Path planning method and device, computer equipment and storage medium
A path planning and routing technology, which is applied in the direction of motor vehicles, transportation and packaging, two-dimensional position/channel control, etc., can solve the problems that the robot cannot move forward, cannot complete the full-coverage cleaning work, and achieve the effect of ensuring safe movement
Active Publication Date: 2022-05-06
SHENZHEN PUDU TECH CO LTD
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[0004] However, for an environment with many obstacles, the existing dead zone will prevent the robot from moving forward, so that it cannot complete the full-coverage cleaning work
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[0060] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0061] With the application of robots in covered work fields such as cleaning, mowing, and minesweeping, autonomously moving robots need to plan their own movement paths based on their environment to achieve safe movement and full-coverage operations.
[0062] Usually, overlay path planning adopts bow strategy and spiral strategy. Among them, the spiral coverage strategy is to let the robot gradually expand the search range circle by circle along the boundary of the wall, and search whether there is the nearest grid to be operated around the robot, and then follow the zigz...
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The invention relates to a path planning method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring an environment image of a robot working environment, wherein the environment image comprises a working area and an obstacle area of a robot; determining a plurality of target pixel points from the operation area, and performing distance transformation processing on pixel values of the plurality of target pixel points to obtain a distance value of each target pixel point; the distance value represents the distance between the target pixel point and the obstacle area; according to the distance value of each target pixel point, determining a path point set when the robot works; the path point set represents a path circle when the robot works; and according to the operation starting point and the path point set of the robot, constructing an operation path of the robot. Thus, all the screened path points are located in the working area of the robot, when the robot moves according to the path points in the path circle, no moving dead zone exists, it is guaranteed that the robot moves safely, and full-coverage work in the working area is achieved.
Description
technical field [0001] The present application relates to the technical field of path planning, in particular to a path planning method, device, computer equipment and storage medium. Background technique [0002] With the development of artificial intelligence technology, various robots are used to replace manual operations such as cleaning, mowing, and minesweeping. [0003] In related technologies, when the robot performs covering operations, the robot may be allowed to gradually expand the search range along the boundary of the wall to search for grids to be cleaned around the robot. During the cleaning process, when the robot detects an obstacle or a wall in front of it through the sensor it carries, it will turn to avoid the obstacle or wall, and finally the robot will stop at the center of the environment after completing the cleaning work. [0004] However, for an environment with many obstacles, the existing dead zone will prevent the robot from moving forward, so ...
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IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 林世城闫瑞君
Owner SHENZHEN PUDU TECH CO LTD