Path planning method and device and sweeping robot

Abstract

The invention provides a path planning method and device and a sweeping robot, and the method comprises the steps: building a grid map based on the current environment data; performing path planning according to the grid map to obtain a first planned path; in the process that the sweeping robot moves according to the first planned path, whether the current environment data changes or not is monitored; if the target node changes, determining a target relay point closest to the changed target node from the first planning path, and performing path planning by taking the target relay point as a starting point to obtain a second planning path; the target relay point is a node corresponding to the inflection point in the first planning path. According to the mode, when the environment data changes, the relay point close to the changeable node serves as the starting point to re-plan the path, and compared with the mode that the path is re-planned from the initial starting point of the environment data, the mode improves the path planning efficiency and facilitates rapid completion of the sweeping task of the sweeping robot.

Description

technical field [0001] The invention relates to the technical field of smart home, in particular to a path planning method, device and sweeping robot. Background technique [0002] With the intelligent development of society, there are more and more fields using robots as auxiliary tools. Among them, the sweeping robot has entered the lives of more and more people due to its advantages of simple operation and convenient use, and has become an important member of smart home products. [0003] When the sweeping robot in the related art performs cleaning tasks, it usually uses the grid method to plan the path according to the grid map, and then cleans according to the planned path movement; but the home is a dynamically changing environment, and the grid scanned by the sweeping robot The map is also constantly changing. When the grid map changes, the path will be re-planned from the starting point of the planned path. However, this method is inefficient in planning and will af...

AI Technical Summary

Problems solved by technology

[0003] When the sweeping robot in the related art performs cleaning tasks, it usually uses the grid method to plan the path according to the grid map, and then cleans according to the planned path movement; but the home is a dynamically changing environment, and the grid scanned by the sweeping robot The map is also constantly changing. When the grid map changes, the path will be re-planned from the starting point of the planned path. However, this method is inefficient in planning and will affect subsequent cleaning tasks.

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