Robot bow-shaped path planning method and device, electronic equipment and medium

Abstract

The invention provides a robot bow-shaped path planning method and device, electronic equipment and a medium. The method comprises the following steps: constructing a planar graph of a to-be-worked area, partitioning the planar graph by utilizing a preset partitioning algorithm to obtain a plurality of working partitions, and determining a working sequence of a robot in each working partition; determining a path parameter shaped like a Chinese character'gong 'and a path base line in a first working zone under the condition of advancing to the first working zone in the plurality of working zones according to the working sequence; controlling the robot to advance in the first working partition according to the bow-shaped path parameters and the path base line; under the condition of advancing to the next working zone of the first working zone, determining the bow-shaped path parameter and the path baseline of the first working zone as the bow-shaped path parameter and the path baseline of the next working zone; according to the path base line, the bow-shaped path parameters and the boundary information of the next working zone, determining a starting route of the next working zone; and controlling the robot to advance based on the starting route and the bow-shaped path parameters.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a robot bow path planning method, device, electronic equipment and medium. Background Art

[0002] With the development of science and technology, more and more work can be done by robots. Among them, for the control of robots, robot path planning is an important part of control, especially for moving robots, path planning is particularly important.

[0003] At present, for mowing robots, due to the complex conditions of the lawn, it is necessary to divide the large working area into smaller partitions. Usually, each time a partition is entered, a path planning is performed. However, during the working process, the mowing robot will leave mowing marks on the lawn. During the partition path planning, the mowing marks will be disordered between different areas, which will cause the lawn to have disordered mowing marks and uneven grass surface after the mowing robot finishes mowing. Summary of the invention

[0004] The present application provides a robot bow path planning method, device, electronic equipment and medium to avoid disordered mowing marks and uneven grass surface on the grass.

[0005] In a first aspect, the present application provides a robot bow path planning method, the method comprising:

[0006] Construct a plan of the area to be worked on, and use a preset partitioning algorithm to partition the plan to obtain multiple work partitions, and determine the working order of the robot in each work partition; when moving to a first work partition among the multiple work partitions according to the working order, determine the bow path parameters and the path baseline in the first work partition; control the robot to move in the first work partition according to the bow path parameters and the path baseline; when moving to the next work partition of the first work partition, determine the bow path parameters and the path baseline of the first work partition as the bow path parameters and path baseline of the next work partition; determine the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition; control the robot to move in the next work partition based on the starting route and the bow path parameters.

[0007] In a second aspect, the present application provides a robot bow path planning device, comprising:

[0008] A construction module is used to construct a plan of the area to be worked, and to partition the plan using a preset partitioning algorithm to obtain multiple work partitions, and to determine the working order of the robot in each work partition; a first determination module is used to determine the bow path parameters and the path baseline in the first work partition when the robot moves to the first work partition among the multiple work partitions according to the working order; a first control module is used to control the robot to move in the first work partition according to the bow path parameters and the path baseline; a second determination module is used to determine the bow path parameters and the path baseline of the first work partition as the bow path parameters and the path baseline of the next work partition when the robot moves to the next work partition of the first work partition; a third determination module is used to determine the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition; a second control module is used to control the robot to move in the next work partition based on the starting route and the bow path parameters.

[0009] In a third aspect, the present application provides a robot bow path planning method, the method comprising:

[0010] Path planning is performed according to the method provided in any embodiment of the present application so that the intervals between target paths in different work partitions are the same, and the target paths in target areas in adjacent work partitions are aligned in sequence; the target path is the first path in the planned bow path, and the target area is the area in adjacent work partitions where the projections overlap along the direction of the target path.

[0011] In a fourth aspect, the present application provides an electronic device, including:

[0012] One or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the robot bow path planning method provided in any embodiment of the present application.

[0013] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a robot bow path planning method as provided in any embodiment of the present application.

[0014] In an embodiment of the present application, a plan view of an area to be worked on is constructed, and the plan view is partitioned using a preset partitioning algorithm to obtain a plurality of work partitions, and a working order of the robot in each work partition is determined; when the robot moves to a first work partition among the plurality of work partitions according to the working order, the bow path parameters and the path baseline in the first work partition are determined; the robot is controlled to move in the first work partition according to the bow path parameters and the path baseline; when the robot moves to a work partition next to the first work partition, the bow path parameters and the path baseline of the first work partition are determined as the bow path parameters and the path baseline of the next work partition; the starting route of the next work partition is determined according to the path baseline, the bow path parameters and the boundary information of the next work partition; and the robot is controlled to move in the next work partition based on the starting route and the bow path parameters. Based on this, the present application can plan the bow-shaped path within the next working partition using the path baseline and path parameters when moving to the next working partition of the first working partition. Since the path baseline and path parameters are the path baseline and path parameters within the first working partition, planning based on the path baseline and path parameters can avoid confusion between the next working partition and the bow-shaped path planned in the first working partition, thereby avoiding confusion of mowing marks and uneven grass surface on the grass. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic flow chart of a robot bow path planning method provided in Example 1 of the present application;

[0016] Figure 2 A schematic diagram of the shape of the bow-shaped path provided in the first embodiment of the present application;

[0017] Figure 3 A schematic diagram of a bow path when there is an obstacle provided in the first embodiment of the present application;

[0018] Figure 4 A schematic diagram of the structure of a robot bow path planning device provided in the second embodiment of the present application;

[0019] Figure 5 A schematic diagram of the structure of an electronic device provided in Example 3 of the present application. DETAILED DESCRIPTION

[0020] The present application will be described in detail below in conjunction with the specific implementations shown in the accompanying drawings. However, these implementations do not limit the present application, and any structural, methodological, or functional changes made by a person of ordinary skill in the art based on these implementations are all included in the protection scope of the present application.

[0021] Embodiment 1

[0022] See also Figure 1 , Figure 1 The flowchart of a robot bow path planning method provided in the first embodiment of the present application is shown in FIG. This embodiment can be applied in the control process of a lawn mowing robot. Figure 1 As shown, the robot bow path planning method provided in this embodiment includes the following steps:

[0023] Step 101: construct a plan view of the area to be worked on, and use a preset partitioning algorithm to partition the plan view to obtain multiple work partitions, and determine the working order of the robot in each work partition.

[0024] In this step, the area to be worked refers to the area where the robot needs to work. When constructing a plan view of the area to be worked, the robot can be used to scan along the edge of the area to be worked to obtain a plan view of the area to be worked, or manual scanning can be used to obtain the plan view.

[0025] In addition, due to the complex conditions of the grass and limited control accuracy, the robot cannot maintain long-distance straight walking. Therefore, this step will also partition the plane map to obtain multiple working partitions. Exemplarily, the plane map can be partitioned in the form of the largest rectangular area. For example, starting from the robot's starting position, the largest rectangular area in the plane map is determined, and then based on the largest rectangular area, all rectangular areas adjacent to the largest rectangular area in the plane map except the largest rectangular area are determined, and then the rectangular areas are polled, and the other areas of the plane map are divided into rectangular areas until all the plane maps are divided. The obtained rectangular areas are the working partitions.

[0026] It should be noted that the above partitioning method can be applied to the waiting working area with a relatively regular plan. For the waiting working area with a complex plan, other preset partitioning algorithms can be used for partitioning. For details, please refer to the relevant technology, which will not be repeated here.

[0027] In this step, the work order can be determined based on the adjacent situation of each work partition. For example, the work partition adjacent to the robot's starting position can be determined as a work partition with an order of 1, and the work partition adjacent to the work partition with an order of 1 can be determined as a work partition with an order of 2, and so on.

[0028] In addition, if a work partition is adjacent to multiple work partitions, the adjacent multiple work partitions can be sorted in a clockwise or counterclockwise direction. It should be noted that there are many ways to sort, and the details can be referred to related technologies, which will not be repeated here.

[0029] Step 102: When the process proceeds to a first working partition among a plurality of working partitions according to the working order, determine the bow path parameters and the path baseline in the first working partition.

[0030] In this step, the first work partition can be any work partition among all the work partitions, and can be the first work partition, that is, the work partition with an order of 1, or can be other work partitions, that is, the work partition with an order of others. In addition, the bow path parameters in this step can include path spacing and a preset minimum boundary distance. The path spacing is the distance between two adjacent first paths in the bow path. Taking the lawn mowing robot as an example, the path spacing is determined by the diameter of the robot's blade and the overlap of the cutting ranges of two adjacent first paths. The preset minimum boundary distance is the minimum distance allowed from the center of the blade to the boundary. It should be noted that the bow path refers to a path shaped like a "bow".

[0031] For example, see Figure 2 , Figure 2 The schematic diagram of the shape of the bow-shaped path provided in the first embodiment of the present application illustrates the first working area 201, the second working area 202, the third working area 203 and the non-working area 204 between the second working area and the third working area. Figure 2 In the bow-shaped path shown, the first path and the second path are alternately connected end to end to form a bow-shaped path, such as Figure 2 The first paths shown in are paths that are parallel to each other and extend along the x-axis direction. The length of the first path is usually longer than that of the second path, and its length varies with the shape of the work partition, and sometimes it is shorter than the second path, such as Figure 2 The second path shown is a path extending along the x-axis direction, and the second path connects two adjacent first paths.

[0032] When determining the bow path parameters and the path baseline in the first working partition, if the first working partition is the first working partition, there are two determination methods.

[0033] First, the user's operation information can be obtained, and the bow path parameters and path baseline can be determined according to the operation information. Exemplarily, the bow path parameters and path baseline are determined by the user in the form of input. Usually, a plane coordinate system is set in the plane map, and an exemplary method can be referred to in the above Figure 2 The plane coordinate system is provided with two horizontal and vertical coordinate axes, namely the x-axis and the y-axis.

[0034] Secondly, bow path planning can also be performed in the first working partition; any path in the planned bow path along the target axis direction is determined as the path baseline in the first working partition, and path parameters are extracted from the planned bow path as bow path parameters in the first working partition.

[0035] Exemplarily, the second method is usually used when the first working partition is the first partition. Since a plan view has been constructed for the working area in the aforementioned process, after partitioning, the edge parameters in the first working partition are known. The edge parameters may include the coordinate value of any point on the edge, the maximum length along the y-axis, and the maximum length along the x-axis.

[0036] Based on these two maximum lengths and the working width of the robot, the bow path parameters are determined. Taking the mowing robot as an example, the working width is the cutting width of the blade. For example, the maximum length along the y-axis and the maximum length along the x-axis can be determined first, and the larger one can be used as the extension direction of the first path. This setting can reduce the number of turns of the robot, speed up the work speed and reduce the energy consumption of each work to a certain extent.

[0037] Finally, the path spacing, the preset minimum boundary distance, and the first path extension direction are determined as the bow path parameters. Then, the bow path is planned using the path spacing, the preset minimum boundary distance, the first path extension direction, and the coordinate value of any point on the edge (the best is a point on the edge with the shortest straight-line distance from the current coordinates of the robot), and any first path is taken as the path baseline.

[0038] Step 103: Control the robot to move in the first working partition according to the bow path parameters and the path baseline.

[0039] In this step, the walking can be carried out according to the bow-shaped path in the previous steps. However, obstacles may be encountered during the specific walking process. For this situation, this embodiment also provides a corresponding planning solution.

[0040] Exemplarily, when the robot is moving in any work partition, if an obstacle is detected, the obstacle point where the planned bow-shaped path first encounters the obstacle is recorded; with the obstacle point as the starting point, the robot is controlled to move along the edge of the obstacle to obtain the edge path of the obstacle; the intersection points of the edge path and all paths along the target axis in the planned bow-shaped path are determined, and the bow-shaped path is segmented according to the intersection points; the bow-shaped path is replanned according to the segmented bow-shaped path and the edge path of the obstacle to obtain at least one bow-shaped sub-path; and the robot is controlled to move in any work partition according to the bow-shaped sub-paths in sequence.

[0041] It should be noted that when the robot moves along the bow path, it may encounter obstacles at any time. At this time, the obstacle point where the robot first encounters the obstacle is determined as the obstacle point. For example, see Figure 3 , Figure 3 A schematic diagram of the bow path when there is an obstacle provided in Example 1 of the present application. Figure 3The figure includes an obstacle 301 , a first new zigzag path 302 and a second new zigzag path 303 .

[0042] Then, after obtaining the edge path by moving along the edge of the obstacle, the idea of ​​merging the original bow path and the edge path is adopted to remove the part of the path covered by the obstacle from the original bow path, which can retain the moving path of the original bow path to the greatest extent.

[0043] In addition, when the bow-shaped path is re-planned according to the segmented bow-shaped path and the edge path of the obstacle, it means that the bow-shaped path and the edge path of the obstacle are merged to obtain a new bow-shaped path. The number of the new bow-shaped path can be at least one, such as Figure 3 As shown, there are two new bow paths: a first new bow path 302 and a second new bow path 303 .

[0044] Step 104: When moving to the next working partition of the first working partition, determine the bow path parameters and path baseline of the first working partition as the bow path parameters and path baseline of the next working partition.

[0045] In this step, in order to ensure that the bow paths planned in the two working partitions are not confused, the next working partition can still use the bow path parameters and path baseline of the previous working partition. Of course, there may be a non-working area between the two working partitions, and for this situation, this embodiment has also been improved accordingly.

[0046] Exemplarily, when moving to the next working partition of the first working partition, determine whether there is a non-working area between the first working partition and the next working partition; if there is a non-working area, determine the bow path parameters and path baseline of the next working partition according to the width of the non-working area in the direction perpendicular to the target axis; if there is no non-working area, determine the bow path parameters and path baseline of the first working partition as the bow path parameters and path baseline of the next working partition.

[0047] It should be noted that the non-working area refers to a preset area where no work is required, such as a hardened area in a lawn. The lawn mower does not need to work on this area, so this area needs to be ignored. In this case, the determination of the bow path parameters and the path baseline can be continued based on the width of the non-working area (in the vertical direction of the target axis).

[0048] Exemplarily, if the width of the non-working area in the direction perpendicular to the target axis is less than a preset width, the bow path parameters and path baseline of the first working partition are determined as the bow path parameters and path baseline of the next working partition; if the width of the non-working area in the direction perpendicular to the target axis is greater than or equal to the preset width, the bow path parameters and path baseline of the next working partition are determined according to the baseline determination algorithm of the first working partition.

[0049] Exemplarily, the preset width may be the difference between the aforementioned path spacing and twice the minimum boundary distance. If the width of the non-working area in the direction perpendicular to the target axis is less than the preset width, it means that the non-working area is narrow and can be ignored. At this time, the bow path of the first working partition can be continued to be planned, that is, the first working partition and the next working partition are regarded as one working partition, and a complete bow path is planned.

[0050] Of course, when there is no non-working area, the planning can also be continued along the bow path of the first working partition, that is, the first working partition and the next working partition are regarded as one working partition, and a complete bow path is planned.

[0051] If the width of the non-working area in the direction perpendicular to the target axis is greater than the preset width, it means that the non-working area is wider. At this time, it is necessary to re-plan the bow path, determine the path baseline according to the baseline determination algorithm of the first working partition, and continue to use the bow path parameters of the first working partition.

[0052] Step 105: Determine the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition.

[0053] In this step, when determining the starting route of the next work partition, you can first determine the overlapping area of ​​the next work partition and the first work partition projected along the target axis direction based on the boundary information of the next work partition, and determine the first first path in the overlapping area of ​​the first work partition along the vertical direction of the target axis as the starting position, and determine the starting route of the next work partition according to the starting position.

[0054] refer to Figure 2 , exemplarily, the path baseline of the first work partition 201 is determined as y=y0, the first first path of the second work partition is the fifth first path in the first work partition, and the fifth first path is 4 path spacings away from the first first path of the first work partition, then the position of the first first path is y=y0+4D, where D is the path spacing. Then y=y0+4D is the starting position of the starting route of the next work partition 202.

[0055] In addition, in some embodiments, each time the robot reaches a new work partition, the path baseline is re-determined, and the starting route of the work partition is collinear with the path baseline, but the path spacing uses the path spacing of the previous work partition, and the spacing between the path baseline and the first work partition is an integer multiple of the path spacing.

[0056] Step 106: Control the robot to move in the next working area based on the starting route and the bow path parameters.

[0057] In this step, the robot is controlled to move in the next work partition based on the starting route and the bow path parameters. For example, please refer to the aforementioned step 103, which will not be repeated here.

[0058] In addition, path planning is performed according to the method of this embodiment so that the intervals between target paths in different work partitions are the same, and the target paths in target areas in adjacent work partitions are aligned in sequence; the target path is the first path in the planned bow path, and the target area is the area in adjacent work partitions where the projections overlap along the direction of the target path.

[0059] In an embodiment of the present application, a plan view of an area to be worked on is constructed, and the plan view is partitioned using a preset partitioning algorithm to obtain a plurality of work partitions, and the working order of the robot in each work partition is determined; when the robot moves to a first work partition among the plurality of work partitions according to the working order, the bow path parameters and the path baseline in the first work partition are determined; the robot is controlled to move in the first work partition according to the bow path parameters and the path baseline; when the robot moves to the next work partition of the first work partition, the bow path parameters and the path baseline of the first work partition are determined as the bow path parameters and the path baseline of the next work partition; the starting route of the next work partition is determined according to the path baseline, the bow path parameters and the boundary information of the next work partition; and the robot is controlled to move in the next work partition based on the starting route and the bow path parameters. Based on this, the present application can plan the bow-shaped path within the next working partition using the path baseline and path parameters when moving to the next working partition of the first working partition. Since the path baseline and path parameters are the path baseline and path parameters within the first working partition, planning based on the path baseline and path parameters can avoid confusion between the next working partition and the bow-shaped path planned in the first working partition, thereby avoiding confusion of mowing marks and uneven grass surface on the grass.

[0060] Embodiment 2

[0061] See also Figure 4 , Figure 4 A schematic structural diagram of a robot bow path planning device provided in Example 2 of the present application.

[0062] like Figure 4 As shown, the robot bow path planning device provided in the second embodiment of the present application exemplarily includes:

[0063] A construction module 401 is used to construct a plan view of the area to be worked, and partition the plan view using a preset partitioning algorithm to obtain a plurality of work partitions, and determine the working order of the robot in each work partition;

[0064] A first determining module 402 is used to determine the bow path parameter and the path baseline in the first working partition when the process proceeds to the first working partition among the multiple working partitions according to the working order;

[0065] A first control module 403, used for controlling the robot to move in the first working partition according to the bow path parameter and the path baseline;

[0066] A second determining module 404 is used to determine the bow path parameters and path baseline of the first working partition as the bow path parameters and path baseline of the next working partition when the process moves to the next working partition of the first working partition;

[0067] The third determination module 405 is used to determine the starting route of the next work partition according to the path baseline, the bow path parameter and the boundary information of the next work partition;

[0068] The second control module 406 is used to control the robot to move in the next working area based on the starting route and the bow path parameters.

[0069] Embodiment 3

[0070] See also Figure 5 , Figure 5 A schematic diagram of the structure of an electronic device provided in Example 3 of the present application.

[0071] like Figure 5 As shown, the electronic device provided in this embodiment includes: one or more processors; and a storage device for storing one or more programs.

[0072] When one or more programs are executed by one or more processors, the one or more processors implement the robot bow path planning method provided by the aforementioned embodiment, which mainly includes:

[0073] Construct a plan of the area to be worked on, and use a preset partitioning algorithm to partition the plan to obtain multiple work partitions, and determine the working order of the robot in each work partition; when moving to the first work partition among the multiple work partitions according to the work order, determine the bow path parameters and the path baseline in the first work partition; control the robot to move in the first work partition according to the bow path parameters and the path baseline; when moving to the next work partition of the first work partition, determine the bow path parameters and the path baseline of the first work partition as the bow path parameters and the path baseline of the next work partition; determine the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition; control the robot to move in the next work partition based on the starting route and the bow path parameters.

[0074] Embodiment 4

[0075] Embodiment 4 of the present application further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the robot bow path planning method provided in the above embodiment is implemented. The method mainly includes:

[0076] Construct a plan of the area to be worked on, and use a preset partitioning algorithm to partition the plan to obtain multiple work partitions, and determine the working order of the robot in each work partition; when moving to the first work partition among the multiple work partitions according to the work order, determine the bow path parameters and the path baseline in the first work partition; control the robot to move in the first work partition according to the bow path parameters and the path baseline; when moving to the next work partition of the first work partition, determine the bow path parameters and the path baseline of the first work partition as the bow path parameters and the path baseline of the next work partition; determine the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition; control the robot to move in the next work partition based on the starting route and the bow path parameters.

[0077] It should be understood that in the description of the specific embodiments of the present application, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0078] In the specific implementation of the present application, unless otherwise clearly specified and limited, the terms such as "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a movable connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0079] In the specific embodiments of the present application, unless otherwise clearly stipulated and limited, the first feature being "above" or "below" the second feature may include the first and second features being directly in contact, or may include the first and second features not being in direct contact but being in contact through another feature between them.

[0080] In the detailed description of the present application, unless otherwise clearly specified and limited, the term "multiple" refers to two or more.

[0081] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0082] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present application. They are not intended to limit the scope of protection of the present application. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present application should be included in the scope of protection of the present application.

Claims

1. A robot bow path planning method, characterized in that: The method comprises: Constructing a plan view of the area to be worked, and partitioning the plan view using a preset partitioning algorithm to obtain a plurality of work partitions, and determining the working order of the robot in each work partition; In the case of advancing to a first working partition among the plurality of working partitions according to the working order, determining a bow path parameter and a path baseline in the first working partition; Controlling the robot to move in the first working partition according to the bow path parameter and the path baseline; In case of moving to the next working partition of the first working partition, determining the bow path parameter and the path baseline of the first working partition as the bow path parameter and the path baseline of the next working partition; Determining the starting route of the next working partition according to the path baseline, the bow path parameter and the boundary information of the next working partition; The robot is controlled to move in the next working area based on the starting route and the bow path parameters.

2. The method according to claim 1, characterized in that The determining of the bow path parameters and the path baseline in the first working partition comprises: If the first working partition is the first working partition, the user's operation information is obtained, and the bow path parameter and the path baseline are determined according to the operation information.

3. The method according to claim 1, characterized in that The determining of the bow path parameters and the path baseline in the first working partition comprises: If the first working partition is the first working partition, performing bow path planning in the first working partition; Any path in the planned "gong" path along the target axis direction is determined as the path baseline in the first working partition, and path parameters are extracted from the planned "gong" path as "gong" path parameters in the first working partition.

4. The method according to claim 3, characterized in that The bow path parameters include path spacing.

5. The method according to claim 1, characterized in that The method further comprises: In case of traveling to the next working partition of the first working partition, determining whether there is a non-working area between the first working partition and the next working partition; If the non-working area exists, determining the bow path parameter and path baseline of the next working partition according to the width of the non-working area in the direction perpendicular to the target axis; If there is no non-working area, the bow path parameters and the path baseline of the first working partition are determined as the bow path parameters and the path baseline of the next working partition.

6. The method according to claim 5, characterized in that Determining the bow path parameter and the path baseline of the next working partition according to the width of the non-working area in the direction perpendicular to the target axis includes: If the width of the non-working area in the direction perpendicular to the target axis is less than a preset width, the bow path parameters and the path baseline of the first working partition are determined as the bow path parameters and the path baseline of the next working partition; If the width of the non-working area in the direction perpendicular to the target axis is greater than or equal to the preset width, the bow path parameters and the path baseline of the next working partition are determined according to the baseline determination algorithm of the first working partition.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: When the robot is traveling in any working area, if an obstacle is detected, the obstacle point where the planned bow path first encounters the obstacle is recorded; Taking the obstacle point as a starting point, controlling the robot to move along the edge of the obstacle to obtain an edge path of the obstacle; Determine the intersection points between the edge path and all paths along the target axis in the planned bow path, and segment the bow path according to the intersection points; Replanning the bow-shaped path according to the segmented bow-shaped path and the edge path of the obstacle to obtain at least one bow-shaped sub-path; The robot is controlled to move in any of the work partitions according to the bow-shaped sub-paths in sequence.

8. A robot bow path planning device, characterized in that: include: A construction module, used to construct a plan view of the area to be worked, and partition the plan view using a preset partitioning algorithm to obtain a plurality of work partitions, and determine the working order of the robot in each work partition; A first determining module is used to determine the bow path parameter and the path baseline in the first working partition when the process proceeds to the first working partition in the plurality of working partitions according to the working order; A first control module, used for controlling the robot to move in the first working partition according to the bow path parameter and the path baseline; A second determining module is used for determining the bow path parameter and the path baseline of the first working partition as the bow path parameter and the path baseline of the next working partition when the process moves to the next working partition of the first working partition; A third determination module is used to determine the starting route of the next working partition according to the path baseline, the bow path parameter and the boundary information of the next working partition; The second control module is used to control the robot to move in the next working area based on the starting route and the bow path parameters.

9. A robot bow path planning method, characterized in that: The method comprises: Performing path planning according to the method of any one of claims 1 to 7, so that the intervals between target paths in different working partitions are the same, and the target paths in the target areas in adjacent working partitions are aligned in sequence; The target path is the first path in the planned bow-shaped path, and the target area is the area in adjacent working partitions where projections overlap along the extension direction of the target path.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the robot bow path planning method as described in any one of claims 1-7 and 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a robot bow path planning method as described in any one of claims 1-7 and 9 is implemented.

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