WO2023169265A1

WO2023169265A1 - Robot pathfinding method and apparatus, and device and computer-readable storage medium

Info

Publication number: WO2023169265A1
Application number: PCT/CN2023/078899
Authority: WO
Inventors: 朱绍明; 任雪
Original assignee: 苏州科瓴精密机械科技有限公司
Priority date: 2022-03-10
Filing date: 2023-03-01
Publication date: 2023-09-14
Also published as: CN116774686A

Abstract

A robot pathfinding method and apparatus, and a device and a computer-readable storage medium. The method comprises: determining a target position and the current position of a robot in a map (S201); acquiring the position, a pathfinding direction and a point position weight of each transfer station in the map (S202), wherein the point position weight of a transfer station refers to the number of times the robot successfully reaches the target position when the robot moves in the transfer station in the pathfinding direction of the transfer station; using a transfer station, which has the highest point position weight, as a target transfer station (S203); and in the pathfinding direction of the target transfer station, planning a movement path of the robot from the current position to the target position via the target transfer station (S204). The present application has the advantages of optimizing the speed of path retrieval, reducing the number of times of trial and error, shortening the pathfinding time and improving the working efficiency.

Description

Robot pathfinding method, pathfinding device, equipment and computer-readable storage medium

Technical field

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

Background technique

The use of lawn mowing robots has gradually become more common in daily life scenarios, helping people to better improve work efficiency.

In the existing technology, there are many methods for robot pathfinding. The more common ones are the A* algorithm and the random no-nearest principle.

The A*(A-Star) algorithm is the most effective direct search method for solving the shortest path in a static road network. It is also an effective algorithm for solving many search problems. However, when the search space of the A* algorithm is relatively small, the pathfinding speed is relatively fast. However, when the search space is relatively large, the calculation amount is huge, the pathfinding speed of the algorithm is relatively slow, and it is easy to cause memory overflow.

The random no-nearest principle means that the robot searches in a certain path-finding direction in the search space. When it encounters an obstacle that cannot be avoided, it searches for a new path-finding direction. This method takes a long time to find a path and has low work efficiency.

Contents of the invention

The technical problem to be solved by embodiments of the present invention is to provide a robot pathfinding method, device, equipment and storage medium, which have the advantages of optimizing the speed of retrieval paths, reducing the number of trials and errors, shortening pathfinding time, and improving work efficiency.

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

Obtain the location, path-finding direction and point weight of each transfer station in the map, where the point weight of the transfer station means that the robot successfully arrives at the transfer station when it moves along the transfer station's path-finding direction. The number of times the target position is stated;

Use the transfer station with the highest point weight as the target transfer station;

Along the path-finding direction of the target transfer station, a movement path of the robot from the current position to the target position via the target transfer station is planned.

In a feasible implementation, before obtaining the point weight of each transfer station in the map, the method further includes:

Obtain the historical movement path of the robot to the target location through at least one transfer station each time;

Record the point weights of the transfer stations in the historical movement path that are closest to the target position and have the same pathfinding direction as the historical movement path, and determine the point weight of each transfer station.

In a feasible implementation, before obtaining the historical movement path of the robot through at least one transfer station to the target location each time, the method further includes:

Determine the coordinates of the transfer point on the map;

Assign two different directions to each transfer point to generate two transfer stations with the same location but different pathfinding directions.

In a feasible implementation, determining the coordinates of the transfer point in the map includes:

Determine the valid area in the map;

Draw a circumscribed rectangle of the effective area, and determine a first reference point from the four sides of the circumscribed rectangle;

Offset a set of opposite sides of the circumscribed rectangle toward the center of the circumscribed rectangle by a first preset step to obtain two offset sides;

From the intersection points of each offset edge and the edge of the effective area, the two farthest intersection points are taken as second reference points, and the two second reference points on the same offset edge are offset toward each other by a second predetermined time. Set the step length to obtain four third reference points;

The third reference point is used as the transfer point.

In a feasible implementation, each transfer point is assigned two different path-finding directions to generate two transfer stations with the same location but different path-finding directions, including:

Assign clockwise and counterclockwise rotation directions to each transfer point to obtain two transfer stations with the same location but different pathfinding directions.

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

According to the pathfinding direction of the target transfer station, set a first path from the current location to the target transfer station, and a second path from the target transfer station to the target location;

According to the first path and the second path, a movement path is generated from the current location to the target location via the target transfer station.

In a feasible implementation, setting the first path from the current location to the target transfer station according to the pathfinding direction of the target transfer station includes:

If the robot moves from the current position to the target transfer station along the pathfinding direction of the target transfer station without passing an obstacle, then the path from the current position to the target transfer station is used as the first path;

If the robot moves from the current position along the path-finding direction of the target transfer station to the target transfer station and passes the obstacle, determine that the robot moves from the current position along the path-finding direction of the target transfer station. The shortest path that bypasses the obstacle to the target transfer station is used as the first path.

Correspondingly, the second aspect of the present invention also provides a robot pathfinding device, including:

The first acquisition module is used to obtain the target position in the map and the current position of the robot;

The second acquisition module is used to obtain the location, path-finding direction and point weight of each transfer station in the map; where the point weight of the transfer station refers to the robot's search direction along the transfer station at the transfer station. The number of times that the target position is successfully reached when moving in the road direction;

The judgment module is used to select the transfer station with the highest point weight as the target transfer station;

A processing module, along the path-finding direction of the target transfer station, plans the movement path of the robot from the current position to the target position via the target transfer station.

Correspondingly, a third aspect of the present invention also provides a device, including a memory for storing executable instructions;

A processor, configured to implement the robot pathfinding method described in the first aspect when executing executable instructions stored in the memory.

Correspondingly, a fourth aspect of the present invention also provides a computer-readable storage medium, including program code. When the program product is run on an electronic device, the program code is used to cause the electronic device to execute the first step. The steps of the method of any of the aspects.

Implementing the present invention has the following beneficial effects:

The robot pathfinding method, pathfinding device, equipment and computer-readable storage medium provided by the invention determine the target position and the current position of the robot in the map; obtain the position, pathfinding direction and point weight of each transfer station in the map, Among them, the point weight of the transfer station refers to the number of times the robot successfully reaches the target position when the robot moves along the path-finding direction of the transfer station; the transfer station with the highest point weight is regarded as the target transfer station; the path-finding along the target transfer station Direction, planning the movement path of the robot from the current position through the target transfer station to the target position. Compared with existing path-finding methods, by optimizing the speed of retrieval paths, the number of trials and errors is reduced, and path-finding time is shortened, thereby improving work efficiency.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application.

Description of the drawings

The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and are used together with the description to explain the principles of the present application, and do not constitute undue limitations on the present application.

Figure 1 is a structural representation of a pathfinding system used to implement the robot pathfinding method of the present invention. intention;

Figure 2 is a schematic flow chart of an embodiment of the robot pathfinding method of the present invention;

Figure 3 is a schematic diagram illustrating an example of the robot path-finding process of the present invention;

Figure 4 is a structural block diagram of the robot pathfinding device of the present invention;

Figure 5 is a schematic diagram of a map used in the robot path-finding process of the present invention;

Figure 6 is a schematic structural diagram of the terminal equipment provided by the present invention;

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

Detailed ways

In order to make the above objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, the present invention can be implemented in many other ways different from those described here. Those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may also be intervening elements present. The terms "vertical," "horizontal," "left," "right" and similar expressions are used herein for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to Figure 1, Figure 1 shows a path-finding system. The method provided by this application can be used in the path-finding system. implemented within.

In Figure 1, the pathfinding system includes: a mobile service robot 110, a computing device 120 and a charging stand. The computing device 120 is connected to the mobile service robot 110 through wireless communication, and the computing device 120 is used to send control information to the mobile service robot 110 so that the mobile service robot 110 moves toward the charging base.

The mobile service robot 110 can be equipped with a terminal device. The terminal device can be a smartphone, a game console, a desktop computer, a tablet computer, an e-book reader, or MP3 (Moving Picture Experts Group Audio Layer III, Moving Picture Experts Compression Standard Audio Layer 3) At least one of a player, an MP4 (Moving Picture Experts Group Audio Layer IV, Moving Picture Experts Compression Standard Audio Layer 4) player, and a laptop computer.

The computing device 120 may be a server, a server cluster composed of multiple servers, or any one of a cloud computing platform and a virtualization center, which is not limited in the embodiments of the present application. The server can communicate with the terminal device through a wired network or a wireless network. The server may have functions such as data processing, data storage, and data sending and receiving, which are not limited in the embodiments of this application.

The robot pathfinding method in the embodiment of the present application can be executed by a terminal device or a server.

Example 2

Referring to Figure 2, Figure 2 is a schematic flowchart of an embodiment of the robot pathfinding method of the present invention. It should be noted that although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a sequence different from that here. In this embodiment, the robot path-finding method includes steps S201 to S204, wherein:

S201. Determine the target position and the current position of the robot on the map.

Before determining the current position and target position of the robot in the map, the effective area can be constructed first.

In an optional embodiment of the present invention, the effective area can be constructed through the working path of the robot, which specifically includes the following steps:

Obtain the working path of the robot in the lawn area. The working path refers to the walking path of the robot starting from the target position, where the target position is located on the working path. The working path can be represented as a collection of position points, and these position points can be obtained by periodically collecting the position information of the robot using laser acquisition equipment, depth cameras, sensors and other equipment.

Construct the valid area based on the working path. In one possible implementation, the outline of the effective area can be constructed based on the working path, or the effective area can be manually preset in advance, and then the obstacles within the outline circled range are identified. The obstacles include non-turf areas and those placed on the lawn. area items.

Determine the current position and target position of the robot in the effective area. Among them, as shown in Figure 5, the shaded part is valid, B is the current position of the robot, and C is the target position.

S202. Obtain the location, pathfinding direction and point weight of each transfer station in the map.

In an optional embodiment of the present invention, the transfer station can be determined in the following manner, specifically including steps S301-S309, with reference to Figure 3:

S301: Draw a circumscribed rectangle of the effective area, and determine a first reference point from the four sides of the circumscribed rectangle.

Since the effective area is more likely to be an irregular shape, in order to make the points determined by subsequent offsets fall within the effective area as much as possible, the circumscribed rectangle can be designed to follow the following principles: Minimize the distance between the circumscribed rectangle and the outline of the effective area. area of the area. Under the guidance of this principle, the long and short sides of the circumscribed rectangle do not necessarily extend along the X-axis or Y-axis.

S303: Offset a set of opposite sides of the circumscribed rectangle toward the center of the circumscribed rectangle by a first preset step to obtain two offset sides.

Among them, the center of the circumscribed rectangle refers to the intersection point of the two diagonals of the circumscribed rectangle. The circumscribed rectangle has two sets of opposite sides. Move the two opposite sides of one set of opposite sides toward each other by a first preset step. Take the two farthest intersections from the intersections of each offset side and the edge of the effective area. as the second reference point.

S305: Offset the two second reference points on the same offset side toward each other by a second preset step to obtain four third reference points.

S307: Use the third reference point as the transfer point.

S309: Assign two different directions to each transfer point to generate two transfer stations with the same location but different pathfinding directions.

Please refer to Figure 5. The contour points in the figure form the outline of the effective area and demarcate the boundary of the walkable area, that is, the area within the outline is the walkable area of the robot.

The method chosen in this embodiment is to select the points at both ends of the effective area in the y-axis direction as the required contour points. In the same way, you can also select the x-axis direction, or you can select all edge points. In this case, the two end points in the y-axis direction are used to reduce the amount of data.

In this embodiment, the minimum circumscribed rectangle is selected because the maximum number of transfer points is set to four, which can satisfy the general lawn shape. Therefore, the minimum circumscribed rectangle can be said to be the shape closest to the effective area, and the generated rectangle does not necessarily have the x-axis as the horizontal direction.

In this embodiment, the outline rectangle obtained is represented by four points in Figure 5. However, since the obtained four rectangular points do not necessarily fall in the effective area, further offset is needed to make the transfer point fall in the effective area.

In order to ensure that the transfer point is located within the effective area, the method is not limited to this embodiment. This embodiment has gone through two steps, which can also be combined into one step.

Because the accuracy of the positioning system is about 3m, this embodiment uses 2 times the accuracy as the offset reference value, such as offset=6m, where Max is the largest size of the entire effective area.

The R1R2 side uses R1R4 as the horizontal direction translation (offset~Max) unit, and then uses the R1R4 side to translate to the effective area, which is F1, and the last effective area it translates to is F2; the R3R4 side uses R1R4 as the horizontal direction translation (offset ~Max) unit, and then use the R3R4 edge to translate to the effective area to get F3, and translate to the last effective area to get F4; since the transfer station Fn still has the edge position of the effective area at this time, if the distance between them is greater than When offset, the transfer point Nn inside the effective area can be further obtained; at this time, Fn moves the Y axis forward and reverse directions and moves offset units inward respectively to obtain N1, N2, N3, and N4.

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

Each transfer point is assigned two different directions. In one possible implementation, the same transfer point is assigned a clockwise transfer station and a counterclockwise transfer station. One transfer point generates two transfer stations with the same location but different pathfinding directions, the obtained N11 (clockwise), N12 (counterclockwise), N21 (clockwise), N22 (counterclockwise), N31 (clockwise), N32 (counterclockwise), N41 (clockwise) and N42 (counterclockwise) are eight transfer stations, and each transfer station determines a transfer direction.

After obtaining eight transfer stations and corresponding transfer directions, in a possible implementation, the point weight can be determined in the following way:

Obtain the historical movement path of the robot to the target location through at least one transfer station each time; record the point weight of the transfer station in the historical movement path that is closest to the target location and has the same pathfinding direction as the historical movement path, and determine each transfer The point weight of the station.

Determine the first target transfer point corresponding to the robot position and the second target transfer point corresponding to the target position from the transfer points; obtain all candidate transfer paths from the first target transfer point to the second target transfer point; divide the shortest length and The candidate path that does not pass through obstacles is regarded as the transfer path, among which the shortest length from the robot position to the transfer point position and does not pass through obstacles is regarded as the first target transfer point, and the shortest length from the target position to the transfer point position and does not pass through obstacles is regarded as the second target transfer point. Target transfer point.

Select two points in the transfer point Ni (i=1, 2, 3, 4) as the first target transfer point and the second target transfer point respectively. Among them, the first target transfer point closest to the robot position is Sm (m=1, 2,3,4), the second target transfer point closest to the target position is En(n=1,2,3,4);

Referring to Figure 5, this embodiment provides a target path for the robot to return to the target position after working. The first target transfer point closest to the robot is N2, that is, m=2; the second target transfer point closest to the target position is N1, that is, n=1; therefore, the first target transfer point is S2, and the second target transfer point is E1;

The general rules for generating a home path, that is, the general rules for the robot to go from the first target transfer point to the second target transfer point:

The machine can walk clockwise or counterclockwise; the four candidate transfer points N1, N2, N3, and N4 form a circular path in sequence.

a. If m=n, if clockwise, the route home is Nm+1, which is the first target transfer point, and Nn, which is the second target transfer point. They are sorted in ascending order, and the number of transfer stations is 4;

b. If m=n, if counterclockwise, the home route is Nm-1 is the first target transfer point, Nn is the second target transfer point, in descending order, the number of transfer stations is 4;

c. If m<n, if clockwise, the home route is Nm as the first target transfer point, Nn as the second target transfer point, sorted in ascending order, and the number of transfer stations is n-m+1;

d. If m<n, if counterclockwise, the home route is Nm as the first target transfer point, Nn as the second target transfer point, in descending order, the number of transfer stations is 5-n+m;

e. If m>n, if clockwise, the home route is Nm as the first target transfer point, Nn as the second target transfer point, sorted in ascending order, and the number of transfer stations is 5-m+n;

f. If m>n, if counterclockwise, the home route is Nm as the first target transfer point, Nn as the second target transfer point, in descending order, the number of transfer stations is m-n+1;

g. When it is impossible to reach the first target transfer point in both clockwise and counterclockwise directions, change the first target transfer point to the next transfer point on the path;

m=2, n=1, m>n, conforming to the rules e and f, the path generated by walking clockwise is N2→N3-→N4→N1, and the path generated by walking counterclockwise is N2→N1; but starting from point B , in actual circumstances, the machine cannot reach the first target transfer point N2, which conforms to rule g. If the first target transfer point is changed to the next transfer point, the path N3→N4→N1 will be generated, that is, the transfer station path is N31 (sequentially Clockwise) → N41 (clockwise) → N11 (clockwise) to obtain the target transfer path.

After the first target transfer point successfully reaches the second target point, the corresponding transfer direction in the target transfer path is obtained, and then the transfer station in the transfer point is determined, and then the weight of the determined transfer station is recorded to determine the point of each transfer station. bit weight. By recording the pathfinding direction and point weight of each transfer station, you can directly read the pathfinding direction and point weight of the transfer station during the next pathfinding, optimize the search path, reduce the number of trials and errors, and shorten the pathfinding time. .

S203. Use the transfer station with the highest point weight as the target transfer station.

Determine the moving path from the target position to each transfer point, use the transfer point corresponding to the shortest moving path that does not pass through obstacles as the target transfer point, and use the transfer station with the largest number of weights in the target transfer point as the target transfer station.

Referring to Figure 5, the target transfer station with the highest weight from the target position C is N11 (clockwise).

S204. Plan the movement path of the robot from the current position through the target transfer station to the target position along the pathfinding direction of the target transfer station.

According to the pathfinding direction of the target transfer station, a first path from the current location to the target transfer station and a second path from the target transfer station to the target location are set.

According to the first path and the second path, a moving path from the current location to the target location via the target transfer station is generated.

In one possible implementation, the first path can be determined as follows:

If the robot moves from the current position to the target transfer station along the path-finding direction of the target transfer station without passing obstacles, then the path from the current position to the target transfer station is used as the first path;

If the robot moves from the current position along the path-finding direction of the target transfer station to the target transfer station and passes through an obstacle, determine the shortest path for the robot to move from the current position along the path-finding direction of the target transfer station around the obstacle to the target transfer station, and The shortest path is used as the first path.

When the robot moves from the current position along the pathfinding direction of the target transfer station to the target transfer station and passes through obstacles, determine the first moving path from the robot's position to each candidate transfer point, and select the first moving path with the shortest length that does not pass through obstacles. The corresponding transfer point is used as the first transfer point. Along the direction of the target transfer station, determine the first transfer station in the same direction as the first transfer point. According to the path from the robot position to the first transfer station, the first transfer station to the target transfer station The path of the station determines the first path.

Referring to Figure 5, the transfer point N3 corresponding to the first movement path with the shortest length and not passing through obstacles is used as the first transfer point. At the same time, in the historical movement path, the target transfer station with the highest point weight is N11 (clockwise). The direction is clockwise, so the first transfer station is N31 (clockwise), and the moving path of the transfer station is N31 (clockwise) → N41 (clockwise) → N11 (clockwise). One path is a straight path from the robot position to N31 (clockwise) and N31 (clockwise) → N41 (clockwise) → N11 (clockwise).

In one possible implementation, the second path can be determined as follows:

Determine the straight path from the target transfer station to the target location as the second path.

Referring to Figure 5, the straight path from the target transfer station to the target location is the second path, that is, the straight path from N11 to the target location.

On the one hand, when the robot moves from the current position along the path-finding direction of the target transfer station to the target transfer station without passing through obstacles, the movement path is determined to be the straight-line path from the robot position to the target transfer station and the straight-line path from the target transfer station to the target position. , thereby optimizing the speed of retrieval paths, reducing the number of trials and errors, shortening pathfinding time, improving work efficiency, and quickly returning to the target location;

On the other hand, when the robot moves from the current position along the path-finding direction of the target transfer station to the target transfer station and passes an obstacle, determine the shortest path for the robot to move from the current position along the path-finding direction of the target transfer station around the obstacle to the target transfer station. path, taking the shortest path as the first path and the second path from the target transfer station to the target location, and generating a moving path from the current location to the target location via the target transfer station based on the first path and the second path. It avoids invalid data processing in disconnected areas, so it can reduce the data calculation amount of the target path on the basis of meeting the data required for path finding. At the same time, the transfer station with the highest point weight is used as the target transfer station to a certain extent. It can reduce the number of trials and errors, thereby optimizing the speed of retrieval paths, reducing the number of trials and errors, shortening pathfinding time, improving work efficiency, and quickly returning to the target location.

Example 3

4 shows a block diagram of a pathfinding device according to an embodiment of the present disclosure. Referring to FIG. 4 , the path finding device includes a first acquisition module 401 , a second acquisition module 402 , a judgment module 403 and a processing module 404 .

The first acquisition module 401 is used to acquire the target position in the map and the current position of the robot;

The second acquisition module 402 is used to obtain the location, path-finding direction and point weight of each transfer station in the map; wherein, the point weight of the transfer station refers to the position of the robot along the center of the transfer station. The number of times the target location was successfully reached when moving in the pathfinding direction of the transfer station;

The judgment module 403 is used to select the transfer station with the highest point weight as the target transfer station;

The processing module 404 plans the movement path of the robot from the current position through the target transfer station to the target location along the pathfinding direction of the target transfer station.

It should be understood that the first acquisition module 401, the second acquisition module 402, and the processing module 404 shown in FIG. 4 may be included in the computing device 120 described with reference to FIG. 1 . Furthermore, it should be understood that the modules shown in Figure 4 may perform steps or actions in methods or processes with reference to embodiments of the present disclosure.

Example 4

Figure 6 shows a structural block diagram of a terminal device provided by an exemplary embodiment of the present application. The terminal device 600 can be a portable mobile terminal, such as: a smart phone, a tablet computer, an MP3 (Moving Picture Experts Group Audio Layer III, moving picture experts compression standard audio layer 3) player, an MP4 (Moving Picture Experts Group Audio Layer IV, moving picture Expert compression of standard audio levels 4) players, laptops or desktop computers. The terminal device 700 may also be called a user device, a portable terminal, a laptop terminal, a desktop terminal, and other names.

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

The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 can adopt at least one hardware form among DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), and PLA (Programmable Logic Array, programmable logic array). accomplish. The processor 601 may also include a main processor and a co-processor. The main processor is a processor used to process data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); the co-processor is A low-power processor used to process data in standby mode. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit, image processor), which is responsible for rendering and drawing the content to be displayed on the display screen. system. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence, artificial intelligence) processor, which is used to process computing operations related to machine learning.

Memory 602 may include one or more computer-readable storage media, which may be non-transitory. Memory 602 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 601 to implement the robot search provided by the method embodiment in this application. road method.

In some embodiments, the terminal device 600 optionally further includes: a peripheral device interface 603 and at least one peripheral device. The processor 601, the memory 602 and the peripheral device interface 603 may be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 603 through a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 604, a display screen 605, a camera component 606, an audio circuit 607, a positioning component 608 and a power supply 609.

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

The radio frequency circuit 604 is used to receive and transmit RF (Radio Frequency, radio frequency) signals, also called electromagnetic signals. Radio frequency circuitry 604 communicates with communication networks and other communication devices through electromagnetic signals. The radio frequency circuit 604 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 604 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. Radio frequency circuitry 604 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocols include but are not limited to: World Wide Web, urban Area network, intranet, mobile communication networks of all generations (2G, 3G, 4G and 5G), wireless LAN and/or WiFi (Wireless Fidelity, wireless fidelity) network. In some embodiments, the radio frequency circuit 604 may also include NFC (Near Field Communication) related circuits, which is not limited in this application.

The display screen 605 is used to display UI (User Interface, user interface). The UI can include graphics, text, icons, videos, and any combination thereof. When display screen 605 is a touch display screen, display screen 605 also has the ability to collect touch signals on or above the surface of display screen 605 . The touch signal can be input to the processor 601 as a control signal for processing. At this time, the display screen 705 can also be used to provide virtual buttons and/or virtual keyboards, also called soft buttons and/or soft keyboards. In some embodiments, there may be one display screen 605, which is disposed on the front panel of the terminal device 600; in other embodiments, there may be at least two display screens 605, which are disposed on different surfaces of the terminal device 600 or folded. Design; in other embodiments, the display screen 605 may be a flexible display screen, disposed on the curved surface or folding surface of the terminal device 600. Even, the display screen 605 can also be set in a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 605 can be made of LCD (Liquid Crystal Display, liquid crystal display), OLED (Organic Light-Emitting Diode, organic light-emitting diode) and other materials.

The camera assembly 606 is used to capture images or videos. Optionally, the camera assembly 606 includes a front camera and a rear camera. Usually, the front camera is set on the front panel of the terminal, and the rear camera is set on the back of the terminal. In some embodiments, there are at least two rear cameras, one of which is a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to realize the integration of the main camera and the depth-of-field camera to realize the background blur function. Integrated with a wide-angle camera to achieve panoramic shooting and VR (Virtual Reality, virtual reality) shooting functions or other integrated shooting functions. In some embodiments, camera assembly 606 may also include a flash. The flash can be a single color temperature flash or a dual color temperature flash. Dual color temperature flash refers to a combination of warm light flash and cold light flash, which can be used for light compensation under different color temperatures.

Audio circuitry 607 may include a microphone and speakers. Microphone is used to collect user and environment sound wave, and convert the sound wave into an electrical signal and input it to the processor 601 for processing, or input it to the radio frequency circuit 604 to realize voice communication. For the purpose of stereo collection or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the terminal device 600 . The microphone can also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The loudspeaker can be a traditional membrane loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert electrical signals into sound waves that are audible to humans, but also convert electrical signals into sound waves that are inaudible to humans for purposes such as ranging. In some embodiments, audio circuitry 607 may also include a headphone jack.

The positioning component 608 is used to locate the current geographical location of the terminal device 600 to implement navigation or LBS (LocationBased Service, location-based service). The positioning component 608 may be a positioning component based on the American GPS (Global Positioning System), China's Beidou system, or Russia's Galileo system.

The power supply 609 is used to provide power to various components in the terminal device 600 . Power source 609 may be AC, DC, disposable batteries, or rechargeable batteries. When the power source 609 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. Wired rechargeable batteries are batteries that are charged through wired lines, and wireless rechargeable batteries are batteries that are charged through wireless coils. The rechargeable battery can also be used to support fast charging technology.

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

The acceleration sensor 611 can detect the acceleration on the three coordinate axes of the coordinate system established by the terminal device 600 . For example, the acceleration sensor 611 can be used to detect the components of gravity acceleration on three coordinate axes. The processor 601 can control the display screen 605 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 611 . The acceleration sensor 611 can also be used to collect game or user motion data.

The gyro sensor 612 can detect the body direction and rotation angle of the terminal device 600. The gyroscope sensor 612 can cooperate with the acceleration sensor 611 to collect the user's 3D movements on the terminal device 600 . Based on the data collected by the gyro sensor 612, the processor 601 can implement the following functions: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

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

The fingerprint sensor 614 is used to collect the user's fingerprint. The processor 601 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 614, or the fingerprint sensor 614 identifies the user's identity based on the collected fingerprint. When the user's identity is recognized as a trusted identity, the processor 601 authorizes the user to perform relevant sensitive operations. The sensitive operations include unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 614 may be provided on the front, back or side of the terminal device 600 . When the terminal device 600 is provided with a physical button or a manufacturer's logo, the fingerprint sensor 614 can be integrated with the physical button or the manufacturer's logo.

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

The proximity sensor 616, also called a distance sensor, is usually provided on the front panel of the terminal device 600. The proximity sensor 616 is used to collect the distance between the user and the front of the terminal device 600 . in a In the embodiment, when the proximity sensor 616 detects that the distance between the user and the front of the terminal device 600 gradually becomes smaller, the processor 601 controls the display screen 605 to switch from the screen-on state to the screen-off state; when the proximity sensor 616 detects that the user When the distance from the front of the terminal device 600 gradually increases, the processor 601 controls the display screen 605 to switch from the screen-off state to the screen-on state.

Those skilled in the art can understand that the structure shown in FIG. 6 does not constitute a limitation on the terminal device 600, and may include more or fewer components than shown, or combine certain components, or adopt different component arrangements.

Figure 7 is a schematic structural diagram of a server provided by an embodiment of the present application. The server 700 may vary greatly due to different configurations or performance, and may include one or more processors 701 and one or more memories 702, where, At least one program code is stored in the one or more memories 702, and the at least one program code is loaded and executed by the one or more processors 701 to implement the robot pathfinding method provided by the above method embodiments. For example, Processor 701 is a CPU. Of course, the server 700 may also have components such as wired or wireless network interfaces, keyboards, and input and output interfaces for input and output. The server 700 may also include other components for implementing device functions, which will not be described again here.

In an exemplary embodiment, a computer-readable storage medium is also provided. At least one program code is stored in the storage medium. The at least one program code is loaded and executed by the processor to enable the electronic device to implement any of the above. Robot pathfinding methods.

Optionally, the above computer-readable storage medium can be read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), read-only compact disc (Compact Disc Read-OnlyMemory, CD-ROM) , tapes, floppy disks and optical data storage devices, etc.

In an exemplary embodiment, a computer program or computer program product is also provided. At least one computer instruction is stored in the computer program or computer program product, and the at least one computer instruction is loaded and executed by the processor, so that the computer implements Any of the above robot pathfinding methods.

The robot pathfinding method, pathfinding device, equipment and computer-readable storage medium provided by the invention determine the target position and the current position of the robot in the map; obtain the position, pathfinding direction and point weight of each transfer station in the map, Among them, the point weight of the transfer station refers to the number of times the robot successfully reaches the target position when the robot moves along the path-finding direction of the transfer station; the transfer station with the highest point weight is regarded as the target transfer station; the path-finding along the target transfer station Direction, planning the movement path of the robot from the current position through the target transfer station to the target position. Compared with other path-finding algorithms, by optimizing the speed of retrieval paths, the number of trials and errors is reduced, and the path-finding time is shortened, thereby improving work efficiency.

It should be understood that "plurality" mentioned in this article means two or more. "And/or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the related objects are in an "or" relationship.

The above serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

The above are only exemplary embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

A robot path-finding method, characterized by including:

Determine the target location and the current location of the robot on the map;

Obtain the location, path-finding direction and point weight of each transfer station in the map, where the point weight of the transfer station means that the robot successfully arrives at the transfer station when it moves along the transfer station's path-finding direction. The number of times the target position is stated;

Use the transfer station with the highest point weight as the target transfer station;

Along the path-finding direction of the target transfer station, a movement path of the robot from the current position to the target position via the target transfer station is planned.
The robot pathfinding method according to claim 1, characterized in that before obtaining the point weight of each transfer station in the map, it further includes:

Obtain the historical movement path of the robot to the target location through at least one transfer station each time;

Record the point weights of the transfer stations in the historical movement path that are closest to the target position and have the same pathfinding direction as the historical movement path, and determine the point weight of each transfer station.
The robot pathfinding method according to claim 2, characterized in that, before obtaining the historical movement path of the robot to the target location through at least one transfer station, it further includes:

Determine the coordinates of the transfer point on the map;

Assign two different directions to each transfer point to generate two transfer stations with the same location but different pathfinding directions.
The robot pathfinding method according to claim 3, characterized in that the determined The coordinates of the transfer points in the figure include:

Determine the valid area in the map;

Draw a circumscribed rectangle of the effective area, and determine a first reference point from the four sides of the circumscribed rectangle;

Offset a set of opposite sides of the circumscribed rectangle toward the center of the circumscribed rectangle by a first preset step to obtain two offset sides;

From the intersection points of each offset edge and the edge of the effective area, the two farthest intersection points are taken as second reference points, and the two second reference points on the same offset edge are offset toward each other by a second predetermined time. Set the step length to obtain four third reference points;

The third reference point is used as the transfer point.
The robot path-finding method according to claim 3, characterized in that, assigning two different path-finding directions to each transfer point to generate two transfer stations with the same position but different path-finding directions, including:

Assign clockwise and counterclockwise rotation directions to each transfer point to obtain two transfer stations with the same location but different pathfinding directions.
The path-finding method of the robot according to claim 1, characterized in that, along the path-finding direction of the target transfer station, a moving path of the robot from the current position to the target position via the target transfer station is planned. ,include:

According to the pathfinding direction of the target transfer station, set a first path from the current location to the target transfer station, and a second path from the target transfer station to the target location;

According to the first path and the second path, a movement path is generated from the current location to the target location via the target transfer station.
The path-finding method of a robot according to claim 6, characterized in that, according to The pathfinding direction of the target transfer station, setting the first path from the current location to the target transfer station, includes:

If the robot moves from the current position to the target transfer station along the pathfinding direction of the target transfer station without passing an obstacle, then the path from the current position to the target transfer station is used as the first path;

If the robot moves from the current position along the path-finding direction of the target transfer station to the target transfer station and passes the obstacle, determine that the robot moves from the current position along the path-finding direction of the target transfer station. The shortest path that bypasses the obstacle to the target transfer station is used as the first path.
A robot path-finding device, characterized by including:

The first acquisition module is used to obtain the target position in the map and the current position of the robot;

The second acquisition module is used to obtain the location, path-finding direction and point weight of each transfer station in the map; where the point weight of the transfer station refers to the robot's search direction along the transfer station at the transfer station. The number of times that the target position is successfully reached when moving in the road direction;

The judgment module is used to select the transfer station with the highest point weight as the target transfer station;

A processing module, along the path-finding direction of the target transfer station, plans the movement path of the robot from the current position to the target position via the target transfer station.
A device characterized by,

include:

Memory, used to store executable instructions;

A processor, configured to implement the robot path-finding method described in one of claims 1 to 7 when executing executable instructions stored in the memory.
A computer-readable storage medium, characterized in that it includes program code, when the When the program product is run on an electronic device, the program code is used to cause the electronic device to execute the steps of the method described in any one of claims 1 to 7.