WO2023070840A1

WO2023070840A1 - Robot edgewise path planning method and apparatus, and robot and storage medium

Info

Publication number: WO2023070840A1
Application number: PCT/CN2021/136015
Authority: WO
Inventors: 任纪颖; 王聪; 周孙春; 邵林
Original assignee: 美智纵横科技有限责任公司
Priority date: 2021-10-29
Filing date: 2021-12-07
Publication date: 2023-05-04
Also published as: CN116069005A

Abstract

A robot edgewise path planning method and apparatus, and a robot and a storage medium. The method comprises: according to the fact that it is detected that there is a closed loop in a traveling trajectory, acquiring boundary points of a cleaning area and contour points of an obstacle in the cleaning area as a candidate point set (101); selecting, from the candidate point set, edgewise front points which satisfy a continuous edgewise condition (102); and re-planning an edgewise path according to the edgewise front points, and then controlling a robot to travel according to the re-planned edgewise path (103). When a robot performs an edgewise travel onto an isolated obstacle and forms a closed loop, boundary points of a cleaning area and contour points of the obstacle in the cleaning area are acquired as a candidate point set, and edgewise front points, which satisfy a continuous edgewise condition, are selected from the candidate point set, such that an edgewise path is re-planned according to the edgewise front points, and the robot is controlled to travel according to a new edgewise path, so that the robot can continue to perform the edgewise travel, thereby preventing a trajectory of the robot from becoming disordered, and achieving the aim of improving the cleaning efficiency of the robot.

Description

A robot edge path planning method, device, robot and storage medium

priority information

This application claims the priority and benefit of the patent application No. 202111277346.2 filed with the State Intellectual Property Office of China on October 29, 2021, which is hereby incorporated by reference in its entirety.

technical field

The invention relates to the technical field of robot path planning, in particular to a method, device, robot and storage medium for robot path planning along the edge.

Background technique

When the robot cleans the boundary of the set cleaning area along the edge, it is easily disturbed by dynamic obstacles in the environment (for example, people or animals active in the family, etc.), thus forming a closed loop along the edge to isolated obstacles , resulting in chaotic trajectory of the robot and low cleaning efficiency.

Contents of the invention

The purpose of the present invention is to propose a robot edge path planning method, device, robot and storage medium aiming at the shortcomings of the above-mentioned prior art, and the purpose is achieved through the following technical solutions.

A first aspect of the present invention proposes a method for robot path planning along the edge, the method comprising:

According to detecting that there is a closed loop in the driving track, obtain the boundary points of the cleaning area and the contour points of the obstacles in the cleaning area as a set of candidate points;

Selecting the front edge point satisfying the condition of continuing along the edge from the set of candidate points;

Re-planning the edge-along path according to the edge-along front point, and controlling the robot to travel along the re-planned edge-along path.

In some embodiments of the present application, the acquisition of the boundary points of the cleaning area and the contour points of obstacles in the cleaning area as a set of candidate points includes:

Obtain the boundary points of the cleaning area and the contour point clusters of each obstacle in the cleaning area according to the laser map and the environmental map; filter out the contour point clusters whose contour point quantity is less than the preset number; The contour points and the obtained boundary points of the cleaned area are used as candidate point sets.

In some embodiments of the present application, the selection of the preceding edge points satisfying the condition of continuing along the edge from the set of candidate points includes:

Obtain part of the track points currently generated by the robot; for each candidate point in the candidate point set, determine the distance between the candidate point and each track point; from the candidate point set, select a distance within a preset range Candidate points; for each selected candidate point, select the minimum distance from the distance between the candidate point and each track point, and compare the candidate points according to the minimum distance and the track point corresponding to the minimum distance Points are scored; according to the score, a candidate point is selected from the selected candidate points as a previous point along the edge that satisfies the condition of continuing along the edge.

In some embodiments of the present application, the selection of a candidate point from the selected candidate points according to the score as a previous point along the edge that satisfies the condition of continuing along the edge includes:

The candidate point with the lowest score is selected from the scores as the previous point along the edge that satisfies the condition of continuing along the edge.

In some embodiments of the present application, the scoring of the candidate points according to the minimum distance and the trajectory point corresponding to the minimum distance includes:

Utilize the minimum distance to determine the distance score of the candidate point; determine the area containing the candidate point and the track point corresponding to the minimum distance in the environment map; determine the distance of the candidate point according to the obstacles in the area an idle index; determine the exploration index of the candidate point according to the track points contained in the area; determine the score of the candidate point according to the distance score, the idle index, and the exploration index.

In some embodiments of the present application, the determining the idle index of the candidate point according to the obstacles in the area includes:

Determine the area ratio of the obstacles in the area to the area; determine the idle index according to the area ratio.

In some embodiments of the present application, the determining the exploration index of the candidate point according to the trajectory points contained in the area includes:

Determine the area ratio of the track points included in the area to the area; determine the exploration index according to the area ratio.

In some embodiments of the present application, the determining the score of the candidate point according to the distance score, the idle index, and the exploration index includes:

The distance score, the idle index, and the exploration index are weighted and summed to obtain the score of the candidate point.

The second aspect of the present invention proposes a robot path planning device along the edge, said device comprising:

The candidate point acquisition module is used to obtain the boundary points of the cleaning area and the contour points of obstacles in the cleaning area as a candidate point set according to the detection of a closed loop in the driving track;

A screening module, configured to select from the set of candidate points the preceding point along the edge that satisfies the condition of continuing along the edge;

The path planning module is used to re-plan the edge-along path according to the edge-along front point, and control the robot to travel along the re-planned edge-along path.

The third aspect of the present invention proposes a robot, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the program, the above-mentioned first aspect is implemented. method steps.

A fourth aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in the above-mentioned first aspect are implemented.

Based on the robot edge path planning method and device described in the first aspect and the second aspect above, the present invention has at least the following beneficial effects or advantages:

When the robot forms a closed loop along the edge to the isolated obstacle, by obtaining the boundary points of the cleaning area and the contour points of the obstacles in the cleaning area as the candidate point set, and selecting the front edge point that satisfies the condition of continuing along the edge from the candidate point set, so that Re-plan the path along the edge according to the front point along the edge, and control the robot to drive along the new path along the edge, so that the robot can continue to move along the edge, avoid the chaotic trajectory of the robot, and achieve the goal of improving the cleaning efficiency of the robot.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is a flow chart of an embodiment of a robot edge path planning method according to an exemplary embodiment of the present invention;

Fig. 2 is a schematic diagram of a selection process of an edge front point that satisfies the continuation edge condition according to the embodiment shown in Fig. 1 of the present invention;

Fig. 3 is a schematic diagram of a scoring process of a candidate point according to an exemplary embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a robot edge path planning device according to an exemplary embodiment of the present invention;

FIG. 5 is a schematic diagram of a hardware structure of a robot according to an exemplary embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a storage medium according to an exemplary embodiment of the present invention.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present invention, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination."

In order to solve the current problem that the robot forms a closed loop along the edge to the isolated obstacle, resulting in chaotic robot trajectory and low cleaning efficiency, this application proposes a path planning method for the robot along the edge, that is, when it is detected that the robot forms a closed loop along the edge to the isolated obstacle , by obtaining the boundary points of the cleaning area and the contour points of obstacles in the cleaning area as candidate point sets, and selecting the edge-front points that meet the condition of continuing along the edge from the candidate point set, so as to re-plan the edge-along path according to the edge-front points, and Control the robot to drive along the new path along the edge, so that the robot can continue along the edge, avoid the chaotic trajectory of the robot, so as to achieve the goal of improving the cleaning efficiency of the robot.

In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

Embodiment one:

Fig. 1 is a flow chart of an embodiment of a method for planning a robot's path along an edge according to an exemplary embodiment of the present invention. In the embodiment of the present application, the robot generates a laser map and an environmental map in the cleaning mode, and the laser map Consistent with the range of the area indicated on the environmental map, the laser map is marked with the area that the laser sensor can scan and the area that is not scanned, and the scanned area is also marked with the size of the obstacle detected by the laser; in the environment The trajectory of the robot and the location of obstacles are marked on the map.

As shown in Figure 1, the robot path planning method along the edge comprises the following steps:

Step 101: Obtain the boundary points of the cleaning area and the contour points of obstacles in the cleaning area as a set of candidate points according to the detected closed loop of the driving trajectory.

In an optional embodiment, during the process of driving along the edge, the robot can detect in real time whether there is a closed-loop trajectory on the driving trajectory. When the closed-loop trajectory is detected, it means that the robot may have deviated from the original path along the edge and has reached an isolated obstacle along the edge. , the robot needs to be re-navigated to drive along the edge.

In step 101, the cleaning area refers to the entire cleaning area set by the user, and its boundary points belong to the points that need to be along the edge, and the contour points of obstacles in the cleaning area also belong to the points that need to be along the edge, such as a wall located in the cleaning area body obstacles. Therefore, an optimal front edge point can be selected from these points to continue traveling along the edge, avoiding directly entering the covering mode and reducing cleaning efficiency.

In an optional specific embodiment, the acquisition process for the candidate point set includes the following steps:

1. Obtain the boundary points of the cleaning area and the contour point clusters of each obstacle in the cleaning area according to the laser map and the environmental map;

2. Filter out the contour point clusters whose number of contour points is less than the preset number;

3. Taking the contour points included in the remaining contour point clusters and the obtained boundary points of the cleaning area as candidate point sets.

Among them, since the size information of the obstacle is marked in the laser map, the contour point cluster around the obstacle can be obtained. And by filtering the number of contour points contained in the contour point cluster, relatively small obstacles or dynamic obstacles that lead to the formation of closed loops can be filtered out to ensure that the remaining contour points belong to relatively large obstacles that need to be along the edge , such as walls, cabinets, etc.

It is worth noting that the contour point cluster of an obstacle refers to the point cloud composed of continuous boundary points around the obstacle.

Step 102: Select the previous point along the edge from the candidate point set that satisfies the condition of continuing along the edge.

Among them, the front edge points selected from the candidate point set can allow the robot to continue along the edge instead of driving around isolated obstacles.

For the specific realization of selecting the front edge point from the candidate point set that satisfies the condition of continuing along the edge, refer to the relevant description of the following embodiments, and the present application will not describe it here in detail.

Step 103: Re-plan the edge-along path according to the previous points along the edge, and control the robot to drive according to the re-planned edge-along path.

Those skilled in the art can understand that the re-planning of the edge-along path according to the edge-front point can be realized by using related technologies, and this application does not specifically limit this. After the robot drives according to the re-planned edge-along path, it can continue to edge-along, so that Ensure that there is complete track information for reference during the edge-along process, and avoid track confusion.

So far, the edge-to-edge path planning process shown in Figure 1 above is completed. When the robot forms a closed loop along the edge to an isolated obstacle, the boundary points of the cleaning area and the contour points of obstacles in the cleaning area are obtained as candidate point sets, and from the candidate Select the front edge points that satisfy the condition of continuing along the edge, so as to replan the path along the edge according to the front point along the edge, and control the robot to drive along the new path along the edge, so that the robot can continue along the edge and avoid the chaotic trajectory of the robot, so as to achieve the improvement The goal of robot cleaning efficiency.

Embodiment two:

Fig. 2 is a schematic diagram of the selection process of an edge front point that satisfies the condition of continuing along the edge according to the embodiment shown in Fig. 1 according to the present invention. Based on the above-mentioned embodiment shown in Fig. 1, the edge front point is selected from the candidate point set The process includes the following steps:

Step 201: Obtain part of the trajectory points currently generated by the robot.

Among them, the driving trajectory generated by the robot is composed of a series of trajectory points. In order to select the optimal front edge point from the candidate point set, it is necessary to refer to the share trajectory points generated by the robot recently, that is, the trajectory points forming a closed loop.

Optionally, 10% of all trajectory points of the robot may be obtained, and the 10% of the trajectory points are newly generated points.

Step 202: For each candidate point in the candidate point set, determine the distance between the candidate point and each track point.

In an optional embodiment, the distance between the two points can be expressed by calculating the Euclidean distance between the candidate point and the track point, since the position representation of the point in the laser map and the environment map is expressed in grid coordinates , so the calculated distance between the candidate point and the trajectory point is also represented by the grid distance.

For example, suppose there are 10 candidate points in the candidate point set and 30 track points, then for each candidate point, 30 Euclidean distances will be determined, and finally 10*30=300 Euclidean distances will be obtained, and each Euclidean distance The distance corresponds to a combination of a group of candidate points and trajectory points.

Step 203: From the set of candidate points, select candidate points whose distance is within a preset range.

Among them, as for the distance between the candidate point and the track point, if the distance is too long or too short, it will not be good for the robot to continue along the edge. Therefore, it is necessary to select a candidate point within a certain distance as a feasible edge point.

Step 204: For each selected candidate point, select the minimum distance from the distances between the candidate point and each trajectory point, and score the candidate points according to the minimum distance and the trajectory point corresponding to the minimum distance.

Among them, which track point is the closest to the candidate point, then the distance between the two is the minimum distance. When scoring the candidate points, the minimum distance and the position of the closest track point are used for scoring to ensure the accuracy of scoring.

In an optional specific embodiment, the candidate points can be scored from three aspects. The first aspect is to consider the score of the distance between the candidate point and the nearest track point, and the second aspect is to consider the distance between the candidate point and the nearest track point. The third aspect is to consider the score of the area between the candidate point and the nearest track point that has been explored by the robot.

Based on this, as shown in Figure 3, the process of scoring the candidate points for the track points corresponding to the minimum distance and the minimum distance may include the following steps:

Step 2041: Use the minimum distance to determine the distance score of the candidate point.

Among them, the calculation formula of the distance score is as follows:

A1＝1-abs(sin(π×D/best_D))

Among them, D represents the minimum distance, best_D represents the best distance, which is a fixed value, such as 20, and A1 represents the distance score. Based on the above distance score formula, it can be known that the lower the distance score, the better the candidate point is as the front edge point.

Step 2042: Determine the area containing the candidate point and the track point corresponding to the minimum distance in the environment map.

Wherein, the area containing the candidate points and the closest track point determined in the environment map may be a preset shape area bounded by the candidate point and the closest track point, and this area is used for subsequent evaluation of the idle index and the exploration index.

Optionally, for ease of calculation, a rectangular frame area bounded by the candidate point and the nearest track point may be determined.

Step 2043: Determine the idle index of the candidate point according to the obstacles in the area.

In an optional embodiment, obstacles may be included in the area determined in the environment map, and when the robot selects a front point along the edge, it tends to select a relatively open area to avoid the robot entering a complex area and Unable to get out.

Based on this, the area ratio of the obstacles in the area to the area can be determined, and the idle index can be determined according to the area ratio.

Optionally, since obstacles are represented by a series of point clouds in the laser map, the ratio of the area enclosed by these point clouds to the entire determined area can be used.

The larger the proportion of the area occupied by obstacles, the lower the degree of vacancy, so the calculation formula of the vacancy index is as follows:

A2=1-S

Among them, S represents the proportion of the area occupied by obstacles, and A2 represents the idle index. Based on the above formula, it can be known that the lower the idle index, the better the candidate point is as the front edge point.

Step 2044: Determine the exploration index of the candidate points according to the track points contained in the area.

In an optional embodiment, part of the trajectory of the robot may be included in the area determined in the environment map, indicating that the robot has explored in the area.

Based on this, the area ratio of the track points included in the area to the area may be determined, and the exploration index may be determined according to the area ratio.

Among them, if the robot has already explored in the area, the exploration index will be relatively high, so the proportion of the area occupied by the trajectory point can be directly used as the exploration index, and the lower the exploration index, the better the candidate point is as the front edge point.

Step 2045: Determine the score of the candidate point according to the distance score, idle index, and exploration index.

Optionally, based on the description of the above step 2041 to step 2044, the distance score, the idle index, and the exploration index can be weighted and summed to obtain the score of the candidate point.

Wherein, the weight of each parameter can be set according to actual requirements.

Step 205: Select a candidate point from the selected candidate points according to the score as a previous point along the edge that satisfies the condition of continuing along the edge.

Optionally, based on the description of step 204 above, the candidate point with the lowest score may be selected from the scores of each candidate point as the previous point along the edge that satisfies the condition of continuing along the edge.

Further, if there is more than one candidate point with the lowest score, the candidate point closest to the latest trajectory point of the robot can be selected as the final edge-front point.

So far, the selection process of front edge points shown in Figure 2 above is completed, and the candidate point set is screened twice, that is, a part of candidate points are selected as feasible edge points based on the distance between candidate points and track points for the first time , for the second time, the optional edge points are further screened according to the distance between the feasible edge point and the nearest track point and the score determined by the nearest track point, so as to obtain the front edge point that meets the condition of continuing along the edge, so as to avoid the confusion of the robot trajectory, So as to achieve the goal of improving the cleaning efficiency of the robot.

Corresponding to the foregoing embodiments of the method for planning a robot's path along the edge, the present invention also provides an embodiment of a device for planning a path along the edge of a robot.

Fig. 4 is a schematic structural diagram of a robot edge path planning device according to an exemplary embodiment of the present invention, the device is used to execute the robot edge path planning method provided by any of the above embodiments, as shown in Fig. 4, the robot Alongside path planning devices include:

The candidate point acquisition module 410 is used to obtain the boundary points of the cleaning area and the contour points of obstacles in the cleaning area as the candidate point set according to the detection of a closed loop in the driving track;

A screening module 420, configured to select from the set of candidate points the preceding points along the edge that meet the condition of continuing along the edge;

The path planning module 430 is configured to re-plan the edge-along path according to the edge-front points, and control the robot to travel along the re-planned edge-along path.

In an optional implementation, the candidate point acquisition module 410 is specifically configured to acquire the boundary points of the cleaning area and the contour point clusters of each obstacle in the cleaning area according to the laser map and the environmental map; The contour point clusters whose number is less than the preset number are filtered out; the contour points included in the remaining contour point clusters and the acquired boundary points of the cleaning area are used as candidate point sets.

In an optional implementation manner, the screening module 420 is specifically configured to acquire part of the trajectory points currently generated by the robot; for each candidate point in the candidate point set, determine the distance between the candidate point and each trajectory point From the set of candidate points, select a candidate point whose distance is within a preset range; for each selected candidate point, select the minimum distance from the distance between the candidate point and each trajectory point, and Scoring the candidate points according to the minimum distance and the track point corresponding to the minimum distance; selecting a candidate point from the selected candidate points according to the score as a previous point along the edge satisfying the condition of continuing along the edge.

In an optional implementation manner, the screening module 420 is specifically configured to select a candidate point from the selected candidate points according to the score as an edge front point that satisfies the condition of continuing along the edge. The candidate point with the lowest score is selected as the previous point along the edge that satisfies the condition of continuing along the edge.

In an optional implementation manner, the screening module 420 is specifically configured to use the minimum distance to determine the The distance score of the candidate point; determine the area containing the candidate point and the track point corresponding to the minimum distance in the environment map; determine the idle index of the candidate point according to the obstacles in the area; according to the area Determine the exploration index of the candidate point by the track points contained in it; determine the score of the candidate point according to the distance score, the idle index, and the exploration index.

In an optional implementation manner, the screening module 420 is specifically configured to determine that the obstacles in the area occupy the The area ratio of ; determining the idle index according to the area ratio.

In an optional implementation manner, the screening module 420 is specifically configured to determine that the track points contained in the area account for the The area ratio of the region; the exploration index is determined according to the area ratio.

In an optional implementation manner, the screening module 420 is specifically configured to take the distance The score, the idle index, and the exploration index are weighted and summed to obtain the score of the candidate point.

For the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method for details, and will not be repeated here.

As for the device embodiment, since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment. The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. It can be understood and implemented by those skilled in the art without creative effort.

Embodiments of the present invention also provide a robot corresponding to the method for planning a robot's edge-along path provided in the foregoing embodiments, so as to implement the above-mentioned method for planning a robot's edge-along path.

Fig. 5 is a hardware structure diagram of a robot shown according to an exemplary embodiment of the present invention, the robot includes: a communication interface 601, a processor 602, a memory 603 and a bus 604; wherein, the communication interface 601, the processor 602 and the memory 603 communicate with each other through the bus 604 . The processor 602 can execute the robot edge path planning method described above by reading and executing the machine-executable instructions corresponding to the control logic of the robot edge path planning method in the memory 603. For the specific content of the method, refer to the above-mentioned embodiment, here I won't repeat it here.

The memory 603 mentioned in the present invention can be any electronic, magnetic, optical or other physical storage device, which can contain stored information, such as executable instructions, data and so on. Specifically, memory 603 can be RAM (Random Access Memory, random access memory), flash memory, storage drive (such as hard drive), any type of storage disk (such as optical disc, DVD, etc.), or similar storage media, or their The combination. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 601 (which may be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used.

The bus 604 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into address bus, data bus, control bus and so on. Wherein, the memory 603 is used to store a program, and the processor 602 executes the program after receiving an execution instruction.

The processor 602 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method may be completed by an integrated logic circuit of hardware in the processor 602 or an instruction in the form of software. Above-mentioned processor 602 can be general-purpose processor, comprises central processing unit (Central Processing Unit, be called for short CPU), network processor (Network Processor, be called for short NP) etc.; Can also be digital signal processor (DSP), application-specific integrated circuit (ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.

The robot provided in the embodiment of the present application is based on the same inventive concept as the method for planning the robot's path along the edge provided in the embodiment of the present application, and has the same beneficial effect as the method adopted, operated or realized.

The embodiment of the present application also provides a computer-readable storage medium corresponding to the robot edge path planning method provided in the previous embodiment, please refer to FIG. 6, the computer-readable storage medium shown is an optical disc 30, on A computer program (that is, a program product) is stored, and when the computer program is run by the processor, it will execute the robot edge path planning method provided in any of the foregoing implementation manners.

It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random Access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other optical and magnetic storage media will not be repeated here.

The computer-readable storage medium provided by the above-mentioned embodiments of the present application is based on the same inventive concept as the robot’s path planning method along the edge provided by the embodiments of the present application, and has the same beneficial effects as the method adopted, run or implemented by the stored application program .

Other embodiments of the invention will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The present invention is intended to cover any modification, use or adaptation of the present invention, and these modifications, uses or adaptations follow the general principles of the present invention and include common knowledge or conventional technical means in the technical field not disclosed in the present invention . The specification and examples are to be considered exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection.

Claims

A method for robot path planning along the edge, characterized in that the method comprises:

According to detecting that there is a closed loop in the driving track, obtain the boundary points of the cleaning area and the contour points of the obstacles in the cleaning area as a set of candidate points;

Selecting the front edge point satisfying the condition of continuing along the edge from the set of candidate points;

Re-planning the edge-along path according to the edge-along front point, and controlling the robot to travel along the re-planned edge-along path.
The method according to claim 1, wherein said obtaining the boundary points of the cleaning area and the contour points of obstacles in the cleaning area as a set of candidate points comprises:

Obtaining the boundary points of the cleaning area and the contour point clusters of each obstacle in the cleaning area according to the laser map and the environment map;

Filter out the contour point clusters whose number of contour points is less than the preset number;

The contour points included in the remaining contour point clusters and the acquired boundary points of the cleaned area are used as candidate point sets.
The method according to claim 1, wherein the selection of the preceding point along the edge satisfying the condition of continuing along the edge from the set of candidate points comprises:

Obtain part of the trajectory points currently generated by the robot;

For each candidate point in the candidate point set, determine the distance between the candidate point and each track point;

From the set of candidate points, selecting candidate points whose distance is within a preset range;

For each selected candidate point, select the minimum distance from the distance between the candidate point and each track point, and score the candidate point according to the minimum distance and the track point corresponding to the minimum distance ;

A candidate point is selected from the selected candidate points according to the score as a previous point along the edge satisfying the condition of continuing along the edge.
The method according to claim 3, characterized in that, selecting a candidate point from the selected candidate points according to the score as a front point along the edge satisfying the condition of continuing along the edge, comprising:

The candidate point with the lowest score is selected from the scores as the previous point along the edge that satisfies the condition of continuing along the edge.
The method according to claim 3, wherein the scoring of the candidate points according to the minimum distance and the track point corresponding to the minimum distance comprises:

Using the minimum distance to determine a distance score for the candidate point;

Determining an area containing the track point corresponding to the candidate point and the minimum distance in the environment map;

determining the idle index of the candidate point according to the obstacles in the area;

determining the exploration index of the candidate point according to the trajectory points contained in the region;

Determine the score of the candidate point according to the distance score, the idle index, and the exploration index.
The method according to claim 5, wherein said determining the idle index of said candidate point according to obstacles in said area comprises:

Determining the area ratio of obstacles in the area to the area;

The idle index is determined according to the area ratio.
The method according to claim 5, wherein the determining the exploration index of the candidate point according to the track points contained in the region comprises:

Determine the area ratio of the track points included in the region to the region;

The exploration index is determined according to the area ratio.
The method according to claim 5, wherein the determining the score of the candidate point according to the distance score, the idle index, and the exploration index comprises:

The distance score, the idle index, and the exploration index are weighted and summed to obtain the score of the candidate point.
A robot edge path planning device, characterized in that the device comprises:

The candidate point acquisition module is used to obtain the boundary points of the cleaning area and the contour points of obstacles in the cleaning area as a candidate point set according to the detection of a closed loop in the driving track;

A screening module, configured to select from the set of candidate points the preceding point along the edge that satisfies the condition of continuing along the edge;

The path planning module is used to re-plan the edge-along path according to the edge-along front point, and control the robot to travel along the re-planned edge-along path.
A robot comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor implements the program described in any one of claims 1-8 when executing the program. method steps.
A computer-readable storage medium, on which a computer program is stored, wherein, when the program is executed by a processor, the steps of the method according to any one of claims 1-8 are realized.