CN113110499A

CN113110499A - Judging method of passing area, route searching method, robot and chip

Info

Publication number: CN113110499A
Application number: CN202110502501.XA
Authority: CN
Inventors: 孙永强; 李永勇; 杨武
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2021-07-13
Anticipated expiration: 2041-05-08
Also published as: CN113110499B

Abstract

The invention discloses a judging method of a passing area, a route searching method, a robot and a chip, so that narrow areas are correctly identified in the normal working process of the robot according to the area proportion of impassable areas in the robot searching area, and target points suitable for the narrow areas are searched out, so that the problem of navigation path planning of the robot is solved.

Description

Judging method of passing area, route searching method, robot and chip

Technical Field

The invention relates to the technical field of robot path planning, in particular to a judging method of a passing area, a route searching method, a robot and a chip.

Background

The mobile robot in the prior art is a type of robot that autonomously detects the surrounding environment using a sensor, determines the movement of a body using a controller, and implements the movement using an actuator (e.g., wheels). The related art cleaning robot is frequently moved to a narrow area formed by the restriction between various furniture components such as four feet of a stool, an entrance of an end table, etc. in a home environment, and is also frequently moved to a narrow passage formed by a door of a room being opened.

When the robot enters these narrow areas, the robot slips, the sensors for positioning accumulate errors, or map optimization also causes errors, so that the robot easily marks the entrances of these narrow areas as grid areas occupied by obstacles on the grid map constructed immediately, and the entrances of the narrow areas mapped to the grid map constructed by the robot are blocked, but are not actually blocked in the actual motion scene. Therefore, the robot cannot correctly identify whether the current grid map is in a narrow area or not according to the immediately constructed grid map, and further cannot search a reasonable navigation path based on a conventional path search algorithm.

Disclosure of Invention

The invention provides a judging method of a passing area, a route searching method, a robot and a chip. The specific technical scheme is as follows:

a method for judging a passing area comprises the following steps: controlling the robot to move along a preset path until the robot is judged to move to a position where the straight-line distance between the robot and the path node recorded latest is larger than or equal to the diameter of the robot body, and recording the current position of the robot as a new path node to become the path node recorded latest; then judging whether the path node recorded latest meets a second preset circular area passing condition, if so, judging that the robot is currently in the narrow area, otherwise, judging that the robot is not currently in the narrow area; the narrow area is a crack channel of two or more obstacles, the crack channel is a corresponding gap at the narrowest part between the two obstacles, and the width of the gap is greater than or equal to the diameter of the body of the robot; the preset path is a path planned in advance by the robot in the current area. Compared with the prior art, the technical scheme is suitable for area judgment under the condition that the robot works normally or a navigation scene, and the robot is controlled to adopt a mode of judging while moving, so that whether the current position of the robot is in a narrow area or not is judged in real time, the characteristic of the passable area of the narrow area is met, the robot cannot normally move along a preset path due to the marking error of a mapping grid of the narrow area in a map, particularly the area marked as an obstacle grid on the map, and the robot can freely pass through the corresponding area under the actual scene. Therefore, the effectiveness and accuracy of the region judgment are improved.

Further, before determining whether the robot moves to a position where the straight-line distance from the path node recorded most recently is greater than or equal to the diameter of the robot body, the method further includes: step 1, controlling the robot to move along a preset path until a preset search area meets a first preset circular area passing condition, and then entering step 2; step 2, recording the current position of the robot as a first path node; the pre-search area is a first circular area which takes the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius. According to the technical scheme, the first preset circular domain passing condition is set as the prejudgment condition of the narrow area, invalid path nodes are eliminated preliminarily, and the judgment precision is increased.

Further, the first preset circular area passing condition includes: the ratio of the area of the first impassable area to the area of the pre-search area is greater than a first passage evaluation value; the first impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the first circular area; the first traffic evaluation value is a prejudgment threshold set to overcome a marking error of a free grid existing in the construction grid map. The technical scheme belongs to a rough judgment condition, and subsequently depends on further judgment of the robot in the process of continuing moving.

Further, after the step 2 is executed, the determining method specifically includes: step 3, controlling the robot to continuously move along the preset path until the robot is judged to move to a position where the straight-line distance between the robot and the path node recorded latest is larger than or equal to the diameter of the robot body, and then entering step 4; step 4, recording the current position of the robot as a second path node, and simultaneously judging whether the second path node meets a second preset circular domain passing condition, if so, entering step 5, otherwise, entering step 6; step 5, judging that the robot is currently in the narrow area, and returning to the step 3; and 6, judging that the robot is not in the narrow area at present, and returning to the step 1. According to the technical scheme, the second preset circular area passing condition is set as the precise judgment condition of the narrow area, so that the robot has the qualification of judging the narrow area after moving for a certain distance relative to the path node (including the first path node or the second path node) recorded last time, and the method is more suitable for area judgment under the map error environment capable of passing.

Further, the second preset circular area passing condition includes: in a second circular area which takes the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius, the ratio of the area of the second impassable area to the area of the second circular area is larger than the second passing evaluation value; the second impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the second circular area; the second passage evaluation value is a determination threshold value set for overcoming a marking error of a free grid existing in the construction grid map, and is larger than the first passage evaluation value. According to the technical scheme, the influence of the marking information of the grid map on a single grid does not need to be paid attention to in real time in the judging process, and the ratio of the area of the impassable area in a certain grid area only needs to be paid attention to, so that the occurrence of misjudgment is avoided.

Further, the second preset circular area passing condition includes: searching a path leading from a second path node recorded latest to a first path node recorded latest to the first path node recorded latest by using a heuristic search algorithm in a second circular area taking the first path node recorded latest as a circle center and taking a machine body diameter of a preset multiple as a radius; wherein, the fuselage diameter of presetting the multiple sets up as: the second circular area does not intersect other marked grid areas. The method has the advantages that the planned paths in other marked grid regions are prevented from participating in judgment, and meanwhile, on the premise that the grids have marking errors, the navigation paths leading to the terminal point are searched out in a reasonable and sufficient grid region range including partial obstacles in an expanded mode by using a mature path searching algorithm, so that the passable condition of the regions is judged, and the judgment precision of the passable region, namely the narrow region, is improved.

Further, in the process of executing step 1, the method further includes: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the preset search area meets a first preset circular area passing condition or not; in the process of executing step 3, the method further comprises: and judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position where the straight-line distance between the robot and the path node recorded latest is greater than or equal to the diameter of the body of the robot. The robot is prevented from continuously moving and executing the judging method in time so as to meet the intelligent planning requirement and avoid the situation that the robot judges the area without limit and the computational resource consumption is overlarge.

A route search method of a traffic area, the route search method comprising: step S1, in the process of controlling the robot to move along the preset path, until the preset search area is judged to meet the first preset circular area passing condition, then the step S2 is carried out; step S2, recording the current position of the robot as a first path node, simultaneously creating a new predicted passing coordinate set, adding the first path node into the predicted passing coordinate set, and then entering step S3; s3, controlling the robot to continue moving along the preset path until the robot is judged to move to a position where the straight-line distance between the robot and the path node recorded latest is larger than or equal to the diameter of the robot body, and then, entering S4; step S4, recording the current position of the robot as a second path node, and simultaneously judging whether the second path node meets a second preset circular domain passing condition, if so, entering step S5, otherwise, entering step S6; step S5, adding the second path node into the predicted traffic coordinate set in the step S2, and returning to the step S3; step S6, storing the predicted traffic coordinate set into the same candidate route coordinate set according to the number of the route nodes stored in the predicted traffic coordinate set, and then returning to step S1; wherein, one set of predicted passing coordinates is allowed to include the barrier grid points; the head element and the tail element of any one predicted passing coordinate set are unique and are not the same in the same candidate route coordinate set; the preset path is a path planned in advance by the robot in the current area.

Compared with the prior art, the technical scheme is suitable for searching candidate routes for passing through a narrow area under the normal working state of the robot, firstly setting a first preset circular area passing condition as a prejudgment condition of the narrow area, and providing a path node source of the candidate route corresponding to the predicted passing coordinate set; and then the robot is enabled to continuously move along the original path, then a second preset circular area traffic condition is set as a precise judgment condition of the narrow area, and a grid point source of a candidate route corresponding to the predicted traffic coordinate set is continuously provided, so that the robot has the qualification of judging the narrow area after moving for a certain distance, the candidate route collected by the predicted traffic coordinate set and used for being connected into grid points is more complete, the method is more suitable for a map grid error environment in the narrow area, and an actual passable route is provided for the robot without paying attention to the marking information of grids on the route one by one. In addition, on the basis, if the corresponding preset circular domain passing condition is not met, the continuous search for the predicted passing coordinate set is stopped, and the path nodes in a single predicted passing coordinate set can be connected into an independent candidate route. And under the state that the robot moves normally, searching out a route point set capable of overcoming the map drift error by iteratively executing the related steps. The success rate of the robot for finding an effective navigation path in a scene with a complex obstacle space layout is increased.

Further, the method that the predicted traffic coordinate set is stored inside the same candidate route coordinate set according to the number of the route nodes stored inside the predicted traffic coordinate set, and then the step S1 is returned to specifically includes: when the number of the path nodes stored in the predicted passing coordinate set is less than 2, deleting the predicted passing coordinate set, and returning to the step S1 to create a new predicted passing coordinate set; when the number of the path nodes stored in the predicted passing coordinate set is greater than or equal to 2, the predicted passing coordinate set is used for representing a single candidate route, the single candidate route is stored in the candidate route coordinate set for being called by a heuristic search algorithm, and then the step S1 is returned to create a new predicted passing coordinate set; the first path node and the second path node are added into the predicted traffic coordinate set according to the recorded sequence, so that the path nodes stored in the predicted traffic coordinate set are connected into a candidate route in a certain order; and the path node corresponding to the head element in each predicted passing coordinate set is the starting point of a corresponding candidate route, and the path node corresponding to the tail element in each predicted passing coordinate set is the end point of a corresponding candidate route. The path nodes in each predicted passing coordinate set are matched and connected into a candidate route to form the candidate route through which the predicted robot can pass without barriers in the corresponding area; in the technical scheme, if the number of path nodes finally obtained by one predicted traffic coordinate set is small enough to be difficult to connect a line, the path nodes can be deleted, and invalid path nodes are reduced; and saving the path node finally obtained by one predicted passing coordinate set to the candidate route coordinate set used for saving a set of candidate routes as a whole, so that the access structure of the candidate routes is reasonable and ordered.

Further, the first preset circular area passing condition includes: the ratio of the area of the first impassable area to the area of the pre-search area is greater than a first passage evaluation value; the first impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the first circular area; the first traffic evaluation value is a prejudgment threshold value set for overcoming marking errors of free grids existing in the construction grid map; the pre-search area is a first circular area which takes the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius. The method can be used for preliminarily judging whether the robot starts to enter a narrow area or not, belongs to a rough judgment condition, and subsequently depends on further judgment of the robot in the process of continuing moving. But whether the marking information of the single grid allows the robot to pass or not is not considered, and the influence of the marking error of the single grid is reduced.

Further, the second preset circular area passing condition includes: in a second circular area which takes the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius, the ratio of the area of the second impassable area to the area of the second circular area is larger than the second passing evaluation value; the second impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the second circular area; the second passage evaluation value is a determination threshold value set for overcoming a marking error of a free grid existing in the construction grid map, and is larger than the first passage evaluation value. To improve the accuracy of the determination. Compared with the judgment of the first preset circular area passing condition, the technical scheme has the advantages that after the robot moves to a position away from the latest recorded path node by the diameter of the robot body, the passing accuracy of the narrow area is improved by judging the area proportion occupied by the impassable area in the second circular area with higher accuracy, and the influence of the marking information of a single grid point is not considered.

Further, the second preset circular area passing condition includes: in a second circular area which takes the first path node recorded latest as the center of a circle and takes the diameter of the machine body with preset multiple as the radius, searching out the path leading from the second path node recorded latest to the first path node recorded latest by using a heuristic search algorithm; wherein, the fuselage diameter of presetting the multiple sets up as: leaving the second circular area free from crossing other marked grid areas. So as to avoid the planned paths in other marked grid regions from participating in judgment, thereby avoiding misjudgment.

The technical scheme is reasonable in size setting of the search area, namely the second circular area, and avoids intersecting with other known map areas to add a planned route in the relevant area, so that the robot is guided to other areas and is not guided to pass through the current narrow area; on the other hand, whether a complete navigation path from the starting point to the end point can be planned in the currently explored second circular area or not is judged, so that the passable area of the second circular area is proved to be not influenced by the obstacle or the marking position of the obstacle grid; thereby improving the accuracy of the determination of the narrow region.

Further, in the process of executing step S1, the method further includes: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the preset searching area meets a first preset circular area passing condition or not; in the process of executing step S3, the method further includes: and judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position where the straight-line distance between the robot and the path node recorded latest is greater than or equal to the diameter of the body of the robot. The robot is prevented from continuously moving and executing the route searching method in time, so that the intelligent planning requirement is met, and the problem that the robot searches the route without limit to consume excessive unnecessary computing resources is avoided.

A chip for storing a program code for performing said method for determining a traffic zone and/or for performing said method for route searching of a traffic zone. Based on the passable condition of the whole grid area, the robot is controlled to accurately and effectively identify the narrow area, and then the robot is controlled to search a route point set which can overcome the problem that the grid cannot pass due to map drift errors in a normal working and moving state.

The chip is used for controlling the robot to execute the judging method of the traffic area and/or the route searching method of the traffic area. When the robot detects the narrow area and plans to pass through the narrow area, the candidate routes are searched in advance and combined into the current navigation path, the influence of grid marking errors caused by sensor accumulated errors (indirect reasons) and map drift (direct reasons) is effectively overcome, and the navigation path formed by connecting the corresponding candidate routes passes through the narrow area without obstacles.

Drawings

Fig. 1 is a flowchart illustrating a method for determining a traffic zone according to an embodiment of the present invention.

Fig. 2 is a flowchart of a route searching method for a traffic area according to another embodiment of the present invention.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings.

It is to be noted that, as will be appreciated by those skilled in the art: environment information around the current position of the robot is marked in a grid map, and grids in a map area constructed by the robot comprise three states of marking as free, occupied and unknown; these grids are represented in the present embodiment using grid points, i.e. the center points of the grids; the grid points in the idle state are grids which are not occupied by obstacles, are grid position points which can be reached by the robot, are idle grid points and can form an unoccupied area; the grid points in the occupied state are grids occupied by the obstacles, are obstacle grid points and can form an occupied area; the unknown grid points refer to grid areas with unclear specific conditions in the process of constructing the map by the robot, and the position points of the grid areas are often shielded by obstacles and can form unknown areas.

The intelligent floor sweeping robot in the prior art often moves to a narrow area formed by the restriction among various furniture components, such as four feet of a stool, an entrance of a tea table and the like in a home environment, and a narrow area formed by opening a door of a room. It is added that the narrow area is a crack passage of each obstacle, wherein the crack passage of each obstacle is a corresponding crack at the narrowest part between two obstacles, and the width of the crack is larger than the diameter of the body of the robot, so that the robot is allowed to pass through. Because the robot slips, accumulated errors exist in a sensor for positioning, or errors also occur in visual map optimization, the robot easily marks the narrow area as an area occupied by an obstacle on a grid map constructed by instant scanning, that is, an idle grid point originally mapped in the narrow area is wrongly marked as an area occupied by the obstacle, so that an entrance mapped to the narrow area in the grid map constructed by the robot is blocked, but the narrow area is not really blocked in an actual motion scene, and at this time, the robot is required to be capable of accurately identifying whether the narrow area is currently located according to the immediately constructed grid map, so that a navigation path capable of entering and exiting the narrow area is planned subsequently.

The invention discloses a method for judging a passing area as an embodiment, which comprises the following basic concepts:

and step A, controlling the robot to move along a preset path until the robot is judged to move to a position where the straight-line distance between the robot and the path node recorded last time is larger than or equal to the diameter of the robot body, and recording the current position of the robot into a new path node, so that the current position is recorded once and corresponding position information is stored when the robot moves the straight-line distance of one body diameter.

Step B, judging whether the path node recorded last time meets a second preset circular domain passing condition or not, namely judging whether the path node recorded last time meets the second preset circular domain passing condition or not after the robot moves a straight-line distance of one machine body diameter relative to the path node recorded last time in the step A, judging that a search area (including a communication area and a non-passing area) to which the robot belongs currently meets the second preset circular domain passing condition if the path node recorded last time meets the second preset circular domain passing condition, and determining that the robot is currently in a narrow area; otherwise, judging that the current position or the area of the robot is not in the narrow area; the narrow area is a crack channel of two or more obstacles, the crack channel is a corresponding gap at the narrowest part between the two obstacles, and the width of the gap is greater than or equal to the diameter of the body of the robot; the preset path is a path planned in advance by the robot in the current area. The embodiment sets the second preset circular passage condition as a passable condition of the robot in a narrow area.

It should be noted that the preset path is a path planned in advance by the robot; path node support is represented by grid points; the preset path is a normal working path or a navigation path of the robot, and when the robot is a sweeping robot, the preset path can be a bow-shaped moving path, an edge walking path, a return-shaped path and other planning cleaning paths; the robot moving along the preset path may perform a route coordinate point or a route search suitable for crossing the narrow area during a normal operation, or perform a corresponding route search during entering the narrow area.

Compared with the prior art, the method is suitable for area judgment in a normal working or navigation scene of the robot, and realizes real-time judgment on whether the current position of the robot is in a narrow area by controlling the robot to adopt a mode of judging while moving, so that the current position of the robot accords with the passable area characteristic of the narrow area, the robot cannot normally move along a preset path due to the marking error of a mapping grid of the narrow area in a map, particularly the area marked as an obstacle grid on the map, and the robot can actually pass through the corresponding area freely in the actual scene. Therefore, the effectiveness and accuracy of the region judgment are improved.

As an embodiment, as shown in fig. 1, a method for determining a traffic zone specifically includes the following steps:

step S101, in the process of controlling the robot to move along a preset path, judging whether a pre-search area meets a first preset circular area passing condition in real time, if so, entering step S102, otherwise, controlling the robot to continuously move along the preset path. The pre-search area is a first circular area with the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius, and covers the smallest robot passable area around the current position of the robot.

Preferably, in the process of executing step S101, the method further includes: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the preset search area meets a first preset circular area passing condition or not in real time; and S101, timely stopping the robot from moving continuously and executing the judging method to meet the intelligent planning requirement and avoid the situation that the robot judges the area without limit so as to cause overlarge consumption of computing resources.

Step S102, recording the current position of the robot as a first path node, and then entering step S103; the first path node recorded in step S102 executed at present is new with respect to the first path node recorded in step S102 executed at the last time, and both path nodes are saved and recorded. Therefore, in the embodiment, the first preset circular domain passing condition is set as the prejudgment condition of the narrow area, so that invalid path nodes are preliminarily eliminated, and the overall judgment accuracy is increased.

In this embodiment, if the robot determines that the pre-search area satisfies the first pre-set circle area traffic condition at its current position, the current position of the robot is recorded as a new first path node, and a path start point with navigation significance is formed, or a navigation start point position drawn by a general path search algorithm is suitable for being used.

In this embodiment, the first preset circular area passing condition includes: the ratio of the area of the first impassable area to the area of the pre-search area is larger than a first traffic evaluation value, namely the area proportion occupied by the first impassable area in the pre-search area is larger than the first traffic evaluation value; the first impassable area is a grid area which is formed by unknown grid points (which can also be regarded as an unknown grid and represented by grid center points in the embodiment) and obstacle grid points (which can also be regarded as an unknown grid and represented by grid center points in the embodiment) in a grid area corresponding to the first circular area; the first traffic evaluation value is a prejudgment threshold value set to overcome a marking error of a free grid existing in the construction grid map, and is a result of repeated experiments in the narrow area; the first passage evaluation value is preferably set to 50%. And when the robot judges that the ratio of the area of the first impassable area (the number of the corresponding grids) to the area of the first circular area (the number of the corresponding grids) is less than or equal to 50%, controlling the robot to continue to move along the preset path until the robot judges that the area proportion occupied by the first impassable area in the grid area corresponding to the first circular area is greater than 50%. Therefore, the first preset circular area passing condition is used for preliminarily judging whether the robot starts to enter the narrow area, belongs to a rough judgment condition, and subsequently depends on further judgment of the robot in the process of continuing to move. But whether the marking information of the single grid allows the robot to pass or not is not considered, and the influence of the marking error of the single grid is reduced.

In the present embodiment, the grid marking error is formed by reflecting an error such as a sensor error, a map drift error, or an obstacle movement to the grid map.

And S103, in the process of controlling the robot to continuously move along the preset path, judging whether the robot moves to a position where the straight-line distance between the robot and the path node recorded latest is greater than or equal to the diameter of the robot body in real time, if so, entering the step S104, otherwise, controlling the robot to continuously move along the preset path until the current position (real-time position) of the robot and the straight-line distance between the path node recorded last time reach or exceed the diameter of the robot body. The step S103 of detecting the linear distance between the current position of the robot and the path node recorded last time in real time includes a linear distance between the current position of the robot and the first path node, where the robot keeps detecting the linear distance between the current position and the path node recorded last time in real time, or performs distance sampling detection at regular intervals, and records the path node detected in real time when a certain passing condition is satisfied.

In the process of executing step S103, the method further includes: and judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position where the straight-line distance between the robot and the path node recorded latest is greater than or equal to the diameter of the body of the robot. Therefore, the robot is prevented from continuously moving and executing the judging method in time, the requirement of intelligent path planning is met, and the phenomenon that the robot judges the area without limit to cause overlarge consumption of computing resources is avoided.

Step S104, the current position of the robot is recorded as the second path node, and then the process proceeds to step S105. The second path node recorded in step S104 is a new path node with respect to the second path node recorded in the last time step S104 is executed, both of which are recorded, and neither of which is updated or replaced. Therefore, the second path node recorded in step S104 is a new second path node relative to the second path node recorded in step S104 executed last time or the first path node recorded in step S102, and these path nodes are all saved and recorded, and none of them is updated and replaced. Therefore, when step S102 is executed to step S103, the newly recorded path node in step S103 is the first path node recorded in step S102; when step S103 is repeatedly executed once without going through step S102 (the iteration is returned from the subsequent step), the newly recorded path node in step S103 is the second path node recorded in step S104 executed last time.

And step S105, judging whether the second path node meets a second preset circular domain passing condition, if so, entering step S106, and if not, entering step S107. And the method is also equivalent to judging whether a robot exploration area (comprising a communication area and an impassable area) to which the second path node belongs meets the second preset circular area passing condition.

It should be noted that the connected region refers to a region in which all points in the region can be connected with each other and the outside is an obstacle or a map boundary.

As an embodiment of the second preset circular field passing condition, the second preset circular field passing condition includes: in a second circular area (an effective detection area of the robot) which takes the current position of the robot (namely, a second path node recorded latest) as the center of a circle and the diameter of the body of the robot as the radius, the ratio of the area of the second impassable area to the area of the second circular area is larger than the second passing evaluation value; the second impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the second circular area; the second circular area may be understood as a robot exploration area (including connected areas and impassable areas) where the newly recorded second path node is located. The second passage evaluation value is a determination threshold value set for overcoming a marking error of a free grid existing in the construction grid map, and is larger than the first passage evaluation value to improve the determination accuracy. The second passing evaluation value is preferably set to 75%. When the robot judges that the area proportion occupied by the second impassable region in the grid region corresponding to the second circular region is less than or equal to 75%, the process proceeds to step S107. Wherein the coverage area of the second circular area is different relative to the coverage area of the first circular area because the position of the robot changes; therefore, on the basis of the first circular area or on the basis of the second circular area searched for last time, after the robot moves to the position away from the latest recorded path node by the diameter of the robot body, the area proportion occupied by the second impassable area is further judged.

As another embodiment of the second preset circular area passing condition, the second preset circular area passing condition includes: and searching a path leading from the newly recorded second path node to the newly recorded first path node in a second circular area which takes the newly recorded first path node as a circle center and takes the fuselage diameter of preset multiple as a radius by using a path searching algorithm, and proving that the path searching in the current second circular area is not influenced by the obstacle or the error mark of the obstacle grid, wherein the second circular area is understood as a robot exploration area in which the second path node is positioned and comprises a communicating sub-area and an impassable sub-area. Since the second circular area may be in the vicinity of a narrow area, there may be obstacle obstacles between the newly recorded second path node and the newly recorded first path node, and this embodiment refers to the nodes where collision may occur as invalid nodes or illegal nodes, which need to be avoided when planning a path, so that it is necessary to use a mature and stable path search algorithm to check the trafficability of the area, and thus, by judging whether a complete navigation path from a starting point to an end point can be planned in the currently explored second circular area, it is proved that the trafficable area of this second circular area is not affected by obstacles or not affected by the marked positions of the obstacle grids; the path search algorithm used in this embodiment is an a-x algorithm, and the navigation path leading from the second path node recorded latest to the first path node recorded latest is effectively and quickly searched in the second circular area, so that the judgment accuracy of the narrow area is improved.

In this embodiment, the first circular area or the second circular area may be regarded as a cleaning area. The diameter of the machine body with preset multiples is set as follows: the second circular area does not intersect with other marked grid areas so as to avoid the planned paths in the other marked grid areas from participating in judgment, and meanwhile, on the premise that the grids have marking errors, a navigation path leading to an end point is searched out in an expanding mode in a reasonable grid area range which is enough to include partial obstacles by introducing a mature path searching algorithm, so that the passable condition of the area is judged, and the judgment precision of a passable area, namely a narrow area, is improved. The diameter of the machine body with the preset multiple is set to be two thirds of the diameter of the machine body, so that the formed second circular area is larger than that of the first circular area. The size of the search area, the second circular area, is set reasonably, and intersection with other known map areas is avoided to add the planned route in the relevant area, so that the robot is guided to other areas and is not guided to pass through the current narrow area any more.

S106, judging that the robot is currently in the narrow area; after the robot recognizes that its current position is in the narrow area, it continues to move along the preset path within the narrow area by returning to step S103. But the robot may have moved to the end of said preset path, it is preferred to control the robot to proceed from step S106 to step S108 for further path node determination.

Therefore, in this embodiment, after the robot searches for the first path node by using the first preset circular domain passage condition, when the robot moves by the linear distance of one body diameter, it is determined whether the current position or the current search area of the robot satisfies the second preset circular domain passage condition; then, when the robot is determined to be currently located in the narrow area through a second preset circular area passing condition, the robot continues to move along the preset path, and whether the robot is still located in the narrow area is detected in real time, so that whether the robot is currently located in the narrow area is detected in a layer-by-layer progressive mode, and the narrow area can be detected quickly and timely, so that the effective working efficiency of the robot is improved. This determination method may require the robot to have a precision distance sensor (e.g., lidar) or may require only a common infrared or collision sensor.

Step S107, determining that the robot is not currently in the narrow area, or just leaves the current narrow area to go to an open area with a smaller area of the impassable area, so the robot is controlled to perform a round of determination of the narrow area again at a new position by returning to step S101, that is, the steps S101 to S107 are performed iteratively. But the robot may have moved to the end of said preset path, it is preferred to control the robot to proceed from step S107 to step S109 for further path node determination.

And S108, judging whether the robot moves to the end point of the preset path, if so, ending the execution of the judging method, otherwise, returning to the step S103.

And step S109, judging whether the robot moves to the end point of the preset path, if so, ending the execution of the judging method, otherwise, returning to the step S101.

Therefore, the robot is prevented from continuously moving and executing the judging method in time, and the phenomenon that the robot judges the area without limit to cause overlarge consumption of computing resources is avoided.

Another embodiment of the present invention discloses a route search method for a traffic area, as shown in fig. 2, the route search method specifically includes:

step S201, in the process of controlling the robot to move along the preset path, judging whether the pre-search area meets a first preset circular area passing condition in real time, if so, entering step S202, otherwise, controlling the robot to continuously move along the preset path. The preset path is a path planned in advance by the robot; path node support is represented by grid points; the preset path is a normal working path or a navigation path of the robot, when the robot is a sweeping robot, the preset path can be a bow-shaped moving path, a edgewise walking path, a zigzag path and other planning cleaning paths, and the robot moving on the preset path can search a route coordinate point or a route suitable for passing through the narrow area in the normal working process or search a corresponding route in the process of entering the narrow area. The pre-search area is a first circular area with the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius, and covers the minimum passable area around the robot.

Preferably, in the process of executing step S201, the method further includes: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the preset searching area meets a first preset circular area passing condition or not in real time; step S201 is to prevent the robot from moving continuously and execute the route searching method in time, so as to meet the requirement of intelligent planning, and avoid the robot from searching for the route coordinate without limit, which may result in too much consumption of computing resources.

Step S202, recording the current position of the robot as a first path node, simultaneously creating a new predicted passing coordinate set, storing the first path node into the predicted passing coordinate set, and then entering step S203. In this embodiment, the elements inside the set of predicted transit coordinates are configured to store the first path node in chronological order of the record.

It should be noted that the head element and the tail element inside the predicted passing coordinate set are unique, so that the head element or the tail element inside the predicted passing coordinate set becomes unique identification information of a route represented by the head element or the tail element, and can be used as an index node in a route planning process or a marking node of a backtracking route.

In this embodiment, the first preset circular area passing condition includes: the area proportion occupied by the first impassable area in the pre-search area is larger than the first passing evaluation value; the first impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the first circular area; the first traffic evaluation value is a prejudgment threshold value set to overcome a marking error of a free grid existing in the construction grid map, and is a result of repeated experiments in the narrow area; the first passage evaluation value is preferably set to 50%. And when the robot judges that the area proportion occupied by the first impassable area in the grid area corresponding to the first circular area is less than or equal to 50%, controlling the robot to keep moving along the preset path until the robot judges that the area proportion occupied by the first impassable area in the grid area corresponding to the first circular area is greater than 50%. Therefore, the first preset circular area passing condition is used for preliminarily judging whether the robot starts to enter the narrow area, belongs to a rough judgment condition, and subsequently depends on further judgment of the robot in the process of continuing to move. However, whether the robot is allowed to pass through or not is not considered in the marking information of each grid connected into the planned path, and the influence of the marking error of each grid is reduced.

And S203, controlling the robot to continuously move along the preset path, judging whether the robot moves to a position where the straight-line distance between the robot and the path node recorded latest is greater than or equal to the diameter of the robot body in real time, if so, entering the step S204, otherwise, controlling the robot to continuously move along the preset path. The linear distance between the robot and the path node recorded last time in step S203 includes a linear distance between the current position of the robot and the first path node, where the robot keeps detecting the linear distance between the current position and the path node recorded last time in real time, or performs distance sampling detection at regular intervals, and records the path node detected in real time when a certain passing condition is satisfied.

In the process of executing step S203, the method further includes: and judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position where the straight-line distance between the robot and the path node recorded latest is greater than or equal to the diameter of the body of the robot. Therefore, the robot is prevented from continuously moving and executing the route searching method in time, the requirement of intelligent path planning is met, and the phenomenon that the robot moves without limit to continuously search for the route coordinate is avoided, so that the computing resource consumption is overlarge.

Step S204, when detecting that the straight-line distance between the current position of the robot and the path node which is recorded latest is larger than or equal to the diameter of the robot body, recording the current position of the robot as a second path node, and then entering step S205.

Step S205, judging whether the second path node meets a second preset circular domain passing condition, if so, entering step S206, otherwise, entering step S207; therefore, the path node newly recorded in the foregoing step S204 includes the first path node recorded last time or the second path node recorded last time. The second path node recorded in step S204 is a new second path node relative to the second path node recorded in step S204 executed last time or the first path node recorded in step S202. Specifically, when step S202 is executed to step S203, the newly recorded path node in step S203 is the first path node recorded in step S202, and at this time, the predicted traffic coordinate set added by the currently recorded first path node and second path node is not the predicted traffic coordinate set created in step S202 executed last time; when step S203 is repeatedly executed once (repeatedly executed by subsequent steps) without passing through step S202, the newly recorded path node in step S203 is the second path node recorded in step S204 executed last time, and these second path nodes obtained through the iterative processing are all stored in the same predicted traffic coordinate set, and are not updated and replaced.

As an embodiment of the second preset circular field passing condition, the second preset circular field passing condition includes: in a second circular area which takes the current position of the robot (namely the second path node recorded latest) as the center of a circle and the diameter of the body of the robot as the radius, the area proportion occupied by the second impassable area is larger than the second traffic evaluation value; the second impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the second circular area; the second passage evaluation value is a determination threshold value set for overcoming a marking error of a free grid existing in the construction grid map, and is larger than the first passage evaluation value to improve the determination accuracy. The second passing evaluation value is preferably set to 75%. When the robot determines that the area ratio of the second impassable region in the grid region corresponding to the second circular region is less than or equal to 75%, the process proceeds to step S207. Wherein the coverage area of the second circular area is different relative to the coverage area of the first circular area because the position of the robot changes; therefore, on the basis of the first circular area or on the basis of the second circular area searched for last time, after the robot moves to the position away from the path node recorded latest by the diameter of the robot body, the area proportion occupied by the second impassable area is further judged, the influence of the mark information of a single grid point is not considered, and the judgment precision of the narrow area is improved. In this embodiment, the search radius of the second circular area is set to be the diameter of the robot body, rather than a larger value, so that irrelevant (outside the detection range) grid area is prevented from being controlled to participate in calculation, and time overhead is reduced.

As another embodiment of the second preset circular area passing condition, the second preset circular area passing condition includes: in a second circular area which takes the first path node recorded latest as the center of a circle and takes the diameter of the machine body of a preset multiple as the radius, searching a path leading from the second path node recorded latest to the first path node recorded latest by using a path searching algorithm, and proving that the path searching in the current second circular area is not influenced by the obstacle or the error mark of the obstacle grid; since the second circular area may be located near the narrow area, there may be obstacle obstacles between the second path node recorded most recently and leading to the first path node recorded most recently, and this embodiment refers to the node where collision may occur as an invalid node or an illegal node, and these nodes need to be avoided when planning a path, so that it is necessary to use a mature and stable path search algorithm to check the feasibility of the area. In this embodiment, the first circular area or the second circular area may be regarded as a cleaning area. Wherein, the fuselage diameter of presetting the multiple sets up as: the second circular area is not crossed with other marked grid areas, so that paths planned in other marked grid areas are prevented from participating in judgment, and further misjudgment is avoided. The diameter of the machine body with the preset multiple is set to be two thirds of the diameter of the machine body, so that the formed second circular area is larger than that of the first circular area. Compared with the prior art, the size of the search area, namely the second circular area, is reasonably set, and the intersection with other known map areas is avoided, so that a planned route in the relevant area is added, and the robot is guided to other areas and is not guided to pass through the current narrow area; on the other hand, whether a complete navigation path from the starting point to the end point can be planned in the currently explored second circular area or not is judged, so that the passable area of the second circular area is proved to be not influenced by the obstacle or the marking position of the obstacle grid; thereby improving the accuracy of the determination of the narrow region.

Step S206, judging that the robot is currently in the narrow area, adding a second path node into the predicted traffic coordinate set in the step S202, and returning to the step S203; because the robot continues to move along the preset path within the narrow area by returning to step S203 after recognizing that its current position is within the narrow area. But the robot may have moved to the end of said preset path, it is preferred to control the robot to proceed from step S206 to step S208 for further path node determination.

Therefore, in this embodiment, after the robot searches for the first path node, when the robot moves by the linear distance of one body diameter every time, that is, when the linear distance between the current position and the position of the last recorded path node is the body diameter, it is determined whether the current position or the current search area of the robot satisfies the second preset circular domain passing condition; and then, when the robot is determined to be in the narrow area currently through a second preset circular area passing condition, continuously moving the robot to the narrow area along the preset path, and continuously searching a new second path node to connect a route for passing through the narrow area until the second path node is judged not to meet the second preset circular area passing condition. It should be noted that, the narrow area is a gap channel of two or more obstacles, and the gap channel is a gap corresponding to the narrowest point between two obstacles, and the width of the gap is greater than or equal to the diameter of the robot body.

Step S207, judging that the area of the robot is not in the narrow area or just leaves the current narrow area to enter an open area with less occupation, simultaneously storing the predicted traffic coordinate set into the same candidate route coordinate set according to the number of the path nodes stored in the predicted traffic coordinate set, connecting the path nodes stored in the predicted traffic coordinate set into a corresponding candidate route according to the adding sequence, namely adding the end point of the corresponding candidate route into the predicted traffic coordinate set, and enabling the predicted traffic coordinate set to become a point set representing the candidate route in the candidate route coordinate set; then, by returning to step S201, the robot is controlled to perform a round of judgment of the narrow area again at a new position, that is, the foregoing steps S201 to S207 are iteratively performed to create a new predicted passing coordinate set in the candidate route coordinate set so as to describe a new candidate route; but the robot may have moved to the end of said preset path, it is preferred to control the robot to proceed from step S207 to step S209 for further path node determination.

Therefore, in step S208, it is determined whether the robot moves to the end point of the preset path, if so, the execution of the route searching method is ended, otherwise, the process returns to step S203.

And S209, judging whether the robot moves to the end point of the preset path, if so, ending the execution of the route searching method, otherwise, returning to the step S201. Therefore, the robot is prevented from continuously moving and executing the route searching method in time, and the phenomenon that the robot searches the route without limit to cause overlarge consumption of computing resources is avoided.

It is noted that, inside the same candidate route coordinate set, there are a plurality of the predicted passing coordinate sets respectively representing other mutually different candidate routes, because inside the same candidate route coordinate set, the head element and the tail element inside any one of the predicted passing coordinate sets are unique.

It is noted that one set of predicted traffic coordinates is allowed to include obstacle grid points, indicating that the corresponding candidate route is likely to have obstacle grid points. As can be seen from steps S201 to S209, the robot itself moves to a specific path node, for example, when the robot performs to step S202 in the process of one iteration (initial state condition is satisfied) or performs to step S206 in the process of one iteration, and when it is determined that the first preset circular area traffic condition or the second preset circular area traffic condition is satisfied on the path node, the path node is added to the predicted traffic coordinate set as a path node connected to the corresponding candidate route, however, due to a sensor detection error, a map drift error, and the like, the marked raster information of the path node on the raster map may not be in an idle state but is mistakenly marked as an obstacle occupied state, that is, the obstacle raster point, and the path node is marked as an obstacle raster point on the raster map, but also adds the predicted passing coordinate set as a path node on the corresponding candidate route, and the actual robot can move to the path node to prove that the path node is passable or communicable.

As an embodiment, the method for saving the predicted traffic coordinate set to the same candidate route coordinate set according to the number of the route nodes stored in the predicted traffic coordinate set specifically includes: when the number of the path nodes stored in the predicted passing coordinate set is less than 2, which indicates that the robot may detect an obstacle difficult to surmount or is trapped or has other abnormal conditions, so that the collected path nodes stored in the predicted passing coordinate set are invalid nodes, the predicted passing coordinate set is selected to be deleted, and then the step S201 is returned to create a new predicted passing coordinate set. Therefore, in this embodiment, if the number of path nodes finally obtained by one predicted transit coordinate set is too small to connect a line, the relevant set can be deleted to reduce invalid path nodes.

When the number of the path nodes stored in the predicted passing coordinate set is greater than or equal to 2, the predicted passing coordinate set is used for representing a single candidate route, and is stored in the candidate route coordinate set for being called by a path search algorithm, which can be a heuristic search algorithm, and then a new predicted passing coordinate set is created by returning to the step S201; preferably, the path node finally obtained by one predicted traffic coordinate set can be saved to the candidate route coordinate set as a whole route, so that the stored data of the candidate route is reasonably ordered. The first path node and the second path node are added into the predicted traffic coordinate set according to the recorded sequence, so that the path nodes stored in the predicted traffic coordinate set are connected into a corresponding candidate route in the recorded sequence. It should be noted that the path node corresponding to the head element in each predicted passing coordinate set is a starting point of a corresponding candidate route, and the path node corresponding to the tail element in each predicted passing coordinate set is an end point of a corresponding candidate route. The path nodes in each predicted passing coordinate set are matched and connected into a candidate route to form the candidate route through which the predicted robot can pass without barriers in the corresponding area; compared with the prior art, the route searching method in the steps S201 to S207 is suitable for performing route searching when the robot enters a narrow area, and first sets a first preset circular area traffic condition as a pre-judging condition of the narrow area, and provides a path node source of a candidate route corresponding to the predicted traffic coordinate set; and then the robot is enabled to continuously move along the original path, then a second preset circular area traffic condition is set as a precise judgment condition of the narrow area, and a grid point source of a candidate route corresponding to the predicted traffic coordinate set is continuously provided, so that the robot has the qualification of judging the narrow area after moving for a certain distance, the candidate route collected by the predicted traffic coordinate set and used for being connected into grid points is more complete, the method is more suitable for a map grid error environment in the narrow area, and an actual trafficable route is provided for the robot without paying attention to grid mark information on the route one by one. In addition, on the basis, if the corresponding preset circular domain passing condition is not met, the continuous searching of the path nodes for the predicted passing coordinate set is stopped, and the path nodes in a single predicted passing coordinate set can be connected into an independent candidate route. By iteratively executing the related steps, the robot searches a route point set capable of overcoming the map drift error in a normal working movement state. The success rate of the robot for finding an effective navigation path in a scene with a complex obstacle space layout is increased.

Preferably, when the robot currently detects that the robot is in the narrow area and does not become in the narrow area, the navigation path planning is started by using the plurality of predicted traffic coordinate sets in the candidate route coordinate set, specifically, the navigation path planned by the conventional path searching algorithm is connected by searching a route formed by path nodes or corresponding connections belonging to the predicted traffic coordinate sets in the current map area, so as to plan a navigation path supporting the robot to freely enter and exit the narrow area, and overcome map drift errors. Therefore, when the robot leaves the narrow area or leaves the current narrow area and is about to enter a new narrow area, the searched coordinate points which are suitable for the candidate route passing through the narrow area are fused to the current position by using a heuristic search algorithm or other mature path search algorithms to plan a navigation path, and the problem that the planned path cannot pass through the narrow area because the idle grid points searched at the narrow area are easily marked as barrier grid points is solved.

Preferably, if the current position of the robot is surrounded by the obstacle and cannot move continuously along the preset path, the route searching method and the determining method mentioned in the foregoing embodiment are stopped.

The embodiment of the invention also discloses a chip, which is used for storing the program code, and the program code is used for executing the judging method of the passing area and/or executing the route searching method of the passing area. Based on the passable region state of the grid region corresponding to the embodiment, the robot is controlled to accurately and effectively identify the narrow region, and then the robot is controlled to search a route point set capable of overcoming the problem that the grid cannot pass due to map drift errors in the normal working and moving state.

Based on the foregoing embodiment, a robot is also disclosed, in which the foregoing chip is embedded, and the chip is used to control the robot to execute the method for determining a traffic area and/or to execute the method for searching a route of a traffic area. When the robot detects the narrow area and plans to pass through the narrow area, the candidate route is searched in advance and combined into the current navigation path, the influence of grid marking errors caused by sensor accumulated errors (indirect reasons) and map drift (direct reasons) is effectively overcome, and the navigation path formed by connecting the corresponding candidate routes passes through the narrow area without obstacles.

Claims

1. A method for determining a traffic zone, comprising:

controlling the robot to move along a preset path until the robot is judged to move to a position where the straight-line distance between the robot and the path node recorded latest is larger than or equal to the diameter of the robot body, and recording the current position of the robot as a new path node to become the path node recorded latest;

then judging whether the path node recorded latest meets a second preset circular area passing condition, if so, judging that the robot is currently in the narrow area, otherwise, judging that the robot is not currently in the narrow area;

the narrow area is a crack channel of two or more obstacles, the crack channel is a corresponding gap at the narrowest part between the two obstacles, and the width of the gap is greater than or equal to the diameter of the body of the robot;

the preset path is a path planned in advance by the robot in the current area.

2. The method of claim 1, wherein determining whether the robot has moved to a position where the linear distance from the most recently recorded path node is greater than or equal to the diameter of the robot body further comprises:

step 1, controlling the robot to move along a preset path until a preset search area meets a first preset circular area passing condition, and then entering step 2;

step 2, recording the current position of the robot as a first path node;

the pre-search area is a first circular area which takes the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius.

3. The determination method according to claim 2, wherein the first preset circular area passing condition includes: the ratio of the area of the first impassable area to the area of the pre-search area is greater than a first passage evaluation value; the first impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the first circular area; the first traffic evaluation value is a prejudgment threshold set to overcome a marking error of a free grid existing in the construction grid map.

4. The method according to claim 3, wherein after the step 2 is performed, the method specifically comprises:

step 3, controlling the robot to continuously move along the preset path until the robot is judged to move to a position where the straight-line distance between the robot and the path node recorded latest is larger than or equal to the diameter of the robot body, and then entering step 4;

step 4, recording the current position of the robot as a second path node, and simultaneously judging whether the second path node meets a second preset circular domain passing condition, if so, entering step 5, otherwise, entering step 6;

step 5, judging that the robot is currently in the narrow area, and returning to the step 3;

and 6, judging that the robot is not in the narrow area at present, and returning to the step 1.

5. The determination method according to claim 4, wherein the second preset circular area passage condition includes:

in a second circular area which takes the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius, the ratio of the area of the second impassable area to the area of the second circular area is larger than the second passing evaluation value; the second impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the second circular area; the second passage evaluation value is a determination threshold value set for overcoming a marking error of a free grid existing in the construction grid map, and is larger than the first passage evaluation value.

6. The determination method according to claim 4, wherein the second preset circular area passage condition includes:

searching a path leading from a second path node recorded latest to a first path node recorded latest to the first path node recorded latest by using a heuristic search algorithm in a second circular area taking the first path node recorded latest as a circle center and taking a machine body diameter of a preset multiple as a radius;

wherein, the fuselage diameter of presetting the multiple sets up as: the second circular area does not intersect other marked grid areas.

7. The method according to claim 4, wherein in the step 1, the method further comprises: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the preset search area meets a first preset circular area passing condition or not;

in the process of executing step 3, the method further comprises: and judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position where the straight-line distance between the robot and the path node recorded latest is greater than or equal to the diameter of the body of the robot.

8. A route search method of a traffic area, characterized by comprising:

step S1, in the process of controlling the robot to move along the preset path, until the preset search area is judged to meet the first preset circular area passing condition, then the step S2 is carried out;

step S2, recording the current position of the robot as a first path node, simultaneously creating a new predicted passing coordinate set, adding the first path node into the predicted passing coordinate set, and then entering step S3;

s3, controlling the robot to continue moving along the preset path until the robot is judged to move to a position where the straight-line distance between the robot and the path node recorded latest is larger than or equal to the diameter of the robot body, and then, entering S4;

step S4, recording the current position of the robot as a second path node, and simultaneously judging whether the second path node meets a second preset circular domain passing condition, if so, entering step S5, otherwise, entering step S6;

step S5, adding the second path node into the predicted traffic coordinate set in the step S2, and returning to the step S3;

step S6, storing the predicted traffic coordinate set into the same candidate route coordinate set according to the number of the route nodes stored in the predicted traffic coordinate set, and then returning to step S1; wherein, one set of predicted passing coordinates is allowed to include the barrier grid points;

the head element and the tail element of any one predicted passing coordinate set are unique and are not the same in the same candidate route coordinate set;

the preset path is a path planned in advance by the robot in the current area.

9. The route searching method according to claim 8, wherein the step of saving the set of predicted traffic coordinates to the inside of the same candidate route coordinate set according to the number of the route nodes existing inside the set of predicted traffic coordinates, and then returning to step S1 specifically comprises:

when the number of the path nodes stored in the predicted passing coordinate set is less than 2, deleting the predicted passing coordinate set, and returning to the step S1 to create a new predicted passing coordinate set;

when the number of the path nodes stored in the predicted passing coordinate set is greater than or equal to 2, the predicted passing coordinate set is used for representing a single candidate route, the single candidate route is stored in the candidate route coordinate set for being called by a heuristic search algorithm, and then the step S1 is returned to create a new predicted passing coordinate set;

the first path node and the second path node are added into the predicted traffic coordinate set according to the recorded sequence, so that the path nodes stored in the predicted traffic coordinate set are connected into a candidate route in a certain order;

and the path node corresponding to the head element in each predicted passing coordinate set is the starting point of a corresponding candidate route, and the path node corresponding to the tail element in each predicted passing coordinate set is the end point of a corresponding candidate route.

10. The route search method according to claim 8, wherein the first preset circle area passing condition includes:

the ratio of the area of the first impassable area to the area of the pre-search area is greater than a first passage evaluation value;

the first impassable area is a grid area which is formed by unknown grid points and barrier grid points in a grid area corresponding to the first circular area; the first traffic evaluation value is a prejudgment threshold value set for overcoming marking errors of free grids existing in the construction grid map;

11. The route search method according to claim 10, wherein the second preset circle area passing condition includes:

12. The route search method according to claim 10, wherein the second preset circle area passing condition includes:

in a second circular area which takes the first path node recorded latest as the center of a circle and takes the diameter of the machine body with preset multiple as the radius, searching out the path leading from the second path node recorded latest to the first path node recorded latest by using a heuristic search algorithm;

wherein, the fuselage diameter of presetting the multiple sets up as: leaving the second circular area free from crossing other marked grid areas.

13. The route search method according to claim 10, further comprising, during the step S1, the step of: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the preset searching area meets a first preset circular area passing condition or not;

in the process of executing step S3, the method further includes: and judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position where the straight-line distance between the robot and the path node recorded latest is greater than or equal to the diameter of the body of the robot.

14. A chip for storing a program code for performing a method of determining a traffic zone according to any of claims 1 to 7 and/or for performing a method of route searching a traffic zone according to any of claims 8 to 13.

15. A robot incorporating the chip of claim 14, the chip being configured to control the robot to perform a method of determining a traffic zone of any one of claims 1 to 7 and/or to perform a method of route searching for a traffic zone of any one of claims 8 to 13.