A robot walking path planning method and device

Abstract

The embodiment of the present application discloses a method and device for planning a walking path of a robot. The method determines the accurate current position of the robot through information interaction between the UWB tag carried by the robot and each UWB base station, and performs preliminary planning of the walking path based on the current position. On the basis of the preliminary planning, task points are selected and task content is set, and specific walking curves are set between each task point, so as to complete the planning of the final walking path. By applying the technical solution proposed in the embodiment of the present application, a quick and accurate planning process for the walking path of the robot can be realized in a scenario based on a UWB positioning system, and the problems of complex processing flow and excessively high system cost can be solved while meeting the requirement of accurate planning of the robot's indoor walking path.

Description

Technical Field

[0001] The present application relates to the field of robot design, and in particular to a method and device for planning a robot walking path. Background Art

[0002] As robots are increasingly used in industries such as industry, services, and security, the indoor positioning and navigation technologies of robots also need to be improved urgently.

[0003] Currently, robot indoor navigation technology mainly includes two categories:

[0004] The first type is the "random coverage method" commonly used in low-end sweeping robots, also known as random collision navigation. The random coverage method refers to the robot trying to cover the working area according to a certain movement algorithm, such as a triangular or pentagonal trajectory. If an obstacle is encountered, the corresponding steering function is executed. This method is a low-cost strategy that exchanges time for space. If time is not taken into account, 100% coverage can be achieved. The random coverage method does not require positioning, does not have an environmental map, and cannot plan the path, so its movement path basically depends on the built-in algorithm. The quality of the algorithm also determines the quality and efficiency of its cleaning.

[0005] The second type is the "path planning method" based on the positioning system, such as the SLAM (simultaneous localization and mapping) system. The SLAM-based robot system uses cameras and lidar to observe the surrounding environment, measure the distance to walls, obstacles, etc., and realize map construction, robot positioning and path planning.

[0006] The so-called robot path planning technology is that the robot plans a safe route based on its own sensor perception of the environment and completes the task efficiently. The research on path planning has been going on for many years, and many types of methods have been proposed, such as artificial potential field method, grid method, template model method, artificial intelligence method, etc. The common feature of the above methods is that they need to establish a map and calibrate the map.

[0007] There are two methods for building maps: offline and online. Offline mapping is done by manually measuring distances in the robot's activity area using a measuring device to form map data. After the map data is calibrated and imported into the robot's storage system, the robot can autonomously plan the task path. Online mapping is done by the robot scanning the surrounding environment through its own installed sensors, building a local map, and planning paths on the local map. During the process of moving, the robot continuously builds maps and plans paths, and finally completes the establishment of a global map.

[0008] In the process of implementing this application, the applicant found that the above existing processing solutions have at least the following problems:

[0009] The "random coverage method" is low-cost and easy to implement, but it does not have the robot positioning function, so there is no accurate path planning, and it cannot meet the increasingly stringent requirements of robot indoor walking.

[0010] The "path planning method" can achieve robot positioning and path planning, but the SLAM system hardware is expensive, the algorithm is complex, and it requires high computing power from the computing platform, making it difficult to achieve cost control.

[0011] Traditional path planning is inseparable from the establishment and calibration of maps, and the establishment of internal building maps is itself a relatively labor-intensive and time-consuming process, which increases the workload of system implementation. Summary of the invention

[0012] The embodiments of the present application provide a method and device for planning a robot's walking path, so as to realize a quick and accurate planning process of the robot's walking path in a scenario based on a UWB positioning system, and solve the problems of complex processing flow and excessively high system cost while ensuring accurate planning of the robot's indoor walking path.

[0013] In order to achieve the above technical objectives, the embodiment of the present application proposes a method for planning a robot walking path. The robot itself carries a UWB tag. At least three UWB base stations are set in the current application scenario. The method includes:

[0014] Determine the current position of the robot by exchanging information between the UWB tag carried by the robot and each UWB base station;

[0015] Determining a preliminary walking path of the robot according to the current position and the task content to be performed by the robot;

[0016] On the preliminary walking path, respectively determine the position of one or more task points;

[0017] At each of the task points, respectively set the task content of the robot;

[0018] The travel curves between adjacent task points are determined respectively to generate the final walking path of the robot.

[0019] Preferably, the determining the current position of the robot through information interaction between the UWB tag carried by the robot and each UWB base station specifically includes:

[0020] Determine the real-time distance between the UWB tag carried by the robot and each UWB base station;

[0021] According to the preset position information of each UWB base station, the position coordinates of the UWB tag are determined as the current position of the robot.

[0022] Preferably, determining the location coordinates of the UWB tag according to the preset location information of each UWB base station specifically includes:

[0023] According to the location information of at least three UWB base stations, the location coordinates of the UWB tag are determined according to the following formula;

[0024] x=(r1 2 -r2 2 +d 2 ) / 2d……………………(1)

[0025] y=(r1 2 -r3 2 -x 2 +(xi) 2 +j 2 ) / 2j………(2)

[0026] Wherein, (x, y) represents the position coordinates of the UWB tag;

[0027] r1, r2, r3 represent the real-time distances from the UWB tag to each UWB base station P1, P2, P3 respectively;

[0028] A plane rectangular coordinate system is established with P1 as the origin and the line between P1 and P2 as the x-axis. d represents the abscissa of P2, i represents the abscissa of P3, and j represents the ordinate of P3.

[0029] Preferably, at each of the task points, the task content of the robot is set respectively, specifically including:

[0030] When the robot walks along the final walking path, if the task content set at a task point is empty, the robot directly starts to move along the next walking curve when it walks to the task point.

[0031] Preferably, when the robot walks according to the final walking path, the method further includes:

[0032] Detect obstacles through infrared sensors and / or ultrasonic sensors;

[0033] When an obstacle is detected on the final walking path, the robot stops walking and determines whether the existence time of the obstacle reaches a preset threshold;

[0034] If the existence time of the obstacle does not reach the preset threshold, the obstacle is determined to be a temporary obstacle, and the robot continues to walk along the final walking path after the obstacle disappears;

[0035] If the existence time of the obstacle reaches a preset threshold, the obstacle is determined to be a fixed obstacle. After the robot bypasses the obstacle, it returns to the final walking path and continues to walk along the final walking path.

[0036] On the other hand, the embodiment of the present application further proposes a robot walking path planning device, which is applied to an application scenario in which the robot itself carries a UWB tag, and at least three UWB base stations are set in the application scenario. The device includes:

[0037] A location determination module, used to determine the current location of the robot through information interaction between the UWB tag carried by the robot and each UWB base station;

[0038] A preliminary path determination module, used to determine a preliminary walking path of the robot according to the current position determined by the position determination module and the task content to be performed by the robot;

[0039] A task point determination module, used to determine the positions of one or more task points on the preliminary walking path determined by the preliminary path determination module;

[0040] A task setting module, used to set the task content of the robot at each of the task points determined by the task point determination module;

[0041] The generating module is used to respectively determine the travel curves between the adjacent task points determined by the task point determining module, and generate the final walking path of the robot.

[0042] Preferably, the location determination module is specifically used for:

[0043] Determine the real-time distance between the UWB tag carried by the robot and each UWB base station;

[0044] According to the preset position information of each UWB base station, the position coordinates of the UWB tag are determined as the current position of the robot.

[0045] Preferably, the location determination module is specifically used for:

[0046] According to the location information of the at least three UWB base stations, the location coordinates of the UWB tag are determined according to the following formula;

[0047] x=(r1 2 -r22 +d 2 ) / 2d……………………(1)

[0048] y=(r1 2 -r3 2 -x 2 +(xi) 2 +j 2 ) / 2j………(2)

[0049] Wherein, (x, y) represents the position coordinates of the UWB tag;

[0050] r1, r2, r3 represent the real-time distances from the UWB tag to each UWB base station P1, P2, P3 respectively;

[0051] A plane rectangular coordinate system is established with P1 as the origin and the line between P1 and P2 as the x-axis. d represents the abscissa of P2, i represents the abscissa of P3, and j represents the ordinate of P3.

[0052] Preferably, the planning device further includes:

[0053] When the robot walks along the final walking path, if the task content set by the task setting module at a task point is empty, the robot directly starts to move along the next walking curve when walking to the task point.

[0054] Preferably, the planning device further includes an obstacle identification module, which is used to:

[0055] When the robot walks along the final walking path, detecting obstacles by using infrared sensors and / or ultrasonic sensors;

[0056] When an obstacle is detected on the final walking path, the robot stops walking and determines whether the existence time of the obstacle reaches a preset threshold;

[0057] If the existence time of the obstacle does not reach the preset threshold, the obstacle is determined to be a temporary obstacle, and the robot continues to walk along the final walking path after the obstacle disappears;

[0058] If the existence time of the obstacle reaches a preset threshold, the obstacle is determined to be a fixed obstacle. After the robot bypasses the obstacle, it returns to the final walking path and continues to walk along the final walking path.

[0059] Compared with the prior art, the beneficial technical effects of the technical solution proposed in the embodiment of the present application include:

[0060] The embodiment of the present application discloses a method and device for planning a walking path of a robot. The method determines the accurate current position of the robot through information interaction between the UWB tag carried by the robot and each UWB base station, and performs preliminary planning of the walking path based on the current position. On the basis of the preliminary planning, task points are selected and task content is set, and specific walking curves are set between each task point, so as to complete the planning of the final walking path. By applying the technical solution proposed in the embodiment of the present application, a quick and accurate planning process for the walking path of the robot can be realized in a scenario based on a UWB positioning system, and the problems of complex processing flow and excessively high system cost can be solved while meeting the requirement of accurate planning of the robot's indoor walking path. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0062] Figure 1 A schematic diagram of a flow chart of a method for planning a robot walking path proposed in an embodiment of the present application;

[0063] Figure 2 A schematic diagram of the structure of an indoor wireless positioning system proposed in an embodiment of the present application;

[0064] Figure 3 A schematic diagram of a flow chart of a method for planning a robot walking path in a specific application scenario proposed in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of a three-side positioning algorithm proposed in an embodiment of the present application;

[0066] Figure 5 A schematic diagram of the structure of a robot system in a specific application scenario proposed in an embodiment of the present application;

[0067] Figure 6 A schematic diagram of an example of a preliminary walking path proposed in an embodiment of the present application;

[0068] Figure 7 A schematic diagram of a walking curve provided in an embodiment of the present application;

[0069] Figure 8 A schematic diagram of the structure of a robot walking path planning device proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0070] As stated in the background technology of this application, the existing walking path planning schemes are either not suitable for determining precise indoor walking paths, or the calculation costs are high due to overly complex algorithms, and there is a lack of an accurate and fast indoor robot walking path planning scheme.

[0071] The inventor of this application hopes that through the method provided in this application, a quick and accurate planning process for the robot's walking path can be realized in a scenario based on a UWB positioning system, so as to solve the problems of complex processing flow and high system cost while ensuring accurate planning of the robot's indoor walking path.

[0072] like Figure 1 As shown, it is a flow chart of a method for planning a robot walking path proposed in an embodiment of the present application. The method is applied to an application scenario in which the robot itself carries a UWB (Ultra-Wideband) tag. At least three UWB base stations are set in the current application scenario. The method specifically includes:

[0073] Step S101: Determine the current position of the robot through information interaction between the UWB tag carried by the robot and each UWB base station.

[0074] In a specific application scenario, this step specifically includes:

[0075] Step A: Determine the real-time distance from the UWB tag carried by the robot to each UWB base station.

[0076] Step B: Determine the position coordinates of the UWB tag according to the preset position information of each UWB base station as the current position of the robot.

[0077] In practical applications, the determination process of step B can be implemented by the following scheme:

[0078] According to the location information of at least three UWB base stations, the location coordinates of the UWB tag are determined according to the following formula;

[0079] x = (r12 - r22 + d2) / 2d;

[0080] y=(r12-r32-x2+(xi)2+j2) / 2j;

[0081] Wherein, (x, y) represents the position coordinates of the UWB tag;

[0082] r1, r2, r3 represent the real-time distances from the UWB tag to each UWB base station P1, P2, P3 respectively;

[0083] A plane rectangular coordinate system is established with P1 as the origin and the line between P1 and P2 as the x-axis. d represents the abscissa of P2, i represents the abscissa of P3, and j represents the ordinate of P3.

[0084] Step S102: determining a preliminary walking path of the robot according to the current position and the task to be performed by the robot.

[0085] Step S103: determining the positions of one or more task points on the preliminary walking path.

[0086] Step S104: setting the task content of the robot at each task point.

[0087] When the robot walks along the final walking path, if the task content set at a task point is empty, the robot directly starts to move along the next walking curve when it walks to the task point.

[0088] Step S105 , respectively determine the travel curves between adjacent task points to generate a final walking path of the robot.

[0089] Through the above steps, the process of determining the final walking path is completed. When the robot walks according to the final walking path, the method further includes:

[0090] Detect obstacles through infrared sensors and / or ultrasonic sensors;

[0091] When an obstacle is detected on the final walking path, the robot stops walking and determines whether the existence time of the obstacle reaches a preset threshold;

[0092] If the existence time of the obstacle does not reach the preset threshold, the obstacle is determined to be a temporary obstacle, and the robot continues to walk along the final walking path after the obstacle disappears;

[0093] If the existence time of the obstacle reaches a preset threshold, the obstacle is determined to be a fixed obstacle. After the robot bypasses the obstacle, it returns to the final walking path and continues to walk along the final walking path.

[0094] Among them, the determination of the preset threshold can be selected according to actual needs, and such changes will not affect the protection scope of this application.

[0095] Compared with the prior art, the beneficial technical effects of the technical solution proposed in the embodiment of the present application include:

[0096] The embodiment of the present application discloses a method and device for planning a walking path of a robot. The method determines the accurate current position of the robot through information interaction between the UWB tag carried by the robot and each UWB base station, and performs preliminary planning of the walking path based on the current position. On the basis of the preliminary planning, task points are selected and task content is set, and specific walking curves are set between each task point, so as to complete the planning of the final walking path. By applying the technical solution proposed in the embodiment of the present application, a quick and accurate planning process for the walking path of the robot can be realized in a scenario based on a UWB positioning system, and the problems of complex processing flow and excessively high system cost can be solved while meeting the requirement of accurate planning of the robot's indoor walking path.

[0097] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0098] As shown above, the existing walking path planning schemes are either not suitable for determining precise indoor walking paths or have high computational costs due to overly complex algorithms. There is a lack of an accurate and fast indoor robot walking path planning scheme.

[0099] In order to solve the above problems of the prior art, the present application embodiment proposes a robot indoor walking path planning method based on a UWB positioning system. The method has the following advantages:

[0100] 1. The UWB positioning system can achieve high-precision indoor positioning of the robot without cumulative errors, and can provide reliable support for path planning.

[0101] 2. In small-scale application systems, the hardware cost of the UWB system is lower than that of the SLAM system, and the performance requirements for the computing platform are not high.

[0102] 3. The path planning method proposed in the embodiment of the present application does not require the establishment of a map, which reduces the workload of system implementation and improves the implementation efficiency of the robot system in indoor application scenarios, thereby further reducing the system cost.

[0103] The method for planning a robot walking path in a specific application scenario proposed in an embodiment of the present application is applicable to the following application scenarios: the robot is required to walk repeatedly along a fixed route and perform corresponding tasks at task points, while avoiding collisions with indoor objects and pedestrians.

[0104] Specifically, the UWB positioning system involved in the technical solution proposed in the embodiment of the present application includes positioning 3 or more base stations and 1 or more tags.

[0105] For the convenience of explanation, Figure 2 As shown, it is a structural diagram of an indoor wireless positioning system proposed in an embodiment of the present application. The embodiment of the present application takes three base stations and one tag as an example to illustrate the robot path planning under a two-dimensional plane positioning system.

[0106] In the application scenario of the embodiment of the present application, the UWB base station is installed at a fixed position indoors, and after installation, the position coordinates of the base station need to be obtained by measurement. The UWB tag is installed inside the robot, and the two-dimensional plane position of the tag is equivalent to the position of the robot.

[0107] like Figure 3 FIG. 1 is a flow chart of a method for planning a robot walking path in a specific application scenario proposed in an embodiment of the present application, and the method specifically includes:

[0108] Step S301, determine the current position of the robot.

[0109] When the positioning system is running, the tag starts the ranging process to the base station, obtains the real-time distance to each base station, and calculates the tag position coordinates through the pre-configured base station information and the positioning algorithm (the three-sided positioning algorithm is used as an example in the embodiment of the present application).

[0110] like Figure 4 As shown, it is a schematic diagram of a three-side positioning algorithm proposed in an embodiment of the present application, and the corresponding three-side positioning method calculation formula is as follows:

[0111] x=(r1 2 -r2 2 +d 2 ) / 2d……………………(1)

[0112] y=(r1 2 -r3 2 -x 2 +(xi) 2 +j 2 ) / 2j………(2)

[0113] Wherein, (x, y) represents the position coordinates of the UWB tag (i.e., the robot);

[0114] r1, r2, r3 represent the real-time distances from the UWB tag to each UWB base station P1, P2, P3 respectively;

[0115] A plane rectangular coordinate system is established with P1 as the origin and the line between P1 and P2 as the x-axis. d represents the abscissa of P2, i represents the abscissa of P3, and j represents the ordinate of P3.

[0116] In order to realize the above functional settings, Figure 5 FIG. 1 is a schematic diagram of a structure of a robot system in a specific application scenario proposed in an embodiment of the present application, which specifically includes the following functional components:

[0117] (1) UWB positioning tag: The robot can be located in real time by measuring the distance with the UWB base station and can output the robot's coordinate position in real time.

[0118] (2) Infrared sensor: installed in front and on both sides of the robot for obstacle detection.

[0119] (3) Central processing system: robot intelligent control system.

[0120] (4) Ultrasonic sensor: installed in front and on both sides of the robot for obstacle detection.

[0121] (5) Path configuration system, a functional module for recording robot path task points and configuring path curves.

[0122] It should be noted that the above processing scheme for determining the current position is only a preferred embodiment. In specific application scenarios, it can be adjusted according to actual needs. Under the premise of ensuring accurate positioning, the use of the above processing rules or other rules will not affect the protection scope of this application.

[0123] Step S302: Determine the initial walking path of the robot according to the actual situation in the building and the task that the robot needs to perform.

[0124] For the convenience of explanation, Figure 6 A specific example is given to illustrate that in a certain area indoors, the robot needs to start from point A and walk counterclockwise repeatedly along a square with a side length of d. When it reaches point B, it executes the voice command of playing "Welcome" once, and then moves to points C and D in sequence. When it reaches point D, it moves to point A, and then repeats the above process until it receives a stop command. Figure 6 The route shown in is the initial walking path.

[0125] Step S303: Collect the coordinates of the task points at the key nodes of the path and record them in the robot storage system.

[0126] The operator selects the density of the task points according to the requirements. The higher the density, the higher the route resolution. For example, according to the requirements in step S302, the coordinate information output by the UWB positioning system is collected at four points A, B, C, and D respectively.

[0127] Step S304: Set the task content at each task point.

[0128] After completing the task point collection in step S303, the command that the robot needs to execute (such as playing music, video, etc.) is set at the task point according to the task requirements.

[0129] For example, set the voice command "Welcome" to play at task point C, and set the number of plays to 1. After setting, the robot can perform the corresponding task at point C. If no specific task content is set at the task point, the robot will automatically move to the next task point after arriving at the point.

[0130] Step S305: setting a robot walking curve between two adjacent task points.

[0131] The types of walking curves include: straight line, arc, quadratic curve, sine and cosine curves, etc.

[0132] like Figure 7 As shown, a walking curve schematic diagram given in an embodiment of the present application. Assuming that the robot needs to walk along a sinusoidal trajectory between points A and B, in the path planning item in the robot operation menu, select the path segment curve type with a starting point of A and an end point of B as a sinusoidal curve, a period of AB, an amplitude of H, and an initial phase of 0.

[0133] The robot system calculates and obtains the walking path between A and B. Similarly, any curved path can be set between B, C, C, D, and D, A.

[0134] Step S306: After setting the path curve, a "walk" command is issued to the robot, and the robot starts walking according to the pre-set task points and path curve, and performs the corresponding tasks at each task point.

[0135] During the execution of this step, if a stop command is received, the current walking process ends.

[0136] Step S307: During the movement, the robot detects through infrared sensors and ultrasonic sensors to determine whether there are obstacles.

[0137] If not, return to step S306 and continue walking along the walking path.

[0138] If so, execute step S308.

[0139] Step S308: The robot stops walking and starts the "obstacle type determination" process.

[0140] If the current obstacle exists for less than 2 seconds, it is determined that the obstacle is a temporary obstacle (such as a pedestrian), and step S309 is executed.

[0141] If the current obstacle exists for more than 2 seconds, it is determined that the obstacle is a fixed obstacle (such as a moved chair), and step S310 is executed.

[0142] Step S309: The robot continues to pause and wait at the original location.

[0143] After this step is completed, the process returns to step S307 to perform a determination until the obstacle disappears from the walking path or exists for more than 2 seconds.

[0144] Step S310: bypass the obstacle and continue moving forward.

[0145] After this step is completed, return to step S306 and continue walking along the walking path.

[0146] Compared with the prior art, the beneficial technical effects of the technical solution proposed in the embodiment of the present application include:

[0147] The embodiment of the present application discloses a method and device for planning a walking path of a robot. The method determines the accurate current position of the robot through information interaction between the UWB tag carried by the robot and each UWB base station, and performs preliminary planning of the walking path based on the current position. On the basis of the preliminary planning, task points are selected and task content is set, and specific walking curves are set between each task point, so as to complete the planning of the final walking path. By applying the technical solution proposed in the embodiment of the present application, a quick and accurate planning process for the walking path of the robot can be realized in a scenario based on a UWB positioning system, and the problems of complex processing flow and excessively high system cost can be solved while meeting the requirement of accurate planning of the robot's indoor walking path.

[0148] To more clearly illustrate the solution provided by the aforementioned embodiment of the present application, based on the same inventive concept as the above method, the embodiment of the present application further proposes a robot walking path planning device, the structural schematic diagram of which is shown in FIG. Figure 8 As shown, it is applied to an application scenario where the robot itself carries a UWB tag, and at least three UWB base stations are set in the application scenario. The device includes:

[0149] A position determination module 81 is used to determine the current position of the robot through information interaction between the UWB tag carried by the robot and each UWB base station;

[0150] A preliminary path determination module 82, used to determine a preliminary walking path of the robot according to the current position determined by the position determination module 81 and the task content to be performed by the robot;

[0151] A task point determination module 83, used to determine the positions of one or more task points on the preliminary walking path determined by the preliminary path determination module 82;

[0152] A task setting module 84, used to set the task content of the robot at each of the task points determined by the task point determination module 83;

[0153] The generating module 85 is used to respectively determine the travel curves between the adjacent task points determined by the task point determining module 83, and generate the final walking path of the robot.

[0154] Preferably, the location determination module 81 is specifically used for:

[0155] Determine the real-time distance between the UWB tag carried by the robot and each UWB base station;

[0156] According to the preset position information of each UWB base station, the position coordinates of the UWB tag are determined as the current position of the robot.

[0157] Preferably, the location determination module 81 is specifically used for:

[0158] According to the location information of the at least three UWB base stations, the location coordinates of the UWB tag are determined according to the following formula;

[0159] x=(r1 2 -r2 2 +d 2 ) / 2d;

[0160] y=(r1 2 -r3 2 -x 2 +(xi) 2 +j 2 ) / 2j;

[0161] Wherein, (x, y) represents the position coordinates of the UWB tag;

[0162] r1, r2, r3 represent the real-time distances from the UWB tag to each UWB base station P1, P2, P3 respectively;

[0163] A plane rectangular coordinate system is established with P1 as the origin and the line between P1 and P2 as the x-axis. d represents the abscissa of P2, i represents the abscissa of P3, and j represents the ordinate of P3.

[0164] Preferably, the planning device further comprises:

[0165] When the robot walks along the final walking path, if the task content set by the task setting module 84 at a task point is empty, the robot directly starts to move along the next walking curve when walking to the task point.

[0166] Preferably, the planning device further includes an obstacle identification module 86, which is used to:

[0167] When the robot walks along the final walking path, detecting obstacles by using infrared sensors and / or ultrasonic sensors;

[0168] When an obstacle is detected on the final walking path, the robot stops walking and determines whether the existence time of the obstacle reaches a preset threshold;

[0169] If the existence time of the obstacle does not reach the preset threshold, the obstacle is determined to be a temporary obstacle, and the robot continues to walk along the final walking path after the obstacle disappears;

[0170] If the existence time of the obstacle reaches a preset threshold, the obstacle is determined to be a fixed obstacle. After the robot bypasses the obstacle, it returns to the final walking path and continues to walk along the final walking path.

[0171] Compared with the prior art, the beneficial technical effects of the technical solution proposed in the embodiment of the present application include:

[0172] The embodiment of the present application discloses a method and device for planning a walking path of a robot. The method determines the accurate current position of the robot through information interaction between the UWB tag carried by the robot and each UWB base station, and performs preliminary planning of the walking path based on the current position. On the basis of the preliminary planning, task points are selected and task content is set, and specific walking curves are set between each task point, so as to complete the planning of the final walking path. By applying the technical solution proposed in the embodiment of the present application, a quick and accurate planning process for the walking path of the robot can be realized in a scenario based on a UWB positioning system, and the problems of complex processing flow and excessively high system cost can be solved while meeting the requirement of accurate planning of the robot's indoor walking path.

[0173] Through the description of the above implementation methods, those skilled in the art can clearly understand that the embodiments of the present invention can be implemented by hardware, or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network side device, etc.) to execute the methods described in each implementation scenario of the embodiments of the present invention.

[0174] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the embodiments of the present invention.

[0175] Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices in the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module, or can be further split into multiple submodules.

[0176] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the implementation scenarios.

[0177] Disclosed above are only several specific implementation scenarios of the embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the service limitation scope of the embodiments of the present invention.

Claims

1. A method for planning a robot walking path, characterized in that: The robot itself carries a UWB tag. At least three UWB base stations are set in the current application scenario. The method includes: Determine the current position of the robot by exchanging information between the UWB tag carried by the robot and each UWB base station; Determining a preliminary walking path of the robot according to the current position and the task content to be performed by the robot; On the preliminary walking path, respectively determine the position of one or more task points; At each of the task points, respectively set the task content of the robot; Determine the travel curves between adjacent task points respectively, and generate the final walking path of the robot; The current position of the robot is determined by exchanging information between the UWB tag carried by the robot and each UWB base station, specifically including: Determine the real-time distance between the UWB tag carried by the robot and each UWB base station; According to the preset position information of each UWB base station, the position coordinates of the UWB tag are determined as the current position of the robot; Determining the location coordinates of the UWB tag according to the preset location information of each UWB base station specifically includes: According to the location information of at least three UWB base stations, the location coordinates of the UWB tag are determined according to the following formula; x=(r1 2 -r2 2 +d 2 ) / 2d; y=(r1 2 -r3 2 -x 2 +(x-i) 2 +j 2 ) / 2j; Wherein, (x, y) represents the position coordinates of the UWB tag; r1, r2, r3 represent the real-time distances from the UWB tag to each UWB base station P1, P2, P3 respectively; A plane rectangular coordinate system is established with P1 as the origin and the line between P1 and P2 as the x-axis. d represents the abscissa of P2, i represents the abscissa of P3, and j represents the ordinate of P3.

2. The planning method according to claim 1, characterized in that: At each of the task points, the task content of the robot is set respectively, specifically including: When the robot walks along the final walking path, if the task content set at a task point is empty, the robot directly starts to move along the next walking curve when it walks to the task point.

3. The planning method according to claim 1, characterized in that: The robot follows the most When walking along the final walking path, the method further includes: Detect obstacles through infrared sensors and / or ultrasonic sensors; When an obstacle is detected on the final walking path, the robot stops walking and determines whether the existence time of the obstacle reaches a preset threshold; If the existence time of the obstacle does not reach the preset threshold, the obstacle is determined to be a temporary obstacle, and the robot continues to walk along the final walking path after the obstacle disappears; If the obstacle exists for a certain period of time, the obstacle is determined to be a fixed obstacle. After the robot bypasses the obstacle, it returns to the final walking path and continues to follow the The final walking path is walked.

4. A robot walking path planning device, characterized in that: Applied to the robot itself In an application scenario with a UWB tag, at least three UWB base stations are set in the application scenario, and the device includes: A location determination module, used to determine the current location of the robot through information interaction between the UWB tag carried by the robot and each UWB base station; A preliminary path determination module, used to determine a preliminary walking path of the robot according to the current position determined by the position determination module and the task content to be performed by the robot; A task point determination module, used to determine the positions of one or more task points on the preliminary walking path determined by the preliminary path determination module; A task setting module, used to set the task content of the robot at each of the task points determined by the task point determination module; A generating module, used to respectively determine the travel curves between the adjacent task points determined by the task point determining module, and generate a final walking path of the robot; The position determination module is specifically used for: Determine the real-time distance between the UWB tag carried by the robot and each UWB base station; According to the preset position information of each UWB base station, the position coordinates of the UWB tag are determined as the current position of the robot; The position determination module is specifically used for: According to the location information of the at least three UWB base stations, the location coordinates of the UWB tag are determined according to the following formula; x=(r1 2 -r2 2 +d 2 ) / 2d; y=(r1 2 -r3 2 -x 2 +(x-i) 2 +j 2 ) / 2j; Wherein, (x, y) represents the position coordinates of the UWB tag; r1, r2, r3 represent the real-time distances from the UWB tag to each UWB base station P1, P2, P3 respectively; A plane rectangular coordinate system is established with P1 as the origin and the line between P1 and P2 as the x-axis. d represents the abscissa of P2, i represents the abscissa of P3, and j represents the ordinate of P3.

5. The planning device according to claim 4, characterized in that Also includes: When the robot walks along the final walking path, if the task content set by the task setting module at a task point is empty, the robot directly starts to move along the next walking curve when walking to the task point.

6. The planning device according to claim 4, characterized in that Also includes obstacle recognition module for: When the robot walks along the final walking path, detecting obstacles by using infrared sensors and / or ultrasonic sensors; When an obstacle is detected on the final walking path, the robot stops walking and determines whether the obstacle is Whether the existence time of the obstacle reaches the preset threshold; If the existence time of the obstacle does not reach the preset threshold, the obstacle is determined to be a temporary obstacle, and the robot continues to walk along the final walking path after the obstacle disappears; If the obstacle exists for a time that reaches a preset threshold, the obstacle is determined to be a fixed obstacle, and the robot bypasses the obstacle and then returns to the final walking path, continuing to follow the final walking path. Take the path to walk.

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