A path planning method, device, robot and storage medium

Abstract

The present invention discloses a path planning method, device, robot and storage medium. The method comprises: if an object to be avoided is detected, obtaining first temporary virtual wall data; and planning a target moving path according to the first temporary virtual wall data and the object to be avoided. By running the technical solution provided by the embodiment of the present invention, the problem that the robot needs to keep a specific safety distance from the fixed virtual wall when moving close to the virtual wall, which may cause the robot to be unable to pass through some actually passable sections, can be solved, thereby achieving the beneficial effect of improving the success rate and efficiency of the robot's movement.

Description

Technical Field

[0001] The present invention relates to robot technology, and in particular to a path planning method, device, robot and storage medium. Background Art

[0002] With the popularization of intelligent robots, they are being used more and more widely in service and other industries, which not only reduces labor costs but also improves work efficiency.

[0003] For stability reasons, the robot is usually strictly constrained by the preset virtual wall during autonomous movement. That is, when moving close to the virtual wall, it needs to always maintain a specific safety distance from the fixed virtual wall, which may cause the robot to be unable to pass through some actual passable sections, reducing the success rate and efficiency of movement. Summary of the invention

[0004] The present invention provides a path planning method, device, robot and storage medium to improve the movement success rate and movement efficiency of the robot.

[0005] According to one aspect of the present invention, a path planning method is provided, characterized by comprising:

[0006] If the object to be avoided is detected, obtaining first temporary virtual wall data;

[0007] A target moving path is planned according to the first temporary virtual wall data and the object to be avoided.

[0008] According to another aspect of the present invention, a path planning device is provided, characterized in that it includes:

[0009] A data acquisition module, configured to acquire first temporary virtual wall data if an object to be avoided is detected;

[0010] The first path planning module is used to plan a target moving path according to the first temporary virtual wall data and the object to be avoided.

[0011] According to another aspect of the present invention, there is provided a robot, the robot comprising:

[0012] at least one processor; and

[0013] a memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the path planning method described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the path planning method described in any embodiment of the present invention when executed.

[0016] The technical solution of the embodiment of the present invention, by acquiring first temporary virtual wall data if an object to be avoided is detected; and planning a target moving path according to the first temporary virtual wall data and the object to be avoided, solves the problem that when the robot moves close to the virtual wall, it needs to keep a certain safe distance from the virtual wall, which may cause the robot to be unable to pass through some actually passable sections, and achieves the beneficial effect of improving the success rate and efficiency of the robot's movement.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A flow chart of a path planning method provided in Embodiment 1 of the present invention;

[0019] Figure 2 A schematic diagram of a target moving path provided in Embodiment 1 of the present invention;

[0020] Figure 3 A flow chart of a path planning method provided in Embodiment 2 of the present invention;

[0021] FIG4( a) is a schematic diagram of a target moving path provided in Embodiment 2 of the present invention;

[0022] FIG4( b) is a schematic diagram of a target moving path provided in Embodiment 2 of the present invention;

[0023] Figure 5 A schematic diagram of the structure of a path planning device provided in Embodiment 3 of the present invention;

[0024] Figure 6 Schematic diagram of the structure of a robot used to implement an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 This is a flow chart of a path planning method provided in the first embodiment of the present invention. This embodiment is applicable to the case of planning the movement path of a robot. The method can be executed by the path planning device provided in the embodiment of the present invention. The device can be implemented by software and / or hardware. The device can be concentrated inside the robot. The robot can be used in scenes such as hotels, restaurants, hospitals, and airports to perform tasks such as item delivery, item recycling, disinfection, and cleaning. Figure 1 , the path planning method provided in this embodiment includes:

[0029] S110: If an object to be avoided is detected, first temporary virtual wall data is obtained.

[0030] The object to be avoided may be an obstacle that temporarily exists in the path on which the robot can originally move and needs to be avoided, such as a person staying in the path.

[0031] The first temporary virtual wall can be a temporarily determined virtual wall. For example, it can be a device such as a robot's radar or binocular stereo vision component that detects the internal and external data of the historical virtual wall, obtains the boundary features of the real boundary that affects the robot's passage, such as the solid wall and fixed obstacles outside the historical virtual wall, obtains the real boundary position according to the boundary features, and determines the position of the first temporary virtual wall according to the real boundary position, wherein the position of the first temporary virtual wall can be between the historical virtual wall and the real boundary, which is not limited in this embodiment. The historical virtual wall data can be determined when the robot builds a map. The first temporary virtual wall can also be a historical virtual wall after adjusting parameters according to real-time detection data, such as a historical virtual wall whose position remains unchanged and whose safety area coefficient is reduced to increase the actual passable area of ​​the robot.

[0032] The first temporary virtual wall data is data related to the first temporary virtual wall, for example, specific location data of the first temporary virtual wall.

[0033] In this embodiment, optionally, the first temporary virtual wall data is obtained only when an object to be avoided is detected and it is impossible to pass directly. That is, if an object to be avoided is detected, but it can be bypassed by pulling over or the like based on the historical virtual wall data, then it is bypassed. If it is impossible to bypass the object to be avoided by pulling over or the like based on the historical virtual wall data, then the first temporary virtual wall data is obtained, and an attempt is made to avoid the object to be avoided by temporarily reconstructing the virtual wall, taking into account both efficiency and passage success rate.

[0034] In this embodiment, optionally, the first temporary virtual wall data includes a first temporary virtual wall position and a first temporary virtual wall safety area coefficient, and obtaining the first temporary virtual wall data includes:

[0035] Obtaining a first temporary virtual wall position according to radar data fitting;

[0036] The first temporary virtual wall safety area coefficient is determined according to the historical virtual wall data corresponding to the first temporary virtual wall position.

[0037] The first temporary virtual wall position is a specific position of the first temporary virtual wall, such as a coordinate position, etc., which is not limited in this embodiment. The first temporary virtual wall safety area coefficient is used to determine the safe movement area of ​​the first temporary virtual wall, that is, to determine the distance that the robot needs to maintain from the first temporary virtual wall when moving.

[0038] Among them, the robot may be provided with a laser radar, and the radar data may be radar data of the inside and outside of the historical virtual wall, which may be obtained in real time during the operation of the radar. When an object to be avoided is detected, the position of a real boundary such as a physical wall may be obtained by fitting and calculating based on the acquired radar data, and the position of the first temporary virtual wall may be determined by translating a preset distance into the wall based on the real boundary position; the position of the real boundary and the position of the object to be avoided may also be obtained by fitting and calculating based on the radar data, and the position of the first temporary virtual wall located between the real boundary position and the position of the object to be avoided may be determined, and this embodiment does not limit this.

[0039] Among them, the historical virtual wall is a predetermined virtual wall, such as a virtual wall set during the robot's mapping process; the historical virtual wall corresponding to the position of the first temporary virtual wall is a historical virtual wall in the same direction as the first temporary virtual wall, whose virtual wall function is temporarily suspended due to obstacle avoidance.

[0040] The historical virtual wall data may include the virtual wall safety area coefficient of the historical virtual wall. The first temporary virtual wall safety area coefficient is determined according to the historical virtual wall data. The value range of the first temporary virtual wall safety area coefficient can be determined according to the historical virtual wall data. For example, the first temporary virtual wall safety area coefficient is equal to the virtual wall safety area coefficient of the historical virtual wall. Since the first temporary virtual wall is closer to the real boundary such as the physical wall than the historical virtual wall, the actual movable range of the robot is expanded. For example, the robot's safety distance can be set to 10cm, the virtual wall safety area coefficient of the historical virtual wall can be 1, and the first temporary virtual wall safety area coefficient can also be 1. At this time, during the operation of the robot, when the distance from the first temporary virtual wall is less than or equal to 10cm, obstacle avoidance will be triggered. The first temporary virtual wall safety area coefficient can also be less than the virtual wall safety area coefficient of the historical virtual wall. For example, the former can be 0.75 times of the latter, so as to increase the passable area and improve the success rate of passage.

[0041] The position of the first temporary virtual wall is determined in real time according to the actually measured radar data, so that the position of the first temporary virtual wall is suitable for the current mobile scene, and the effectiveness of determining the position of the first temporary virtual wall is improved. The safety area coefficient of the temporary virtual wall is determined based on the existing historical virtual wall data, avoiding temporary recalculation of the safety area coefficient, and improving the accuracy and efficiency of determining the first temporary virtual wall data.

[0042] S120. Planning a target moving path according to the first temporary virtual wall data and the object to be avoided.

[0043] The candidate movable range of the robot is determined according to the first temporary virtual wall data, and the range to be avoided is determined according to the object to be avoided, so as to remove the avoidance range from the candidate movable range to determine the target movable range, so that the robot plans the target moving path within the target movable range; the planning method can be to determine the middle path of the target movable range as the target moving path, which is not limited in this embodiment. Figure 2 A schematic diagram of a target moving path provided in the first embodiment of the present invention is shown in FIG. Figure 2 As shown, when the robot detects the object to be avoided 23, it determines the first temporary virtual wall 22 outside the historical virtual wall 21, and plans the target moving path according to the first temporary virtual wall data and the object to be avoided 23, so that the robot moves according to the target moving path to avoid the object to be avoided 23.

[0044] Among them, after the robot moves according to the target moving path to avoid the object to be avoided, a temporary moving path can be planned according to the current position of the robot and the task target position. The current position can be located between the historical virtual wall and the first temporary virtual wall, that is, when there is no obstacle between the current position and the task target position, it can move directly from the current position to the task target position without returning to the historical planned path, thereby improving the movement efficiency of the robot.

[0045] In this embodiment, optionally, planning a target moving path according to the first temporary virtual wall data and the object to be avoided includes:

[0046] Determine an offset position and a return position relative to a historical planned path according to the first temporary virtual wall data and the object to be avoided;

[0047] The target moving path is planned according to the historical planned path, the offset position and the return position.

[0048] The historical planning path is the moving path planned in history, and the historical planning path does not contain the path to avoid the object to be avoided. For example, the historical planning path can be the path planned by the robot according to the task destination and its initial position after receiving the task. When planning, the default path can be directly passed without the object to be avoided.

[0049] The offset position relative to the historical planned path is the position offset from the historical planned path to change the historical moving path, and the return position is the position returned to the historical planned path after changing the historical moving path. The offset position and the return position can both be located in the historical planned path, and this embodiment does not limit this.

[0050] According to the first temporary virtual wall data and the object to be avoided, the offset position and the regression position relative to the historical planned path are determined. The determination method can be: determining the position relative to the historical planned path when avoiding the object to be avoided according to the first temporary virtual wall data and the object to be avoided, and determining the position as the offset position; determining the position relative to the historical planned path when avoiding the object to be avoided according to the first temporary virtual wall data and the object to be avoided, and determining the position as the regression position.

[0051] According to the offset position, the historical planned path is left, and the current planned path is moved. According to the return position, the historical planned path is returned from the current planned moving path, so as to determine the overall target moving path.

[0052] When an object to be avoided is detected and the robot moves close to the historical virtual wall, obstacle avoidance waiting is not triggered, but the historical planned path is switched to other routes to pass the object to be avoided, thereby improving the robot's movement success rate and movement efficiency. In addition, the currently planned movement path is returned to the historical planned path, avoiding the need to re-plan the path to the mission target location, saving computing power and computing time.

[0053] In this embodiment, optionally, after planning a target moving path according to the first temporary virtual wall data and the object to be avoided, the method further includes:

[0054] storing the target moving path as an alternative moving path;

[0055] It is determined whether the object to be avoided is detected repeatedly, and if so, the current moving path is switched from the historical planned path to the alternative moving path.

[0056] The planned target moving path is stored as an alternative moving path. When the object to be avoided is detected again at the same or similar position, there is no need to wait for the target moving path to be planned again. The alternative moving path is directly called, and the historical planned path is switched to the alternative moving path to improve the robot's movement efficiency. Optionally, the identification data of the detected object to be avoided can be stored in correspondence with the road section where it is located and the alternative moving path, which is convenient for subsequent calls and improves efficiency. Among them, the identification data of the object to be avoided can be point cloud data, image data, etc.

[0057] The technical solution provided in this embodiment is to obtain the first temporary virtual wall data if an object to be avoided is detected; plan the target moving path according to the first temporary virtual wall data and the object to be avoided, so that the robot moves according to the target moving path to avoid the object to be avoided. This solves the problem in the prior art that due to the existence of a preset virtual wall, the robot needs to keep a certain safe distance from the virtual wall when moving close to the virtual wall. However, due to the fact that the preset virtual wall is manually set and there may be a gap with the actual scene, if the robot moves according to the preset virtual wall when encountering an object to be avoided, it may cause the robot to still trigger obstacle avoidance waiting when it is at a passable distance from a real boundary such as a physical wall, thereby reducing the movement efficiency. The robot is allowed to pass through the object to be avoided based on the optimized virtual wall data while avoiding touching the real boundary, thereby improving the robot's movement success rate and movement efficiency.

[0058] Embodiment 2

[0059] Figure 3This is a flow chart of a path planning method provided in the second embodiment of the present invention. This technical solution is to supplement the process of path planning. Compared with the above solution, this solution is specifically optimized to further include: collecting detection data of objects existing within a preset range of the historical virtual wall, and determining whether the object is a target obstacle based on the detection data;

[0060] If yes, the second temporary virtual wall data is determined according to the target obstacle. Specifically, the flow chart of the path planning method is as follows: Figure 3 As shown:

[0061] S310: Collect detection data of an object existing within a preset range of the historical virtual wall, and determine whether the object is a target obstacle based on the detection data.

[0062] The preset range of the historical virtual wall may be a preset distance range inside the historical virtual wall. The detection data of the object may be size data of the object, location data of the object, existence time data of the object, etc. The detection data may be collected by a robot passing through the location, or by a collection device set at a fixed location, which is not limited in this embodiment.

[0063] Determining whether an object is a target obstacle based on the detection data may be determining that the object is a target obstacle when the existence time of the object exceeds a preset range and the size of the object exceeds a preset size.

[0064] S320: If yes, determine second temporary virtual wall data according to the target obstacle.

[0065] The second temporary virtual wall is a temporarily determined virtual wall, and the position of the second temporary virtual wall may be located on the road side of the target obstacle, which is not limited in this embodiment.

[0066] The second temporary virtual wall data may include the second temporary virtual wall position and the second temporary virtual wall safety zone coefficient. The data of the target obstacle may be detected by a device such as a radar or a binocular stereo vision component of the robot, the boundary features of the target obstacle may be obtained, the edge position of the target obstacle may be determined according to the boundary features, and the position of the second temporary virtual wall may be determined according to the edge position, for example, by translating the preset distance from the edge position into the road, which is not limited in this embodiment.

[0067] The value range of the second temporary virtual wall safety zone coefficient can be determined based on the historical virtual wall data. For example, the second temporary virtual wall safety zone coefficient is smaller than the virtual wall safety zone coefficient of the historical virtual wall, that is, it moves closer to the target obstacle than to the historical virtual wall.

[0068] In this embodiment, optionally, after determining the second temporary virtual wall data according to the target obstacle, the method further includes:

[0069] According to the second temporary virtual wall data and the target passable range, the target moving path is planned; wherein the target passable range is determined according to the preset passable range and the target obstacle. After planning the target moving path, the method may further include: storing the target moving path as an alternative moving path; determining whether the target obstacle is repeatedly detected, and if so, switching the current moving path from the historical planned path to the alternative moving path.

[0070] The target traversable range may be the traversable portion remaining after removing the target obstacle from the preset traversable range, wherein the preset traversable range is a preset traversable range without obstacles.

[0071] The target moving path is planned in the target passable range according to the second temporary virtual wall data. When the robot can move away from the second temporary virtual wall according to the second temporary virtual wall safety area coefficient in the target passable range, the target moving path can be directly planned.

[0072] When the robot cannot move away from the second temporary virtual wall according to the second temporary virtual wall safety area coefficient within the target passable range, and the robot's moving direction is on the other side of the target obstacle except for the historical virtual wall, it can temporarily move from the historical virtual wall according to the aforementioned method of planning the target movement path according to the first temporary virtual wall data.

[0073] FIG4(a) is a schematic diagram of a target moving path provided by the second embodiment of the present invention. As shown in FIG4(a), when determining the target obstacle 43, the second temporary virtual wall 42 in the historical virtual wall 41, the robot's second temporary virtual wall data and the target passable range are determined, and the target moving path is planned so that the robot moves according to the target moving path and avoids the target obstacle 43. Among them, the target passable range is determined according to the preset passable range and the target obstacle, and the preset passable range can be determined according to the upper historical virtual wall 41 and the lower historical virtual wall 44. When there is a sufficient distance between the second temporary virtual wall 42 and the lower historical virtual wall 44, the target moving path 1 can be planned.

[0074] Figure 4(b) is a schematic diagram of a target movement path provided by Embodiment 2 of the present invention. As shown in Figure 4(b), when there is not enough distance for movement between the second temporary virtual wall 42 and the lower historical virtual wall 44, and there is movement space outside the lower historical virtual wall 44, target movement path 2 can be planned.

[0075] The target path is planned based on the second temporary virtual wall data and the target traversable range, avoiding the problem that the robot needs to perform pathfinding operations every time it encounters a target obstacle and cannot pass through, which causes the robot to continuously move in small increments around the target obstacle and reduces the movement efficiency. The robot can go straight through the target obstacle along the target path to improve the movement efficiency of the robot.

[0076] The embodiment of the present invention determines the second temporary virtual wall data when there is a target obstacle, and subsequently directly plans the target moving path according to the second temporary virtual wall data, thereby improving the efficiency of the target moving path planning. This avoids the problem that the robot needs to perform a pathfinding operation every time it encounters a target obstacle and cannot pass through, causing the robot to continuously detect a movable path around the target obstacle, thereby reducing the efficiency of path planning.

[0077] Embodiment 3

[0078] Figure 5 This is a schematic diagram of the structure of a path planning device provided in the third embodiment of the present invention. The device can be implemented by hardware and / or software, can execute a path planning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 5 As shown, the device comprises:

[0079] The data acquisition module 510 is used to acquire first temporary virtual wall data if an object to be avoided is detected;

[0080] The first path planning module 520 is used to plan a target moving path according to the first temporary virtual wall data and the object to be avoided.

[0081] On the basis of the above technical solutions, optionally, the first temporary virtual wall data includes the first temporary virtual wall position and the first temporary virtual wall safety area coefficient, and the data acquisition module includes:

[0082] A radar data fitting unit, used for fitting the radar data to obtain a first temporary virtual wall position;

[0083] A coefficient determination unit is used to determine the first temporary virtual wall safety area coefficient according to the historical virtual wall data corresponding to the first temporary virtual wall position.

[0084] Based on the above technical solutions, optionally, the first path planning module includes:

[0085] The position determination unit is used to determine the offset position and the return position relative to the historical planned path according to the first temporary virtual wall data and the object to be avoided;

[0086] A path planning unit is used to plan the target moving path according to the historical planning path, the offset position and the return position.

[0087] On the basis of the above technical solutions, optionally, the device further includes:

[0088] A path storage module, used after the first path planning module, to store the target moving path as an alternative moving path;

[0089] The path switching module is used to determine whether the object to be avoided is detected repeatedly, and if so, switch the current moving path from the historical planned path to the alternative moving path.

[0090] On the basis of the above technical solutions, optionally, the device further includes:

[0091] A target obstacle determination module, used to collect detection data of objects existing within a preset range of the historical virtual wall, and determine whether the object is a target obstacle based on the detection data;

[0092] A data determination module is used to determine second temporary virtual wall data according to the target obstacle if the target obstacle determination module determines that it is yes.

[0093] On the basis of the above technical solutions, optionally, the device further includes:

[0094] The second path planning module is used after the data determination module to plan the target moving path according to the second temporary virtual wall data and the target passable range; wherein the target passable range is determined according to the preset passable range and the target obstacle.

[0095] Embodiment 4

[0096] Figure 6 A schematic diagram of a robot 10 that can be used to implement an embodiment of the present invention is shown. The robot is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The robot can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0097] like Figure 6As shown, the robot 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the robot 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0098] A number of components in the robot 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the robot 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0099] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a path planning method.

[0100] In some embodiments, the path planning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the robot 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method XXX described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the path planning method in any other suitable manner (e.g., by means of firmware).

[0101] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0102] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0103] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0104] To provide interaction with a user, the systems and techniques described herein can be implemented on a robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the robot. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0105] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0106] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0107] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0108] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A path planning method, characterized in that: include: If an object to be avoided is detected and it is impossible to pass directly, the first temporary virtual wall data is obtained; wherein the first temporary virtual wall data includes the first temporary virtual wall position and the first temporary virtual wall safety area coefficient, and the first temporary virtual wall data is obtained, including: The first temporary virtual wall position is obtained by fitting the radar data; wherein the first temporary virtual wall position is obtained by fitting the radar data, including: obtaining boundary features of the real boundary outside the historical virtual wall, and determining the first temporary virtual wall position according to the boundary features; Determining the first temporary virtual wall safety zone coefficient according to the historical virtual wall data corresponding to the first temporary virtual wall position; wherein the historical virtual wall data includes the virtual wall safety zone coefficient of the historical virtual wall; and the first temporary virtual wall safety zone coefficient is less than the virtual wall safety zone coefficient of the historical virtual wall; Planning a target moving path according to the first temporary virtual wall data and the object to be avoided; storing the target moving path as an alternative moving path; It is determined whether the object to be avoided is detected repeatedly, and if so, the current moving path is switched from the historical planned path to the alternative moving path.

2. The method according to claim 1, characterized in that: The first temporary virtual wall position is located between the historical virtual wall and the real boundary.

3. The method according to claim 1, characterized in that The step of obtaining boundary features of the real boundary outside the historical virtual wall and determining the position of the first temporary virtual wall according to the boundary features includes: The radar data is obtained by fitting and calculating to obtain the position of the real boundary and the position of the object to be avoided, and the position of the first temporary virtual wall located between the real boundary position and the position of the object to be avoided is determined.

4. The method according to claim 1, characterized in that After planning the target moving path according to the first temporary virtual wall data and the object to be avoided, the method further includes: After the robot moves according to the target moving path to avoid the object to be avoided, a temporary moving path is planned according to the current position of the robot and the task target position; wherein the current position is located between the historical virtual wall and the first temporary virtual wall.

5. The method according to claim 1, characterized in that Planning a target moving path according to the first temporary virtual wall data and the object to be avoided includes: Determine an offset position and a return position relative to a historical planned path according to the first temporary virtual wall data and the object to be avoided; The target moving path is planned according to the historical planned path, the offset position and the return position.

6. The method according to any one of claims 1 to 5, characterized in that Also includes: Collecting detection data of an object existing within a preset range of the historical virtual wall, and determining whether the object is a target obstacle according to the detection data; If so, second temporary virtual wall data is determined according to the target obstacle.

7. The method according to claim 6, characterized in that After determining the second temporary virtual wall data according to the target obstacle, the method further includes: The target moving path is planned according to the second temporary virtual wall data and the target passable range; wherein the target passable range is determined according to a preset passable range and the target obstacle.

8. A path planning device, characterized in that: include: A data acquisition module is used to acquire first temporary virtual wall data if an object to be avoided is detected and it is impossible to pass directly; wherein the first temporary virtual wall data includes the first temporary virtual wall position and the first temporary virtual wall safety area coefficient, and the data acquisition module includes: A radar data fitting unit is used to obtain the first temporary virtual wall position according to the radar data fitting; wherein the radar fitting unit is specifically used to: obtain the boundary feature of the real boundary outside the historical virtual wall, and determine the first temporary virtual wall position according to the boundary feature; a coefficient determination unit, configured to determine the first temporary virtual wall safety zone coefficient according to the historical virtual wall data corresponding to the first temporary virtual wall position; wherein the historical virtual wall data includes the virtual wall safety zone coefficient of the historical virtual wall; and the first temporary virtual wall safety zone coefficient is smaller than the virtual wall safety zone coefficient of the historical virtual wall; A first path planning module, used for planning a target moving path according to the first temporary virtual wall data and the object to be avoided; A path storage module, used for storing the target moving path as an alternative moving path; The path switching module is used to determine whether the object to be avoided is detected repeatedly, and if so, switch the current moving path from the historical planned path to the alternative moving path.

9. A robot, characterized in that: The robot comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the path planning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the path planning method according to any one of claims 1 to 7 when executed.

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