Robot path planning method, robot and storage medium

Abstract

The present invention discloses a robot path planning method, device and storage medium, wherein the robot path planning method comprises: receiving a reflection signal reflected by a door; determining the opening and closing state of the door according to the signal parameter of the reflection signal; and determining the movement path of the robot from the current position, through the door, to the room according to the current position of the robot and the opening and closing state. The present invention aims to reduce the production cost of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a path planning method, a robot, and a storage medium for a robot. Background Art

[0002] Robots are widely used in various industries. For example, a robot can automatically enter a room for operation through path planning. Since the door is not always in an ideal fully open state and may be in various situations such as fully open, half-open, and closed, to enable the robot to enter the room for operation without obstacles through the door, path planning needs to be carried out according to the opening and closing state of the door. Currently, a robot can identify the opening and closing state of the door based on a vision algorithm and perform path planning according to the opening and closing state of the door. However, to enable the robot to have a powerful vision function, a lot of hardware support is required, and the production cost of the robot is relatively high. Summary of the Invention

[0003] The main purpose of the present invention is to provide a path planning method, a robot, and a storage medium for a robot, aiming to reduce the production cost of the robot.

[0004] To achieve the above object, the present invention provides a path planning method for a robot, and the path planning method for the robot includes:

[0005] Receiving a reflected signal reflected by a door;

[0006] Determining the opening and closing state of the door according to the signal parameters of the reflected signal;

[0007] Determining a movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening and closing state.

[0008] Optionally, the signal parameters include at least one of the following:

[0009] The signal strength of the reflected signal;

[0010] The length of the light spot corresponding to the reflected signal;

[0011] The shape of the light spot corresponding to the reflected signal;

[0012] The area of the light spot corresponding to the reflected signal;

[0013] The position of the light spot corresponding to the reflected signal.

[0014] Optionally, the step of determining the opening and closing state of the door according to the signal parameters of the reflected signal includes:

[0015] Determining the opening and closing angle of the door according to the signal parameters of the reflected signal;

[0016] Obtain an angle range corresponding to the opening and closing angle;

[0017] Determine the opening and closing state of the door according to the angle range.

[0018] Optionally, the step of determining the opening and closing angle of the door according to the signal parameters of the reflected signal includes:

[0019] Obtain a mapping relationship between the signal parameters and the opening and closing angle of the door;

[0020] Determine the opening and closing angle of the door according to the signal parameters and the mapping relationship.

[0021] Optionally, the step of obtaining the mapping relationship between the signal parameters and the opening and closing angle of the door includes:

[0022] Obtain the signal parameters corresponding to the door at each opening and closing angle;

[0023] Determine the mapping relationship between the signal parameters and the opening and closing angle of the door according to each opening and closing angle and the signal parameters corresponding to each opening and closing angle.

[0024] Optionally, the reflected signal is a laser signal emitted by other laser emitting devices other than the robot to the door and reflected by the door.

[0025] Optionally, before the step of determining the movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening and closing state of the door, it further includes:

[0026] Obtain the environmental parameters of the environment where the robot is located, where the environmental parameters include at least one of obstacle information of the environment where the robot is located, distance information between the robot and the door, and angle information between the robot and the door;

[0027] Determine the current position of the robot according to the environmental parameters and the digital map.

[0028] Optionally, before the step of receiving the reflected signal reflected by the door, it further includes:

[0029] Determine whether the current position of the robot is a preset position;

[0030] When the current position of the robot is the preset position, execute the step of receiving the reflected signal reflected by the door.

[0031] In addition, to achieve the above object, the present invention further provides a robot, which includes a memory, a processor, and a path planning program of the robot stored on the memory and executable on the processor. When the path planning program of the robot is executed by the processor, the steps of the path planning method of the robot described in any one of the above are implemented.

[0032] In addition, to achieve the above object, the present invention further provides a readable storage medium, on which a path planning program of a robot is stored. When the path planning program of the robot is executed by a processor, the steps of the path planning method of the robot described in any one of the above are implemented.

[0033] The present invention provides a path planning method, a robot, and a storage medium for a robot. By receiving a reflected signal reflected by the door; determining the opening and closing state of the door according to the signal parameters of the reflected signal; and determining a movement path of the robot from the current position through the door and into the room according to the current position of the robot and the opening and closing state. In this solution, a laser signal is used to determine the opening and closing state of the door, and path planning is performed according to the opening and closing state, so that the robot can enter the room through the door without obstacles. The robot can perform path planning without having a powerful vision function, saving the hardware resources of the robot and reducing the production cost of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram of the hardware architecture of the robot related to the embodiment of the present invention;

[0035] Figure 2 is a schematic flowchart of an embodiment of the path planning method of the robot of the present invention;

[0036] Figure 3 is a schematic flowchart of an embodiment of the path planning method of the robot of the present invention;

[0037] Figure 4 is a schematic flowchart of an embodiment of the path planning method of the robot of the present invention;

[0038] The realization, functional features, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] As an implementation solution, please refer to Figure 1 , Figure 1 is a schematic diagram of the hardware architecture of the robot related to the embodiment of the present invention, as shown in Figure 1As shown, the robot may include a processor 101, such as a CPU, a memory 102, and a communication bus 103. Among them, the communication bus 103 is used to realize the connection and communication between these modules.

[0041] The memory 102 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. As Figure 1 shown, the memory 102, as a readable storage medium, may include a path planning program for the robot; and the processor 101 may be used to call the path planning program for the robot stored in the memory 102 and perform the following operations:

[0042] Receive the reflected signal reflected by the door;

[0043] Determine the opening and closing state of the door according to the signal parameters of the reflected signal;

[0044] Determine the movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening and closing state.

[0045] Further, the processor 101 may be used to call the path planning program for the robot stored in the memory 102 and perform the following operations:

[0046] Determine the opening and closing angle of the door according to the signal parameters of the reflected signal;

[0047] Obtain the angle range corresponding to the opening and closing angle;

[0048] Determine the opening and closing state of the door according to the angle range.

[0049] Further, the processor 101 may be used to call the path planning program for the robot stored in the memory 102 and perform the following operations:

[0050] Obtain the mapping relationship between the signal parameters and the opening and closing angle of the door;

[0051] Determine the opening and closing angle of the door according to the signal parameters and the mapping relationship.

[0052] Further, the processor 101 may be used to call the path planning program for the robot stored in the memory 102 and perform the following operations:

[0053] Obtain the signal parameters corresponding to the door at each opening and closing angle;

[0054] Determine the mapping relationship between the signal parameters and the opening and closing angle of the door according to each opening and closing angle and the signal parameters corresponding to each opening and closing angle.

[0055] Further, the processor 101 can be used to call the path planning program of the robot stored in the memory 102 and perform the following operations:

[0056] Obtain the environmental parameters of the environment where the robot is located, where the environmental parameters include at least one of obstacle information of the environment where the robot is located, distance information between the robot and the door, and angle information between the robot and the door;

[0057] Determine the current position of the robot according to the environmental parameters and the digital map.

[0058] Further, the processor 101 can be used to call the path planning program of the robot stored in the memory 102 and perform the following operations:

[0059] Determine whether the current position of the robot is a preset position;

[0060] When the current position of the robot is the preset position, execute the step of receiving the reflected signal reflected by the door.

[0061] In the prior art, a robot can identify various opening and closing states of a door in a room, such as fully open, half open, and closed, through its powerful vision function, and then plan a barrier-free path to enter the room through the door according to the opening and closing state of the door. However, to enable the robot to have a powerful vision function, a lot of hardware support is required, which undoubtedly increases the production cost of the robot.

[0062] Based on the above technical problems existing in the prior art, in the present invention, a reflective member is provided on the door. The robot emits a laser signal to the door. After the robot receives the reflected signal reflected by the reflective member, it identifies the opening and closing state of the door according to the reflected signal reflected by the reflective member, and then plans a barrier-free path to enter the room through the door according to the opening and closing state of the door, realizing that the robot determines the opening and closing state of the door through laser navigation. The robot can perform path planning without having a powerful vision function, saving the hardware resources of the robot and reducing the production cost of the robot. The path planning method of the robot proposed by the present invention will be further explained below through specific embodiments.

[0063] Please refer to Figure 2 , in an embodiment of the present invention, the path planning method of the robot includes the following steps:

[0064] Step S10, receive the reflected signal reflected by the door;

[0065] In this embodiment, the execution subject of the path planning method of the robot is the robot. Optionally, the robot may be an indoor robot. Of course, in other embodiments, the robot may also be other robot devices that can execute the path planning method of the robot of the present invention.

[0066] In this embodiment, when it is detected that the robot is outside the door of the room and needs to enter the room through the door, the robot can receive the reflected signal reflected by the door. Optionally, the door may be a single door or a folding door composed of multiple doors. The robot can determine whether the robot is outside the door of the room by obtaining the distance between the robot and the door. When the distance is within a preset range, it is determined that the robot is outside the door of the room, and then the robot receives the reflected signal reflected by the door.

[0067] In this embodiment, the reflected signal is a laser signal reflected by the door. Optionally, the laser signal can be emitted by the robot towards the door, or the laser signal can also be emitted by other laser emitting devices other than the robot towards the door. The other laser emitting devices other than the robot can be third-party laser emitters.

[0068] Specifically, when it is detected that the robot is outside the door of the room and needs to enter the room through the door, the robot can emit a laser signal towards the door, and the robot receives the reflected signal reflected by the door; or when it is detected that the robot is outside the door of the room and needs to enter the room through the door, other laser emitting devices other than the robot emit a laser signal towards the door, and the robot receives the emitted signal reflected by the door.

[0069] Step S20: Determine the opening and closing state of the door according to the signal parameters of the reflected signal;

[0070] In this embodiment, after the robot receives the reflected signal reflected by the door, it obtains the signal strength of the reflected signal and determines whether the signal strength of the reflected signal is greater than a preset threshold. When the signal strength of the reflected signal is greater than the preset threshold, the opening and closing state of the door is determined according to the signal parameters of the reflected signal.

[0071] Specifically, at least one reflective member is provided on the door, and the reflective member is provided on the door and within the laser scanning area of the robot or other laser emitting devices other than the robot. The signal intensity of the reflected signal reflected by the reflective member is greater than the signal intensity of the reflected signal reflected by other areas of the door. The robot compares the signal intensity of the reflected signal with a preset threshold to determine whether the reflected signal is the reflected signal reflected by the reflective member. That is, when the signal intensity of the reflected signal is greater than the preset threshold, it can be determined that the reflected signal is the reflected signal reflected by the reflective member. After the robot determines that the reflected signal is the reflected signal reflected by the reflective member, it determines the opening and closing state of the door according to the signal parameters of the reflected signal. Optionally, the reflective member can be a reflective sticker; the signal parameters of the reflected signal include at least one of the signal intensity of the reflected signal, the length of the light spot corresponding to the reflected signal, the shape of the light spot corresponding to the reflected signal, the area of the light spot corresponding to the reflected signal, and the position of the light spot corresponding to the reflected signal; the opening and closing states of the door include a fully open state, a half-open state, and a closed state, etc.

[0072] Step S30, determine the movement path of the robot from the current position through the door and into the room according to the current position of the robot and the opening and closing state.

[0073] In this embodiment, after the robot determines the opening and closing state of the door, it obtains the current position of the robot, plans the movement path of the robot from the current position of the robot through the door and into the room according to the current position of the robot and the opening and closing state of the door. After determining the movement path of the robot, it controls the robot to move according to the movement path so that the robot can pass through the door and enter the room without obstacles.

[0074] In the technical solution provided in this embodiment, the robot receives the reflected signal reflected by the door; determines the opening and closing state of the door according to the signal parameters of the reflected signal; determines the movement path of the robot from the current position through the door and into the room according to the current position of the robot and the opening and closing state. In this solution, the laser signal is used to determine the opening and closing state of the door, and the path is planned according to the opening and closing state, so that the robot can pass through the door and enter the room without obstacles. The robot can perform path planning without having a powerful vision function, saving the hardware resources of the robot and reducing the production cost of the robot.

[0075] In an embodiment of the present invention, the step of determining the opening and closing state of the door according to the signal parameters of the reflected signal includes:

[0076] Determine the opening and closing angle of the door according to the signal parameters of the reflected signal;

[0077] Obtain the angle range corresponding to the opening and closing angle;

[0078] Determine the opening and closing state of the door according to the angle range.

[0079] In this embodiment, when the signal intensity of the reflected signal is greater than a preset threshold, the robot determines the opening and closing angle of the door according to the signal parameters of the reflected signal, that is, the corresponding opening and closing angle can be found according to the signal parameters of the reflected signal. The opening and closing angle of the door is the relative angle of the door with respect to the door in the closed state or the fully open state. After the robot determines the opening and closing angle of the door, it obtains the angle range corresponding to the opening and closing angle, and determines the opening and closing state of the door according to the angle range. There is a corresponding relationship between the angle range corresponding to the opening and closing angle and the opening and closing state. For example, when the angle range corresponding to the opening and closing angle is (0°, 5°), the corresponding opening and closing state of the door is the closed state; when the angle range corresponding to the opening and closing angle is (5°, 90°), the corresponding opening and closing state of the door is the half-open state; when the angle range corresponding to the opening and closing angle is (90°, 180°), the corresponding opening and closing state of the door is the fully open state. Of course, the above are only some exemplary descriptions. The corresponding relationship between the angle range of the opening and closing angle of the door and the opening and closing state of the door can be determined according to the actual situation, and more angle ranges and more opening and closing states can be subdivided, and the corresponding relationship between the angle range and the opening and closing state can be established. This embodiment does not limit this. After the robot determines the opening and closing state of the door, it determines the movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening and closing state, and then controls the robot to move according to the movement path, so that the robot can pass through the door and enter the room without obstacles.

[0080] In the technical solution provided in this embodiment, when the signal intensity of the reflected signal is greater than a preset threshold, the robot determines the opening and closing angle of the door according to the signal parameters of the reflected signal, then obtains the angle range corresponding to the opening and closing angle, determines the opening and closing state of the door according to the angle range, and then performs path planning according to the opening and closing state, so that the robot can pass through the door and enter the room without obstacles. The robot can perform path planning without having a powerful vision function, saving the hardware resources of the robot and reducing the production cost of the robot.

[0081] In an embodiment of the present invention, the step of determining the opening and closing angle of the door according to the signal parameters of the reflected signal includes:

[0082] Obtain the mapping relationship between the signal parameters and the opening / closing angle of the door.

[0083] Determine the opening / closing angle of the door according to the signal parameters and the mapping relationship.

[0084] In this embodiment, when the signal intensity of the reflected signal is greater than a preset threshold, the robot obtains the mapping relationship between the signal parameters and the opening / closing angle of the door, and determines the opening / closing angle of the door according to the mapping relationship and the signal parameters. The mapping relationship is a mapping function or a correspondence table reflecting the corresponding relationship between the signal parameters and the opening / closing angle of the door, that is, according to the signal parameters, the opening / closing angle of the door corresponding to the signal parameters can be determined on the mapping function or the correspondence table. The mapping relationship can be pre-detected and recorded according to empirical methods and stored in the storage space of the robot. After the robot determines the opening / closing angle of the door, it determines the opening / closing state of the door according to the opening / closing angle, determines the movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening / closing state, and then controls the robot to move according to the movement path so that the robot can pass through the door into the room without obstacles.

[0085] In the technical solution provided in this embodiment, when the signal intensity of the reflected signal is greater than a preset threshold, the robot obtains the mapping relationship between the signal parameters and the opening / closing angle of the door, determines the opening / closing angle of the door according to the mapping relationship and the signal parameters, then determines the opening / closing state of the door according to the opening / closing angle, and further performs path planning according to the opening / closing state so that the robot can pass through the door into the room without obstacles. The robot can perform path planning without having a powerful vision function, saving the hardware resources of the robot and reducing the production cost of the robot.

[0086] In an embodiment of the present invention, the step of obtaining the mapping relationship between the signal parameters and the opening / closing angle of the door includes:

[0087] Obtain the signal parameters corresponding to the door at each opening / closing angle;

[0088] Determine the mapping relationship between the signal parameters and the opening / closing angle of the door according to each opening / closing angle and the signal parameters corresponding to each opening / closing angle.

[0089] In this embodiment, the robot can pre-acquire the signal parameters corresponding to the door at each opening / closing angle according to an empirical method, and then establish a mapping relationship between the signal parameters and the opening / closing angle based on each opening / closing angle and the signal parameters corresponding to each opening / closing angle, and store the determined mapping relationship in the storage space of the robot. After the robot acquires the signal parameters of the reflected signal, it obtains the mapping relationship from the storage space of the robot, determines the opening / closing angle of the door according to the signal parameters and the mapping relationship, then determines the opening / closing state of the door according to the opening / closing angle, determines the movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening / closing state, and further controls the robot to move according to the movement path so that the robot can pass through the door into the room without obstacles.

[0090] In the technical solution provided in this embodiment, the robot pre-obtains the mapping relationship between the signal parameters and the opening / closing angle. After the robot acquires the signal parameters of the reflected signal, it determines the opening / closing angle of the door according to the signal parameters and the mapping relationship, then determines the opening / closing state of the door according to the opening / closing angle, and further performs path planning according to the opening / closing state so that the robot can pass through the door into the room without obstacles. The robot can perform path planning without having a powerful vision function, saving the hardware resources of the robot and reducing the production cost of the robot.

[0091] Please refer to Figure 3 , in an embodiment of the present invention, before the step of determining the movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening / closing state of the door, it further includes:

[0092] Step S40, obtaining the environmental parameters of the environment where the robot is located, where the environmental parameters include at least one of the obstacle information of the environment where the robot is located, the distance information between the robot and the door, and the angle information between the robot and the door;

[0093] In this embodiment, after the robot determines the opening / closing state of the door, it can obtain the environmental parameters of the environment where the robot is located by means of laser scanning, and the environmental parameters include at least one of the obstacle information of the environment where the robot is located, the distance information between the robot and the door, and the angle information between the robot and the door.

[0094] Step S50, determining the current position of the robot according to the environmental parameters and the digital map.

[0095] In this embodiment, after the robot obtains the environmental parameters, it determines the current position of the robot according to the environmental parameters and the digital map. The digital map is pre-stored on the robot and is used to represent the map information of the environment where the robot is located. After determining the current position of the robot, it determines the movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening / closing state, and then controls the robot to move along the movement path so that the robot can pass through the door into the room without obstacles.

[0096] In the technical solution provided in this embodiment, by obtaining the environmental parameters of the environment where the robot is located, determining the current position of the robot according to the environmental parameters and the digital map, and then determining the movement path of the robot from the current position, through the door, and into the room according to the current position of the robot and the opening / closing state, and then controlling the robot to move along the movement path so that the robot can pass through the door into the room without obstacles. The robot can perform path planning without having a powerful vision function, saving the hardware resources of the robot and reducing the production cost of the robot.

[0097] Please refer to Figure 4 , in an embodiment of the present invention, before the step of receiving the reflected signal reflected by the door, it further includes:

[0098] Step S60, determining whether the current position of the robot is a preset position;

[0099] In this embodiment, before the robot receives the reflected signal reflected by the door, it determines whether the current position of the robot is a preset position by means of laser scanning. The preset position is the position where the robot can accurately identify the reflective member. The path planning of the robot at the preset position is more accurate than that at other positions. A preset number of reflective members can be set in front of the door, and the robot determines whether the current position of the robot is a preset position according to the reflected signal by receiving the reflected signal reflected by the reflective member.

[0100] The foregoing step S10 becomes:

[0101] Step S11, when the current position of the robot is the preset position, receiving the reflected signal reflected by the door.

[0102] In this embodiment, when it is determined that the current position of the robot is the preset position, the robot receives the reflected signal reflected by the door and executes the aforementioned path planning method of the robot based on the reflected signal. For specific reference, please refer to the foregoing content, which will not be elaborated herein. When it is determined that the current position of the robot is not the preset position, the robot can be navigated to the preset position by means of laser navigation.

[0103] In the technical solution provided in this embodiment, by determining whether the current position of the robot is the preset position, when the current position of the robot is the preset position, the path planning method of the robot is executed. In this way, the accuracy of the path planning of the robot can be improved.

[0104] Based on the above embodiments, the present invention further provides a robot. The above robot may include a memory, a processor, and a path planning program of the robot stored on the memory and executable on the processor. When the processor executes the path planning program of the robot, the steps of the path planning method of the robot as described in any of the above embodiments are implemented.

[0105] Based on the above embodiments, the present invention further provides a readable storage medium, on which a path planning program of the robot is stored. When the path planning program of the robot is executed by a processor, the steps of the path planning method of the robot as described in any of the above embodiments are implemented.

[0106] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0107] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0108] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device (which can be a smart TV, mobile phone, computer, etc.) to execute the methods described in various embodiments of the present invention.

[0109] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A robot path planning method, characterized in that: The path planning method of the robot comprises: receiving a reflection signal reflected by a door, wherein the reflection signal is a laser signal emitted to the door by other laser emitting devices other than the robot and reflected by the door, wherein the door includes a single door or an opening and closing door composed of multiple doors, and determining whether the robot is outside the door of the room by acquiring the distance between the robot and the door, and when the distance is within a preset range, determining that the robot is outside the door of the room, and the robot receives the reflection signal reflected by the door; Determine the opening and closing angle of the door according to the signal parameters of the reflected signal, and obtain the angle interval corresponding to the opening and closing angle, wherein a mapping relationship between the signal parameters and the opening and closing angle of the door is obtained, and the opening and closing angle of the door is determined according to the signal parameters and the mapping relationship, wherein the mapping relationship is a mapping function or a corresponding relationship table reflecting the corresponding relationship between the signal parameters and the opening and closing angle of the door; Determining the opening and closing state of the door according to the angle range; Acquire environmental parameters of the environment where the robot is located, wherein the environmental parameters include at least one of obstacle information of the environment where the robot is located, distance information between the robot and the door, and angle information between the robot and the door; Determine the current position of the robot according to the environmental parameters and the digital map; Determining a movement path of the robot from the current position through the door into the room according to the current position of the robot and the opening and closing state; The step of obtaining the mapping relationship between the signal parameter and the opening and closing angle of the door comprises: Obtaining the signal parameters corresponding to the door at each opening and closing angle; A mapping relationship between the signal parameter and the opening and closing angle of the door is determined according to each of the opening and closing angles and the signal parameter corresponding to each of the opening and closing angles.

2. The robot path planning method according to claim 1, characterized in that: The signal parameters include at least one of the following: The signal strength of the reflected signal; The length of the light spot corresponding to the reflected signal; The shape of the light spot corresponding to the reflected signal; The area of ​​the light spot corresponding to the reflected signal; The position of the light spot corresponding to the reflected signal.

3. A robot, characterized in that: The robot includes a memory, a processor, and a robot path planning program stored in the memory and executable on the processor. When the robot path planning program is executed by the processor, the steps of the robot path planning method as described in any one of claims 1-2 are implemented.

4. A readable storage medium, characterized in that: The readable storage medium stores a path planning program of the robot, and when the path planning program of the robot is executed by the processor, the steps of the path planning method of the robot as described in any one of claims 1-2 are implemented.

Images