CN112987709B - Path planning method, system and operation robot - Google Patents
Path planning method, system and operation robot Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention is applicable to 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 limiting area in the map; and planning a path according to the cut map. According to the invention, the travel limiting area is cut in the established operation map, and then the path planning is carried out on the cut map, so that no travel limiting area exists in the planned operation path, the operation robot is ensured not to walk into the position where the robot cannot get rid of the trouble, and the operation efficiency is ensured.
Description
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 the living standard of people and the progress of science and technology, robots are becoming more important in the current society, and more fields and posts need intelligent robots to participate, so that the intelligent robots are more and more frequently researched. In order to meet the needs of people, various operation robots are layered, such as a sweeping robot, a commercial floor washing robot, a search and rescue robot, a harvesting robot, an exploration robot and the like, so that the work efficiency and the life quality of people are fully improved, and the life of people is more comfortable and healthy.
The path planning is a process that the working robot generally needs to do before working, and refers to a process of planning a working path of a region to be worked of the working robot, so that the working robot works according to the planned path to ensure working efficiency and effect.
At present, when the operation robot works according to an operation route formulated in the existing path planning mode, the operation robot often goes into a position where the operation robot cannot get rid of the trouble, and at the moment, the operation robot needs to be manually assisted to get rid of the trouble, so that the operation efficiency is affected.
Disclosure of Invention
The embodiment of the invention provides a path planning method, which aims to solve the technical problem that an operation robot often walks into a position which cannot get rid of the trouble in the prior art.
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 limiting 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 environment information and building a corresponding map according to the environment information;
the area cutting module is used for cutting the travel limiting area in the map;
and the path planning module is used for planning the path according to the cut map.
The embodiment of the invention also provides a working robot which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the working robot executes the path planning method when the processor runs the computer program.
The embodiment of the invention also provides a storage medium, on which a computer program is stored, which when being executed by a processor, implements the path planning method described above.
The beneficial effects achieved by the invention are as follows: by cutting the travel limiting area in the established operation map and planning the path of the cut map, the planned operation path has no travel limiting area, so that the operation robot is prevented from moving into the position where the robot cannot get rid of the trouble, and the operation efficiency is ensured.
Drawings
FIG. 1 is a flow chart of a path planning method according to a first embodiment of the invention;
FIG. 2 is a flow chart of a path planning method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of a path planning method in a third embodiment of the present invention;
FIG. 4 is a flow chart of another implementation of cutting a travel limit area in accordance with an embodiment of the present invention;
FIG. 5 is an exemplary illustration of a scenario in which the actual travel limit area of a corner is identified based on the method of FIG. 4;
FIG. 6 is an exemplary illustration of a scenario in which the actual travel limit area of a closed channel is confirmed based on the method of FIG. 4;
FIG. 7 is a block diagram illustrating a path planning system according to a fourth embodiment of the present invention;
fig. 8 is a block diagram showing a construction of a work robot according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
At present, when a working robot works according to a working route formulated in the existing path planning mode, the working robot often walks into a position where the robot cannot get rid of the trouble, and the working efficiency is affected. Therefore, an object of the present invention is to provide a path planning method, system, and working robot, which can cut a travel limit area before path planning, thereby ensuring that the working robot does not go into a position where the working robot cannot get out of the way, and ensuring working efficiency.
Example 1
Referring to fig. 1, a path planning method according to a first embodiment of the present invention is applicable to a work robot, wherein the work robot can be implemented by hardware and/or software, and the method includes steps S01 to S03.
And S01, acquiring environment information and establishing a corresponding map according to the environment information.
In specific implementation, the environment information of the surrounding environment of the working robot can be acquired by utilizing a camera shooting mode, a laser scanning mode or a sensor sensing mode, and a map of the area to be worked is built based on the environment information. The created map may be a grid map, a feature map, a topological map, a planar contour map, a three-dimensional perspective map, and the like. For example, in some alternative embodiments of the invention, a map of the work robot's surroundings may be created based on a feature-based SLAM (simultaneous localization and mapping, time-locating and mapping) method.
And step S02, cutting the travel limiting area in the map.
The travel limiting area is a position in the map where the working robot cannot get rid of the trouble, such as a narrow corner, a narrow passage, a dead angle position with a special acute angle, and the like. In specific implementation, the cutting mode of the limited area may be: directly cutting off the travel limit area from the map; or virtual walls are provided on the boundary lines of the travel limit areas to isolate the travel limit areas.
In addition, it should be noted that the travel limit area may be identified by autonomous machine recognition 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 condition that the robot gets stuck, and if not, determine that the corner is the travel limit area. Alternatively, the travel limit area may be determined by manual delineation.
And S03, planning a path according to the cut map.
In specific implementation, global path planning can be performed on the map after cutting, and when the operation robot operates according to the route planned by the global path, obstacles around the operation robot are identified, and the route planned by the global path is adjusted according to the positions of the obstacles. When the path planning is performed, the path planning is performed according to a default or set operation mode of the operation robot, for example, the operation path of the cleaning robot such as the sweeping robot, the commercial cleaning robot and the like is planned according to an arcuate coverage pushing cleaning mode.
In summary, in the path planning method in this embodiment, by cutting the travel limiting area in the established operation map and then performing path planning on the cut map, no travel limiting area exists in the planned operation path, so that the operation robot is ensured not to walk into the position where the operation robot cannot get rid of the trouble, and the operation efficiency is ensured.
Example two
Referring to fig. 2, a path planning method according to a second embodiment of the present invention is applicable to a work robot, wherein the work robot can be implemented by hardware and/or software, and the method includes steps S11 to S16.
And S11, acquiring environment information and establishing a corresponding map according to the environment information.
It should be noted that, in the implementation, each channel (such as a room aisle, a seam between furniture, etc.) in the map created in step S11 may be initially determined as a travel limit area, and whether these initially determined travel limit areas are real travel limit areas may be determined by the subsequent width and the closed state, and if they are real travel limit areas, they may be cut off.
Step S12, the width of the travel limit area is acquired.
In this step, the acquired width may be the width of each point of the travel limiting area or the width of a specific point, for example, the width of each point of the channel may be acquired, and the width of the channel is the linear distance between the same point on two boundary lines of the channel.
Step S13, judging whether the width of the travel limiting area meets a preset escaping width.
When it is determined that the width of the travel limit area does not meet the preset escape width, step S14 is executed to make a further determination by using the closed state; when the width of the travel limit area meets the preset escaping width, the travel limit area is judged to be an unreal travel limit area, the area can be reserved, and the next travel limit area is analyzed until all the travel limit areas are confirmed.
Step S14, judging whether the traveling direction of the traveling limiting area is in a closed state.
When the traveling direction of the traveling limiting area is judged to be in a closed state, the traveling limiting area cannot meet the condition that the robot turns around and gets rid of the trouble, and cannot pass through the robot directly, the traveling limiting area is judged to be a real traveling limiting area, and step S15 is executed to directly cut off the traveling limiting area; if the travel direction of the travel limit area is judged not to be in a closed state, namely, if the travel limit area is not closed and a channel allowing a machine to directly pass through can pass through, judging that the travel limit area is an unreal travel limit area, reserving the area, and jumping to analyze the next travel limit area until all the travel limit areas are confirmed.
And S15, cutting the travel limiting area in the map.
In practice, the finally determined travel limit area may be resected by: directly cutting off the travel limit area from the map; or virtual walls are provided on the boundary lines of the travel limit areas to isolate the travel limit areas.
And S16, planning a path according to the cut map.
In the implementation, the step of planning the path according to the cut map may be implemented according to the following refinement steps, where the refinement steps specifically include:
performing global path planning on the cut map;
executing a travelling task according to the global path planning, 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 applicable to a work robot, wherein the work robot can be implemented by hardware and/or software, and the method includes steps S21 to S25.
And S21, acquiring environment information and establishing a corresponding map according to the environment information.
It should be noted that, in the implementation, each corner (such as a corner) in the map created in step S11 may be initially determined as a travel limit area, and whether these initially determined travel limit areas are real travel limit areas may be determined by a subsequent angle, and if they are real travel limit areas, they may be cut off.
Step S22, the angle of the travel limit area is acquired.
The angle of the travel limit area is an included angle between edges of the travel limit area, such as an included angle between two edges of a corner.
Step S23, judging whether the angle meets a preset escape 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 determined to be an unreal travel limit area, the area can be reserved, and the next travel limit area can be analyzed until all the travel limit areas are confirmed.
And step S24, cutting the travel limiting area in the map.
In practice, the finally determined travel limit area may be resected by: directly cutting off the travel limit area from the map; or virtual walls are provided on the boundary lines of the travel limit areas to isolate the travel limit areas.
And S25, planning a path according to the cut map.
In the implementation, the step of planning the path according to the cut map may be implemented according to the following refinement steps, where the refinement steps specifically include:
performing global path planning on the cut map;
executing a travelling task according to the global path planning, and acquiring barrier information in real time;
and adjusting the local path according to the obstacle information.
It can be understood that the second and third embodiments determine the actual travel limit area on the map through the width, the angle and the closed state, so that the determination and the cutting of the travel limit area on the map can be automatically completed, and the reliability of the determination and the cutting of the travel limit area can be ensured.
Further, referring to fig. 4, before step S15 or step S24, the method further includes the following steps:
step S001, obtaining the required turning parameters for getting rid of poverty.
Based on the kinematic model and the dynamic model of the robot, the turning parameters required by the robot to get rid of the fatigue include the maximum rotation angle alpha, the wheelbase d (the distance between the central axes of the front axle and the rear axle), the width w of the robot, the length L of the vehicle and the safety distance B of the robot, and the turning radius R=d/tan (alpha) of the robot can be calculated according to the parameters.
Step S003, according to the turning parameters, calculating a turning area according to a preset algorithm.
Wherein the turning area is round, and the radius of the turning area is equal to the radius of the turning areaAnd determining the turning area based on the radius of the turning area. It can be understood that the turning area of the same robot is fixed, so that the determined turning area can be stored as a model, so that the robot can directly call the stored turning area model in the next path planning, and the steps S001-S002 can be directly skipped, and the path planning efficiency is accelerated. Or the turn around area may be determined by calculation each time a corner is encountered.
And step S003, determining an actual travel limiting area in the travel limiting areas according to the turning-around areas.
The actual travel limiting area is an area in the travel limiting area, in which the robot is actually limited to travel, and the robot cannot turn around and get out of the way when entering the actual travel limiting area, and can turn around and get out of the way when not in the area outside the actual travel limiting area, as shown in fig. 5 and 6.
It can be understood that, because the turning area is the minimum space area required by the robot to get rid of the turning, in the implementation, the turning area can be utilized to perform step-by-step propelling scanning in the travel limiting area so as to identify the area incapable of meeting the travel of the turning area and confirm the actual travel limiting area in the travel limiting area.
Further, in some optional embodiments of the present invention, the step S003 may be specifically implemented according to the following refinement steps, where the refinement steps specifically include:
establishing a turning area model;
advancing the turning-around area model to the travel limiting area until at least two boundary lines of the travel limiting area coincide with boundary lines of the turning-around area model or the turning-around area cannot be advanced;
and acquiring a non-coincident region between the travel limiting region and the turning-around region model, wherein the non-coincident region is the actual travel limiting region.
In a specific implementation, the u-turn area can be obtained by calculating in the steps S001-S002, and the calculated u-turn area is created as a u-turn area model and stored, so that when any one of the travel limiting areas is analyzed, the u-turn area model can be directly called, and the u-turn area model is pushed to the current travel limiting area, so that the actual travel limiting area in the current travel limiting area can be determined.
As shown in fig. 5, the turning-around area model a has an angle ofIs pushed in by the corner of the angle +.>When two sides of the corner are tangent to the turning area model A respectively, the turning area A cannot continue to advance, namely the robot cannot turn around and get rid of the trouble if continuing to advance, so that the area (namely the area B in the figure) of the corner, which cannot continue to advance the turning area A, is an actual advancing limit area, and the actual advancing limit area of the corner is identified, wherein the side length of the actual advancing limit area is equal to the length of the corner>
As shown in fig. 6, the u-turn area model a advances toward a closed channel, when two sides of the channel are tangent to the u-turn area model a, the u-turn area a cannot continue advancing forward, that is, the robot cannot make a u-turn to get rid of the trouble if continuing to advance forward, so the channel is an area where the u-turn area a cannot continue advancing (i.e., the area C in the figure) that is an actual travel limiting area, so that an actual travel limiting area of the corner is identified, and the channel width d=2rr at the tangent position.
In the implementation, the turning-around area can be used as a model, so that the actual travel limiting area of each corner can be confirmed in a turning-around area model pushing mode; or the turning area can be determined through calculation every time the corner is encountered, and the turning area can be round, arc-shaped, square or the like, and the invention is not limited.
It can be appreciated that the present embodiment further processes the finally determined travel limit area to find an actual travel limit area from the travel limit areas, and then resect the actual travel limit area instead of directly resecting the entire travel limit area, so that the working robot can be guaranteed not to enter the non-stranded position, and the working effect is not affected due to excessive resection of the working area.
Example IV
In another aspect, referring to fig. 7, a path planning system according to a fourth embodiment of the present invention is applicable to a working robot, where the working robot may be implemented by hardware and/or software, and the path planning system includes:
the map building module 11 is used for acquiring environment information and building a corresponding map according to the environment information;
a region cutting module 12 for cutting a travel limit region in the map;
the path planning module 13 performs path planning according to the cut map.
In specific implementation, the environment information of the surrounding environment of the working robot can be acquired by utilizing a camera shooting mode, a laser scanning mode or a sensor sensing mode, and a map of the area to be worked is built based on the environment information. The created map may be a grid map, a feature map, a topological map, a planar contour map, a three-dimensional perspective map, and the like. For example, in some alternative embodiments of the invention, a map of the work robot's surroundings may be created based on a feature-based SLAM (simultaneous localization and mapping, time-locating and mapping) method.
The travel limiting area is a position in the map where the working robot cannot get rid of the trouble, such as a narrow corner, a dead angle position with a special acute angle, and the like. In specific implementation, the cutting mode of the limited area may be: directly cutting off the travel limit area from the map; or virtual walls are provided on the boundary lines of the travel limit areas to isolate the travel limit areas.
In addition, it should be noted that the travel limit area may be identified by autonomous machine recognition 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 condition that the robot gets stuck, and if not, determine that the corner is the travel limit area. Alternatively, the travel limit area may be determined by manual delineation.
In specific implementation, global path planning can be performed on the map after cutting, and when the operation robot operates according to the route planned by the global path, obstacles around the operation robot are identified, and the route planned by the global path is adjusted according to the positions of the obstacles. When the path planning is performed, the path planning is performed according to a default or set operation mode of the operation robot, for example, the operation path of the cleaning robot such as the sweeping robot, the commercial cleaning robot and the like is planned according to an arcuate coverage pushing cleaning mode.
In summary, in the path planning system in this embodiment, by cutting the travel limiting area in the established operation map and then performing path planning on the cut map, no travel limiting area exists in the planned operation path, so that the operation robot is ensured not to walk into the position where the operation robot cannot get rid of the trouble, and the operation efficiency is ensured.
In some alternative embodiments of the invention, the system further comprises:
a width acquisition module for acquiring a width of the travel limit area;
the width judging module is used for judging whether the width of the travel limiting area meets the preset escaping width or not;
and if the judgment result is negative, the area cutting module cuts the travel limiting area in the map.
In some alternative embodiments of the invention, the system further comprises:
the closing judgment module is used for judging whether the advancing direction of the advancing limiting area is in a closing state or not when judging that the width of the advancing limiting area does not meet the preset escaping width;
and when judging that the travelling direction of the travelling limiting area is in a closed state, the area cutting module cuts the travelling limiting area in the map.
In some alternative embodiments of the invention, the system further comprises:
an angle acquisition module for acquiring an angle of the travel limit area;
the angle judging module is used for judging whether the angle meets a preset escape angle or not;
and if the judgment result is negative, the area cutting module cuts the travel limiting area in the map.
In some alternative embodiments of the invention, the system further comprises:
the parameter acquisition module is used for acquiring the required turning parameters for getting rid of poverty;
the area calculation module is used for calculating a turning area according to the turning parameters and a preset algorithm;
and the area cutting module is used for determining an actual travel limiting area in the travel limiting areas according to the turning-around area. Wherein the turning area is a circular area.
In some alternative embodiments of the invention, the system further comprises:
the model creation unit is used for creating a turning-around area model;
the processing unit is used for pushing the turning-around area model to the travel limiting area until at least two boundary lines of the travel limiting area coincide with the boundary lines of the turning-around area model or the turning-around area cannot be pushed;
and the confirmation unit is used for acquiring a non-coincident region between the travel limiting region and the turning-around region model, wherein the non-coincident region is an actual travel limiting region.
In some alternative embodiments of the invention, the path planning module includes:
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 travelling task according to the global path planning 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 implemented when the above modules and units are executed are substantially the same as those in the above method embodiments, and are not described herein again.
Example five
In another aspect, referring to fig. 8, a working robot according to a fifth embodiment of the present invention includes a processor 10, a memory 20, and a computer program 30 stored on the memory and capable of running on the processor, where the processor 10 executes the path planning method described above when running the computer program 30.
The operation mode of the operation robot may be, but is not limited to, cleaning operation (such as cleaning dust, leaves, snow and the like), harvesting operation (such as harvesting grains and the like), plough operation, sowing operation (such as sowing pesticides and seeds), searching operation, searching and rescuing operation, mapping operation (such as underwater mapping), mine-discharging operation, mineral exploration operation, defect detection operation and the like. Correspondingly, the robot device can be a cleaning robot (such as a sweeping robot, a commercial floor cleaning robot, a dust collector and the like), a search and rescue robot, a harvesting robot, an exploration robot, a mine-discharging robot, a paint spraying robot and the like, which need to carry out path planning operation.
In addition, the processor 10 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip in some embodiments for executing program code or processing data stored in the memory 20.
The memory 20 includes at least one type of readable storage medium including flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 20 may in some embodiments be an internal storage unit of the work robot, such as a hard disk of the work robot. The memory 20 may in other embodiments also be an external storage device of the work robot, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the work robot. Further, the memory 20 may also include both an internal memory unit and an external memory device of the work robot. The memory 20 may be used not only for storing application software installed in the work robot and various types of data, but also for temporarily storing data that has been output or is to be output.
Optionally, the working robot may further include a walking mechanism, a working mechanism, a user interface, a network interface, a communication bus, etc., where the walking mechanism is used to implement walking of the robot, the walking mechanism may be in the form of rollers, tracks, mechanical legs, etc., the working mechanism is used to implement working of the robot, such as a harvesting mechanism, a cleaning mechanism, etc., and the 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, etc. 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, or the like. The display may also be referred to as a display screen or a display unit, as appropriate, for displaying information processed in the work robot and for displaying a visual user interface. The network interface may optionally comprise a standard wired interface, a wireless interface (e.g., WI-FI interface), typically used to establish a communication connection between the work robot and other electronic equipment. The communication bus is used to enable connected communication between these components.
It should be noted that the configuration shown in fig. 8 does not constitute a limitation on the work robot, and in other embodiments the work robot may include fewer or more components than shown, or may combine certain components, or may have a different arrangement of components.
In summary, the working robot in this embodiment cuts the travel limiting area in the established working map, and then performs path planning on the cut map, so that no travel limiting area exists in the planned working path, and the working robot is ensured not to walk into the position where the working robot cannot get rid of the trouble, and the working efficiency is ensured.
The present embodiment also provides a storage medium on which is stored a computer program 30 for use in the work robot described above, which program, when executed by a processor, implements the path planning method described above.
The storage medium may be, but is not limited to, ROM/RAM, magnetic disk, optical disk, etc.
Those of skill in the art will appreciate that the logic and/or steps represented in the flow diagrams or otherwise described herein, e.g., a ordered listing of executable instructions for 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (14)
1. A method of path planning, the method comprising:
acquiring environment information and establishing a corresponding map according to the environment information;
cutting a travel limit area in the map, wherein the travel limit area is a position in the map where the working robot cannot get rid of the trouble, and the cutting mode of the travel limit area comprises the steps of directly cutting the travel limit area from the map or setting a virtual wall on a boundary line of the travel limit area so as to isolate the travel limit area;
planning a path according to the cut map;
the step of cutting the travel limiting area in the map further comprises the following steps: acquiring a required turning parameter for getting rid of poverty; according to the turning parameters, calculating a turning area according to a preset algorithm; and determining an actual travel limiting area in the travel limiting areas according to the turning-around area.
2. The path planning method of claim 1, further comprising, prior to the step of cutting the travel limit area in the map:
acquiring the width of the travel limit area;
judging whether the width of the travel limiting area meets a preset escaping width or not;
and if not, executing the step of cutting the travel limiting area in the map.
3. The path planning method according to claim 2, further comprising, after the step of determining whether the width of the travel limit area satisfies a preset escape width:
when judging that 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 or not;
and when judging that the travelling direction of the travelling limiting area is in a closed state, executing the step of cutting the travelling limiting area in the map.
4. The path planning method of claim 1, further comprising, prior to the step of cutting the travel limit area in the map:
acquiring the angle of the travel limit area;
judging whether the angle meets a preset escape angle or not;
and if not, executing the step of cutting the travel limiting area in the map.
5. The path planning method according to any one of claims 1 to 4, further comprising:
establishing a turning area model;
advancing the turning-around area model to the travel limiting area until at least two boundary lines of the travel limiting area coincide with boundary lines of the turning-around area model or the turning-around area cannot be advanced;
and acquiring a non-coincident region between the travel limiting region and the turning-around region model, wherein the non-coincident region is an actual travel limiting region.
6. The path planning method according to any one of claims 1 to 4, wherein the step of planning the path based on the cut map comprises:
performing global path planning on the cut map;
executing a travelling task according to the global path planning, and acquiring barrier information in real time;
and adjusting the local path according to the obstacle information.
7. A path planning system, the system comprising:
the map building module is used for obtaining environment information and building a corresponding map according to the environment information;
the area cutting module is used for cutting a travel limiting area in the map, wherein the travel limiting area is a position in the map where the working robot cannot get rid of the trouble, and the manner of cutting the travel limiting area comprises the steps of directly cutting the travel limiting area from the map or arranging a virtual wall on a boundary line of the travel limiting area so as to isolate the travel limiting area;
the path planning module is used for planning a path according to the cut map;
the parameter acquisition module is used for acquiring the required turning parameters for getting rid of poverty;
the area calculation module is used for calculating a turning area according to the turning parameters and a preset algorithm;
and the area cutting module is used for determining an actual travel limiting area in the travel limiting areas according to the turning-around area.
8. The path planning system of claim 7, wherein the system further comprises:
a width acquisition module for acquiring a width of the travel limit area;
the width judging module is used for judging whether the width of the travel limiting area meets the preset escaping width or not;
and if the judgment result is negative, the area cutting module cuts the travel limiting area in the map.
9. The path planning system of claim 8, wherein the system further comprises:
the closing judgment module is used for judging whether the advancing direction of the advancing limiting area is in a closing state or not when judging that the width of the advancing limiting area does not meet the preset escaping width;
and when judging that the travelling direction of the travelling limiting area is in a closed state, the area cutting module cuts the travelling limiting area in the map.
10. The path planning system of claim 7, wherein the system further comprises:
an angle acquisition module for acquiring an angle of the travel limit area;
the angle judging module is used for judging whether the angle meets a preset escape angle or not;
and if the judgment result is negative, the area cutting module cuts the travel limiting area in the map.
11. A path planning system according to any one of claims 7 to 10, wherein the system further comprises:
the model creation unit is used for creating a turning-around area model;
the processing unit is used for pushing the turning-around area model to the travel limiting area until at least two boundary lines of the travel limiting area coincide with the boundary lines of the turning-around area model or the turning-around area cannot be pushed;
and the confirmation unit is used for acquiring a non-overlapping area between the travel limiting area and the turning-around area, wherein the non-overlapping area is an actual travel limiting area.
12. A path planning system according to any one of claims 7 to 10, wherein 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 travelling task according to the global path planning and acquiring barrier information in real time;
and the path adjusting unit is used for adjusting the local path according to the obstacle information.
13. A work robot comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the work robot performing the path planning method of any one of claims 1 to 6 when the processor runs the computer program.
14. A storage medium having stored thereon a computer program which, when executed by a processor, implements the path planning method of any one of claims 1 to 6.
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