TWI824676B - Path planning system and path planning method - Google Patents

Abstract

A path planning system includes a signal sensor, a memory and a processor. The signal sensor is configured for sending and receiving an electromagnetic wave signal to obtain one of an environmental data and a positioning data. The processor is configured for executing the following steps according to a plurality of instructions from the memory: dividing an image file into N blocks according to a plurality of image file data of the image file and through a segmentation algorithm, wherein N is a positive integer greater than 0; executing a path planning according to one of the N blocks; outputting a plurality of first horizontal movement commands and a plurality of first vertical movement commands according to the path planning; planning a first cleaning path by the N blocks according to the path planning algorithm; and outputting a plurality of second horizontal movement commands and a plurality of second vertical movement commands according to the first cleaning path.

Description

Path planning system and path planning method

This case relates to a planning system and a planning method, and in particular to a path planning system and a path planning method.

The current path planning requires pre-reading the image file at the beginning, and planning the path of the entire image file based on the image file read at that moment. It is impossible to dynamically plan the path based on the current situation (such as an obstacle in the distance moving closer).

If the image file is large, reading the image file data and performing matrix operations at once will consume a large amount of memory and computing performance.

This summary is intended to provide a simplified summary of the disclosure to provide the reader with a basic understanding of the disclosure. This summary is not an extensive overview of the disclosure, and it is not intended to identify key/critical elements of the embodiments or to delineate the scope of the disclosure.

One of the technical aspects of this case is about a path planning system. The path planning system is used in the field of cleaning mobile vehicles and includes signal sensors, memory and processors. Signal sensors are used to send and receive electromagnetic wave signals to obtain environmental information and positioning information. Memory is used to store multiple instructions and graphics files. The processor is used to perform the following steps according to a plurality of instructions in the memory: divide the image file into N blocks according to a plurality of image information of the image file through a segmentation algorithm, where N is a positive integer greater than 0; according to N One of the blocks is used for path planning; a plurality of first horizontal movement instructions and a plurality of first vertical movement instructions are output according to the path planning; a first cleaning path is planned from the N blocks according to the path planning algorithm ; and outputting a plurality of second horizontal movement instructions and a plurality of second vertical movement instructions according to the first cleaning path.

Another technical aspect of the content of this case relates to a path planning method, used in the field of cleaning mobile vehicles, and includes: dividing the image file into N blocks according to the plurality of image file information of the image file through a segmentation algorithm, Where N is a positive integer greater than 0; path planning is performed according to one of the N blocks; a plurality of first horizontal movement instructions and a plurality of first vertical movement instructions are output according to the path planning; according to the path planning algorithm, Plan a first cleaning path for N blocks; and output a plurality of second horizontal movement instructions and a plurality of second vertical movement instructions according to the first cleaning path.

Therefore, according to the technical content of this case, the path planning system and path planning method shown in the embodiment of this case can divide the map file into a plurality of small areas and plan a cleaning path according to the plurality of small areas, so as to solve the problem of matrix operations that need to be processed on the map file. The resulting memory resource issues and computing performance effects.

After referring to the following embodiments, those with ordinary knowledge in the technical field to which this case belongs can easily understand the basic spirit and other purposes of the invention, as well as the technical means and implementation styles adopted in this case.

In order to make the description of this disclosure more detailed and complete, the following provides an illustrative description of the implementation aspects and specific embodiments of this case; but this is not the only form of implementing or using the specific embodiments of this case. The embodiments cover features of multiple specific embodiments as well as method steps and their sequences for constructing and operating these specific embodiments. However, other specific embodiments may also be used to achieve the same or equivalent functions and step sequences.

Unless otherwise defined in this specification, the scientific and technical terms used herein have the same meanings as commonly understood and customary by a person with ordinary knowledge in the technical field to which the subject matter belongs. In addition, unless there is conflict with the context, the singular noun used in this specification covers the plural form of the noun; and the plural noun used also covers the singular form of the noun.

In addition, as used herein, "coupling" or "connection" may refer to two or more components that are in direct physical or electrical contact with each other, or that are in indirect physical or electrical contact with each other, or it may also refer to two or more components that are in direct physical or electrical contact with each other. components interact or act with each other.

In this article, the term "circuit" generally refers to an object that is connected in a certain manner by one or more transistors and/or one or more active and passive components to process signals.

Certain words are used in the specification and patent claims to refer to specific components. However, those with ordinary skill in the art will understand that the same components may be referred to by different names. The specification and the patent application do not use the difference in name as a way to distinguish components, but the difference in function of the components as the basis for differentiation. The "include" mentioned in the specification and the scope of the patent application is an open-ended term, so it should be interpreted as "include but not limited to".

Figure 1 is a block diagram illustrating a path planning system according to an embodiment of the present invention. As shown in the figure, the path planning system 100 includes a signal sensor 110, a memory 120 and a processor 130. In connection relationship, the signal sensor 110 is coupled to the memory 120 , and the memory 120 is coupled to the processor 130 . In some embodiments, the path planning system 100 further includes a cleaning mobile vehicle (not shown in the figure), but the present case is not limited to this.

In order to achieve the effect of solving the problem of memory resources and computing performance caused by the need to process matrix operations on graphics files, this case provides detailed instructions for the relevant operations of the path planning system 100 as shown in Figure 1 as follows.

Figure 2A is a usage scenario diagram of a path planning system according to an embodiment of the present case. Figure 2B is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 3 is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 4 is a usage scenario diagram of a path planning system according to an embodiment of this case. Please refer to Figures 1 to 4 together. In one embodiment, the path planning system 100 is used in the field of cleaning mobile vehicles. For example, the cleaning mobile vehicle can be a sweeping robot or any mobile vehicle with cleaning functions, but this case is not limited to this.

In one embodiment, the signal sensor 110 (as shown in FIG. 1 ) is used to send and receive electromagnetic wave signals to obtain one of environmental information and positioning information. In one embodiment, the memory 120 is used to store a plurality of instructions and image files 200 (as shown in Figure 2A). For example, the electromagnetic wave signal can be any optical signal or ultrasonic signal, and the environmental information can be the characteristics of the surrounding environment. The signal sensor 110 can further obtain the environmental information by outputting the optical signal and receiving the optical signal returned from the environment. In addition, it can Positioning information is obtained by comparing the above environmental information with the information on the image file (or map) 200, but this case is not limited to this.

In one embodiment, the processor 130 is configured to perform the following steps according to a plurality of instructions from the memory 120: dividing the image file 200 (as shown in FIG. 2A) according to a plurality of image file information through a segmentation algorithm. 200 is divided into N blocks (as shown in Figure 2B), where N is a positive integer greater than 0. For example, the plurality of image file information can be the length, width information or resolution information of the image file. For example, the length of the image file 200 can be 33 meters (m) and the width can be 20 meters. The segmentation algorithm can The image file 200 is divided into squares with a length of 5 meters and a width of 5 meters per block. However, there will still be blocks with a length of 3 meters left in the image file 200 (for example: blocks 217, 224, 231, 238 in Figure 2B), and the above remaining blocks can still be divided into their own grids, but This case is not limited to this.

In one embodiment, the processor 130 is used to perform the following steps according to a plurality of instructions in the memory 120: perform path planning according to one of the N blocks (such as the paths 310 and 320 shown in Figure 3). . For example, the processor 130 can perform path planning (eg, paths 310, 320) in one of N blocks (eg, blocks 211, 212 in Figure 3) through a path planning algorithm, and the path The shape of 310 and 320 can be similar to a snake or the Chinese character "bow" to ensure that the cleaning mobile vehicle (not shown in the figure) can reliably clean the interior of blocks 211 and 212 according to the planning of paths 310 and 320, but This case is not limited to this.

In one embodiment, the processor 130 is used to perform the following steps according to a plurality of instructions in the memory: output a plurality of first horizontal movement instructions and a plurality of numbers according to the path planning (such as the paths 310 and 320 shown in Figure 3). The first vertical movement instruction. For example, the mobile cleaning vehicle (not shown in the figure) can receive a plurality of first horizontal movement instructions and a plurality of first vertical movement instructions, and move from the end point A1 of the block 211 to Endpoint A2, then, the mobile cleaning vehicle can move from endpoint A2 to endpoint A3 according to the first vertical movement instruction, and then, the mobile cleaning vehicle can move from endpoint A3 to endpoint according to the first horizontal movement instruction. Point A4, finally, the mobile cleaning vehicle can move to the end point A5 according to the first horizontal movement command and the first vertical movement command in sequence, but this case is not limited to this.

Please refer to Figure 3. In some embodiments, the mobile cleaning vehicle (not shown in the figure) can move from the end point A5 of the block 211 to the end point B1 of the block 212, and then move from the end point A5 of the block 212 according to the above-mentioned method. By moving the endpoint A1 of the block 211 to the endpoint A5 (as shown in the path 310), the mobile cleaning vehicle can receive and receive a plurality of first horizontal movement instructions and a plurality of first vertical movement instructions to move from the endpoint. B1 moves to endpoint B5 (shown as path 320), but this case is not limited to this.

In some embodiments, when the mobile cleaning vehicle (not shown in the figure) moves from one of the N blocks (for example: block 211) to another of the N blocks (for example: block 212) ), the processor 130 may release memory resources for processing one of the N blocks (eg, block 211 ) until the mobile cleaning vehicle passes through each of the N blocks of the image file 200 (ie, Blocks 211 to 238), in order to achieve the effect of solving the memory resource problem and computing performance caused by the matrix operation required to process the graph file 200.

Referring to Figures 1 and 4, in one embodiment, the processor 130 is used to perform the following steps according to a plurality of instructions in the memory 120: according to a path planning algorithm, N blocks (for example: block 211～238) plan the first cleaning path (for example: path 410). For example, the shape of the first cleaning path (eg, path 410) can be similar to a snake or the Chinese character "bow" to ensure that the cleaning mobile vehicle (not shown in the figure) can follow the first cleaning path (eg, path 410). ) plan, the area shown in the drawing 200 (for example: blocks 211 to 238) must be thoroughly cleaned, but this case is not limited to this.

Referring to FIGS. 1 and 4 , in one embodiment, the processor 130 is used to perform the following steps according to a plurality of instructions in the memory: outputting a plurality of second cleaning paths according to the first cleaning path (for example, path 410 ). Horizontal movement instructions and a plurality of second vertical movement instructions. For example, the cleaning mobile vehicle (not shown in the figure) can receive a plurality of second horizontal movement instructions and a plurality of second vertical movement instructions, and the cleaning mobile vehicle can move from block 211 to Block 217, then, the cleaning mobile vehicle can move from block 217 to block 218 according to the second vertical movement instruction, and then, the cleaning mobile vehicle can move from block 218 to block 224 according to the second horizontal movement instruction. , finally, the cleaning mobile vehicle can move from block 224 to block 238 successively according to the second horizontal movement instruction and the second vertical movement instruction, but this case is not limited to this.

Please refer to Figures 3 and 4. In some embodiments, the cleaning mobile vehicle (not shown in the figure) can sequentially move and clean from block 211 to block 238 according to the first cleaning path (for example: path 410). , and in the process, each of the N blocks (for example: blocks 211~238) are cleaned through path planning (such as paths 310 and 320 shown in Figure 3), but this case is not limited to this. In some embodiments, the cleaning mobile vehicle (not shown in the figure) can move from block 238 to block 211 to achieve the effect of the cleaning mobile vehicle automatically returning to the starting point (for example: block 211).

Figure 5 is a usage scenario diagram of a path planning system according to an embodiment of this case. Please refer to Figure 1, Figure 2B and Figure 5. In one embodiment, the processor 130 is further configured to perform the following steps according to a plurality of instructions from the memory 120: assign a plurality of numbers to N through a numbering algorithm. blocks (for example: blocks 211~238). For example, the numbering algorithm can be any software or algorithm used to number the drawing file 200 (as shown in Figure 2A), and the plurality of numbers can be used to number N blocks (for example: areas) according to the XY coordinate system. Blocks 211~238) are numbered (1,0) to (7,3) in sequence. Furthermore, block 211 can be numbered (1,0), and block 232 can be numbered (7,3), but in this case Not limited to this.

Figure 6 is a usage scenario diagram of a path planning system according to an embodiment of this case. Please refer to Figures 4 and 6 together. In some embodiments, the cleaning mobile vehicle (not shown in the figure) can sequentially start from the block numbered (1,0) (i.e., according to the first cleaning path 610). Block 211) is moved and cleaned to the block numbered (1,3) (i.e., block 238), and in the process, each of the N blocks (e.g., the block numbered (1,0)) is moved to the block numbered (1 ,3) blocks) are cleaned by path planning (such as paths 310 and 320 shown in Figure 3), but this case is not limited to this.

Figure 7 is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 8 is a usage scenario diagram of a path planning system according to an embodiment of this case. Please refer to Figures 1 and 7 together. In one embodiment, the processor 130 is further configured to perform the following steps according to a plurality of instructions from the memory 120: planning the starting position 711 and relaying according to a plurality of numbers. Position 712 or end position 713. For example, the processor 130 may set the block numbered (1,0) as the starting position 711, the block numbered (4,1) as the relay position 712, and the block numbered (1,3) as the ending position. Position 713, and there may be charging stations at the starting position 711, relay position 712 or end position 713, so that the cleaning mobile vehicle (not shown in the figure) can stay at the above three positions, but this case is not limited to this.

Please refer to Figures 1 and 7 together. In one embodiment, the processor 130 is further configured to perform the following steps according to a plurality of instructions from the memory 120: through the path planning algorithm and according to the relay location 712 and Ending position 713 to output the second cleaning path. For example, the second cleaning path may be path 710, and the cleaning mobile vehicle (not shown in the figure) may move from the intermediate position 712 to the end position 713 according to the path 710, but the present case is not limited to this.

Please refer to Figures 1 and 8 together. In one embodiment, the processor 130 is further configured to perform the following steps according to a plurality of instructions from the memory 120: through a path planning algorithm, according to the starting position 711, the relay Position 712 and end position 713 to output the third cleaning path. For example, the third cleaning path may include path 810 and path 820. Since the cleaning mobile vehicle (not shown in the figure) travels through path 710 (as shown in FIG. 7), the image file 200 cannot be completely cleaned. The vehicle can move from the end position 713 to the block numbered (5,1) according to the path 810 (this block is located next to the relay position 712). Then, the cleaning mobile vehicle can move from the block numbered (5,1) according to the path 820. The block is moved to the starting position 711 to achieve the effect of completely cleaning the image file 200, but this case is not limited to this.

Please refer to Figure 1 and Figure 8 together. In one embodiment, the processor 130 is further used to perform the following steps according to a plurality of instructions in the memory: according to the environment information, positioning information, starting position 711, relay One of position 712 and end position 713 outputs a return instruction. For example, the cleaning mobile vehicle (not shown in the figure) can determine which area of the image file 200 the cleaning mobile vehicle is located based on environmental information or positioning information. For example, the processor 130 can use the environmental information or positioning information to determine which area of the image file 200 the cleaning mobile vehicle is located in. After comparing the image files 200, it is learned that the cleaning mobile vehicle is located in the block numbered (4,2). Then, the cleaning mobile vehicle can receive and return to the starting position 711, the relay position 712 or the end position 713 from the block numbered (4,2) according to the return instruction, but this case is not limited to this.

Please refer to Figures 1, 4, 6 to 8 together. In one embodiment, the processor 130 is further configured to perform the following steps according to a plurality of instructions from the memory 120: through a path planning algorithm To check whether one of the first cleaning path (e.g., path 410 or path 610), the second cleaning path (e.g., path 710), and the third cleaning path (e.g., paths 810 and 820) passes through N blocks of each. For example, the processor 130 can use a path planning algorithm to confirm whether the above-mentioned cleaning path has cleaned each block in the image file 200 (for example: blocks 211 to 238 in Figure 2B). If there are uncleaned blocks confirmed by the path planning algorithm, a new cleaning path can be planned through the path planning algorithm again to ensure that each block containing a complete cleaning map file 200 is moved during cleaning. However, this case does not use This is the limit.

Figure 9 is a schematic flow chart illustrating a path planning method according to an embodiment of this case. To make the path planning method 900 in Figure 9 easy to understand, please refer to Figures 1 to 4 and Figure 9 together. The path planning method 900 in Figure 9 is used for cleaning mobile vehicles and includes the following steps:

Step 910: Use a segmentation algorithm to divide the image file 200 into N blocks according to the plurality of image file information of the image file 200 (as shown in Figure 2B), where N is a positive integer greater than 0;

Step 920: Perform path planning based on one of the N blocks (such as paths 310 and 320 shown in Figure 3);

Step 930: Output a plurality of first horizontal movement instructions and a plurality of first vertical movement instructions according to the path planning (such as the paths 310 and 320 shown in Figure 3);

Step 940: Plan a first cleaning path (for example, path 410) from N blocks (for example, blocks 211 to 238 in Figure 4) according to the path planning algorithm;

Step 950: Output a plurality of second horizontal movement instructions and a plurality of second vertical movement instructions according to the first cleaning path.

In one embodiment, please refer to step 910. The processor 130 divides the image file 200 into N blocks (as shown in Figure 2B) according to a plurality of image file information of the image file 200 through a segmentation algorithm, where N is a positive integer greater than 0. For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, please refer to step 920, the processor 130 performs path planning (such as the paths 310 and 320 shown in Figure 3) according to one of the N blocks. For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, please refer to step 930 , the processor 130 outputs a plurality of first horizontal movement instructions and a plurality of first vertical movement instructions according to the path planning (such as the paths 310 and 320 shown in FIG. 3 ). For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, please refer to step 940: the processor 130 plans a first cleaning path (eg, path 410) from N blocks (eg, blocks 211-238 in Figure 4) according to the path planning algorithm. For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, please refer to step 950, the processor 130 outputs a plurality of second horizontal movement instructions and a plurality of second vertical movement instructions according to the first cleaning path. For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, the path planning method 900 further includes the following steps: using a numbering algorithm to assign a plurality of numbers to N blocks (for example: blocks 211 to 238). For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, the path planning method 900 further includes the following steps: planning a starting position 711 (as shown in FIG. 7 ), a relay position 712 or an ending position 713 according to a plurality of numbers. For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, the path planning method 900 further includes the following steps: outputting a second cleaning path (eg, path 710 ) according to the relay position 712 and the end position 713 through a path planning algorithm. For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, the path planning method 900 further includes the following steps: using a path planning algorithm to output a third cleaning path according to the starting position 711, the relay position 712 or the end position 713 (for example: the path 810 in Figure 8 and path 820). For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, the path planning method 900 further includes the following steps: outputting a return command according to one of the environmental information, positioning information, starting position 711, relay position 712, and ending position 713. For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

In one embodiment, the path planning method 900 further includes the following steps: using a path planning algorithm to check whether the first cleaning path (eg, path 410 or path 610), the second cleaning path (eg, path 710) and the third One of the cleaning paths (eg, paths 810 and 820) passes through each of N blocks (eg, blocks 211-238 in Figure 2B). For example, the operation of the path planning method 900 is similar to the operation of the path planning system 100 in FIG. 1. For the sake of simplicity, description of other operations in the path planning method 900 will be omitted here.

It can be seen from the above embodiments that the application of this case has the following advantages. The path planning system and path planning method shown in the embodiment of this case can divide the image file into a plurality of small areas and plan a cleaning path according to the plurality of small areas, so as to solve the problem of memory resources and operations caused by the need to process matrix operations on the image file. The effect of effectiveness.

Although the above implementation mode discloses specific examples of the present case, it is not intended to limit the present case. Persons with ordinary knowledge in the technical field to which the present case belongs can, without departing from the principles and spirit of the present case, proceed with it. Various changes and modifications, therefore the scope of protection in this case shall be subject to the scope of the accompanying patent application.

100:Path planning system 110:Signal sensor 120:Memory 130: Processor 200:Image file X: axis Y: axis 211～238: block A1, A2, A3, A4, A5: endpoints B1, B2, B3, B4, B5: endpoints 310, 320: path 410:Path (1,0)～(7,0): number (1,1)～(7,1): number (1,2)～(7,2): number (1,3)～(7,3): number 610:Path 710:Path 711: starting position 712:Relay location 713:End position 810, 820: path 900: Path planning method 910, 920, 930, 940, 950: steps

In order to make the above and other purposes, features, advantages and embodiments of this case more obvious and understandable, the attached drawings are described as follows: Figure 1 is a block diagram illustrating a path planning system according to an embodiment of the present invention. Figure 2A is a usage scenario diagram of a path planning system according to an embodiment of the present case. Figure 2B is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 3 is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 4 is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 5 is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 6 is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 7 is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 8 is a usage scenario diagram of a path planning system according to an embodiment of this case. Figure 9 is a schematic flow chart illustrating a path planning method according to an embodiment of this case. In accordance with common practice, the various features and components in the drawings are not drawn to scale, but are drawn in such a way as to best present the specific features and components relevant to this case. In addition, the same or similar reference symbols are used to refer to similar elements/components in different drawings.

Domestic storage information (please note in order of storage institution, date and number) without Overseas storage information (please note in order of storage country, institution, date, and number) without

100:Path planning system

110:Signal sensor

120:Memory

130: Processor

Claims (10)

A path planning system for a clean mobile vehicle, and includes: a signal sensor for sending and receiving an electromagnetic wave signal to obtain one of environmental information and positioning information; a memory for storing a plurality of instructions and a picture file; a processor for performing the following steps according to the instructions of the memory: dividing the picture file into N blocks according to a plurality of picture information of the picture file through a dividing algorithm , where N is a positive integer greater than 0; a path planning is performed according to one of the N blocks; a plurality of first horizontal movement instructions and a plurality of first vertical movement instructions are output according to the path planning; according to a A path planning algorithm is used to plan a first cleaning path for the N blocks; and to output a plurality of second horizontal movement instructions and a plurality of second vertical movement instructions according to the first cleaning path, wherein when the cleaning mobile carrier When a block of the N blocks is moved to another block of the N blocks, a resource of the memory is released. The path planning system of claim 1, wherein the processor is further configured to perform the following steps according to the instructions of the memory: assign a plurality of numbers to the N blocks through a numbering algorithm; according to the These numbers are used to plan a starting position, a relay position, or an ending position; and output a second cleaning path according to the relay position and the end position through the path planning algorithm. The path planning system of claim 2, wherein the processor is further used to perform the following steps according to the instructions of the memory: according to the starting position, the relay position and the end through the path planning algorithm position to output a third cleaning path. The path planning system as described in claim 3, wherein the processor is further used to perform the following steps according to the instructions of the memory: according to the environmental information, the positioning information, the starting position, the relay position and One of the end positions outputs a return command. The path planning system of claim 4, wherein the processor is further configured to perform the following steps according to the instructions of the memory: using the path planning algorithm to check whether the first cleaning path, the second cleaning path One of the path and the third cleaning path passes through each of the N blocks. A path planning method is used for a clean mobile vehicle and includes: dividing an image file into N blocks according to a plurality of image file information through a segmentation algorithm, where N is a positive number greater than 0. integer; Perform a path planning according to one of the N blocks; output a plurality of first horizontal movement instructions and a plurality of first vertical movement instructions according to the path planning; use a path planning algorithm to convert the N blocks to plan a first cleaning path; to output a plurality of second horizontal movement instructions and a plurality of second vertical movement instructions according to the first cleaning path; and when the cleaning mobile vehicle is moved from a first of the N blocks When the block moves to a second block of the N blocks, a processor releases a resource of a memory, wherein the resource corresponds to the processor processing the first area of the N blocks. A block of memory resources. The path planning method described in claim 6 further includes: assigning plural numbers to the N blocks through a numbering algorithm; planning a starting position, a relay position or an ending position based on the numbers; and outputting a second cleaning path according to the relay position and the end position through the path planning algorithm. The path planning method as described in claim 7 further includes: outputting a third clean path according to the starting position, the relay position and the end position through the path planning algorithm. The path planning method described in claim 8 further includes: outputting a return command based on one of the environmental information, the positioning information, the starting position, the relay position and the ending position. The path planning method as described in claim 9, further comprising: using the path planning algorithm to check whether one of the first cleaning path, the second cleaning path and the third cleaning path passes through the N areas each of the blocks.

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