CN116774686A

CN116774686A - Robot path-finding method, path-finding device, apparatus, and computer-readable storage medium

Info

Publication number: CN116774686A
Application number: CN202210235617.6A
Authority: CN
Inventors: 朱绍明; 任雪
Original assignee: Suzhou Cleva Electric Appliance Co Ltd; Suzhou Cleva Precision Machinery and Technology Co Ltd
Current assignee: Suzhou Cleva Electric Appliance Co Ltd; Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2023-09-19
Also published as: WO2023169265A1

Abstract

The invention discloses a robot path-finding method, a path-finding device, equipment and a computer readable storage medium, wherein the method comprises the following steps: determining a target position and a current position of the robot in the map; acquiring the position, the path-finding direction and the point position weight of each transfer station in the map, wherein the point position weight of the transfer station refers to the number of times that the robot successfully reaches the target position when the transfer station moves along the path-finding direction of the transfer station; taking the transfer station with the highest point position weight as a target transfer station; along the route-seeking direction of the target transfer station, a moving path of the robot from the current position to the target position through the target transfer station is planned. The invention has the advantages of optimizing the speed of searching the path, reducing the trial-and-error times, shortening the path searching time and improving the working efficiency.

Description

Robot path-finding method, path-finding device, apparatus, and computer-readable storage medium

Technical Field

The present invention relates to a computer control technology, and in particular, to a robot path-finding method, a path-finding device, equipment, and a computer readable storage medium.

Background

Application of mowing robots in life scenes is gradually common, and people are helped to better improve working efficiency.

In the prior art, a robot path-finding method has a plurality of modes, and more common methods include an algorithm A and a random non-nearby principle.

The a-Star algorithm is a direct search method in a static road network which is most effective in solving the shortest path, and is also an effective algorithm for solving a plurality of search problems. However, when the search space is relatively small, the path-finding speed is relatively fast, but when the search space is relatively large, the calculation amount is huge, the path-finding speed of the algorithm is relatively slow, and memory overflow is easy to cause.

The random no-approach principle is that a robot searches along a certain path searching direction in a searching space, when an obstacle cannot be avoided, a new path searching direction searching path is replaced again, and the path searching method is long in path searching time and low in working efficiency.

Disclosure of Invention

The technical problem to be solved by the embodiment of the invention is to provide a robot path-finding method, a device, equipment and a storage medium, which have the advantages of optimizing the speed of searching paths, reducing the trial-and-error times, shortening the path-finding time and improving the working efficiency.

In order to solve the above technical problem, a first aspect of the present invention provides a robot path-finding method, including: determining a target position and a current position of the robot in the map;

Acquiring the position, the route searching direction and the point position weight of each transfer station in a map, wherein the point position weight of each transfer station refers to the number of times that the robot successfully reaches the target position when the transfer station moves along the route searching direction of the transfer station;

taking the transfer station with the highest point position weight as a target transfer station;

and planning a moving path of the robot from the current position to the target position through the target transfer station along the path-finding direction of the target transfer station.

In one possible implementation manner, before the obtaining the point location weight of each transfer station in the map, the method further includes:

acquiring a historical moving path of the robot to the target position through at least one transfer station each time;

and recording the point location weight of the transfer stations closest to the target position in the historical moving path and having the same path searching direction as the historical moving path, and determining the point location weight of each transfer station.

In one possible implementation, before the acquiring the historical movement path of the robot to the target location through at least one transfer station, the method further includes:

determining coordinates of a transit point in the map;

two different directions are assigned to each transit point, and two transit stations with the same position and different route searching directions are generated.

In one possible implementation, the determining the coordinates of the transit point in the map includes:

determining an effective area in the map;

drawing an circumscribed rectangle of the effective area, and respectively determining a first datum point from four sides of the circumscribed rectangle;

shifting a group of opposite sides of the circumscribed rectangle to the center of the circumscribed rectangle by a first preset step length to obtain two offset sides;

taking two intersection points which are farthest from the intersection point of each offset edge and the edge of the effective area as second datum points, and oppositely offsetting the two second datum points positioned on the same offset edge by a second preset step length to obtain four third datum points;

and taking the third datum point as the middle point.

In one possible implementation, the assigning two different route-seeking directions to each transit point, generating two transit stations with the same location but different route-seeking directions, includes:

and respectively giving a clockwise rotation direction and a counterclockwise rotation direction to each of the medium turning points to obtain two transfer stations with the same positions and different path finding directions.

In one possible implementation, along a direction of the target transfer station, planning a path of movement of the robot from a current location through the target transfer station to the target location includes:

Setting a first path from the current position to the target transfer station and a second path from the target transfer station to the target position according to the path-finding direction of the target transfer station;

and generating a moving path from the current position to the target position through the target transfer station according to the first path and the second path.

In one possible implementation manner, the setting a first path from the current location to the target relay station according to the path-finding direction of the target relay station includes:

if the robot moves from the current position to the target transfer station along the path-finding direction of the target transfer station without passing through an obstacle, taking a path from the current position to the target transfer station as the first path;

and if the robot moves from the current position to the target transfer station along the path-finding direction of the target transfer station and passes through an obstacle, determining a shortest path of the robot from the current position to the target transfer station along the path-finding direction of the target transfer station, which bypasses the obstacle and reaches the target transfer station, and taking the shortest path as the first path.

Correspondingly, the second aspect of the invention also provides a robot path-finding device, which comprises:

the first acquisition module is used for acquiring a target position in the map and the current position of the robot;

the second acquisition module is used for acquiring the position, the route searching direction and the point position weight of each transfer station in the map; the point position weight of the transfer station refers to the number of times that the robot successfully reaches the target position when the transfer station moves along the path searching direction of the transfer station;

the judging module is used for taking the transfer station with the highest point position weight as a target transfer station;

and the processing module is used for planning a moving path of the robot from the current position to the target position through the target transfer station along the path-finding direction of the target transfer station.

Accordingly, a third aspect of the present invention also provides an apparatus comprising a memory for storing executable instructions;

and the processor is used for realizing the robot path finding method in the first aspect when executing the executable instructions stored in the memory.

Accordingly, a fourth aspect of the present invention also provides a computer readable storage medium comprising program code for causing an electronic device to perform the steps of any of the methods of the first aspect when the program product is run on the electronic device.

The implementation of the application has the following beneficial effects:

the application provides a robot path-finding method, a path-finding device, equipment and a computer readable storage medium, wherein a target position and a current position of a robot are determined in a map; acquiring the position, the path-finding direction and the point position weight of each transfer station in the map, wherein the point position weight of the transfer station refers to the number of times that the robot successfully reaches the target position when the transfer station moves along the path-finding direction of the transfer station; taking the transfer station with the highest point position weight as a target transfer station; along the route-seeking direction of the target transfer station, a moving path of the robot from the current position to the target position through the target transfer station is planned. Compared with the existing path searching mode, the method has the advantages that the speed of the searching path is optimized, the trial-and-error times are reduced, the path searching time is shortened, and therefore the working efficiency is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application and do not constitute a undue limitation on the application.

Fig. 1 is a schematic diagram of a path finding system for implementing a robot path finding method of the present invention;

FIG. 2 is a flow chart of an embodiment of the present invention for a robotic road-finding method;

FIG. 3 is a schematic illustration of an example of the present invention for a robotic road finding process;

FIG. 4 is a block diagram of the robot routing device of the present invention;

FIG. 5 is a schematic map view of the present invention for a robotic road finding process;

fig. 6 is a schematic structural diagram of a terminal device provided by the present invention;

fig. 7 is a schematic structural diagram of a server provided by the present invention.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also 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 also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

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 application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1, fig. 1 illustrates a routing system in which the method provided by the present application may be implemented.

In fig. 1, the routing system includes: mobile services robot 110, computing device 120, and a cradle. The computing device 120 is connected to the mobile service robot 110 in a wireless communication manner, and the computing device 120 is configured to send control information to the mobile service robot 110 to enable the mobile service robot 110 to move toward the charging stand.

The mobile service robot 110 may be equipped with a terminal device, which may be at least one of a smart phone, a game console, a desktop computer, a tablet computer, an e-book reader, an MP3 (Moving Picture Experts Group Audio Layer III, moving picture experts compression standard audio layer 3) player, an MP4 (Moving Picture Experts Group Audio Layer IV, moving picture experts compression standard audio layer 4) player, and a laptop portable computer.

The computing device 120 may be a server, or a server cluster formed by a plurality of servers, or any one of a cloud computing platform and a virtualization center, which is not limited in this embodiment of the present application. The server may be communicatively connected to the terminal device via a wired network or a wireless network. The server may have functions of data processing, data storage, data transceiving, etc., and is not limited in the embodiment of the present application.

The robot path finding method in the embodiment of the application can be executed by the terminal equipment or the server.

Example 2

Referring to fig. 2, fig. 2 is a flow chart illustrating an embodiment of a robot routing method according to the present application. It should be noted that although a logical order is depicted in the flowchart, in some cases the steps depicted or described may be performed in a different order than presented herein. In this embodiment, the robot path-finding method includes steps S201 to S204, wherein:

s201, determining a target position and the current position of the robot in the map.

The active area may be constructed prior to determining the current position and the target position of the robot in the map.

In an alternative embodiment of the present application, the effective area may be constructed by a working path of a robot, specifically including the steps of:

And acquiring a working path of the robot in the lawn area, wherein the working path refers to a walking path of the robot taking a target position as a starting point, and the target position is positioned on the working path. The working path may be represented as a set of location points that may be obtained using a laser acquisition device, a depth camera, a sensor, etc. to periodically acquire location information of the robot.

And constructing an effective area according to the working path. In one possible implementation, the outline of the effective area may be constructed according to the working path, or the effective area may be preset manually in advance, and then the obstacle within the defined range of the outline may be identified, where the obstacle includes a non-lawn area and an article placed on the lawn area.

The current position and the target position of the robot are determined in the active area. Wherein, as shown in fig. 5, the hatched portion is valid, B is the current position of the robot, and C is the target position.

S202, acquiring the position, the route searching direction and the point position weight of each transfer station in the map.

In an alternative embodiment of the present invention, the transfer station may be determined by specifically including steps S301 to S309, referring to fig. 3:

s301: drawing an circumscribed rectangle of the effective area, and respectively determining a first datum point from four sides of the circumscribed rectangle.

Since the active area is more probable to be an irregular pattern, in order for the points determined by the subsequent offset to fall as far as possible into the active area, a circumscribed rectangle can be designed following the following principle: the area between the circumscribed rectangle and the outline of the effective area is reduced as much as possible. Under this principle, the long and short sides of the circumscribed rectangle do not necessarily extend along the X-axis or Y-axis.

S303: and shifting a group of opposite sides of the circumscribed rectangle to the center of the circumscribed rectangle by a first preset step length to obtain two offset sides.

Wherein the center of the circumscribed rectangle refers to the intersection point of two diagonal lines of the circumscribed rectangle. The circumscribed rectangle is provided with two groups of opposite sides, two sides of one group of opposite sides are moved in opposite directions by a first preset step length, and two intersection points which are farthest from each offset side are taken as second datum points from intersection points of the edges of the effective area.

S305: and shifting the two second datum points positioned on the same shifting edge in opposite directions by a second preset step length to obtain four third datum points.

S307: the third reference point is taken as a neutral point.

S309: two different directions are assigned to each transit point, and two transit stations with the same position and different route searching directions are generated.

Referring to fig. 5, contour points in the drawing form a contour of an effective area, and a boundary of a walkable area is divided, i.e., a robot walkable area is located inside the contour.

The mode of selection in this embodiment is to select points at both ends of the effective area as desired contour points in the y-axis direction. Similarly, the x-axis direction can be selected, and all edge points can be selected, and the two end points in the y-axis direction are used for reducing the data volume.

In this embodiment, the minimum circumscribed rectangle is selected because the maximum number of the four center points is set, and the shape of the general lawn can be satisfied. The smallest bounding rectangle can be said to be the shape closest to the active area, and the resulting rectangle need not be in the horizontal direction about the x-axis.

The resulting outline rectangle of this embodiment is represented in four points in fig. 5. However, the four points of the acquired rectangle do not necessarily fall in the effective area, so that further shifting is required to make the transit point fall in the effective area.

In order to locate the transit point in the effective area, the method of the present embodiment is not limited. The present embodiment undergoes two steps and may be combined into one step.

Since the positioning system accuracy is around 3m, the present embodiment takes 2 times accuracy as the offset reference value, for example, offset=6m, where Max is the maximum size of the entire effective area.

Taking R1R4 as a horizontal line direction translation (offset-Max) unit on the R1R2 side, and then taking the effective area to which the R1R4 side translates to obtain F1, and taking the last effective area to which the R1R4 side translates to obtain F2; taking R1R4 as a horizontal line direction translation (offset-Max) unit on the R3R4 side, and translating the R3R4 side to an effective area to obtain F3, and obtaining F4 from the last effective area translated to; since the transfer station Fn still has the edge position of the effective area at this time, if the gap between them is greater than offset, the transfer point Nn inside the effective area can be further obtained; at this time, the Fn moves the offset unit in the forward and backward directions of the Y axis to obtain N1, N2, N3 and N4.

The obtained N1, N2, N3 and N4 are the neutral points.

In one possible implementation, each transfer point is given two different directions, one clockwise transfer station is given to the same transfer point, one counterclockwise transfer station is given to the same transfer point, one transfer point generates two transfer stations with the same position but different route searching directions, and the obtained N11 (clockwise), N12 (counterclockwise), N21 (clockwise), N22 (counterclockwise), N31 (clockwise), N32 (counterclockwise), N41 (clockwise) and N42 (counterclockwise) are eight transfer stations, and each transfer station determines one transfer direction.

After acquiring eight transfer stations and corresponding transfer directions, in one possible implementation, the point weights may be determined as follows:

acquiring a historical moving path of the robot to a target position through at least one transfer station each time; and recording the point location weight of the transfer stations closest to the target position in the historical moving path and having the same path searching direction as the historical moving path, and determining the point location weight of each transfer station.

Determining a first target medium-speed turning point corresponding to the robot position and a second target medium-speed turning point corresponding to the target position from the medium-speed turning points; acquiring all candidate transit paths from the first target transit point to the second target transit point; and taking the candidate path with the shortest length and without passing through the obstacle as a transit path, wherein the robot position is the shortest length from the position of the middle point and without passing through the obstacle as a first target middle point, and the target position is the shortest length from the position of the middle point and without passing through the obstacle as a second target middle point.

Two points in the middle point Ni (i=1, 2,3, 4) are respectively a first target middle point and a second target middle point, wherein the first target middle point closest to the robot is Sm (m=1, 2,3, 4), and the second target middle point closest to the target is En (n=1, 2,3, 4);

referring to fig. 5, the present embodiment provides a target path for the robot to return to the target position after working, where the robot is N2, i.e., m=2, from the nearest first target center point; the second target middle point nearest to the target position is N1, i.e., n=1; thus taking the first target turning point as S2 and the second target turning point as E1;

a general rule of the home path is generated, i.e. a general rule of the robot from a first target medium-point to a second target medium-point:

the machine can perform clockwise walking and anticlockwise walking; wherein the four candidate transfer points N1, N2, N3 and N4 sequentially form a circulation path.

a. If m=n, if clockwise, the home-returning path is Nm+1, which is a first target turning point, nn is a second target turning point, and the number of transfer stations is 4;

b. if m=n, if anticlockwise, the home return path is Nm-1, which is the first target turning point, nn is the second target turning point, and the number of transfer stations is 4;

c. If m is less than n, if clockwise, the home-returning path is Nm which is a first target turning point, nn which is a second target turning point, the steps are sequentially and incrementally ordered, and the number of transfer stations is n-m+1;

d. if m is less than n, if anticlockwise, the home-returning path is Nm which is a first target middle-turning point, nn is a second target middle-turning point, the steps are orderly and progressively ordered, and the number of transfer stations is 5-n+m;

e. if m is greater than n, if clockwise, the home-returning path is Nm which is a first target turning point, nn which is a second target turning point, the steps are sequentially and incrementally ordered, and the number of transfer stations is 5-m+n;

f. if m is greater than n, if the home path is anticlockwise, nm is a first target turning point, nn is a second target turning point, the steps are orderly ordered in a descending way, and the number of transfer stations is m-n+1;

g. when the first target turning point cannot be reached in both the clockwise direction and the anticlockwise direction, changing the first target turning point into the next turning point in the path;

m=2, n=1, m > N, according with rules e and f, the generation path of walking clockwise is N2- & gt N3- & gt N4- & gt N1, and the generation path of walking anticlockwise is N2- & gt N1; however, from point B, in actual situations, the machine cannot reach the point N2 of the first target, and the rule g is satisfied, and the first target is changed to the next point, so that a path n3→n4→n1 is generated, that is, the transfer station path is N31 (clockwise) →n41 (clockwise) →n11 (clockwise), and the target transfer path is obtained.

After the first target transit point successfully reaches the second target point, the corresponding transit direction in the target transit path is acquired, then the transit stations in the transit point are determined, and then the determined transit stations are subjected to weight recording to determine the point position weight of each transit station. By recording the route searching direction and the point position weight of each transfer station, the route searching direction and the point position weight of the transfer station can be directly read when the next route is searched, the searching route is optimized, the trial-and-error times are reduced, and the route searching time is shortened.

S203, taking the transfer station with the highest point position weight as a target transfer station.

And determining a moving path from the target position to each intermediate point, taking the intermediate point corresponding to the moving path which is shortest in length and does not pass through the obstacle as a target intermediate point, and taking the intermediate station with the highest point weight times in the target intermediate point as a target intermediate station.

Referring to fig. 5, the destination transfer station with the highest point weight from the destination location C is N11 (clockwise).

S204, planning a moving path of the robot from the current position to the target position through the target transfer station along the path-finding direction of the target transfer station.

According to the route searching direction of the target transfer station, a first route from the current position to the target transfer station and a second route from the target transfer station to the target position are set.

A movement path from the current location to the target location via the target transfer station is generated based on the first path and the second path.

In one possible implementation, the first path may be determined by:

if the robot moves from the current position to the target transfer station along the path-finding direction of the target transfer station without passing through the obstacle, taking the path from the current position to the target transfer station as a first path;

if the robot moves from the current position to the target transfer station along the path-finding direction of the target transfer station and passes through the obstacle, determining the shortest path of the robot from the current position to the target transfer station along the path-finding direction of the target transfer station, which bypasses the obstacle, and taking the shortest path as a first path.

When the robot moves from the current position to the target transfer station along the path-finding direction of the target transfer station and passes through the obstacle, a first moving path from the position of the robot to each candidate transfer point is determined, a transfer point corresponding to the first moving path which is shortest in length and does not pass through the obstacle is taken as a first transfer point, a first transfer station in the same direction of the first transfer point is determined along the direction of the target transfer station, and a first path is determined according to the path from the position of the robot to the first transfer station and the path from the first transfer station to the target transfer station.

Referring to fig. 5, the middle point N3 corresponding to the first moving path having the shortest length and not passing through the obstacle is taken as the first middle point, and the target transfer station having the highest point weight is N11 (clockwise) and the transfer direction is clockwise in the history moving path, so the first transfer station is N31 (clockwise), the moving path of the transfer station is N31 (clockwise) →n41 (clockwise) →n11 (clockwise), and the first path is a straight path from the robot position to N31 (clockwise) and N31 (clockwise) →n41 (clockwise) →n11 (clockwise).

In one possible implementation, the second path may be determined by:

and determining the straight line path from the target transfer station to the target position as a second path.

Referring to fig. 5, the straight path from the target transfer station to the target location is the second path, i.e., the straight path from N11 to the target location.

On the one hand, when the robot moves from the current position to the target transfer station along the path searching direction of the target transfer station without passing through the obstacle, the moving path is determined to be a straight-line path from the robot position to the target transfer station and a straight-line path from the target transfer station to the target position, so that the speed of searching the path is optimized, the trial-and-error times are reduced, the path searching time is shortened, the working efficiency is improved, and the robot can quickly return to the target position;

On the other hand, when the robot moves from the current position to the target transfer station along the path-finding direction of the target transfer station and passes through the obstacle, determining the shortest path of the robot from the current position to the target transfer station along the path-finding direction of the target transfer station, which bypasses the obstacle, and taking the shortest path as a first path, and a second path from the target transfer station to the target position, and generating a moving path from the current position to the target position through the target transfer station according to the first path and the second path. The invalid data processing of the areas which are not communicated is avoided, so that the data calculation amount of the target path can be reduced on the basis of meeting the data required by the path finding, meanwhile, the transfer station with the highest point position weight is used as the target transfer station, the trial-and-error frequency can be reduced to a certain extent, the speed of searching the path is optimized, the trial-and-error frequency is reduced, the path finding time is shortened, the working efficiency is improved, and the target position can be quickly returned.

Example 3

Fig. 4 shows a block diagram of a routing device according to an embodiment of the present disclosure. Referring to fig. 4, the path-finding device includes a first obtaining module 401, a second obtaining module 402, a judging module 403, and a processing module 404.

A first obtaining module 401, configured to obtain a target position in a map and a current position of a robot;

a second obtaining module 402, configured to obtain a position, a road-finding direction, and a point weight of each transfer station in the map; the point position weight of the transfer station refers to the number of times that the robot successfully reaches the target position when the transfer station moves along the path searching direction of the transfer station;

a judging module 403, configured to take the transfer station with the highest point location weight as a target transfer station;

the processing module 404 plans a moving path of the robot from the current position to the target position through the target transfer station along the path-finding direction of the target transfer station.

It should be appreciated that the first acquisition module 401, the second acquisition module 402, and the processing module 404 illustrated in fig. 4 may be included in the computing device 120 described with reference to fig. 1. Moreover, it should be understood that the modules illustrated in fig. 4 may perform steps or actions in a method or process with reference to embodiments of the present disclosure.

Example 4

Fig. 6 shows a block diagram of a terminal device according to an exemplary embodiment of the present application. The terminal device 600 may be a portable mobile terminal, such as: a smart phone, a tablet, an MP3 (Moving Picture ExpertsGroup Audio Layer III, motion picture expert compression standard audio plane 3) player, an MP4 (Moving PictureExperts Group Audio Layer IV, motion picture expert compression standard audio plane 4) player, a notebook or a desktop. The terminal device 700 may also be referred to by other names of user devices, portable terminals, laptop terminals, desktop terminals, etc.

In general, the terminal device 600 includes: a processor 601 and a memory 602.

Processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 601 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central ProcessingUnit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit, image processor) for taking care of rendering and rendering of content that the display screen is required to display. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 602 is used to store at least one instruction for execution by processor 601 to implement the robotic routing method provided by the method embodiments of the present application.

In some embodiments, the terminal device 600 may further optionally include: a peripheral interface 603, and at least one peripheral. The processor 601, memory 602, and peripheral interface 603 may be connected by a bus or signal line. The individual peripheral devices may be connected to the peripheral device interface 603 via buses, signal lines or a circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 604, a display 605, a camera assembly 606, audio circuitry 607, a positioning assembly 608, and a power supply 609.

Peripheral interface 603 may be used to connect at least one Input/Output (I/O) related peripheral to processor 601 and memory 602. In some embodiments, the processor 601, memory 602, and peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 601, memory 602, and peripheral interface 603 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 604 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 604 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 604 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 604 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 604 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 604 may also include NFC (Near Field Communication ) related circuits, which the present application is not limited to.

The display screen 605 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 605 is a touch display, the display 605 also has the ability to collect touch signals at or above the surface of the display 605. The touch signal may be input as a control signal to the processor 601 for processing. At this time, the display 705 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display 605 may be one and disposed on the front panel of the terminal device 600; in other embodiments, the display 605 may be at least two, respectively disposed on different surfaces of the terminal device 600 or in a folded design; in other embodiments, the display 605 may be a flexible display, disposed on a curved surface or a folded surface of the terminal device 600. Even more, the display 605 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display 605 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 606 is used to capture images or video. Optionally, the camera assembly 606 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal and the rear camera is disposed on the rear surface of the terminal. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, camera assembly 606 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

The audio circuit 607 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and environments, converting the sound waves into electric signals, and inputting the electric signals to the processor 601 for processing, or inputting the electric signals to the radio frequency circuit 604 for voice communication. For the purpose of stereo acquisition or noise reduction, a plurality of microphones may be respectively disposed at different portions of the terminal device 600. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit 607 may also include a headphone jack.

The location component 608 is used to locate the current geographic location of the terminal device 600 to enable navigation or LBS (LocationBased Service, location based services). The positioning component 608 may be a positioning component based on the United states GPS (GlobalPositioning System ), the Beidou system of China, or the Galileo system of Russia.

The power supply 609 is used to power the various components in the terminal device 600. The power source 609 may be alternating current, direct current, disposable battery or rechargeable battery. When the power source 609 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the terminal device 600 further includes one or more sensors 610. The one or more sensors 610 include, but are not limited to: acceleration sensor 611, gyroscope sensor 612, pressure sensor 613, fingerprint sensor 614, optical sensor 615, and proximity sensor 616.

The acceleration sensor 611 can detect the magnitudes of accelerations on three coordinate axes of the coordinate system established with the terminal apparatus 600. For example, the acceleration sensor 611 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 601 may control the display screen 605 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal acquired by the acceleration sensor 611. The acceleration sensor 611 may also be used for the acquisition of motion data of a game or a user.

The gyro sensor 612 may detect the body direction and the rotation angle of the terminal device 600, and the gyro sensor 612 may cooperate with the acceleration sensor 611 to collect the 3D motion of the user on the terminal device 600. The processor 601 may implement the following functions based on the data collected by the gyro sensor 612: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.

The pressure sensor 613 may be disposed at a side frame of the terminal device 600 and/or at a lower layer of the display 605. When the pressure sensor 613 is provided at a side frame of the terminal apparatus 600, a grip signal of the user to the terminal apparatus 600 may be detected, and the processor 601 performs a left-right hand recognition or a shortcut operation according to the grip signal collected by the pressure sensor 613. When the pressure sensor 613 is disposed at the lower layer of the display screen 605, the processor 601 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 605. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor 614 is used for collecting the fingerprint of the user, and the processor 601 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 614, or the fingerprint sensor 614 identifies the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the processor 601 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, etc. The fingerprint sensor 614 may be provided on the front, back, or side of the terminal device 600. When a physical key or vendor Logo is provided on the terminal device 600, the fingerprint sensor 614 may be integrated with the physical key or vendor Logo.

The optical sensor 615 is used to collect ambient light intensity. In one embodiment, processor 601 may control the display brightness of display 605 based on the intensity of ambient light collected by optical sensor 615. Specifically, when the intensity of the ambient light is high, the display brightness of the display screen 605 is turned up; when the ambient light intensity is low, the display brightness of the display screen 605 is turned down. In another embodiment, the processor 601 may also dynamically adjust the shooting parameters of the camera assembly 606 based on the ambient light intensity collected by the optical sensor 615.

A proximity sensor 616, also referred to as a distance sensor, is typically provided on the front panel of the terminal device 600. The proximity sensor 616 is used to collect the distance between the user and the front face of the terminal device 600. In one embodiment, when the proximity sensor 616 detects a gradual decrease in the distance between the user and the front face of the terminal device 600, the processor 601 controls the display 605 to switch from the bright screen state to the off screen state; when the proximity sensor 616 detects that the distance between the user and the front surface of the terminal device 600 gradually increases, the processor 601 controls the display screen 605 to switch from the off-screen state to the on-screen state.

It will be appreciated by those skilled in the art that the structure shown in fig. 6 is not limiting of the terminal device 600 and may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.

Fig. 7 is a schematic structural diagram of a server according to an embodiment of the present application, where the server 700 may have a relatively large difference due to different configurations or performances, and may include one or more processors 701 and one or more memories 702, where at least one program code is stored in the one or more memories 702, and the at least one program code is loaded and executed by the one or more processors 701 to implement the robot routing method according to the above embodiments, and the processor 701 is a CPU, for example. Of course, the server 700 may also have a wired or wireless network interface, a keyboard, an input/output interface, and other components for implementing the functions of the device, which are not described herein.

In an exemplary embodiment, there is also provided a computer-readable storage medium having stored therein at least one program code loaded and executed by a processor to cause an electronic device to implement any of the above-described robot routing methods.

Alternatively, the above-mentioned computer readable storage medium may be a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a compact disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, a computer program or computer program product is also provided, in which at least one computer instruction is stored, which is loaded and executed by a processor, to cause the computer to implement any of the above-mentioned robot routing methods.

The invention provides a robot path-finding method, a path-finding device, equipment and a computer readable storage medium, wherein a target position and a current position of a robot are determined in a map; acquiring the position, the path-finding direction and the point position weight of each transfer station in the map, wherein the point position weight of the transfer station refers to the number of times that the robot successfully reaches the target position when the transfer station moves along the path-finding direction of the transfer station; taking the transfer station with the highest point position weight as a target transfer station; along the route-seeking direction of the target transfer station, a moving path of the robot from the current position to the target position through the target transfer station is planned. Compared with other path searching algorithms, the method reduces trial-and-error times and shortens path searching time by optimizing the speed of the searching path, thereby improving working efficiency.

It should be understood that references herein to "a plurality" are to two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The above embodiments are merely exemplary embodiments of the present application and are not intended to limit the present application, any modifications, equivalents, improvements, etc. within the principles of the present application should be included in the scope of the present application.

Claims

1. A robot routing method, comprising:

determining a target position and a current position of the robot in the map;

2. The method for locating a path by a robot according to claim 1, further comprising, before the step of obtaining the point weights of the transfer stations in the map:

3. The robot routing method of claim 2, wherein the acquiring the historical movement path of the robot to the target location each time through at least one transfer station further comprises:

determining coordinates of a transit point in the map;

4. A robotic road finding method as claimed in claim 3, wherein the determining coordinates of the transit point in the map comprises:

determining an effective area in the map;

And taking the third datum point as the middle point.

5. A method of robotic routing as claimed in claim 3, wherein said assigning two different routing directions to each transit point generates two transit stations that are identical in location but different in routing direction, comprising:

6. The method of claim 1, wherein planning a path of travel of the robot from a current location through the target relay station to the target location along a direction of the target relay station, comprises:

7. The method according to claim 6, wherein the setting a first path from the current position to the target relay station according to the direction of the target relay station, comprises:

8. A robot routing device, comprising:

9. An apparatus, characterized in that,

comprising the following steps:

a memory for storing executable instructions;

a processor for implementing the robot routing method of one of claims 1 to 7 when executing executable instructions stored in the memory.

10. A computer readable storage medium, characterized in that it comprises a program code for causing an electronic device to perform the steps of the method of any of claims 1 to 7, when said program product is run on said electronic device.