WO2025102494A1 - 机器人及其路径规划方法、装置及存储介质 - Google Patents

机器人及其路径规划方法、装置及存储介质 Download PDF

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Publication number
WO2025102494A1
WO2025102494A1 PCT/CN2023/141829 CN2023141829W WO2025102494A1 WO 2025102494 A1 WO2025102494 A1 WO 2025102494A1 CN 2023141829 W CN2023141829 W CN 2023141829W WO 2025102494 A1 WO2025102494 A1 WO 2025102494A1
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WO
WIPO (PCT)
Prior art keywords
robot
path
exit
closed path
closed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2023/141829
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English (en)
French (fr)
Inventor
黄祥斌
黄高波
李蒙
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Best Epoch Technology Co Ltd
Ubtech Robotics Corp
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Best Epoch Technology Co Ltd
Ubtech Robotics Corp
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Publication of WO2025102494A1 publication Critical patent/WO2025102494A1/zh
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions [2D]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G05D1/633—Dynamic obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing

Definitions

  • the present application relates to the field of path planning, and in particular to a robot and a path planning method, device and storage medium thereof.
  • intelligent robots such as sweeping robots will plan the path to perform the tasks according to the obstacle information in the scene. For example, when the sweeping robot performs the task of cleaning the room, the sweeping robot will flexibly plan the cleaning path according to the obstacles in the scene, which can adapt to the cleaning requirements of different scenes.
  • the sweeping robot may be in an abnormally closed circle state, which is not conducive to the robot completing the set task intelligently and efficiently.
  • an embodiment of the present application provides a robot and its path planning method, device and storage medium to solve the problem in the prior art that the robot may be in an abnormally closed circle state for a long time, which is not conducive to efficiently completing the set task.
  • a first aspect of an embodiment of the present application provides a path planning method for a robot, the method comprising:
  • An exit path of the robot is determined according to the type of the closed path, and the robot is controlled to exit the closed path according to the exit path.
  • estimating that the movement path of the robot satisfies a preset closed path condition according to the motion trajectory, and determining the type of the closed path includes:
  • the movement path of the robot When the movement path of the robot intersects the expansion profile along the side, the movement path of the robot is determined to be a clockwise closed path.
  • determining an expansion profile of the robot along the side according to the motion path includes:
  • the contour along the side in the expansion region is intercepted to obtain the expansion contour along the side.
  • determining an exit path of the robot according to the type of the closed path, and controlling the robot to exit the closed path according to the exit path includes:
  • the robot is controlled to rotate by a predetermined angle so that the robot exits the closed path in the reverse direction.
  • estimating that the movement path of the robot satisfies a preset closed path condition according to the motion trajectory, and determining the type of the closed path includes:
  • the moving path of the person is determined to be a counterclockwise closed path.
  • determining an exit path of the robot according to the type of the closed path, and controlling the robot to exit the closed path according to the exit path includes:
  • the exit path is determined according to the intersection point, and the robot is controlled to exit the closed path according to the exit path.
  • determining the exit path according to the intersection, and controlling the robot to exit the closed path according to the exit path includes:
  • the robot moves to the intersection according to the exit path, the robot is controlled to move along the outer contour of the expansion area.
  • a second aspect of an embodiment of the present application provides a path planning device for a robot, the device comprising:
  • a motion trajectory acquisition unit used to acquire the motion trajectory of the robot
  • a closure estimation unit is used to estimate whether the movement path of the robot satisfies a preset closure path according to the motion trajectory. path condition, and determining the type of the closed path;
  • An exit unit is used to determine an exit path of the robot according to the type of the closed path, and control the robot to exit the closed path according to the exit path.
  • a third aspect of an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.
  • a fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.
  • the beneficial effect of the embodiments of the present application compared with the prior art is as follows: the embodiments of the present application obtain the motion trajectory of the robot, and estimate whether the movement path of the robot satisfies the conditions of a predetermined closed path based on the motion trajectory; if the conditions of the closed path are satisfied, the type of the closed path is determined, and the exit path of the robot is determined according to the type of the closed path; based on the determined exit path, the robot is controlled to exit the closed path, thereby effectively reducing the probability of the robot being in a state of repeated circles and improving the task execution efficiency of the robot.
  • FIG1 is a schematic diagram of generating a clockwise closed path provided in an embodiment of the present application.
  • FIG2 is a schematic diagram of generating a counterclockwise closed path provided in an embodiment of the present application.
  • FIG3 is a schematic diagram of an expected path of a clockwise closed path provided in an embodiment of the present application.
  • FIG4 is a schematic diagram of an expected path of a counterclockwise closed path provided in an embodiment of the present application.
  • FIG5 is a schematic diagram of an implementation flow of a robot path planning method provided in an embodiment of the present application.
  • FIG6 is a schematic diagram of a curve of a motion path provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of a motion path after expansion processing provided by an embodiment of the present application.
  • FIG8 is a schematic diagram of an expansion area provided in an embodiment of the present application.
  • FIG9 is a schematic diagram of a cut-off contour along an edge provided in an embodiment of the present application.
  • FIG10 is a schematic diagram of a route that deviates from a clockwise closed path provided in an embodiment of the present application.
  • FIG11 is a schematic diagram of an expansion area of a counterclockwise closed path provided in an embodiment of the present application.
  • FIG12 is a schematic diagram of the outer contour of an expansion region provided in an embodiment of the present application.
  • FIG14 is a schematic diagram of a route that deviates from a counterclockwise closed path provided in an embodiment of the present application.
  • FIG15 is a schematic diagram of a path planning device for a robot provided in an embodiment of the present application.
  • FIG16 is a schematic diagram of a robot provided in an embodiment of the present application.
  • the robot When the robot is performing a task, there may be obstacles in the task scene that form narrow passages.
  • the robot has a certain probability of passing through the passage, and a certain probability of not passing through the passage, which may cause the robot to be in a state of spinning.
  • the width of the passage is slightly larger than the width of the robot (which can be a sweeping robot, etc.).
  • the robot moves from position 1 to position 2, there is a certain probability that the robot passes through the passage, and there is also a certain probability that it fails to pass through the passage. If the robot fails to pass through the passage, it will move to position 3, move along the obstacle to position 5, reach position 2 of the narrow passage from another direction, and then move back to positions 3, 4, and 5. If the robot can pass through the passage normally at this time, it will cause the sweeping robot to keep circling along the obstacle in a clockwise direction, making it impossible for the robot to move to other positions.
  • the obstacle may be a dynamic obstacle.
  • position 2 is not a narrow passage, but a dynamic obstacle.
  • the dynamic obstacle widens the passage at position 2, causing the robot to circle around the obstacle in a clockwise direction.
  • the expected path of the robot is: the robot does not need to pass through a narrow passage, and moves from position 5 to position 6, position 7 and position 8 in sequence according to the path shown in Figure 2, thereby jumping out of the closed path of the robot circling around the obstacle.
  • the expected path of the robot is: When the robot moves to position 6, the robot passes through the channel and moves to position 7 and position 8 successively.
  • the present application embodiment proposes a robot path planning method, as shown in FIG5 , the method includes:
  • the robots in the embodiments of the present application include robots that need to move along edges, such as sweeping robots.
  • the robot's motion trajectory can be collected in real time to compare the robot's current position with the previous motion trajectory to determine whether the robot has entered a closed path or is about to enter a closed path.
  • the current posture of the robot can be compared with the posture in the motion trajectory to determine whether it matches the posture in the historical motion trajectory. If the current posture matches the posture in the historical motion trajectory, it can be determined that the current motion path of the robot is a closed path.
  • the robot's expected path does not need to pass through the channel.
  • the robot needs to enter the channel, and after detecting the closed path, the robot is controlled to exit the channel.
  • This detection method is not conducive to improving the robot's path planning efficiency.
  • the detection method of the closed path in the clockwise direction in the embodiment of the present application adopts an estimation method to determine whether the robot is about to enter the closed path.
  • the robot's path is a path for moving along the edge, that is, to detect whether the robot is moving along the edge (moving along a wall or an obstacle). If the robot is moving along the edge, the motion trajectory during the movement along the edge is obtained, and the motion path corresponding to the motion trajectory during the movement along the edge is expanded, and the contour after the expansion is intercepted to obtain the expansion contour on the edge side, that is, the expansion contour close to the obstacle side.
  • the current position of the robot coincides with the expansion contour on the edge side, it means that the robot is about to enter a closed path, and the route for the robot to leave the closed path can be planned in time.
  • the robot's motion trajectory is detected along the edge to determine the robot's motion trajectory along the edge during movement, that is, when the robot is detected to be moving along an obstacle, the robot's motion trajectory is an edge motion trajectory, and the edge motion path can be obtained according to the edge motion trajectory. As shown in Figure 6, the curve of the motion path obtained by edge detection.
  • the motion path along the edge can be expanded to obtain the expansion area corresponding to the motion path along the edge.
  • the expansion area corresponding to the motion path is obtained.
  • the expansion radius can be determined according to the size of the obstacle and the radius of the robot. For example, the expansion radius can be smaller than the sum of the radius of the robot and the width of the obstacle. By setting the size of the expansion radius, the probability of false detection is reduced when the robot moves along the obstacle.
  • the width of the obstacle can be detected to obtain the sum of the width of the obstacle and the radius of the robot.
  • the difference between the sum and the expansion radius is made greater than 0 and less than the first threshold, so that when the robot passes through the channel position 5 as shown in FIG. 1, it only needs to enter the channel to timely detect that the robot is about to enter the closed path.
  • FIG8 is a schematic diagram of the expanded contour along the side after interception.
  • the expansion contour along the edge can effectively estimate that the robot is about to enter a closed path in the clockwise direction.
  • the robot can also detect a closed path in the counterclockwise direction. When the robot does not detect a closed path in the clockwise direction, and detects that the robot's current posture matches the posture in the motion trajectory, it can be determined that the robot is in a closed path in the counterclockwise direction.
  • an exit path of the robot is determined according to the type of the closed path, and the robot is controlled to exit the closed path according to the exit path.
  • the robot When it is detected that the robot is in a closed path in the clockwise direction, the robot can be controlled to rotate by a predetermined angle so that the robot's orientation is different from the orientation when it moves to the coincidence point to generate an exit path.
  • the direction of the exit path can be opposite to the previous orientation, so that the robot can escape from the passage and obstacles.
  • the robot can be controlled to rotate counterclockwise to an angle greater than 90 degrees and less than 180 degrees. After the robot moves according to the rotated angle, it collides with the wall and then moves along the wall to position 7 and position 8.
  • the movement direction and movement path of the robot can be determined by the expansion profile.
  • the closed path when the robot is detected to be in a closed path in the counterclockwise direction, the closed path can be expanded.
  • the expansion process is performed to obtain the expansion area shown in FIG11.
  • the expansion area after the expansion process can generally be shown in FIG12, including the inner contour and the outer contour, or, in possible circumstances, may only include the outer contour.
  • the expansion radius can be greater than the sum of the radius of the robot and the width of the obstacle, that is, the expanded outer contour is outside the obstacle, and the robot can move along the outer contour along the obstacle.
  • the intersection of the motion path corresponding to the motion trajectory of the robot and the outer contour of the expansion area can be detected.
  • the robot can be controlled to move from the closing point to the intersection, so that the robot deviates from the path of repeated circling of the closed path and leaves the closed path from the channel.
  • the robot when the robot is at the closed point A, it detects that the intersection of the motion path and the outer contour is B, and then an exit path from A to B can be generated, so that the robot leaves the closed path.
  • the movement of the robot can be further controlled according to the outer contour of the predetermined expansion area. For example, the robot can move along the outer contour of the expansion area according to the direction of movement to the right of the obstacle.
  • FIG15 is a schematic diagram of a robot path planning device provided in an embodiment of the present application. As shown in FIG15 , the device includes:
  • a motion trajectory acquisition unit 1501 is used to acquire the motion trajectory of the robot
  • a closure estimation unit 1502 configured to estimate, based on the motion trajectory, whether the movement path of the robot satisfies a preset closed path condition, and determine the type of the closed path;
  • the exit unit 1503 is used to determine the exit path of the robot according to the type of the closed path, and control the robot to exit the closed path according to the exit path.
  • the closure estimation unit includes:
  • a motion path acquisition subunit used to acquire the motion path corresponding to the motion trajectory along the edge
  • an expansion profile determination subunit for determining an expansion profile of the robot along the side according to the motion path
  • the clockwise closed path determining subunit is used to determine that the moving path of the robot is a clockwise closed path when the moving path of the robot intersects with the expansion contour along the side.
  • the expansion profile determination subunit includes:
  • An expansion module used for performing expansion processing on the motion path to obtain an expansion area corresponding to the motion path;
  • a contour determination module used to determine the contour of the expansion area
  • the contour interception module is used to intercept the contour along the side in the expansion area to obtain the expansion contour along the side.
  • the exit unit is used to control the robot to rotate a predetermined angle according to the clockwise closed path, so that the robot exits the closed path in the reverse direction.
  • the closure estimation unit includes:
  • a posture comparison subunit used for comparing the current posture of the robot with the posture in the motion trajectory
  • the counterclockwise closed path determination subunit is used to determine that the moving path of the person is a counterclockwise closed path when the posture of the robot matches the posture in the motion trajectory.
  • the exit unit includes:
  • An expansion subunit used for expanding the closed path to obtain an expansion area corresponding to the closed path
  • An intersection determination subunit used to determine the intersection of the edge path of the robot and the outer contour of the expansion area
  • An exit subunit is used to determine the exit path according to the intersection point, and control the robot to exit the closed path according to the exit path.
  • the exit subunit includes:
  • An exit path determination module used for determining an exit path for the robot to move from the closed point to the intersection when the robot moves to the closed point of the closed path;
  • a contour movement module is used to control the robot to move along the outer contour of the expansion area when the robot moves to the intersection according to the exit path.
  • the robot path planning device shown in FIG. 15 corresponds to the robot path planning method shown in FIG. 5 .
  • FIG16 is a schematic diagram of a robot provided in an embodiment of the present application.
  • the robot 16 of this embodiment includes: a processor 160, a memory 161, and a computer program 162 stored in the memory 161 and executable on the processor 160, such as a robot path planning program.
  • the processor 160 executes the computer program 162
  • the steps in the above-mentioned robot path planning method embodiments are implemented.
  • the processor 160 executes the computer program 162
  • the functions of each module/unit in the above-mentioned device embodiments are implemented.
  • the computer program 162 may be divided into one or more modules/units, which are stored in the memory 161 and executed by the processor 160 to complete the present application.
  • the one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 162 in the robot 16.
  • the robot may include, but is not limited to, a processor 160 and a memory 161. Those skilled in the art may understand Note that FIG16 is merely an example of the robot 16 and does not constitute a limitation on the robot 16.
  • the robot 16 may include more or fewer components than shown in the figure, or a combination of certain components, or different components.
  • the robot may also include input and output devices, network access devices, buses, etc.
  • the processor 160 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or any conventional processor, etc.
  • the memory 161 may be an internal storage unit of the robot 16, such as a hard disk or memory of the robot 16.
  • the memory 161 may also be an external storage device of the robot 16, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 16. Further, the memory 161 may also include both an internal storage unit and an external storage device of the robot 16.
  • the memory 161 is used to store the computer program and other programs and data required by the robot.
  • the memory 161 may also be used to temporarily store data that has been output or is to be output.
  • the technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration.
  • the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.
  • the functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.
  • the disclosed devices/terminal equipment and methods can be implemented in other ways.
  • the device/terminal equipment embodiments described above are only schematic.
  • the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.
  • Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
  • 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 distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
  • the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by hardware related to computer program instructions.
  • the computer program can be stored in a computer-readable storage medium.
  • the steps of each of the above-mentioned method embodiments can be implemented.
  • the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electric carrier signal telecommunication signal and software distribution medium.
  • the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.
  • computer-readable media do not include electric carrier signals and telecommunication signals.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

本申请涉及路径规划领域，尤其涉及机器人及其路径规划方法、装置及存储介质。该方法包括：获取机器人的运动轨迹；根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型；根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。从而能够有效的降低机器人处于反复转圈状态的几率，提高机器人的任务执行效率。

Description

机器人及其路径规划方法、装置及存储介质
本申请要求于2023年11月16日在中国专利局提交的、申请号为202311551977.8、发明名称为“机器人及其路径规划方法、装置及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及路径规划领域，尤其涉及机器人及其路径规划方法、装置及存储介质。
背景技术
扫地机器人等智能机器人在执行所设定的任务的过程中，会根据场景中的障碍物信息规划执行任务的路径。比如，扫地机器人在执行清扫房间的任务时，扫地机器人会根据场景中的障碍物，灵活的规划清扫路径，可以适应不同场景的清扫要求。
然而，在一些特殊场景中，比如场景中可能存在较窄的通道，当机器人进入较窄通道后，可能会使得扫地机器人一直处于异常闭合的转圈状态，不利于机器人智能高效的完成所设定的任务。
技术问题
有鉴于此，本申请实施例提供了一种机器人及其路径规划方法、装置及存储介质，以解决现有技术中可能会存在机器人一直处于异常闭合的转圈状态，不利于高效的完成所设定的任务的问题。
技术解决方案
本申请实施例的第一方面提供了一种机器人的路径规划方法，所述方法包括：
获取机器人的运动轨迹；
根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型；
根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
结合第一方面，在第一方面的第一种可能实现方式中，根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型，包括：
获取沿边的运动轨迹对应的运动路径；
根据所述运动路径确定所述机器人沿边侧的膨胀轮廓；
在所述机器人的移动路径与所述沿边侧的膨胀轮廓相交时，确定所述机器人的移动路径为顺时针的闭合路径。
结合第一方面的第一种可能实现方式，在第一方面的第二种可能实现方式中，根据所述运动路径确定所述机器人沿边侧的膨胀轮廓，包括：
对所述运动路径进行膨胀处理，得到所述运动路径对应的膨胀区域；
确定所述膨胀区域的轮廓；
截取所述膨胀区域中的沿边侧的轮廓，得到所述沿边侧的膨胀轮廓。
结合第一方面的第一种可能实现方式，在第一方面的第三种可能实现方式中，根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径，包括：
根据所述顺时针的闭合路径，控制所述机器人旋转预定角度，使所述机器人反向退出所述闭合路径。
结合第一方面，在第一方面的第四种可能实现方式中，根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型，包括：
将所述机器人的当前位姿与所述运动轨迹中的位姿进行比较；
在所述机器人的当位姿与所述运动轨迹中的位姿匹配时，确定所述人的移动路径为逆时针的闭合路径。
结合第一方面的第四种可能实现方式，在第一方面的第五种可能实现方式中，根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径，包括：
对所述闭合路径进行膨胀处理，得到所述闭合路径对应的膨胀区域；
确定所述机器人的沿边路径与所述膨胀区域的外轮廓的交点；
根据所述交点确定所述退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
结合第一方面的第五种可能实现方式，在第一方面的第六种可能实现方式中，根据所述交点确定所述退出路径，根据所述退出路径控制所述机器人退出所述闭合路径，包括：
当所述机器人移动至所述闭合路径的闭合点时，确定所述机器人由所述闭合点向所述交点移动的退出路径；
当所述机器人根据所述退出路径移动至所述交点时，控制所述机器人沿所述膨胀区域的外轮廓运动。
本申请实施例的第二方面提供了一种机器人的路径规划装置，所述装置包括：
运动轨迹获取单元，用于获取机器人的运动轨迹；
闭合估计单元，用于根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路 径条件，并确定所述闭合路径的类型；
退出单元，用于根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
本申请实施例的第三方面提供了机器人，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如第一方面任一项所述方法的步骤。
本申请实施例的第四方面提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如第一方面任一项所述方法的步骤。
有益效果
本申请实施例与现有技术相比存在的有益效果是：本申请实施例通过获取机器人的运动轨迹，并基于运动轨迹估计机器人的移动路径是否满足预定的闭合路径的条件，如果满足闭合路径条件，则确定闭合路径的类型，根据闭合路径的类型确定机器人的退出路径，基于所确定的退出路径控制机器人退出闭合路径，从而能够有效的降低机器人处于反复转圈状态的几率，提高机器人的任务执行效率。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种顺时针闭合路径的生成示意图；
图2是本申请实施例提供的一种逆时针闭合路径的生成示意图；
图3是本申请实施例提供的一种顺时针闭合路径的期望路径示意图；
图4是本申请实施例提供的一种逆时针闭合路径的期望路径示意图；
图5是本申请实施例提供的一种机器人的路径规划方法的实现流程示意图；
图6是本申请实施例提供的一种运动路径的曲线示意图；
图7是本申请实施例提供的一种运动路径膨胀处理后的示意图；
图8是本申请实施例提供的一种膨胀区域的轮廓示意图；
图9是本申请实施例提供的一种截取后的沿边侧的轮廓示意图；
图10是本申请实施例提供的一种脱离顺时针闭合路径的路线示意图；
图11是本申请实施例提供的一种逆时针闭合路径的膨胀区域示意图；
图12是本申请实施例提供的一种膨胀区域的外轮廓示意图；
图13是本申请实施例提供的一种外轮廓与运动路径相交示意图；
图14是本申请实施例提供的一种脱离逆时针闭合路径的路线示意图；
图15是本申请实施例提供的一种机器人的路径规划装置的示意图；
图16是本申请实施例提供的一种机器人的示意图。
本发明的实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。
为了说明本申请所述的技术方案，下面通过具体实施例来进行说明。
在机器人执行任务的过程中，任务场景中可能会存在构成狭窄的通道的障碍物。机器人有一定概率会通过该通道，也有一定概率未通过该通道，从而导致机器人可能会一直处于转圈的状态。
如图1所示，在位置②处存在较窄的通道，该通道的宽度略大于机器人(可以为扫地机器人等)的宽度。在机器人从位置①运动至位置②时，机器人有一定概率通过该通道，也有一定几率未能通过该通道。如果机器人未能通过该通道，则会向位置③运动，沿着障碍物运动至位置⑤，从另外一个方向到达窄通道的位置②处，然后重新运动至位置③、④、⑤处。如果机器人此时能够正常通过该通道，则会造成扫地机一直按照顺时针方向，沿着障碍物转圈，导致机器人无法运动至其它位置。
在可能的实施场景中，该障碍物可能为动态障碍物。比如位置②并不是窄通道，而是一个动态障碍物，当机器人运动到位置⑤时，动态障碍物使得位置②处的通道变宽，使向机器人一直按照顺时针方向绕着障碍物转圈。
对于图1所示的异常闭合的情形，机器人的期望路径为：机器人不需要通过较窄的通道，按照图2所示的路径，由位置⑤移动依次至位置⑥、位置⑦和位置⑧，从而跳出机器人绕障碍物转圈的闭合路径。
如图3所示，在机器人从位置①运动至位置②时，机器人有一定概率通过该通道到达位置③处，再先后到达位置④和⑤，最后到达位置⑥。如果机器人未能通过较窄的通道区域，则会导致机器人按照逆时针做重复运动，从而导致机器人未能效的完成预定任务，陷入无效率的循环之中。
对于图3所示的异常闭合情形，在理想情况下，如图4所示，机器人的期望路径为： 在机器人运动至位置⑥时，机器人穿过通道，先后运动至位置⑦和位置⑧。
基于目前存在的异常闭合的情形以及所期望的运动路径，本申请实施例提出了一种机器人的路径规划方法，如图5所示，该方法包括：
在S501中，获取机器人的运动轨迹。
本申请实施例中的机器人，包括扫地机器人等需要沿边运动的机器人。
在机器人运动过程中，可以实时采集机器人的运动轨迹，以便于机器人当前的位姿与之前的运动轨迹进行比较，确定机器人是否进入到闭合路径，或者即将进入闭合路径。
在S502中，根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型。
在确定机器人的移动路径是否满足闭合路径的条件时，可以根据不同的闭合路径的类型，采用不同的检测方式。
比如，对于图2所示的顺时针方向的闭合路径，即机器人沿着顺时针方向运动的闭合路径，可以将机器人的当前位姿与运动轨迹中的位姿进行比较，确定是否与历史的运动轨迹中的位姿匹配。如果当前位姿与历史的运动轨迹中的位姿匹配，则可以确定机器人当前的运动路径为闭合路径。
根据图2所示的期望路径可知，在理想情况下，机器人期望路径为不需要通过该通道。而通过位姿匹配的方式，则需要机器人进入到通道中，且在检测到闭合路径后，控制机器人退出该通道，这种检测方式不利于提高机器人的路径规划效率。
为了提升机器人的路径规划效率，本申请实施例中对顺时针方向的闭合路径的检测方式，采用估计的方式来确定机器人是否即将进入闭合路径。
可以检测机器人的路径是否为沿边运动的路径，即检测机器人是否为沿边运动(沿墙壁或障碍物运动)。如果机器人为沿边运动，则获取沿边运动过程中的运动轨迹，基于沿边运动过程中的运动轨迹对应的运动路径进行膨胀处理，对膨胀处理后的轮廓进行截取，获得位于沿边侧的膨胀轮廓，即靠近障碍物侧的膨胀轮廓。当机器人的当前位置与沿边侧的膨胀轮廓重合时，则表示机器人即将进入闭合路径，可以及时的规划机器人脱离闭合路径的路线。
对机器人的运动轨迹进行沿边检测，确定机器人在移动过程中的沿边运动轨迹，即检测到机器人为沿着障碍物运动时，机器人的运动轨迹为沿边运动轨迹，根据沿边运动轨迹即可得到沿边的运动路径。如图6所示，通过沿边检测得到的运动路径的曲线。
为了能够及时的估计到机器人即将进入闭合路径，可以对沿边的运动路径进行膨胀处理，得到沿边的运动路径对应的膨胀区域。如图7所示，通过对运动路径进行膨胀处理， 得到运动路径对应的膨胀区域。其中，膨胀处理时，膨胀的半径可以根据障碍物的尺寸和机器人的半径来确定。比如，膨胀的半径可以小于机器人的半径与障碍物的宽度的和值。通过设定膨胀半径的大小，使得机器人在沿着障碍物移动的过程中，降低误检测的几率。
比如，可以在机器人的运动过程中，检测障碍物的宽度，获得障碍物的宽度与机器人的半径的和值。使得和值与膨胀半径的差值大于0且小于第一阈值，从而使得机器人在经过如图1所示的通道位置⑤处时，只需要向进入通道即可及时的检测到机器人即将进入闭合路径。
通过膨胀处理后，可以得到如图8所示的膨胀轮廓。为了能够准确的检测到机器人是否即将进入闭合路径，需要对膨胀轮廓进行截取，获得膨胀轮廓中的沿边侧的膨胀轮廓，即靠近障碍物侧的轮廓。如图9所示为截取后的沿边侧的膨胀轮廓的示意图。通过截取沿边侧的轮廓进行估计，可以有效的降低误检测的几率。
基于截取后的沿边侧的膨胀轮廓进行闭合路径的估计时，如图10所示，当机器人从位置⑤移动至通道内的位置⑥时，此时位置⑥与沿边侧的膨胀轮廓重合，或者说机器人的运动路径与沿边侧的膨胀轮廓重合，可以确定机器人即将进入闭合路径。通过沿边侧的膨胀轮廓进行检测，可以在完全形成闭合路径之前生成估计结果，且确定该闭合路径为顺时针方向的闭合路径，从而能够有效的减少机器人退出通道的路径规划，有利于提升机器人的路径规划的有效性。
通过沿边的膨胀轮廓可以有效的估计机器人即将进入顺时针方向的闭合路径。与此同时，机器人还可以进行逆时针方向的闭合路径的检测。当机器人未检测到顺时针方向的闭合路径，且检测到机器人的当前位姿与运动轨迹中的位姿匹配时，则可以确定机器人处于逆时针方向的闭合路径中。
在S503中，根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
当检测到机器人处于顺时针方向的闭合路径中时，可以控制机器人旋转预定的角度，使机器人的朝向与运动至重合点的朝向不同来生成退出路径。该退出路径的方向可以与之前的朝向相反，使得机器人可以脱离通道和障碍物。如图10所示，可以控制机器人按照逆时针方向旋转至大于90度且小于180度的角度，机器人按照旋转后的角度运动后，与墙体发生碰撞，然后沿墙体运动至位置⑦和位置⑧。
当检测到机器人处于逆时针方向的闭合路径中时，即机器人在闭合路径中沿着逆时针方向运动时，可以通过膨胀轮廓来确定机器人的运动方向和运动路径。
如图11所示，在检测到机器人处于逆时针方向的闭合路径时，可以对闭合路径作膨 胀处理，得到如图11所示的膨胀区域。通过膨胀处理后的膨胀区域，通常可以如图12所示，包括内轮廓和外轮廓，或者在可能的情形中，也可能仅包括外轮廓。对于逆时针方向的闭合路径，膨胀的半径可以大于机器人的半径与障碍物的宽度的和值，即使得膨胀后的外轮廓处于障碍物外部，机器人可以沿着该外轮廓作沿障碍物的沿边运动。
可以检测机器人的运动轨迹对应的运动路径与膨胀区域的外轮廓的交点，在检测到机器人处于闭合路径的闭合点时，则可以控制机器人由闭合点向交点移动，从而使得机器人脱离闭合路径重复绕圈的路径，从通道中脱离开闭合路径。
如图13所示，机器人在闭合点A处时，检测到运动路径与外轮廓的交点为B，则可以生成由A向B的退出路径，使得机器人脱离闭合路径。在机器人移动至位置B时，还可以进一步根据预先确定的膨胀区域的外轮廓来控制机器人的运动。比如，可以根据沿障碍物靠右运动的方向，沿膨胀区域的外轮廓运动。
如图14所示，根据逆时针的闭合区域的退出路径规划方法，当机器人处于位置⑦时，检测到机器人处于逆时针的闭合路径。根据机器人的运动路径和膨胀区域的外轮廓的交点，即位置⑧，可以生成由位置⑦运动至位置⑧的退出路径。当机器人运动至位置⑧后，可以沿有膨胀区域的外轮廓，按照靠右运动的控制策略，控制机器人移动至位置⑨，并可继续按照膨胀区域的外轮廓运动，或者沿着障碍物继续运动。
应理解，上述实施例中各步骤的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
图15为本申请实施例提供的一种机器人的路径规划装置的示意图。如图15所示，该装置包括：
运动轨迹获取单元1501，用于获取机器人的运动轨迹；
闭合估计单元1502，用于根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型；
退出单元1503，用于根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
在可能的实现方式中，闭合估计单元包括：
运动路径获取子单元，用于获取沿边的运动轨迹对应的运动路径；
膨胀轮廓确定子单元，用于根据所述运动路径确定所述机器人沿边侧的膨胀轮廓；
顺时针闭合路径确定子单元，用于在所述机器人的移动路径与所述沿边侧的膨胀轮廓相交时，确定所述机器人的移动路径为顺时针的闭合路径。
在可能的实现方式中，膨胀轮廓确定子单元包括：
膨胀模块，用于对所述运动路径进行膨胀处理，得到所述运动路径对应的膨胀区域；
轮廓确定模块，用于确定所述膨胀区域的轮廓；
轮廓截取模块，用于截取所述膨胀区域中的沿边侧的轮廓，得到所述沿边侧的膨胀轮廓。
在可能的实现方式中，退出单元用于根据所述顺时针的闭合路径，控制所述机器人旋转预定角度，使所述机器人反向退出所述闭合路径。
在可能的实现方式中，闭合估计单元包括：
位姿比较子单元，用于将所述机器人的当前位姿与所述运动轨迹中的位姿进行比较；
逆时针闭合路径确定子单元，用于在所述机器人的当位姿与所述运动轨迹中的位姿匹配时，确定所述人的移动路径为逆时针的闭合路径。
在可能的实现方式中，退出单元包括：
膨胀子单元，用于对所述闭合路径进行膨胀处理，得到所述闭合路径对应的膨胀区域；
交点确定子单元，用于确定所述机器人的沿边路径与所述膨胀区域的外轮廓的交点；
退出子单元，用于根据所述交点确定所述退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
在可能的实现方式中，退出子单元包括：
退出路径确定模块，用于当所述机器人移动至所述闭合路径的闭合点时，确定所述机器人由所述闭合点向所述交点移动的退出路径；
沿轮廓运动模块，用于当所述机器人根据所述退出路径移动至所述交点时，控制所述机器人沿所述膨胀区域的外轮廓运动。
图15所示的机器人的路径规划装置，与图5所示的机器人的路径规划方法对应。
图16是本申请实施例提供的机器人的示意图。如图16所示，该实施例的机器人16包括：处理器160、存储器161以及存储在所述存储器161中并可在所述处理器160上运行的计算机程序162，例如机器人的路径规划程序。所述处理器160执行所述计算机程序162时实现上述各个机器人的路径规划方法实施例中的步骤。或者，所述处理器160执行所述计算机程序162时实现上述各装置实施例中各模块/单元的功能。
示例性的，所述计算机程序162可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器161中，并由所述处理器160执行，以完成本申请。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序162在所述机器人16中的执行过程。
所述机器人可包括，但不仅限于，处理器160、存储器161。本领域技术人员可以理 解，图16仅仅是机器人16的示例，并不构成对机器人16的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述机器人还可以包括输入输出设备、网络接入设备、总线等。
所称处理器160可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
所述存储器161可以是所述机器人16的内部存储单元，例如机器人16的硬盘或内存。所述存储器161也可以是所述机器人16的外部存储设备，例如所述机器人16上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器161还可以既包括所述机器人16的内部存储单元也包括外部存储设备。所述存储器161用于存储所述计算机程序以及所述机器人所需的其他程序和数据。所述存储器161还可以用于暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置/终端设备和方法，可以通过其它的方式实现。例如，以上所描述的装置/终端设备实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，装置或单元的间接耦合或通讯连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括是电载波信号和电信信号。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种机器人的路径规划方法，其特征在于，所述方法包括：
    获取机器人的运动轨迹；
    根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型；
    根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
  2. 根据权利要求1所述的方法，其特征在于，根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型，包括：
    获取沿边的运动轨迹对应的运动路径；
    根据所述运动路径确定所述机器人沿边侧的膨胀轮廓；
    在所述机器人的移动路径与所述沿边侧的膨胀轮廓相交时，确定所述机器人的移动路径为顺时针的闭合路径。
  3. 根据权利要求2所述的方法，其特征在于，根据所述运动路径确定所述机器人沿边侧的膨胀轮廓，包括：
    对所述运动路径进行膨胀处理，得到所述运动路径对应的膨胀区域；
    确定所述膨胀区域的轮廓；
    截取所述膨胀区域中的沿边侧的轮廓，得到所述沿边侧的膨胀轮廓。
  4. 根据权利要求2所述的方法，其特征在于，根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径，包括：
    根据所述顺时针的闭合路径，控制所述机器人旋转预定角度，使所述机器人反向退出所述闭合路径。
  5. 根据权利要求1所述的方法，其特征在于，根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型，包括：
    将所述机器人的当前位姿与所述运动轨迹中的位姿进行比较；
    在所述机器人的当位姿与所述运动轨迹中的位姿匹配时，确定所述人的移动路径为逆时针的闭合路径。
  6. 根据权利要求5所述的方法，其特征在于，根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径，包括：
    对所述闭合路径进行膨胀处理，得到所述闭合路径对应的膨胀区域；
    确定所述机器人的沿边路径与所述膨胀区域的外轮廓的交点；
    根据所述交点确定所述退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
  7. 根据权利要求6所述的方法，其特征在于，根据所述交点确定所述退出路径，根据所述退出路径控制所述机器人退出所述闭合路径，包括：
    当所述机器人移动至所述闭合路径的闭合点时，确定所述机器人由所述闭合点向所述交点移动的退出路径；
    当所述机器人根据所述退出路径移动至所述交点时，控制所述机器人沿所述膨胀区域的外轮廓运动。
  8. 一种机器人的路径规划装置，其特征在于，所述装置包括：
    运动轨迹获取单元，用于获取机器人的运动轨迹；
    闭合估计单元，用于根据所述运动轨迹估计所述机器人的移动路径满足预设的闭合路径条件，并确定所述闭合路径的类型；
    退出单元，用于根据所述闭合路径的类型确定所述机器人的退出路径，根据所述退出路径控制所述机器人退出所述闭合路径。
  9. 一种机器人，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至7任一项所述方法的步骤。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至7任一项所述方法的步骤。
PCT/CN2023/141829 2023-11-16 2023-12-26 机器人及其路径规划方法、装置及存储介质 Pending WO2025102494A1 (zh)

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