CN114911247A - Method and device for determining side-approaching stop points and robot - Google Patents
Method and device for determining side-approaching stop points and robot Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of robots, and discloses a method and a device for determining an edge-approaching stop point and a robot, which are applied to the robot. The method comprises the steps of obtaining the current position of the robot and a partial path which is within a preset range away from the current position in a global path; sampling a plurality of track points in the partial path, and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance; and selecting one offset position meeting preset stop conditions from the plurality of offset positions to determine the offset position as an edge stop point of the robot. Through the mode, the embodiment of the invention can quickly and accurately find the stop point of the robot.
Description
Technical Field
The embodiment of the invention relates to the field of robots, in particular to a method and a device for determining an edge-approaching stop point and a robot.
Background
At present, along with the progress of the times, logistics distribution such as express delivery, takeaway and the like is not only limited to automobile and personnel distribution, and intelligent distribution modes such as unmanned trolleys and unmanned aerial vehicles gradually appear in the eyes of the public.
However, if the robot stops running and stops on a lane while traveling, the robot may block smooth traffic and cause inconvenience in traffic.
Disclosure of Invention
The embodiment of the invention mainly solves the technical problem of providing a method and a device for determining an edge-approaching stop point and a robot, and the stop point of the robot can be quickly and accurately found.
In order to solve the above technical problem, one technical solution adopted by the embodiments of the present invention is: a method for determining an edge docking point is provided, which is applied to a robot and comprises the following steps: acquiring the current position of the robot and a partial path which is within a preset range away from the current position in a global path; sampling a plurality of track points in the partial path, and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance; and selecting one offset position meeting preset stop conditions from the plurality of offset positions to determine the offset position as an edge stop point of the robot.
Optionally, the selecting one offset position meeting a preset docking condition from the plurality of offset positions to determine as the docking point of the robot comprises scanning the surrounding environment of the plurality of offset positions to obtain point cloud data of the plurality of offset positions; according to the point cloud data, whether an offset position without an obstacle exists or not is searched in the plurality of offset positions in sequence; and if the offset position without the obstacle is found, determining the offset position without the obstacle as meeting a preset parking condition, and determining the offset position as an edge-approaching parking point of the robot.
Optionally, the sequentially searching for offset positions without obstacles in the plurality of offset positions according to the point cloud data includes: and searching whether the offset positions without the obstacles exist in the plurality of offset positions one by one according to the point cloud data in the sequence from near to far from the robot until the offset positions without the obstacles are found or the plurality of offset positions are searched.
Optionally, the determining the offset position where no obstacle exists as meeting a preset stop condition and as an edge stop point of the robot includes: taking the offset position without the obstacle as a potential stopping point; planning a path according to the current position of the robot and the potential stop point; and if the path planning is successful so as to obtain a parking path and the parking path meets the preset path condition, determining the potential parking point as the parking point meeting the preset parking condition and determining the potential parking point as the side parking point of the robot.
Optionally, the method further comprises: controlling the robot to drive towards the side-approaching stop point based on the stop path, and detecting whether a dynamic barrier moves towards the side-approaching stop point or not in the driving process; if the fact that a dynamic barrier moves towards the side-approaching stopping point is detected, the robot is controlled to stop at the periphery of the side-approaching stopping point so as to enter into waiting stopping; and when the dynamic barrier leaves the side approaching stop point, or the waiting stop time is within the preset time and the dynamic barrier does not occupy the final stop point, controlling the robot to stop at the side approaching stop point.
Optionally, the method further comprises: and if the dynamic barrier occupies the side approach stopping point, selecting an optimal offset position from the offset positions as the side approach stopping point of the robot.
Optionally, the step of selecting an optimal offset position from the plurality of offset positions as the docking point of the robot further includes: selecting one offset position, in which no obstacle exists and which is spaced from a dynamic obstacle by more than a preset spacing distance, as an edge-approaching stop point of the robot, among the plurality of offset positions.
Optionally, the step of sampling a plurality of trace points in the partial path, and determining a plurality of offset positions based on the attitude angles and preset offset distances corresponding to the plurality of trace points respectively further includes: sampling a plurality of track points at equal intervals in the partial path, wherein the partial path is a front path of a global path which is not executed by the robot or a rear path of the global path which is executed by the robot; and aiming at each track point, the corresponding attitude angle direction of the track point deflects to one side in the offset direction of a preset angle, and the position of the preset offset distance away from the track point is the offset position.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: the device comprises an acquisition module, a judging module and a judging module, wherein the acquisition module is used for acquiring the current position of the robot and a partial path within a preset range away from the current position in a global path; the first determining module is used for sampling a plurality of track points in the partial path and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance; and the second determining module is used for selecting one offset position meeting the preset stop condition from the plurality of offset positions to determine the offset position as the side stop point of the robot.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: provided is a robot including: the method comprises the steps of storing a program for determining the edge docking points, storing the program for determining the edge docking points, and running on a processor, wherein when the program for determining the edge docking points is executed by the processor, the method for determining the edge docking points is realized.
In the embodiment of the invention, the current position of the robot and a partial path which is within a preset range away from the current position in a global path are obtained; then sampling a plurality of track points in the partial path, and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance; and finally, selecting one offset position meeting preset stop conditions from the plurality of offset positions to determine the offset position as an edge stop point of the robot. That is, by acquiring the current position of the target vehicle and a partial path in the global path, and sampling and determining a plurality of offset positions in the partial path, a stop point suitable for the target vehicle to stop can be predetermined in advance in the plurality of offset positions, so that the stop point of the vehicle can be found quickly and accurately.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of an application environment of a method for determining an edge stop point according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of determining an edge stop according to an embodiment of the present invention;
FIG. 3 is an apparatus diagram of a method of determining an edge stop according to an embodiment of the present invention;
FIG. 4 is a controller diagram illustrating a method for determining an edge stop according to an embodiment of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment of a method for determining an edge stop point according to an embodiment of the present invention.
In a robot control method, a robot may be positioned and navigated using SLAM (SLAM for short) technology. The robot scans the environmental information in advance and constructs a static map. And planning a global path according to the destination of the task and the static map, wherein the global path is used as a reference for robot running control. Namely, local path planning is carried out according to the global path and the environmental information obtained by real-time scanning, and the output local path is sent to the controller to be executed, so that the robot is controlled to run.
Referring to fig. 2, fig. 2 is a flowchart of a method for determining an edge stop point according to an embodiment of the present invention, which is applied to the above application environment, and the method includes:
and S101, acquiring the current position of the robot and a partial path which is within a preset range from the current position in the global path.
The specific numerical values of the preset range are not limited, and can be set according to actual conditions, for example: and taking the current position away from the robot as a center, and taking the range of 5 meters before and after the global path as a preset range. The global path is a pre-planned driving path, for example, the robot sends a delivery task to a destination 5 th 502 room, and at this time, the robot performs path planning based on a static map according to the current position and destination of the robot to obtain the global path to the destination.
In the embodiment of the present invention, the current position is a position where the robot is located at the current time.
Step S102: sampling a plurality of track points in the partial path, and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance;
the global path is a set of position points on the static map, and the global path can be planned in the two-dimensional grid map by using an A star algorithm by taking the two-dimensional grid map as an example. Each track point of the global path has a position coordinate and an attitude angle, the position coordinate is used for representing the position of the robot relative to the origin of the grid map at the track point, the attitude angle is used for representing the attitude of the robot relative to the initial attitude at the origin of the grid map at the track point, and the attitude angle of the initial attitude is 0. Trace points are sample points on partial paths of the global path.
The offset position is a position point of the track point which is offset to one side, when the robot stops at the offset position, the robot is equivalently stopped at one side of the global path instead of being positioned on the global path, and the robot cannot influence the passing of other objects on the global path. The preset offset distance may be preset according to the actual condition of the road.
In this embodiment, a plurality of trace points are sampled on a partial path of the global path, and a plurality of offset positions are determined based on the trace points. For example, 5 trace points are sampled on the partial path of the global path, and 5 offset positions are correspondingly determined based on the 5 trace points.
In some implementations, the trace points are sample points on a portion of the path on the global path. And the attitude angle is an included angle between the current running track point of the robot and a plurality of track points sampled in the partial path. The offset position is a point on a boundary corresponding to the partial path, when the robot stops at the offset position, the robot equivalently stops at the boundary, and the robot does not influence the passing of other objects on the global path. The attitude angle and the preset offset distance are pre-stored maps.
In some embodiments, step S102: sampling a plurality of track points in the partial path, and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance, further comprising:
step S1021: sampling a plurality of track points at equal intervals in the partial path, wherein the partial path is a front path which is not executed by the robot or a rear path which is executed by the robot;
when the robot needs to stop, the robot may stop along the global path on the boundary in front of the current position, or may stop along the global path on the boundary behind the current position, so that the partial path is a front path in the global path that is not executed by the robot, or a rear path in the global path that is executed by the robot.
The specific numerical values of the plurality of trace points sampled at equal intervals in the partial path are not limited, and may be set according to actual conditions, for example: at 1 meter intervals, or at 0.5 meter intervals, etc.
Step S1022: for each track point, the track point corresponds to an offset direction in which the attitude angle direction deflects to one side by a preset angle, and the position which is away from the track point by the preset offset distance is the offset position;
when the robot needs to stop, the robot stops to one side of the road edge. The preset offset distance may be determined according to actual conditions, for example, the preset offset distance is 0.5 m. The preset angle may be determined according to actual conditions, for example, the preset angle is 90 degrees. That is, the position that deflects to the 90 degree direction on the basis of the track point and moves forward by 0.5 meter is the offset position. As can be seen, each trace point correspondingly generates an offset position.
Step S103: and selecting one offset position meeting preset stop conditions from the plurality of offset positions to determine the offset position as an edge stop point of the robot.
The operation space of the robot is usually complex, and besides the robot, other objects may exist, and other objects may also stop at the boundary, so that the plurality of offset positions are determined, and then one offset position is selected from the plurality of offset positions to serve as an edge-approaching stop point, which is beneficial to avoiding the situation that only one offset position is calculated, and when other objects exist in the offset position, the offset position needs to be calculated again.
In the embodiment of the invention, the current position of the robot and a partial path which is within a preset range away from the current position in a global path are obtained; then sampling a plurality of track points in the partial path, and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance; and finally, selecting one offset position meeting preset parking conditions from the plurality of offset positions to determine the offset position as the side-approaching parking point of the robot, and quickly and accurately finding the parking point of the vehicle by acquiring the current position of the target vehicle, the offset angle of the vehicle to the available parking path and the translation distance of the vehicle to the available parking path.
In some embodiments, step S103: selecting one offset position satisfying a preset stop condition from the plurality of offset positions to determine as an edge stop point of the robot, further comprising:
step S1031, scanning the surrounding environment of the plurality of offset positions to obtain point cloud data of the plurality of offset positions:
step S1032: according to the point cloud data, whether an offset position without an obstacle exists or not is searched in the plurality of offset positions in sequence;
and searching whether the offset position without the obstacle exists in the plurality of offset positions in sequence, wherein the searching sequence can be from far to near or from near to far.
When the number of the offset positions without the obstacle is multiple, the offset position closest to the current position of the robot can be selected from the offset positions without the obstacle to serve as the side approaching stop point, so that the time required for the robot to move to the side approaching stop point is reduced.
In the embodiment of the invention, the surrounding environment of the plurality of offset positions is scanned to obtain the point cloud data of the plurality of offset positions, and whether the offset positions without obstacles exist is sequentially searched in the plurality of offset positions according to the point cloud data, so that the side parking points of the robot can be accurately selected according to the state of the surrounding environment.
Specifically, step S1032: according to the point cloud data, whether an offset position without an obstacle exists or not is searched in the plurality of offset positions in sequence, and the method specifically comprises the following steps: and searching whether the offset positions without the obstacles exist in the plurality of offset positions one by one according to the point cloud data in the sequence from near to far from the robot until the offset positions without the obstacles are found or the plurality of offset positions are searched.
And S1033, if the offset position without the obstacle is found, determining the offset position without the obstacle as meeting a preset parking condition, and determining the offset position as an edge-approaching parking point of the robot.
The offset position without the obstacle is used as the side-approaching stop point of the robot, so that the problem that the robot stops when the robot stops at the offset position is avoided.
In some embodiments, step S1033: if the offset position without the obstacle is found, determining the offset position without the obstacle as meeting a preset parking condition, and determining the offset position as an edge parking point of the robot, further comprising:
step S10331: taking the offset position without the obstacle as a potential stopping point;
step S10332: planning a path according to the current position of the robot and the potential stop point;
the planned path is a feasible path moving from the front position to the potential stop point, and if no feasible path exists between the current position and the potential stop point, the robot cannot reach the potential stop point, and the potential stop point cannot be used as an edge stop point.
Step S10333: and if the path planning is successful so as to obtain a parking path and the parking path meets the preset path condition, determining the potential parking point as the parking point meeting the preset parking condition and determining the potential parking point as the side parking point of the robot.
The preset path conditions are for defining the selected potential stopping points, and in some embodiments, the preset path conditions include: the absence of obstacles in the docking path prevents the robot from following the docking path, although in other embodiments the predetermined path condition may be other conditions, such as: the length of the defined docking path is minimized to reduce the time required for the robot to travel to the docking station.
In some embodiments, the method of determining an edge docking point further comprises: controlling the robot to drive towards the side-approaching stop point based on the stop path, and detecting whether a dynamic barrier moves towards the side-approaching stop point or not in the driving process;
the dynamic barrier is a movable barrier, the dynamic barrier may move towards the side stop point synchronously when the robot moves towards the side stop point, and when the dynamic barrier moves to the side stop point, the dynamic barrier can be stopped at the side stop point temporarily or at the side stop point all the time.
Step S10335: if the fact that a dynamic barrier moves towards the side-approaching stopping point is detected, the robot is controlled to stop at the periphery of the side-approaching stopping point so as to enter into waiting stopping;
step S10336: and when the dynamic barrier leaves the side approach stopping point or waits for stopping for a preset time length and the final stopping point is not occupied by the dynamic barrier, controlling the robot to stop at the side approach stopping point.
Step S10337: and if the dynamic barrier occupies the side approach stopping point, selecting an optimal offset position from the offset positions as the side approach stopping point of the robot.
The optimal offset position may be the potential stop closest to the edge stop, or may be other, such as: step S10337 specifically includes: among the plurality of offset positions, one offset position where no obstacle exists and which is spaced from a dynamic obstacle by more than a preset spacing distance is selected as an edgewise docking point of the robot.
In the process that the robot runs to the side-approaching stop point, whether a dynamic barrier stops at the side-approaching stop point or not is detected, if the dynamic barrier stops at the side-approaching stop point, the robot waits around the side-approaching stop point, and if the waiting time is too long, the side-approaching stop point is selected additionally, so that the function that the robot avoids the dynamic barrier is achieved.
In the embodiment of the invention, the current position of the robot and a partial path which is within a preset range away from the current position in a global path are obtained; then sampling a plurality of track points in the partial path, and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance; and finally, selecting one offset position meeting preset parking conditions from the plurality of offset positions to determine the offset position as the side-approaching parking point of the robot, and quickly and accurately finding the parking point of the vehicle by acquiring the current position of the target vehicle, the offset angle of the vehicle to the available parking path and the translation distance of the vehicle to the available parking path.
Referring to fig. 3, an embodiment of the present invention further provides an apparatus 30 for determining an edge stop point, where the apparatus 30 includes an obtaining module 31, a first determining module 32, and a second determining module 33. The obtaining module 31 is configured to obtain a current position of the robot and a partial path within a preset range from the current position in the global path. The first determining module 32 is configured to sample a plurality of trace points in the partial path, and respectively determine a plurality of offset positions based on the attitude angles and preset offset distances corresponding to the plurality of trace points. The second determining module 33 is configured to select one offset position among the plurality of offset positions that meets a preset stop condition to be determined as an edge stop point of the robot.
Specifically, the second determining module 33 is configured to scan the surrounding environment of the multiple offset positions to obtain point cloud data of the multiple offset positions, and sequentially search, according to the point cloud data, whether there is an offset position without an obstacle in the multiple offset positions. And if the offset position without the obstacle is found, determining the offset position without the obstacle as meeting a preset parking condition, and determining the offset position as an edge-approaching parking point of the robot.
The step of sequentially searching whether there is an offset position without an obstacle in the plurality of offset positions by the second determining module 33 according to the point cloud data includes: and searching whether the offset positions without the obstacles exist in the plurality of offset positions one by one according to the point cloud data in the sequence from near to far from the robot until the offset positions without the obstacles are found or the plurality of offset positions are searched.
The step of determining, by the second determining module 33, the offset position where the obstacle does not exist as satisfying a preset stop condition and as the edge approaching stop point of the robot when the offset position where the obstacle does not exist is found includes: taking the offset position without the obstacle as a potential stopping point; planning a path according to the current position of the robot and the potential stop point; and if the path planning is successful so as to obtain a parking path and the parking path meets the preset path condition, determining the potential parking point as the parking point meeting the preset parking condition and determining the potential parking point as the side parking point of the robot.
The apparatus 30 for determining an edge-approaching stop according to an embodiment of the present invention includes an obtaining module 31, a first determining module 32, and a second determining module 33. The obtaining module 31 is configured to obtain a current position of the robot and a partial path within a preset range from the current position in the global path. The first determining module 32 is configured to sample a plurality of trace points in the partial path, and respectively determine a plurality of offset positions based on the attitude angles and preset offset distances corresponding to the plurality of trace points. The second determining module 33 is configured to select one offset position that meets a preset parking condition from the multiple offset positions to determine the selected offset position as the edge-approaching parking point of the robot, and in this way, obtain the current position of the target vehicle, the angle at which the vehicle deviates to the available parking path, and the distance at which the vehicle translates to the available parking path, so as to quickly and accurately find the parking point of the vehicle.
Referring to fig. 4, fig. 4 is a schematic diagram of a controller 20 according to an embodiment of the present invention, where the controller 20 of the robot includes: at least one processor 21; and a memory 22 communicatively coupled to the at least one processor 21, one of the processors 21 being illustrated in fig. 4. The memory 22 stores instructions executable by the at least one processor 21 to enable the at least one processor 21 to perform a method of determining docking points as described above with respect to fig. 2 and to perform an apparatus of determining docking points as described above with respect to fig. 4. The processor 21 and the memory 22 may be connected by a bus or other means, and fig. 4 illustrates the connection by a bus as an example.
The memory 22, which is a non-volatile computer storage medium, may be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules corresponding to one method of determining an edge docking point in the embodiments of the present application, for example, the modules shown in fig. 4. The processor 21 executes various functional applications of the server and data processing by executing nonvolatile software programs, instructions and modules stored in the memory 22, so as to realize the method for controlling the mowing robot.
The memory 22 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of a device that determines the edge waypoint, and the like. Further, the memory 22 may include high speed random access memory 22, and may also include non-volatile memory 22, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state memory 22 device. In some embodiments, the memory 22 optionally includes memory 22 located remotely from the processor 21, and these remote memories 22 may be connected over a network to a means of determining the docking points. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 22 and, when executed by the one or more processors 21, perform a method of determining an edge stop in any of the above-described method embodiments, e.g., performing the method steps of fig. 2 described above, and performing an apparatus for determining an edge stop as described above with reference to fig. 3.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for determining an edge docking point, which is applied to a robot, is characterized by comprising the following steps:
acquiring the current position of the robot and a partial path which is within a preset range away from the current position in a global path;
sampling a plurality of track points in the partial path, and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance;
and selecting one offset position meeting preset stop conditions from the plurality of offset positions to determine the offset position as an edge stop point of the robot.
2. The method for determining the docking point, according to claim 1, wherein the selecting one of the plurality of offset positions that satisfies a preset docking condition is determined as the docking point of the robot, and comprises:
scanning the surrounding environment of the plurality of offset locations to obtain point cloud data of the plurality of offset locations;
according to the point cloud data, whether an offset position without an obstacle exists or not is searched in the plurality of offset positions in sequence;
and if the offset position without the obstacle is found, determining the offset position without the obstacle as meeting a preset parking condition, and determining the offset position as an edge-approaching parking point of the robot.
3. The method of claim 2, wherein the step of sequentially finding an offset location without an obstacle from the plurality of offset locations based on the point cloud data comprises:
and searching whether the offset position without the obstacle exists in the plurality of offset positions one by one according to the point cloud data in the sequence from near to far from the robot until the offset position without the obstacle is found or the plurality of offset positions are searched.
4. The method for determining the docking point, as claimed in claim 2, wherein the step of determining the offset position without the obstacle as satisfying the preset docking condition and determining the offset position as the docking point of the robot, if the offset position without the obstacle is found, comprises:
taking the offset position without the obstacle as a potential stopping point;
planning a path according to the current position of the robot and the potential stop point;
and if the path planning is successful so as to obtain a stopping path and the stopping path meets the preset path condition, determining the potential stopping point as the stopping point meeting the preset stopping condition and determining the potential stopping point as the side-approaching stopping point of the robot.
5. The method of claim 4, further comprising:
controlling the robot to drive towards the side-approaching stop point based on the stop path, and detecting whether a dynamic barrier moves towards the side-approaching stop point or not in the driving process;
if the fact that a dynamic barrier moves towards the side-approaching stopping point is detected, the robot is controlled to stop at the periphery of the side-approaching stopping point so as to enter into waiting stopping;
and when the dynamic barrier leaves the side approaching stop point, or the waiting stop time is within the preset time and the dynamic barrier does not occupy the final stop point, controlling the robot to stop at the side approaching stop point.
6. The method of determining an edge stop according to claim 5, wherein the method further comprises:
and if the dynamic barrier occupies the side approach stopping point, selecting an optimal offset position from the offset positions as the side approach stopping point of the robot.
7. The method of determining an edgewise docking point according to claim 6, wherein the step of selecting an optimal offset position among the plurality of offset positions as the edgewise docking point for the robot comprises:
selecting one offset position, in which no obstacle exists and which is spaced from a dynamic obstacle by more than a preset spacing distance, as an edge-approaching stop point of the robot, among the plurality of offset positions.
8. The method according to any one of claims 1 to 7, wherein the step of sampling a plurality of track points in the partial path and determining a plurality of offset positions based on the attitude angles and the preset offset distances corresponding to the plurality of track points respectively comprises:
sampling a plurality of track points at equal intervals in the partial path, wherein the partial path is a front path of a global path which is not executed by the robot or a rear path of the global path which is executed by the robot;
and aiming at each track point, the corresponding attitude angle direction of the track point deflects to one side in the offset direction of a preset angle, and the position of the preset offset distance away from the track point is the offset position.
9. An apparatus for determining an edge stop, the apparatus comprising:
the acquisition module is used for acquiring the current position of the robot and a part of path which is within a preset range away from the current position in the global path;
the first determining module is used for sampling a plurality of track points in the partial path and respectively determining a plurality of offset positions based on attitude angles corresponding to the plurality of track points and a preset offset distance;
and the second determining module is used for selecting one offset position meeting the preset stop condition from the plurality of offset positions to determine the offset position as the side stop point of the robot.
10. A robot, comprising: memory, processor and a determine edge waypoint program stored on the memory and executable on the processor, the determine edge waypoint program when executed by the processor implementing the method of determining edge waypoints of any of claims 1-8.
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