Robot full-coverage path planning method and device based on raster map as well as equipment

A grid map, path planning technology, applied in two-dimensional position/channel control and other directions, can solve the problems of high repetition rate and low efficiency

Active Publication Date: 2019-06-28
NANJING HUAJIE IMI TECH CO LTD
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  • Application Information

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Problems solved by technology

Among them, the path planning algorithm based on the unknown environment mainly uses a random algorithm, which h

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  • Robot full-coverage path planning method and device based on raster map as well as equipment
  • Robot full-coverage path planning method and device based on raster map as well as equipment
  • Robot full-coverage path planning method and device based on raster map as well as equipment

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Embodiment Construction

[0067] The technical solution will be described in detail below through a preferred embodiment and in conjunction with the accompanying drawings.

[0068] This embodiment provides a method and device for planning a full coverage path of a robot based on a grid map, including:

[0069] The map acquisition module is used to acquire self-positioning information and grid map obstacle information in the two-dimensional grid map; it specifically includes a sensor module for acquiring positioning information and image information and a SLAM module for instant positioning and map construction ;

[0070] The map decomposition module is used to distinguish the obstacle area and the feasible area without obstacles in the two-dimensional grid map, and then divides the feasible area into several sub-areas; it specifically includes the two-dimensional grid map according to the obstacle The binarization module that converts the object situation into a binary image and the sub-region divisio...

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Abstract

The invention discloses a robot full-coverage path planning method and device based on a raster map as well as equipment. Firstly, the whole environment map is divided into multiple simple adjacent subareas, then, each subarea is traversed, and the repetition rate is very low while the coverage rate is high. Besides, in the traversal process, the walking state is changed in real time according topositioning information and map barrier information, and the method has the advantages of being simple, flexible and easy to implement. In addition, when a robot is in a cleaning area, the main running direction of the robot directly affects the turn times of paths. The main direction of the areas is used as the main running direction of the robot for traversing the cleaning paths, so that the turn times of paths is greatly reduced, and the traversal efficiency is improved.

Description

technical field [0001] The invention relates to a planning method for a full-coverage cleaning path of a sweeping robot, in particular to a planning method, device and equipment for a full-coverage path of a robot based on a grid map. Background technique [0002] Indoor sweeping robot is a kind of household service robot. It has the advantages of saving time and effort by sweeping the floor, multiple functions, and convenient operation. It can replace manual labor and reduce labor load. It has become a hot research direction of intelligent robots. In the field of sweeping robot research, full-coverage path planning technology is a core technology. The purpose of this technology is to plan a path that does not collide with obstacles in the environment and can completely cover the feasible area in the environment. At present, many path planning algorithms have emerged, including path planning in unknown environments and known path planning. Among them, the path planning alg...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 林雅云黄骏周晓军陶明孙赛李骊王行盛赞李朔杨淼
Owner NANJING HUAJIE IMI TECH CO LTD
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