CN111561931A - Path planning method and device for mobile robot and computer readable storage medium - Google Patents
Path planning method and device for mobile robot and computer readable storage medium Download PDFInfo
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- CN111561931A CN111561931A CN202010387401.2A CN202010387401A CN111561931A CN 111561931 A CN111561931 A CN 111561931A CN 202010387401 A CN202010387401 A CN 202010387401A CN 111561931 A CN111561931 A CN 111561931A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention is applicable to the field of robots, and provides a path planning method and a device of a mobile robot and a computer readable storage medium, wherein the path planning method of the mobile robot comprises the following steps: acquiring work map information; acquiring a slope area in a working area according to the working map information; acquiring a gradient line of a slope area; and determining a moving path of the mobile robot in the slope area according to the gradient lines, wherein the moving path is parallel to the gradient lines. The method comprises the steps of obtaining work map information, obtaining a slope area in the work area according to the work map information, obtaining a gradient line of the slope area according to the condition of the slope area, and determining a moving path of the mobile robot according to the gradient line, wherein the moving path is parallel to the gradient line, so that the mobile robot can move along the direction parallel to the gradient line, and the mobile robot is prevented from moving unstably when moving along the direction unparallel to the gradient line.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a path planning method and device for a mobile robot and a computer-readable storage medium.
Background
A mobile robot is a robot having a moving function, and has moving wheels that rotate to realize movement of the mobile robot, such as a common lawn mower, a floor washing robot, a floor sweeping robot, and the like.
However, the work sites of the mobile robots are not all flat, and when the robots work in complicated work sites with uneven slopes, depressions and the like, the mobile robots are prone to rollover and slipping when going up slopes or going down slopes, so that the mobile robots are damaged or have poor work effects, and users are not facilitated to use the mobile robots.
Disclosure of Invention
The embodiment of the invention provides a path planning method for a mobile robot, and aims to solve the problems that the existing mobile robot is generally a fixed path, so that the mobile robot cannot adjust the self walking path according to the slope condition when ascending, and further the mobile robot is easy to turn over and slip when ascending.
The embodiment of the invention is realized in such a way that a path planning method of a mobile robot comprises the following steps: acquiring work map information; acquiring a slope area in a working area according to the working map information; acquiring a gradient line of the slope region; determining a moving path of the mobile robot in the slope area according to the gradient line, wherein the moving path is parallel to the gradient line.
An embodiment of the present invention further provides a path planning apparatus for a mobile robot, where the path planning apparatus for a mobile robot includes: a map acquisition unit for acquiring work map information; the slope area acquisition unit is used for acquiring a slope area in the working area according to the working map information; a gradient line acquisition unit for acquiring a gradient line of the slope region; a determining unit, configured to determine a moving path of the mobile robot in the slope region according to the gradient line, where the moving path is parallel to the gradient line.
An embodiment of the present invention further provides a computer-readable storage medium, where a path planning program of a mobile robot is stored on the computer-readable storage medium, and when the path planning program of the mobile robot is executed by a processor, the steps of the path planning method of the mobile robot according to any of the above embodiments are implemented.
The embodiment of the invention has the advantages that the working map information is obtained, the slope area in the working area is obtained according to the working map information, the gradient line of the slope area is obtained according to the condition of the slope area, and the moving path of the mobile robot is determined according to the gradient line, wherein the moving path is parallel to the gradient line, so that the mobile robot can move along the direction parallel to the gradient line, the unstable movement of the mobile robot is avoided when the mobile robot moves along the direction which is not parallel to the gradient line, and the service life of the robot is prolonged.
Drawings
Fig. 1 to 3 are schematic flow charts of a path planning method of a mobile robot according to an embodiment of the present invention;
FIG. 4 is a scene diagram of a ramp region according to an embodiment of the present invention;
fig. 5 to 6 are schematic flow charts of a path planning method of a mobile robot according to an embodiment of the present invention;
fig. 7 to 11 are schematic structural views of a path planning apparatus for a mobile robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The existing mobile robot is not easy to change after the line is generally fixed, so that the mobile robot cannot adjust the walking path of the mobile robot according to the slope condition under the condition that the mobile robot goes up the slope, and then the mobile robot is easy to turn over and slip when going up the slope, so that the mobile robot is damaged and is not beneficial to a user to use the mobile robot.
According to the embodiment of the invention, the working map information is acquired, the slope area in the working area is acquired according to the acquired working map information, the gradient line of the slope area is acquired according to the condition of the slope area, the moving path of the mobile robot is determined according to the gradient line, and the moving path is parallel to the gradient line, so that the mobile robot can move along the direction parallel to the gradient line, the condition that the mobile robot moves unstably when the mobile robot moves along the direction unparallel to the gradient line is avoided, and the mobile robot can move in the slope area.
Example one
Referring to fig. 1, a path planning method for a mobile robot according to an embodiment of the present invention includes:
s01: acquiring work map information;
s02: acquiring a slope area in a working area according to the working map information;
s03: acquiring a gradient line of a slope area;
s04: and determining a moving path of the mobile robot in the slope area according to the gradient lines, wherein the moving path is parallel to the gradient lines.
In the embodiment of the invention, the mobile robot can acquire the map information firstly, then acquire the slope area in the working area according to the map information, then acquire the gradient line of the slope area according to the slope area, and then determine the moving path of the mobile robot in the slope area according to the gradient line, wherein the moving path is parallel to the gradient line. That is to say, the mobile robot can adjust the moving direction of the mobile robot according to the slope area, so that the mobile robot can move along the inclined direction of the slope without moving transversely or obliquely on the slope, and the mobile robot is prevented from turning over on the slope, thereby being beneficial to the movement of the mobile robot on the slope and improving the stability of the mobile robot moving on the slope.
Under the condition that the mobile robot moves transversely or obliquely on the slope, the component force of the gravity generated by the mobile robot on the slope is not parallel to the moving direction of the mobile robot, so that the mobile robot is easy to turn on one side in the moving process, and the mobile robot is possibly damaged. In the embodiment of the invention, the mobile robot can adjust the moving path of the mobile robot according to the slope area so that the mobile robot can move along the inclined direction of the slope, and at the moment, the component force of the gravity generated by the mobile robot on the slope is parallel to the moving direction of the mobile robot.
The mobile robot can be a robot with a mobile function of a floor washing machine, a floor sweeping machine and a grass cutting machine. Of course, in other embodiments, the mobile robot may be another type of robot, and the specific type of the mobile robot may be set according to different situations.
The mobile robot is controlled to move to collect map information, and the map information is stored in a built-in memory of the mobile robot.
Further, there are various ways to acquire the gradient lines, for example, the gradient lines can be directly manually input, that is, a user can directly measure the slope region to acquire the gradient lines of the slope region, and then directly input the acquired gradient lines to the mobile robot. For another example, the gradient line may be acquired by the mobile robot during the movement, in which case the mobile robot may be provided with a device (e.g., a gyroscope, an angle sensor, etc.) for detecting the inclination angle of the slope region, and then the movement path may be determined according to the position where the mobile robot is located and the detected inclination angle of the slope region.
This is merely an example of how a bright gradient line may be acquired. In other embodiments, the gradient lines may be acquired in more than the two ways described above. The gradient line acquisition mode can be specifically set according to different situations. And are not limited herein.
Further, in the present embodiment, the gradient line is a moving path of the mobile robot, and a moving direction of the mobile robot may be set according to a direction in which the mobile robot enters the slope area. For example, the slope region includes a low point a and a high point B, and the inclination direction of the slope region extends from the low point a to the high point B, that is, the movement path is a parallel direction to the inclination direction of the low point a and the high point B. When the mobile robot enters the area of the low point A and moves towards the high point B, at the moment, the moving direction of the mobile robot is the direction from the low point A to the high point B; when the mobile robot enters the area of the high point B and moves toward the low point a, the moving direction of the mobile robot is the direction from the high point B to the low point a. That is, the mobile robot may perform a bidirectional movement on the moving path, and a specific moving direction may be set according to a direction in which the mobile robot enters the slope area.
Specifically, the number of the moving paths may be one or more, and may be specifically set according to the specific situation of the slope region.
For example, in a slope region, two sub slopes are included, and the two sub slopes are connected by a plane, so that in the slope region, the number of movement paths is two.
For another example, in a slope region, three sub-slopes are included, and two adjacent sub-slopes are connected by a plane, so that the number of moving paths in the slope region is three.
Example two
Referring to fig. 2, further, step S04 includes:
s041: receiving a position input instruction;
s042: acquiring one or more positions in the input instruction;
s043: and taking the gradient line where the position is located as the moving path of the mobile robot in the slope area.
In this embodiment, the mobile robot can receive the position input instruction, acquire the position in the input instruction, and then use the gradient line where the position is located as the moving path of the mobile robot in the slope area. In such a case, the user can directly input the input instruction to the mobile robot, and the mobile robot can determine the moving path according to the input instruction, that is, in this embodiment, the mobile robot acquires the gradient lines by means of manual input to acquire the moving path, which is convenient and fast.
Further, as can be seen from the first embodiment, the number of the movement paths may be multiple, the user may input the multiple positions and the gradient lines corresponding to the multiple positions to the mobile robot, and the mobile robot may acquire the gradient line corresponding to the position according to the position of the mobile robot itself, and then use the gradient line as the movement path of the mobile robot in the slope area.
Illustratively, a first slope, a second slope and a third slope are included in one slope region, the first slope and the second slope are connected through a first plane, the second slope and the third slope are connected through a second plane, the moving path of the first slope is a first moving path, the moving path of the second slope is a second moving path, and the moving path of the third slope is a third moving path. The user inputs a first position, a second position and a third position into the mobile robot, wherein the first position refers to that the mobile robot is located on a first slope, the second position refers to that the mobile robot is located on a second slope, and the third position refers to that the mobile robot is located on a third slope. For example, when the mobile robot is on a first slope, the mobile robot may determine that it is in a first position, in which case the mobile robot moves along a first movement path. For another example, when the mobile robot is on a second slope, the mobile robot may determine that the mobile robot is at the second position, and in such a case, the mobile robot moves along the second movement path. For another example, when the mobile robot is on a third slope, the mobile robot may determine that the mobile robot is at a third position, and in such a case, the mobile robot moves along a third movement path.
The above is only one of the cases of the number of positions and the number of moving paths, and the specific number of positions and the number of moving paths may be designed according to the specific case of the slope region. And are not limited herein.
Further, the mobile robot may be provided with a GPS (Global Positioning System), so that the mobile robot can acquire the position of the mobile robot through the GPS. Of course, in other embodiments, the mobile robot may be provided with other devices to acquire the position of the mobile robot, and the mobile robot may be specifically configured according to different situations. And are not limited herein.
EXAMPLE III
Referring to fig. 3, further, step S04 includes:
s044: acquiring a plurality of target gradient lines at preset intervals in all the gradient lines;
s045: and taking the target gradient line as a moving path of the mobile robot in the slope area.
So set up, mobile robot's removal area can cover whole slope region after moving according to the target gradient line.
By taking the mobile robot as a sweeping robot, the sweeping robot can fully sweep the slope region, and in addition, the situation of side turning can not occur when the sweeping robot moves along the moving path, so that the sweeping robot is favorable for working.
Wherein, the setting of predetermineeing the interval can prevent that the removal route of the robot of sweeping the floor from the condition that overlaps, so, the robot of sweeping the floor can sweep whole slope region totally in short time, has promoted the efficiency of sweeping the robot of sweeping the floor.
Further, the specific value of the preset interval can be selected according to different situations. In one example, the sweeping robot is provided with a brush disc, the width of the effective cleaning area of the brush disc is W, the preset interval refers to a first interval L obtained by subtracting the width W of the effective cleaning area from an overlapping width O existing when the sweeping robot moves along two gradient lines, and then the first interval a is obtained by adding the interval between the two gradient lines.
The manner of acquiring the preset interval is briefly described above by way of example:
as shown in fig. 4, assuming that the width of the slope area is 2m, the width of the effective cleaning area of the brush tray is 1m, at this time, the slope area includes a boundary a, a gradient line B, a gradient line C, a gradient line D, and a boundary E, the interval distance from the boundary a to the gradient line B is the same as the interval distance from the gradient line B to the gradient line C, the interval distance from the gradient line B to the gradient line C is the same as the interval distance from the gradient line C to the gradient line D, the interval distance from the gradient line C to the gradient line D is the same as the interval distance from the gradient line D to the boundary E, and the interval distance between each two is 0.5m, at this time, the preset interval means that when the sweeping robot moves along the gradient line B, the portion swept by the sweeping robot is a width F area and a width G area, and when the sweeping robot moves along the gradient line C, the portion swept by the sweeping robot is a width G area and a width H area, at this time, the overlapping width that the sweeping robot passes through is a width G area, under such a condition, the width of the width G area is subtracted from the width of the effective cleaning area to obtain a first interval L, the first interval L is 0.5m, then the first interval L is added to the interval between the gradient line B and the gradient line C to obtain a preset interval of 1m, since the interval between the gradient line B and the gradient line D is 1m, the target gradient lines are the gradient line B and the gradient line D, when the sweeping robot moves along the gradient line B and the gradient line D, the overlapping area can be reduced as far as possible under the condition of ensuring the coverage rate, and the cleaning efficiency is improved.
Example four
Referring to fig. 5, further, step S02 includes:
s021: acquiring pose information in the work map information;
s022: and calculating a slope area according to the pose information.
In the embodiment, the slope area is calculated through the pose information of the mobile robot in the work map information, so that the slope area can be obtained according to the real-time state of the mobile robot, and the accuracy of the obtained slope area is improved.
The pose information may be obtained by using a gyroscope or an IMU (Inertial measurement unit), for example, the gyroscope or the IMU is mounted on a mobile robot, then, in the moving process of the mobile robot, the gravity acceleration of the mobile robot is obtained by using the gyroscope or the IMU, then, a coordinate system is established by using the mobile robot as a reference, and then, components of the gravity acceleration in three axes of the coordinate system are obtained, that is, the pose information of the mobile robot is obtained.
It is understood that in other embodiments, other devices may be used to acquire the pose information of the mobile robot, for example, in other embodiments, a compass or a MEMS (Micro-Electro-Mechanical System) may also be used to acquire the pose information, which may be specifically selected according to actual situations and is not limited herein.
EXAMPLE five
Referring to fig. 6, further, step S03 includes:
s031: acquiring pose information of a slope area;
s032: acquiring contour lines of the slope area according to the pose information;
s033: and taking a perpendicular line in the tangent direction of the contour line as a gradient line of the slope area.
According to the arrangement, the contour line of the slope area is obtained through the pose information, then the perpendicular line of the tangent direction of the contour line is used as the gradient line of the slope area, the obtaining mode is simple, and the obtaining is convenient.
Furthermore, the contour line can be obtained through a Digital Elevation Model (DEM), which is software capable of realizing Digital simulation of the ground terrain through limited terrain Elevation data, that is, pose information and map information of a slope area are directly imported into the DEM, so that a contour map can be obtained, then a tangent line of the contour line is drawn, then a perpendicular line of the tangent line is drawn, so that a gradient line of the slope area can be obtained, and the obtaining mode is simple and accurate.
It will be appreciated that in other embodiments, other software may be employed to obtain the contours. The design can be specifically designed according to the actual situation. And are not limited herein.
EXAMPLE six
Referring to fig. 7, a path planning apparatus 1000 for a mobile robot according to an embodiment of the present invention includes:
a map acquisition unit 10 for acquiring work map information;
a slope region acquisition unit 20 configured to acquire a slope region within the work region according to the work map information;
a gradient line acquisition unit 30 for acquiring a gradient line of the slope region;
and the determining unit 40 is used for determining a moving path of the mobile robot in the slope area according to the gradient lines, wherein the moving path is parallel to the gradient lines.
For a brief description, reference may be made to the first embodiment of the control method of the path planning apparatus 1000 for a mobile robot in order to describe the path planning apparatus 1000 for a mobile robot according to the sixth embodiment of the present invention.
EXAMPLE seven
Referring to fig. 8, further, the determining unit 40 includes:
a receiving module 401, configured to receive a position input instruction;
a position obtaining module 402, configured to obtain one or more positions in the input instruction;
a first determining module 403, configured to use the gradient line where the position is located as a moving path of the mobile robot in the slope area.
For a brief description, reference may be made to the corresponding contents in the second embodiment of the control method of the path planning apparatus 1000 for a mobile robot in order to describe the seventh embodiment of the path planning apparatus 1000 for a mobile robot.
Example eight
Referring to fig. 9, further, the determining unit 40 further includes:
a target gradient line obtaining module 404, configured to obtain multiple target gradient lines at preset intervals among all gradient lines;
and a second determining module 405, configured to use the target gradient line as a moving path of the mobile robot in the slope region.
The implementation principle and the generated technical effects of the path planning apparatus 1000 for a mobile robot according to the eighth embodiment of the present invention are the same as those of the aforementioned embodiment of the control method of the path planning apparatus 1000 for a mobile robot, and for the sake of brief description, reference may be made to the corresponding contents of the third embodiment of the control method of the path planning apparatus 1000 for a mobile robot, where the eighth embodiment of the path planning apparatus 1000 for a mobile robot is not mentioned.
Example nine
Referring to fig. 10, further, the slope region acquiring unit 20 includes:
a pose information acquiring module 201, configured to acquire pose information in the work map information;
and the slope area acquisition module 202 is configured to calculate a slope area according to the pose information.
For a brief description, reference may be made to the corresponding contents in the fourth embodiment of the control method of the path planning apparatus 1000 for a mobile robot in order to describe the path planning apparatus 1000 for a mobile robot according to the ninth embodiment of the present invention.
Example ten
Referring to fig. 11, further, the gradient line obtaining unit 30 includes:
a pose information acquisition module 301, configured to acquire pose information of a slope area;
a contour line obtaining module 302, configured to obtain a contour line of a slope area according to the pose information;
and the gradient line acquisition module 303 is configured to use a perpendicular line in the tangential direction of the contour line as a gradient line of the slope region.
The implementation principle and the generated technical effects of the path planning apparatus 1000 for a mobile robot according to the tenth embodiment of the present invention are the same as those of the fifth embodiment of the control method of the path planning apparatus 1000 for a mobile robot, and for brief description, reference may be made to the corresponding contents of the fifth embodiment of the control method of the path planning apparatus 1000 for a mobile robot in the embodiments of the path planning apparatus 1000 for a mobile robot.
EXAMPLE eleven
The computer-readable storage medium of the embodiment of the present invention stores a path planning program of the mobile robot, and the path planning program of the mobile robot, when executed by the processor, implements the steps of the path planning method of the mobile robot according to any one of the embodiments described above.
For the purposes of this description, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer-readable storage medium.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A path planning method for a mobile robot, the path planning method comprising:
acquiring work map information;
acquiring a slope area in a working area according to the working map information;
acquiring a gradient line of the slope region;
determining a moving path of the mobile robot in the slope area according to the gradient line, wherein the moving path is parallel to the gradient line.
2. The path planning method for a mobile robot according to claim 1, wherein the step of determining the moving path of the mobile robot in the slope region from the gradient line comprises:
receiving a position input instruction;
acquiring one or more positions in the input instruction;
and taking the gradient line of the position as the moving path of the mobile robot in the slope area.
3. The path planning method for a mobile robot according to claim 1, wherein the step of determining the moving path of the mobile robot in the slope region from the gradient line comprises:
acquiring a plurality of target gradient lines at preset intervals in all the gradient lines;
and taking the target gradient line as a moving path of the mobile robot in the slope area.
4. A path planning method for a mobile robot according to any one of claims 1 to 3, wherein the step of acquiring a slope region within a work area based on the work map information includes:
acquiring pose information in the work map information;
and calculating the slope area according to the pose information.
5. A path planning method for a mobile robot according to any one of claims 1 to 3, wherein the step of acquiring the gradient line of the slope region includes:
acquiring pose information of the slope area;
acquiring contour lines of the slope area according to the pose information;
and taking the perpendicular line in the tangent direction of the contour line as a gradient line of the slope area.
6. A path planning apparatus for a mobile robot, comprising:
a map acquisition unit for acquiring work map information;
the slope area acquisition unit is used for acquiring a slope area in the working area according to the working map information;
a gradient line acquisition unit for acquiring a gradient line of the slope region;
a determining unit, configured to determine a moving path of the mobile robot in the slope region according to the gradient line, where the moving path is parallel to the gradient line.
7. The path planning apparatus for a mobile robot according to claim 6, wherein the determining unit comprises:
the receiving module is used for receiving a position input instruction;
the position acquisition module is used for acquiring one or more positions in the input instruction;
and the first determination module is used for taking the gradient line where the position is located as the moving path of the mobile robot in the slope area.
8. The path planning apparatus for a mobile robot according to claim 6, wherein said determination unit further comprises:
the target gradient line acquisition module is used for acquiring a plurality of target gradient lines at preset intervals in all the gradient lines;
and the second determination module is used for taking the target gradient line as a moving path of the mobile robot in the slope area.
9. The path planning apparatus for a mobile robot according to claim 6, wherein the slope region acquisition unit comprises:
the pose information acquisition module is used for acquiring pose information in the work map information;
and the slope area acquisition module is used for calculating the slope area according to the pose information.
10. The path planning apparatus for a mobile robot according to claim 7, wherein the gradient line acquisition unit comprises:
the pose information acquisition module is used for acquiring pose information of the slope area;
the contour line acquisition module is used for acquiring contour lines of the slope area according to the pose information;
and the gradient line acquisition module is used for taking the perpendicular line in the tangential direction of the contour line as the gradient line of the slope area.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a path planning program for a mobile robot, which when executed by a processor implements the steps of the path planning method for a mobile robot according to any one of claims 1 to 5.
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| CN112486164A (en) * | 2020-10-12 | 2021-03-12 | 星火科技技术(深圳)有限责任公司 | Method, device and equipment for path planning of intelligent trolley and storage medium |
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