WO2021031441A1 - Path planning method and system, robot and readable storage medium - Google Patents

Abstract

Provided in the present invention are a path planning method and system, a robot, and a readable storage medium. The method comprises: acquiring an electronic map of a working region of a robot, an obstacle map having known obstacle coordinates being mapped on the electronic map; parsing the electronic map, and if it is determined that there are obstacles in the working region, then acquiring contour lines of the obstacles on the obstacle map; parsing the contour lines of the obstacles, and obtaining at least one extremum feature group on each obstacle, wherein the extremum feature groups are defined as two extremum coordinate points of the contour line of each obstacle with the minimum abscissa and the maximum abscissa on an X-axis, and/or the extremum feature groups are defined as two extremum coordinate points of the contour line of each obstacle with the minimum ordinate and the maximum ordinate on a Y-axis; and dividing the working region at extremum feature points of each obstacle so as to form several sub-working regions. The present invention is beneficial in improving the working efficiency of the robot.

Description

Path planning method, system, robot and readable storage medium Technical field

The invention relates to the field of intelligent control, in particular to a path planning method, system, robot and readable storage medium.

Background technique

Low repetition rate and high coverage are the goals pursued by mobile robots such as ergodic robots such as vacuuming, mowing and pool cleaning; dividing the entire working area into several sub-areas, and then working in the molecular area is an important way to achieve this goal method. For example: for a lawn mower robot with a random pattern, the shape of the lawn has a great influence on the coverage rate. For example, a lawn with a large area, narrow strips or multiple obstacles and other complex shapes will have a relatively low coverage rate; computer simulations and experiments have proved that The lawn is divided into small areas. First limit the work to a certain area, and then work in another area after completing one area. That is, working according to the area can improve the coverage rate; for precise positioning, it can be low The repetition rate of the working mode of the planned area is generally carried out in the manner of sub-area division, traversal within sub-area, and sub-area connection. It can be seen that partitioning is an important method of traversal, and various partitioning methods have developed.

In the prior art, the following methods are usually used to divide the work area, for example: use electronic boundary wires to divide the lawn into different areas; divide by markers, each marker is surrounded by a block; with positioning Such as GPS, manually control the robot to walk around the boundary, build a map, and then manually or automatically divide the area according to the map; with GPS positioning and electronic boundaries, automatic division.

Correspondingly, the sub-region division with precise positioning is mainly aimed at the area with obstacles, and the trapezoidal, Boustrophedon and rectangular partition methods have been developed. These sub-region division methods are developed for different traversal methods, but the above methods only Some factors of the actual situation in the working area are referenced, and factors such as narrow strips, obstacles and area are not taken into consideration; thus, the working area cannot be divided into more reasonable sub-areas, which affects the traversal efficiency of the robot.

Summary of the invention

In order to solve the above technical problems, the purpose of the present invention is to provide a path planning method, system, robot and readable storage medium.

In order to achieve one of the above-mentioned objects of the invention, an embodiment of the present invention provides a path planning method. The method includes the following steps: acquiring an electronic map of the robot working area, and mapping an obstacle map with known obstacle coordinates on the electronic map Analyze the electronic map, if it is determined that there is an obstacle in the work area, obtain the contour line of the obstacle on the obstacle map; analyze the contour line of the obstacle, and obtain at least one set of extreme value feature groups on each obstacle, the The extreme feature group is defined as two extreme coordinate points with the smallest abscissa and the largest abscissa on the X axis of the contour line of the obstacle, and/or the extreme feature group is defined as the contour line of the obstacle in Y The axis has two extreme coordinate points with the smallest ordinate and the largest ordinate; the work area is divided at the extreme feature point of each obstacle to form several sub-work areas.

As a further improvement of an embodiment of the present invention, the method further includes: traversing the electronic map to obtain inflection points on the electronic map, and at each inflection point, draw a circle with the current inflection point as the center and the preset length as the radius. There is an intersection between the drawn circle and the non-adjacent boundary line of the current inflection point, then the inflection point is on the narrow passage, and the current inflection point and its corresponding intersection point are connected to form the area dividing line of the working area.

As a further improvement of an embodiment of the present invention, “segmenting the work area at the extreme value feature point of each obstacle to form several sub-work areas” specifically includes: each group of extreme value feature points obtained separately Each extreme coordinate point in the ray is the end point of the ray as a ray, the rays emitted by the two extreme coordinate points in each group of extreme feature point groups do not intersect in their extension direction, and each of the rays is in the current There is only one intersection on the contour line where the extreme feature point is located; obtain the first intersection of each ray along its emission direction on the working area except for the extreme coordinate point; connect each extreme feature point with its emission The intersection formed by the rays on the working area forms the area dividing line of the working area.

As a further improvement of an embodiment of the present invention, the method further includes: configuring the two extreme value coordinate points in each group of extreme value feature point groups to emit rays in opposite directions, and each of the rays is in the current extreme value feature There is only one intersection on the contour line where the point lies.

As a further improvement of an embodiment of the present invention, after "dividing the work area at the extreme feature point of each obstacle to form several sub-work areas", the method further includes: obtaining the information of each sub-work area Maximum extension width, the absolute value of the difference between the minimum abscissa and the maximum abscissa of each sub-work area on the X axis is defined as the maximum extension width; if the maximum extension width of the current sub-work area is greater than the preset width threshold; Set the width threshold to divide the current sub-work area so that the maximum extension width of any sub-area after division is not greater than the preset width threshold;

“Splitting the current sub-work area according to the preset width threshold so that the maximum extension width of any sub-region after segmentation is not greater than the preset width threshold” specifically includes: in the direction of forming the maximum extension width of the current sub-region that needs to be divided, From the starting point of forming the maximum extension width, each time the preset width threshold is reached, a dividing line is formed in the forming direction perpendicular to the maximum extension width, and each dividing line has two intersection points with the working area; or obtaining the maximum extension width m ₁ , and the preset width threshold n ₁ , judge whether m ₁ ≥k ₁ ·n ₁ is established, k ₁ ≥1.5, if so, every time the equal division threshold is reached, a dividing line is formed in the direction perpendicular to the maximum extension width; Said etc.

among them,

Indicates rounding up.

As a further improvement of an embodiment of the present invention, after "dividing the work area at the extreme feature point of each obstacle to form several sub-work areas", the method further includes: obtaining the information of each sub-work area Maximum extension length, the absolute value of the difference between the minimum and maximum ordinates on the Y axis of each sub-work area is defined as the maximum extension length; if the maximum extension length of the current sub-work area is greater than the preset length threshold; Set the length threshold to divide the current sub-work area so that the maximum extension length of any sub-area after division is not greater than the preset length threshold;

"Splitting the current sub-work area according to the preset length threshold so that the maximum extension length of any sub-region after segmentation is not greater than the preset length threshold" specifically includes: in the direction of forming the maximum extension length of the current sub-region to be divided, From the starting point of forming the maximum extension length, each time the preset length threshold is reached, a dividing line is formed in the forming direction perpendicular to the maximum extension width, and each dividing line has two intersection points with the working area; or obtaining the maximum extension length m ₂ , and the preset width threshold n ₂ , judge whether m ₂ ≥k ₂ ·n ₂ is established, k ₂ ≥1.5, and if so, each time the equal division threshold is reached, a dividing line is formed in the direction perpendicular to the maximum extension width; Said etc.

In order to achieve one of the above-mentioned objects of the invention, an embodiment of the present invention provides a robot including a memory and a processor, the memory stores a computer program, and the processor implements the path planning method described above when the computer program is executed. step.

In order to achieve one of the above-mentioned objects of the invention, an embodiment of the present invention provides a readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the steps of the path planning method described above.

In order to achieve another objective of the above-mentioned invention, an embodiment of the present invention provides a path planning system, the system includes: an acquisition module for acquiring an electronic map of the robot working area, the electronic map is mapped to known obstacle coordinates Obstacle map; analysis module, used to analyze the electronic map, if it is determined that there is an obstacle in the work area, obtain the contour line of the obstacle on the obstacle map; analyze the contour line of the obstacle, and obtain at least one on each obstacle The extreme value feature group is defined as two extreme value coordinate points with the smallest abscissa and the largest abscissa on the X-axis of the contour line of the obstacle, and/or the extreme value feature group is defined The contour line of the obstacle has two extreme coordinate points with the smallest ordinate and the largest ordinate on the Y axis; the segmentation module is used to segment the work area at the extreme feature point of each obstacle to Form several sub-work areas.

As a further improvement of an embodiment of the present invention, the analysis module is also used to: traverse the electronic map to obtain inflection points on the electronic map, at each inflection point, draw a circle with the current inflection point as the center and the preset length as the radius, If there is an intersection between the drawn circle and the non-adjacent boundary line of the current inflection point, the inflection point is on the narrow passage, and the current inflection point and its corresponding intersection point are connected to form the area dividing line of the working area.

As a further improvement of an embodiment of the present invention, the segmentation module is specifically configured to: each extreme value coordinate point in each group of extreme value feature points obtained separately is the end point of the ray as a ray, and each group of extreme value The rays emitted by the two extreme coordinate points in the feature point group do not intersect in their extension direction, and each of the rays has only one intersection on the contour line where the current extreme feature point is located; obtain each ray along its extension The emission direction is the first intersection point on the working area except for the extreme coordinate point; connecting each extreme feature point and the intersection formed by the emission ray on the working area to form the area dividing line of the working area.

As a further improvement of an embodiment of the present invention, the segmentation module is specifically configured to configure the two extreme value coordinate points in each group of extreme value feature point groups to emit rays in opposite directions, and each of the rays is at the current extreme. There is only one intersection on the contour line where the value feature point is located.

As a further improvement of an embodiment of the present invention, the system further includes: a subdivision module, used to obtain the maximum extension width of each sub-work area, and set the minimum and maximum abscissas of each sub-work area on the X axis The absolute value of the difference is defined as the maximum extension width; if the maximum extension width of the current sub-work area is greater than the preset width threshold; the current sub-work area is divided according to the preset width threshold, so that the maximum extension width of any sub-area after division Not greater than the preset width threshold.

As a further improvement of an embodiment of the present invention, the subdivision module is specifically configured to: in the direction of forming the maximum extension width of the current subregion to be divided, starting from the starting point of forming the maximum extension width, each time the preset width is reached When thresholding, a dividing line is formed in the direction perpendicular to the maximum extension width, and each dividing line has two intersections with the working area; or obtaining the maximum extension width m ₁ and the preset width threshold n ₁ , and judging m ₁ ≥k ₁ · _{whether n 1} is established, k ₁ ≥1.5, if so, every time the equal division threshold is reached, a division line is formed in the direction perpendicular to the maximum extension width;

among them,

Indicates rounding up.

As a further improvement of an embodiment of the present invention, the system further includes: a subdivision module, which is used to obtain the maximum extension length of each sub-work area, and to set each sub-work area on the Y axis with the smallest ordinate and the largest ordinate The absolute value of the difference is defined as the maximum extension length; if the maximum extension length of the current sub-work area is greater than the preset length threshold; the current sub-work area is divided according to the preset length threshold, so that the maximum extension length of any sub-area after division Not greater than the preset length threshold.

As a further improvement of an embodiment of the present invention, the subdivision module is specifically configured to: in the direction of forming the maximum extension length of the current subregion to be divided, starting from the starting point of forming the maximum extension length, each time the preset length is reached When thresholding, a dividing line is formed in the direction perpendicular to the maximum extension width, and each dividing line has two intersections with the working area; or obtaining the maximum extension length m ₂ and the preset width threshold n ₂ , and judging m ₂ ≥k ₂ · _{Whether n 2} is established, k ₂ ≥1.5, if so, every time the equal division threshold is reached, a division line is formed in the direction perpendicular to the maximum extension width;

In order to achieve one of the above-mentioned objects of the invention, an embodiment of the present invention provides a robot including the above-mentioned path planning system.

Compared with the prior art, the path planning method, system, robot and readable storage medium of the present invention use an electronic map with known obstacle coordinates, and divide the work area according to the position of the obstacle, so that the obstacle is located in a certain or The boundaries of multiple sub-areas, but not in the middle of the sub-areas; it is conducive to the operation of the robot's random traversal program, ensures the coverage of the robot during traversal, and helps to improve the work efficiency of the robot.

Description of the drawings

FIG. 1 is a schematic flowchart of a method for creating an obstacle map according to an embodiment of the present invention;

Fig. 2 is a schematic flow chart of a method for creating an obstacle map in another preferred embodiment based on Fig. 1;

FIG. 3 is a schematic flowchart of a preferred embodiment for implementing step S4 in FIG. 3;

4 is a schematic flowchart of a path planning method provided by an embodiment of the present invention;

Fig. 5, Fig. 6, Fig. 8, Fig. 9, Fig. 11 are respectively structural schematic diagrams of a specific example of the present invention;

FIG. 7 is a schematic flowchart of a preferred implementation of one of the steps in FIG. 4;

FIG. 10 is a schematic flowchart of another preferred embodiment path planning method provided on the basis of FIG. 4;

FIG. 12 is a schematic diagram of modules of an obstacle map creation system provided by an embodiment of the present invention;

FIG. 13 is a schematic diagram of modules of a path planning system provided by an embodiment of the present invention;

FIG. 14 is a schematic diagram of modules of a path planning system according to a preferred embodiment provided on the basis of FIG. 13;

15 is a schematic diagram of the lawn mower robot provided by the first embodiment of the present invention;

Fig. 16 is a schematic diagram of a lawn mower robot provided by a second embodiment of the present invention;

FIG. 17 is a schematic flowchart of a method for controlling a lawn mower robot according to an embodiment of the present invention.

detailed description

The present invention will be described in detail below in conjunction with the embodiments shown in the drawings. However, these embodiments do not limit the present invention, and the structural, method, or functional changes made by those skilled in the art based on these embodiments are all included in the protection scope of the present invention.

The robot system of the present invention may be a lawn mower robot system, or a sweeping robot system, etc., which automatically walks in the work area for mowing and vacuuming. In the specific example of the present invention, the robot system is a lawn mower robot system. Specifically, correspondingly, the working area may be a lawn.

The lawn mower robot system of the present invention includes: robot equipment, charging station, boundary line and boundary line signal station, and positioning base station; the boundary line is, for example, an energized wire, the boundary line signal station is usually integrated in the charging station, and the positioning The base station is usually a signal transmitting station based on infrared, ultrasonic, Bluetooth, ZigBee, UWB and other technologies, or a reflector adapted to a laser transmitter on the RM; the charging station is set on the boundary line; the RM is equipped with boundary sensors and Positioning sensor; the boundary sensor is usually inductance, used to sense the signal loaded on the boundary line; the positioning sensor is usually a sensor that receives infrared, ultrasonic, Bluetooth, ZigBee, UWB signals, or a laser transmitter/receiver including a turntable, which can receive Position the signal sent or reflected by the base station.

As shown in FIG. 1, an obstacle map creation method provided by an implementation of the present invention includes the following steps:

S1. In the same right-angle coordinate system for creating the grid map, drive the walking robot to walk along the outer boundary line from the initial positioning point for the first time, and follow the walking path of the robot to create a grid covering the working area of the walking robot on the working area enclosed by the outer boundary line A grid map, the grid map including a plurality of grid units with known coordinates;

And record the feature mark of the grid unit on the outer boundary line in real time, and each grid unit has a unique feature mark, and the feature mark includes an obstacle identifier used to characterize the position relationship between the grid unit and the obstacle and the grid unit Boundary identification of the positional relationship with the boundary line;

S2. After confirming that the walking robot returns to the initial positioning point along the outer boundary line, according to the positional relationship between each grid unit and the outer boundary line, supplement the feature marks corresponding to the remaining grid units after excluding the grid units on the outer boundary line;

S3. Mark the feature marks of each grid unit on the grid map to form an obstacle map.

In a preferred embodiment of the present invention, for step S1, the method further includes: establishing a rectangular coordinate system, and creating a raster map in the rectangular coordinate system. The specific method for creating the raster map is in the prior art. No further details.

The aforementioned boundary line can be a physical boundary line, such as a fence, or an electronic boundary line, such as a magnetic field formed around it by an energized wire, or other boundaries that can be recognized by the robot.

In the achievable manner of the present invention, for the establishment of the direct coordinate system in the step S1, the parking position of the robot at the charging pile can be taken as the initial positioning point; when viewed from a top view, the opening direction of the charging pile charged by the robot is the X axis Direction (that is, the direction in which the robot leaves the charging pile), and the direction of the X-axis rotated by 90° is the Y-axis direction to establish a Cartesian rectangular coordinate system. At this time, the robot's position coordinates are (0,0).

Further, when the robot walks along the outer boundary, the coordinate points on the outer boundary can be obtained according to various algorithms recorded in the background art, and the coordinates of each grid unit can be determined according to the coordinate points on the outer boundary.

Further, for each grid unit, the feature mark corresponding to each grid unit is represented by a binary value, and is exemplarily stored in the order of obstacle identification and boundary identification; in the specific embodiment of the present invention, the boundary line is defined It is a kind of obstacle, the boundary line includes the outer boundary line, and may also include the inner boundary line; when driving the robot to walk along the outer boundary line for the first time, only the true feature marks of part of the grid cells can be obtained; correspondingly, driving the walking In the process of the robot walking along the outer boundary line from the initial positioning point, each time the walking robot passes through a grid unit, the feature mark corresponding to the grid unit is modified to <a,b>, where a represents the obstacle identification, and b represents the feature identification. In this example, the obstacle identification and feature identification are both expressed in binary, that is, the specific value of a is 0 or 1, and the specific value of b is 0 or 1. In this specific example, if the values of a and b are both 1, it means There are obstacles in the grid unit, and there are boundary lines in the grid unit; it should be noted that during the first driving of the robot to walk, the grid units with the boundary ID of 1 are on the outer boundary line; accordingly, for To facilitate distinction, in other embodiments of the present invention, a boundary attribute identifier can also be added to each grid unit. The boundary attribute identifier can also be expressed in binary. For example, when it is 1, it represents the outer boundary line. When it is 0, it is expressed as an inner boundary line.

When the robot walks along the outer boundary line for a full circle, the grid unit inside the outer boundary line may also be included, and it cannot determine whether there is an obstacle, and further determine whether the existing obstacle is an inner boundary line. In a preferred embodiment of the present invention, in order to facilitate statistics, for step S2, after confirming that the walking robot returns to the initial positioning point along the outer boundary line, the method specifically includes: setting the features corresponding to each grid unit within the outer boundary line The mark is modified to <0,0>, that is, when the robot walks along the boundary line for the first time, the default outer boundary line has no obstacles, and no inner boundary line exists.

In order to avoid the above statistical errors, in a preferred embodiment of the present invention, when the robot is driven to enter the work area for the first time, the feature mark corresponding to each grid unit is modified according to the actual composition of the work area.

Correspondingly, as shown in FIG. 2, after the step S3, the method further includes: S4. When the walking robot is not driven for the first time in the working area, when it reaches each grid unit, according to the current grid Obstacles and boundary lines monitored in the grid cell acquire new feature marks corresponding to the current grid cell;

And judge whether the feature mark of the current grid unit in the obstacle map recorded by the walking robot is the same as the newly acquired feature mark. If they are the same, keep the feature mark in the obstacle map unchanged. If they are different, use the newly acquired feature mark. The feature mark replaces the existing feature mark in the obstacle map.

In a preferred embodiment of the present invention, as shown in FIG. 3, the step S4 specifically includes: driving the walking robot to walk in the work area, and when reaching each grid unit, determine whether the current grid unit encounters an obstacle;

If yes, when confirming that the feature mark of the current grid unit record is <1,1>, keep the feature mark of the current grid unchanged;

When confirming that the feature mark of the current grid cell record is not <1,1>, and confirming that there is a boundary line in the current grid, modify the feature mark of the current grid cell to <1,1> and change the current grid cell The inner boundary line is defined as the inner boundary line;

When it is confirmed that the feature mark of the current grid cell record is not <1,1> and that there is no boundary line in the current grid, the feature mark of the current grid cell is changed to <1,0>;

If not, when confirming that the feature mark of the current grid unit record is <0,0>, keep the feature mark of the current grid unchanged;

When confirming that the feature mark of the current grid cell record is not <0,0>, modify the feature mark of the current grid cell to <0,0>.

In a preferred embodiment of the present invention, for step S4, the method further includes: after acquiring the first coordinate point on the inner boundary line, driving the walking robot to continuously record the position of the robot according to a preset time interval or walking distance interval Coordinates until the traversal of the inner boundary line is completed; the position coordinates obtained by the robot on the inner boundary line are counted to update the inner boundary in the grid map.

In a specific embodiment of the present invention, the preset time interval Δt is obtained according to the positioning accuracy δ of the robot and the running speed v of the robot, namely

For example, in this embodiment, δ=0.2m, v=0.4m/s, then

That is, the preset time interval Δt≤0.5s.

It should be noted that after the robot enters the work area for the first time, when the feature tag of the previous record of the grid unit is found to be <1,0>, it will not perform special processing on the grid unit. The robot will avoid the grid unit when it finds the grid unit to determine that there is an obstacle; there are many ways for the robot to determine the obstacle, for example: its own sensor detects the collision, at this time, it determines the grid There are obstacles in the unit, so I won’t go into details here.

In a preferred embodiment of the present invention, after the step S4, the method further includes: S5, if it is confirmed that the running time of the walking robot in the current working area reaches the preset running time, and/or it is confirmed that the walking robot is currently working If the coverage rate in the area reaches the preset coverage rate, the grid units marked as <1,0> will be counted, and the regions will be merged according to the principle of proximity to form obstacle areas.

In the achievable manner of the present invention, the preset running time T _max can be obtained according to the area Sa of the working area and the area experience value Cp of the robot walking area per unit time, namely

The coverage rate can be the ratio of the grid units that have been traversed to the total grid units since the start of each traversal; it can also be that the grid units that have been traversed account for the feature mark as <0, The proportion of grid units of 0>; the preset coverage rate can be specified according to requirements, and is usually a value greater than 50%. In an implementable manner of the present invention, a coverage parameter can be set for each grid unit. This parameter is represented by Traverse. When the working robot does not enter the working area, Traverse=0 for all grid units. When the robot enters the working area, When the area passes through a certain grid unit, the Traverse value of the grid unit is modified to 1, then the ratio of the grid unit with the coverage rate of Traverse=1 to the total grid unit or the coverage rate of Traverse= The ratio of grid cells with 1 to the grid cells with feature label <0,0>.

In a preferred embodiment of step S5 of the present invention, the grid units with statistical features marked as <1,0> are merged according to the principle of proximity to form an obstacle area specifically including: grid units with statistical features marked as <1,0> Grid cell, if the distance between two grid cells is less than the preset distance, then the two grid cells will be merged to form an obstacle area; or count multiple grid cells marked with <1,0> Within the preset distance range, the multiple grid units are regionally merged to form an obstacle area.

In a preferred embodiment of the present invention, specific graphics are used to represent the obstacle area, such as rectangles and circles.

Correspondingly, when a rectangle is used to characterize the obstacle area, the method specifically includes: obtaining the smallest abscissa x _min on the X axis, the largest abscissa x _max on the X axis, and the smallest on the Y axis in the same obstacle area. The ordinate y _min and the maximum ordinate y _max on the Y axis define a rectangular area formed by the vertices (x _min , y _min ) and (x _max , y _max ) as the obstacle area.

When a circle is used to characterize the obstacle area, the method specifically includes: acquiring three grid units in the same obstacle area that are not on the same straight line, and using the three grid units to determine the circular area to ensure other The grid units are all in the circular area or on the boundary of the circular area, and the circular area is defined as an obstacle area.

The obstacle map creation method of the present invention can synchronously create a grid map with complete information including boundaries, islands, boundary obstacles and non-boundary obstacles during the mowing process of the robot, and improve the working efficiency of the robot.

In an embodiment of the present invention, there is also provided a robot including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the obstacle map creation method when the computer program is executed.

In an embodiment of the present invention, there is also provided a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned obstacle map creation method are realized.

As shown in FIG. 4, an embodiment of the present invention provides a path planning method based on the obstacle map obtained above, and the method includes:

M1. Obtain an electronic map of the working area of the robot, and map an obstacle map with known obstacle coordinates on the electronic map; the electronic map may also be a grid map;

M2. Analyze the electronic map. If it is determined that there are obstacles in the work area, obtain the outline of the obstacle on the obstacle map;

M3. Analyze the contour line of the obstacle, and obtain at least one set of extreme value feature groups on each obstacle, the extreme value feature group is defined as the contour line of the obstacle having the smallest abscissa and the largest abscissa on the X axis The two extreme coordinate points of, and/or the extreme feature group is defined as two extreme coordinate points with the smallest ordinate and the largest ordinate on the Y-axis of the contour line of the obstacle;

M4. Divide the work area at the extreme feature point of each obstacle to form several sub-work areas.

In a preferred embodiment of the present invention, for step M2, the method further includes: parsing the electronic map, acquiring each narrow passage in the electronic map, and separating the narrow passages to divide the working area into narrow passage areas and Normal working area.

In a specific embodiment of the present invention, step M2 specifically includes: traversing the electronic map, obtaining inflection points on the electronic map, at each inflection point, drawing a circle with the current inflection point as the center and the preset length as the radius, if the drawn circle If there is an intersection point between the boundary lines that are not adjacent to the current inflection point, the inflection point is on the narrow passage, and the current inflection point and its corresponding intersection point are connected to form the area dividing line of the working area.

The preset length is a length threshold, which is used to check narrow passages; for example, if an area with a width less than a certain length value in the working area is defined as a narrow area, then the length value is the length threshold. It should be noted that the method shown in step M3 is a description method of geometric drawing. In practical applications, the purpose of the geometric algorithm is to distinguish narrow passages in the working area, and to separate the narrow passages from the working area. Based on the above description, those skilled in the art can distinguish narrow passages in an electronic map and confirm the location of the area dividing line.

As shown in Figure 5, the line pointed to by line1 in the figure is the outer boundary line, and the line pointed by line2 is the outline of the obstacle; P1 and P2 are the inflection points of the narrow passage respectively, and P3 and P4 are the circles of P1 and P2 respectively. The following intersections, the connection line P1, P3 and the connection line P2, P4 are the area dividing lines.

Further, in step M3, the contour line is analyzed to obtain the two extreme coordinate points X1 and X2 obtained on the X axis, and the two extreme coordinate points Y1 and Y2 obtained on the Y axis, according to The above definition of the extreme value feature group can determine that the extreme value coordinate points X1 and X2 form the first group of extreme value feature point groups, and the extreme value coordinate points Y1 and Y2 form the second group of extreme value feature point groups.

There are many ways to implement step M4. As shown in FIG. 6, in one of the implementation ways of the present invention, each extreme value feature point obtained is a starting point, and the working area is segmented by the Boustrophedon algorithm; this embodiment In the case where the extreme feature points are known, the Boustrophedon algorithm is used to segment the work area into a known prior art, which will not be further described here.

This embodiment is an electronic map after the work area is divided by the Boustrophedon algorithm; in this illustration, only the first set of extreme feature points is obtained, and the first set of extreme feature points is used as the starting point. The Boustrophedon algorithm divides the work area, and after the division, 6 areas are formed, A, B, C, D, E, and F.

In another preferred embodiment of the present invention, as shown in FIG. 7, the step M4 specifically includes: each extreme value coordinate point in each group of extreme value feature points obtained separately is the end point of the ray and the ray , The rays emitted by the two extreme coordinate points in each group of extreme feature point groups do not intersect in their extension direction, and each of the rays has only one intersection on the contour line where the current extreme feature point is located;

Acquiring the first intersection point of each ray along its emission direction on the working area except for the extreme coordinate point;

The area dividing line of the working area is formed by connecting each extreme feature point and the intersection formed by the emitted ray on the working area.

It should be noted that the above-mentioned first intersection point except for the extreme coordinate point is usually on the obstacle or boundary line.

In a preferred embodiment of the present invention, the two extreme coordinate points in each group of extreme feature point groups emit rays in opposite directions, and each of the rays has only one ray on the contour line where the current extreme feature point is located. Intersection.

With reference to Figure 8, in a specific embodiment of the present invention, only the first group of extreme value feature point groups are obtained as an example for specific introduction. In this embodiment, the extreme value coordinate points in the first group of extreme value feature point groups The emitted rays are in opposite directions and extend along the X direction. The intersection of the ray emitted by the extreme coordinate point X1 and the boundary line is X3, and the intersection of the ray emitted by the extreme coordinate point X2 and the boundary line is X4; accordingly, follow the above After the process divides the working area, four dividing lines are formed, corresponding to the dividing line line3 and dividing line line4 formed by the narrow passage, and the dividing line line5 formed from the extreme coordinate point X1 and the extreme coordinate point X2. The dividing line line6; in this way, the work area is divided into 4 sub-areas, namely sub-areas A, B, C, and D.

With reference to Figure 9, in another specific embodiment of the present invention, only the second group of extreme value feature point groups are obtained as an example for specific introduction. In this embodiment, the extreme value coordinates in the second group of extreme value feature point groups The direction of the rays emitted by the points is opposite, and they all extend along the Y direction. The intersection point of the ray emitted by the extreme coordinate point Y1 and the boundary line is Y3, and the intersection point of the ray emitted by the extreme coordinate point Y2 and the boundary line is Y4; correspondingly, according to After the above process divides the working area, four dividing lines are formed, which are the dividing line line3 and dividing line line4 formed by the narrow passage, and the dividing line line5 formed from the extreme coordinate point Y1 and the self-extreme coordinate point Y2 The formed dividing line line6; in this way, the working area is divided into 4 sub-areas, namely sub-areas A, B, C, and D.

For the mowing area of the present invention, it is usually a relatively large area. Before and after the robot's working area is divided by the above method, if the positioning accuracy is low and the random method is required to traverse the sub-area, the A lawn with a too large area needs to be further divided; in a preferred embodiment of the present invention, the following method may be used to further divide the working area of the robot to improve the working efficiency of the robot.

Specifically, in a preferred embodiment of the present invention, as shown in FIG. 10, after the step M4, the method further includes: M5. Obtain the maximum extension width of each sub-work area, and place each sub-work area in X The absolute value of the difference between the minimum abscissa and the maximum abscissa on the axis is defined as the maximum extension width;

If the maximum extension width of the current sub-work area is greater than the preset width threshold, the current sub-work area is divided according to the preset width threshold so that the maximum extension width of any sub-area after division is not greater than the preset width threshold.

The preset width threshold value is a length value, and its size can be specifically set according to needs. Generally, the preset width threshold value is a length value smaller than the width of the working area.

In a specific implementation of the present invention, if the maximum extension width of the current sub-work area is greater than the preset width threshold in the step M5, the method specifically includes: in the direction of forming the maximum extension width of the current sub-region to be divided, Starting from the starting point of forming the maximum extension width, each time the preset width threshold is reached, a dividing line is formed in the forming direction perpendicular to the maximum extension width, and each dividing line has two intersection points with the working area;

Or obtain the maximum extension width m ₁ and the preset width threshold n ₁ , determine whether m ₁ ≥k ₁ ·n ₁ is established, k ₁ ≥1.5, if so, every time the equal division threshold is reached, the formation perpendicular to the maximum extension width A dividing line in the direction; said etc.

among them,

Indicates rounding up.

In the preferred embodiment of the present invention, the width and length of the work area can be divided separately, or one of the two can be selected for division.

For the division of the length of the working area, the step M5 includes: obtaining the maximum extension length of each sub-working area, and defining the absolute value of the difference between the minimum ordinate and the maximum ordinate on the Y axis of each sub-working area as the maximum extension length;

If the maximum extension length of the current sub-work area is greater than the preset length threshold;

Then the current sub-work area is divided according to the preset length threshold, so that the maximum extension length of any sub-area after the division is not greater than the preset length threshold.

In a specific implementation of the present invention, if the maximum extension length of the current sub-work area is greater than the preset length threshold in the step M5, the method specifically includes: in the direction of forming the maximum extension length of the current sub-region to be divided, Starting from the starting point of forming the maximum extension length, each time the preset length threshold is reached, a dividing line is formed in the forming direction perpendicular to the maximum extension width, and each dividing line has two intersection points with the working area;

Or obtain the maximum extension length m ₂ and the preset width threshold n ₂ , judge whether m ₂ ≥k ₂ ·n ₂ is established, k ₂ ≥1.5, if so, every time the equal division threshold is reached, the formation perpendicular to the maximum extension width A dividing line in the direction; said etc.

For ease of understanding, a specific example is described in conjunction with Figure 11 for reference. In this example, the outer boundary line line1 besieged the work area. There are three obstacles in the work area, namely obstacle 1, obstacle 2, and obstacle. Object 3: After preliminary division of the work area using the above method, the work area forms 4 sub-work areas, namely sub-work area A, sub-work area B, sub-work area C and sub-work area D; 4 sub-work areas are obtained through measurement The maximum extension width of the work area is represented by lx _A , lx _B , lx _C , and lx _{D in turn} . In addition, the work area only gives the preset width threshold a; after judgment, it can be seen that: the values of _{lx A} , lx _C , and lx _D Both are less than a, and only _{the value of lx B} is greater than a. In this way, only the sub-work area B is further divided in the X-axis direction.

For sub-work area B, start with the smallest coordinate forming its maximum extension width on the X axis, and divide the cutting line with a width of a interval in the order from left to right, until the width of the rightmost sub-area is not greater than a, to The sub-work area B is formed in the X-axis direction to form several sub-areas separated by cutting lines.

In a preferred embodiment of the present invention, both the k ₁ and the k ₂ are less than or equal to 2, and will not be further described here.

Further, after the work area is divided into sub-work areas, each sub-work area can be traversed in a bow shape or spiral shape one by one, which will not be repeated here.

The path planning method of the present invention uses the known electronic map of obstacle coordinates, and divides the working area according to the position of the obstacle, so that the obstacle is located at the boundary of one or more sub-regions, but not in the middle of the sub-region; further , By dividing the work area after determination, there is no large area of sub-areas, which is conducive to the operation of the robot's random traversal program, ensures the coverage of the robot during traversal, and helps to improve the work efficiency of the robot.

In an embodiment of the present invention, there is also provided a robot including a memory and a processor, the memory stores a computer program, and the processor implements the steps of the path planning method described above when the computer program is executed by the processor.

In an embodiment of the present invention, there is also provided a readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the path planning method described above are realized.

As shown in FIG. 12, a system for creating an obstacle map is provided. The system includes a control module 100, a creation module 200, and a supplementary module 300.

The control module 100 is used to drive the robot to walk and work.

The creation module 200 is used to create the grid map in the same rectangular coordinate system, the control module for the first time drives the walking robot to walk along the outer boundary line from the initial positioning point, and follow the robot’s walking path to create on the working area enclosed by the outer boundary line A grid map covering the working area of the walking robot, the grid map including a plurality of grid units with known coordinates; and real-time recording of the feature marks of the grid units on the outer boundary line, each grid unit has a unique feature mark, so The feature mark includes an obstacle mark and a boundary mark; the obstacle mark is used to characterize the position relationship between the grid unit and the obstacle; the boundary mark is used to characterize the position relationship between the grid unit and the boundary line.

The supplementary module 300 is used for after confirming that the walking robot returns to the initial positioning point along the outer boundary line, according to the positional relationship between each grid cell and the outer boundary line, supplement the features corresponding to the remaining grid cells after excluding the grid cells on the outer boundary line mark.

The processing output module 400 is used to mark the feature marks of each grid unit on the grid map to form an obstacle map.

In the preferred embodiment of the present invention, the creation module 100 is also used to establish a rectangular coordinate system, and create a grid map in the same rectangular coordinate system.

The creation module 200 is also used to represent the feature mark corresponding to each grid unit as a binary value, and store it in the order of obstacle identification and boundary identification; the control module 100 drives the walking robot for the first time from the initial positioning point along the outer edge During the boundary line walking process, the creation module 200 is also used to modify the feature mark corresponding to the grid unit to <1,1> every time the walking robot passes through a grid unit; the control module 100 first confirms that the walking robot moves along After the outer boundary line returns to the initial positioning point, the supplement module 200 is also used to modify the feature mark corresponding to each grid unit within the outer boundary line to <0,0>.

When the walking robot enters the work area enclosed by the outer boundary line for the first time, the supplementary module 300 is used to perform the above step S4, and the processing output module 400 is used to perform the above step S5.

A preferred embodiment of the present invention also provides a lawnmower robot including the obstacle map creation system described above.

As shown in FIG. 13, an embodiment of the present invention provides a path planning system. The system includes: an acquisition module 500, an analysis module 600, and a segmentation module 700.

The acquiring module 500 is used to acquire an electronic map of the working area of the robot, and an obstacle map with known obstacle coordinates is mapped on the electronic map. The parsing module 600 is used to analyze the electronic map. If it is determined that there is an obstacle in the work area, obtain the contour line of the obstacle on the obstacle map; analyze the contour line of the obstacle, and obtain at least one set of extreme features on each obstacle The extreme feature group is defined as two extreme coordinate points with the smallest abscissa and the largest abscissa on the X-axis of the contour line of the obstacle, and/or the extreme feature group is defined as the obstacle The contour line has two extreme coordinate points with the smallest ordinate and the largest ordinate on the Y axis; the segmentation module 700 is used to segment the work area at the extreme feature point of each obstacle to form several sub-work Area.

In a preferred embodiment of the present invention, the parsing module 600 is also used to: implement the above steps M2 and M3; the segmentation module 700 is used to implement step M4.

In a preferred embodiment of the present invention, with reference to FIG. 14, the path planning system adds a subdivision module 800 on the basis of the one shown in FIG. 13, and the subdivision module 800 is used to implement step M5.

A preferred embodiment of the present invention also provides a lawn mower robot including the path planning system described above.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the system and module described above can refer to the corresponding process in the foregoing method implementation, which will not be repeated here.

The above-mentioned obstacle map creation method and system and path planning method all involve the determination of coordinates in the map. In the implementation manner of the present invention, the robot can be controlled to walk in the work area and the map can be established according to the coordinates obtained by the robot. In the prior art, low-cost laser positioning based on angle measurement methods or ultra-wideband UWB technology with relatively high positioning accuracy are usually used to locate robots.

However, when there are many obstructions, the lawn environment is more complicated, the working ground is uneven, and the surrounding environment has high reflectivity objects, the accuracy of laser positioning will be affected; while the ultra-wideband UWB technology is effective for cutting diameters of decimeter level. Small lawn mowers cannot directly use the path planning method of overlap ratio to complete the full coverage of the area.

Thus, in a preferred embodiment of the present invention, a lawn mower robot, a system with the lawn mower robot and a control method of the lawn mower robot are provided.

An embodiment of the present invention provides a lawn mower robot system. The system includes a lawn mower robot configured to operate in a work area, and a number of anti-cursors with known coordinates are set in the work area, and a number of UWB base stations with known coordinates; the number of the reverse cursor and UWB base stations is at least 3.

As shown in FIG. 15, the lawn mower robot provided by the first embodiment of the present invention includes: a UWB positioning device 10, which is used to exchange information with a UWB base station with known coordinates to obtain the relative position of the lawn mower robot relative to the UWB base station. According to the UWB data, the UWB positioning coordinates of the lawn mower robot are obtained according to the UWB data; the laser positioning device 20 is used for information interaction with the anti-cursor of known coordinates to obtain the lawn mower robot corresponding to the Reflect the laser data of the cursor, and obtain the laser positioning coordinates of the lawn-mower robot according to the laser data; the main controller 30 is used to communicatively connect the UWB positioning device 10 and the laser positioning device 20 to obtain the laser positioning device from the UWB The positioning device 10 receives the UWB positioning coordinates of the lawnmower robot and/or receives the laser positioning coordinates of the lawnmower robot from the laser positioning device 20, and uses the UWB positioning coordinates, the laser positioning coordinates, and the One of the coordinates obtained by fusing the UWB positioning coordinates and the laser positioning coordinates is used as the current position coordinates of the lawn mower robot.

Specifically, in the first embodiment of the present invention, the UWB positioning device 10 includes: a UWB tag 11, which is used for the UWB base station to exchange information to obtain UWB data of the lawn mower robot relative to the UWB base station; The first controller 13 is electrically connected to the UWB tag 11 and configured to obtain the UWB data from the UWB tag 11 and obtain the UWB positioning coordinates of the lawn mower robot according to the UWB data.

The laser positioning device 20 includes: a laser scanning head 21 for the anti-cursor to perform information interaction to obtain laser data of the lawn mower robot relative to the anti-cursor; a second controller 23, which interacts with the laser The scanning head 21 is electrically connected to obtain the laser data from the laser scanning head 21 and obtain the laser positioning coordinates of the lawn mower robot according to the laser data.

In the specific embodiment of the present invention, in the process of information exchange between the UWB tag 11 and the UWB base station, the distance information between the current lawn mower robot and the UWB base station in the work area is obtained; further, the first controller 13 uses trilateration to locate The algorithm parses the UWB data to obtain UWB positioning coordinates, and further sends the obtained UWB positioning coordinates to the main controller 30 for fusion.

In the process of information interaction between the laser scanning head 21 and the anti-cursor, the angle information between the current mowing robot and the anti-cursor in the work area is obtained; further, the second controller 23 uses a triangulation positioning algorithm to analyze the laser data to obtain The laser positioning coordinates are further sent to the main controller 30 for fusion.

The above methods of obtaining robot coordinates through the trilateral measurement positioning algorithm and the triangulation positioning algorithm are all existing technologies, and will not be further described here.

In the specific embodiment of the present invention, the main controller 30 and the first controller 13 and the second controller 23 have various communication connection modes, for example, via a serial port, I2C, Wifi, or Bluetooth.

When the main controller 30 receives UWB positioning coordinates and laser positioning coordinates, one of the received UWB positioning coordinates or laser positioning coordinates may be invalid. In this way, the main controller 30 is specifically used to: resolve UWB positioning coordinates and laser positioning coordinates. Positioning coordinates, judge whether one of UWB positioning coordinates and laser positioning coordinates is invalid, if so, use the other as the current position coordinates of the robot. Invalid state, for example: one of the obtained coordinates is not within the current environment area. Of course, there are other invalid scenes, so I won’t go into further details here.

Correspondingly, in a preferred embodiment of the present invention, when the main controller 30 confirms that only UWB positioning coordinates are received, the UWB positioning coordinates are taken as the current position coordinates of the robot.

In a preferred embodiment of the present invention, when the main controller 30 confirms that only the laser positioning coordinates are received, the laser positioning coordinates are used as the current position coordinates of the robot.

In a preferred embodiment of the present invention, when the main controller 30 confirms that the UWB positioning coordinates and the laser positioning coordinates are received, it directly uses the laser positioning coordinates as the current position coordinates of the robot.

In a preferred embodiment of the present invention, when the main controller 30 does not receive either the UWB positioning coordinates or the laser positioning coordinates, it sends an instruction to the second controller, and the second controller instructs the laser scanning head to rescan, and rescan obtains The laser positioning coordinates of as the current position coordinates of the robot.

In another preferred embodiment of the present invention, when the main controller 30 confirms that the UWB positioning coordinates and the laser positioning coordinates are received, it adopts one of the weighted average method, the Kalman filter method, and the Bayesian estimation algorithm to merge the UWB positioning coordinates. And laser positioning coordinates.

As shown in FIG. 16, the second embodiment of the present invention provides a lawn mower robot. The second embodiment is similar to the above-mentioned first embodiment. The difference is that the first controller and the second controller are not provided, and directly adopted The main controller 30 is communicatively connected to and controls the UWB tag 11 and the laser scanning head 21; accordingly, the main controller 30 implements the functions of the first controller and the second controller.

Specifically, the main controller 30 is electrically connected to the UWB tag and the laser scanning head respectively, and is used to obtain the UWB data from the UWB tag 11 and obtain the UWB positioning coordinates of the lawn mower robot according to the UWB data, and/ Or obtain the laser data from the laser scanning head 21 and obtain the laser positioning coordinates of the lawn mower robot according to the laser data, and the main controller 30 is also used to use the UWB positioning coordinates and the laser positioning One of the coordinates, the UWB positioning coordinates, and the coordinates after the laser positioning coordinates are fused is used as the current position coordinates of the lawn mower robot.

The main controller 30 is also used to implement other functions of the above-mentioned first controller and the second controller. For the specific implementation process, refer to the above-mentioned embodiment, which will not be further described here.

In an embodiment of the present invention, as shown in FIG. 17, a method for controlling a lawnmower robot is also provided. The method includes: N1, real-time information interaction between UWB tags and UWB base stations UWB data of the UWB base station, and/or information interaction with the anti-cursor through a laser scanning head, to obtain laser data of the lawn mower robot relative to the anti-cursor; N2, parse the UWB data to obtain the UWB of the lawn mower robot Positioning coordinates, analyzing laser data to obtain the laser positioning coordinates of the lawn mower robot; N3, using the UWB positioning coordinates, the laser positioning coordinates, the UWB positioning coordinates, and the laser positioning coordinates for one of the fusion coordinates One is the current position coordinate of the lawn mower robot.

In the first implementation manner of the present invention, step N3 specifically includes: parsing UWB positioning coordinates and laser positioning coordinates, judging whether one of UWB positioning coordinates and laser positioning coordinates is invalid, and if so, using the other as the current position coordinates of the robot. .

In the second implementation manner of the present invention, step N3 specifically includes: when it is confirmed that only UWB positioning coordinates are received, the UWB positioning coordinates are used as the current position coordinates of the robot.

In the third implementable manner of the present invention, step N3 specifically includes: when it is confirmed that only the laser positioning coordinates are received, the laser positioning coordinates are used as the current position coordinates of the robot.

In the fourth implementable manner of the present invention, step N3 specifically includes: when neither UWB positioning coordinates nor laser positioning coordinates are received, instructing to rescan to retrieve the laser positioning coordinates, and using the obtained laser positioning coordinates as the current position coordinates of the robot .

In the fifth implementable manner of the present invention, step N3 specifically includes: when it is confirmed that the UWB positioning coordinates and the laser positioning coordinates are received, the weighted average method, the Kalman filter method, and the Bayesian estimation algorithm are used to merge UWB positioning Coordinates and laser positioning coordinates.

In summary, the lawn mower robot of the present invention has the lawn mower robot system and the lawn mower robot control method, combines the advantages of UWB positioning and laser positioning, and improves the positioning accuracy of the robot.

In the several implementation manners provided in this application, it should be understood that the disclosed modules, systems, and methods can all be implemented in other ways. The system implementation described above is only illustrative. The division of the modules is only a logical function division. In actual implementation, there may be other divisions. For example, multiple modules or components can be combined or integrated into another. A system or some features can be ignored or not implemented.

The modules described as separate components may or may not be physically separate, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed to multiple network modules, Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of this embodiment.

In addition, the functional modules in the various embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, or in the form of hardware plus software functional modules.

Finally, it should be noted that the above implementations are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing implementations, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (15)

1. A path planning method, characterized in that the method includes:

   Acquiring an electronic map of the working area of the robot, and mapping an obstacle map with known obstacle coordinates on the electronic map;

   Analyze the electronic map, and if it is determined that there is an obstacle in the work area, obtain the outline of the obstacle on the obstacle map;

   Analyze the contour lines of obstacles, and obtain at least one set of extreme value feature groups on each obstacle. The extreme value feature groups are defined as the contour lines of the obstacle with the smallest abscissa and the largest abscissa on the X axis. Two extreme coordinate points, and/or the extreme feature group is defined as two extreme coordinate points with the smallest ordinate and the largest ordinate on the Y-axis of the contour line of the obstacle;

   The work area is divided at the extreme feature point of each obstacle to form several sub-work areas.
2. The path planning method according to claim 1, wherein the method further comprises: traversing the electronic map, obtaining inflection points on the electronic map, and at each inflection point, taking the current inflection point as the center of the circle and the preset length as the radius Draw a circle. If there is an intersection between the drawn circle and the non-adjacent boundary line of the current inflection point, the inflection point is on the narrow passage, and the current inflection point and its corresponding intersection point are connected to form the area dividing line of the working area.
3. The path planning method according to claim 1, wherein "segmenting the work area at the extreme feature point of each obstacle to form several sub-work areas" specifically includes:

   Each extreme value coordinate point in each group of extreme value feature point groups obtained separately is the end point of the ray as a ray, and the ray emitted by the two extreme value coordinate points in each group of extreme value feature point group is in its extension direction The upper part does not intersect, and each of the rays has only one intersection on the contour line where the current extreme feature point is located;

   Acquiring the first intersection point of each ray along its emission direction on the working area except for the extreme coordinate point;

   The area dividing line of the working area is formed by connecting each extreme feature point and the intersection formed by the emitted ray on the working area.
4. The path planning method according to claim 3, wherein the method further comprises:

   The two extreme coordinate points in each group of extreme feature point groups are configured to emit rays in opposite directions, and each of the rays has only one intersection on the contour line where the current extreme feature point is located.
5. The path planning method according to claim 1, wherein after "dividing the working area at the extreme feature point of each obstacle to form several sub-working areas", the method further comprises:

   Get the maximum extension width of each sub-work area, and define the absolute value of the difference between the minimum abscissa and the maximum abscissa of each sub-work area on the X axis as the maximum extension width;

   If the maximum extension width of the current sub-work area is greater than the preset width threshold;

   Dividing the current sub-work area according to the preset width threshold, so that the maximum extension width of any sub-area after the division is not greater than the preset width threshold;

   "Split the current sub-work area according to the preset width threshold so that the maximum extension width of any sub-area after the division is not greater than the preset width threshold" specifically includes:

   In the direction of forming the maximum extension width of the current sub-region to be divided, starting from the starting point of forming the maximum extension width, each time the preset width threshold is reached, a dividing line is formed in the direction perpendicular to the maximum extension width. The dividing line and the working area have two intersection points;

   Or obtain the maximum extension width m ₁ and the preset width threshold n ₁ , determine whether m ₁ ≥k ₁ ·n ₁ is established, k ₁ ≥1.5, if so, every time the equal division threshold is reached, the formation perpendicular to the maximum extension width Forming a dividing line in the direction;

   

   

   among them,

   

   Indicates rounding up.
6. The path planning method according to claim 1, wherein after "dividing the working area at the extreme feature point of each obstacle to form several sub-working areas", the method further comprises:

   Obtain the maximum extension length of each sub-work area, and define the absolute value of the difference between the minimum ordinate and the maximum ordinate of each sub-work area on the Y axis as the maximum extension length;

   If the maximum extension length of the current sub-work area is greater than the preset length threshold;

   The current sub-work area is divided according to the preset length threshold, so that the maximum extension length of any sub-area after division is not greater than the preset length threshold;

   "Splitting the current sub-work area according to the preset length threshold so that the maximum extension length of any sub-area after segmentation is not greater than the preset length threshold" specifically includes:

   In the direction of forming the maximum extension length of the current subregion to be divided, starting from the starting point of forming the maximum extension length, each time the preset length threshold is reached, a dividing line is formed in the direction perpendicular to the maximum extension width. The dividing line and the working area have two intersection points;

   Or obtain the maximum extension length m ₂ and the preset width threshold n ₂ , judge whether m ₂ ≥k ₂ ·n ₂ is established, k ₂ ≥1.5, if so, every time the equal division threshold is reached, the formation perpendicular to the maximum extension width Forming a dividing line in the direction;

   

   
7. A robot comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the path planning method according to any one of claims 1 to 6 when the computer program is executed.
8. A readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, the steps of the path planning method according to any one of claims 1 to 6 are realized.
9. A path planning system, characterized in that the system includes:

   An acquisition module, configured to acquire an electronic map of the robot working area, and an obstacle map with known obstacle coordinates is mapped on the electronic map;

   The analysis module is used to analyze the electronic map. If it is determined that there is an obstacle in the work area, obtain the outline of the obstacle on the obstacle map;

   Analyze the contour lines of obstacles, and obtain at least one set of extreme value feature groups on each obstacle. The extreme value feature groups are defined as the contour lines of the obstacle with the smallest abscissa and the largest abscissa on the X axis. Two extreme coordinate points, and/or the extreme feature group is defined as two extreme coordinate points with the smallest ordinate and the largest ordinate on the Y-axis of the contour line of the obstacle;

   The segmentation module is used to segment the work area at the extreme feature point of each obstacle to form several sub-work areas.
10. The path planning system according to claim 9, wherein the analysis module is further used to: traverse the electronic map to obtain inflection points on the electronic map, and at each inflection point, take the current inflection point as the center of the circle and use a preset length Draw a circle with a radius. If there is an intersection between the drawn circle and the non-adjacent boundary line of the current inflection point, the inflection point is on the narrow passage, connecting the current inflection point and its corresponding intersection to form the area dividing line of the working area.
11. The path planning system according to claim 10, wherein the segmentation module is specifically configured to: each extreme value coordinate point in each group of extreme value feature point groups obtained separately is the end point of the ray as a ray, The rays emitted by the two extreme coordinate points in each group of extreme feature point groups do not intersect in their extension direction, and each of the rays has only one intersection on the contour line where the current extreme feature point is located;

    Acquiring the first intersection point of each ray along its emission direction on the working area except for the extreme coordinate point;

    The area dividing line of the working area is formed by connecting each extreme feature point and the intersection formed by the emitted ray on the working area.
12. The path planning system according to claim 11, wherein the segmentation module is specifically configured to:

    The two extreme coordinate points in each group of extreme feature point groups are configured to emit rays in opposite directions, and each of the rays has only one intersection on the contour line where the current extreme feature point is located.
13. The path planning system according to claim 9, characterized in that, the system further comprises: a subdivision module for obtaining the maximum extension width of each sub-work area, and the smallest width of each sub-work area on the X axis The absolute value of the difference between the coordinates and the maximum abscissa is defined as the maximum extension width;

    If the maximum extension width of the current sub-work area is greater than the preset width threshold;

    Dividing the current sub-work area according to the preset width threshold, so that the maximum extension width of any sub-area after the division is not greater than the preset width threshold;

    The subdivision module is specifically configured to: in the direction of forming the maximum extension width of the current sub-region that needs to be divided, starting from the starting point of forming the maximum extension width, each time a preset width threshold is reached, at a position perpendicular to the maximum extension width A dividing line is formed in the forming direction, and each dividing line has two intersection points with the working area;

    Or obtain the maximum extension width m ₁ and the preset width threshold n ₁ , determine whether m ₁ ≥k ₁ ·n ₁ is established, k ₁ ≥1.5, if so, every time the equal division threshold is reached, the formation perpendicular to the maximum extension width Forming a dividing line in the direction;

    

    

    among them,

    

    Indicates rounding up.
14. The path planning system according to claim 9, characterized in that the system further comprises: a subdivision module for obtaining the maximum extension length of each sub-work area, and the smallest vertical length of each sub-work area on the Y axis The absolute value of the difference between the coordinate and the maximum ordinate is defined as the maximum extension length;

    If the maximum extension length of the current sub-work area is greater than the preset length threshold;

    The current sub-work area is divided according to the preset length threshold, so that the maximum extension length of any sub-area after division is not greater than the preset length threshold;

    The subdivision module is specifically used for:

    In the direction of forming the maximum extension length of the current sub-region to be divided, starting from the starting point of forming the maximum extension length, each time the preset length threshold is reached, a dividing line is formed in the direction perpendicular to the maximum extension width. The dividing line and the working area have two intersection points;

    Or obtain the maximum extension length m ₂ and the preset width threshold n ₂ , judge whether m ₂ ≥k ₂ ·n ₂ is established, k ₂ ≥1.5, if so, every time the equal division threshold is reached, the formation perpendicular to the maximum extension width Forming a dividing line in the direction;

    

    
15. A robot comprising the path planning system according to any one of claims 9-14.

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