstacle specifically comprises:
determining whether a gap exists between the fixed barrier and the ground and determining the height of the gap;
and calculating whether the height of a gap between the fixed obstacle and the ground is greater than a set height threshold, and if so, planning a path according to the obstacle-free object.
4. The method for planning a route of a sweeping robot according to claim 1, wherein if there is a fixed obstacle in the area to be swept, calculating a path that bypasses the fixed obstacle specifically comprises:
if a plurality of fixed obstacles exist in the area to be cleaned, the short edge of one side of the area to be cleaned is used as a reference edge, whether a plurality of obstacles exist on one parallel line of the reference edge is judged, and if a plurality of obstacles exist, the area to be cleaned is divided into a plurality of sub-cleaning areas by taking the obstacles as a boundary.
5. The method for planning the path of a sweeping robot according to claim 1, wherein the sweeping robot cleans the area to be cleaned according to a planned comb-shaped path, further comprising:
in the cleaning process, the position of a fixed obstacle in the area to be cleaned is changed, and the cleaning work is stopped;
and space scanning is carried out on the rest area to be cleaned again, and comb-shaped route planning is carried out again.
6. The method for planning a route of a sweeping robot according to claim 1, wherein if there is a fixed obstacle in the area to be swept, calculating a path that bypasses the fixed obstacle, specifically comprises:
and determining the volume and the shape of the fixed obstacle, and if the fixed obstacle is a regular polygon, calculating the detour path of the fixed obstacle according to the shape of the polygon.
7. The method for planning a route of a sweeping robot according to claim 6, wherein if there is a fixed obstacle in the area to be swept, calculating a path that bypasses the fixed obstacle, specifically comprises:
and determining the volume and the shape of the fixed obstacle, if the fixed obstacle is in an irregular shape, calculating the longest radius of the fixed obstacle, and calculating the detour path of the fixed obstacle according to the longest radius.
8. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:
the visual sensor is used for carrying out space scanning on the area to be cleaned;
the infrared sensor is used for determining the position and the number of living bodies in the area to be cleaned, and taking the living bodies as movable obstacles and taking non-living bodies as fixed obstacles;
control means for performing a path planning for an area to be cleaned according to the method of any of claims 1-7;
and the movement device is used for cleaning the cleaning area according to the planned path.
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| CN201811654024.3A CN111381590A (en) | 2018-12-28 | 2018-12-28 | Sweeping robot and route planning method thereof |
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| CN201811654024.3A CN111381590A (en) | 2018-12-28 | 2018-12-28 | Sweeping robot and route planning method thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938519A (en) * | 2020-08-19 | 2020-11-17 | 南京工程学院 | Sweeping and mopping integrated robot cleaning path planning method |
| CN112096155A (en) * | 2020-09-11 | 2020-12-18 | 江苏小白兔智造科技有限公司 | Parking robot walking control method |
| CN112336269A (en) * | 2020-10-30 | 2021-02-09 | 东南数字经济发展研究院 | Wall-following edge cleaning method suitable for sweeping robot |
| CN112525198A (en) * | 2020-11-23 | 2021-03-19 | 广州极飞科技有限公司 | Operation route planning method and related device |
| CN113219985A (en) * | 2021-05-27 | 2021-08-06 | 九天创新(广东)智能科技有限公司 | Road planning method and device for sweeper and sweeper |
| CN113341978A (en) * | 2021-06-10 | 2021-09-03 | 西北工业大学 | Intelligent trolley path planning method based on ladder-shaped barrier |
| CN113359780A (en) * | 2021-07-28 | 2021-09-07 | 陕西欧卡电子智能科技有限公司 | Unmanned ship cleaning path planning method and device, computer equipment and storage medium |
| CN113934218A (en) * | 2021-11-16 | 2022-01-14 | 杭州云象商用机器有限公司 | Cleaning robot path planning method, device, equipment and storage medium |
| WO2022170713A1 (en) * | 2021-02-10 | 2022-08-18 | 北京石头创新科技有限公司 | Automatic cleaning device control method and apparatus, medium, and electronic device |
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| CN112096155A (en) * | 2020-09-11 | 2020-12-18 | 江苏小白兔智造科技有限公司 | Parking robot walking control method |
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| WO2022170713A1 (en) * | 2021-02-10 | 2022-08-18 | 北京石头创新科技有限公司 | Automatic cleaning device control method and apparatus, medium, and electronic device |
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| CN113341978A (en) * | 2021-06-10 | 2021-09-03 | 西北工业大学 | Intelligent trolley path planning method based on ladder-shaped barrier |
| CN113341978B (en) * | 2021-06-10 | 2023-03-07 | 西北工业大学 | Intelligent trolley path planning method based on ladder-shaped barrier |
| CN113359780A (en) * | 2021-07-28 | 2021-09-07 | 陕西欧卡电子智能科技有限公司 | Unmanned ship cleaning path planning method and device, computer equipment and storage medium |
| CN113934218A (en) * | 2021-11-16 | 2022-01-14 | 杭州云象商用机器有限公司 | Cleaning robot path planning method, device, equipment and storage medium |
| CN113934218B (en) * | 2021-11-16 | 2022-03-25 | 杭州云象商用机器有限公司 | Cleaning robot path planning method, device, equipment and storage medium |
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