CN112987709A

CN112987709A - Path planning method and system and operation robot

Info

Publication number: CN112987709A
Application number: CN201911211565.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Topband Co Ltd
Current assignee: Shenzhen Topband Co Ltd
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2021-06-18
Anticipated expiration: 2039-12-02
Also published as: CN112987709B

Abstract

The invention is suitable for the technical field of robots and provides a path planning method, a path planning system and an operation robot, wherein the method comprises the following steps: acquiring environment information, and establishing a corresponding map according to the environment information; cutting a travel limit area in the map; and planning a path according to the cut map. According to the invention, the travel limit area is cut in the established operation map, and then the path planning is carried out on the cut map, so that the planned operation path has no travel limit area, the operation robot is ensured not to walk into the position which cannot be got rid of the trouble, and the operation efficiency is ensured.

Description

Path planning method and system and operation robot

Technical Field

The invention belongs to the technical field of operation robots, and particularly relates to a path planning method and system and an operation robot.

Background

With the improvement of living standard and the improvement of science and technology of people, the robot becomes more and more important in the current society, and more fields and posts need the participation of the intelligent robot, so that the research of the intelligent robot is more and more frequent. In order to meet the needs of people, various working robots are also in endless, for example, floor sweeping robots, commercial floor washing robots, search and rescue robots, harvesting robots, exploration robots and the like, so that the working efficiency and the life quality of people are improved sufficiently, and the life of people is more comfortable and healthy.

The path planning is a process generally performed by an operating robot before operation, and refers to a process of performing operation path planning on an area to be operated of the operating robot, so that the operating robot operates according to the planned path, and operation efficiency and effect are guaranteed.

At present, when an operation robot operates according to an operation route established by an existing path planning mode, the operation robot often walks into a position where the operation robot cannot get rid of the trouble, and then the operation robot needs to be manually helped to get rid of the trouble at the moment, so that the operation efficiency is influenced.

Disclosure of Invention

The embodiment of the invention provides a path planning method, and aims to solve the technical problem that in the prior art, an operating robot often walks into a position where the operating robot cannot get out of the position.

The embodiment of the invention is realized in such a way that a path planning method comprises the following steps:

acquiring environment information, and establishing a corresponding map according to the environment information;

cutting a travel limit area in the map;

and planning a path according to the cut map.

The embodiment of the invention also provides a path planning system, which comprises:

the map building module is used for obtaining environmental information and building a corresponding map according to the environmental information;

the region cutting module is used for cutting a limited region in the map;

and the path planning module is used for planning paths according to the cut map.

The embodiment of the present invention further provides an operating robot, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the operating robot executes the above path planning method.

An embodiment of the present invention further provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the path planning method described above.

The invention achieves the following beneficial effects: the travel limit area is cut in the established operation map, and then the path planning is carried out on the cut map, so that the planned operation path does not have the travel limit area, the operation robot is ensured not to walk into the position which cannot be got rid of difficulties, and the operation efficiency is ensured.

Drawings

FIG. 1 is a flowchart of a path planning method according to a first embodiment of the present invention;

FIG. 2 is a flowchart of a path planning method according to a second embodiment of the present invention;

FIG. 3 is a flowchart of a path planning method according to a third embodiment of the present invention;

FIG. 4 is a flow chart of another embodiment of the present invention for cutting a travel-restricted area;

FIG. 5 is an exemplary diagram of a scenario for identifying actual travel limit areas at corners based on the method of FIG. 4;

FIG. 6 is an example of a scenario for identifying an actual travel restriction area for an enclosed passageway based on the method of FIG. 4;

fig. 7 is a block diagram of a path planning system according to a fourth embodiment of the present invention;

fig. 8 is a block diagram of a working robot in a fifth 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.

At present, when an operating robot operates according to an operating route established by the existing path planning mode, the operating robot often walks into a position where the operating robot cannot get out of position, and the operating efficiency is influenced. Therefore, an object of the present invention is to provide a path planning method, a system and a working robot, so as to ensure that the working robot does not walk into a position where the working robot cannot get out of the way by cutting a travel-restricted area before path planning, thereby ensuring work efficiency.

Example one

Referring to fig. 1, a path planning method according to a first embodiment of the present invention is shown, which can be applied to a working robot implemented by hardware and/or software, and includes steps S01 to S03.

And step S01, acquiring the environmental information and establishing a corresponding map according to the environmental information.

In specific implementation, the environmental information of the surrounding environment of the working robot can be acquired by means of camera shooting, laser scanning or sensor sensing, and a map of the area to be operated is established based on the environmental information. The created map can be a grid map, a feature map, a topological map, a plane outline map, a three-dimensional perspective map and the like. For example, in some alternative embodiments of the present invention, a map of the environment around the work robot may be created based on a characteristic SLAM (simultaneous localization and mapping) method.

And step S02, cutting the travel limiting area in the map.

The travel limit area is a position where the operation robot cannot get out of the map, such as a narrow wall corner, a narrow channel, a dead angle position with a special acute angle, and the like. In specific implementation, the cutting method of the restriction region may be: directly cutting off the travel limiting area from the map; or a virtual wall is provided on a boundary line of the travel limit area to isolate the travel limit area.

In addition, it should be noted that the travel restriction area may be confirmed by machine-independent identification or manually, for example, the robot may detect the width and/or angle of each corner and determine whether the width and/or angle of each corner satisfies the robot for escaping, and otherwise determine that the corner is the travel restriction area. Or the travel limit area may be determined in a manually circled manner.

And step S03, planning a path according to the cut map.

In specific implementation, the global path planning can be performed on the cut map, and when the working robot works according to the route planned by the global path, the obstacles around the working robot are identified, and the route planned by the global path is adjusted according to the position of the obstacle. In the path planning, the path planning is performed in accordance with a default or set operation mode of the operation robot, and the operation path of a cleaning robot such as a sweeping robot or a commercial floor cleaning robot is planned in a cleaning mode of, for example, zigzag coverage propulsion.

In summary, in the path planning method in this embodiment, the travel-limited area is cut in the created work map, and then the path planning is performed on the cut map, so that there is no travel-limited area in the planned work path, and it is ensured that the work robot does not get into a position where the work robot cannot get out of the way, and the work efficiency is ensured.

Example two

Referring to fig. 2, a path planning method according to a second embodiment of the present invention is shown, which can be applied to a working robot implemented by hardware and/or software, and includes steps S11 to S16.

And step S11, acquiring the environmental information and establishing a corresponding map according to the environmental information.

It should be noted that, in implementation, each of the lanes (such as room aisles, seams between pieces of furniture, etc.) in the map created in step S11 may be preliminarily determined as the travel limiting area, and whether these preliminarily determined travel limiting areas are real travel limiting areas or not may be determined by the subsequent width and closing state, and if they are real travel limiting areas, they are cut off.

In step S12, the width of the travel restriction region is acquired.

In this step, the obtained width may be the width of each point of the travel limit area or the width of a specific point, for example, the width of each point of the channel may be obtained, and the width of the channel is the straight-line distance of the same point on the two boundary lines of the channel.

And step S13, judging whether the width of the travel limiting area meets the preset escaping width.

When the width of the travel limiting area does not meet the preset escaping width, executing step S14 to make further judgment by utilizing the closed state; and when the width of the travel limiting area meets the preset escaping width, judging that the travel limiting area is a non-real travel limiting area, reserving the area, and skipping to the next travel limiting area for analysis until all the travel limiting areas are confirmed.

In step S14, it is determined whether or not the travel direction of the travel restricted area is in a closed state.

When the traveling direction of the traveling restricted area is determined to be in a closed state, which means that the traveling restricted area cannot satisfy the robot turning around for getting rid of trouble and cannot be directly passed through by the robot, it is determined that the traveling restricted area is a real traveling restricted area, and step S15 is executed to directly cut off the traveling restricted area; if the traveling direction of the traveling restriction area is judged not to be in a closed state, namely the traveling direction can pass through the traveling restriction area, if the traveling restriction area is not closed and a channel allowing a machine to directly pass through is not closed, the traveling restriction area is judged to be a non-real traveling restriction area, the area can be reserved, and the next traveling restriction area is analyzed until all the traveling restriction areas are confirmed.

And step S15, cutting the travel limiting area in the map.

In particular implementation, the final determined travel limit region may be cut out as follows: directly cutting off the travel limiting area from the map; or a virtual wall is provided on a boundary line of the travel limit area to isolate the travel limit area.

And step S16, planning a path according to the cut map.

In specific implementation, the step of planning the path according to the cut map may be specifically implemented according to the following refining steps, and the refining steps specifically include:

carrying out global path planning on the cut map;

executing a traveling task according to the global path plan, and acquiring barrier information in real time;

and adjusting the local path according to the obstacle information.

EXAMPLE III

Referring to fig. 3, a path planning method according to a third embodiment of the present invention is shown, which can be applied to a working robot implemented by hardware and/or software, and includes steps S21 to S25.

And step S21, acquiring the environmental information and establishing a corresponding map according to the environmental information.

It should be noted that, in implementation, each corner (e.g., a corner, etc.) in the map created in step S11 may be preliminarily determined as a travel limiting area, and whether these preliminarily determined travel limiting areas are real travel limiting areas or not may be determined by subsequent angles, and if they are real travel limiting areas, they are cut off.

In step S22, the angle of the travel restriction region is acquired.

The angle of the travel limit area is an included angle between side lines of the travel limit area, such as an included angle between two side lines of a corner.

And step S23, judging whether the angle meets a preset escaping angle.

When the angle of the travel limit area is judged not to meet the preset escaping angle, the travel limit area is judged to be a real travel limit area, and step S24 is executed to directly cut off the travel limit area; otherwise, the travel limit area is judged to be a non-real travel limit area, the area can be reserved, and the next travel limit area is analyzed until all the travel limit areas are confirmed.

And step S24, cutting the travel limiting area in the map.

And step S25, planning a path according to the cut map.

carrying out global path planning on the cut map;

and adjusting the local path according to the obstacle information.

It can be understood that the second and third embodiments described above determine the actual travel-restricted area on the map by the width, angle and closed state, so that the determination and ablation of the travel-restricted area on the map are automatically completed, and at the same time, the reliability of the determination and ablation of the travel-restricted area can be ensured.

Further, referring to fig. 4, before step S15 or step S24, the method further includes the following steps:

and S001, acquiring a turning parameter required by getting rid of difficulties.

Based on a kinematics model and a dynamics model of the robot, the turning parameters required by the robot to get rid of difficulties comprise the maximum turning angle alpha of the robot, the wheel base d (the distance between a front wheel axle and a central axis of two rear wheels), the width w of the robot, the length L of the vehicle and the safety distance B, and the turning radius R (d/tan (alpha)) of the robot can be calculated according to the parameters.

And S003, calculating a U-turn area according to a preset algorithm according to the U-turn parameter.

Wherein the U-turn area is circular, and the radius of the U-turn area

And determining the U-turn area based on the radius of the U-turn area. It can be understood that the u-turn area of the same robot is fixed and unchanged, so that the determined u-turn area can be stored as a model, so that the robot can directly call the stored u-turn area model in the next path planning,therefore, the steps S001 to S002 can be directly skipped, and the path planning efficiency is improved. Or the u-turn area may be determined by calculation each time a corner is encountered.

And S003, determining an actual travel limit area in the travel limit area according to the U-turn area.

The actual travel limit area is an area in the travel limit area that actually limits the robot, the robot entering the actual travel limit area cannot turn around to get rid of difficulties, and the robot can turn around to get rid of difficulties in an area outside the actual travel limit area, as shown in fig. 5 and 6.

As can be understood, since the u-turn region is the minimum space region required for the robot to get rid of trouble and turn around, in specific implementation, the u-turn region may be utilized to perform progressive push scanning in the travel limit region to identify a region that cannot meet the travel requirement of the u-turn region, so as to determine the actual travel limit region in the travel limit region.

Further, in some optional embodiments of the present invention, the step S003 may be specifically implemented as the following refining step, and the refining step specifically includes:

establishing a U-turn region model;

advancing the turning area model to the advancing limiting area until at least two boundary lines of the advancing limiting area coincide with the boundary lines of the turning area model or the turning area cannot be advanced;

and acquiring an un-overlapped area between the traveling limit area and the U-turn area model, wherein the un-overlapped area is the actual traveling limit area.

In specific implementation, the u-turn region can be calculated by using the steps S001 to S002, and the calculated u-turn region is created as a u-turn region model and stored, so that when any travel limit region is analyzed, the u-turn region model can be directly called, and the u-turn region model is pushed to the current travel limit region to determine the actual travel limit region in the current travel limit region.

As shown in FIG. 5, the U-turn region model A is angled at an angle of

The angle of the corner

The angle is an acute angle, when two edges of the corner are respectively tangent to the u-turn area model a, the u-turn area a cannot be continuously pushed forward, that is, the robot cannot turn around and get rid of trouble if continuously moving forward, so that the area (i.e., the area B in the figure) of the corner where the u-turn area a cannot be continuously pushed forward is the actual travel limiting area, and the actual travel limiting area of the corner is identified, and the side length of the actual travel limiting area is the side length of the actual travel limiting area

As shown in fig. 6, the u-turn area model a advances toward a closed channel, and when two edges of the channel are tangent to the u-turn area model a, the u-turn area a cannot continue to advance, that is, the robot cannot turn around and get rid of difficulty if continuing to advance forward, and therefore the channel is an area (i.e., an area C in the figure) that cannot allow the u-turn area a to continue to advance, that is, the actual travel limit area, and the actual travel limit area at the corner is identified, and the channel width D at the tangent position is 2 Rr.

In specific implementation, the turning area can be used as a model, so that the actual travel limit area of each corner can be confirmed in a pushing mode by using the turning area model; or, a u-turn area may be determined by calculation each time a corner is encountered, and the u-turn area may be a circle, an arc, or a square, and the invention is not limited.

It can be understood that, in the embodiment, the finally determined travel limiting area is further processed to find out the actual travel limiting area from the travel limiting area, and then the actual travel limiting area is cut off, rather than directly cutting off the whole travel limiting area, so that it can be ensured that the working robot does not enter the position where the working robot cannot get out of the way, and the working effect is not affected by excessive cutting off of the working area.

Example four

In another aspect, the present invention further provides a path planning system, referring to fig. 7, which illustrates a path planning system according to a fourth embodiment of the present invention, and the path planning system can be applied to a working robot, where the working robot can be implemented by hardware and/or software, and the path planning system includes:

the map building module 11 is used for obtaining environmental information and building a corresponding map according to the environmental information;

the region cutting module 12 is configured to cut a restricted region in the map;

and the path planning module 13 is used for planning paths according to the cut maps.

The travel limit area is a position where the operation robot cannot get out of the map, such as a narrow wall corner, a dead corner position with a special acute angle, and the like. In specific implementation, the cutting method of the restriction region may be: directly cutting off the travel limiting area from the map; or a virtual wall is provided on a boundary line of the travel limit area to isolate the travel limit area.

In summary, in the path planning system in this embodiment, the travel-limited area is cut in the created work map, and then the cut map is subjected to path planning, so that there is no travel-limited area in the planned work path, and it is ensured that the work robot does not get into a position where the work robot cannot get out of the way, and work efficiency is ensured.

In some optional embodiments of the invention, the system further comprises:

a width acquisition module for acquiring a width of the travel limit region;

the width judgment module is used for judging whether the width of the travel limit area meets a preset escaping width;

and if the judgment result is negative, the area cutting module cuts the limited area in the map.

In some optional embodiments of the invention, the system further comprises:

the closed judging module is used for judging whether the advancing direction of the advancing limiting area is in a closed state or not when the width of the advancing limiting area is judged not to meet the preset escaping width;

and when the traveling direction of the traveling restriction area is judged to be in a closed state, the area cutting module cuts the traveling restriction area in the map.

In some optional embodiments of the invention, the system further comprises:

the angle acquisition module is used for acquiring the angle of the travel limit area;

the angle judging module is used for judging whether the angle meets a preset escaping angle;

In some optional embodiments of the invention, the system further comprises:

the parameter acquisition module is used for acquiring the turning parameters required by escaping from the trouble;

the area calculation module is used for calculating a U-turn area according to a preset algorithm according to the U-turn parameter;

and the area cutting module is used for determining an actual travel limit area in the travel limit area according to the U-turn area. Wherein, the U-turn area is a circular area.

In some optional embodiments of the invention, the system further comprises:

the model establishing unit is used for establishing a U-turn region model;

the processing unit is used for pushing the turning area model to the advancing limiting area until at least two boundary lines of the advancing limiting area coincide with the boundary lines of the turning area model or the turning area cannot be pushed;

and the confirming unit is used for acquiring an un-overlapped area between the travel limit area and the U-turn area model, wherein the un-overlapped area is an actual travel limit area.

In some optional embodiments of the invention, the path planning module comprises:

the path planning unit is used for carrying out global path planning on the cut map;

the task execution unit is used for executing a traveling task according to the global path plan and acquiring barrier information in real time;

and the path adjusting unit is used for adjusting the local path according to the obstacle information.

The functions or operation steps of the modules and units when executed are substantially the same as those of the method embodiments, and are not described herein again.

EXAMPLE five

In another aspect, the present invention further provides a working robot, please refer to fig. 8, which illustrates a working robot according to a fifth embodiment of the present invention, comprising a processor 10, a memory 20, and a computer program 30 stored in the memory and executable on the processor, wherein the working robot executes the above-mentioned path planning method when the processor 10 executes the computer program 30.

The operation mode of the operation robot can be, but is not limited to, cleaning operation (such as cleaning dust, leaves, accumulated snow and the like), harvesting operation (such as harvesting grains and the like), plowing operation, scattering operation (such as scattering pesticides and seeds), searching operation, search and rescue operation, surveying and mapping operation (such as underwater surveying and mapping), mine clearance operation, mineral exploration operation, defect detection operation and the like. Correspondingly, the robot equipment can be a cleaning robot (such as a sweeping robot, a commercial floor washing robot, a dust collector and the like), a search and rescue robot, a harvesting robot, an exploration robot, a mine clearance robot, a painting robot and the like which need to perform path planning operation.

In addition, the processor 10 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip in some embodiments, and is used for executing program codes stored in the memory 20 or Processing data.

The memory 20 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 20 may in some embodiments be an internal memory unit of the working robot, for example a hard disk of the working robot. The memory 20 may be an external storage device of the working robot in other embodiments, such as a plug-in hard disk provided on the working robot, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the storage 20 may also include both an internal storage unit and an external storage device of the working robot. The memory 20 may be used not only to store application software installed in the work robot and various kinds of data, but also to temporarily store data that has been output or will be output.

Optionally, the working robot may further include a traveling mechanism for realizing traveling of the robot, the traveling mechanism may be in the form of a roller, a track, a mechanical leg, etc., a working mechanism for realizing working of the robot, such as a harvesting mechanism, a cleaning mechanism, etc., a user interface may include a Display (Display), an input unit such as a remote controller, a physical key, etc., and the optional user interface may further include a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the work robot and for displaying a visual user interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the work robot and other electronic devices. The communication bus is used to enable connection communication between these components.

It is noted that the construction shown in fig. 8 does not constitute a limitation of a working robot, which in other embodiments may comprise fewer or more components than shown, or a combination of certain components, or a different arrangement of components.

In summary, the operation robot in the embodiment cuts the travel limited area in the established operation map, and then performs path planning on the cut map, so that the planned operation path does not have the travel limited area, thereby ensuring that the operation robot cannot walk into the position where the operation robot cannot get out of the trouble, and ensuring the operation efficiency.

The present embodiment also provides a storage medium on which a computer program 30 for use in the above-described work robot is stored, which program, when executed by a processor, implements the above-described path planning method.

The storage medium may be, but is not limited to, ROM/RAM, magnetic disk, optical disk, etc.

Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable 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 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). Additionally, the computer-readable medium could 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 memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A method of path planning, the method comprising:

cutting a travel limit area in the map;

and planning a path according to the cut map.

2. The path planning method according to claim 1, further comprising, before the step of cutting the restricted area in the map:

acquiring the width of the travel limiting area;

judging whether the width of the travel limiting area meets a preset escaping width or not;

and if the judgment result is negative, executing the step of cutting the limited area in the map.

3. The path planning method according to claim 2, wherein after the step of determining whether the width of the travel-restricted area satisfies a preset escape width, the method further comprises:

when the width of the travel limiting area does not meet the preset escaping width, judging whether the travel direction of the travel limiting area is in a closed state;

and when the traveling direction of the traveling restriction area is judged to be in a closed state, executing a step of cutting the traveling restriction area in the map.

4. The path planning method according to claim 1, further comprising, before the step of cutting the restricted area in the map:

acquiring an angle of the travel limit area;

judging whether the angle meets a preset escaping angle;

5. The path planning method according to claim 4, wherein the step of cutting the restricted area in the map further comprises:

acquiring a turning parameter required by getting rid of difficulties;

calculating a turning area according to a preset algorithm according to the turning parameter;

and determining an actual travel limit area in the travel limit area according to the U-turn area.

6. A path planning method according to any one of claims 1 to 5, characterized in that the method further comprises:

establishing a U-turn region model;

and acquiring an un-overlapped area between the travel limit area and the U-turn area model, wherein the un-overlapped area is an actual travel limit area.

7. A path planning method according to any one of claims 1 to 5 in which the step of planning a path from the cut map comprises:

carrying out global path planning on the cut map;

and adjusting the local path according to the obstacle information.

8. A path planning system, the system comprising:

the region cutting module is used for cutting a limited region in the map;

9. The path planning system according to claim 8, wherein the system further comprises:

a width acquisition module for acquiring a width of the travel limit region;

10. The path planning system according to claim 9, wherein the system further comprises:

11. The path planning system according to claim 8, wherein the system further comprises:

12. The path planning system according to claim 11, wherein the system further comprises:

and the area cutting module is used for determining an actual travel limit area in the travel limit area according to the U-turn area.

13. A path planning system according to any one of claims 8-12, characterized in that the system further comprises:

the model establishing unit is used for establishing a U-turn region model;

and the confirming unit is used for acquiring a non-overlapped area between the travel limiting area and the U-turn area, wherein the non-overlapped area is an actual travel limiting area.

14. A path planning system according to any one of claims 8 to 13 wherein the path planning module comprises:

15. A working robot comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the working robot performing the path planning method according to any one of claims 1 to 7 when the processor executes the computer program.

16. A storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the path planning method according to any one of claims 1 to 7.