CN112306050A - Autonomous robot and walking path planning method and device thereof and storage medium - Google Patents
Autonomous robot and walking path planning method and device thereof and storage medium Download PDFInfo
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Abstract
An embodiment of the specification provides an autonomous robot and a walking path planning method, an apparatus and a storage medium thereof, wherein the method comprises the following steps: obtaining map information of a target working area; confirming whether the target working area is a regular working area or not according to the map information; when the target working area is an irregular working area, virtually warping the target working area to form a regular working area with a virtual boundary; planning a walking path of the autonomous robot based on the regular working area; the walking rules of the walking path comprise: and walking in the regular working area and neglecting turning points in the walking path, and turning to the next walking path section adjacent to the current walking path section until the turning points are interrupted by the real boundary in the regular working area. The embodiment of the specification can improve the operation coverage rate of the autonomous robot.
Description
Technical Field
The present disclosure relates to the field of robot technologies, and in particular, to an autonomous robot, a method and an apparatus for planning a walking path thereof, and a storage medium.
Background
An autonomous robot (or called as a mobile robot) is a robot, the body of which is provided with various necessary sensors and controllers, and can independently complete certain tasks under the condition of no external human information input and control in the operation process. Autonomous robots may move within a work area to perform work tasks. The autonomous robot can generally plan a walking path by itself and perform moving operation in a working area according to the planned walking path. Therefore, the quality of the traveling path may directly affect the work efficiency and the work quality of the autonomous robot.
In some cases, depending on the needs of the job task, a full-coverage walking path (or traversal walking path) planning needs to be performed on the autonomous robot. However, how to plan a full-coverage walking path to enable the autonomous robot to achieve a better operation coverage rate has become a technical problem to be solved urgently at present.
Disclosure of Invention
An object of an embodiment of the present disclosure is to provide an autonomous robot, a method and an apparatus for planning a walking path thereof, and a storage medium, so as to improve a work coverage of the autonomous robot.
In order to achieve the above object, in one aspect, an embodiment of the present specification provides a method for planning a walking path of an autonomous robot, including:
obtaining map information of a target working area;
confirming whether the target working area is a regular working area or not according to the map information;
when the target working area is an irregular working area, virtually warping the target working area to form a regular working area with a virtual boundary;
planning a walking path of the autonomous robot based on the regular working area; the walking rules of the walking path comprise: and walking in the regular working area and neglecting turning points in the walking path, and turning to the next walking path section adjacent to the current walking path section until the turning points are interrupted by the real boundary in the regular working area.
On the other hand, an embodiment of the present specification further provides a walking path planning apparatus for an autonomous robot, including:
the map acquisition module is used for acquiring map information of the target working area;
the area judgment module is used for confirming whether the target working area is a regular working area or not according to the map information;
the region warping module is used for virtually warping the target working region to form a regular working region with a virtual boundary when the target working region is an irregular working region;
a path planning module for planning a walking path of the autonomous robot based on the regular work area; the walking rules of the walking path comprise: and walking in the regular working area and neglecting turning points in the walking path, and turning to the next walking path section adjacent to the current walking path section until the turning points are interrupted by the real boundary in the regular working area.
On the other hand, the embodiment of the present specification further provides an autonomous robot, where the autonomous robot is configured with the walking path planning device.
In another aspect, an embodiment of the present specification further provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the walking path planning method described above.
On the other hand, an embodiment of the present specification further provides another method for planning a walking path of an autonomous robot, including:
obtaining map information of a target working area, wherein the map information comprises the boundary of the target working area and obstacle information;
dividing the target working area into at least two sub-working areas according to the boundary of the target working area and the obstacle information, and planning a walking path of the autonomous robot based on the sub-working areas, wherein the walking rule of the walking path comprises:
and walking according to a preset path mode until the walking reaches the boundary or the obstacle of the target working area, turning to the boundary or the obstacle far away from the target working area, and continuing walking according to the preset path mode, wherein the walking according to the preset path mode forms a regular path.
In another aspect, an embodiment of the present specification further provides another autonomous robot, including a memory, a processor, and a computer program stored on the memory, where the computer program, when executed by the processor, implements the walking path planning method described above.
On the other hand, the embodiments of the present specification further provide another storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the walking path planning method described above.
As can be seen from the technical solutions provided in the embodiments of the present specification, when the target working area is an irregular working area, the target working area may be virtually regularized to form a regular working area with a virtual boundary, and then the walking path of the autonomous robot is planned based on the regular working area, so that trivial and narrow sub-working areas can be reduced or avoided being partitioned. On the basis, the walking rule of the planned walking path comprises the following steps: when the autonomous robot walks in the regular working area, turning points in the walking path are ignored, and the autonomous robot does not turn to the next walking path section adjacent to the current walking path section until the turning points are interrupted by a real boundary in the regular working area, so that the working coverage rate of the autonomous robot is improved.
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In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort. In the drawings:
FIG. 1 is a schematic illustration of a partition of an irregular work area in the prior art;
FIG. 2 is a schematic illustration of a partition of another irregular work area in the prior art;
FIG. 3 is a schematic illustration of a partition of another irregular work area in the prior art;
FIG. 4 is a flow chart of a method for planning a walking path of an autonomous robot in some embodiments of the present disclosure;
FIG. 5 is a schematic diagram illustrating virtual warping of irregular work areas according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram illustrating virtual regularization for irregular working areas in another embodiment of the present disclosure;
FIG. 7 is a schematic diagram illustrating virtual regularization for irregular working areas in another embodiment of the present disclosure;
FIG. 8 is a schematic diagram of a zigzag path planning of the virtually warped work area shown in FIG. 5;
FIG. 9 is a schematic diagram of a zigzag path planning of the virtually warped work area shown in FIG. 6;
FIG. 10 is a schematic diagram of a zigzag path planning of the virtually warped work area shown in FIG. 7;
FIG. 11 is a schematic diagram illustrating the autonomous robot walking along a walking path under a walking rule in an embodiment of the present disclosure;
fig. 12 is a block diagram illustrating a configuration of a walking path planning apparatus for an autonomous robot in some embodiments of the present disclosure;
FIG. 13 is a block diagram of a storage medium in some embodiments of the present disclosure.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step should fall within the scope of protection of the present specification.
In the prior art, when an autonomous robot plans a full-coverage walking path, the autonomous robot may divide an entire working area according to a boundary contour of the working area and distribution of obstacles in the working area to form a plurality of obstacle-free sub-working areas; on the basis, the walking path planning is carried out on the sub-working areas. However, in carrying out the present application, the inventors of the present application have discovered that in some cases, an autonomous robot may segment out some trivial and narrow sub-work areas. Sometimes, these trivial and narrow sub-work areas are even too narrow to accommodate passage of an autonomous robot; so that when the walking path planning is performed based on the divided sub-work areas, the trivial and narrow sub-work areas may have to be discarded, thereby affecting the work coverage of the autonomous robot.
The inventor of the present application further studies and finds that the division of the trivial and narrow sub-working area by the autonomous robot is mainly caused by the complex and various boundary profiles of the working area, the complex and various outline profiles of the obstacles in the working area, the relative position distribution between the obstacles in the working area (for example, the lower limit of the distance between the two obstacles is smaller than the preset distance threshold), and the like. For example, in the working area as shown in fig. 1, the autonomous robot segments a trivial and narrow sub-working area due to the irregular contour of the obstacle. For another example, in the working area shown in fig. 2, the autonomous robot divides trivial and narrow sub-working areas due to irregular boundary contour of the working area. For another example, in the working area shown in fig. 3, the autonomous robot also divides trivial sub-working areas due to the relative position distribution of the two obstacles in the working area.
In view of this, in order to improve coverage of a walking path of an autonomous robot, as shown in fig. 4, a walking path planning method of an autonomous robot according to some embodiments of the present disclosure may include:
s41, obtaining map information of the target working area;
s42, determining whether the target working area is a regular working area or not according to the map information;
s43, when the target working area is an irregular working area, virtually warping the target working area to form a regular working area with a virtual boundary;
s44, planning a walking path of the autonomous robot based on the regular working area; the walking rules of the walking path comprise: and walking in the regular working area and neglecting turning points in the walking path, and turning to the next walking path section adjacent to the current walking path section until the turning points are interrupted by the real boundary in the regular working area.
Based on the method for planning the walking path of the autonomous robot in the embodiment, when the target working area is an irregular working area, the target working area can be virtually regulated to form a regular working area with a virtual boundary, and then the walking path of the autonomous robot is planned based on the regular working area, so that trivial and narrow sub-working areas can be reduced or avoided. On this basis, the walking rules of the walking path planned in the above embodiment include: when the autonomous robot walks in the regular working area, the turning point in the walking path is ignored, and the autonomous robot does not turn to the next walking path section adjacent to the current walking path section until the turning point is interrupted by the real boundary in the regular working area.
In embodiments of the present description, the autonomous robot may obtain map information of the target work area in any suitable manner to facilitate walking path planning based on the map information. For example, in an embodiment of the present specification, the autonomous robot may receive externally input map information of the target work area. Specifically, a client capable of communicating with the autonomous robot may be configured on a terminal device of the user (e.g., a smartphone of the user, a personal computer, etc.), and the user may import map information of the target work area into the autonomous robot through the client; accordingly, the autonomous robot may receive map information of the target work area. For another example, in an embodiment of the present specification, the autonomous robot may receive externally input image information of the target work area, and generate map information of the target work area according to the image information of the target work area. Specifically, a client capable of communicating with the autonomous robot may be configured on a terminal device of the user, and the user may import an image of the target work area to the autonomous robot through the client; accordingly, the autonomous robot may receive the image of the target working area and may perform image recognition on the image of the target working area to obtain map information of the target working area. The above is only an example of obtaining the map information of the target working area, and in other embodiments of the present specification, the autonomous robot may also obtain the map information of the target working area in other manners, which is not limited in the present specification and may be specifically selected as needed.
In an embodiment of the present specification, the map information of the target working area may include boundary contour information of the target working area, distribution information of various obstacles within the target working area, and the like. In another embodiment of the present specification, in addition to the above information, the map information of the target working area may further include whether the boundary of the target working area is a traversable boundary, or the like, so as to serve as an auxiliary reference for subsequently planning the walking path of the autonomous robot. In other embodiments of the present description, the map information of the target work area may also contain other information, as needed.
In the embodiment of the present specification, since the map information of the target work area is generally a two-dimensional image. The autonomous robot can extract the boundary outline and the obstacle outline of the working area from the two-dimensional image, and judge whether the shape characteristics of the extracted boundary outline and the obstacle outline of the working area meet the shape characteristics of a preset regular working area or not. If yes, the target working area can be regarded as a regular working area; otherwise, the target working area may be considered to be an irregular working area.
In the embodiments of the present specification, the regular work area may be one or more preset regular shapes. In the regular-shaped working area, the shape of each obstacle is regular, and the lower limit of the distance between the obstacles is not less than a preset distance threshold (for example, the lower limit of the distance may be not less than the transverse size of the autonomous robot, so that the autonomous robot can pass through the obstacle). Therefore, when the boundary contour of the target working area is an irregular graph; the target working area comprises an obstacle with an irregular figure outline; or, when the target working area includes a plurality of obstacles and the lower limit of the distance between at least two obstacles is smaller than the preset distance threshold, the target working area may be considered as an irregular working area.
As explained above, when planning a walking path, the autonomous robot segments the trivial and narrow sub-work areas mainly due to the complex and various boundary contours of the work areas, the complex and various outline contours of the obstacles in the work areas, and the relative position distribution among the obstacles in the work areas. Therefore, when the target working area is an irregular working area, the target working area can form a regular working area with a virtual boundary by virtually warping the target working area. In this way, when the autonomous robot divides a regular work area having a virtual boundary, it does not divide trivial sub-work areas.
In some embodiments of the present specification, the virtual regularization of the target work area may be implemented by, for example, circumscribing a rule graph. For example, in one embodiment of the present disclosure, as shown in fig. 5, the target work area includes an obstacle with an irregular outline. In order to regularize the obstacles, a circumscribed rectangle of the obstacles may be formed (as shown by a dotted line in fig. 5), so that a plurality of sub-operation regions as shown in fig. 5 may be divided from the rectangular operation region. For another example, in an embodiment of the present specification, as shown in fig. 6, the target work area has no obstacle, but a boundary contour of the target work area is an irregular figure. In order to shape the boundary contour of the target working area, a circumscribed rectangle of the target working area may be formed (as indicated by a dotted line in fig. 6). Since no obstacle exists in the target working area shown in fig. 6, the whole regular rectangle formed after the regularization does not need to be divided, and naturally, the problem of whether to divide trivial and narrow sub-working areas does not exist. For another example, in an embodiment of the present specification, as shown in fig. 7, two obstacles are included in the target working area, and a lower limit of a distance between the two obstacles is smaller than a preset distance threshold, for the target working area, the two obstacles may be regarded as one obstacle, and a circumscribed regular pattern of the obstacle is formed (as shown by a dotted line in fig. 7).
The virtual boundaries described above are relative to the real boundaries of the obstacle or target work area before warping. Since the warping in the above embodiments of the present description is a virtual, virtual boundary adjustment, and the real boundary of the front and rear obstacles or the target work area is not changed, the warping will be referred to as virtual warping in the present description.
It should be understood by those skilled in the art that the above embodiments shown in fig. 5 to 7 are only described by taking the circumscribed rectangle as an example. Thus, for the walking paths such as the zigzag walking path and the zigzag walking path, not only the division of trivial and narrow sub-work areas can be reduced or avoided, but also the number of the divided work areas can be reduced (for example, the number of the sub-work areas in fig. 5 is one less than that in fig. 1, and the number of the sub-work areas in fig. 7 is three less than that in fig. 3), thereby being beneficial to reducing the number of times of walking path planning in the sub-work areas, and further being beneficial to improving the walking path planning efficiency. However, this is not limited in this specification, and in other embodiments of this specification, the circumscribed rule pattern may also be a circle, and may be specifically selected according to needs.
After the virtual regularization of the target working area is completed, the target working area forms a regular working area with a virtual boundary. On the basis, the walking path of the autonomous robot can be planned based on the regular working area. To facilitate understanding of the present application by those skilled in the art, the following illustrates how to plan a walking path of an autonomous robot based on a regular work area.
For example, in an embodiment of the present specification, as shown in fig. 5, the regularized achievement regular work area is a rectangular work area, and a rectangular obstacle is disposed therein. Therefore, based on the regular work area obtained after the specification, A, B, C and D four sub-work areas as shown in FIG. 5 can be divided from the rectangular work area without dividing trivial and narrow sub-work areas. On the basis, walking path planning can be performed on the A, B, C and the D four sub-working areas respectively, so that a zigzag walking path as shown in fig. 8 can be obtained (see the thin dotted line in fig. 8).
For another example, in another embodiment of the present specification, as shown in fig. 6, the normalized regular working area is a rectangular working area, and since five obstacles do not exist in the rectangular working area, the rectangular working area does not need to be divided, and the walking path of the entire rectangular working area can be directly planned, so that the zigzag walking path shown in fig. 9 can be obtained (see the thin dotted line in fig. 9).
For example, in another embodiment of the present specification, as shown in fig. 7, the regularized achievement rule work area is a rectangular work area, and a rectangular obstacle is provided therein. Therefore, based on the regular work area obtained after the specification, X, Y and Z sub-work areas as shown in FIG. 7 can be divided from the rectangular work area without dividing trivial and narrow sub-work areas. On the basis, walking path planning can be respectively carried out on the X, Y sub-work areas and the Z sub-work areas, so that a bow-shaped walking path as shown in fig. 10 can be obtained (see the thin dotted lines in fig. 10).
It can be seen that the embodiments shown in fig. 8 to 10 are described by taking the arcuate running path as an example. In other embodiments of the present disclosure, the walking path planning may be performed on the regular working area based on other walking paths (e.g., a zigzag walking path) as needed. Accordingly, the embodiments shown in fig. 8-10 described above should not be construed as limiting the present description.
As can be seen from fig. 8 and 10, in the case where a regular obstacle having a virtual boundary is included in the work area, the walking path planned by the autonomous robot does not include a portion inside the regular obstacle, which is located outside the real boundary of the obstacle. Therefore, in order to improve the coverage rate of the walking path, some walking rules need to be specified for the walking path on the basis of planning the walking path from the main robot based on the regular work area. Specifically, when walking in the regular work area, the turning point in the walking path may be ignored, and the next walking path segment adjacent to the current walking path segment is turned to when the turning point is interrupted by the real boundary in the regular work area.
For example, in the embodiment shown in fig. 11, the thick solid line is a real boundary of an obstacle in the working area, the thin dotted line is a virtual boundary formed by the obstacle after being connected with the regular pattern, and the dotted line is a planned arcuate walking path. Based on the above-described walking rules, when the autonomous robot (shown by a large circle in fig. 11) walks upward along the current path segment (indicated by a downward arrow in fig. 11), the autonomous robot does not turn right according to the zigzag walking path but continues to walk upward along the two-dot chain line shown in fig. 11 until interrupted by the real boundary of the obstacle when encountering the turning point (shown by a small circle position in fig. 11). At this time, the autonomous robot may turn to the next path segment (the path segment indicated by the downward arrow in fig. 11) adjacent to the current path segment to continue walking, so that the problem that the part outside the real boundary of the obstacle in the regular obstacle with the virtual boundary is not easily covered is solved.
Obviously, the walking rules are mainly used for limiting the autonomous robot to walk according to the planned walking path in the regular working area. When the autonomous robot walks outside the regular working area, the autonomous robot may not be limited by the walking rules, that is, when the autonomous robot walks outside the regular working area, when the autonomous robot encounters the turning point planned in the walking path, the autonomous robot may still turn according to the turning point planned in the walking path, so as to cut into the next adjacent path segment, for example, as shown in fig. 9.
Autonomous robots of embodiments of the present description may include, but are not limited to, smart mowers, sweeping robots, sorting robots, unmanned delivery vehicles, unmanned aerial vehicles, and the like.
Corresponding to the method for planning a walking path of an autonomous robot, as shown in fig. 13, a computer storage medium of some embodiments of the present specification stores a computer program, and the computer program, when executed by a processor, implements the following steps:
obtaining map information of a target working area;
confirming whether the target working area is a regular working area or not according to the map information;
when the target working area is an irregular working area, virtually warping the target working area to form a regular working area with a virtual boundary;
planning a walking path of the autonomous robot based on the regular working area; the walking rules of the walking path comprise: and walking in the regular working area and neglecting turning points in the walking path, and turning to the next walking path section adjacent to the current walking path section until the turning points are interrupted by the real boundary in the regular working area.
While the process flows described above include operations that occur in a particular order, it should be appreciated that the processes may include more or less operations that are performed sequentially or in parallel (e.g., using parallel processors or a multi-threaded environment).
Corresponding to the method for planning a walking path of an autonomous robot, the autonomous robot according to some embodiments of the present disclosure may be configured with a walking path planning apparatus of an autonomous robot as shown in fig. 12. It may include a map acquisition module 121, an area determination module 122, an area warping module 123, and a path planning module 124. Wherein,
the map acquisition module 121 may be configured to acquire map information of a target work area;
the area determining module 122 may be configured to determine whether the target working area is a regular working area according to the map information;
the region warping module 123 may be configured to virtually warp the target working region to form a regular working region with a virtual boundary when the target working region is an irregular working region;
a path planning module 124 operable to plan a path of travel for the autonomous robot based on the regular work area; the walking rules of the walking path comprise: and walking in the regular working area and neglecting turning points in the walking path, and turning to the next walking path section adjacent to the current walking path section until the turning points are interrupted by the real boundary in the regular working area.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (25)
1. A method for planning a walking path of an autonomous robot is characterized by comprising the following steps:
obtaining map information of a target working area;
confirming whether the target working area is a regular working area or not according to the map information;
when the target working area is an irregular working area, virtually warping the target working area to form a regular working area with a virtual boundary;
planning a walking path of the autonomous robot based on the regular working area; the walking rules of the walking path comprise: and walking in the regular working area and neglecting turning points in the walking path, and turning to the next walking path section adjacent to the current walking path section until the turning points are interrupted by the real boundary in the regular working area.
2. The method for planning a walking path of an autonomous robot according to claim 1, wherein the target working area being an irregular working area comprises:
and the boundary contour of the target working area is an irregular graph.
3. The method for planning a walking path of an autonomous robot according to claim 2, wherein said virtually warping the target working area comprises:
and when the boundary outline of the target working area is an irregular graph, forming an external regular graph of the target working area.
4. The method for planning a walking path of an autonomous robot according to claim 1, wherein the target working area being an irregular working area comprises:
the target working area comprises an obstacle with an irregular outline.
5. The method for planning a walking path of an autonomous robot according to claim 4, wherein said virtually warping the target working area comprises:
and when the target working area contains the obstacle with the irregular figure outline, forming a circumscribed regular figure of the obstacle.
6. The method for planning a walking path of an autonomous robot according to claim 1, wherein the target working area being an irregular working area comprises:
the target working area comprises a plurality of obstacles, and the lower limit of the distance between at least two obstacles is smaller than a preset distance threshold.
7. The method for planning a walking path of an autonomous robot according to claim 6, wherein said virtually warping the target working area comprises:
and when the target working area contains a plurality of obstacles and the lower limit of the distance between at least two obstacles is smaller than a preset distance threshold, taking the adjacent obstacle with the lower limit of the distance smaller than the preset distance threshold as an obstacle and forming an external regular graph of the obstacle.
8. The autonomous robot walking path planning method of claim 3, 5 or 7, wherein the circumscribed rule pattern includes a circumscribed rectangle.
9. The autonomous robot walking path planning method of claim 1 wherein the walking path comprises a zig-zag walking path.
10. A walking path planning device for an autonomous robot, comprising:
the map acquisition module is used for acquiring map information of the target working area;
the area judgment module is used for confirming whether the target working area is a regular working area or not according to the map information;
the region warping module is used for virtually warping the target working region to form a regular working region with a virtual boundary when the target working region is an irregular working region;
a path planning module for planning a walking path of the autonomous robot based on the regular work area; the walking rules of the walking path comprise: and walking in the regular working area and neglecting turning points in the walking path, and turning to the next walking path section adjacent to the current walking path section until the turning points are interrupted by the real boundary in the regular working area.
11. The autonomous robot walking path planning apparatus of claim 10, wherein the target working area being an irregular working area comprises:
and the boundary contour of the target working area is an irregular graph.
12. The autonomous robot walking path planning apparatus of claim 11, wherein said virtually warping said target working area comprises:
and when the boundary outline of the target working area is an irregular graph, forming an external regular graph of the target working area.
13. The autonomous robot walking path planning apparatus of claim 10, wherein the target working area being an irregular working area comprises:
the target working area comprises an obstacle with an irregular outline.
14. The autonomous robot walking path planning apparatus of claim 13, wherein said virtually warping said target work area comprises:
and when the target working area contains the obstacle with the irregular figure outline, forming a circumscribed regular figure of the obstacle.
15. The autonomous robot walking path planning apparatus of claim 10, wherein the target working area being an irregular working area comprises:
the target working area comprises a plurality of obstacles, and the lower limit of the distance between at least two obstacles is smaller than a preset distance threshold.
16. The autonomous robot walking path planning apparatus of claim 15, wherein said virtually warping said target work area comprises:
and when the target working area contains a plurality of obstacles and the lower limit of the distance between at least two obstacles is smaller than a preset distance threshold, taking the adjacent obstacle with the lower limit of the distance smaller than the preset distance threshold as an obstacle and forming an external regular graph of the obstacle.
17. The autonomous robot walking path planning apparatus of claim 12, 14 or 16, wherein the circumscribed rule pattern includes a circumscribed rectangle.
18. The autonomous robot walking path planning apparatus of claim 10 wherein the walking path comprises a bow-shaped walking path.
19. An autonomous robot, characterized in that it is equipped with a walking path planning device according to any one of claims 10-18.
20. A storage medium on which a computer program is stored, which computer program, when being executed by a processor, carries out the method for path planning according to any one of claims 1 to 9.
21. A method for planning a walking path of an autonomous robot is characterized by comprising the following steps:
obtaining map information of a target working area, wherein the map information comprises the boundary of the target working area and obstacle information;
dividing the target working area into at least two sub-working areas according to the boundary of the target working area and the obstacle information, and planning a walking path of the autonomous robot based on the sub-working areas, wherein the walking rule of the walking path comprises:
and walking according to a preset path mode until the walking reaches the boundary or the obstacle of the target working area, turning to the boundary or the obstacle far away from the target working area, and continuing walking according to the preset path mode, wherein the walking according to the preset path mode forms a regular path.
22. The autonomous robot walking path planning method of claim 21, wherein the walking rules of the walking path further comprise:
and judging whether the walking of the current sub-working area is finished or not, and if so, turning to the next sub-working area for walking.
23. The method of planning a walking path of an autonomous robot of claim 21 wherein said dividing a target work area into at least two sub-work areas according to the boundary of the target work area and obstacle information comprises:
confirming whether the target working area is a regular working area or not according to the boundary of the target working area and the obstacle information;
when the target working area is an irregular working area, virtually warping the target working area to form a regular working area with a virtual boundary; and dividing the regular working area with the virtual boundary into at least two sub-working areas.
24. An autonomous robot comprising a memory, a processor, and a computer program stored on the memory, characterized in that the computer program, when executed by the processor, implements the walking path planning method of any one of claims 21-23.
25. A storage medium on which a computer program is stored, which computer program, when being executed by a processor, carries out the method for path planning according to any one of claims 21 to 23.
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