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

Path planning system and path planning method Download PDF

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TWI824676B
TWI824676B TW111131867A TW111131867A TWI824676B TW I824676 B TWI824676 B TW I824676B TW 111131867 A TW111131867 A TW 111131867A TW 111131867 A TW111131867 A TW 111131867A TW I824676 B TWI824676 B TW I824676B
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path planning
path
blocks
cleaning
instructions
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TW202326077A (en
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歐昱誠
束文龍
楊秉紘
余俊瑩
王崑竹
邱泓達
許又中
王于誠
頌恒 薛
吳俊寬
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友達光電股份有限公司
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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

路徑規劃系統及路徑規劃方法Path planning system and path planning method

本案係有關於一種規劃系統及規劃方法，且特別是關於一種路徑規劃系統及路徑規劃方法。This case relates to a planning system and a planning method, and in particular to a path planning system and a path planning method.

目前路徑規劃須在一開始預讀圖檔，並且根據該時刻讀入之圖檔進行整張圖檔的路徑規劃，無法根據當下情況動態規畫路徑(如遠處某障礙物移動近來)。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).

若圖檔的檔案較大，一次將圖檔的資料讀入並做矩陣之運算處理會耗費較大的記憶體與運算效能。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.

發明內容旨在提供本揭示內容的簡化摘要，以使閱讀者對本揭示內容具備基本的理解。此發明內容並非本揭示內容的完整概述，且其用意並非在指出本案實施例的重要/關鍵元件或界定本案的範圍。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.

本案內容之一技術態樣係關於一種路徑規劃系統。路徑規劃系統用於清潔移動載具領域，並包含訊號傳感器、記憶體及處理器。訊號傳感器用以收發電磁波信號以獲取環境資訊及定位資訊的其中一者。記憶體用以儲存複數個指令及圖檔。處理器用以根據記憶體的複數個指令以執行下列步驟：透過分割演算法根據圖檔的複數個圖檔資訊以將圖檔分割為N個區塊，其中N為大於0之正整數；根據N個區塊的其中一者以進行路徑規劃；根據路徑規劃以輸出複數個第一水平移動指令及複數個第一垂直移動指令；根據路徑規劃演算法以將N個區塊規劃出第一清潔路徑；以及根據第一清潔路徑以輸出複數個第二水平移動指令及複數個第二垂直移動指令。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.

本案內容之另一技術態樣係關於一種路徑規劃方法，用於清潔移動載具領域，並包含：透過分割演算法根據圖檔的複數個圖檔資訊以將圖檔分割為N個區塊，其中N為大於0之正整數；根據N個區塊的其中一者以進行路徑規劃；根據路徑規劃以輸出複數個第一水平移動指令及複數個第一垂直移動指令；根據路徑規劃演算法以將N個區塊規劃出第一清潔路徑；以及根據第一清潔路徑以輸出複數個第二水平移動指令及複數個第二垂直移動指令。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.

因此，根據本案之技術內容，本案實施例所示之路徑規劃系統及路徑規劃方法得以將圖檔分成複數個小區域並根據複數個小區域以規劃清潔路徑，以達到解決圖檔需處理矩陣運算造成的記憶體資源問題與運算效能之效果。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.

在參閱下文實施方式後，本案所屬技術領域中具有通常知識者當可輕易瞭解本案之基本精神及其他發明目的，以及本案所採用之技術手段與實施態樣。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.

為了使本揭示內容的敘述更加詳盡與完備，下文針對了本案的實施態樣與具體實施例提出了說明性的描述；但這並非實施或運用本案具體實施例的唯一形式。實施方式中涵蓋了多個具體實施例的特徵以及用以建構與操作這些具體實施例的方法步驟與其順序。然而，亦可利用其他具體實施例來達成相同或均等的功能與步驟順序。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.

除非本說明書另有定義，此處所用的科學與技術詞彙之含義與本案所屬技術領域中具有通常知識者所理解與慣用的意義相同。此外，在不和上下文衝突的情形下，本說明書所用的單數名詞涵蓋該名詞的複數型；而所用的複數名詞時亦涵蓋該名詞的單數型。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.

另外，關於本文中所使用之「耦接」或「連接」，可指二或多個元件相互直接作實體或電性接觸，或是相互間接作實體或電性接觸，亦可指二或多個元件相互操作或動作。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.

在本文中，用語『電路』泛指由一或多個電晶體與/或一或多個主被動元件按一定方式連接以處理訊號的物件。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.

在說明書及申請專利範圍中使用了某些詞彙來指稱特定的元件。然而，所屬技術領域中具有通常知識者應可理解，同樣的元件可能會用不同的名詞來稱呼。說明書及申請專利範圍並不以名稱的差異做為區分元件的方式，而是以元件在功能上的差異來做為區分的基準。在說明書及申請專利範圍所提及的「包含」為開放式的用語，故應解釋成「包含但不限定於」。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".

第1圖係依照本案一實施例繪示一種路徑規劃系統的方塊示意圖。如圖所示，路徑規劃系統100包含訊號傳感器110、記憶體120及處理器130。於連接關係，訊號傳感器110耦接於記憶體120，記憶體120耦接於處理器130。在一些實施例中，路徑規劃系統100更包含清潔移動載具（圖中未示），但本案不以此為限。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.

為達到解決圖檔需處理矩陣運算造成的記憶體資源問題與運算效能之效果，本案提供如第1圖所示之路徑規劃系統100的相關操作詳細說明如下所述。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.

第2A圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。第2B圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。第3圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。第4圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。請一併參閱第1圖到第4圖，在一實施例中，路徑規劃系統100用於清潔移動載具領域。舉例而言，清潔移動載具可以為掃地機器人或任何具備清潔功能的移動載具，但本案不以此為限。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.

在一實施例中，訊號傳感器110（如第1圖所示）用以收發電磁波信號以獲取環境資訊及定位資訊的其中一者。在一實施例中，記憶體120用以儲存複數個指令及圖檔200（如第2A圖所示）。舉例而言，電磁波信號可以為任何光信號或超音波信號，環境資訊可以為環境周圍的特徵，訊號傳感器110可以透過輸出光信號並接收從環境返回的光信號，進一步獲取環境資訊，此外，可以透過比對上述環境資訊與圖檔（或稱地圖）200上的資訊以獲得定位資訊，但本案不以此為限。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.

在一實施例中，處理器130用以根據記憶體120的複數個指令以執行下列步驟：透過分割演算法根據圖檔200（如第2A圖所示）的複數個圖檔資訊以將圖檔200分割為N個區塊（如第2B圖所示），其中N為大於0之正整數。舉例而言，複數個圖檔資訊可以為圖檔的長、寬資訊或解析度資訊，例如，圖檔200的長度可以為33公尺（m）、寬度為20公尺，分割演算法可以將圖檔200以每個區塊為長度5公尺與寬度5公尺的方格去分割圖檔200。然而，圖檔200仍會剩下長度3公尺的區塊（例如：第2B圖的區塊217、224、231、238），而上述剩下的區塊仍可以分割自成一格，但本案不以此為限。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.

在一實施例中，處理器130用以根據記憶體120的複數個指令以執行下列步驟：根據N個區塊的其中一者以進行路徑規劃（如第3圖所示的路徑310、320）。舉例而言，處理器130可以透過路徑規劃演算法以於N個區塊的其中一者(例如第3圖的區塊211、212)內進行路徑規劃(例如：路徑310、320)，且路徑310、320的形狀可以類似蛇行或是中文字「弓」，以確保清潔移動載具(圖中未示)可以根據路徑310、320的規劃，將區塊211、212內部確實地清掃乾淨，但本案不以此為限。 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.

在一實施例中，處理器130用以根據記憶體的複數個指令以執行下列步驟：根據路徑規劃(如第3圖所示的路徑310、320)以輸出複數個第一水平移動指令及複數個第一垂直移動指令。舉例而言，移動清潔載具(圖中未示)可以接收複數個第一水平移動指令及複數個第一垂直移動指令，並根據第一水平移動指令以從區塊211的端點A1移動至端點A2，然後，移動清潔載具可以根據第一垂直移動指令以從端點A2移動至端點A3，再來，移動清潔載具可以根據第一水平移動指令以從端點A3移動至端點A4，最後，移動清潔載具可以依序根據第一水平移動指令及第一垂直移動指令以移動至端點A5，此為但本案不以此為限。 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.

請參閱第3圖，在一些實施例中，移動清潔載具(圖中未示)可以從區塊211的端點A5移動至區塊212的端點B1，並再依照上述移動清潔載具從區塊211的端點A1移動至端點A5的方式(如路徑310所示)，移動清潔載具可以接收並根據接收複數個第一水平移動指令及複數個第一垂直移動指令以從端點B1移動至端點B5(如路徑320所示），但本案不以此為限。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.

在一些實施例中，當移動清潔載具（圖中未示）從N個區塊的其中一者（例如：區塊211）移動至N個區塊的其中另一者（例如：區塊212）時，處理器130可以將處理N個區塊的其中一者（例如：區塊211）的記憶體資源釋放，直到移動清潔載具行經圖檔200的N個區塊的每一者（即區塊211～238），以達到解決圖檔200需處理矩陣運算造成的記憶體資源問題與運算效能之效果。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.

請參閱第1圖及第4圖，在一實施例中，處理器130用以根據記憶體120的複數個指令以執行下列步驟：根據路徑規劃演算法以將N個區塊（例如：區塊211～238）規劃出第一清潔路徑（例如：路徑410）。舉例而言，第一清潔路徑（例如：路徑410）的形狀可以類似蛇行或是中文字「弓」，以確保清潔移動載具（圖中未示）可以根據第一清潔路徑（例如：路徑410）的規劃，將圖檔200所示區域（例如：區塊211～238）確實地清掃乾淨，但本案不以此為限。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.

請參閱第1圖及第4圖，在一實施例中，處理器130用以根據記憶體的複數個指令以執行下列步驟：根據第一清潔路徑（例如：路徑410）以輸出複數個第二水平移動指令及複數個第二垂直移動指令。舉例而言，清潔移動載具（圖中未示）可以接收複數個第二水平移動指令及複數個第二垂直移動指令，且清潔移動載具可以根據第二水平移動指令從區塊211移動至區塊217，然後，清潔移動載具可以根據第二垂直移動指令從區塊217移動至區塊218，再來，清潔移動載具可以根據第二水平移動指令從區塊218移動至區塊224，最後，清潔移動載具可以根據第二水平移動指令及第二垂直移動指令陸續從區塊224移動至區塊238，但本案不以此為限。 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.

請參閱第3與第4圖，在一些實施例中，清潔移動載具(圖中未示)可以根據第一清潔路徑(例如：路徑410)以依序從區塊211移動清潔至區塊238，並過程中將N個區塊的每一者(例如：區塊211~238)以路徑規劃(如第3圖所示的路徑310、320)方式清潔完畢，但本案不以此為限。在一些實施例中，清潔移動載具(圖中未示)可以再從區塊238移動至區塊211，以達到清潔移動載具自動返回出發地(例如：區塊211)的效果。 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).

第5圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。請參閱第1圖、第2B圖及第5圖，在一實施例中，處理器130更用以根據記憶體120的複數個指令以執行下列步驟：透過編號演算法以將複數個編號給予N個區塊(例如：區塊211~238)。舉例而言，編號演算法可以為用於將圖檔200(如第2A圖所示)編號使用的任何軟體或演算法，複數個編號可以根據XY座標系以將N個區塊(例如：區塊211~238)依序編號(1,0)至(7,3)，進一步而言，區塊211可以為編號(1,0)，區塊232可以為編號(7,3)，但本案不以此為限。 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.

第6圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。請一併參閱第4圖及第6圖，在一些實施例中，清潔移動載具（圖中未示）可以根據第一清潔路徑610以依序從編號（1,0）的區塊（即區塊211）移動清潔至編號（1,3）的區塊（即區塊238），並過程中將N個區塊的每一者（例如編號（1,0）的區塊至編號（1,3）的區塊）以路徑規劃（如第3圖所示的路徑310、320）方式清潔完畢，但本案不以此為限。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.

第7圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。第8圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。請一併參閱第1圖及第7圖，在一實施例中，處理器130更用以根據記憶體120的複數個指令以執行下列步驟：根據複數個編號以規劃起始位置711、中繼位置712或結束位置713。舉例而言，處理器130可以設定編號（1,0）的區塊作為起始位置711、編號（4,1）的區塊作為中繼位置712、編號（1,3）的區塊作為結束位置713，且起始位置711、中繼位置712或結束位置713可以有充電站，讓清潔移動載具（圖中未示）可以在上述的三個位置停留，但本案不以此為限。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.

請一併參閱第1圖及第7圖，在一實施例中，處理器130更用以根據記憶體120的複數個指令以執行下列步驟：透過該路徑規劃演算法並根據中繼位置712及結束位置713以輸出第二清潔路徑。舉例而言，第二清潔路徑可以為路徑710，清潔移動載具（圖中未示）可以根據路徑710以從中繼位置712移動至結束位置713，但本案不以此為限。 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.

請一併參閱第1圖及第8圖，在一實施例中，處理器130更用以根據記憶體120的複數個指令以執行下列步驟：透過路徑規劃演算法根據起始位置711、中繼位置712及結束位置713以輸出第三清潔路徑。舉例而言，第三清潔路徑可以包含路徑810及路徑820，由於清潔移動載具(圖中未示)行經路徑710(如第7圖所示)無法將圖檔200完全清潔，故清潔移動載具可以根據路徑810從結束位置713移動至編號(5,1)的區塊(此區塊位於中繼位置712旁)，然後，清潔移動載具可以根據路徑820從編號(5,1)的區塊移動至起始位置711，以達到將圖檔200完全清潔的效果，但本案不以此為限。 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.

請一併參閱第1圖及第8圖，在一實施例中，處理器130更用以根據記憶體的複數個指令以執行下列步驟：根據環境資訊、定位資訊、起始位置711、中繼位置712及結束位置713的其中一者以輸出返回指令。舉例而言，清潔移動載具(圖中未示)可以根據環境資訊或定位資訊以確定清潔移動載具位於圖檔200的哪一個區塊，例如，處理器130可以透過環境資訊或定位資訊與圖檔200比對後，得知清潔移動載具位於編號(4,2)的區塊。然後，清潔移動載具可以接收並根據返回指令以從編號(4,2)的區塊返回起始位置711、中繼位置712或結束位置713，但本案不以此為限。 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.

請一併參閱第1圖、第4圖、第6圖至第8圖，在一實施例中，處理器130更用以根據記憶體120的複數個指令以執行下列步驟：透過路徑規劃演算法以檢查是否第一清潔路徑（例如：路徑410或路徑610）、第二清潔路徑（例如：路徑710）及第三清潔路徑（例如：路徑810及820）的其中一者有行經N個區塊的每一者。舉例而言，處理器130可以透過路徑規劃演算法以確認上述的清潔路徑是否有將圖檔200中的每個區塊（例如：第2B圖的區塊211～238）都清潔完畢。若經路徑規劃演算法確認有未清潔的區塊，可以再次透過路徑規劃演算法以規劃出新的清潔路徑，以確保清潔移動載具有完整清潔圖檔200的每個區塊，但本案不以此為限。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.

第9圖係依照本案一實施例繪示一種路徑規劃方法的流程示意圖。為使第9圖之路徑規劃方法900易於理解，請一併參閱第1圖至第4圖及第9圖。 第9圖之路徑規劃方法900，用於清潔移動載具，並包含以下步驟：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:

步驟910：透過分割演算法根據圖檔200的複數個圖檔資訊以將圖檔200分割為N個區塊（如第2B圖所示），其中N為大於0之正整數；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;

步驟920：根據N個區塊的其中一者以進行路徑規劃（如第3圖所示的路徑310、320）；Step 920: Perform path planning based on one of the N blocks (such as paths 310 and 320 shown in Figure 3);

步驟930：根據路徑規劃（如第3圖所示的路徑310、320）以輸出複數個第一水平移動指令及複數個第一垂直移動指令；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);

步驟940：根據路徑規劃演算法以將N個區塊（例如第4圖的區塊211～238）規劃出第一清潔路徑（例如：路徑410）；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;

步驟950：根據第一清潔路徑以輸出複數個第二水平移動指令及複數個第二垂直移動指令。Step 950: Output a plurality of second horizontal movement instructions and a plurality of second vertical movement instructions according to the first cleaning path.

在一實施例中，請參閱步驟910，處理器130透過分割演算法根據圖檔200的複數個圖檔資訊以將圖檔200分割為N個區塊（如第2B圖所示），其中N為大於0之正整數。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，請參閱步驟920，處理器130根據N個區塊的其中一者以進行路徑規劃（如第3圖所示的路徑310、320）。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，請參閱步驟930，處理器130根據路徑規劃（如第3圖所示的路徑310、320）以輸出複數個第一水平移動指令及複數個第一垂直移動指令。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，請參閱 步驟940：處理器130根據路徑規劃演算法以將N個區塊（例如第4圖的區塊211～238）規劃出第一清潔路徑（例如：路徑410）。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，請參閱步驟950，處理器130根據第一清潔路徑以輸出複數個第二水平移動指令及複數個第二垂直移動指令。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，路徑規劃方法900更包含以下步驟：透過編號演算法以將複數個編號給予N個區塊（例如：區塊211～238）。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，路徑規劃方法900更包含以下步驟：根據複數個編號以規劃起始位置711（如第7圖所示）、中繼位置712或結束位置713。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，路徑規劃方法900更包含以下步驟：透過路徑規劃演算法並根據中繼位置712及結束位置713以輸出第二清潔路徑（例如：路徑710）。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，路徑規劃方法900更包含以下步驟：透過路徑規劃演算法根據起始位置711、中繼位置712或結束位置713以輸出第三清潔路徑（例如：第8圖的路徑810及路徑820）。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，路徑規劃方法900更包含以下步驟：根據環境資訊、定位資訊、起始位置711、中繼位置712及結束位置713的其中一者以輸出返回指令。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

在一實施例中，路徑規劃方法900更包含以下步驟：透過路徑規劃演算法以檢查是否第一清潔路徑（例如：路徑410或路徑610）、第二清潔路徑（例如：路徑710）及第三清潔路徑（例如：路徑810及820）的其中一者有行經N個區塊的每一者（例如：第2B圖的區塊211～238）。舉例而言，路徑規劃方法900的操作與第1圖的路徑規劃系統100的操作相似，為簡潔起見，此處將省略關於路徑規劃方法900中其他操作的描述。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.

由上述本案實施方式可知，應用本案具有下列優點。本案實施例所示之路徑規劃系統及路徑規劃方法得以將圖檔分成複數個小區域並根據複數個小區域以規劃清潔路徑，以達到解決圖檔需處理矩陣運算造成的記憶體資源問題與運算效能之效果。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.

雖然上文實施方式中揭露了本案的具體實施例，然其並非用以限定本案，本案所屬技術領域中具有通常知識者，在不悖離本案之原理與精神的情形下，當可對其進行各種更動與修飾，因此本案之保護範圍當以附隨申請專利範圍所界定者為準。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:路徑規劃系統 110:訊號傳感器 120:記憶體 130:處理器 200:圖檔 X:軸 Y:軸 211～238:區塊 A1、A2、A3、A4、A5:端點 B1、B2、B3、B4、B5:端點 310、320:路徑 410:路徑 （1,0）～（7,0）:編號 （1,1）～（7,1）:編號 （1,2）～（7,2）:編號 （1,3）～（7,3）:編號 610:路徑 710:路徑 711:起始位置 712:中繼位置 713:結束位置 810、820:路徑 900:路徑規劃方法 910、920、930、940、950:步驟 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

為讓本案之上述和其他目的、特徵、優點與實施例能更明顯易懂，所附圖式之說明如下： 第1圖係依照本案一實施例繪示一種路徑規劃系統的方塊示意圖。 第2A圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。 第2B圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。 第3圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。 第4圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。 第5圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。 第6圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。 第7圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。 第8圖係依照本案一實施例繪示一種路徑規劃系統的使用情境圖。 第9圖係依照本案一實施例繪示一種路徑規劃方法的流程示意圖。 根據慣常的作業方式，圖中各種特徵與元件並未依比例繪製，其繪製方式是為了以最佳的方式呈現與本案相關的具體特徵與元件。此外，在不同圖式間，以相同或相似的元件符號來指稱相似的元件/部件。 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.

國內寄存資訊(請依寄存機構、日期、號碼順序註記) 無 國外寄存資訊(請依寄存國家、機構、日期、號碼順序註記) 無 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:路徑規劃系統 100:Path planning system

110:訊號傳感器 110:Signal sensor

120:記憶體 120:Memory

130:處理器 130: Processor

Claims (10)

一種路徑規劃系統，用於一清潔移動載具，並包含：一訊號傳感器，用以收發一電磁波信號以獲取一環境資訊及一定位資訊的其中一者；一記憶體，用以儲存複數個指令及一圖檔；一處理器，用以根據該記憶體的該些指令以執行下列步驟：透過一分割演算法根據該圖檔的複數個圖檔資訊以將該圖檔分割為N個區塊，其中N為大於0之正整數；根據該N個區塊的其中一者以進行一路徑規劃；根據該路徑規劃以輸出複數個第一水平移動指令及複數個第一垂直移動指令；根據一路徑規劃演算法以將該N個區塊規劃出一第一清潔路徑；以及根據該第一清潔路徑以輸出複數個第二水平移動指令及複數個第二垂直移動指令，其中當該清潔移動載具由該N個區塊的一區塊移動至該N個區塊的另一區塊時，則釋放該記憶體的一資源。 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. 如請求項1所述之路徑規劃系統，其中該處理器更用以根據該記憶體的該些指令以執行下列步驟：透過一編號演算法以將複數個編號給予該N個區塊；根據該些編號以規劃一起始位置、一中繼位置或一結束 位置；以及透過該路徑規劃演算法並根據該中繼位置及該結束位置以輸出一第二清潔路徑。 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. 如請求項2所述之路徑規劃系統，其中該處理器更用以根據該記憶體的該些指令以執行下列步驟：透過該路徑規劃演算法根據該起始位置、該中繼位置及該結束位置以輸出一第三清潔路徑。 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. 如請求項3所述之路徑規劃系統，其中該處理器更用以根據該記憶體的該些指令以執行下列步驟：根據該環境資訊、該定位資訊、該起始位置、該中繼位置及該結束位置的其中一者以輸出一返回指令。 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. 如請求項4所述之路徑規劃系統，其中該處理器更用以根據該記憶體的該些指令以執行下列步驟：透過該路徑規劃演算法以檢查是否該第一清潔路徑、該第二清潔路徑及該第三清潔路徑的其中一者有行經該N個區塊的每一者。 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. 一種路徑規劃方法，用於一清潔移動載具，並包含：透過一分割演算法根據一圖檔的複數個圖檔資訊以將該圖檔分割為N個區塊，其中N為大於0之正整數； 根據該N個區塊的其中一者進行一路徑規劃；根據該路徑規劃以輸出複數個第一水平移動指令及複數個第一垂直移動指令；根據一路徑規劃演算法以將該N個區塊以規劃出一第一清潔路徑；根據該第一清潔路徑以輸出複數個第二水平移動指令及複數個第二垂直移動指令；以及當該清潔移動載具由該N個區塊的一第一區塊移動至該N個區塊的一第二區塊時，則藉由一處理器釋放一記憶體的一資源，其中該資源對應於該處理器處理該N個區塊的該第一區塊的一記憶體資源。 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. 如請求項6所述之路徑規劃方法，更包含：透過一編號演算法以將複數個編號給予該N個區塊；根據該些編號以規劃一起始位置、一中繼位置或一結束位置；以及透過該路徑規劃演算法並根據該中繼位置及該結束位置以輸出一第二清潔路徑。 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. 如請求項7所述之路徑規劃方法，更包含：透過該路徑規劃演算法根據該起始位置、該中繼位置及該結束位置以輸出一第三清潔路徑。 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. 如請求項8所述之路徑規劃方法，更包含：根據該環境資訊、該定位資訊、該起始位置、該中繼位置及該結束位置的其中一者以輸出一返回指令。 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. 如請求項9所述之路徑規劃方法，更包含：透過該路徑規劃演算法以檢查是否該第一清潔路徑、該第二清潔路徑及該第三清潔路徑的其中一者有行經該N個區塊的每一者。 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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