Dynamic indoor region coverage division method and device for mobile robot

Abstract

The invention discloses a dynamic indoor region coverage division method and device for a mobile robot. The dynamic indoor region coverage division method at least includes that scanning each row of a raster map to divide the indoor region for two times, dividing the indoor region into an independent sub-region block and an independent region block, wherein the independent region block comprises a plurality of adjacent independent sub-region blocks; acquiring the topology planning sequence of the independent sub-region block and the topology planning sequence of each independent sub-region block of the independent region block based on a reverse searching mode and a minimum tree principle; acquiring the optimal route of the mobile robot in the indoor region based on a Dijkstra algorithm according to the topology planning sequences. The dynamic indoor region coverage division method and device for the mobile robot start from the environment cognition habits of the human to divide the indoor environment for two times, the completeness of the region with a certain function in the environment is guaranteed, and meanwhile, the region with a certain function is divided into the independent sub-regions where the mobile robot can walk; the dynamic indoor region coverage division method and device for the mobile robot conform to the robot thought.

Description

technical field [0001] The invention relates to the field of mobile robot navigation, in particular to a method and device for realizing dynamic coverage of indoor areas of mobile robots 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 to complete some tasks with high repetitiveness and low technical content, such as product assembly, sweeping, etc. Among them, sweeping machines are typical applications of mobile robots. If the path or behavior planning is unreasonable, there will be problems such as low coverage efficiency and high path repetition rate, so the working process can be equivalent to solving the problem of area coverage. [0003] At present, according to the standard of whether to divide the area, the area coverage algorithm can be mainly divided into two categories: the first is to divide the whole area, and realize the covera...

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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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