A dynamic coverage method and device for dividing mobile robot indoor areas

Abstract

The present invention provides a dynamic coverage method and method for dividing a mobile robot indoor area, the method at least includes: dividing the indoor area twice by scanning each column of the grid map, and dividing the indoor area into independent sub-areas block and an independent area block, wherein an independent area block contains multiple independent sub-area blocks adjacent to each other; the independent sub-area block and each independent sub-area block contained in an independent area block are respectively obtained based on the reverse search method and the minimum tree principle The topological planning order of the area blocks; according to the topological planning order, the optimal path of the mobile robot in the indoor area is obtained based on the Dijkstra algorithm. It divides the indoor environment twice from the perspective of human's cognitive habits of the environment, which ensures the integrity of the area with certain functions in the environment and divides the area with certain functions into independent sub-sections that the mobile robot can walk on. area, while conforming to the thinking of the robot.

Description

Technical field [0001] The invention relates to the field of mobile robot navigation, in particular to a method and a device for dynamically covering an indoor area of ​​a mobile robot based on people's cognition of the environment. Background technique [0002] With the development and progress of technology, mobile robots are widely used to assist or replace humans in completing some tasks with higher repetitiveness and lower technical content, such as product assembly and sweeping. Among them, sweepers are typical applications of mobile robots. If the path or behavior planning is unreasonable, problems such as low coverage efficiency and high path repetition rate will occur, so the work process can be equivalent to solving the problem of regional coverage. [0003] At present, according to the standard of whether to divide the area, the area coverage algorithm can be divided into two categories: the first is to divide the whole area, realize the sub-area coverage based on the di...

AI Technical Summary

Problems solved by technology

[0004] In these two methods, by dividing the area, the area coverage of the robot is more in line with human cognitive habits. Therefore, the first area coverage algorithm is generally used in the use of mobile robots at this stage. However, the current The area coverage algorithm mainly focuses on considering the coverage strategy of the sub-area, but lacks the consideration of the overall environment

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