WO2023035601A1 - 一种机器人行走路径规划方法及其机器人、存储介质 - Google Patents

一种机器人行走路径规划方法及其机器人、存储介质 Download PDF

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Publication number
WO2023035601A1
WO2023035601A1 PCT/CN2022/084565 CN2022084565W WO2023035601A1 WO 2023035601 A1 WO2023035601 A1 WO 2023035601A1 CN 2022084565 W CN2022084565 W CN 2022084565W WO 2023035601 A1 WO2023035601 A1 WO 2023035601A1
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walking path
obstacle
row
robot
path row
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PCT/CN2022/084565
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English (en)
French (fr)
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李昂
郭盖华
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深圳乐动机器人有限公司
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Publication of WO2023035601A1 publication Critical patent/WO2023035601A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

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  • the present application relates to the field of robots, in particular to a method for planning a walking path of a robot, a robot, and a storage medium thereof.
  • sweeping machines also known as sweeping robots
  • path planning is also one of the key technologies of mobile robots, which involves the construction of environmental maps and robot positioning. It is an important direction of modern robot research.
  • the robot sweeps the floor using three path planning modes: spiral motion path planning, motion path planning along the object side, and linear cross motion path planning, plus the random cleaning mode is the four cleaning modes of sweeping robots that are common on the market today.
  • the four modes cannot plan a cleaning path with high coverage and low repetition rate for areas of different shapes and obstacles with different shapes and sizes.
  • the sweeping robot has planned the cleaning route in advance, but when the owner moves tables, chairs or other furniture during the cleaning process, or when people walk around in the room at will, or when small animals are active at home, Robots don't react immediately.
  • the purpose of this application is to provide a cleaning robot and its walking path planning method, which can improve the walking efficiency of the robot and improve the edge coverage of obstacles.
  • a technical solution adopted by the present application is to provide a robot walking path planning method, which includes: detecting whether there is an obstacle in the current walking path; when detecting an obstacle in the current walking path, determine The state of the previous walking path line; according to the state of the previous walking path line, execute the path planning strategy of the current walking path line corresponding to the state of the previous walking path line.
  • the state of the last walking path line includes: a first state in which there is no previous walking path line; or a second state in which there is a previous walking path line and it is determined that there is an obstacle in the previous walking path line state; or a third state in which there is a previous walking path row and it is determined that there is no obstacle in the previous walking path row.
  • the path planning strategy of the current walking path row corresponding to the state of the previous walking path row is executed, including: if the state of the previous walking path row is the first state, execute the first path planning strategy, and the first path planning strategy is used to control the robot to walk along the obstacle from the current walking path to the bow-shaped traveling direction away from the current walking path.
  • determining that there is an obstacle in the previous walking path line includes: if the coordinate point of the obstacle is located on the previous walking path line, determining that there is an obstacle in the previous walking path line; or if the previous walking path line If there is a curve in the previous walking path, it is determined that there is an obstacle in the previous walking path; or if there is an obstacle mark point in the previous walking path, it is determined that there is an obstacle in the previous walking path.
  • the path planning strategy of the current walking path row corresponding to the state of the previous walking path row is executed, including: if the state of the previous walking path row is the second State, determine whether the preset condition is met; if the preset condition is met, execute the second path planning strategy, the second path planning strategy is used to control the robot from the current walking path to the bow-shaped traveling direction away from the previous walking path Walk along the obstacles.
  • the preset condition includes: the obstacle existing in the previous walking path row is the same obstacle as the obstacle existing in the current walking path row; or the first obstacle existing in the previous walking path row is the same as the current obstacle
  • the distance between the second obstacle existing in the walking path row is not greater than the first threshold; or the position of the third obstacle existing in the previous walking path row and the fourth obstacle existing in the current walking path row in the bow-shaped travel direction
  • the coordinate difference is not greater than the second threshold, wherein the traveling direction of the bow character is perpendicular to the current walking path.
  • the path planning strategy of the current walking path row corresponding to the state of the previous walking path row is executed, including: if the state of the previous walking path row is the third state, execute the third path planning strategy, and the third path planning strategy is used to control the robot to walk according to the third path planning strategy.
  • executing the third path planning strategy includes: if there is no obstacle in the previous walking path row, controlling the robot to detect the obstacle from the current walking path row toward the bow-shaped traveling direction close to the previous walking path row or if there is no obstacle in the previous walking path, and the first distance and the second distance between the current walking path and the first edge and second edge of the obstacle satisfy the first The distance is not greater than the second distance, and the robot is controlled to walk along the obstacle from the current walking path to the bow-shaped traveling direction close to the previous walking path; or if there is no obstacle in the previous walking path, and the current walking The first distance and the second distance between the path line and the first edge and the second edge of the obstacle in the bow-shaped traveling direction satisfy that the first distance is greater than the second distance, and the robot is controlled to move away from the current walking path line to the previous walking path line Walk along the side of the obstacle in the bow-shaped traveling direction, wherein, the first edge of the obstacle is the edge of the obstacle close to the previous walking path row, and the second edge of the
  • Another technical solution adopted by the present application is to provide a robot, which includes a processor and a memory, wherein program data is stored in the memory, and the processor calls the program data stored in the memory to execute the above-mentioned walking path of the robot planning method.
  • Another technical solution adopted by the present application is to provide a computer-readable storage medium which stores program instructions, wherein the program instructions are executed to implement the above-mentioned method for planning a walking path of a robot.
  • the beneficial effects of the present application are: by providing a robot walking path planning method, it is detected whether there is an obstacle in the current walking path; when an obstacle is detected in the current walking path, the state of the previous walking path is determined; according to the The state of a walking path line executes the path planning strategy of the current walking path line corresponding to the state of the previous walking path line.
  • the walking efficiency of the robot can be improved ; Furthermore, since the new path planning takes into account the obstacles in the previous line, the new path can be more in line with the original planned path, and the edge coverage of obstacles is improved.
  • Fig. 1 is a schematic flow chart of an embodiment of a robot walking path planning method provided by the present application
  • Fig. 2 is a schematic flow chart of step 13 provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a first path planning strategy provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a second path planning strategy provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a second path planning strategy provided by another embodiment of the present application.
  • FIG. 6 is a schematic diagram of a second path planning strategy provided by another embodiment of the present application.
  • FIG. 7 is a schematic diagram of a third path planning strategy provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a third path planning strategy provided by another embodiment of the present application.
  • FIG. 9 is a schematic diagram of a third path planning strategy provided by another embodiment of the present application.
  • FIG. 10 is a schematic diagram of a third path planning strategy provided by another embodiment of the present application.
  • Fig. 11 is a schematic diagram of a walking target area provided by an embodiment of the present application.
  • Fig. 12 is a schematic structural diagram of an embodiment of a robot provided by the present application.
  • Fig. 13 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application.
  • Fig. 1 is a schematic flow chart of an embodiment of a robot walking path planning method provided by the present application, the method comprising:
  • Step 11 Detect whether there is an obstacle in the current walking path.
  • the robot is equipped with one or more of laser ranging sensors (such as laser radar), vision sensors, infrared sensors, collision sensors, ultrasonic sensors, millimeter wave sensors, and optical flow sensors, which are used to detect the current walking path. Whether there is an obstacle and its information.
  • laser ranging sensors such as laser radar
  • vision sensors such as laser radar
  • infrared sensors such as infrared sensors
  • collision sensors such as ultrasonic sensors
  • millimeter wave sensors such as ultrasonic sensors
  • optical flow sensors such as optical flow sensors
  • obstacles can be virtual obstacles and physical obstacles, wherein virtual obstacles include artificially or automatically set virtual walls, restricted areas or wireless signals sent by virtual devices, wherein physical obstacles are divided into static physical obstacles and dynamic Physical obstacles, for example, static physical obstacles can be obstacles with fixed positions such as dining tables, sofas, and televisions; for example, dynamic physical obstacles can be obstacles whose positions may change at any time, such as pets and people.
  • Step 12 When an obstacle is detected in the current walking path line, determine the state of the previous walking path line.
  • the robot if there is no obstacle in the current walking path, the robot is controlled to walk straight along the current walking path. If there is an obstacle in the current walking path, it is necessary to determine the state of the previous walking path.
  • the line adjacent to the current walking path line is taken as the previous walking path line. If the current walking path acts as the starting walking path line, there is no previous walking path line. If the current walking path line If the row is not the initial walking path row, there is a previous walking path row, wherein the bow-shaped traveling direction is perpendicular to the current walking path row.
  • the state of the previous walking path line includes: the first state that there is no previous walking path line; or the second state that there is a previous walking path line and it is determined that there is an obstacle in the previous walking path line; or there is an upper walking path line.
  • determining that there is an obstacle in the previous walking path includes:
  • the coordinate point of the detected obstacle is located on the previous walking path line, it is determined that there is an obstacle in the previous walking path line; or when a curve is detected in the previous walking path line, then it is determined that there is an obstacle in the previous walking path line; Or when it is detected that there is an obstacle mark point in the previous walking path line, it is determined that there is an obstacle in the previous walking path line.
  • the robot when the robot is equipped with one of laser ranging sensors (such as lidar), infrared sensors, visual sensors, collision sensors, ultrasonic sensors, millimeter wave sensors, optical flow sensors, etc. for detecting and recording obstacle information or When there are multiple types, the coordinate point of the obstacle can be obtained. If the robot determines that the coordinate point of the obstacle is located in the previous walking path, it is determined that there is an obstacle in the previous walking path;
  • laser ranging sensors such as lidar
  • infrared sensors such as lidar
  • visual sensors such as visual sensors
  • collision sensors such as ultrasonic sensors
  • millimeter wave sensors ultrasonic sensors
  • optical flow sensors etc.
  • the robot when the robot is equipped with one of laser ranging sensors (such as lidar), infrared sensors, vision sensors, collision sensors, ultrasonic sensors, millimeter wave sensors, optical flow sensors, etc. for detecting and recording the robot's walking path or When there are multiple types, the map and route of the robot's walking can be obtained. If the robot determines that there is a curve in the previous walking path, it is determined that there is an obstacle in the previous walking path;
  • the robot when the robot has the function of artificially setting obstacle marking point information, if the robot determines that the marking point of the obstacle is located in the previous walking path, it determines that there is an obstacle in the previous walking path.
  • Step 13 According to the state of the previous walking path row, execute the path planning strategy of the current walking path row corresponding to the state of the previous walking path row.
  • the state of the previous walking path row can be divided into three states: there is no previous walking path row, there is a previous walking path row and there is an obstacle in the previous walking path row, there is a previous walking path row and the previous There are no obstacles on the walking path.
  • FIG. 2 is a schematic flowchart of step 13, and step 13 may specifically include:
  • Step 131 If the state of the previous walking path is the first state, execute the first path planning strategy, which is used to control the robot to face obstacles from the current walking path to the bow-shaped traveling direction away from the current walking path objects to walk along the side.
  • FIG. 3 is a schematic diagram of the first path planning strategy provided by an embodiment of the present application, wherein S31 is the current walking path row.
  • step 132 if it is determined that the robot detects that there is an obstacle in the previous walking path and that there is an obstacle in the previous walking path, then go directly to step 132 .
  • Step 132 If the last walking path is in the second state, determine whether the preset condition is met; if the preset condition is met, execute the second path planning strategy, which is used to control the robot to move from the current walking path to the second state. Edge walking is performed on obstacles in a bow direction away from the previous walking path row.
  • the preset conditions include:
  • Preset condition 1 The obstacle existing in the previous walking path row is the same obstacle as the obstacle existing in the current walking path row;
  • Figure 4 is a schematic diagram of the second path planning strategy provided by an embodiment of the present application, wherein the obstacle in the path line in S41 and the obstacle in the path line in S42 are the same obstacle, then the robot is controlled from The current walking path row walks along the obstacle in the bow-shaped traveling direction away from the previous walking path row.
  • Preset condition 2 the distance between the first obstacle A1 in the previous walking path row and the second obstacle A2 in the current walking path row is not greater than the first threshold;
  • FIG. 5 is a schematic diagram of a second path planning strategy provided by another embodiment of the present application, wherein, S51 there is a first obstacle A1 in the path line, and S52 there is a second obstacle A2 in the path line,
  • the shortest distance D1 between the first obstacle A1 existing in the S51 path line and the second obstacle A2 existing in the S52 path line is not greater than the first threshold, then the robot is controlled to move from the current walking path line to the bow that is far away from the previous walking path line. Walk along the side of the second obstacle A2 in the word traveling direction.
  • Preset condition three the position coordinate difference between the third obstacle A3 in the previous walking path row and the fourth obstacle A4 in the current walking path row in the bow-shaped traveling direction is not greater than the second threshold.
  • FIG. 6 is a schematic diagram of a second path planning strategy provided by another embodiment of the present application, wherein, S61 there is a third obstacle A3 in the path line, and S62 there is a fourth obstacle A4 in the path line,
  • the position coordinate difference D2 of the third obstacle A3 existing in the S61 path line and the fourth obstacle A4 existing in the S62 path line in the bow-shaped traveling direction is not greater than the second threshold value, then the robot is controlled to move away from the current walking path line to the previous one.
  • the bow-shaped traveling direction of the traveling path line performs sideways walking on the fourth obstacle A4.
  • step 133 if it is determined that the robot responds that there is a previous walking path row and there is no obstacle in the previous walking path row, then go directly to step 133 .
  • Step 133 If the state of the last walking path row is the third state, execute a third path planning strategy, which is used to control the robot to walk according to the third path planning strategy.
  • the robot is controlled to walk along the side of the obstacle from the current walking path row toward the bow-shaped traveling direction close to the previous walking path row;
  • the robot is controlled to walk along the side of the obstacle from the current walking path row to the bow-shaped traveling direction close to the previous walking path row; wherein, the first edge of the obstacle is The obstacle is close to the edge of the previous walking path row, the second edge of the obstacle is the edge away from the previous walking path row of the obstacle, and the bow-shaped traveling direction is perpendicular to the current walking path row.
  • FIG. 7 is a schematic diagram of a third path planning strategy provided by an embodiment of the present application, wherein S71 there is no obstacle in the path line, and S72 is the first edge and second edge of the obstacle existing in the path line If the first distance H1 and the second distance H2 satisfy that the first distance H1 is not greater than the second distance H2, then the robot is controlled to walk along the obstacle from the current walking path row to the bow-shaped traveling direction close to the previous walking path row.
  • the robot is controlled to walk along the obstacle from the current walking path row to the bow-shaped traveling direction away from the previous walking path row.
  • FIG. 8 is a schematic diagram of a third path planning strategy provided by another embodiment of the present application, wherein S81 there is no obstacle in the path line, and S82 is the first edge and the first edge of the obstacle in the path line.
  • the first distance H1 and the second distance H2 of the two edges satisfy that the first distance H1 is greater than the second distance H2, then the robot is controlled to walk along the obstacle from the current walking path to the bow-shaped traveling direction away from the previous walking path.
  • the robot is controlled to walk along the obstacle from the current walking path to the bow-shaped traveling direction away from the previous walking path.
  • FIG. 9 is a schematic diagram of a third path planning strategy provided by another embodiment of the present application, wherein S91 there is no obstacle in the path line, and S92 the obstacle existing in the path line is in the bow direction of travel If the second distance H2 from the second edge of the obstacle is not greater than the third threshold, the robot is controlled to walk along the obstacle from the current walking path row to the bow-shaped traveling direction away from the previous walking path row.
  • the robot is controlled to start from the current walking path
  • the path line walks along the obstacle in the bow-shaped traveling direction close to the previous walking path line.
  • FIG. 10 is a schematic diagram of a third path planning strategy provided by another embodiment of the present application, wherein there is no obstacle in the path line of S101, there is an obstacle in the path line of S102, and the path line of S101 and the path of S102 If the distance D3 between rows is smaller than the preset distance, the robot is controlled to walk along the obstacle from the current walking path row to the bow-shaped traveling direction away from the previous walking path row.
  • the obstacle in the current walking path is not a virtual obstacle
  • the obstacle is determined by the laser ranging sensor, infrared sensor, vision sensor, collision sensor, ultrasonic sensor, millimeter wave sensor, and optical flow sensor mounted on the robot. Whether it is a dynamic physical obstacle or a static physical obstacle, if the obstacle is a dynamic physical obstacle, the walking path of the robot is the originally planned walking path. When it is blocked by an obstacle, wait for the dynamic obstacle to move before proceeding. walk.
  • the distance between the robot's walking paths is dynamically adjusted according to different conditions such as the size, shape, and position distribution of obstacles in the walking area.
  • the robot when the robot walks to the last line in the walking area, if the distance between the current walking path line and the previous walking path line is less than the preset distance, the robot needs to be planned to walk along the walking area.
  • FIG. 11 is a schematic diagram of the walking target area provided by an embodiment of the present application, where the bow-shaped walking length D4 is greater than the fourth threshold, then this area is divided into two walking areas, and the two Both the bow-shaped walking lengths D5 and D6 of the area are not greater than the fourth threshold, and the two walking areas are walked respectively according to the walking strategy.
  • the robot walking path planning method includes: detecting whether there is an obstacle in the current walking path row; when detecting an obstacle in the current walking path row, determining the state of the previous walking path row; According to the state of the previous walking path row, execute the path planning strategy of the current walking path row corresponding to the state of the previous walking path row.
  • the walking efficiency of the robot can be improved; Furthermore, since the new path planning takes into account the obstacles in the previous line, the new path is more suitable for the original planned path, and the edge coverage of the obstacles is improved.
  • FIG. 12 is a schematic structural diagram of an embodiment of a robot provided by the present application.
  • the robot 120 includes a processor 121 and a memory 122 connected to the processor 121 , and program data is stored in the memory 122 .
  • the robot 120 may be a cleaning robot, or may be an intelligent terminal such as a cleaning robot, a guiding robot, or a path inspection robot, which is not limited here.
  • the processor 121 is configured to execute program data to implement the following method: Obtain obstacle size, position parameter and robot position parameter information, wherein the obstacle size, position parameter and robot position parameter information are Obtained by the point laser ranging sensor, infrared sensor, and collision sensor on the robot; and the walking path is planned according to the obstacle size, position parameters and robot position parameter information.
  • the robot 120 may also include a display screen for displaying images or information such as the size of obstacles, the battery power of the robot, and the walking area. Further, the robot 120 may also include a reminder component, such as a flashing light, a buzzer, a horn, etc., for reminding when the robot fails or the walking is completed.
  • a reminder component such as a flashing light, a buzzer, a horn, etc.
  • the robot 120 may also include a communication module, such as 4G, 5G, WIFI, etc., for establishing a wireless communication connection with the user's mobile terminal, so as to perform remote control and data interaction on the robot.
  • a communication module such as 4G, 5G, WIFI, etc.
  • FIG. 13 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application, and program data 310 is stored in the computer-readable storage medium 300 .
  • the program data 310 when executed by the processor, it is used to implement the following method: detecting whether there is an obstacle in the current walking path; The state of a walking path line; according to the state of the previous walking path line, execute the path planning strategy of the current walking path line corresponding to the state of the previous walking path line.

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Abstract

一种机器人行走路径规划方法及机器人、存储介质，其中，该行走路径规划方法包括：检测当前行走路径行是否存在障碍物（S11）；响应于当前行走路径行存在障碍物，确定上一行走路径行的状态(S12)；根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略(S13)。通过该方法，能够提高机器人的行走效率，提高对障碍的边沿覆盖率。

Description

一种机器人行走路径规划方法及其机器人、存储介质 【技术领域】
本申请涉及机器人领域，特别是涉及一种机器人行走路径规划方法及其机器人、存储介质。
【背景技术】
随着科学技术的不断发展，扫地机(也称扫地机器人)逐步走入平常百姓家，并被越来越多的人所接受。扫地机器人在执行清扫任务时，都需要进行路径规划，即选择一条安全可行的路径，避免与工作空间的障碍物碰撞，路径规划也是移动机器人的关键技术之一，涉及到了环境地图构建、机器人定位等问题，是现代机器人研究的一个重要方向。
目前机器人扫地采用三种路径规划模式:螺旋式运动路径规划,沿物体边运动路径规划和直线交叉运动路径规划，加上随机清扫模式即是现在市面上常见的四种扫地机器人清扫模式，但这四种模式对于不同形状的区域，障碍物的形状、大小不同等环境下不能很好地规划出一条覆盖率高、重复率低的清扫路径。并且，现在的路径规划方案中，扫地机器人事先规划好清扫路线，但当清扫过程中主人挪动下桌椅或其他家具时，又或者是人在房间内随意走动，或小动物在家里活动时，机器人不会立即做出反应。
【发明内容】
本申请的目的是提供一种清洁机器人及其行走路径规划方法，能够提高机器人的行走效率，提高对障碍的边沿覆盖率。
为了实现上述目的，本申请采用的一个技术方案为：提供一种机器人行走路径规划方法，该方法包括：检测当前行走路径行是否存在障碍物；在检测到当前行走路径行存在障碍物时，确定上一行走路径行的状态；根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略。
在一种可能的示例中，上一行走路径行的状态，包括：不存在上一行走路 径行的第一状态；或存在上一行走路径行且确定上一行走路径行存在障碍物的第二状态；或存在上一行走路径行且确定上一行走路径行不存在障碍物的第三状态。
在一种可能的示例中，根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略，包括：若上一行走路径行的状态为第一状态，执行第一路径规划策略，第一路径规划策略用于控制机器人从当前行走路径行朝远离当前行走路径行的弓字行进方向对障碍物进行沿边行走。
在一种可能的示例中，确定上一行走路径行存在障碍物，包括：若障碍物的坐标点位于上一行走路径行上，确定上一行走路径行存在障碍物；或若上一行走路径行存在曲线，确定上一行走路径行存在障碍物；或若上一行走路径行存在障碍物标记点，确定上一行走路径行存在障碍物。
在一种可能的示例中，根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略，包括：若上一行走路径行的状态为第二状态，确定是否满足预设条件；若满足预设条件，执行第二路径规划策略，第二路径规划策略用于控制所述机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走。
在一种可能的示例中，预设条件包括：上一行走路径行存在的障碍物与当前行走路径行存在的障碍物为同一障碍物；或上一行走路径行存在的第一障碍物与当前行走路径行存在的第二障碍物之间的距离不大于第一阈值；或上一行走路径行存在的第三障碍物与当前行走路径行存在的第四障碍物在弓字行进方向上的位置坐标差不大于第二阈值，其中，弓字行进方向垂直于当前行走路径行。
在一种可能的示例中，根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略，包括：若上一行走路径行的状态为第三状态，执行第三路径规划策略，第三路径规划策略用于控制机器人根据第三路径规划策略进行行走。
在一种可能的示例中，执行第三路径规划策略包括：若上一行走路径行不存在障碍物，控制机器人从当前行走路径行朝靠近上一行走路径行的弓字行进方向对所述障碍物进行沿边行走；或若上一行走路径行不存在障碍物，且当前行走路径行在弓字行进方向上与障碍物的第一边缘和第二边缘的第一距离和第 二距离满足第一距离不大于所述第二距离，控制机器人从当前行走路径行朝靠近上一行走路径行的弓字行进方向对障碍物进行沿边行走；或若上一行走路径行不存在障碍物，且当前行走路径行在弓字行进方向上与障碍物的第一边缘和第二边缘的第一距离和第二距离满足第一距离大于第二距离，控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走，其中，障碍物的第一边缘为障碍物靠近上一行走路径行的边缘，障碍物的第二边缘为障碍物远离上一行走路径行的边缘，弓字行进方向垂直于当前行走路径行；或若上一行走路径行不存在障碍物，且当前行走路径行在弓字行进方向上与障碍物的第二边缘的第二距离不大于第三阈值，控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走，其中，障碍物的第二边缘为障碍物远离上一行走路径行的边缘，弓字行进方向垂直于当前行走路径行；或若上一行走路径行不存在障碍物，且当前行走路径行与上一行走路径行之间的间距不大于预设间距，控制机器人从当前行走路径行朝靠近上一行走路径行的弓字行进方向对障碍物进行沿边行走。
本申请采用的另一个技术方案为：提供一种机器人，该机器人包括处理器和存储器，其中，存储器中存储有程序数据，处理器调取存储器存储的程序数据，以执行如上述的机器人行走路径规划方法。
本申请采用的另一个技术方案为：提供一种计算机可读存储介质，内部存储有程序指令，其中，程序指令被执行以实现如上述的机器人行走路径规划方法。
本申请的有益效果在于：通过提供一种机器人行走路径规划方法，检测当前行走路径行是否存在障碍物；在检测到当前行走路径行存在障碍物时，确定上一行走路径行的状态；根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略。通过上述方式，在机器人遇到障碍时，根据上一路径行的状态，重新确定新的路径以避开障碍，相较于现有技术中遇到障碍时掉头的情况，能够提高机器人的行走效率；进一步，由于新的路径规划考虑到上一行的障碍，所以使得新的路径更能贴合原始的规划路径，提高了障碍的边沿覆盖率。
【附图说明】
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中：
图1是本申请提供的一种机器人行走路径规划方法一实施例的流程示意图；
图2是本申请一实施例提供的步骤13的流程示意图；
图3是本申请一实施例提供的第一路径规划策略的示意图；
图4是本申请一实施例提供的第二路径规划策略的示意图；
图5是本申请另一实施例提供的第二路径规划策略的示意图；
图6是本申请另一实施例提供的第二路径规划策略的示意图；
图7是本申请一实施例提供的第三路径规划策略的示意图；
图8是本申请另一实施例提供的第三路径规划策略的示意图；
图9是本申请另一实施例提供的第三路径规划策略的示意图；
图10是本申请另一实施例提供的第三路径规划策略的示意图；
图11是本申请一实施例提供的行走目标区域的示意图；
图12是本申请提供的机器人一实施例的结构示意图；
图13是本申请提供的计算机可读存储介质一实施例的结构示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。可以理解的是，此处所描述的具体实施例仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特 性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
为详细说明本申请的技术内容、技术步骤、所实现的目的及效果，以下结合实施方式并配合附图详予说明。
参阅图1，图1是本申请提供的一种机器人行走路径规划方法一实施例的流程示意图，该方法包括：
步骤11：检测当前行走路径行是否存在障碍物。
其中，机器人上搭载有激光测距传感器(如激光雷达)、视觉传感器、红外传感器、碰撞传感器、超声波传感器、毫米波传感器、光流传感器中的一种或多种，用于检测当前行走路径行是否存在障碍物及其障碍物的信息。
进一步地，障碍物可以为虚拟障碍物和实体障碍物，其中虚拟障碍物包括人为或自动设置的虚拟墙、禁区或者虚拟设备发出的无线信号，其中，实体障碍物分为静态实体障碍物和动态实体障碍物，例如，静态实体障碍物可以是餐桌、沙发、电视机等位置固定的障碍物；例如，动态实体障碍物可以是宠物、人等位置可能会随时发生变化的障碍物。
步骤12：在检测到当前行走路径行存在障碍物时，确定上一行走路径行的状态。
其中，若当前行走路径行不存在障碍物，则控制机器人沿当前行走路径行直线行走。若当前行走路径行存在障碍物，则需确定上一行走路径行的状态。
其中，在背离弓字行进方向上，将和当前行走路径行相邻的一行作为上一行走路径行，如果当前行走路径行为起始行走路径行，则无上一行走路径行，如果当前行走路径行不为起始行走路径行，则存在上一行走路径行，其中，弓字行进方向垂直于当前行走路径行。
进一步地，上一行走路径行的状态，包括：不存在上一行走路径行的第一状态；或存在上一行走路径行且确定上一行走路径行存在障碍物的第二状态；或存在上一行走路径行且确定上一行走路径行不存在障碍物的第三状态。
可选地，确定上一行走路径行存在障碍物方式，包括：
检测到障碍物的坐标点位于上一行走路径行上时，则确定上一行走路径行存在障碍物；或检测到上一行走路径行存在曲线时，则确定上一行走路径行存 在障碍物；或检测到上一行走路径行存在障碍物标记点时，确定上一行走路径行存在障碍物。
例如，当机器人上搭载有用于检测和记录障碍物信息的激光测距传感器(如激光雷达)、红外传感器、视觉传感器、碰撞传感器、超声波传感器、毫米波传感器、光流传感器等中的一种或多种时，可以获取障碍物的坐标点，若机器人确定障碍物的坐标点位于上一行走路径中，则确定上一行走路径行存在障碍物；
例如，当机器人上搭载有用于检测和记录机器人行走路径的激光测距传感器(如激光雷达)、红外传感器、视觉传感器、碰撞传感器、超声波传感器、毫米波传感器、光流传感器等中的一种或多种时，可以获取机器人行走的地图、线路，若机器人确定其上一行走路径行存在曲线，则确定上一行走路径行存在障碍物；
例如，当机器人具有人为设置障碍物标记点信息的功能时，若机器人确定障碍物的标记点位于上一行走路径中，则确定上一行走路径行存在障碍物。
步骤13：根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略。
具体地，上一行走路径行的状态可以分为三种状态：不存在上一行走路径行、存在上一行走路径行且上一行走路径行存在障碍物、存在上一行走路径行且上一行走路径行不存在障碍物。
进一步地，在一实施例中，如图2所示，图2是步骤13的流程示意图，步骤13可以具体包括：
步骤131：若上一行走路径行的状态为第一状态，执行第一路径规划策略，第一路径规划策略用于控制机器人从当前行走路径行朝远离当前行走路径行的弓字行进方向对障碍物进行沿边行走。
具体方式如图3所示，图3是本申请一实施例提供的第一路径规划策略的示意图,其中S31为当前行走路径行。
其中，若确定机器人检测到存在上一行走路径行且上一行走路径行存在障碍物时，则直接进入步骤132。
步骤132：若上一行走路径行的为第二状态，确定是否满足预设条件；若满足预设条件，则执行第二路径规划策略，第二路径规划策略用于控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走。
其中，预设条件包括：
预设条件一：上一行走路径行存在的障碍物与当前行走路径行存在的障碍物为同一障碍物；
具体地，如图4所示，图4是本申请一实施例提供的第二路径规划策略的示意图，其中S41路径行存在障碍物与S42路径行存在障碍物为同一障碍物，则控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走。
预设条件二：上一行走路径行存在的第一障碍物A1与当前行走路径行存在的第二障碍物A2之间的距离不大于第一阈值；
具体地，如图5所示，图5是本申请另一实施例提供的第二路径规划策略的示意图，其中，S51路径行存在第一障碍物A1，S52路径行存在第二障碍物A2，S51路径行存在的第一障碍物A1与S52路径行存在的第二障碍物A2之间的最短距离D1不大于第一阈值，则控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对第二障碍物A2进行沿边行走。
预设条件三：上一行走路径行存在的第三障碍物A3与当前行走路径行存在的第四障碍物A4的在弓字行进方向上的位置坐标差不大于第二阈值。
具体地，如图6所示，图6是本申请另一实施例提供的第二路径规划策略的示意图，其中，S61路径行存在第三障碍物A3，S62路径行存在第四障碍物A4，S61路径行存在的第三障碍物A3与S62路径行存在的第四障碍物A4在弓字行进方向上的位置坐标差D2不大于第二阈值，则控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对第四障碍物A4进行沿边行走。
其中，若确定机器人响应于存在上一行走路径行且上一行走路径行不存在障碍物，则直接进入步骤133。
步骤133：若上一行走路径行的状态为第三状态，执行第三路径规划策略，第三路径规划策略用于控制所述机器人根据第三路径规划策略进行行走。
可选地，在本申请一实施例中，若上一行走路径行不存在障碍物，则控制机器人从当前行走路径行朝靠近上一行走路径行的弓字行进方向对障碍物进行沿边行走；
可选地，在本申请另一实施例中，若上一行走路径行不存在障碍物，且当前行走路径行在弓字行进方向上与障碍物的第一边缘和第二边缘的第一距离和第二距离满足第一距离不大于第二距离，则控制机器人从当前行走路径行朝靠近上一行走路径行的弓字行进方向对障碍物进行沿边行走；其中，障碍物的第 一边缘为障碍物靠近上一行走路径行的边缘，障碍物的第二边缘为障碍物远离上一行走路径行的边缘，弓字行进方向垂直于当前行走路径行。
具体地，如图7所示，图7是本申请一实施例提供的第三路径规划策略的示意图，其中S71路径行不存在障碍物，S72路径行存在的障碍物第一边缘和第二边缘的第一距离H1和第二距离H2满足第一距离H1不大于第二距离H2，则控制机器人从当前行走路径行朝靠近上一行走路径行的弓字行进方向对障碍物进行沿边行走。
可选地，在本申请另一实施例中，若上一行走路径行不存在障碍物，且当前行走路径行在弓字行进方向上与障碍物的第一边缘和第二边缘的第一距离和第二距离满足第一距离大于第二距离，则控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走。
具体地，如图8所示，图8是本申请另一实施例提供的第三路径规划策略的示意图，其中S81路径行不存在障碍物，S82路径行存在的障碍物的第一边缘和第二边缘的第一距离H1和第二距离H2满足第一距离H1大于第二距离H2，则控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走。
可选地，在本申请另一实施例中，若上一行走路径行不存在障碍物，且当前行走路径行在弓字行进方向上与障碍物的第二边缘的第二距离不大于第三阈值，则控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走。
具体地，如图9所示，图9是本申请另一实施例提供的第三路径规划策略的示意图，其中S91路径行不存在障碍物，S92路径行存在的障碍物在弓字行进方向上与障碍物的第二边缘的第二距离H2不大于第三阈值，则控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走。
可选地，在本申请另一实施例中，若上一行走路径行不存在障碍物，且当前行走路径行与上一行走路径行之间的间距小于预设间距，则控制机器人从当前行走路径行朝靠近上一行走路径行的弓字行进方向对障碍物进行沿边行走。
具体地，如图10所示，图10是本申请另一实施例提供的第三路径规划策略的示意图，其中S101路径行不存在障碍物，S102路径行存在障碍物且S101路径行与S102路径行之间的间距D3小于预设间距，则控制机器人从当前行走路径行朝远离上一行走路径行的弓字行进方向对障碍物进行沿边行走。
其中，若当前行走路径行的障碍物不为虚拟障碍物，则通过机器人上搭载的激光测距传感器、红外传感器、视觉传感器、碰撞传感器、超声波传感器、毫米波传感器、光流传感器确定该障碍物是动态实体障碍物还是静态实体障碍物，若该障碍物为动态实体障碍物，则机器人的行走路径为原规划的行走路径，当被障碍物阻挡时，则等待该动态障碍物移动之后再进行行走。
其中，机器人根据行走区域内障碍物的大小、形状、位置分布等不同条件，机器人行走路径之间的行距是动态调整的。其中，机器人行走到行走区域内最后一行时，若当前行走路径行与上一行走路径行之间的间距小于预设间距，则需规划机器人对该行走区域沿边行走。
其中，需提前确定当前区域中是否存在弓字行走长度不小于第四阈值的区域，如果存在，则将此区域分割出来，待当前区域行走完毕后再对分割的区域进行行走，如果不存在，则仅对当前区域进行行走。
具体地，如图11所示，图11是本申请一实施例提供的行走目标区域的示意图，其中弓字行走长度D4大于第四阈值，则将此区域分割成两个行走区域，且两个区域的弓字行走长度D5和D6均不大于第四阈值，并分别按照行走策略对两个行走区域行走。
可选地，在本申请上述所提供的机器人行走路径规划方法中，应该理解到，所揭露的方法以及设备，可以通过其它的方式实现，并实现同样的技术效果，其中，所使用的方法以及设备与上述实施例类似，本领域技术人员可以在没有创造性劳动的前提下获得，这里不再赘述。
区别于现有技术，本申请实施例提供的机器人行走路径规划方法包括：检测当前行走路径行是否存在障碍物；在检测到当前行走路径行存在障碍物时，确定上一行走路径行的状态；根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略。通过上述方式，在机器人遇到障碍时，根据上一路径行的状态，重新确定新的路径以避开障碍，相较于现有技术中遇到障碍时掉头的情况，能够提高机器人行走效率；进一步，由于新的路径规划考虑到上一行的障碍，所以使得新的路径更能贴合原始的规划路径，提高了障碍的边沿覆盖率。
参阅图12，图12为本申请提供的机器人一实施例的结构示意图，该机器人120包括处理器121以及与处理器121连接的存储器122，存储器122中存储有程序数据。
其中，该机器人120可以是清洁机器人，也可以是清洁机器人、引路机器人、路径巡检机器人等智能终端，这里不作限定。可选地，在一实施例中，处理器121用于执行程序数据以实现如下方法：获取障碍物大小、位置参数和机器人位置参数信息，其中，障碍物大小、位置参数和机器人位置参数信息是通过机器人上搭载的点激光测距传感器、红外传感器，碰撞传感器得到；并根据障碍物大小、位置参数和机器人位置参数信息规划行走路径。
另外，在一实施例中，该机器人120还可以包括显示屏，用于对障碍物大小、机器人电量、行走区域等图像或者信息进行显示。进一步，该机器人120还可以包括提醒组件，例如闪光灯、蜂鸣器、喇叭等，用于在机器人故障或者行走完成时进行提醒。
另外，在一实施例中，该机器人120还可以包括通信模组，如4G、5G、WIFI等，用于与用户的移动终端建立无线通信连接，以便对该机器人进行远程控制和数据交互。
参阅图13，图13是本申请提供的计算机可读存储介质一实施例的结构示意图，该计算机可读存储介质300中存储有程序数据310。
可选地，在一实施例中，程序数据310在被处理器执行时，用以实现如下方法：检测当前行走路径行是否存在障碍物；在检测到当前行走路径行存在障碍物时，确定上一行走路径行的状态；根据上一行走路径行的状态，执行与上一行走路径行的状态对应的当前行走路径行的路径规划策略。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是根据本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (10)

  1. 一种机器人行走路径规划方法，其特征在于，包括：
    检测当前行走路径行是否存在障碍物；
    在检测到所述当前行走路径行存在障碍物时，确定上一行走路径行的状态；
    根据所述上一行走路径行的状态，执行与所述上一行走路径行的状态对应的所述当前行走路径行的路径规划策略。
  2. 根据权利要求1所述的方法，其特征在于，所述上一行走路径行的状态，包括：
    不存在所述上一行走路径行的第一状态；或
    存在所述上一行走路径行且确定所述上一行走路径行存在障碍物的第二状态；或
    存在所述上一行走路径行且确定所述上一行走路径行不存在障碍物的第三状态。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述上一行走路径行的状态，执行与所述上一行走路径行的状态对应的所述当前行走路径行的路径规划策略，包括：
    若所述上一行走路径行的状态为所述第一状态，执行第一路径规划策略，所述第一路径规划策略用于控制所述机器人从所述当前行走路径行朝远离所述当前行走路径行的弓字行进方向对所述障碍物进行沿边行走。
  4. 根据权利要求2所述的方法，其特征在于，所述确定所述上一行行走路径存在障碍物，包括：
    若所述障碍物的坐标点位于所述上一行走路径行上，确定所述上一行走路径行存在障碍物；或
    若所述上一行走路径行存在曲线，确定所述上一行走路径行存在障碍物；或
    若所述上一行走路径行存在障碍物标记点，确定所述上一行走路径行存在障碍物。
  5. 根据权利要求2所述的方法，其特征在于，所述根据所述上一行走路径行的状态，执行与所述上一行走路径行的状态对应的所述当前行走路径行的路径规划策略，包括：
    若所述上一行走路径行的状态为所述第二状态，确定是否满足预设条件；
    若满足所述预设条件，执行第二路径规划策略，所述第二路径规划策略用于控制所述机器人从所述当前行走路径行朝远离所述上一行走路径行的弓字行进方向对所述障碍物进行沿边行走。
  6. 根据权利要求5所述的方法，其特征在于，所述预设条件包括：
    所述上一行走路径行存在的障碍物与所述当前行走路径行存在的障碍物为同一障碍物；或
    所述上一行走路径行存在的第一障碍物与所述当前行走路径行存在的第二障碍物之间的距离不大于第一阈值；或
    所述上一行走路径行存在的第三障碍物与所述当前行走路径行存在的第四障碍物的在弓字行进方向上的位置坐标差不大于第二阈值，其中，所述弓字行进方向垂直于所述当前行走路径行。
  7. 根据权利要求2所述的方法，其特征在于，所述根据所述上一行走路径行的状态，执行与所述上一行走路径行的状态对应的所述当前行走路径行的路径规划策略，包括：
    若所述上一行走路径行的状态为所述第三状态，执行第三路径规划策略，所述第三路径规划策略用于控制所述机器人根据所述第三路径规划策略进行行走。
  8. 根据权利要求7所述的方法，其特征在于，所述执行第三路径规划策略包括：
    若所述上一行走路径行不存在障碍物，控制所述机器人从所述当前行走路径行朝靠近所述上一行走路径行的弓字行进方向对所述障碍物进行沿边行走；或
    若所述上一行走路径行不存在障碍物，且所述当前行走路径行在弓字行进方向上与所述障碍物的第一边缘和第二边缘的第一距离和第二距离满足所述第一距离不大于所述第二距离，控制所述机器人从所述当前行走路径行朝靠近所述上一行走路径行的弓字行进方向对所述障碍物进行沿边行走；或
    若所述上一行走路径行不存在障碍物，且所述当前行走路径行在弓字行进方向上与所述障碍物的第一边缘和第二边缘的第一距离和第二距离满足所述第一距离大于所述第二距离，控制所述机器人从所述当前行走路径行朝远离所述上一行走路径行的弓字行进方向对所述障碍物进行沿边行走，其中，所述障碍 物的第一边缘为所述障碍物靠近所述上一行走路径行的边缘，所述障碍物的第二边缘为所述障碍物远离所述上一行走路径行的边缘，所述弓字行进方向垂直于所述当前行走路径行；或
    若所述上一行走路径行不存在障碍物，且所述当前行走路径行在弓字行进方向上与所述障碍物的第二边缘的第二距离不大于第三阈值，控制所述机器人从所述当前行走路径行朝远离所述上一行走路径行的弓字行进方向对所述障碍物进行沿边行走，其中，所述障碍物的第二边缘为所述障碍物远离所述上一行走路径行的边缘，所述弓字行进方向垂直于所述当前行走路径行；或
    若所述上一行走路径行不存在障碍物，且所述当前行走路径行与所述上一行走路径行之间的间距不大于预设间距，控制所述机器人从所述当前行走路径行朝靠近所述上一行走路径行的弓字行进方向对所述障碍物进行沿边行走。
  9. 一种机器人，其特征在于，所述机器人包括处理器和存储器，其中，所述存储器中存储有程序数据，所述处理器调取所述存储器存储的所述程序数据，以执行如权利要求1-8任意一项所述的机器人行走路径规划方法。
  10. 一种计算机可读存储介质，内部存储有程序指令，其特征在于，所述程序指令被执行以实现如权利要求1-8任一项所述的方法。
PCT/CN2022/084565 2021-09-07 2022-03-31 一种机器人行走路径规划方法及其机器人、存储介质 WO2023035601A1 (zh)

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